Universal six-axis robot force measuring equipment

Abstract

The utility model discloses a universal six-axis robot force measuring device, which comprises a machine base, a jig, a force measuring device, a force measuring device, a force measuring device, a force measuring device, a force measuring device, a force measuring device and a force measuring device, and is characterized in that the jig is used for bearing and positioning a product to be measured; the force measuring device comprises a six-axis robot and a force measuring mechanism which is mounted at the output end of the six-axis robot and can be driven by the six-axis robot to move or rotate in any direction; the force measuring mechanism comprises a torque sensor installed at the output end of the six-axis robot, a clamping jaw module installed at the lower end of the torque sensor, a connecting frame installed at the output end of the six-axis robot, a pressure sensor installed on the outer side of the connecting frame and a shifting rod installed on the outer side of the pressure sensor. And the pressure sensor and the driving lever are positioned on the outer side of the clamping jaw module and are spaced from each other. The operating force detection device can be suitable for operating force detection of toggle button type automobile air outlets and knob type automobile air outlets at the same time so as to meet different use requirements, is convenient to use, and improves detection efficiency.

Description

TECHNICAL FIELD

[0001] The utility model relates to force measuring equipment technical field especially a general six -axis robot force measuring equipment. BACKGROUND

[0002] At present, the car is very common in people's daily life, as a very popular means of transport, plays an important role in travel and transportation. The air outlet of the air conditioner of the car is an important part of the air conditioning system of the car, the blade angle adjusting function of the air outlet, neither too tight nor completely out of adjustment, is a must-check part before the car is shipped.

[0003] The utility model discloses a kind of automobile air outlet knob force measuring devices of application No.202022453209.7, it includes positioning tool, for clamping and positioning to automobile air outlet, it includes fixed plate, fixedly arranged with a plurality of for installing automobile air outlet profiling fixture on fixed plate, profiling fixture's both sides on the fixed plate is also provided with the compression device for the compression of automobile air outlet;Detection device, for the damping force detection of knob on automobile air outlet, including manipulator and the force measuring assembly connected with manipulator, force measuring assembly includes connecting rod, torsion sensor and knob rod, manipulator is connected with knob rod by connecting rod, torsion sensor is arranged between connecting rod and knob rod, knob rod is provided with the clamping groove for accommodating the knob of automobile air outlet. The measuring device can realize the automatic, fast, accurate measurement of the knob operating force of automobile air conditioner air outlet, realize the true simulation of actual person's use, facilitate to greatly reduce the labor intensity of worker, improve measurement efficiency.

[0004] But, the above-mentioned automobile air outlet knob force measuring device can only be applied to knob type automobile air outlet test, and there are also some knob type automobile air outlets on the market, and the above-mentioned automobile air outlet knob force measuring device cannot realize the knob detection operating force of knob type automobile air outlet, which causes great trouble to workers. In this regard, workers may disassemble the force measuring assembly to replace the clamping device of clamping jaw, so that the clamping device can clamp the knob of knob type automobile air outlet to detect the operating force, which cannot be applied to knob type automobile air outlet and knob type automobile air outlet to realize operating force detection at the same time, and is not convenient to use.

[0005] Therefore, the present application provides the following technical solutions. UTILITY MODEL CONTENTS

[0006] The utility model discloses a kind of general six -axis robot force measuring equipment, which overcomes the deficiencies of the prior art.

[0007] In order to solve the above technical problems, the utility model adopts the following technical scheme: the universal six-axis robot force measuring equipment includes: a base for bearing and positioning a jig of a product to be measured, which is detachably mounted on the base; a force measuring device including a six-axis robot and a force measuring mechanism mounted at the output end of the six-axis robot and driven by the six-axis robot to move or rotate in any direction; the force measuring mechanism includes a torque sensor mounted at the output end of the six-axis robot, a jaw module mounted at the lower end of the torque sensor, a connecting frame mounted at the output end of the six-axis robot, a pressure sensor mounted on the outer side of the connecting frame, and a lever mounted on the outer side of the pressure sensor, which is located on the outer side of the jaw module and forms a gap.

[0008] Further, in the above technical solution, the jaw module includes a pneumatic clamp and a clamping block mounted on the inner side of the clamp head, and the clamping space is formed between the clamping blocks.

[0009] Further, in the above technical solution, the number of clamp heads is three, which are arranged in a triangular shape, and the clamping blocks are detachably mounted on the inner side of the clamp head, and the inner side of the clamping block is provided with a clamping groove.

[0010] Further, in the above technical solution, the connecting frame is in the shape of L, so that the pressure sensor is vertically distributed on the outer side of the jaw module; the lever includes a vertically distributed connecting part and a lever part integrally formed at the lower end of the connecting part and perpendicular to the connecting part, the outer side of the connecting part is provided with a limiting groove, and the pressure sensor is sleeved on the outer side of the pressure sensor through the limiting groove and fixedly connected.

[0011] Further, in the above technical solution, the upper end of the base is provided with a machine shell, and the six-axis robot is hung on the top of the machine shell and located directly above the jig.

[0012] Further, in the above technical solution, the front end of the machine shell is provided with an operation window, and the operation window is provided with a grating sensor on both sides; an outer side of the operation window is also provided with a controller which can be rotated to adjust the angle, and the controller has a touch screen.

[0013] Further, in the above technical solution, the base is provided with at least two mounting grooves, and the mounting grooves are fixed with detachable positioning blocks through screws, the upper end of the positioning block protrudes from the surface of the base, and is embedded in the locking groove arranged on the outer side of the jig to lock the jig.

[0014] Further, in the above technical solution, the positioning block is in the shape of a convex character, part of which is embedded in the locking groove arranged on the outer side of the jig, and the positioning block also contacts the outer side of the jig.

[0015] Furthermore, in the above technical solution, the fixture includes a base plate, several carriers mounted on the base plate, a first cylinder and a second cylinder horizontally mounted on both sides of the carriers, a first clamping block and a second clamping block respectively mounted on the ends of the first cylinder and the second cylinder and driven by the first cylinder and the second cylinder to move horizontally, the carrier is provided with a carrier groove for bearing the product to be measured, and the outer side of the base plate is provided with a locking groove.

[0016] Furthermore, in the above technical solution, the base plate is also provided with a positioning seat and a third cylinder located next to the positioning seat and vertically distributed. The positioning seat is provided with a positioning groove for positioning the product to be measured, and the third cylinder is also provided with a pressure block that cooperates with the positioning groove to clamp and position the product to be measured. A first handle and a second handle are respectively provided at the diagonal of the base plate.

[0017] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art: The force measuring mechanism in the present invention can not only use a pressure sensor in conjunction with a lever to push the knob of a toggle-type car air vent to detect the operating force of the toggle, but also detect the operating force of other toggle / lever-type products; moreover, the present invention can also use a gripper module to clamp the knob of a rotary car air vent, and a six-axis robot drives the torque sensor and gripper module to rotate to detect the operating force of the rotary car air vent knob, and can also be adapted to other products with knobs to detect the operating force; that is to say, the present invention can be applied to both toggle-type and rotary car air vents to detect operating force without disassembling or replacing parts, so as to meet different usage requirements, and is extremely convenient to use, and improves detection efficiency, thus having a strong market competitiveness. Attached Figure Description

[0018] Figure 1 This is a perspective view of the present invention;

[0019] Figure 2 This is a perspective view of the fixture in this utility model;

[0020] Figure 3 This is a partial structural diagram of the base in this utility model.

[0021] Figure 4 This is a perspective view of the force measuring device in this utility model;

[0022] Figure 5 This is a perspective view of the force measuring device in this utility model from another angle;

[0023] Figure 6 This is an assembly drawing of the base and fixture in this utility model; Detailed Implementation

[0024] The utility model is further described below in combination with specific embodiments and the drawings.

[0025] See Figures 1-6 As shown in the figure, it is a general six-axis robot force measuring equipment, which comprises a base 1, a jig 2 and a force measuring device 300, wherein the jig 2 is installed on the base 1.

[0026] The jig 2 is used to carry and position the force-to-be-measured product, and is installed on the base 1 in a detachable and replaceable manner, so that the jig 2 suitable for the force-to-be-measured product can be replaced according to different force-to-be-measured products, so that the positioning of different force-to-be-measured products can be met, and the force measuring work of different force-to-be-measured products by the force measuring device 300 in the later stage is facilitated.

[0027] The force measuring device 300 comprises a six-axis robot 3 and a force measuring mechanism 4 installed at the output end 30 of the six-axis robot 3 and driven by the six-axis robot 3 to move or rotate in any direction; wherein the force measuring mechanism 4 comprises a torque sensor 41 installed at the output end 30 of the six-axis robot 3 and used to detect the rotary torque, a jaw module 42 installed at the lower end of the torque sensor 41, a connecting frame 43 installed at the output end of the six-axis robot 3, a pressure sensor 44 installed outside the connecting frame 43 and used to detect the pushing force or the pulling force, and a pulling rod 45 installed outside the pressure sensor 44, wherein the pressure sensor 44 and the pulling rod 45 are located outside the jaw module 42 and are spaced apart, so that the jaw module 42 and the pulling rod 45 can work without interference with each other. That is, the force measuring mechanism 4 in the utility model can not only use the pressure sensor 44 to cooperate with the pulling rod 45 to push the knob of the knob type automobile air outlet to detect the operating force of the knob, but also can detect the operating force of other knob / pulling rod type force-to-be-measured products. Moreover, the utility model can also use the jaw module 42 to clamp the knob of the knob type automobile air outlet, drive the torque sensor 41 and the jaw module 42 to rotate by the six-axis robot 3, and detect the operating force of the knob of the knob type automobile air outlet. Of course, the utility model can also be used to detect the operating force of other knob type force-to-be-measured products. That is, the utility model can be used to detect the operating force of the knob type automobile air outlet and the knob type automobile air outlet without disassembling and replacing parts, so as to meet different use requirements, and the utility model is extremely convenient to use and improves the detection efficiency, so as to have strong market competitiveness.

[0028] The upper end of the base 1 is provided with a machine shell 5, the six-axis robot 3 is hoisted at the top of the machine shell 5 and located directly above the jig 2, which can reduce the occupation of horizontal space, so that the transverse dimension of the utility model can be made smaller to meet the miniaturization requirement.

[0029] The front end of the shell 5 is provided with an operation window 51, both sides of the operation window 51 are provided with a grating sensor 52, the grating sensor 52 detects whether there is an object (especially a human hand) through the operation window 51 and extends into the inner wall of the shell 5 during the working of the utility model, if the detection is yes, the machine is stopped, which can effectively protect the safety of the operator and is beneficial to safety production. The operation window 51 is further provided with a rotatable controller 53 for adjusting the angle, and the controller 53 has a touch screen 531. The operator can adjust the angle of the controller 53 according to the use requirements or habits of the operator, so as to facilitate the operation and improve the work efficiency. The data setting, searching, control and other operations can be realized through the touch screen 531.

[0030] The clamping jaw module 42 comprises pneumatic clamps 421 and clamping blocks 423 mounted on the inner side of the clamping heads 422 of the pneumatic clamps 421, and a clamping space is formed between the clamping blocks 423. The number of the clamping heads 422 is three, which are distributed in a triangular shape, and the clamping blocks 423 are detachably mounted on the inner side of the clamping heads 422. The inner side of the clamping blocks 423 is provided with clamping grooves, and the clamping grooves of the three clamping blocks 423 form the clamping space. Since the clamping blocks 423 are detachably replaced, when a clamping block 423 is damaged, a new clamping block 423 can be replaced, which is very convenient to use.

[0031] The connecting frame 43 is in the shape of L, so that the pressure sensors 44 are vertically distributed on the outer side of the clamping jaw module 42. The lever 45 comprises a vertically distributed connecting part 451 and a pushing part 452 integrally formed on the lower end of the connecting part 451 and perpendicular to the connecting part 451. The outer side of the connecting part 451 is provided with a limiting groove, which is sleeved on the outer side of the pressure sensor 44 to achieve the positioning effect and facilitate the later locking, so as to ensure the stability of the assembly structure. The connecting part 451 is fixedly connected with the outer side of the pressure sensor 44, wherein a screw is used for locking, which is convenient to install and easy to adjust the relative position.

[0032] The machine base 1 is provided with at least two mounting grooves 11, and the mounting grooves 11 are fixedly provided with detachable positioning blocks 12 through screws. The upper end of the positioning block 12 protrudes from the surface of the machine base 1 and is embedded in the locking groove 211 arranged on the outer side of the jig 2 to lock the jig 2. When different force to be measured products need to be detected, the positioning block 12 can be directly removed to unlock the jig 2, and then a new jig 2 is replaced to position a new force to be measured product. Then the positioning block 12 is installed to lock the new jig 2, so as to meet different use requirements.

[0033] The positioning block 12 is in the shape of a Chinese character "K", and part of the positioning block 12 is embedded in the locking groove 211 arranged on the outer side of the jig 2. The positioning block 12 also contacts the outer side of the jig 2, and the contact points are at least three, which has better positioning effect.

[0034] The tool 2 comprises a bottom plate 21, a plurality of carriers 22 mounted on the bottom plate 21, a first air cylinder 23 and a second air cylinder 24 horizontally mounted on the outside of the carriers 22, a first clamping block 231 and a second clamping block 241 respectively mounted on the end of the first air cylinder 23 and the second air cylinder 24 and horizontally movable by the first air cylinder 23 and the second air cylinder 24, and a loading groove 221 provided on the carrier 22 for loading a product to be tested, wherein the outside of the bottom plate 21 is provided with a locking groove 211, and in use, the product to be tested is placed in the loading groove 221, the first clamping block 231 and the second clamping block 241 are driven by the first air cylinder 23 and the second air cylinder 24 to move towards each other in the horizontal direction, and then the product to be tested is clamped by the first clamping block 231 and the second clamping block 241, so that the product to be tested is locked in the loading groove 221 for later force testing.

[0035] The bottom plate 21 is further provided with a positioning seat 25 and a third air cylinder 26 vertically distributed beside the positioning seat 25, the positioning seat 25 is provided with a positioning groove 251 for positioning the product to be tested, and the third air cylinder 26 is further provided with a pressing block 261 for clamping and positioning the product to be tested in cooperation with the positioning groove 251; wherein the edge of the product to be tested is further abutted in the positioning groove 251 of the positioning seat 25 from top to bottom, and then the pressing block 261 is driven by the third air cylinder 26 to press on the edge of the product to be tested, so as to fix the edge of the product to be tested in the positioning groove 251 of the positioning seat 25, which further enables the product to be tested to be more stably mounted on the tool, and improves the force testing quality in later stage.

[0036] The first handle 212 and the second handle 213 are respectively arranged at the opposite corners of the bottom plate 21, which are convenient for a hand to hold, so as to facilitate the disassembly and assembly of the whole tool.

[0037] In summary, the force testing mechanism 4 in the utility model can not only use the pressure sensor 44 to cooperate with the push rod 45 to push the knob of the knob type automobile air outlet, so as to detect the operation force of the knob, and of course, can also detect the operation force of other knob / push rod type products to be tested; and the utility model can also use the jaw module 42 to clamp the knob of the knob type automobile air outlet, and the six-axis robot 3 drives the torque sensor 41 and the jaw module 42 to rotate, so as to detect the operation force of the knob of the knob type automobile air outlet, and of course, can also be adapted to other products to be tested with knobs to detect the operation force; that is, the utility model can be applied to the knob type automobile air outlet and the knob type automobile air outlet to realize operation force detection without disassembling and replacing parts, so as to meet different use requirements, and the utility model is extremely convenient to use, improves the detection efficiency, and has extremely strong market competitiveness.

[0038] Of course, the above only the specific embodiments of the present application, not to limit the scope of the present application, all equivalent changes or modifications made in accordance with the principles of the present application described in the scope of the present application, should be included in the scope of the present application.

Claims

1. A universal six-axis robot force measuring device, comprising: a base (1), a jig (2) for carrying and positioning a product to be measured, which is detachably mounted on the base (1); a force measuring device (300) comprising a six-axis robot (3) and a force measuring mechanism (4) mounted at the output end of the six-axis robot (3) and driven by the six-axis robot (3) to move or rotate in any direction; characterized in that the force measuring mechanism (4) comprises a torque sensor (41) mounted at the output end of the six-axis robot (3), a jaw module (42) mounted at the lower end of the torque sensor (41), a connecting frame (43) mounted at the output end of the six-axis robot (3), a pressure sensor (44) mounted on the outer side of the connecting frame (43), and a lever (45) mounted on the outer side of the pressure sensor (44), the pressure sensor (44) and the lever (45) being located on the outer side of the jaw module (42) and forming a gap.

2. The universal six-axis robotic load cell apparatus of claim 1, wherein: The jaw module (42) comprises pneumatic clamps (421) and clamping blocks (423) mounted on the inner side of the clamping heads (422) of the pneumatic clamps (421), and the clamping blocks (423) form a clamping space between them.

3. The universal six-axis robotic load cell apparatus of claim 2, wherein: The number of clamping heads (422) is three, which are arranged in a triangular shape, and the clamping blocks (423) are detachably mounted on the inner side of the clamping heads (422), and the inner side of the clamping blocks (423) is provided with clamping grooves.

4. The universal six-axis robotic load cell apparatus of claim 1, wherein: The connecting frame (43) is in the shape of L, so that the pressure sensor (44) is vertically distributed on the outer side of the jaw module (42); the lever (45) comprises a vertically distributed connecting part (451) and a lever part (452) integrally formed at the lower end of the connecting part (451) and perpendicular to the connecting part (451), the outer side of the connecting part (451) is provided with a limiting groove, which is sleeved on the outer side of the pressure sensor (44) and fixedly connected.

5. The universal six-axis robotic load cell apparatus of any of claims 1-4, wherein: The upper end of the base (1) is provided with a machine shell (5), the six-axis robot (3) is hoisted on the top of the machine shell (5) and located directly above the jig (2).

6. The universal six-axis robotic load cell apparatus of claim 5, wherein: The front end of the machine shell (5) is provided with an operation window (51), and the two sides of the operation window (51) are provided with grating sensors (52); the outer side of the operation window (51) is also provided with a controller (53) which can be rotated to adjust the angle, and the controller (53) has a touch screen (531).

7. The universal six-axis robotic load cell apparatus of any of claims 1-4, wherein: The base (1) is provided with at least two mounting grooves (11), and the mounting grooves (11) are fixedly provided with detachable positioning blocks (12) through screws, the upper end of the positioning block (12) is protruded from the surface of the base (1) and embedded in the lock groove (211) provided on the outer side of the jig (2) to lock the jig (2).

8. The universal six-axis robotic load cell apparatus of claim 7, wherein: The positioning block (12) is in the shape of a convex letter, part of which is embedded in the lock groove (211) provided on the outer side of the jig (2), and the positioning block (12) also contacts the outer side of the jig (2).

9. The universal six-axis robotic load cell apparatus of any of claims 1-4, wherein: The jig (2) comprises a bottom plate (21), a plurality of carriers (22) mounted on the bottom plate (21), a first air cylinder (23) and a second air cylinder (24) horizontally mounted on the two sides of the carriers (22), a first clamp block (231) and a second clamp block (241) respectively mounted on the end portions of the first air cylinder (23) and the second air cylinder (24) and horizontally movable by the first air cylinder (23) and the second air cylinder (24), the carriers (22) are provided with load grooves (221) for loading products to be tested, and the bottom plate (21) is provided with a locking groove (211) on the outside.

10. The universal six-axis robotic load cell apparatus of claim 9, wherein: The bottom plate (21) is further provided with a positioning seat (25) and a third air cylinder (26) vertically distributed on the side of the positioning seat (25), the positioning seat (25) is provided with a positioning groove (251) for positioning the products to be tested, the third air cylinder (26) is further provided with a pressing block (261) matched with the positioning groove (251) for clamping and positioning the products to be tested, and the diagonal portions of the bottom plate (21) are respectively provided with a first handle (212) and a second handle (213).

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