Mechanical arm grabbing bearing capacity detection device

Abstract

The utility model discloses a mechanical arm grabbing bearing capacity detection device, and relates to the technical field of mechanical arm bearing capacity detection, the mechanical arm grabbing bearing capacity detection device comprises a detection bench, the upper end of the detection bench is provided with a scanning assembly, and the detection bench at the lower end of the scanning assembly is provided with two groups of object fixing assemblies; after the two sets of object fixing assemblies fix an object, the scanning assembly comprehensively scans the object during rotation, scanning data are uploaded to a computer, and behaviors of the mechanical arm under different load conditions are simulated through computer modeling. The laser scanner moves on the adjusting support, the scanning position of an object is accurately adjusted, in combination with sliding of the adjusting plate in the sliding rail, adjustment can be conducted according to the size of the object to be clamped, the flexibility of the device is improved, the application range of the device is widened, and after the object is fixed, through rotation of the rotating rod, the scanning position of the object is accurately adjusted. An object can be scanned from multiple angles, so that more complete three-dimensional data is obtained, and shielding and dead angles are reduced.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm load-bearing capacity detection technology, and in particular to a robotic arm gripping load-bearing capacity detection device. Background Technology

[0002] A robotic arm is an automated device that can mimic the movements of a human arm. It is widely used in industrial production, logistics handling, medical surgery and other fields. Before a robotic arm is put into use, it needs to be tested for its gripping capacity. In order to improve the efficiency and accuracy of the test, point cloud recognition technology is used to achieve dynamic detection of the robotic arm.

[0003] Point cloud recognition technology typically combines advanced sensor technologies (such as 3D laser scanners, depth cameras, etc.) with computer vision algorithms to analyze and calculate by acquiring three-dimensional point cloud data of objects.

[0004] Traditional detection devices typically place the object on a detection platform. When scanning the object, it is difficult to scan the entire object, requiring the object to be flipped over, which reduces the detection efficiency. Secondly, relying on a single detection method is insufficient to guarantee the reliability of the detection data. Utility Model Content

[0005] The purpose of this invention is to provide a robotic arm gripping load-bearing capacity detection device, which avoids the situation where traditional detection devices usually place the object on the detection table, making it difficult to fully scan the object and requiring the object to be flipped over, thus reducing detection efficiency.

[0006] This utility model provides a robotic arm grasping load-bearing capacity detection device, including a detection platform. A scanning component is mounted on the upper end of the detection platform. Two sets of object fixing components are mounted on the detection platform below the scanning component. After the two sets of object fixing components fix the object, the scanning component scans the object comprehensively during rotation and uploads the scan data to a computer. Computer modeling is used to simulate the behavior of the robotic arm under different load conditions. The scanning component includes an adjustment bracket located on the upper end of the detection platform. An adjustment groove is opened on the upper side of the adjustment bracket, and a mounting block is slidably disposed in the adjustment groove. A laser scanner is mounted on the lower end of the mounting block. A reciprocating screw is rotatably disposed in the adjustment groove. The lead screw is threadedly connected to the mounting block, and the reciprocating lead screw is driven by a motor. The object fixing assembly includes a fixed seat located on the detection table. A rotating rod is rotatably mounted on the upper end of the fixed seat. A slide rail is fixedly connected to one end of the rotating rod. An adjusting plate is slidably connected inside the slide rail. The adjusting plate is threadedly connected to the reciprocating lead screw 2, which is rotatably mounted inside the rotating rod. A positioning sleeve is provided at the upper end of the detection table. The robotic arm is installed inside the positioning sleeve. Positioning plates are symmetrically arranged inside the positioning sleeve. Two screws threaded to both sides of the positioning sleeve pass through the positioning sleeve and are rotatably connected to the two positioning plates respectively. Torque sensors are installed on the rotating shafts of the joints of the robotic arm. Pressure sensors are installed on the inner side of the gripper of the robotic arm.

[0007] Preferably, one end of the adjusting plate is provided with a sleeve, and a sliding groove is provided on the inner wall of the sleeve, in which a clamping rod is slidably installed.

[0008] Preferably, a miniature hydraulic rod is installed at the upper end of the jacket, and the piston end of the miniature hydraulic rod passes through the jacket and is connected to the clamp rod.

[0009] This utility model provides a robotic arm gripping load-bearing capacity detection device, which, compared with the prior art, offers the following advantages:

[0010] 1. This utility model precisely adjusts the scanning position of an object by moving the laser scanner on the adjustment bracket. Combined with the sliding of the adjustment plate in the slide rail, it can be adjusted according to the size of the object to be clamped, which increases the flexibility and applicability of the device. After the object is fixed, the object can be scanned from multiple angles by rotating the rotating rod, thereby obtaining more complete three-dimensional data and reducing occlusion and blind spots.

[0011] 2. This utility model uses a laser scanner to scan an object, then uses a computer to model the object and complete the simulated grasping of the robotic arm. It uses point cloud recognition technology to detect the load-bearing capacity. At the same time, torque sensors are installed at the joints of the robotic arm to measure the actual torque acting on the joints. Pressure sensors are installed on the inside of the gripper to directly measure the contact force between the robotic arm and the object being grasped. The data is cross-validated through virtual simulation and physical experiments to improve the reliability and consistency of the data. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the utility model;

[0014] Figure 2 This is a side view of the overall structure of an embodiment of the present utility model;

[0015] Figure 3 This is a schematic diagram showing the disassembled structure of the robotic arm and positioning sleeve according to an embodiment of the present utility model;

[0016] Figure 4 This is a schematic diagram of the structure of the robotic arm and other components according to an embodiment of the present invention;

[0017] Figure 5 This is a schematic diagram of the scanning component structure according to an embodiment of the present utility model;

[0018] Figure 6 This is a schematic diagram of the object fixing component structure according to an embodiment of the present utility model;

[0019] Figure 7 This is a schematic diagram showing the disassembled structure of the object fixing component according to an embodiment of the present utility model;

[0020] Figure 8 This is an embodiment of the present utility model. Figure 7 A schematic diagram of the structure at point A.

[0021] Figure label:

[0022] 1. Testing table; 2. Computer; 3. Robotic arm; 4. Adjusting bracket; 5. Adjusting groove; 6. Reciprocating screw one; 7. Mounting block; 8. Laser scanner; 9. Fixing base; 10. Slide rail; 11. Reciprocating screw two; 12. Adjusting plate; 13. Rotating rod; 14. Clamp; 15. Clamping rod; 16. Slide groove; 17. Miniature hydraulic rod; 18. Positioning sleeve; 19. Positioning plate; 20. Screw; 21. Pressure sensor; 22. Torque sensor. Detailed Implementation

[0023] The following detailed description, in conjunction with the accompanying drawings, outlines some embodiments of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0024] Please refer to Figures 1-8 This utility model provides a robotic arm grasping load-bearing capacity detection device, including a detection platform 1. A scanning component is installed on the upper end of the detection platform 1. The scanning component is used to scan the object to be grasped by the robotic arm 3.

[0025] Specifically, the scanning assembly includes an adjustment bracket 4 located at the upper end of the detection stage 1. The adjustment bracket 4 has a certain height, and an adjustment groove 5 is provided on the upper side of the adjustment bracket 4. A mounting block 7 is slidably arranged in the adjustment groove 5, and a reciprocating screw 6 is rotatably arranged in the adjustment groove 5. The reciprocating screw 6 is driven by a motor and is threadedly connected to the mounting block 7. A laser scanner 8 is installed at the lower end of the mounting block 7. According to the usage, the rotation of the reciprocating screw 6 causes the mounting block 7 to move with the laser scanner 8, thereby adjusting the scanning position of the laser scanner 8.

[0026] Furthermore, two sets of object fixing components are installed on the detection stage 1 at the lower end of the adjustment bracket 4. The two sets of object fixing components clamp the object to be grasped and scan it by the rotating auxiliary laser scanner 8 to reduce scanning blind spots.

[0027] Specifically, the object fixing assembly includes a fixing seat 9 located on the detection table 1. A rotating rod 13 is rotatably mounted on the upper end of the fixing seat 9. The rotating rod 13 is driven by a motor. A slide rail 10 is fixedly connected to one end of the rotating rod 13. An adjusting plate 12 is slidably connected inside the slide rail 10. The adjusting plate 12 can slide within the slide rail 10 according to the size of the object. Since a clamping sleeve 14 is provided at one end of the adjusting plate 12, a sliding groove 16 is provided on the inner wall of the clamping sleeve 14. A clamping rod 15 is slidably installed in the sliding groove 16. When the object is located inside the clamping sleeve 14, the object is fixed by the descent of the clamping rod 15.

[0028] The upper end of the clamp 14 is equipped with a miniature hydraulic rod 17. The piston end of the miniature hydraulic rod 17 passes through the clamp 14 and is connected to the clamping rod 15. The clamping rod 15 can be moved up and down through the miniature hydraulic rod 17, thereby improving the stability of clamping the object.

[0029] Furthermore, the adjusting plate 12 is threadedly connected to the reciprocating screw 11, which is rotatably disposed inside the rotating rod 13. The sliding of the adjusting plate 12 requires the rotation of the reciprocating screw 11. The self-locking capability of the reciprocating screw 11 improves the stability of the adjusting plate 12.

[0030] When both sides of the object are fixed, the rotating rod 13 driven by the motor rotates, causing the object to rotate, which helps the laser scanner 8 to scan. The clamping rod 15 and the clamping sleeve 14 can be made of transparent material to reduce obstruction.

[0031] The scanned object data is transmitted to computer 2, which is used to model and simulate the behavior of robotic arm 3 under different load conditions.

[0032] Secondly, in order to cross-verify the above calculation results, a positioning sleeve 18 is set at the upper end of the testing platform 1, and the robotic arm 3 is installed in the positioning sleeve 18. Since positioning plates 19 are symmetrically arranged in the positioning sleeve 18, two screws 20 threaded to both sides of the positioning sleeve 18 pass through the positioning sleeve 18 and are rotatably connected to the two positioning plates 19 respectively. The screws 20 and the positioning plates 19 can be used to fix the robotic arm 3, so that it remains stable during testing.

[0033] In addition, torque sensors 22 are installed on the rotating shafts of the joints of the robotic arm 3 to measure the actual torque acting on the joints. Pressure sensors 21 are installed on the inner side of the gripper of the robotic arm 3 to directly measure the contact force between the robotic arm 3 and the object being gripped. The reliability of the data is improved by cross-validating the two detection results.

[0034] In summary, the working principle of the robotic arm grasping load-bearing capacity detection device of this utility model embodiment is as follows: the robotic arm 3 is installed in the positioning sleeve 18, and a torque sensor 22 and a pressure sensor 21 are installed on the robotic arm 3. When the robotic arm 3 grasps an object, data is acquired through the two sensors. After this detection is completed, the object is placed in the clamp 14 and fixed by two sets of object fixing components. The object is then rotated so that the laser scanner 8 scans the object and transmits the data to the computer 2. The computer 2 completes modeling and simulation detection, and compares the two sets of data to improve the reliability of the data.

[0035] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A robotic arm gripping load-bearing capacity testing device, comprising a testing platform (1), characterized in that: The upper end of the detection platform (1) is equipped with a scanning component. Two sets of object fixing components are installed on the detection platform (1) at the lower end of the scanning component. After the two sets of object fixing components fix the object, the scanning component scans the object comprehensively when rotating and uploads the scanning data to the computer (2). The computer (2) is used to model and simulate the behavior of the robotic arm (3) under different load conditions. The scanning component includes an adjustment bracket (4) located at the upper end of the detection platform (1). An adjustment groove (5) is opened on the upper side of the adjustment bracket (4). An installation block (7) is slidably arranged in the adjustment groove (5). A laser scanner (8) is installed at the lower end of the installation block (7). A reciprocating screw (6) is rotatably arranged in the adjustment groove (5). The reciprocating screw (6) is threadedly connected to the installation block (7) and is driven by a motor. The object fixing component includes a positioning component. A fixed seat (9) is mounted on the testing table (1). A rotating rod (13) is rotatably mounted on the upper end of the fixed seat (9). A slide rail (10) is fixedly connected to one end of the rotating rod (13). An adjusting plate (12) is slidably connected inside the slide rail (10). The adjusting plate (12) is threadedly connected to a reciprocating screw (11) rotatably mounted inside the rotating rod (13). A positioning sleeve (18) is mounted on the upper end of the testing table (1). The robotic arm (3) is installed inside the positioning sleeve (18). Positioning plates (19) are symmetrically arranged inside the positioning sleeve (18). Two screws (20) threaded on both sides of the positioning sleeve (18) pass through the positioning sleeve (18) and are rotatably connected to the two positioning plates (19) respectively. A torque sensor (22) is installed on the rotating shaft of the joint of the robotic arm (3). A pressure sensor (21) is installed on the inner side of the gripper of the robotic arm (3).

2. The robotic arm gripping load-bearing capacity detection device according to claim 1, characterized in that: One end of the adjusting plate (12) is provided with a sleeve (14), and a groove (16) is provided on the inner wall of the sleeve (14), and a clamping rod (15) is slidably installed in the groove (16).

3. The robotic arm gripping load-bearing capacity detection device according to claim 2, characterized in that: The upper end of the jacket (14) is equipped with a miniature hydraulic rod (17), the piston end of which passes through the jacket (14) and is connected to the clamping rod (15).

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