Multi-directional adjustable mechanical arm collision force detection tool

Abstract

The utility model belongs to the field of robot technology, and relates to a multi -direction adjustable mechanical arm collision force detection frock, including base, and first adjusting module and second adjusting module set up on the base, first adjusting module rotation setting is in the base, second adjusting module rotation setting is in first adjusting module, and the adapter plate for connecting force sensor is equipped on the second adjusting module, first adjusting module vertical setting is in the base, and first adjusting module can carry out the circumferential rotation on the base along the central shaft of its vertical direction, the vertical setting between second adjusting module and first adjusting module, and the rotation central axle of second adjusting module is perpendicular with the rotation central axle of first adjusting module. The utility model has the advantages of simple overall structure, reasonable in design, convenient operation, flexible adjustment, high detection accuracy and efficiency, less frock adjustment time in the testing process, low labor intensity of operating personnel and the like.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to a multi-directional adjustable robotic arm collision force detection fixture. Background Technology

[0002] In industrial applications of collaborative robots, these robots need to share workspaces with humans, making collision force testing a crucial technical requirement. Traditional robot collision testing primarily focuses on minimizing the impact of collision forces on the robot itself and surrounding equipment to prevent damage. However, in the context of collaborative robots, the safety and comfort of human-robot interaction become critical issues.

[0003] Because collaborative robots may come into very close proximity to humans when working together, excessive collision forces could cause injury. Therefore, a device is needed to measure and detect the collision forces between the robot and the human body. Furthermore, since different tasks and operations may apply forces in different directions, single-directional collision force testing cannot meet the testing needs of multi-directional movements of robotic arms in real-world working scenarios; thus, multi-dimensional collision force testing becomes particularly important. Utility Model Content

[0004] The purpose of this invention is to solve the problems of difficulty in multi-directional collision force detection and low detection efficiency in existing technologies. It designs a multi-directional adjustable robotic arm collision force detection fixture that is simple in structure, stable and reliable, convenient and effective, and improves detection accuracy and efficiency.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is: a multi-directional adjustable robotic arm collision force detection fixture, including a base, and a first adjustment module and a second adjustment module disposed on the base. The first adjustment module is rotatably disposed on the base, and the second adjustment module is rotatably disposed on the first adjustment module. The second adjustment module is provided with an adapter plate for connecting a force sensor.

[0006] Preferably, the first adjustment module is vertically mounted on the base, and the first adjustment module is capable of rotating circumferentially on the base along its vertical central axis.

[0007] Preferably, the second adjustment module is arranged perpendicularly to the first adjustment module, and the rotation center axis of the second adjustment module is perpendicular to the rotation center axis of the first adjustment module.

[0008] Preferably, the first adjustment module and the second adjustment module are respectively connected to their respective servo motors and can rotate under the action of their respective servo motors.

[0009] Preferably, the central axis of the adapter plate is perpendicular to the central axis of the second adjustment module.

[0010] Preferably, the system also includes a controller, which is electrically connected to the first adjustment module and the second adjustment module.

[0011] Preferably, the controller is also connected to a force sensor signal.

[0012] After adopting the above technical solution, the multi-directional adjustable robotic arm collision force detection fixture provided by this utility model has the following beneficial effects:

[0013] This invention, through the design of the first and second adjustment modules, enables multi-angle adjustment of the force sensor in three-dimensional space, facilitating the detection of collision forces of the robotic arm in different directions. The design of the servo motor and controller allows for precise adjustment of the collision detection position and angle, improving detection accuracy and efficiency. The connection design between the controller and the force sensor enables real-time acquisition and analysis of collision force data, providing accurate data support for the performance evaluation and optimization of the robotic arm. Therefore, this invention offers advantages such as simple overall structure, reasonable design, convenient operation, flexible adjustment, high detection accuracy and efficiency, minimal tooling adjustment time during testing, and low operator workload. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of a multi-directional adjustable robotic arm collision force detection fixture according to this utility model.

[0015] The components include: base 1, first adjustment module 2, second adjustment module 3, force sensor 4, adapter plate 5, controller 6, and load 7. Detailed Implementation

[0016] The present invention will now be described in further clear and complete detail with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0017] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0018] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0019] In the description of this utility model, it should be understood that the directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms 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 on the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours of each component itself.

[0020] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0021] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this utility model.

[0022] This utility model discloses a multi-directional adjustable robotic arm collision force detection fixture, such as... Figure 1 As shown, the system includes a base 1, and a first adjustment module 2 and a second adjustment module 3 mounted on the base 1. The first adjustment module 2 is rotatably mounted on the base 1. Specifically, the first adjustment module 2 is vertically mounted on the base 1 and can rotate circumferentially on the base 1 along its vertical central axis. The second adjustment module 3 is rotatably mounted on the first adjustment module 2. Specifically, the second adjustment module 3 is perpendicular to the first adjustment module 2, and the rotation central axis of the second adjustment module 3 is perpendicular to the rotation central axis of the first adjustment module 2. The outer periphery of the second adjustment module 3 is provided with an adapter plate 5 for connecting a force sensor 4. The adapter plate 5 can connect any force sensor 4. During testing, the force sensor 4 is connected to the robotic arm load 7. Specifically, the central axis of the adapter plate 5 is perpendicular to the central axis of the second adjustment module 3. With this design, through the cooperation between the first adjustment module 2, which can rotate around the vertical axis, and the second adjustment module 3, which can rotate around the horizontal axis (they can rotate together or be controlled separately), the collision force sensor 4 can be adjusted at multiple angles in three-dimensional space, thereby facilitating the detection of collision forces of the robotic arm in different directions.

[0023] To better control the detection position and angle, a controller 6 is also included. The controller 6 is electrically connected to the first adjustment module 2 and the second adjustment module 3. Specifically, the first adjustment module 2 and the second adjustment module 3 are respectively connected to their respective servo motors and can rotate under the action of their respective servo motors. By controlling their respective servo motors through the controller 6, the position and angle of the collision detection can be precisely adjusted, thereby improving the accuracy and efficiency of the detection.

[0024] Furthermore, the controller 6 is also connected to the force sensor 4, so that the controller 6 can collect and analyze collision force data in real time, providing accurate data support for the performance evaluation and optimization of the robotic arm.

[0025] In summary, the multi-directional adjustable robotic arm collision force detection fixture provided by this utility model has the advantages of simple overall structure, reasonable design, convenient operation, flexible adjustment, high detection accuracy and efficiency, less fixture adjustment time during testing, and low labor intensity for operators. It has great market value and is worthy of widespread promotion and application.

[0026] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A multi-directional adjustable robotic arm collision force detection fixture, characterized in that: It includes a base (1), and a first adjustment module (2) and a second adjustment module (3) disposed on the base (1). The first adjustment module (2) is rotatably disposed on the base (1), and the second adjustment module (3) is rotatably disposed on the first adjustment module (2). The second adjustment module (3) is provided with an adapter plate (5) for connecting a force sensor (4).

2. The multi-directional adjustable robotic arm collision force detection fixture according to claim 1, characterized in that: The first adjustment module (2) is vertically mounted on the base (1), and the first adjustment module (2) can rotate in a circle on the base (1) along its vertical central axis.

3. The multi-directional adjustable robotic arm collision force detection fixture according to claim 1, characterized in that: The second adjustment module (3) is vertically arranged with respect to the first adjustment module (2), and the rotation center axis of the second adjustment module (3) is perpendicular to the rotation center axis of the first adjustment module (2).

4. The multi-directional adjustable robotic arm collision force detection fixture according to claim 1, characterized in that: The first adjustment module (2) and the second adjustment module (3) are respectively connected to their respective servo motors and can rotate under the action of their respective servo motors.

5. The multi-directional adjustable robotic arm collision force detection fixture according to claim 1, characterized in that: The central axis of the adapter plate (5) is perpendicular to the central axis of the second adjustment module (3).

6. The multi-directional adjustable robotic arm collision force detection fixture according to claim 1, characterized in that: It also includes a controller (6), which is electrically connected to the first adjustment module (2) and the second adjustment module (3).

7. The multi-directional adjustable robotic arm collision force detection fixture according to claim 6, characterized in that: The controller (6) is also connected to the force sensor (4) via signal.

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