A mechanical hand gripping test device

Abstract

The utility model provides a kind of mechanical hand to grab test device, including test table and the mechanical hand fixture main body of fixed installation in test table upper end, the support one and support two are respectively installed in test table upper end, electric telescopic link one is fixedly installed on the support one, electric telescopic link two is fixedly installed on the support two, clamping block is installed on the telescopic rod of electric telescopic link one, and tensile sensor is installed on the telescopic rod of electric telescopic link one and electric telescopic link two.The utility model can realize multidirectional clamping force test: by the cooperation of horizontally distributed electric telescopic link one and vertically distributed electric telescopic link two, respectively complete horizontal direction and vertical direction maximum clamping force test, overall assess the gripping performance of mechanical hand, satisfy the demand of different stress scenarios in actual working condition, the connection mode of device each component is simple, horizontal and vertical direction test switching step is clear, without frequently changing test component, save test time.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, and more specifically, it relates to a robotic arm grasping and testing device. Background Technology

[0002] A robotic arm is an automated operating device that can mimic certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. Its characteristic is that it can be programmed to complete various expected tasks, and its structure and performance combine the advantages of both humans and machines.

[0003] Existing robotic arm gripping testing devices still have some shortcomings in practical use: they can only test the gripping force in a single direction (such as horizontal or vertical), making it difficult to comprehensively evaluate the gripping performance of the robotic arm under different force directions in actual working conditions. Therefore, in view of this, this paper studies and improves the existing structure and its deficiencies to provide a robotic arm gripping testing device with greater practical value. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model provides a robotic arm grasping and testing device, which is achieved by the following specific technical means:

[0005] A robotic gripper testing device includes a test platform and a robotic gripper body fixedly installed on the upper part of the test platform. A first bracket and a second bracket are respectively installed on the upper part of the test platform. An electric telescopic rod 1 is fixedly installed on the first bracket, and an electric telescopic rod 2 is fixedly installed on the second bracket. A gripping block is installed on the telescopic rod of the first electric telescopic rod. Tension sensors are installed on both the first and second electric telescopic rods. Baffles are fixedly installed on both sides of the upper end of the gripping block, forming a sliding groove between the two baffles. A fixing plate is installed at the bottom of the second electric telescopic rod, and a protrusion adapted to the sliding groove is fixedly installed at the bottom end of the fixing plate.

[0006] Furthermore, the second electric telescopic rod is distributed vertically, while the first electric telescopic rod is distributed horizontally.

[0007] Furthermore, the tension sensor on the second telescopic rod of the electric telescopic rod is located at the upper end of the fixed plate.

[0008] Furthermore, a flange two is installed on the first telescopic rod of the electric telescopic rod, and a tension sensor located on the first telescopic rod is located on the flange two.

[0009] Furthermore, a flange is fixedly installed in the middle of the side end of the clamping block, and a bolt is screwed into the flange. The flange is threadedly connected to the flange by the bolt.

[0010] Furthermore, the gripping block is located within the gripper jaws of the robotic arm gripper body.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] I. This robotic gripper testing device can perform multi-directional gripping force testing: by cooperating with the horizontally distributed electric telescopic rod 1 and the vertically distributed electric telescopic rod 2, the maximum gripping force in the horizontal and vertical directions can be tested respectively, comprehensively evaluating the gripping performance of the robotic arm and meeting the needs of different force scenarios in actual working conditions.

[0013] 2. Tension sensors are installed on both the electric telescopic pole one and the electric telescopic pole two to monitor the tension in real time during the test. When testing the vertical direction, the bolts can be removed to separate the two poles, avoiding interference from the horizontal force on the vertical test. The sliding groove of the clamping block matches the protrusion of the fixing plate to ensure stable transmission of vertical tension. The connection method of each component of the device is simple, and the switching steps between horizontal and vertical tests are clear, eliminating the need for frequent replacement of test parts and saving test time. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall mechanical gripping and testing device of this utility model.

[0015] Figure 2 This is a schematic diagram of the clamping block of this utility model.

[0016] Figure 3 This is a schematic diagram of the protrusion of this utility model.

[0017] Figure 4 This is a utility model Figure 1 A magnified diagram of point A in the middle.

[0018] In the diagram, the correspondence between component names and drawing numbers is as follows:

[0019] 1. Test stand; 11. Support 1; 12. Support 2; 2. Main body of robotic gripper; 3. Electric telescopic rod 1; 4. Electric telescopic rod 2; 5. Clamping block; 51. Baffle; 52. Flange 1; 53. Slide groove; 6. Fixing plate; 61. Protrusion; 7. Tension sensor; 8. Flange 2; 81. Bolt. Detailed Implementation

[0020] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of this utility model.

[0021] In the description of this utility model, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model 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 utility model. In addition, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0023] Example:

[0024] As attached Figure 1 To be continued Figure 4 As shown:

[0025] This utility model provides a robotic gripper testing device, including a test platform 1 and a robotic gripper body 2 fixedly installed on the upper end of the test platform 1. A bracket 11 and a bracket 2 12 are respectively installed on the upper end of the test platform 1. An electric telescopic rod 3 is fixedly installed on the bracket 11, and an electric telescopic rod 4 is fixedly installed on the bracket 2 12. A clamping block 5 is installed on the telescopic rod of the electric telescopic rod 3. A tension sensor 7 is installed on the telescopic rods of both the electric telescopic rod 3 and the electric telescopic rod 4. Baffles 51 are fixedly installed on both sides of the upper end of the clamping block 5, and a sliding groove 53 is formed between the two baffles 51. A fixing plate 6 is installed at the bottom of the telescopic rod of the electric telescopic rod 4. A protrusion 61 adapted to the sliding groove 53 is fixedly installed at the bottom end of the fixing plate 6, which facilitates connection with the clamping block 5 and limits the vertical direction, and can measure the clamping force of the robotic gripper body 2 in the vertical direction.

[0026] The electric telescopic rod 4 is distributed vertically and is used to measure the clamping force of the robot gripper body 2 in the vertical direction. The electric telescopic rod 3 is distributed horizontally and is used to measure the clamping force of the robot gripper body 2 in the horizontal direction.

[0027] The tension sensor 7 on the second telescopic pole 4 is located at the upper end of the fixed plate 6. The second flange 8 is installed on the first telescopic pole 3. The tension sensor 7 on the first telescopic pole 3 is located on the second flange 8 to monitor the tension in real time.

[0028] A flange 52 is fixedly installed in the middle of the side end of the clamping block 5. A bolt 81 is screwed into the flange 8. The flange 8 is threadedly connected to the flange 52 by the bolt 81, which facilitates fixing and disassembling the clamping block 5.

[0029] The gripping block 5 is located inside the gripper jaws of the robotic arm gripper body 2.

[0030] The working principle of this embodiment:

[0031] Step 1: Fix the flange 52 on the side of the clamping block 5 to the flange 8 on the telescopic rod of the electric telescopic rod 3 using bolt 81, so that the clamping block 5 and the electric telescopic rod 3 form a rigid connection. Start the electric telescopic rod 3, so that its telescopic rod drives the clamping block 5 to move horizontally until the clamping block 5 is completely inserted into the gripper of the robot gripper body 2, ensuring that the gripper can stably wrap the clamping block 5. Control the gripper of the robot gripper body 2 to close and apply a horizontal clamping force to the clamping block 5. Then start the electric telescopic rod 3 in the opposite direction, so that its telescopic rod moves slowly away from the gripper and applies a reverse horizontal pulling force to the clamping block 5. The tension sensor 7 on the telescopic rod of the electric telescopic rod 3 monitors the magnitude of the pulling force in real time. When the clamping force of the gripper on the clamping block 5 is insufficient to resist the pulling force and the clamping block 5 begins to slide, the maximum value recorded by the tension sensor 7 is the maximum clamping force of the robot in the horizontal direction.

[0032] Step 2: After completing the horizontal clamping force test, control the gripper body 2 of the robotic arm to release the gripper block 5, and activate the electric telescopic rod 3 to move the gripper block 5 horizontally back to its initial position (away from the gripper's initial state). Activate the electric telescopic rod 4 to move the fixed plate 6 vertically downwards, adjusting the height of the protrusion 61 until the protrusion 61 corresponds horizontally to the sliding groove 53 at the upper end of the gripper block 5. Activate the electric telescopic rod 3 again to drive the gripper block 5 to move horizontally, so that the sliding groove 53 is fitted onto the protrusion 61 horizontally until the protrusion 61 is located in the middle of the sliding groove 53. Control the main body of the robotic arm gripper to release the gripper. The grippers of body 2 close, and the gripping force is reapplied to the gripping block 5 to ensure stable gripping. The bolts 81 connecting flange 2 8 and flange 1 52 are removed to completely separate the gripping block 5 from the electric telescopic rod 3, so as to avoid interference from the horizontal force on the subsequent vertical test. The electric telescopic rod 4 is started, and its telescopic rod moves slowly upward. The vertical upward pulling force is applied to the gripping block 5 through the protrusion 61. The tension sensor 7 on the telescopic rod of the electric telescopic rod 4 (located at the upper end of the fixed plate 6) monitors the magnitude of the tension force in real time. When the gripping force of the gripper cannot resist the vertical pulling force and the gripping block 5 is disengaged from the gripper, the maximum value recorded by the tension sensor 7 is the maximum gripping force of the robot in the vertical direction.

[0033] The embodiments of this utility model are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the utility model to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical applications of this utility model, and to enable those skilled in the art to understand this utility model and design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A robotic gripping testing device, comprising a test platform (1) and a robotic gripper body (2) fixedly mounted on the upper end of the test platform (1), characterized in that: The test bench (1) is equipped with a bracket 1 (11) and a bracket 2 (12) respectively. An electric telescopic rod 1 (3) is fixedly installed on the bracket 1 (11), and an electric telescopic rod 2 (4) is fixedly installed on the bracket 2 (12). A clamping block (5) is installed on the telescopic rod of the electric telescopic rod 1 (3). A tension sensor (7) is installed on the telescopic rods of both the electric telescopic rod 1 (3) and the electric telescopic rod 2 (4). Among them, baffles (51) are fixedly installed on both sides of the upper end of the clamping block (5), and a sliding groove (53) is formed between the two baffles (51). A fixing plate (6) is installed at the bottom of the electric telescopic rod (4), and a protrusion (61) that matches the sliding groove (53) is fixedly installed at the bottom end of the fixing plate (6).

2. The robotic gripping and testing device as described in claim 1, characterized in that: The second electric telescopic pole (4) is distributed vertically, and the first electric telescopic pole (3) is distributed horizontally.

3. The robotic gripping and testing device as described in claim 1, characterized in that: The tension sensor (7) on the electric telescopic pole (4) is located at the upper end of the fixed plate (6).

4. The robotic gripping and testing device as described in claim 1, characterized in that: The electric telescopic rod one (3) is equipped with flange two (8), and the tension sensor (7) located on the electric telescopic rod one (3) is located on flange two (8).

5. The robotic gripping and testing device as described in claim 4, characterized in that: A flange one (52) is fixedly installed in the middle of the side end of the clamping block (5), and a bolt (81) is screwed into the flange two (8). The flange two (8) is threadedly connected to the flange one (52) by the bolt (81).

6. The robotic gripping and testing device as described in claim 1, characterized in that: The clamping block (5) is located inside the gripper of the robotic arm gripper body (2).

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