A torque detection device for a micro robot arm

Abstract

The utility model relates to the field of mechanical arm detection discloses a torque detection device for micro -mechanical arm, including detection station, the top fixedly connected with the outer cover of detection station, the front portion of detection station is installed with fixed mechanism, the rear portion of detection station is installed with lifting assembly, the upper portion of lifting assembly is installed with torque detector, the relevant joint motor is placed on fixed mechanism, the rear portion of joint motor is installed with the connecting flange, the fixed mechanism includes electric telescopic handle, the top of electric telescopic handle is provided with the compression assembly, the compression assembly is provided with the clamping positioning assembly, the clamping positioning assembly includes the shell, the shell is fixedly connected with detection station. In the utility model, through setting up electric telescopic handle, compression assembly, fixed clamping assembly and other parts support mutual cooperation, make the device can fix the joint motor of different size, and the versatility is stronger, is more practical.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm detection, and in particular to a torque detection device for a micro robotic arm. Background Technology

[0002] Miniature robotic arms, with their compact structure and high-precision motion control, are widely used in fields such as precision electronic assembly, minimally invasive medical surgery, and laboratory sample handling. As the core power component of miniature robotic arms, the stability and accuracy of the output torque of the joint motor directly determine the accuracy of the robotic arm's movements. For example, in electronic component welding operations, if the joint motor torque is too small, it will result in insufficient welding pressure, while if it is too large, it may damage the component. Current torque detection devices for joint motors in micro robotic arms have significant drawbacks. First, most detection devices use an integral fixed structure, which cannot be adapted to joint motors of different models and installation sizes, resulting in poor versatility. Second, existing joint motor torque detection often requires the installation of a long lever arm on the joint motor, which leads to a large space requirement for detection, and the rotating lever arm can easily injure workers, making it impractical. Therefore, a torque detection device for micro robotic arms is proposed to solve the above problems. Utility Model Content

[0003] To overcome the above shortcomings, this utility model provides a torque detection device for micro robotic arms, which aims to improve the existing technology where most detection devices adopt an integral fixed structure, which cannot be adapted to joint motors of different models and installation sizes, resulting in poor versatility.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a torque detection device for a micro robotic arm, comprising a detection platform, an outer cover fixedly connected to the top of the detection platform, a fixing mechanism installed at the front of the detection platform, a lifting assembly installed at the rear of the detection platform, a torque detector installed on the upper part of the lifting assembly, a joint motor placed on the fixing mechanism, a connecting flange installed at the rear of the joint motor, the fixing mechanism including an electric telescopic rod, a pressing assembly provided at the top of the electric telescopic rod, a clamping and positioning assembly provided on the pressing assembly, the clamping and positioning assembly including a housing, the housing being fixedly connected to the detection platform, and a No. 1 electric motor fixedly connected to the right side of the housing. The machine has a bidirectional screw fixedly connected to the output end of the first motor via a coupling. The bidirectional screw passes through and is rotatably connected to the outer casing. A slider is slidably connected to the rightmost side of the inner casing. The bidirectional screw passes through and is threadedly connected to the slider. A vertical plate is fixedly connected to the top of the slider. Clamping blocks are fixedly connected to the sides of the two vertical plates that are close to each other. A limiting seat is fixedly connected to the top of the outer casing. The clamping assembly includes a connecting plate. The connecting plate is fixedly connected to the output end of the electric telescopic rod. Support rods are slidably connected to the top left and right sides of the connecting plate. The support rods pass through and are slidably connected to the vertical plates and the slider. A top plate is fixedly connected to the top of the support rods. A stop block is fixedly connected to the bottom of the top plate.

[0005] As a further description of the above technical solution: The support frame is connected to the outer shell through and movably, and the bottom of the outer shell has an opening that is adapted to the support frame.

[0006] As a further description of the above technical solution: The support frame is connected to the testing platform through and in a movable manner, and the front of the testing platform has an opening that is adapted to the support frame.

[0007] As a further description of the above technical solution: The bottom of the testing platform is fixedly connected to a mounting frame, the electric telescopic rod is fixedly connected to the mounting frame, and the output end of the electric telescopic rod is connected to the mounting frame through and movably.

[0008] As a further description of the above technical solution: A connecting column is fixedly connected to the rear of the connecting flange.

[0009] As a further description of the above technical solution: The lifting assembly includes a base plate, which is fixedly connected to the testing platform. The output end of the base plate passes through and is movably connected to the testing platform. An electric push rod is fixedly connected to the top of the base plate.

[0010] As a further description of the above technical solution: The bottom of the electric push rod is fixedly connected with multiple positioning columns, which are movably connected to the testing platform.

[0011] This utility model has the following beneficial effects: 1. In this utility model, by setting up the mutual cooperation of components such as electric telescopic rod, pressing assembly, and fixing clamping assembly, the device can fix joint motors of different sizes, making it more versatile and practical.

[0012] 2. In this utility model, by setting up the cooperation between components such as the base plate, electric push rod, positioning column, and connecting column, the height of the torque detector can be adjusted, thereby adapting to the detection of joint motors of different sizes. By setting up the cooperation between components such as the connecting flange and connecting rod, the joint motor can be better detected for torque. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall three-dimensional structure of a torque detection device for a micro robotic arm proposed in this utility model. Figure 2 This is a schematic diagram of the overall lower three-dimensional structure of a torque detection device for a micro robotic arm proposed in this utility model; Figure 3 This is a schematic diagram of the overall three-dimensional structure of the fixing mechanism of the torque detection device for a micro robotic arm proposed in this utility model; Figure 4 This is a three-dimensional structural diagram showing the disassembled fixing mechanism of a torque detection device for a micro robotic arm proposed in this utility model.

[0014] Legend: 1. Testing table; 2. Outer cover; 3. Fixing mechanism; 4. Joint motor; 5. Torque meter; 6. Lifting assembly; 7. Connecting flange; 11. Mounting bracket; 31. Electric telescopic rod; 32. Clamping assembly; 33. Clamping and positioning assembly; 321. Connecting plate; 322. Support frame; 323. Top plate; 324. Abutment block; 331. Outer shell; 332. Limit seat; 333. Motor No. 1; 334. Bidirectional screw; 335. Slider; 336. Vertical plate; 337. Clamping block; 61. Base plate; 62. Electric push rod; 63. Positioning column; 71. Connecting column. Detailed Implementation

[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0016] Reference Figure 1 - Figure 3 This utility model provides an embodiment of a torque detection device for a micro-robotic arm, comprising a detection platform 1 for connecting various components, an outer cover 2 fixedly connected to the top of the detection platform 1 for protecting the components, a fixing mechanism 3 installed at the front of the detection platform 1 for limiting the joint motor 4, a lifting assembly 6 installed at the rear of the detection platform 1 for adjusting the height of a torque detector 5 to detect torque of joint motors 4 of different sizes, a torque detector 5 installed on the upper part of the lifting assembly 6 for detecting the joint motor 4, a joint motor 4 (which is the joint motor of the micro-robotic arm) placed on the fixing mechanism 3, a connecting flange 7 installed at the rear of the joint motor 4 for movably connecting to the joint motor 4, the flange 7 being sized to be selected according to different sizes of joint motors 4, and a connecting column 71 fixedly connected to the rear of the connecting flange 7 for connecting to the torque detector 5.

[0017] like Figure 4As shown, the fixing mechanism 3 includes an electric telescopic rod 31, which is used to control the clamping assembly 32. The clamping assembly 32 is provided on the top of the electric telescopic rod 31, which is used to fix the joint motor 4 from above. The clamping assembly 32 is provided with a clamping and positioning assembly 33, which is used to clamp and fix the joint motor 4. The clamping and positioning assembly 33 includes a housing 331, which is used to connect the various components. The housing 331 is fixedly connected to the testing table 1. A first motor 333 is fixedly connected to the right side of the housing 331, which is used to provide power to the assembly. The output end of the first motor 333 is fixedly connected to a bidirectional screw 334 through a coupling, which is used to adjust the position of the slider 335. The outer wall has threads in opposite directions on the left and right sides. The bidirectional screw 334 passes through and is rotatably connected to the outer shell 331. The slider 335 is slidably connected to the rightmost side of the inner shell 331. The bidirectional screw 334 passes through and is threadedly connected to the slider 335. The top of the slider 335 is fixedly connected to the upright plate 336, which is used to connect various components. The two upright plates 336 are fixedly connected to the side close to each other, and the two clamping blocks 337 are fixedly connected to the side close to each other. The top of the outer shell 331 is fixedly connected to the limit seat 332, which has a V-shaped groove on its upper part for limiting the joint motor of the micro robotic arm. The upper part of the limit seat 332 is equipped with a rubber pad.

[0018] Furthermore, the clamping assembly 32 includes a connecting plate 321, which is used to connect various components. The connecting plate 321 is fixedly connected to the output end of the electric telescopic rod 31. Support rods 322 are slidably connected to the top left and right sides of the connecting plate 321. Each support rod consists of two uprights. The support rods 322 are connected to the upright plate 336 and the slider 335 through and slidably. A top plate 323 is fixedly connected to the top of the support rods 322. A stop block 324 is fixedly connected to the bottom of the top plate 323. The lower part of the top plate 323 is set as an inclined surface and a rubber pad is fixedly connected to it.

[0019] like Figure 2 and Figure 4 As shown, the support frame 322 is connected to the outer shell 331 through and movably. The bottom of the outer shell 331 has an opening that matches the support frame 322. The support frame 322 is connected to the testing table 1 through and movably. The front of the testing table 1 has an opening that matches the support frame 322, so as to facilitate the movement of the support frame 322.

[0020] Furthermore, a mounting frame 11 is fixedly connected to the bottom of the testing table 1, and an electric telescopic rod 31 is fixedly connected to the mounting frame 11. The output end of the electric telescopic rod 31 passes through and is movably connected to the mounting frame 11 to cooperate in fixing the electric telescopic rod 31.

[0021] like Figure 2 - Figure 3As shown, the lifting assembly 6 includes a base plate 61, a torque detector 5 fixed on the base plate 61, a base plate 61 fixedly connected to a testing platform 1, an output end of the base plate 61 penetrating and movably connected to the testing platform 1, an electric push rod 62 fixedly connected to the top of the base plate 61 for adjusting the height of the base plate 61, and multiple positioning columns 63 fixedly connected to the bottom of the electric push rod 62 for restricting the movement direction and horizontal state of the base plate 61. The positioning columns 63 penetrating and movably connected to the testing platform 1.

[0022] Working principle: In use, first install the appropriate connecting flange 7 on the output end of the joint motor 4 of the micro robotic arm, then place the joint motor 4 to be tested on the limit seat 332, then turn on the electric push rod 62 to drive the base plate 61 to move up or down, so that the torque detector 5 can be adjusted to a suitable height. Then, insert the connecting column 71 into the detection end of the torque detector 5 and fix it in place. Then turn on the first motor 333, which will drive the bidirectional screw 334 to rotate, thereby driving the two sliders 335 to move closer to each other. When the two sliders 335 move, the vertical plate 336 fixed to them will move accordingly, thereby driving the two clamping blocks 3 37. The two plates 323 move closer together and clamp the side of the joint motor 4. At the same time, since the support frame 322 is installed in the middle of the upright, the support frame 322 will be moved along with it, thereby causing the two top plates 323 to move closer together. When the upright plate 336 stops moving, the electric telescopic rod 31 can be opened, which will drive the connecting plate 321 fixed to it to move downward, thereby driving the support frame 322 connected to the connecting plate 321 to move downward. This will cause the top plate 323 at the top of the support frame 322 to push the abutment block 324 downward, thereby pressing the joint motor 4 from the top, thus completing the limit of the joint motor 4. Then, the torque detector 5 can be provided to detect the torque of the joint motor 4.

[0023] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A torque detection device for a micro robotic arm, comprising a detection platform (1), characterized in that: The top of the testing platform (1) is fixedly connected to an outer cover (2), a fixing mechanism (3) is installed at the front of the testing platform (1), a lifting assembly (6) is installed at the rear of the testing platform (1), a torque detector (5) is installed on the upper part of the lifting assembly (6), a joint motor (4) is placed on the fixing mechanism (3), and a connecting flange (7) is installed at the rear of the joint motor (4). The fixing mechanism (3) includes an electric telescopic rod (31), a pressing assembly (32) is provided on the top of the electric telescopic rod (31), and a clamping and positioning assembly (33) is provided on the pressing assembly (32). The clamping and positioning assembly (33) includes a housing (331), which is fixedly connected to the testing table (1). A first motor (333) is fixedly connected to the right side of the housing (331), and a bidirectional screw is fixedly connected to the output end of the first motor (333) through a coupling. (334), the bidirectional screw (334) passes through and is rotatably connected to the outer shell (331), the rightmost side of the inner shell (331) is slidably connected to the slider (335), the bidirectional screw (334) passes through and is threadedly connected to the slider (335), the top of the slider (335) is fixedly connected to the upright plate (336), the two upright plates (336) are fixedly connected to the side that is close to each other, and the top of the outer shell (331) is fixedly connected to the limit seat (332). The clamping assembly (32) includes a connecting plate (321), which is fixedly connected to the output end of the electric telescopic rod (31). Support rods (322) are slidably connected to the top left and right sides of the connecting plate (321). The support rods (322) are connected to the upright plate (336) and the slider (335) through and slidably. A top plate (323) is fixedly connected to the top of the support rods (322), and a stop block (324) is fixedly connected to the bottom of the top plate (323).

2. The torque detection device for a micro-robotic arm according to claim 1, characterized in that: The support frame (322) is connected to the outer shell (331) through and movably connected. The bottom of the outer shell (331) has an opening that is adapted to the support frame (322).

3. The torque detection device for a micro-robotic arm according to claim 1, characterized in that: The support frame (322) is connected to the testing table (1) through and movably connected. The front of the testing table (1) has an opening that is compatible with the support frame (322).

4. The torque detection device for a micro-robotic arm according to claim 1, characterized in that: The bottom of the testing platform (1) is fixedly connected to a mounting frame (11), and the electric telescopic rod (31) is fixedly connected to the mounting frame (11). The output end of the electric telescopic rod (31) passes through and is movably connected to the mounting frame (11).

5. The torque detection device for a micro-robotic arm according to claim 1, characterized in that: A connecting column (71) is fixedly connected to the rear of the connecting flange (7).

6. The torque detection device for a micro-robotic arm according to claim 1, characterized in that: The lifting assembly (6) includes a base plate (61), which is fixedly connected to the testing table (1). The output end of the base plate (61) is connected to the testing table (1) through and movably. An electric push rod (62) is fixedly connected to the top of the base plate (61).

7. A torque detection device for a micro-robotic arm according to claim 6, characterized in that: The bottom of the electric push rod (62) is fixedly connected with a positioning column (63), and there are multiple such positioning columns (63). The positioning column (63) is connected to the detection table (1) through and movably connected.

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