Testing tool for precision of repetitive motion of dexterous hand

Abstract

According to the dexterous hand repetitive motion precision testing tool provided by the invention, the zero position limiting assembly is added in the repetitive motion precision testing module, the zero position limiting assembly provides the driving force for the moving block, so that the moving block abuts against the measuring pin of the dial indicator, and the moving block continues to compress the measuring pin under the action of the driving force, so that the measuring pin is accurately measured. When the measuring needle is static, the measuring zero position of the dial indicator measuring needle is located in the middle of the stroke of the dial indicator measuring needle, the measuring zero position of the dial indicator measuring needle is obtained, and therefore the same repeated motion precision testing tool is used for completing repeated motion precision testing of the left hand and the right hand of the dexterous hand. The test time of the repeated motion precision test is shortened; moreover, the repetitive motion precision test of the two hands of the dexterous hand can be completed by designing one test tool for the repetitive motion precision of the dexterous hand, and the design difficulty of the test tool for the repetitive motion precision of the dexterous hand is reduced.

Description

Technical Field

[0001] This application relates to the field of dexterity hand testing technology, and more specifically, to a tooling for testing the accuracy of repetitive movements of a dexterity hand. Background Technology

[0002] Currently, a dexterous hand is an automated operating device that can mimic certain movements and functions of the human hand to grasp, move objects, or operate tools according to a fixed program. When testing the repetitive motion accuracy of the dexterous hand's thumb, a left-hand repetitive motion accuracy testing fixture is needed to test the left hand's repetitive motion accuracy, and a right-hand repetitive motion accuracy testing fixture is needed to test the right hand's repetitive motion accuracy. It is impossible to use the same repetitive motion accuracy testing fixture to complete the repetitive motion accuracy tests for both the left and right hands of the dexterous hand. Utility Model Content

[0003] To address the aforementioned problems, the purpose of this application is to provide a tooling for testing the accuracy of repetitive movements of a dexterous hand.

[0004] In a first aspect, embodiments of this application provide a tooling for testing the repetitive motion accuracy of a dexterous hand, including: a base plate, a repetitive motion accuracy testing module, and a dexterous hand mounting base;

[0005] The repetitive motion accuracy testing module and the dexterous hand mounting base are fixed on the base plate, and the fixed dexterous hand mounting base is located on one side of the repetitive motion accuracy testing module;

[0006] The repetitive motion accuracy testing module includes: a column, a mounting plate, a first linear guide assembly, a dial indicator mounting block, a dial indicator, a moving block, and a zero-position limiting assembly; the column is fixed to the base plate, the mounting plate is fixed to the column, the first linear guide assembly is disposed on the side of the mounting plate near the dexterous hand mounting base, and the zero-position limiting assembly is disposed on the other side of the mounting plate away from the dexterous hand mounting base; wherein, the extending direction of the first linear guide assembly is the same as the extending direction of the base plate;

[0007] The moving block is fixedly connected to the first linear guide component and connected to the zero-position limiting component;

[0008] The dial indicator mounting block is fixed to the side of the mounting plate near the dexterous hand mounting base, and the dial indicator is fixed to the dial indicator mounting block. After being fixed, the dial indicator is located on one side of the moving block and the measuring probe of the dial indicator abuts against the moving block.

[0009] The movable block is able to slide in the extension direction of the first linear guide component under the guidance of the first linear guide component;

[0010] The zero-position limiting component provides a driving force to the moving block, causing the moving block to abut against the measuring needle of the dial indicator. Under the action of the driving force, the moving block continues to compress the measuring needle. When the measuring needle is stationary, the measuring zero position of the dial indicator measuring needle is located at the middle position of the travel of the dial indicator measuring needle, thereby obtaining the measuring zero position of the dial indicator measuring needle.

[0011] In the solution provided by the first aspect of this application embodiment, a zero-position limiting component is added to the repetitive motion accuracy testing module. The zero-position limiting component provides a driving force to the moving block, causing the moving block to abut against the measuring needle of the dial indicator. Under the action of the driving force, the moving block continues to compress the measuring needle. When the measuring needle is stationary, the measuring zero position of the dial indicator measuring needle is located at the middle position of the dial indicator measuring needle's stroke, thus obtaining the measuring zero position of the dial indicator measuring needle. Compared with the related technology, which requires using a left-hand repetitive motion accuracy testing fixture to test the repetitive motion accuracy of the dexterous hand's thumb and a right-hand repetitive motion accuracy testing fixture to test the repetitive motion accuracy of the dexterous hand's right hand, since the measuring zero position of the dial indicator measuring needle is located at the middle position of the dial indicator measuring needle's stroke, the repetitive motion accuracy of the dexterous hand's thumb can be tested more efficiently. During the testing process, when performing the repetitive motion accuracy test of the left thumb of the dexterous hand, the left thumb pushes the moving block closer to the dial indicator, thereby compressing the length of the measuring needle and causing it to move away from the zero position, thus completing the repetitive motion accuracy test of the left thumb. When performing the repetitive motion accuracy test of the right thumb of the dexterous hand, the right thumb pulls the moving block away from the dial indicator, causing the measuring needle to extend and move away from the zero position, thus completing the repetitive motion accuracy test of the right thumb. Therefore, the same repetitive motion accuracy testing fixture can be used to complete the repetitive motion accuracy tests of both the left and right hands of the dexterous hand, shortening the testing time and improving testing efficiency. Moreover, designing a single repetitive motion accuracy testing fixture can complete the repetitive motion accuracy tests of both hands of the dexterous hand, reducing the design difficulty of the repetitive motion accuracy testing fixture.

[0012] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This illustration shows a structural schematic diagram of a dexterous hand repetitive motion accuracy testing fixture provided in an embodiment of this application;

[0015] Figure 2 This paper shows a schematic diagram of the repetitive motion accuracy testing module provided in an embodiment of this application;

[0016] Figure 3 A schematic diagram of the structure of the movable block provided in an embodiment of this application is shown;

[0017] Figure 4 A cross-sectional view of the movable block provided in an embodiment of this application is shown;

[0018] Figure 5 This paper shows a schematic diagram of the structure of the dial indicator mounting block provided in an embodiment of this application;

[0019] Figure 6 This illustration shows a schematic diagram of the repetitive motion accuracy test of the left thumb of a dexterous hand using a dexterous hand repetitive motion accuracy test fixture provided in an embodiment of this application;

[0020] Figure 7 This illustration shows a schematic diagram of using a repetitive motion accuracy testing fixture for a dexterous hand to test the repetitive motion accuracy of the right thumb of a dexterous hand, as provided in an embodiment of this application.

[0021] Figure 8 A schematic diagram of the base plate structure provided in an embodiment of this application is shown. Detailed Implementation

[0022] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0024] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0025] Currently, a dexterous hand is an automated operating device that can mimic certain movements and functions of the human hand to grasp, move objects, or operate tools according to a fixed program. When testing the repetitive motion accuracy of the dexterous hand's thumb, a left-hand repetitive motion accuracy testing fixture is needed to test the left hand's repetitive motion accuracy, and a right-hand repetitive motion accuracy testing fixture is needed to test the right hand's repetitive motion accuracy. It is impossible to use the same repetitive motion accuracy testing fixture to complete the repetitive motion accuracy tests for both the left and right hands of the dexterous hand.

[0026] Based on this, the following embodiments of this application propose a fixture for testing the repetitive motion accuracy of a dexterous hand. A zero-position limiting component is added to the repetitive motion accuracy testing module. This component provides a driving force to a moving block, causing the moving block to contact the measuring needle of a dial indicator. Under the action of the driving force, the moving block continues to compress the measuring needle. When the measuring needle is stationary, the zero position of the dial indicator measuring needle is located at the middle position of its travel. Since the zero position of the dial indicator measuring needle is located at the middle position of its travel, during the testing of the repetitive motion accuracy of the dexterous hand's thumb, the zero position of the dial indicator measuring needle is obtained. During the repetitive motion accuracy test of the left thumb, the dexterous hand uses its left thumb to push the moving block closer to the dial indicator, thereby compressing the length of the measuring needle and causing it to move away from the zero position, thus completing the repetitive motion accuracy test of the left thumb. Conversely, during the same test, the dexterous hand uses its right thumb to pull the moving block away from the dial indicator, causing the measuring needle to extend and move away from the zero position, thus completing the repetitive motion accuracy test of the right thumb. This allows for the use of the same repetitive motion accuracy testing fixture to perform repetitive motion accuracy tests on both the left and right hands of the dexterous hand, shortening the testing time and improving testing efficiency.

[0027] Before introducing the tooling for testing the repetitive motion accuracy of a dexterous hand proposed in this application, the following definitions are given:

[0028] The repetitive motion accuracy test refers to the test in which the thumb of a dexterous hand is repeatedly bent, the distance of the thumb bending each time is recorded, and the difference between each bending is calculated to determine the accuracy of the repetitive motion.

[0029] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0030] Example

[0031] See Figure 1 The diagram shows a structural schematic of a tooling for testing the repetitive motion accuracy of a dexterous hand, and see also... Figure 2 The schematic diagram of the repetitive motion accuracy testing module shown in this embodiment proposes a dexterous hand repetitive motion accuracy testing fixture, including: a base plate 100, a repetitive motion accuracy testing module 200, and a dexterous hand mounting base 300.

[0032] The repetitive motion accuracy testing module 200 is fixed on the base plate 100, and the dexterous hand mounting base 300 is slidably connected to the base plate 100. The dexterous hand mounting base 300 is located on one side of the repetitive motion accuracy testing module 200.

[0033] The repetitive motion accuracy testing module 200 includes: a column 210, a mounting plate 220, a first linear guide component 230, a dial indicator mounting block 240, a dial indicator 250, a moving block 260, and a zero-position limiting component 270.

[0034] The column 210 is fixed on the base plate 100, the mounting plate 220 is fixed on the column 210, the first linear guide component 230 is disposed on the side of the mounting plate 220 near the dexterous hand mounting base 300, and the zero-position limiting component 270 is disposed on the other side of the mounting plate 220 away from the dexterous hand mounting base 300; wherein, the extending direction of the first linear guide component 230 is the same as the extending direction of the base plate 100.

[0035] The moving block 260 is fixedly connected to the first linear guide component 230 and connected to the zero-position limiting component 270.

[0036] The dial indicator mounting block 240 is fixed to the side of the mounting plate 220 near the dexterous hand mounting base 300, and the dial indicator 250 is fixed on the dial indicator mounting block 240. After being fixed, the dial indicator 250 is located on one side of the moving block 260 and the measuring needle of the dial indicator 250 abuts against the moving block 260.

[0037] The movable block 260 is able to slide in the extending direction of the first linear guide component 230 under the guidance of the first linear guide component 230.

[0038] The zero-position limiting component 270 provides a driving force to the moving block 260, causing the moving block 260 to abut against the measuring needle of the dial indicator 250. Under the action of the driving force, the moving block 260 continues to compress the measuring needle. When the measuring needle is stationary, the measuring zero position of the dial indicator 250 measuring needle is located at the middle position of the travel of the dial indicator 250 measuring needle, thereby obtaining the measuring zero position of the dial indicator 250 measuring needle.

[0039] Specifically, such as Figure 1 As shown, the first linear guide assembly 230 includes: a first guide rail 231 and a first slider 232.

[0040] The first guide rail 231 is fixedly connected to the mounting plate 220, the first slider 232 is slidably connected to the first guide rail 231, the moving block 260 is fixed on the first slider 232, and the first slider 232 can drive the moving block 260 to move linearly along the extension direction of the first guide rail 231.

[0041] Specifically, see Figure 3 The diagram shows the structure of the moving block and see also... Figure 4 The cross-sectional view of the movable block shown shows that the movable block 260 includes: a wave-shaped screw 264, a support pin 263, a first fixing plate 261, and a second fixing plate 262.

[0042] The second fixing plate 262 is fixed to the side of the first fixing plate 261 away from the dial gauge 250.

[0043] The end of the first fixing plate 261 away from the second fixing plate 262 abuts against the dial indicator 250.

[0044] The first fixing plate 261 is fixed on the first slider 232. The second fixing plate 262 is provided with the support pin 263. The second fixing plate 262 is also screwed with the wave column screw 264. The wave column screw 264 screwed on the second fixing plate 262 is in contact with the support pin 263.

[0045] Specifically, see Figure 5 The schematic diagram of the micrometer mounting block shown shows that the micrometer mounting block 240 has a clamping hole 241, and the axis of the clamping hole 241 is parallel to the extension direction of the first fixing plate 261.

[0046] The clamping hole 241 clamps the fixed end of the dial indicator 250, thereby fixing the dial indicator 250 onto the dial indicator mounting block 240.

[0047] In order to fix the dial indicator 250 to the dial indicator mounting block 240, such as Figure 5 As shown, a slot 242 is provided on one side of the clamping hole 241. The slot 242 connects the outside to the clamping hole 241. When the slot 242 is locked by a screw, the clamping force generated by the screw locking the slot 242 causes deformation at the slot 242, thereby deforming the clamping hole 241 and clamping and fixing the dial indicator 250.

[0048] like Figure 2 As shown, the zero-position limiting component 270 includes: two mounting bases 271, a light rod 272, a spring 273, and a spring limiting block 274.

[0049] The two mounting bases 271 are respectively fixed on the mounting plate 220, wherein one of the two mounting bases 271 is close to the dial indicator mounting block 240, and the other mounting base 271 is away from the dial indicator mounting block 240.

[0050] The spring 273 is sleeved on the optical rod 272. One end of the spring 273 is connected to the mounting base 271 away from the dial indicator mounting block 240, and the other end of the spring 273 is connected to the spring limiting block 274.

[0051] One end of the spring limiting block 274 connected to the spring is also slidably connected to the light rod 272, and the other end of the spring limiting block 274 is fixedly connected to the first fixing plate 261.

[0052] After the spring 273 is connected to the spring limiting block 274, it is in a compressed state. The compressed spring 273 generates elastic force, which serves as the driving force provided by the zero-position limiting component 270 to the moving block 260. This force is transmitted to the moving block 260 through the spring limiting block 274, causing the moving block 260 to come into contact with and compress the measuring needle of the dial indicator 250 under the action of the driving force. When the measuring needle is stationary, the measuring zero position of the dial indicator 250 measuring needle is located at the middle position of the travel of the dial indicator 250 measuring needle, thereby obtaining the measuring zero position of the dial indicator 250 measuring needle.

[0053] In related technologies, dial indicators contain an internal elastic element that resets the dial indicator's measuring probe. Therefore, the zero position of the dial indicator's measuring probe is the position of the probe when the elastic element is not subjected to any external force. In this case, when performing repetitive motion accuracy tests on the dexterity hand's thumb, the measuring probe can only be moved away from the zero position by compressing it with either the left or right thumb of the dexterity hand. Therefore, it is necessary to prepare repetitive motion accuracy tests for both the left and right thumbs of the dexterity hand.

[0054] In the dexterity hand repetitive motion accuracy testing fixture proposed in this embodiment, a zero-position limiting component 270 is added to the repetitive motion accuracy testing module 200. The spring limit block 274 in the zero-position limiting component 270 compresses the spring 273 set in the zero-position limiting component 270, so that the spring 273 in the compressed state generates elastic force. The elastic force serves as the driving force provided by the zero-position limiting component 270 to the moving block 260, which is transmitted to the moving block 260 through the spring limit block 274. When the driving force is greater than the elastic force generated when the internal elastic element of the dial indicator deforms, the moving block 260 will abut against and compress the measuring needle of the dial indicator 250 under the action of the driving force. When the driving force is equal to the elastic force generated when the internal elastic element of the dial indicator deforms, the measuring needle remains stationary. At this time, the measuring zero position of the measuring needle of the dial indicator 250 is located at the middle position of the travel of the measuring needle of the dial indicator 250, thereby obtaining the measuring zero position of the measuring needle of the dial indicator 250.

[0055] In one embodiment, the zero point of the dial indicator 250 is the middle position of the travel of the dial indicator 250 measuring needle, displayed as "the middle value of the scale of the dial indicator 250 measuring needle". When the range of the dial indicator is 50 mm, the zero point of the dial indicator 250 is the middle value of the scale of the dial indicator 250 measuring needle: 25 mm.

[0056] Since the zero point of the dial indicator's measuring probe is located in the middle of its travel, during the testing of the repetitive motion accuracy of the dexterous thumb, see... Figure 6 The diagram illustrates the use of a dexterity hand repetitive motion accuracy testing fixture to perform repetitive motion accuracy testing on the left thumb of a dexterity hand. During the test, the bent thumb of the left hand, mounted on the dexterity hand mounting base 300, pushes the support pin 263, thereby pushing the moving block 260 closer to the dial indicator. This compresses the length of the measuring probe, causing it to move away from the zero position, thus completing the repetitive motion accuracy test of the left thumb. (See also...) Figure 7The diagram illustrates the use of a dexterity hand repetitive motion accuracy testing fixture to perform repetitive motion accuracy testing on the right thumb of a dexterity hand. During the repetitive motion accuracy test of the right thumb, the bent thumb of the dexterity hand, mounted on the dexterity hand mounting base 300, pulls the support pin 263, causing the moving block 260 to move away from the dial indicator. At this time, the measuring needle extends and moves away from the zero position, thus completing the repetitive motion accuracy test of the right thumb. This allows the same repetitive motion accuracy testing fixture to be used to complete the repetitive motion accuracy tests of both the left and right hands of the dexterity hand, significantly shortening the testing time. Furthermore, designing a single dexterity hand repetitive motion accuracy testing fixture can complete the repetitive motion accuracy tests of both hands, reducing the design difficulty of the dexterity hand repetitive motion accuracy testing fixture.

[0057] like Figure 1 As shown, the dexterous hand mounting base 300 includes: a mounting platform 310, a dexterous hand fixing part 320, and quick-release screws 330.

[0058] The mounting platform 310 is fixed on the base plate 100, and the dexterous hand fixing part 320 is fixedly provided on the mounting platform 310.

[0059] The dexterous hand fixing part 320 is provided with a fixing groove 321, and the dexterous hand fixing part 320 is detachably connected with a quick-release screw 330.

[0060] The fixing slot 321 is used to insert the dexterous hand.

[0061] The quick-release screw 330 extends into the fixing groove 321 to fix the dexterous hand to the dexterous hand fixing part 320.

[0062] like Figure 1 As shown, the dexterity hand repetitive motion accuracy testing fixture proposed in this embodiment also includes: a second linear guide assembly 400.

[0063] The base plate 100 has a mounting groove 101, and the second linear guide component 400 is disposed on the mounting groove 101, wherein the extension direction of the second linear guide component 400 is the same as the extension direction of the first linear guide component 230.

[0064] The second linear guide assembly 400 includes: a second guide rail 410 and a second slider 420.

[0065] The second guide rail 410 is disposed on the mounting groove 101, and the second slider 420 is slidably connected to the second guide rail 410. The mounting platform 310 in the dexterous hand mounting base 300 is fixed on the second slider 420. The second slider 420 can drive the dexterous hand mounting base 300 to move linearly along the extension direction of the second guide rail 410, so that the dexterous hand mounting base 300 is slidably connected to the base plate 100.

[0066] The second slider 420 can drive the dexterous hand mounting base 300 to move linearly along the extension direction of the second guide rail 410, so that the second slider 420 can drive the dexterous hand mounted on the dexterous hand mounting base 300 to move linearly along the extension direction of the second guide rail 410, to perform a repetitive movement accuracy test of the dexterous hand's two thumbs. Specifically, as... Figure 2 As shown, a first screw-on plunger 280 is provided on the first fixed plate 261, and a limit hole is provided on the first guide rail 231.

[0067] The first screw plunger 280 is inserted into the limiting hole on the first guide rail 231 to limit the movement of the moving block 260.

[0068] Insert the first screw plunger 280 into the limiting hole on the first guide rail 231 to prevent the moving block 260 from moving left and right due to external force, which would cause damage to the tooling.

[0069] like Figure 1 As shown and see Figure 8 The schematic diagram of the base plate structure shown shows that the mounting platform 310 is provided with a second screw plunger 500, and the base plate 100 is also provided with a limit hole 102.

[0070] The second screw plunger 500 is inserted into the limiting hole 102 to limit the dexterous hand fixing part 320.

[0071] Optionally, at least two limiting holes 102 may be provided on the base plate 100.

[0072] When at least two limiting holes 102 are provided on the base plate 100, the dexterous hand mounting base 300 can be fixed at different positions on the base plate 100 by inserting the second screw plunger 500 into each of the at least two limiting holes 102.

[0073] Insert the second rotary plunger 500 into the limiting hole 102 to limit the dexterous hand fixing part 320, so as to prevent the dexterous hand fixing part 320 from moving left and right due to external force and thus causing damage to the tooling.

[0074] like Figure 7As shown, limit screws 700 are respectively provided at both ends of the second guide rail 410, and the limit screws 700 are covered with rubber.

[0075] By setting limit screws 700 at both ends of the second guide rail 410, and the limit screws 700 are covered with rubber, the dexterity hand mounting base 300 is protected when it collides with the limit screws 700.

[0076] Optionally, such as Figure 1 As shown, the dexterity hand repetitive motion accuracy testing fixture proposed in this embodiment also includes: a gripping part 600; the gripping part 600 is fixed on both sides of the base plate 100.

[0077] Furthermore, the base plate 100 can also be equipped with multiple test fixtures (not shown in the figure) along the direction of the second guide rail 410, such as a four-finger repetitive motion accuracy test module, a finger length test module, a four-finger grip strength test module, a thumb fingertip strength test module, etc., thereby expanding the practicality of the dexterous hand repetitive motion accuracy test fixture.

[0078] In summary, this embodiment proposes a repetitive motion accuracy testing fixture for a dexterous hand. A zero-position limiting component is added to the repetitive motion accuracy testing module. This component provides a driving force to the moving block, causing it to contact the measuring needle of the dial indicator. Under the driving force, the moving block continues to compress the measuring needle. When the measuring needle comes to a complete stop, the zero position of the dial indicator's measuring needle is located at the middle of its travel. This yields the zero position of the dial indicator's measuring needle. Compared to related technologies that require using a left-hand repetitive motion accuracy testing fixture for the left hand and a right-hand repetitive motion accuracy testing fixture for the right hand, this method, where the zero position of the dial indicator's measuring needle is located at the middle of its travel, provides a more accurate measurement of the repetitive motion accuracy of the dexterous hand's thumb. During the repetitive motion accuracy test, when testing the repetitive motion accuracy of the left thumb of the dexterous hand, the left thumb pushes the moving block closer to the dial indicator, thereby compressing the length of the measuring needle and causing it to move away from the zero position, thus completing the repetitive motion accuracy test of the left thumb. When testing the repetitive motion accuracy of the right thumb of the dexterous hand, the right thumb pulls the moving block away from the dial indicator, causing the measuring needle to extend and move away from the zero position, thus completing the repetitive motion accuracy test of the right thumb. Therefore, the same repetitive motion accuracy testing fixture can be used to complete the repetitive motion accuracy tests of both the left and right hands of the dexterous hand, shortening the testing time and improving testing efficiency. Moreover, designing a single repetitive motion accuracy testing fixture can complete the repetitive motion accuracy tests of both hands of the dexterous hand, reducing the design difficulty of the repetitive motion accuracy testing fixture.

[0079] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A fixture for testing the accuracy of repetitive movements of a dexterous hand, characterized in that, include: Base plate (100), repetitive motion accuracy testing module (200), and dexterous hand mounting base (300); The repetitive motion accuracy test module (200) is fixed on the base plate (100), the dexterous hand mounting base (300) is slidably connected to the base plate (100), and the dexterous hand mounting base (300) is located on one side of the repetitive motion accuracy test module (200); The repetitive motion accuracy testing module (200) includes: a column (210), a mounting plate (220), a first linear guide assembly (230), a dial indicator mounting block (240), a dial indicator (250), a moving block (260), and a zero-position limiting assembly (270); The column (210) is fixed on the base plate (100), the mounting plate (220) is fixed on the column (210), the first linear guide assembly (230) is disposed on the side of the mounting plate (220) near the dexterous hand mounting base (300), and the zero-position limiting assembly (270) is disposed on the other side of the mounting plate (220) away from the dexterous hand mounting base (300); wherein, the extending direction of the first linear guide assembly (230) is the same as the extending direction of the base plate (100); The moving block (260) is fixedly connected to the first linear guide assembly (230) and connected to the zero-position limiting assembly (270); The dial indicator mounting block (240) is fixed on the side of the mounting plate (220) near the dexterous hand mounting base (300), and the dial indicator (250) is fixed on the dial indicator mounting block (240). After fixing, the dial indicator (250) is located on one side of the moving block (260) and the measuring needle of the dial indicator (250) abuts against the moving block (260). The movable block (260) is able to slide in the extending direction of the first linear guide assembly (230) under the guidance of the first linear guide assembly (230); The zero-position limiting component (270) provides a driving force to the moving block (260), causing the moving block (260) to abut against the measuring needle of the dial indicator (250). Under the action of the driving force, the moving block (260) continues to compress the measuring needle. When the measuring needle is stationary, the measuring zero position of the dial indicator (250) measuring needle is located at the middle position of the travel of the dial indicator (250) measuring needle, thereby obtaining the measuring zero position of the dial indicator (250) measuring needle.

2. The fixture for testing the repetitive motion accuracy of a dexterous hand according to claim 1, characterized in that, The first linear guide assembly (230) includes: a first guide rail (231) and a first slider (232); The first guide rail (231) is fixedly connected to the mounting plate (220), the first slider (232) is slidably connected to the first guide rail (231), the moving block (260) is fixed on the first slider (232), and the first slider (232) can drive the moving block (260) to move linearly along the extension direction of the first guide rail (231).

3. The fixture for testing the repetitive motion accuracy of a dexterous hand according to claim 2, characterized in that, The movable block (260) includes: a wave-shaped screw (264), a support pin (263), a first fixing plate (261), and a second fixing plate (262); The second fixing plate (262) is fixed on the side of the first fixing plate (261) away from the dial indicator (250); the end of the first fixing plate (261) away from the second fixing plate (262) abuts against the dial indicator (250); the first fixing plate (261) is fixed on the first slider (232), the second fixing plate (262) is provided with the support pin (263), and the second fixing plate (262) is also screwed with the wave column screw (264), the wave column screw (264) screwed on the second fixing plate (262) is in contact with the support pin (263).

4. The fixture for testing the repetitive motion accuracy of a dexterous hand according to claim 3, characterized in that, The dial indicator mounting block (240) is provided with a clamping hole (241), and the axis of the clamping hole (241) is parallel to the extension direction of the first fixing plate (261). The clamping hole (241) clamps the fixed end of the dial indicator (250), thereby fixing the dial indicator (250) onto the dial indicator mounting block (240).

5. The fixture for testing the repetitive motion accuracy of a dexterous hand according to claim 3, characterized in that, The zero-position limiting component (270) includes: two mounting bases (271), a light rod (272), a spring (273), and a spring limiting block (274); Two mounting bases (271) are respectively fixed on the mounting plate (220). One of the two fixed mounting bases (271) is close to the dial indicator mounting block (240), and the other mounting base (271) is away from the dial indicator mounting block (240). The spring (273) is sleeved on the guide rod (272). One end of the spring (273) is connected to the mounting base (271) away from the dial indicator mounting block (240), and the other end of the spring (273) is connected to the spring limiting block (274). The end of the spring limiting block (274) connected to the spring is also slidably connected to the guide rod (272), and the other end of the spring limiting block (274) is fixedly connected to the first fixing plate (261). After the spring (273) is connected to the spring limiting block (274), it is in a compressed state. The spring (273) in the compressed state generates elastic force, which serves as the driving force provided by the zero-position limiting component (270) to the moving block (260). This force is transmitted to the moving block (260) through the spring limiting block (274), causing the moving block (260) to come into contact with and compress the measuring needle of the dial indicator (250) under the action of the driving force. When the measuring needle is stationary, the measuring zero position of the dial indicator (250) measuring needle is located at the middle position of the travel of the dial indicator (250) measuring needle, thereby obtaining the measuring zero position of the dial indicator (250) measuring needle.

6. The fixture for testing the accuracy of repetitive movements of a dexterous hand according to claim 1, characterized in that, The dexterous hand mounting base (300) includes: a mounting platform (310), a dexterous hand fixing part (320), and quick-release screws (330); The mounting platform (310) is fixed on the base plate (100), and the dexterous hand fixing part (320) is fixedly provided on the mounting platform (310); the dexterous hand fixing part (320) is provided with a fixing groove (321), and the dexterous hand fixing part (320) is detachably connected with a quick-release screw (330).

7. The fixture for testing the repetitive motion accuracy of a dexterous hand according to claim 6, characterized in that, Also includes: Second linear guide assembly (400); The base plate (100) is provided with a mounting groove (101), and the second linear guide component (400) is disposed on the mounting groove (101), wherein the extension direction of the second linear guide component (400) is the same as the extension direction of the first linear guide component (230). The second linear guide assembly (400) includes: a second guide rail (410) and a second slider (420); The second guide rail (410) is disposed on the mounting groove (101), the second slider (420) is slidably connected to the second guide rail (410), the mounting platform (310) in the dexterous hand mounting base (300) is fixed on the second slider (420), and the second slider (420) can drive the dexterous hand mounting base (300) to move linearly along the extension direction of the second guide rail (410), so that the dexterous hand mounting base (300) is slidably connected to the base plate (100).

8. The fixture for testing the accuracy of repetitive movements of a dexterous hand according to claim 3, characterized in that, The first fixing plate (261) is provided with a first screw plunger (280), and the first guide rail (231) is provided with a limit hole; The first rotary plunger (280) is inserted into the limiting hole on the first guide rail (231) to limit the movement block (260).

9. The fixture for testing the accuracy of repetitive movements of a dexterous hand according to claim 7, characterized in that, The mounting platform (310) is provided with a second screw plunger (500), and the base plate (100) is also provided with a limit hole (102); The second screw plunger (500) is inserted into the limiting hole (102) to limit the dexterous hand fixing part (320).

10. The fixture for testing the repetitive motion accuracy of a dexterous hand according to claim 7, characterized in that, The second guide rail (410) is provided with limit screws (700) at both ends, and the limit screws (700) are covered with rubber.

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