CN113532710B - Test device and test platform for grabbing information - Google Patents
Test device and test platform for grabbing information Download PDFInfo
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- CN113532710B CN113532710B CN202010303968.7A CN202010303968A CN113532710B CN 113532710 B CN113532710 B CN 113532710B CN 202010303968 A CN202010303968 A CN 202010303968A CN 113532710 B CN113532710 B CN 113532710B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
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Abstract
The application discloses a test device for capturing information and a test platform, wherein the test device comprises a shell structure, an image acquisition unit and a pressure acquisition unit, wherein the shell structure comprises a first capturing side wall and a second capturing side wall which are arranged in parallel, transparent plates are arranged on the two capturing side walls, then the image acquisition unit is positioned in the shell structure and used for simultaneously acquiring the image information of the transparent plates, and the pressure acquisition unit is arranged between the first capturing side wall and the second capturing side wall; therefore, the test device can acquire the relationship between the pressure information and the slippage information of the fingers when grabbing an object, and then the grabbing information can be applied to a grabbing control strategy of the robot through quantitative measurement of the grabbing information; therefore, the technical problem that a testing device for acquiring related grabbing information when a person grabs an object does not exist is solved, and the technical effect of acquiring the grabbing information of the person is achieved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a test device and a test platform for capturing information.
Background
Robots have been used in industrial automation applications, for example in assembly, handling, welding, etc., where the use of robots increases production efficiency. In the operation of the robot, grabbing is an important function, which can greatly expand the application scenarios of the robot, and therefore, the grabbing control strategy of the robot is very important.
When the human hand grabs the object, the grabbing force can be reasonably and timely regulated according to some information, so that the self-adaptability and the reliability of grabbing are ensured; therefore, one possible expectation is to refer to the gripping control strategy of the human hand and apply it to the gripping process of the robot.
However, in the prior art, no test device for acquiring relevant grabbing information when a human hand grabs an object exists.
Disclosure of Invention
The embodiment of the application provides a test device and a test platform for capturing information, wherein the test device comprises a shell structure, an image acquisition unit and a pressure acquisition unit, the shell structure comprises a first capturing side wall and a second capturing side wall which are arranged in parallel, transparent plates are arranged on the two capturing side walls, then the image acquisition unit is positioned in the shell structure and used for simultaneously acquiring the image information of the transparent plates, and the pressure acquisition unit is arranged between the first capturing side wall and the second capturing side wall; thus, when an operator grabs the transparent plates of the two grabbed side walls with fingers, the pressure acquisition unit can acquire pressure information between the two side walls, and meanwhile, the image acquisition unit can simultaneously acquire sliding information of the fingers on the transparent plates; namely, the testing device can acquire the relationship between the pressure information and the slippage information of the fingers when grabbing an object, and then, the grabbing information can be applied to a grabbing control strategy of the robot through quantitative measurement of the grabbing information; therefore, the technical problem that a testing device for acquiring related grabbing information when a person grabs an object does not exist is solved, and the technical effect of acquiring the grabbing information of the person is achieved.
The embodiment of the application provides a test device for grabbing information, the test device includes:
the shell structure comprises a first grabbing side wall and a second grabbing side wall which are arranged in parallel, wherein the first grabbing side wall comprises a first transparent plate, and the second grabbing side wall comprises a second transparent plate;
the image acquisition unit is positioned inside the shell structure and is used for simultaneously acquiring the image information of the first transparent plate and the second transparent plate;
the pressure acquisition unit is connected with the first grabbing side wall and the second grabbing side wall and used for acquiring pressure information between the first grabbing side wall and the second grabbing side wall;
the first transparent plate and the second transparent plate are symmetrically arranged relative to the shell structure.
In the embodiment of the disclosure, a lens frame is further arranged inside the housing structure, the lens frame is obliquely arranged between the first grabbing side wall and the second grabbing side wall, and a first reflection lens and a second reflection lens are respectively arranged on two sides of the lens frame; the image acquisition unit comprises a first camera and a second camera, wherein the first camera is used for acquiring the image information of the first transparent plate from the first reflector, and the second camera is used for acquiring the image information of the second transparent plate from the second reflector.
In the embodiment of the present disclosure, the lens frame is obliquely disposed at an angle of 45 degrees between the first grabbing sidewall and the second grabbing sidewall.
In the disclosed embodiment, the first camera is mounted to a first camera frame, and the second camera is mounted to a second camera frame; the first camera frame and the second camera frame are fixedly connected with the lens frame.
In an embodiment of the present disclosure, the housing structure further includes a front plate and a rear plate, the front plate and the rear plate being located between the first grabbing sidewall and the second grabbing sidewall; the pressure obtaining unit includes a first plate spring and a second plate spring;
wherein the first leaf spring connects the front plate and the rear plate, and the second leaf spring connects the front plate and the rear plate.
In the embodiment of the present disclosure, the testing device further includes a slide rail unit, the slide rail unit includes a slide rail, a slide rail mounting seat is arranged on the front plate or the rear plate, and the slide rail mounting seat is sleeved on the slide rail.
In the embodiment of the disclosure, one end of the sliding rail unit is provided with a laser displacement sensor, and the laser displacement sensor is perpendicular to the sliding rail.
In the disclosed embodiment, the surface of the first plate spring and/or the second plate spring is provided with a strain gauge.
The embodiment of the application further provides a test platform for capturing information, the test platform comprises a test device and an information acquisition and calculation device, wherein the test device is the test device, and the information acquisition and calculation device comprises a bridge acquisition module, an A/D conversion module and a central processing module which are sequentially in communication connection.
In the embodiment of the present disclosure, the bridge acquisition module is in communication connection with the pressure acquisition unit, the a/D conversion module is in communication connection with the laser displacement sensor, and the central processing unit is in communication connection with the image acquisition unit.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
in the embodiment of the application, the testing device comprises a shell structure, an image acquisition device and a pressure acquisition device, wherein the shell structure comprises a first grabbing side wall and a second grabbing side wall which are arranged in parallel, transparent plates are arranged on the two grabbing side walls, then an image acquisition unit is positioned inside the shell structure and used for acquiring image information of the transparent plates simultaneously, and the pressure acquisition unit is arranged between the first grabbing side wall and the second grabbing side wall; thus, when an operator grabs the transparent plates of the two grabbed side walls with fingers, the pressure acquisition unit can acquire pressure information between the two side walls, and meanwhile, the image acquisition unit can simultaneously acquire sliding information of the fingers on the transparent plates;
that is to say, through this testing arrangement, can acquire the relation between the relative slip between the finger and the grabbing power that the human finger exerted when grabbing the object, and then, can explore through this relation of grabbing power and slip and grab the control strategy to be applied to the snatching process of robot, thereby realize the purpose of expanding the robot application scene.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic structural diagram of the testing apparatus in the embodiment of the present application.
Fig. 2 is a schematic diagram of an internal structure of the testing apparatus in the embodiment of the present application.
Fig. 3 is a schematic structural diagram of the pressure obtaining unit in the embodiment of the present application.
Fig. 4 is a schematic structural diagram illustrating the mounting of the housing structure to the slide rail unit in the embodiment of the present application.
Fig. 5 is a schematic structural diagram of a slide rail unit in an embodiment of the present application.
Fig. 6 is a schematic view of a use state of the testing apparatus in the embodiment of the present application.
Fig. 7 is a schematic structural diagram of the test platform in the embodiment of the present application.
Wherein, the reference numbers:
10-shell structure
11-first grasping side wall
12-second catching side wall
13-front panel
14-rear plate
15-first transparent plate
16-second transparent plate
17 slide rail mounting seat
20-image acquisition unit
21-first camera
23-first camera stand
24-second camera frame
25-first reflection mirror
26-second mirror
27-lens frame
30-pressure acquisition unit
31-first leaf spring
32-second leaf spring
33-strain gauge
40-slide rail unit
41-sliding rail
42-laser displacement sensor
43-base
50-bridge acquisition module
60-A/D conversion module
70-central processing module
Detailed Description
For better understanding of the above technical solutions, the following will describe in detail exemplary embodiments of the present application with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present application, and not all embodiments of the present application, and it should be understood that the present application is not limited by the exemplary embodiments described herein.
SUMMARY
The robot is widely applied to the field of industrial automation from the beginning to the present in the last century, such as assembly, carrying, welding, spraying and other scenes, so that the labor intensity of human beings is greatly reduced, and the production efficiency is improved. With the development of society, robots must gradually move from industrial places to daily lives of human beings, and serve the human beings better, which is also the development trend in the robot field at present.
Grabbing is the most basic and important operation task in human daily life, and is also the function that the robot needs to have for expanding daily application scenes. The existing research shows that in the whole grabbing process, the human nerve center and the touch sensors widely distributed on the fingers carry out information interaction on the sliding state between the fingers and the grabbed object, and the grabbing force is reasonably and real-timely regulated and controlled according to the sliding information, so that the proper safety margin can be always kept, the grabbed object cannot slide due to undersize, the grabbed object cannot be damaged due to oversize, and the excellent grabbing adaptability and reliability are shown. Therefore, if the generation and regulation mechanism of the slippage characteristic in the human hand interactive grabbing process can be explored and revealed, and the slippage characteristic can be applied to the design, development and control of the manipulator, the grabbing performance of the manipulator can be expected to be greatly improved, and the application field of the manipulator can be widened.
Because the actual duration of the grabbing process is very short, people can hardly perceive the change condition of each parameter in the process, and therefore grabbing information needs to be accurately acquired in real time by means of an external measuring element. The space for designing the sensors on the fingers of the human body is very limited, the integration difficulty of multiple sensors is very high, and no sensor or test platform capable of measuring various grabbing information of the human hand is provided at present.
Therefore, the invention is expected to design a test platform for the information grabbed by hands, and the test platform is used for measuring the grabbing force and the sliding state in the grabbing process and the rigid motion of the grabbed object. The positive and the tangential forces are the action results of a hand grabbing control mechanism, the slippage is the action reason of the grabbing control mechanism, the rigid displacement can assist in judging the start and the stop of grabbing, the quantitative relation of the slippage state to the hand grabbing force control can be explored through quantitative measurement of the three information, and a hand interactive grabbing control strategy based on the slippage state is found out.
An embodiment of the present application provides a testing apparatus for capturing information, and with reference to fig. 1 and 2, fig. 1 is a schematic structural diagram of the testing apparatus in the embodiment of the present application, and fig. 2 is a schematic internal structural diagram of fig. 1; the testing device comprises a shell structure, an image acquisition unit and a pressure acquisition unit, wherein the shell structure comprises a first grabbing side wall 11 and a second grabbing side wall 12 which are arranged in parallel, the first grabbing side wall 11 comprises a first transparent plate 15, and the second grabbing side wall 12 comprises a second transparent plate 16; the image acquisition unit is positioned inside the housing structure and is used for simultaneously acquiring the image information of the first transparent plate 15 and the second transparent plate 16; the pressure acquisition unit is connected with the first grabbing side wall 11 and the second grabbing side wall 12 and is used for acquiring pressure information between the first grabbing side wall 11 and the second grabbing side wall 12; the first transparent board 15 and the second transparent board 16 are symmetrically disposed with respect to the housing structure.
Specifically, as shown in fig. 1, the first grabbing sidewall 11 and the second grabbing sidewall 12 constitute two sidewalls of the enclosure structure, and the two grabbing sidewalls are disposed opposite to each other, and then a first transparent board 15 and a second transparent board 16 are respectively disposed on the two grabbing sidewalls, and the first transparent board 15 and the second transparent board 16 are symmetrically disposed with respect to the enclosure structure; it can be understood that the sizes of the first transparent plate and the second transparent plate can be set according to actual needs, and the first transparent plate and the second transparent plate can be made of transparent materials such as transparent glass and transparent plastic; then, a pressure acquisition unit is arranged between the two grabbing side walls, and an image acquisition unit is arranged in the shell structure; thus, when an operator grips the first transparent plate and the second transparent plate with fingers, the pressure acquisition unit can acquire the gripping force of the fingers on the two grip side walls, and the image acquisition unit can acquire the slippage of the fingers relative to the two transparent plates by comparing the image information at different times; then, a human hand interactive grabbing control strategy based on the slippage state can be found out according to the grabbing force information and the slippage information.
In the embodiment of the application, the testing device comprises a shell structure, an image acquisition device and a pressure acquisition device, wherein the shell structure comprises a first grabbing side wall and a second grabbing side wall which are arranged in parallel, transparent plates are arranged on the two grabbing side walls, then an image acquisition unit is positioned inside the shell structure and used for acquiring image information of the transparent plates simultaneously, and the pressure acquisition unit is arranged between the first grabbing side wall and the second grabbing side wall; thus, when an operator grabs the transparent plates of the two grabbed side walls with fingers, the pressure acquisition unit can acquire pressure information between the two side walls, and meanwhile, the image acquisition unit can simultaneously acquire sliding information of the fingers on the transparent plates;
that is to say, through this testing arrangement, can acquire the relation between the relative slip between the finger and the grabbing power that the human finger exerted when grabbing the object, and then, can explore through this relation of grabbing power and slip and grab the control strategy to be applied to the snatching process of robot, thereby realize the purpose of expanding the robot application scene.
It can be understood that the image acquisition unit is located inside the housing structure, and may be a camera, a video camera, etc., and it should at least include two image photographing devices, which respectively simultaneously acquire image information of the two transparent plates.
It can be understood that the pressure obtaining unit may be one or more, and the pressure obtaining unit is connected between the two grabbing side walls, for example, the magnitude of the grabbing force can be obtained according to the displacement magnitude of the two grabbing side walls under the force.
It will be appreciated that the first and second transparent plates may be, for example, transparent glass, transparent plastic, or be constructed of other transparent materials.
In a possible embodiment, a lens frame 27 is further provided inside the housing structure, the lens frame 27 is disposed obliquely between the first capturing sidewall 11 and the second capturing sidewall 12, and a first reflector 25 and a second reflector 26 are respectively provided on two sides of the lens frame 27; the image acquisition unit includes a first camera 21 for acquiring image information of the first transparent plate 15 from the first reflecting mirror 25 and a second camera for acquiring image information of the second transparent plate 16 from the second reflecting mirror 26.
Specifically, as shown in fig. 2, a lens frame 27 is obliquely disposed between the first capturing sidewall 11 and the second capturing sidewall 12, a first reflection lens 25 and a second reflection lens 26 are disposed on both surfaces of the lens frame, and then a first camera 21 and a second camera (not shown) are disposed in a vertical direction of the two capturing sidewalls, so that the two cameras can respectively obtain image information of the two transparent plates by reflection.
In this embodiment, in the inside of shell structure, utilize simple reflex action, can acquire the image information of first transparent plate and second transparent plate simultaneously, simple structure easily realizes.
Specifically, with reference to fig. 2, the lens frame 27 is disposed between the first capturing sidewall 11 and the second capturing sidewall 12 at an angle of 45 degrees, so as to facilitate subsequent processing of the two images.
In one possible embodiment, the first camera 21 is mounted to a first camera frame 23, and the second camera is mounted to a second camera frame 24; the first camera frame 23 and the second camera frame 24 are both fixedly connected to the lens frame 27.
In the embodiment, the two camera frames and the lens frame are fixedly connected, so that the structure is compact and firm.
In a possible embodiment, the shell structure further comprises a front plate 13 and a rear plate 14, the front plate 13 and the rear plate 14 being located between the first gripping side wall 11 and the second gripping side wall 12; meanwhile, the pressure obtaining unit includes a first plate spring 31 and a second plate spring 32, the first plate spring 31 connecting the front plate 13 and the rear plate 14, and the second plate spring 32 connecting the front plate 13 and the rear plate 14.
Specifically, as shown in fig. 1 and 2, the front plate 13, the rear plate 14, the first capturing side wall 11, and the second capturing side wall 12 constitute circumferential side walls of the housing unit, the front plate 13 and the rear plate 14 are fixedly connected to the first camera frame 23 and the second camera frame 24, and then the first plate spring 31 and the second plate spring 32 are inserted into insertion grooves of the front plate and the rear plate.
Specifically, the first plate spring 31 or the second plate spring 32 is structured as shown in fig. 3, and two ends of the plate spring are respectively fixed on the first grabbing side wall and the second grabbing side wall, it can be understood that when fingers apply pressure to the two grabbing side walls, the two grabbing side walls press the stress sheet in the middle of the plate spring, and the magnitude of the pressing force can be obtained through the deformation of the stress sheet;
furthermore, the surface of the first plate spring 31 and/or the second plate spring 32 is provided with a strain sheet 33; namely, the strain gauge is arranged on the surface of the stress sheet in the middle of the plate spring, so that when fingers have tangential force on the two grabbing side walls, the magnitude of the tangential force can be obtained through the deformation amount of the strain gauge, and the grabbing force information is perfected.
In a possible embodiment, the testing device further includes a slide rail unit 40, the slide rail unit 40 includes a slide rail 41, the front plate 13 or the rear plate 14 is provided with a slide rail mounting seat 17, and the slide rail mounting seat 17 is sleeved on the slide rail 41; then, a laser displacement sensor 42 is provided at one end of the slide rail unit, and the laser displacement sensor 42 is disposed perpendicular to the slide rail 41.
Specifically, as shown in fig. 4, 5, and 6, the housing structure 10 is disposed on the sliding rail unit 40, and then the fingers grab the two grabbing sidewalls and move the housing structure along the sliding rail, and at the same time, the laser position sensor can measure the moving distance of the housing structure; it can be understood that the quantitative relation of the slip state to the control of the gripping force of the human hand can be explored by quantitatively measuring the gripping force, the slip information and the rigid movement, and the human hand interactive gripping control strategy based on the slip state is found out.
The embodiment of the present application further provides a test platform for capturing information, which includes a test device and an information acquisition and calculation device, where the test device is the above test device, and the information acquisition and calculation device includes a bridge acquisition module 50, an a/D conversion module 60, and a central processing module 70, which are in communication connection in sequence.
Specifically, as shown in fig. 7, the bridge acquisition module 50 is in communication connection with the pressure acquisition unit 30, and can acquire the grasping force information; the A/D conversion module is in communication connection with the laser displacement sensor and can acquire rigid displacement information of the shell unit; the central processing unit is in communication connection with the image acquisition unit, and can obtain the slippage information of the fingers relative to the transparent plate by comparing the image information at different times;
when a tester uses two fingers to grab the shell structure and move the shell structure up and down along the slide rail, the positive pressure and the tangential force applied to the shell structure by the fingers cause the plate spring to generate deformation, the deformation is converted into an analog electric signal through a strain gauge on the plate spring, amplified through the bridge acquisition module, converted into a digital electric signal by the A/D acquisition module and acquired by the central processing unit; the contact area between the thumb and the index finger and the shell structure is reflected by a reflecting lens obliquely arranged at 45 degrees, the contact area is shot by a miniature camera arranged in the shell unit, the pictures are transmitted to a central processing unit in real time, and the relative slippage between the fingers and the shell unit is obtained by analyzing the position difference of the fingers in different frames of pictures; the laser displacement sensor that vertical direction was placed will continuously launch one laser to the leaf spring of shell structure, and the laser that reflects back will be received by laser displacement sensor to measure the distance of laser displacement sensor to shell structure, this information will be sent the AD collection module with the form of analog signal of telecommunication and turn into digital signal of telecommunication, and then by central processing unit collection, the difference in distance at different moments is the vertical displacement who measures the piece in this section of time promptly.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of exemplary aspects and embodiments have been discussed above, those of skill in the art will recognize that certain variations, modifications, alterations, additions and sub-combinations thereof are encompassed within the scope of the invention.
Claims (10)
1. A test device for capturing information, the test device comprising:
the shell structure comprises a first grabbing side wall and a second grabbing side wall which are arranged in parallel, wherein the first grabbing side wall comprises a first transparent plate, and the second grabbing side wall comprises a second transparent plate;
the image acquisition unit is positioned inside the shell structure and is used for simultaneously acquiring the image information of the first transparent plate and the second transparent plate;
the pressure acquisition unit is connected with the first grabbing side wall and the second grabbing side wall and used for acquiring pressure information between the first grabbing side wall and the second grabbing side wall;
the first transparent plate and the second transparent plate are symmetrically arranged relative to the shell structure.
2. The testing device as claimed in claim 1, wherein a lens frame is further disposed inside the housing structure, the lens frame is disposed between the first capturing sidewall and the second capturing sidewall, and a first reflective lens and a second reflective lens are disposed on two sides of the lens frame respectively; the image acquisition unit comprises a first camera and a second camera, wherein the first camera is used for acquiring the image information of the first transparent plate from the first reflector, and the second camera is used for acquiring the image information of the second transparent plate from the second reflector.
3. The testing device of claim 2, wherein the lens carrier is disposed at an angle of 45 degrees between the first gripping sidewall and the second gripping sidewall.
4. The testing device of claim 2, wherein the first camera is mounted to a first camera rig and the second camera is mounted to a second camera rig; the first camera frame and the second camera frame are fixedly connected with the lens frame.
5. The test device of claim 1, wherein the housing structure further comprises a front plate and a back plate, the front plate and the back plate being positioned between the first gripping sidewall and the second gripping sidewall; the pressure obtaining unit includes a first plate spring and a second plate spring;
wherein the first leaf spring connects the front plate and the rear plate, and the second leaf spring connects the front plate and the rear plate.
6. The testing device of claim 5, further comprising a slide rail unit, wherein the slide rail unit comprises a slide rail, a slide rail mounting seat is arranged on the front plate or the rear plate, and the slide rail mounting seat is sleeved on the slide rail.
7. The testing device of claim 6, wherein a laser displacement sensor is arranged at one end of the slide rail unit, and the laser displacement sensor is arranged perpendicular to the slide rail.
8. A test device according to claim 5, wherein the first and/or second leaf spring surfaces are provided with strain gauges.
9. A test platform for capturing information, which is characterized by comprising a test device and an information acquisition and calculation device, wherein the test device is the test device of any one of claims 1 to 8, and the information acquisition and calculation device comprises a bridge acquisition module, an A/D conversion module and a central processing module which are sequentially connected in a communication manner.
10. The test platform of claim 9, wherein the testing device further comprises a slide rail unit, and one end of the slide rail unit is provided with a laser displacement sensor; the bridge acquisition module is in communication connection with the pressure acquisition unit, the A/D conversion module is in communication connection with the laser displacement sensor, and the central processing unit is in communication connection with the image acquisition unit.
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| CN202010303968.7A CN113532710B (en) | 2020-04-17 | 2020-04-17 | Test device and test platform for grabbing information |
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| CN202010303968.7A CN113532710B (en) | 2020-04-17 | 2020-04-17 | Test device and test platform for grabbing information |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5495451A (en) * | 1978-01-06 | 1979-07-27 | Hitachi Ltd | Holder |
| WO2006030570A1 (en) * | 2004-09-14 | 2006-03-23 | National University Corporation Nara Institute Ofscience And Technology | Tactile sensor and use of the same |
| CN103144094A (en) * | 2013-03-25 | 2013-06-12 | 河南理工大学 | Gripping robot for irregular object |
| CN108044627A (en) * | 2017-12-29 | 2018-05-18 | 深圳市越疆科技有限公司 | Detection method, device and the mechanical arm of crawl position |
| CN110281261A (en) * | 2019-07-27 | 2019-09-27 | 南京蹑波物联网科技有限公司 | A kind of cargo grabbing device for industrial robot |
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| JP5480340B2 (en) * | 2012-07-26 | 2014-04-23 | ファナック株式会社 | Take-out robot system using roller device |
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| JPS5495451A (en) * | 1978-01-06 | 1979-07-27 | Hitachi Ltd | Holder |
| WO2006030570A1 (en) * | 2004-09-14 | 2006-03-23 | National University Corporation Nara Institute Ofscience And Technology | Tactile sensor and use of the same |
| CN103144094A (en) * | 2013-03-25 | 2013-06-12 | 河南理工大学 | Gripping robot for irregular object |
| CN108044627A (en) * | 2017-12-29 | 2018-05-18 | 深圳市越疆科技有限公司 | Detection method, device and the mechanical arm of crawl position |
| CN110281261A (en) * | 2019-07-27 | 2019-09-27 | 南京蹑波物联网科技有限公司 | A kind of cargo grabbing device for industrial robot |
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