Robot end-effector durability and gripping force testing apparatus

Abstract

The present invention relates to a device for testing the durability and gripping force of a robot end effector, and more specifically, to a device comprising: a work table; a moving module coupled with a plurality of mounting jigs for mounting an end effector, which is movably disposed on the upper part of the work table in a first direction and a second direction orthogonal to the first direction; a gripping count measuring module disposed on the upper part of the work table and measuring the number of gripping operations of an end effector coupled to the mounting jigs; and a gripping force measuring module disposed on the upper part of the work table spaced apart from the gripping count measuring module and measuring the gripping force of an end effector coupled to the mounting jigs, wherein at least one end effector is mounted on the mounting jigs, moves on the work table via the moving module, and is measured and analyzed through at least one of the gripping count measuring module and the gripping force measuring module.

Description

Technology Field

[0001] The present invention relates to a test device for a robot end effector, and more particularly to a device for testing the durability and gripping force of a robot end effector. Background Technology

[0002] Advancements in robotic technology are playing a significant role in industrial automation, healthcare, defense, services, and space exploration. In particular, as the importance of Human-Robot Collaboration (HRC) grows, the role of robotic end effectors is receiving increasing attention. With the increasing proliferation of not only industrial robots but also medical and biomimetic robots, there is a growing need for end effectors capable of precise tasks and high durability.

[0003] A robot is broadly composed of a power transmission system, a control system, sensors, software, and end effectors. Among these, the end effector acts as the robot's hand, performing functions such as grasping or manipulating various objects. Therefore, the design and performance of the end effector are directly related to the robot's overall utility.

[0004] End effectors are one of the key elements determining a robot's functionality and efficiency, and are used to pick up or manipulate objects in various environments. In particular, industrial robots perform tasks such as assembly, welding, and loading, while medical robots handle precise surgery and assist with treatment. Additionally, service robots provide support for users' daily lives.

[0005] Biomimetic end-effect devices are designed to mimic the structure and movement patterns of a human hand. This enables precise manipulation and force control, and allows for a wider range of tasks than conventional simple clamp-type end-effect devices. This technology can be widely utilized in the fields of electric prosthetic arms, rehabilitation aids, and medical robots.

[0006] End effectors may experience performance degradation due to wear and fatigue during continuous use. Additionally, since they must operate stably while maintaining a constant force in various working environments, accurate measurement of durability and grip force is essential. Therefore, there is a need for a precise evaluation device for testing the durability and force of end effectors. Prior art literature

[0007] (0001) Korean Registered Patent No. 10-2678996 The problem to be solved

[0008] The technical problem that the present invention aims to solve is to provide a durability and gripping force testing device for a robot end effector that can precisely test the durability and gripping force of the robot end effector.

[0009] Another technical problem that the present invention aims to solve is to provide a durability and gripping force testing device for a robot end effector equipped with a mounting jig that can precisely measure the number of gripping operations and gripping force, and can mount various end effectors.

[0010] Another technical problem that the present invention aims to solve is to provide a durability and gripping force testing device for a robot end effector that can be adjusted to suit a fixed measuring device by changing the measurement position and orientation of the end effector through a moving module.

[0011] The technical problems to be solved by the present invention are not limited to those mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art to which the present invention belongs from the description below. means of solving the problem

[0012] The durability and gripping force testing device for a robot end effector according to the present invention, for achieving the above technical problem, is for testing the durability and gripping force of a robot end effector and comprises: a work table; a moving module coupled with a plurality of mounting jigs for mounting an end effector, which is movably disposed on the upper part of the work table in a first direction and a second direction orthogonal to the first direction; a gripping count measuring module disposed on the upper part of the work table and measuring the number of gripping operations of an end effector coupled to the mounting jigs; and a gripping force measuring module disposed on the upper part of the work table spaced apart from the gripping count measuring module and measuring the gripping force of an end effector coupled to the mounting jigs, wherein at least one end effector is mounted on the mounting jigs, moves on the work table via the moving module, and is measured and analyzed through at least one of the gripping count measuring module and the gripping force measuring module.

[0013] In addition, the mounting jig comprises: a first shaft positioned in a third direction orthogonal to the first direction and the second direction at the upper part of the moving module; and a coupling member having one end connected to the first shaft so as to be adjustable in rotational angle with the third direction as a rotation axis, and having a terminal effect device detachably attached to the other end, wherein the coupling member is composed of a plurality of members.

[0014] Additionally, the moving module comprises: a first moving module that moves a first transfer plate along the first direction; and a second moving module that moves a second transfer plate positioned on the upper part of the first transfer plate along the second direction in a third direction orthogonal to the first direction and the second direction, wherein the mounting jig is coupled to the second moving module.

[0015] Additionally, the gripping count measuring module comprises: a second shaft positioned in a third direction orthogonal to the first direction and the second direction; a height adjuster that moves along the second shaft in the third direction in accordance with the position of the end effector and whose coupling angle is adjusted with the third direction as a rotation axis; and a sensing module coupled to the height adjuster so as to be adjustable in rotation angle with the first direction as a rotation axis and measuring the number of gripping operations of the end effector.

[0016] In addition, the gripping force measuring module is characterized by having a rotation angle that is adjusted with a third direction orthogonal to the first direction and the second direction as a rotation axis, and including a load cell arranged in the third direction.

[0017] The above embodiments of the present invention are merely some of the preferred embodiments of the present invention, and various embodiments reflecting the technical features of the present invention can be derived and understood by those skilled in the art based on the detailed description of the present invention to be described below. Effects of the invention

[0018] The present invention described above has the following effects.

[0019] First, the present invention includes a moving module movable on a work table, a gripping count measuring module for measuring the number of gripping operations, and a gripping force measuring module for measuring the gripping force, thereby enabling precise measurement of the repetitive operation and performance change of the end effector. Through this, it is possible to evaluate the durability of the end effector and analyze the decrease in gripping force, thereby enabling the construction of a more reliable robot system.

[0020] In addition, the mounting jig according to one embodiment of the present invention is designed to adjust the rotation angle around the first shaft, so that various mounting conditions of the end effector can be applied and tested, and since it includes a plurality of coupling members, various types of end effectors can be mounted and tested.

[0021] In addition, the gripping count measurement module according to one embodiment of the present invention includes a height adjustment member that is movable along a second shaft and capable of adjusting the rotation angle, thereby providing an optimal measurement environment tailored to the position and shape of the end effector, and can precisely measure the number of gripping operations through a sensing module, so that performance degradation due to repetitive operations can be effectively evaluated.

[0022] In addition, the gripping force measuring module according to one embodiment of the present invention includes a load cell to precisely measure the gripping force of the end effector and is designed to allow adjustment of the rotation angle, thereby enabling the measurement of changes in gripping force in various directions. Through this, the gripping performance of the end effector can be analyzed from multiple angles, allowing for the identification and correction of potential problems that may occur during actual application.

[0023] The effects obtainable from the present invention are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art from the description below. Brief explanation of the drawing

[0024] FIG. 1 is a perspective view of the configuration according to one embodiment of the durability and gripping force test device of the robot end effector of the present invention. FIG. 2 is a perspective view showing a moving module and a mounting jig according to an embodiment of the present invention. FIG. 3 is a perspective view showing a grip count measurement module according to an embodiment of the present invention. FIG. 4 is a perspective view showing a gripping force measuring module according to one embodiment of the present invention. FIG. 5 is a perspective view showing a state of use according to one embodiment of the present invention. Figure 6 is a perspective view of Figure 5 shown from a different angle. FIG. 7 is a conceptual diagram of the connection configuration of a grip count measurement module and a grip force measurement module according to an embodiment of the present invention. Specific details for implementing the invention

[0025] Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that in assigning reference numerals to the components of each drawing, the same components are given the same reference numeral whenever possible, even if they are shown in different drawings. Furthermore, in describing the embodiments of the present invention, if it is determined that a detailed description of related known components or functions would hinder understanding of the embodiments of the present invention, such detailed description is omitted.

[0026] In addition, terms such as first, second, A, B, (a), (b), etc., may be used when describing the components of the embodiments of the present invention. These terms are intended merely to distinguish the components from other components, and the essence, order, or sequence of the components is not limited by these terms. Where it is stated that a component is "connected," "combined," or "joined" to another component, it should be understood that the component may be directly connected or joined to the other component, but that components may also be "connected," "combined," or "joined" between each component.

[0027] Hereinafter, embodiments will be described in detail with reference to the attached drawings. Identical or corresponding components regardless of drawing symbols will be assigned the same reference number, and redundant descriptions thereof will be omitted. Furthermore, while the embodiments are described using a Cartesian coordinate system, it is understood that they may be described using other coordinate systems. In the Cartesian coordinate system, the x-axis, y-axis, and z-axis shown in each drawing are orthogonal to each other, but the embodiments are not limited thereto. The x-axis, y-axis, and z-axis may intersect each other.

[0028] FIG. 1 is a perspective view of the configuration according to an embodiment of the durability and gripping force test device of the robot end effector according to the present invention, FIG. 2 is a perspective view showing a moving module and a mounting jig according to an embodiment of the present invention, FIG. 3 is a perspective view showing a gripping count measurement module according to an embodiment of the present invention, FIG. 4 is a perspective view showing a gripping force measurement module according to an embodiment of the present invention, FIG. 5 is a perspective view showing a usage state according to an embodiment of the present invention, FIG. 6 is a perspective view showing FIG. 5 from a different angle, and FIG. 7 is a conceptual diagram of the connection configuration state of the gripping count measurement module and the gripping force measurement module according to an embodiment of the present invention.

[0029] Hereinafter, with reference to FIGS. 1 to 7, a durability and gripping force test device for a robot end effector according to the present invention (hereinafter referred to as the "test device") will be described.

[0030] First, the end effector (1) applicable to the present invention is a device attached to the end of a robot to grasp and manipulate a specific object, and can have various forms and structures. Generally, there are forms such as mechanical grippers, vacuum grippers, and electromagnetic grippers, and in the present invention, the durability and gripping force of the end effector (1) in the form of a mechanical gripper can be tested.

[0031] The end effector (1) provides different gripping methods and gripping forces depending on the working environment and application, and during testing, repetitive motions and gripping force measurements must be performed according to the corresponding characteristics. For example, in the case of a mechanical gripper, the number of gripping motions and clamping pressure can be measured.

[0032] A test device according to one embodiment of the present invention may be configured to include a work table (10), a moving module (20), a mounting jig (30), a gripping count measuring module (40), and a gripping force measuring module (50).

[0033] A work table (10) according to one embodiment of the present invention is a support structure that serves as a standard during the process of testing the durability and gripping force of a robot end effector (1), and can be designed to stably mount various modules.

[0034] The work table (10) is formed as a flat structure and can be configured to stably support the moving module (20), mounting jig (30), grip count measuring module (40), and gripping force measuring module (50) so that the testing process can be performed smoothly.

[0035] The work table (10) has a predetermined thickness and can be configured in various forms, such as a rectangular panel.

[0036] A moving module (20) is disposed on one side of the upper part of the work table (10), and the moving module (20) can be installed to be movable in a first direction (x-axis direction) and a second direction (y-axis direction).

[0037] A grip count measuring module (40) and a grip force measuring module (50) may be installed on the upper side of the work table (10).

[0038] The gripping count measuring module (40) can be positioned to measure the number of times the end effector (1) mounted on the mounting jig (30) repeatedly performs bending and straightening movements at a set cycle.

[0039] The gripping force measuring module (50) can precisely measure the gripping force generated when the end effector (1) grips.

[0040] The work table (10) can be made of a metal with excellent rigidity or a high-strength composite material so as not to be deformed by vibration and external shock during testing. In addition, it can be transformed into a fixed or height-adjustable structure depending on the experimental environment, allowing it to be used under various test conditions.

[0041] The work table (10) is a core foundational structure for evaluating the performance of the robot end effector (1) and can be implemented in various forms depending on the experimental environment.

[0042] A moving module (20) according to one embodiment of the present invention performs the role of moving the end effector (1) on a work table (10) and can support the measurement of gripping force and durability at various positions during the testing process. The moving module (20) is composed of a first moving module (21) and a second moving module (23), and each moving module can move independently in its respective direction. Through this, the range of movement of the end effector (1) is maximized, thereby enabling more precise testing.

[0044] 1. Main components of the movement module (20)

[0046] The movement module (20) includes a first movement module (21), a second movement module (23), a first control means (22), and a second control means (24).

[0048] First moving module (21):

[0050] It includes a first transfer plate (21-1) and is configured to move in a first direction (e.g., X-axis direction).

[0052] It is combined with the first control means (22), and the movement of the first transfer plate (21-1) can be controlled using a rotation control device.

[0054] Adjust the test position of the end effector (1) while moving in the first direction.

[0056] Second moving module (23):

[0058] It includes a second transfer plate (23-1) and is configured to move in a second direction (e.g., Y-axis direction).

[0060] It is combined with the second control means (24), and the movement of the second transfer plate (23-1) can be controlled using a rotation control device.

[0062] It is configured to enable 2-axis (XY) movement by operating together with the first movement module (21).

[0064] First control means (22) and second control means (24):

[0066] It performs the role of precisely controlling the movement speed and position of each movement module.

[0068] Driving methods such as motors, screw types, or linear actuators can be used.

[0070] 2. Operating principle of the movement module (20)

[0072] The movement module (20) performs the function of moving the end effector (1) so that it can be tested at various locations, and the first movement module (21) and the second movement module (23) operate in conjunction. The operating principle of the movement module (20) is as follows.

[0074] Initial setup and positioning:

[0076] The initial position of the terminal effect device (1) is set through the control system.

[0078] As needed, the first movement module (21) and the second movement module (23) move to the initial position.

[0080] Movement of the first movement module (21):

[0082] The first transfer plate (21-1) moves in the first direction (X-axis) according to the control of the first adjustment means (22).

[0084] Movement speed and distance information can be adjusted in real time through the control system.

[0086] Second movement module (23) movement:

[0088] The second transfer plate (23-1) moves in the second direction (Y-axis) according to the control of the second adjustment means (24).

[0090] It can move by synchronizing with the first movement module (21) as needed.

[0092] Precise position adjustment:

[0094] After moving, check if the position of the end effector (1) is accurate, and perform fine adjustments if necessary.

[0096] This allows for precise linkage with the grip count measurement module (40) and the grip force measurement module (50).

[0098] Repeat test execution and movement:

[0100] When a specific test is completed, the moving module (20) moves to the next test location and performs a repetitive experiment.

[0102] 3. Advantages and features of the moving module (20)

[0104] Provides 2-axis (XY) movement function

[0106] The first movement module (21) and the second movement module (23) can move independently, allowing the performance of the end effector (1) to be tested at various locations.

[0108] Precise position control possible

[0110] Precise control of the movement speed and movement distance is possible using the first control means (22) and the second control means (24).

[0112] Reduce measurement error by moving the end effector (1) to an accurate position.

[0114] Various driving methods can be applied

[0116] Various movement methods such as ball screw, linear motor, and pinion rack systems can be applied, enabling the implementation of an optimal system suitable for the intended purpose.

[0118] Automated testing available

[0120] It can automatically move the test location and perform repetitive tests in conjunction with the control system.

[0122] Experimental reliability is increased as manual operation during the experiment is minimized.

[0124] Applicable in various environments

[0126] The movement module (20) can be flexibly designed to fit the size and structure of the work table (10), so that it can be applied to a test environment of a robot end effector (1) of various sizes.

[0128] 4. Example of a test scenario associated with the movement module (20)

[0130] Paper durability test:

[0132] When the moving module (20) moves to a designated position, the end effector (1) repeatedly grasps a specific object.

[0134] The sensing module (43) of the gripping count measurement module (40) measures the number of gripping operations to evaluate durability.

[0136] Grip strength measurement test:

[0138] The moving module (20) moves to the location where the gripping force measuring module (50) is located, and the gripping force of the end effector (1) is measured.

[0140] The load cell (51) precisely measures the gripping force and collects data.

[0142] Perform tests in various locations:

[0144] The moving module (20) moves to perform repeated tests at various locations and can precisely analyze the performance of the end effector (1).

[0146] 5. Conclusion

[0148] The moving module (20) according to the present invention performs a key role in moving the end effector (1) to a desired position, and can satisfy various test conditions through the independent yet linked operation of the first moving module (21) and the second moving module (23). In addition, it provides precise position control and automated test functions to increase the reliability of the experiment and enables efficient evaluation of durability and gripping force.

[0149] The mounting jig (30) according to the present invention is configured to stably mount the end effector (1) of a robot and to test durability and gripping force under various experimental conditions. The mounting jig (30) is coupled to the movement module (20), and enables testing in various environments through the movement and rotation operation of the movement module (20) while the end effector (1) is mounted.

[0151] 1. Main components of the mounting jig (30)

[0153] The mounting jig (30) is composed of the following main components.

[0155] First shaft (31)

[0157] It is coupled to the second movement module (23) of the movement module (20) and is positioned in the third direction (vertical direction).

[0159] The mounting angle of the end effect device (1) can be adjusted by providing a rotation adjustment function.

[0161] joint (32)

[0163] It is mounted on one end of the first shaft (31) and serves to detachably connect the end effect device (1).

[0165] It can be composed of multiple coupling members (32) so that end effect devices of various sizes and shapes can be mounted.

[0167] Each connecting member (32) is designed to be quickly and easily replaceable while maintaining fixing force.

[0169] 2. Operating principle of the mounting jig (30)

[0171] The mounting jig (30) is designed to facilitate the mounting and dismounting of the end effector (1) and performs the following operations to enable precise evaluation of the function of the end effector (1) in various test environments.

[0173] Mounting of terminal effect device (1)

[0175] After inserting the desired end effect device (1) into the coupling member (32), the user can secure it firmly using a fixing device.

[0177] By providing multiple coupling members (32), various types of end effect devices can be easily replaced and tested.

[0179] Rotation and angle adjustment

[0181] The first shaft (31) is designed to rotate around the third direction (vertical direction) as an axis, so that the test angle of the end effector (1) can be adjusted.

[0183] This allows for the simulation of various operating conditions that may occur in an actual work environment.

[0185] Cooperative operation with the movement module (20)

[0187] The mounting jig (30) is coupled to the second movement module (23) of the movement module (20), enabling movement in the first direction and the second direction.

[0189] This allows the end effector (1) to be tested at various locations and enables the automation of repetitive experiments.

[0191] 3. Effects and advantages of the mounting jig (30)

[0193] Mounting of various end effect devices: Multiple couplings (32) are provided so that end effect devices of various shapes and sizes can be easily replaced.

[0195] Precise angle adjustment: The mounting angle of the end effector (1) can be adjusted through the first shaft (31), allowing for the simulation of various test environments.

[0197] Operation in conjunction with the movement module (20): In combination with the movement module (20), precise testing can be performed at various locations.

[0199] Rapid mounting and detachment: The coupling (32) facilitates the attachment and detachment of the end effector (1), thereby increasing experimental efficiency.

[0201] As such, the mounting jig (30) according to the present invention provides various functions to precisely evaluate the durability and gripping force of the end effect device (1), and is designed with an optimized structure to increase the reliability of the experiment.

[0202] The gripping count measurement module (40) for testing the durability and gripping force of the robot end effector (1) according to the present invention plays an important role in evaluating the durability of the device by quantitatively measuring the repetitive gripping motion of the end effector (1). This module is positioned on the upper part of the work table (10) and performs the function of detecting the operation of the end effector (1) coupled to the mounting jig (30) and recording the number of times.

[0204] 1. Configuration of the grip count measurement module (40)

[0206] The grip count measurement module (40) can be largely composed of a second shaft (41), a height adjustment member (42), and a sensing module (43).

[0208] Second shaft (41)

[0210] It is positioned in a third direction orthogonal to the first and second directions and serves to support the height adjustment member (42) and the sensing module (43).

[0212] The end effector (1) can be designed to be adjustable in length to accommodate various sizes and shapes.

[0214] Height adjustment device (42)

[0216] It is configured to be movable in the third direction along the second shaft (41) and serves to position the sensing module (43) in an optimal position according to the position of the end effector (1).

[0218] The above adjustment function can be implemented using a manual operation method or a motor-based automatic adjustment method.

[0220] In addition, it is designed to rotate around the third direction, so that the detection angle of the sensing module (43) can be adjusted.

[0222] Sensing module (43)

[0224] As a core component for detecting the gripping motion of the end effector (1), it may include various types of sensors.

[0226] Typical examples include contact sensors (micro switches, pressure sensors) and non-contact sensors (optical sensors, proximity sensors, magnetic sensors).

[0228] Whenever a gripping action occurs, a signal is detected through the sensor, converted into data, and the number of times is recorded.

[0230] The sensed data can be transmitted to a separate processor or server and analyzed in real time.

[0232] 2. Operation method of the grip count measurement module (40)

[0234] Initial setup steps

[0236] After fixing the end effect device (1) to the mounting jig (30), the grip count measurement module (40) is adjusted so that the sensing module (43) is positioned in an appropriate location.

[0238] The height and angle of the sensing module (43) are adjusted using the height adjustment mechanism (42), and aligned with the gripping area of ​​the end effector (1) through the second shaft (41).

[0240] Gripping motion detection step

[0242] When the end effector (1) grasps the object to be tested, the sensing module (43) detects the corresponding action.

[0244] The signal output from the sensing module (43) is transmitted to the data processor, and each grasping operation is accurately counted.

[0246] Data collection and analysis phase

[0248] The number of detected gripping movements is recorded in real time while moving on the work table (10).

[0250] The system can be designed to send a warning signal or allow for configuration changes for additional testing when a certain number of times is reached.

[0252] Cycle data is used for durability evaluation, and abnormal behaviors occurring beyond a certain number of cycles (e.g., incomplete gripping, gripping failure, etc.) can also be analyzed.

[0254] Result Output and Integration Steps

[0256] The measured data can be transmitted to a display device or server and visualized in the form of graphs or log data.

[0258] If necessary, the correlation between the gripping motion and the gripping force can be analyzed in conjunction with the gripping force measurement module (50).

[0260] Finally, durability verification data of a specific end effector (1) can be provided to contribute to design improvement and performance enhancement.

[0262] 3. Advantages of the grip count measurement module (40)

[0264] Accurate recording of the number of grips: The gripping motion can be precisely counted through the sensing module (43).

[0266] Flexible adjustment function: It is possible to accommodate end effect devices (1) of various sizes and shapes through the height adjustment member (42) and the second shaft (41).

[0268] Automation and Data Integration: Real-time data recording and analysis are possible, maximizing the efficiency of durability testing.

[0270] Applicable to various sensors: By utilizing contact and non-contact sensors, the optimal measurement method suitable for the environment can be implemented.

[0272] In this way, the gripping count measurement module (40) according to the present invention can contribute to the evaluation of durability and quality improvement of the device by effectively measuring and analyzing the repetitive operation of the end effector (1).

[0273] The gripping force measuring module (50) according to the present invention is designed to precisely measure the gripping force of the end effector (1) to evaluate durability and performance. The module is placed on the upper part of the work table (10) and measures the force generated when the end effector (1) grips a specific object, thereby providing quantitative data.

[0275] 2. Components of the gripping force measuring module (50)

[0277] The gripping force measuring module (50) includes the following main components:

[0279] Load cell (51)

[0281] As a core component of the gripping force measuring module (50), the end effector (1) detects the force generated when gripping an object and converts it into an electrical signal.

[0283] In the present invention, a high-precision load cell (51) is applied so that even minute changes in force can be measured.

[0285] It supports a high sampling rate to collect real-time data according to the operation of the terminal effect device (1).

[0287] Support frame

[0289] It is a structure for fixing the load cell (51) and minimizing interference from external vibrations or unnecessary forces.

[0291] It is configured to allow consistent measurement at a fixed location through connection with the work table (10).

[0293] Data processing unit

[0295] It plays the role of collecting and analyzing data measured from the load cell (51).

[0297] External noise is removed by applying a data filtering algorithm, and pure gripping force data is extracted.

[0299] Measurement results can be converted into a digital format for storage or displayed in real time.

[0301] 3. Operation Method

[0303] Grip force measurement process

[0305] With the end effector (1) gripping a specific object, the load cell (51) detects pressure and measures the magnitude of the force.

[0307] The measured force is converted into an analog signal, and after being converted into a digital signal through a data processing unit, it is analyzed.

[0309] The measured gripping force data can be used to evaluate the performance of the end effector (1) by comparing it with a preset reference value.

[0311] Calibration procedure for accurate measurement

[0313] Initial calibration: Before use, zero adjustment of the load cell (51) is performed to obtain accurate data.

[0315] Periodic recalibration: Since the sensitivity of the load cell (51) may change during long-term use, a calibration operation is performed at regular intervals to maintain measurement accuracy.

[0317] Elimination of environmental influences: A correction algorithm is applied to minimize the impact of environmental factors, such as external vibrations and temperature changes, on the measurement.

[0319] 4. Features and Advantages

[0321] High-precision measurement possible

[0323] A high-resolution load cell (51) can be used to detect minute changes in gripping force.

[0325] Real-time data analysis support

[0327] The gripping force data is measured and analyzed in real time, so that the performance of the end effector (1) can be evaluated immediately.

[0329] Providing a highly reliable measurement environment

[0331] Errors caused by external influences are minimized by applying a support frame and vibration compensation technology.

[0333] The gripping force measurement module (50) of the present invention is an important element for quantitatively evaluating the performance of the end effector (1), and plays a role in providing reliable data in an experimental environment.

[0334] The durability and gripping force testing device of a robot end effector according to the present invention operates sequentially according to test conditions desired by the user and is configured to precisely measure and analyze the entire testing process. In this embodiment, the gripping count measurement module (40) and the gripping force measurement module (50) are connected to a control unit, and the control unit is linked with a display unit to output data in real time. An embodiment of the usage state of the present invention may proceed in the following steps.

[0336] Initial setup steps

[0338] To perform a test, the operator mounts the end effector (1) to the coupling (32) of the mounting jig (30).

[0340] Test conditions (number of grips, gripping force range, movement path, etc.) are input through the control unit.

[0342] The initial position of the movement module (20) is set, and the movement path on the work table (10) is specified based on the position of the test target end effector (1).

[0344] Test start phase

[0346] The first movement module (21) and the second movement module (23) of the movement module (20) are driven to move the end effector (1) to the test position.

[0348] The angle of the end effect device (1) is adjusted using the first shaft (31) of the mounting jig (30) to create an appropriate test environment.

[0350] The grip count measurement module (40) and the grip force measurement module (50) are activated according to the command of the control unit.

[0352] Step to perform gripping action

[0354] The end effector (1) performs a gripping operation, and the gripping count measurement module (40) detects the operation and transmits data to the control unit through the sensing module (43).

[0356] The load cell (51) of the gripping force measurement module (50) measures the gripping force of the end effector (1) and transmits the measured data to the control unit.

[0358] The gripping action can be repeated according to pre-entered test conditions (e.g., 1,000 gripping repetitions, maintaining a specific gripping force, etc.).

[0360] Real-time data analysis stage

[0362] The control unit collects and analyzes data transmitted from the grip count measurement module (40) and the grip force measurement module (50) in real time.

[0364] The analyzed data is provided to the user in the form of graphs, numerical information, etc. through the display unit.

[0366] If a change in specific gripping force or a decrease in durability is detected, the control unit may display a warning to the user.

[0368] Test termination phase

[0370] The test ends when the set number of tests is reached or when a variable exceeding a specific criterion is detected.

[0372] The control unit stores all test data and outputs it so that the user can check the results when necessary.

[0374] The moving module (20) returns to its initial position, and the user detaches the end effector (1) from the mounting jig (30) to complete the test.

[0376] The usage example of the present invention is designed to objectively evaluate the durability and gripping force performance of the end effector (1) and ensures consistency in the experimental environment by providing automated measurement and data analysis functions. Through this, repetitive tests can be performed on various types of end effectors (1), and it can contribute to improving the reliability of the robot system.

[0382] As explained above

[0383] In the foregoing, although all components constituting an embodiment of the present invention have been described as being combined or operating in combination, the present invention is not necessarily limited to such embodiments. That is, within the scope of the purpose of the present invention, all components may be selectively combined in one or more ways to operate. Furthermore, terms such as "include," "constitute," or "have" described above, unless specifically stated otherwise, mean that the relevant component may be inherent; thus, they should be interpreted as allowing for the inclusion of additional components rather than excluding other components. All terms, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present invention pertains, unless otherwise defined. Terms commonly used, such as those defined in advance, should be interpreted in accordance with their meaning in the context of the relevant technology and, unless explicitly defined in the present invention, should not be interpreted in an ideal or overly formal sense.

[0384] The foregoing description is merely an illustrative explanation of the technical concept of the present invention, and those skilled in the art to which the present invention pertains will be able to make various modifications and variations within the scope of the essential characteristics of the present invention. Accordingly, the embodiments disclosed in this invention are intended to explain, not limit, the technical concept of the present invention, and the scope of the technical concept of the present invention is not limited by such embodiments. The scope of protection of the present invention shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the present invention. Explanation of the symbols

[0385] 1: Terminal effector 10: Work Table 20: Movement Module 21: 1st movement module 21-1: 1st transfer plate 22: First control means 23: Second movement module 23-1: Second transfer plate 24: Second adjustment means 30: Mounting jig 31: First shaft 32: Coupling member 40: Grip count measurement module 41: Second shaft 42: Height adjuster 43: Sensing module 50: Grip force measurement module 51: Load cell

Claims

Claim 1 For testing the durability and gripping force of a robot's end effector, a work table; a moving module coupled with a plurality of mounting jigs for mounting an end effector, which is positioned above the work table to be movable in a first direction and a second direction orthogonal to the first direction; and a gripping count measuring module positioned above the work table and measuring the number of gripping operations of an end effector coupled to the mounting jigs. and includes a gripping force measuring module positioned spaced apart from the gripping count measuring module on the upper part of the work table and measuring the gripping force of an end effector coupled to the mounting jig, wherein at least one end effector is mounted on the mounting jig and moves on the work table via the moving module, and is measured and analyzed through at least one of the gripping count measuring module and the gripping force measuring module, and the gripping count measuring module comprises: a second shaft positioned in a third direction orthogonal to the first direction and the second direction; a height adjustment member that moves along the second shaft in the third direction according to the position of the end effector and whose coupling angle is adjusted with the third direction as a rotation axis; A durability and gripping force test device for a robot end effector, characterized in that it includes a sensing module that measures the number of gripping operations of an end effector, which is coupled to the height adjustment member so as to be adjustable in a rotational angle with the first direction as a rotational axis, wherein the sensing module includes at least one of a contact sensor and a non-contact sensor, wherein the contact sensor includes at least one of a micro switch and a pressure sensor, and the non-contact sensor includes at least one of an optical sensor, a proximity sensor, and a magnetic sensor, and the gripping force measuring module is configured such that the rotational angle is adjustable with a third direction orthogonal to the first direction and the second direction as a rotational axis, and includes a load cell arranged in the third direction. Claim 2 delete Claim 3 delete Claim 4 delete Claim 5 delete

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