End execution mechanism, manipulator and test equipment

Abstract

The utility model discloses an end execution mechanism, a manipulator and test equipment, and belongs to the technical field of automatic test. The tail end executing mechanism comprises a base, a mounting piece, a driving piece and two clamping pieces, and the base is used for being connected with the manipulator body; the mounting piece is arranged on the base; the fixed end of the driving part is arranged on the mounting part, and the driving part and the base are located on the two sides of the mounting part in the first direction respectively; and the output end of the driving part is connected with the two clamping parts correspondingly and used for driving the two clamping parts to be close to or away from each other in the second direction, the clamping parts are slidably connected with the mounting part, and the first direction intersects with the second direction. And not only can better stability and adaptability be provided and the production efficiency and the utilization rate be improved, but also the carrying of a to-be-tested piece with a larger load in a smaller space can be realized.

Description

Technical Field

[0001] This application belongs to the field of automated testing technology, and in particular relates to an end effector, a robotic arm, and testing equipment. Background Technology

[0002] During the production and processing of products, not only are there many different models of a single product, but similar products are also usually processed on the same production line. However, currently, only products of the same size can be gripped and transported, which affects production efficiency and utilization rate. Utility Model Content

[0003] This application aims to address at least one of the technical problems existing in the related art. To this end, this application proposes an end effector, a robotic arm, and a testing device, which not only provides better stability and adaptability, improves production efficiency and utilization rate, but also enables the handling of test pieces with large loads within a small space.

[0004] In a first aspect, this application provides a terminal actuator, comprising:

[0005] The base is used to connect the robotic arm body;

[0006] Mounting components are disposed on the base;

[0007] A driving component, wherein the fixed end of the driving component is disposed on the mounting component, and the driving component and the base are respectively located on both sides of the mounting component along a first direction;

[0008] Two clamping members are provided, and the output end of the driving member is connected to the two clamping members respectively. The two clamping members are used to drive the two clamping members to move closer or further away from each other along the second direction. The clamping members are slidably connected to the mounting member. The first direction and the second direction intersect.

[0009] According to the end effector of this application, on the one hand, the drive member and the base are located on both sides of the mounting member along the first direction, which helps to extend the clamping member into a relatively narrow space for use; on the other hand, the output end of the drive member drives the two clamping members to move closer or further apart from each other along the second direction, thereby realizing the function of clamping or releasing the test piece, so as to adapt to the gripping and handling of test pieces of different sizes. At the same time, by making the clamping member slide relative to the mounting member along the second direction, the smoothness and accuracy of the movement of the clamping member can be improved, and the strength of the mounting member can be used to enhance the structural stability of the entire end effector, so as to realize the handling of test pieces with large loads in a small space.

[0010] According to one embodiment of this application, the clamping member includes:

[0011] The first segment extends along the second direction and is slidably connected to the mounting component;

[0012] The clamping segment is connected to the side of the first segment away from the driving member and extends along a third direction, wherein the third direction, the second direction, and the first direction intersect each other.

[0013] According to one embodiment of this application, the clamping member further includes:

[0014] The second segment extends along the first direction, and a plurality of clamping segments are spaced apart on the side of the second segment away from the first segment.

[0015] According to one embodiment of this application, a guide assembly is provided between the clamping member and the mounting member for guiding the clamping member to move relative to the mounting member in the second direction.

[0016] According to one embodiment of this application, it also includes:

[0017] An adsorption element, disposed on the mounting member and spaced apart from the clamping member along the first direction, is used to adsorb or release the test specimen; and / or

[0018] A limiting member is disposed on the mounting member and located between the clamping member and the base along the first direction, and is adapted to abut against and cooperate with the test piece.

[0019] According to one embodiment of this application, it also includes:

[0020] A connector, the two ends of which are detachably connected to the two clamping members respectively; and / or

[0021] A pressure sensor is disposed between the mounting component and the base to obtain the pressure signal of the test piece held by the two clamping components.

[0022] According to one embodiment of this application, it also includes:

[0023] Two position sensing modules are provided, each corresponding to one of the clamping components. The position sensing modules are used to obtain the position of the corresponding clamping component.

[0024] According to one embodiment of this application, the position sensing module includes:

[0025] A sensing element is disposed on the clamping element;

[0026] A proximity switch is disposed on the mounting component and engages with the sensing element.

[0027] Secondly, this application provides a robotic arm, which includes:

[0028] The robotic arm itself; and

[0029] The end effector as described above is disposed on the robot body.

[0030] The robotic arm according to this application not only provides better stability and adaptability, improving production efficiency and utilization rate, but also enables the handling of test pieces with large loads in a small space.

[0031] Thirdly, this application provides a testing device that includes the robotic arm described above.

[0032] The testing equipment according to this application not only provides better stability and adaptability, improves production efficiency and utilization rate, but also enables the handling of test pieces with large loads in a small space.

[0033] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0034] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0035] Figure 1 This is one of the structural schematic diagrams of the first type of end effector provided in the embodiments of this application;

[0036] Figure 2 This is a second schematic diagram of the structure of the first type of end effector provided in the embodiments of this application;

[0037] Figure 3 This is the third structural schematic diagram of the first type of end effector provided in the embodiments of this application;

[0038] Figure 4 This is a schematic diagram of the structure of the second type of end effector provided in the embodiments of this application;

[0039] Figure 5 This is a schematic diagram of the structure of the testing equipment provided in the embodiments of this application;

[0040] Figure 6 This is a schematic diagram of the structure of the test device provided in the embodiments of this application, with the hidden portion of the frame removed;

[0041] Figure 7 This is a schematic diagram of the structure of the test device and the test piece provided in the embodiments of this application;

[0042] Figure 8 This is a schematic diagram of the elastic structure provided in the embodiments of this application.

[0043] Figure label:

[0044] 10. Test piece; 20. Connecting parts;

[0045] 100. End effector;

[0046] 110. Base;

[0047] 120. Mounting components; 121. Guide rails;

[0048] 130. Driving components;

[0049] 140. Clamping component; 141. First section; 1411. Guide block; 142. Clamping section; 143. Second section;

[0050] 150. Adsorption component; 160. Limiting component; 170. Connecting component; 180. Pressure sensor; 190. Position sensing module; 191. Sensing component; 192. Proximity switch;

[0051] 200. Testing equipment;

[0052] 210. Frame; 211. Storage space;

[0053] 220. Load-bearing structure; 221. Rolling element;

[0054] 230. Elastic structure; 231. First mating component; 232. Second mating component; 233. Elastic component; 234. Guide post; 235. Guiding assembly;

[0055] 240. Limiting structure; 241. First limiting block; 242. Second limiting block;

[0056] 250. Position sensor. Detailed Implementation

[0057] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0058] The following is for reference. Figures 1-5 The end effector 100 provided in the embodiments of this application is described. The end effector 100 includes a base 110, a mounting member 120, a drive member 130, and two clamping members 140.

[0059] The base 110 is used to connect the robot body; the mounting member 120 is disposed on the base 110; the fixed end of the drive member 130 is disposed on the mounting member 120, and the drive member 130 and the base 110 are respectively located on both sides of the mounting member 120 along a first direction; the output end of the drive member 130 is respectively connected to two clamping members 140, used to drive the two clamping members 140 to move closer or further apart from each other along a second direction, and the clamping members 140 are slidably connected to the mounting member 120, the first direction and the second direction intersect. The base 110 includes, but is not limited to, a flange. The drive member 130 includes, but is not limited to, a clamping cylinder.

[0060] Understandably, on the one hand, the drive member 130 and the base 110 are located on both sides of the mounting member 120 along the first direction, which helps the clamping member 140 to be used in a relatively narrow space; on the other hand, the output end of the drive member 130 drives the two clamping members 140 to move closer or further apart from each other along the second direction, thereby realizing the function of clamping or releasing the test piece 10, so as to adapt to the gripping and handling of test pieces 10 of different sizes. At the same time, by making the clamping member 140 slide relative to the mounting member 120 along the second direction, the smoothness and accuracy of the movement of the clamping member 140 can be improved, and the strength of the mounting member 120 can be used to enhance the structural stability of the entire end effector 100, so as to realize the handling of test pieces 10 with large loads in a small space.

[0061] It should be noted that the test piece 10 includes, but is not limited to, the screen of electronic products (such as mobile phones or tablets).

[0062] The end effector 100 provided in the embodiments of this application not only provides better stability and adaptability, improves production efficiency and utilization rate, but also enables the handling of test pieces 10 with large loads in a small space.

[0063] In some embodiments, such as Figures 1 to 4 As shown, a guide assembly is provided between the clamping member 140 and the mounting member 120 to guide the clamping member 140 to move relative to the mounting member 120 in a second direction.

[0064] It is understandable that there are two guide components, each corresponding to a clamping member 140, to reduce the offset or swaying in other directions when the clamping member moves along the second direction under the drive of the drive member 130, and to allow the clamping member 140 to distribute its load to the mounting member 120 through the constraint of the guide components during movement, thereby improving the load capacity of the entire end effector 100 and enhancing its stability.

[0065] In some embodiments, such as Figures 1 to 4As shown, the guide assembly includes a cooperating guide block 1411 and a guide rail 121, one of which is connected to the mounting member 120, and the other of which is connected to the clamping member 140.

[0066] Understandably, the guide rail 121 extends along the second direction, and the guide block 1411 cooperates with the guide rail 121 through its sliding surface or rolling element (such as a ball, roller, etc.) to ensure that the clamping member 140 can move smoothly along the guide rail 121 in the second direction.

[0067] In some embodiments, such as Figures 1 to 4 As shown, the guide rail 121 is disposed on the mounting member 120, and the guide block 1411 is connected to the clamping member 140. Of course, in other embodiments, the guide block 1411 may also be disposed on the mounting member 120 and the guide rail 121 may be disposed on the clamping member 140; this embodiment does not impose any specific limitations on this.

[0068] In some embodiments, such as Figures 1 to 4 As shown, the guide rails 121 and clamping members 140 correspond one-to-one. The two guide rails 121 are located on both sides of the drive member 130 along the second direction, so that the entire end effector 100 is as compact as possible. Of course, in other embodiments, the two clamping members 140 can also cooperate with the same guide rail 121 at the same time. This embodiment does not impose specific limitations on this.

[0069] In some embodiments, such as Figures 1 to 4 As shown, the clamping member 140 includes a first segment 141 and a clamping segment 142. The first segment 141 extends along a second direction and is slidably connected to the mounting member 120. The clamping segment 142 is connected to the side of the first segment 141 away from the driving member 130 and extends along a third direction. The third direction, the second direction and the first direction intersect each other.

[0070] It should be noted that in this article, the third direction is parallel to the vertical direction.

[0071] Understandably, the first segment 141 is slidably connected to the mounting component 120 via a guide assembly, and one end of the first segment 141 is connected to the output end of the drive component 130. The upper end of the clamping segment 142 is connected to the other end of the first segment 141, and the lower end extends downward so that the test piece 10 can abut against the outer wall along the second direction.

[0072] In some embodiments, such as Figures 1 to 3 As shown, the clamping member 140 also includes a second segment 143, which extends along a first direction, and a plurality of clamping segments 142 are spaced apart on the side of the second segment 143 away from the first segment 141. It should be noted that "plural" includes two or more.

[0073] It is understandable that the clamping segment 142, the second segment 143, and the first segment 141 are connected sequentially along the direction close to the center of the mounting member 120. That is, the output end of the drive member 130 and the second segment 143 are respectively located near the two ends of the first segment 141. The clamping force can be distributed to the entire clamping member 140 through the second segment 143, reducing excessive local stress and extending the service life of the end effector 100. At the same time, by setting multiple clamping segments 142, the contact area with the test piece 10 can be increased, enhancing the firmness and reliability of the clamping.

[0074] In some embodiments, such as Figure 4 As shown, the end effector 100 also includes an adsorption member 150, which is disposed on the mounting member 120 and spaced apart from the clamping member 140 along a first direction, for adsorbing or releasing the test piece 10.

[0075] Understandably, by adding the adsorption component 150, the contact area with the test piece 10 is increased while the possibility of surface damage to the test piece 10 is reduced. This allows the adsorption component 150 to first adsorb the upper surface of the test piece 10 when the clamping component 140 is not holding it, thus achieving initial gripping of the test piece 10 and reducing potential damage from direct contact between the clamping component 140 and the test piece 10. It also provides more stable conditions for subsequent handling operations. Alternatively, after the clamping component 140 has gripped the test piece 10, the adsorption component 150 can adsorb the upper surface of the test piece 10 to ensure uniform force distribution across the entire test piece 10, enhancing its stability and reducing the possibility of deformation or damage due to excessive localized force.

[0076] In some embodiments, such as Figure 4 As shown, the end effector 100 also includes a limiting member 160, which is disposed on the mounting member 120 and located between the clamping member 140 and the base 110 along the first direction, and is adapted to abut against the test piece 10.

[0077] It is understood that the upper end of the limiting member 160 is connected to the mounting member 120, and the lower end of the limiting member 160 is adapted to abut against one side of the test piece 10 set along the first direction, thereby improving the clamping accuracy, reducing the possibility of the test piece 10 moving along the first direction during pick-up, drop-off and handling, and ensuring the reliability and accuracy of handling.

[0078] In some embodiments, such as Figure 4 As shown, there are two limiting members 160, which are spaced apart along the second direction to increase the contact points with the test piece 10, thereby providing more uniform limiting and ensuring that the posture of the test piece 10 does not change as much as possible during handling and gripping.

[0079] In some embodiments, such as Figure 1 and Figure 2 As shown, the end effector 100 also includes a connector 170, the two ends of which are detachably connected to two clamping members 140, respectively. The connection method between the connector 170 and the clamping members 140 includes, but is not limited to, threaded connection or plug-in connection. The connector 170 includes, but is not limited to, screws.

[0080] Understandably, the connector 170 is detachably connected to the two first segments 141 respectively, so that the two clamping members 140 can be flexibly connected or separated, which can also enhance the clamping force and make the load borne by the entire end effector 100 more even, thereby improving the reliability of the end effector 100.

[0081] In some embodiments, such as Figures 1 to 4 As shown, the end effector 100 also includes a pressure sensor 180, which is disposed between the mounting member 120 and the base 110, for obtaining pressure signals from the two clamping members 140 clamping the test piece 10. The pressure sensor 180 includes, but is not limited to, a strain gauge pressure sensor 180 or a piezoelectric pressure sensor 180.

[0082] Understandably, when the drive component 130 drives the clamping component 140 to approach the test piece 10, the clamping force obtained by the pressure sensor 180 can not only accurately control the clamping component 140 to approach the test piece 10, but also ensure the clamping force, reduce the possibility of damage to the surface of the test piece 10 due to excessive clamping force, and reduce the risk of the test piece 10 falling off due to insufficient clamping force.

[0083] In some embodiments, such as Figure 3 As shown, the end effector 100 also includes two position sensing modules 190, which correspond one-to-one with the clamping member 140. The position sensing module 190 is used to obtain the position of the corresponding clamping member 140 so as to determine whether the clamping member 140 has reached at least one of the starting position or the limit position, thereby reducing the possibility of mechanical damage or clamping failure and improving the reliability of the end effector 100.

[0084] In some embodiments, such as Figures 1 to 4 As shown, the position sensing module 190 includes a sensor 191 and a proximity switch 192. The sensor 191 is disposed on the clamping member 140; the proximity switch 192 is disposed on the mounting member 120 and is in sensing cooperation with the sensor 191.

[0085] It is understood that the sensor 191 is located in the first section 141 and the proximity switch 192 is located in the mounting part 120. That is, when the driving part 130 drives the clamping part 140 to move along the first direction, it causes the sensor 191 to move closer to or away from the proximity switch 192. When the sensor 191 enters the sensing range of the proximity switch 192, the proximity switch 192 will send an electrical signal to determine whether the current position of the clamping part 140 has reached the starting position or the limit position, and the driving part 130 will stop in time.

[0086] This application also provides a robotic arm. The robotic arm includes a robotic arm body and the aforementioned end effector 100, with the end effector 100 disposed on the robotic arm body. The robotic arm body includes, but is not limited to, Cartesian robots, articulated robots, or parallel robots.

[0087] The robotic arm provided according to the embodiments of this application can not only provide better stability and adaptability, improve production efficiency and utilization rate, but also realize the handling of test pieces 10 with large loads in a small space.

[0088] This application also provides a testing device.

[0089] like Figure 5 As shown, the testing equipment includes the aforementioned robotic arm and testing device 200. The robotic arm holds the test piece 10 close to the testing device 200 so that the test piece 10 and the docking part 20 of the testing device 200 are connected to form a test circuit. This allows for the subsequent sending of various display signals to the test piece 10 through a pre-set test program, such as displaying images of different colors, playing videos, or simulating touch operations, to achieve comprehensive testing of all functions of the test piece 10.

[0090] In some embodiments, such as Figures 5 to 8 As shown, the testing device 200 includes a frame 210, a load-bearing structure 220, an elastic structure 230, and a limiting structure 240.

[0091] The load-bearing structure 220 is disposed within the frame 210 to support the test piece 10; the elastic structure 230 is connected to the frame 210 and the docking member 20 respectively, and is used to adjust the insertion depth between the docking member 20 and the test piece 10 along the first direction so that the docking member 20 and the test piece 10 are inserted to form a test circuit; the limiting structure 240 is disposed in the frame 210 and is used at least to limit the relative position of the test piece 10 and the frame 210 along the second direction, the second direction intersecting the first direction.

[0092] Understandably, the robotic arm grips the test piece 10, extends it into the frame 210, and places it on the support mechanism. The limiting structure 240 can restrict the test piece 10 from moving along the second direction during its placement on the support structure 220 and during its insertion with the docking piece 20. At the same time, when the robotic arm moves the test piece 10 located on the support mechanism closer to the docking piece 20 along the first direction, the elastic structure 230 can not only buffer and compensate for the positional deviation along the first direction during the insertion process to adapt to test pieces 10 of different sizes and insertion forces, thus improving the accuracy and efficiency of the insertion, but also utilize the rebound energy of the elastic structure 230 to reset the elastic structure 230 after the test, ensuring the reusability and reliability of the elastic mechanism and the entire testing device 200, and improving the automation and stability of the testing process.

[0093] According to the test apparatus 200 provided in the embodiments of this application, the test piece 10 can be accurately supported, the insertion depth can be adjusted and the position can be restricted. This not only improves the reusability, reliability and adaptability of the entire test apparatus 200, but also increases the stability and reliability of the test process.

[0094] In some embodiments, such as Figure 6 As shown, the supporting structure 220 includes multiple rolling elements 221, which are spaced apart. The rolling elements 221 are rotatably mounted on the frame 210 to support the test piece 10, and the rotation axis of the rolling elements 221 is parallel to a second direction. The rolling elements 221 include, but are not limited to, rollers or cylinders. It should be noted that the number and specific distribution of the rolling elements 221 are not specifically limited in this embodiment.

[0095] It is understandable that by setting the rolling elements 221 to support the test piece 10, sliding friction can be converted into rolling friction, reducing the friction caused by the robot arm moving the test piece 10 close to the docking piece 20, reducing the possibility of damage to the test piece 10, and improving the flexibility of the test piece 10 moving along the first direction. For example, in this embodiment, multiple rolling elements 221 are arranged in an array.

[0096] In some embodiments, such as Figure 6 As shown, a protective layer is provided on the outer surface of the rolling element 221 to improve wear resistance and reduce the possibility of scratches. The material of the protective layer includes, but is not limited to, Teflon. Of course, in other embodiments, the rolling element 221 made of Teflon material can also be used directly, and this embodiment does not impose specific limitations on this.

[0097] In some embodiments, such as Figure 6 As shown, the load-bearing structure 220 and the elastic structure 230 are arranged sequentially along the first direction, and the limiting structure 240 is also used to limit the relative position of the test piece 10 and the frame 210 along the first direction.

[0098] Understandably, when the robotic arm pulls the test piece 10 into the frame 210 and places it on the rolling body 221, it uses rolling friction to push the test piece 10 closer to the docking piece 20 on the elastic structure 230. During the insertion process of the docking piece 20 and the test piece 10, the limiting structure 240 cooperates with the test piece 10 to limit the test piece 10 from continuing to move in the direction closer to the docking piece 20, reducing the possibility of over-insertion and ensuring the reliability of the insertion. The limiting structure 240 can also reduce the impact force during the insertion process, thus protecting the test piece 10 and the docking piece 20.

[0099] In some embodiments, such as Figure 6 and Figure 7 As shown, the limiting structure 240 includes a first limiting block 241, which is disposed on the frame 210 and spaced apart from the elastic structure 230. The first limiting block 241 is adapted to abut against the side of the test piece 10 near the elastic structure 230. The material of the first limiting block 241 includes, but is not limited to, Teflon. It should be noted that the specific shape and size of the first limiting block 241 can be designed according to actual needs, and this embodiment does not impose specific limitations on this.

[0100] Understandably, when the test piece 10 approaches the mating member 20 along the first direction on the supporting structure 220, the first limiting block 241 abuts against the side of the test piece 10 along the first direction and close to the elastic structure 230, thereby limiting the possibility of movement of the test piece 10 along the first direction. By precisely limiting the position of the test piece 10 with the first limiting block 241, the reliability of the test piece 10 and the mating member 20 during the insertion process is ensured, and the possibility of damage to the test piece 10 and the mating member 20 due to excessive movement of the test piece 10 during the insertion process is reduced.

[0101] In some embodiments, such as Figure 6 and Figure 7 As shown, the installation position of the first limiting block 241 along the first direction is adjustable, so that the first limiting block 241 can be adjusted according to the size and shape of the test piece 10 to adapt to the different insertion depths required by the test piece 10 and the mating piece 20.

[0102] In some embodiments, such as Figure 6 and Figure 7As shown, one of the frame 210 and the first limiting block 241 is provided with a first elongated hole extending along a first direction, and the other of the frame 210 and the first limiting block 241 is provided with a first mounting hole. That is, by cooperating at different positions of the first mounting hole and the first elongated hole, the mounting position of the first limiting block 241 relative to the frame 210 along the first direction can be adjusted. It should be noted that the number and specific distribution of the first elongated hole and the first mounting hole can be designed according to actual needs, and this embodiment does not impose specific limitations on this.

[0103] In some embodiments, a first scale line is provided on the surface of the frame 210 near the first limiting block 241, which not only facilitates precise adjustment of the position of the first limiting block 241, but also facilitates observation of the process of the test piece 10 approaching the first limiting block 241, ensuring the accuracy and stability of the test operation.

[0104] In some embodiments, such as Figure 6 and Figure 7 As shown, there are two first limiting blocks 241, and the elastic structure 230 is located between the two first limiting blocks 241 to increase the contact area with the test piece 10 and improve the reliability of the limiting.

[0105] In some embodiments, such as Figure 6 and Figure 7 As shown, the limiting structure 240 also includes a plurality of second limiting blocks 242, and at least one second limiting block 242 is provided on each of the two outer sides of the bearing structure 220 along the second direction. The material of the second limiting blocks 242 includes, but is not limited to, Teflon. It should be noted that the specific shape and size of the second limiting blocks 242 can be designed according to actual needs, and this embodiment does not impose specific limitations on this. For example, four second limiting blocks 242 are provided.

[0106] Understandably, when the test piece 10 approaches the mating piece 20 along the first direction on the supporting structure 220, the two sides of the test piece 10, which are positioned opposite each other along the second direction, abut against the corresponding second limiting blocks 242 to limit the possible movement of the test piece 10 along the second direction. By precisely limiting the position of the test piece 10 with the second limiting blocks 242, the reliability of the test piece 10 and the mating piece 20 during the insertion process is ensured, and the insertion accuracy of the test piece 10 and the mating piece 20 is reduced due to the offset of the test piece 10 during the insertion process.

[0107] In some embodiments, such as Figure 6 and Figure 7 As shown, the installation position of the second limiting block 242 along the second direction is adjustable, so that the second limiting block 242 can be adjusted according to the size and shape of the test piece 10 to adapt to different insertion depths required by the test piece 10 and the mating piece 20.

[0108] In some embodiments, such as Figure 6 and Figure 7 As shown, one of the frame 210 and the second limiting block 242 is provided with a second elongated hole extending along the second direction, and the other of the frame 210 and the second limiting block 242 is provided with a second mounting hole. That is, by cooperating at different positions of the second mounting hole and the second elongated hole, the mounting position of the second limiting block 242 relative to the frame 210 along the second direction can be adjusted. It should be noted that the number and specific distribution of the second elongated hole and the second mounting hole can be designed according to actual needs, and this embodiment does not impose specific limitations on this.

[0109] In some embodiments, such as Figure 6 and Figure 7 As shown, the surface of the frame 210 near the second limit block 242 is provided with a second scale line, which not only facilitates precise adjustment of the position of the second limit block 242, but also facilitates observation of the process of the test piece 10 approaching the second limit block 242, ensuring the accuracy and stability of the test operation.

[0110] In some embodiments, such as Figure 8 As shown, the elastic structure 230 includes a first mating member 231, a second mating member 232, and an elastic member 233. The first mating member 231 is provided with a connecting member 20; the second mating member 232 is connected to the frame 210 and is movably connected to the first mating member 231 along a first direction; the elastic member 233 is connected to both the first mating member 231 and the second mating member 232. The elastic member 233 includes, but is not limited to, a spring.

[0111] Understandably, during the insertion process of the test piece 10 and the mating piece 20, the mating piece 20, under the action of the reaction force, drives the first mating piece 231 to move relative to the second mating piece 232, and simultaneously drives the elastic piece 233 to compress and deform, thus buffering and compensating for possible positional deviations during the insertion process, improving the accuracy and efficiency of the insertion. Furthermore, after the test piece 10 is tested and disengaged from the mating piece 20, the elastic piece 233 can be used to reset the test result, improving the automation and reliability of the testing process. Of course, in other embodiments, the elastic block can be directly used to connect the mating piece 20 and the frame 210 respectively, that is, the deformation of the elastic block can be used to achieve the floating of the mating piece 20 along the first direction. This embodiment does not impose specific limitations on this.

[0112] In some embodiments, such as Figure 8 As shown, the elastic structure 230 also includes a guide post 234, which extends along a first direction and passes through the elastic member 233. One end of the guide post 234 is connected to one of the first mating member 231 and the second mating member 232, and the other end is slidably connected to the other of the first mating member 231 and the second mating member 232.

[0113] It is understandable that by setting the guide post 234, the compression and extension directions of the elastic element 233 are always parallel to the first direction, thus ensuring the linearity and stability of the first mating element 231 moving along the first direction.

[0114] In some embodiments, such as Figure 8 As shown, there are two elastic elements 233 and two guide posts 234. The two elastic elements 233 are spaced apart along the second direction to increase the smoothness of the movement of the first mating part 231.

[0115] In some embodiments, such as Figure 8 As shown, the elastic structure 230 also includes a guide component 235, which is disposed between the first mating member 231 and the second mating member 232. The guide component 235 guides the first mating member 231 to move along a first direction, thereby reducing any offset or wobbling in other directions when the first mating member 231 moves along the first direction under the action of the elastic member 233 or the insertion force, and enhancing the stability of the entire insertion process. Exemplarily, the guide component 235 includes a mating slide rail and a slider, one of which is disposed on the first mating member 231, and the other on the second mating member 232.

[0116] In some embodiments, such as Figure 6 and Figure 7 As shown, the testing device 200 also includes a position sensor 250, which is disposed on the frame 210 and near the limiting structure 240. The position sensor 250 is used to detect the position of the test piece 10 on the supporting structure 220, so as to subsequently determine whether the test piece 10 has moved into place. The position sensor 250 includes, but is not limited to, a photoelectric sensor. For example, position sensors 250 are disposed on both the frame 210 near the first limiting block 241 and the second limiting block 242.

[0117] In some embodiments, such as Figure 5 As shown, the frame 210 forms a receiving space 211. Multiple supporting structures 220, elastic structures 230, limiting structures 240, and receiving spaces 211 are provided and correspond one-to-one. The multiple receiving spaces 211 are arranged sequentially along a third direction. It should be noted that the number and size of the receiving spaces 211 can be designed according to actual needs; this embodiment does not impose specific limitations on this.

[0118] Understandably, multiple accommodating spaces 211 are arranged sequentially along a third direction, and each accommodating space 211 accommodates a corresponding test piece 10 and its corresponding supporting structure 220, elastic structure 230, and limiting structure 240, so that multiple test pieces 10 can be tested simultaneously, improving the versatility and applicability of the testing device 200. Furthermore, the design of each accommodating space 211 allows for independent adjustment and optimization of a single limiting structure 240 to meet different testing requirements.

[0119] In some embodiments, such as Figure 5 As shown, the receiving space 211 has an opening, and the elastic structure 230 is disposed in the receiving space 211 and located on the side away from the opening, so that the robot arm can pull the test piece 10 from the opening into the corresponding receiving space 211.

[0120] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0121] 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", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are 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, and therefore should not be construed as a limitation of this application.

[0122] In the description of this application, "first feature" and "second feature" may include one or more of the features.

[0123] In the description of this application, "multiple" means two or more.

[0124] In the description of this application, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact through another feature between them.

[0125] In the description of this application, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0126] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0127] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. An end effector, characterized in that, include: Base (110), used to connect the robot arm body; Mounting component (120) is disposed on the base (110); A driving member (130) is provided with a fixed end on the mounting member (120), and the driving member (130) and the base (110) are respectively located on both sides of the mounting member (120) along a first direction; Two clamping members (140) are connected to the output end of the driving member (130) respectively, for driving the two clamping members (140) to move closer or further away from each other along the second direction, and the clamping members (140) are slidably connected to the mounting member (120), and the first direction and the second direction intersect.

2. The end effector according to claim 1, characterized in that, The clamping member (140) includes: The first segment (141) extends along the second direction and is slidably connected to the mounting member (120); The clamping segment (142) is connected to the side of the first segment (141) away from the drive member (130) and extends along a third direction, wherein the third direction, the second direction and the first direction intersect each other.

3. The end effector according to claim 2, characterized in that, The clamping member (140) also includes: The second segment (143) extends along the first direction, and a plurality of clamping segments (142) are spaced apart on the side of the second segment (143) away from the first segment (141).

4. The end effector according to claim 1, characterized in that, A guide assembly is provided between the clamping member (140) and the mounting member (120) for guiding the clamping member (140) to move relative to the mounting member (120) in the second direction.

5. The end effector according to any one of claims 1 to 4, characterized in that, Also includes: An adsorption element (150), disposed on the mounting element (120) and spaced apart from the clamping element (140) along the first direction, is used to adsorb or release the test specimen (10); and / or A limiting member (160) is disposed on the mounting member (120) and located between the clamping member (140) and the base (110) along the first direction, and is adapted to abut against the test piece (10).

6. The end effector according to any one of claims 1 to 4, characterized in that, Also includes: A connector (170), both ends of which are detachably connected to the two clamping members (140); and / or A pressure sensor (180) is disposed between the mounting member (120) and the base (110) to obtain the pressure signal of the test piece (10) held by the two clamping members (140).

7. The end effector according to any one of claims 1 to 4, characterized in that, Also includes: Two position sensing modules (190) correspond one-to-one with the clamping member (140), and the position sensing modules (190) are used to obtain the position of the corresponding clamping member (140).

8. The end effector according to claim 7, characterized in that, The position sensing module (190) includes: A sensing element (191) is disposed on the clamping element (140); A proximity switch (192) is disposed on the mounting (120) and engages with the sensing element (191).

9. A robotic arm, characterized in that, include: The robotic arm itself; as well as The end effector according to any one of claims 1 to 8, wherein the end effector is disposed on the robot body.

10. A testing device, characterized in that, Including the robotic arm as described in claim 9.

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