CN113334419A - Transplanting device and method for wave recorder - Google Patents
Transplanting device and method for wave recorder Download PDFInfo
- Publication number
- CN113334419A CN113334419A CN202110697268.5A CN202110697268A CN113334419A CN 113334419 A CN113334419 A CN 113334419A CN 202110697268 A CN202110697268 A CN 202110697268A CN 113334419 A CN113334419 A CN 113334419A
- Authority
- CN
- China
- Prior art keywords
- clamping
- shell
- driving
- sleeve
- piece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
Abstract
The invention discloses a transplanting device for a wave recorder and a method thereof, belonging to the technical field of processing of the wave recorder. The method comprises the following steps: the mounting piece is provided with a driving mechanism; the clamping hand is connected to the driving end of the driving mechanism; the inner wall of the clamping hand is provided with a clamping part which deforms according to the change trend of the side surface of the shell in the axial direction or the radial direction. According to the invention, the deformable clamping part deforms according to the actual condition of the shell, so that the clamping hand is ensured to make maximum area contact during clamping, and the clamping stability is increased.
Description
Technical Field
The invention belongs to the technical field of processing of a wave recorder, and particularly relates to a transplanting device for the wave recorder and a method thereof.
Background
With the application and development of network technology, the use requirement of the wave recorder is increasing, and therefore, the processing efficiency of the wave recorder is also required.
In the production process, in order to facilitate the transfer of the wave recorder, realize the processes of attaching a note, locking or assembling and disassembling and the like, the mechanical arm is naturally used for clamping the wave recorder. However, in order to increase the heat dissipation performance or the sealing performance of the wave recorder, the outer wall of the general wave recorder is provided with a surface with a certain radian, and the angle, the shape and the like of the cambered surface are greatly different according to different models, different heat dissipation functions and different heat dissipation requirements; therefore, the clamping hand is affected by the cambered surface when being clamped, so that the contact area between the clamping hand and the outer wall of the wave recorder is reduced, the clamping friction force is small, and the clamping is unstable.
Disclosure of Invention
The invention provides a transplanting device for a wave recorder and a method thereof, aiming at solving the technical problems in the background technology.
The invention adopts the following technical scheme: a transplanting device for a wave recorder is arranged to be clamped from two side surfaces of a shell of the wave recorder; the method comprises the following steps:
the mounting piece is provided with a driving mechanism; the clamping hand is connected to the driving end of the driving mechanism;
the inner wall of the clamping hand is provided with a clamping part which deforms according to the change trend of the side surface of the shell in the axial direction or the radial direction.
The hinged block is in transmission connection with the tail end of the driving end;
one ends of the two groups of connecting arms are symmetrically hinged to the two ends of the hinge block;
the chain plates are connected to the other ends of the two groups of connecting arms; the adjacent chain plates are hinged end to end. The mutual articulated link joint of head and the tail takes place deformation for producing the structure of deformation according to the concrete structure of casing, plays the effect of parcel, the at utmost has increased the centre gripping area to the casing.
In a further embodiment, a rebound part for controlling the rebound of the chain plate is arranged on the clamping part;
the spring back portion includes: the guide rod is inserted in the connecting piece in a penetrating way; one end of the guide rod is fixed on one of the chain plates; a stopping part is arranged at the other end of the guide rod;
the driving piece is sleeved on the guide rod; the driving piece is positioned between the stopping part and the connecting piece; two ends of the driving piece are respectively hinged to the connecting arm through hinge rods;
the compression spring is sleeved on the guide rod; the compression spring is positioned between the driving piece and the connecting piece. Through having set up the portion of kick-backing, ensure that the link joint resets after the last casing of centre gripping finishes, can stand the horse and enter into the clamp of next casing and get, increase the efficiency that the centre gripping switched.
In a further embodiment, the inner side surface of each chain plate is hinged with a suction nozzle;
when clamping, the clamping part clamps along the axial direction of the shell.
The suction nozzle is arranged, so that the clamping force is further increased, and the phenomenon of slipping is avoided; the clamp is got for vertical clamp when getting simultaneously, gets the space that constitutes between clamping part and the clamping part when getting promptly and be the centre gripping space, the area of the cross section in centre gripping space is the trend that becomes grow gradually again between supreme from down, consequently the area of the cross section of the bottom in centre gripping space is the biggest, can effectually prevent the process casing landing at the centre gripping.
On the contrary, if the lateral clamping is adopted, namely the clamping part is transversely placed and forms the clamping space, the change of the cross section area of the clamping space from bottom to top is small, and the slipping is easy to occur.
In a further embodiment, the clamping portion comprises:
the connecting plate is in transmission connection with the driving mechanism;
the outer clamping plate and the inner clamping plate are vertically fixed on the connecting plate; a transmission mechanism vertical to the connecting plate is arranged between the inner clamping plate and the outer clamping plate;
the sleeves are sequentially and vertically fixed on the inner clamping plate; one end of the sleeve, which is far away from the outer clamping plate, is of an open structure, and the other end of the sleeve is provided with a linkage mechanism; the sleeve is internally provided with a moving piece, the moving piece is connected to the linkage mechanism in a transmission way, and the linkage mechanism drives the moving piece to move in the sleeve along the axial direction of the sleeve;
the linkage mechanism is connected with the transmission mechanism in a transmission way.
Through adopting drive mechanism and link gear to control the moving member in the sleeve respectively, the distance that every moving member stretches out all is all diverse for with casing looks adaptation, ensure that every section all has the moving member that is used for the centre gripping, increase the grip strength.
In a further embodiment, the linkage mechanism comprises:
the at least three pairs of butt-joint blocks are distributed at one end of the sleeve in the radial direction; the adjacent butt-joint blocks are distributed at equal intervals to form accommodating cavities;
at least three driving blocks which are respectively arranged in the accommodating cavities, wherein one driving block is connected with the transmission mechanism in a transmission way; a connecting rod is hinged in the accommodating cavity, one end of the connecting rod is clamped with the moving piece, and the other end of the connecting rod is clamped with the driving block;
the driving blocks move along the radial direction, and when the driving blocks are gathered together, the moving piece is ejected out to be in contact with the shell and clamped; when the driving blocks move away from each other, the moving piece is contracted in the sleeve.
In a further embodiment, the length of the link rod for ejecting the moving part is defined as H, and the sleeves are numbered from bottom to top, namely a first sleeve, a second sleeve, … and an m-th sleeve; wherein m is an integer of 3 or more;
the corresponding ejection length in each sleeve is H1, H2, … Hm;
defining the length of the housing at the same level as the first, second, … and mth sleeves as L1, L2, … Lm, the following relationships are satisfied: floor, "ne", and "ne", wherein "ne" is selected from the group consisting of, but not limited to, ne L1+ H1= ne L2+ H2= … = ne Lm + Hm.
By adopting the technical scheme: the casing is because of its heat dissipation demand or sealed demand, and the length L of casing on the co-altitude is different, consequently gets intensity low if the clamp is got to the straight board clamp of adoption when getting, so carry out effectual centre gripping through having set up the moving member that can stretch out different distances according to different length, form complementary centre gripping.
In a further embodiment, the inner side surface of each moving part is hinged with a suction nozzle;
when clamping, the clamping part clamps along the axial direction of the shell.
The suction nozzle is arranged, so that the clamping force is further increased, and the phenomenon of slipping is avoided; the clamp is got for vertical clamp when getting simultaneously, gets the space that constitutes between clamping part and the clamping part when getting promptly and be the centre gripping space, the area of the cross section in centre gripping space is the trend that becomes grow gradually again between supreme from down, consequently the area of the cross section of the bottom in centre gripping space is the biggest, can effectually prevent the process casing landing at the centre gripping.
In a further embodiment, the transmission mechanism comprises:
the transmission motor is fixed on the connecting plate;
the threaded rod is connected to an output shaft of the transmission motor in a transmission manner;
the threaded sleeve is connected to the threaded rod through internal and external threads in a transmission manner; the thread bush is fixed on one of the driving blocks, and the direction of the driving part of the driving block is consistent with the length direction of the thread rod.
By adopting the technical scheme: the threaded sleeve in driving connection with the threaded rod can control the movement of the driving block together to ensure the consistency of clamping.
A transplanting method using the transplanting device for the wave recorder comprises the following steps:
step one, when the selected clamping part is formed by a chain plate, the driving end firstly controls the back movement of the clamping hand to enable the clamping hand to be in an open state, and when clamping is needed, the clamping hand respectively moves to two sides of the shell and is placed along the axial direction of the shell;
step two, the driving end controls the clamping hands to move oppositely, so that the clamping hands move towards two sides of the shell and keep moving oppositely; when the chain plate moves continuously, the chain plate deforms according to the shape of the shell, and the area of a contact surface between the chain plate and the shell is increased;
step three, adjusting the angle of the contact heel of the nozzle and the shell along with the shape of the shell so as to be matched with the shell;
step four, when the shell is unloaded, the driving end controls the clamping hand to move backwards until the suction nozzle is separated from the shell;
step five, when the selected clamping part is in a sleeve type, the driving end firstly controls the back movement of the clamping hand to enable the clamping hand to be in an open state, and when clamping is needed, the clamping hand respectively moves to two sides of the shell and is placed along the axial direction of the shell;
step six, the driving end controls the clamping hands to move oppositely, so that the clamping hands move on two sides of the shell, the transmission mechanism drives the linkage mechanism, the linkage mechanism controls the driving block connected with the linkage mechanism to move downwards, namely the driving block moves towards the center of the sleeve in the sleeve, the connecting rod is combined to push the moving piece out by a proper length so that the suction nozzle and the shell are sucked, and the length of the suction nozzle meets the following relation: floor comprises, wherein the formula comprises: ne L1+ H1= ne L2+ H2= … = ne Lm + Hm;
and seventhly, when the shell is unloaded, reversely controlling the transmission mechanism to separate the suction nozzle from the shell at the same time, and then controlling the back movement of the gripper through the driving end.
The invention has the beneficial effects that: the invention discloses a tong, wherein the inner wall of the tong is provided with a clamping part which deforms according to the change trend of the side surface of a shell in the axial direction or the radial direction, and the tong is suitable for the situation that a heat dissipation part is arranged on the shell in order to ensure the normal heat dissipation of a wave recorder in the prior art, and the heat dissipation part is outwards protruded. Deformation occurs according to the actual condition of the shell through the deformable clamping part, the clamping hand is guaranteed to make the largest area of contact when clamped, and the clamping stability is improved.
Drawings
Fig. 1 is a schematic structural view of a gripper according to embodiment 1.
Fig. 2 is a schematic structural view of the gripper of embodiment 2.
Fig. 3 is a partial structural view of the gripper according to embodiment 2.
Fig. 4 is a schematic structural view of the sleeve in embodiment 2.
Each of fig. 1 to 4 is labeled as: the connecting device comprises a connecting piece 101, a connecting arm 102, a chain plate 103, a guide rod 104, a mounting piece 105, a driving piece 106, a stopping part 107, a compression spring 108, a suction nozzle 109, a shell 110, a driving air cylinder 111, a driving rod 112, a hinge block 113, a connecting plate 201, an outer clamping plate 202, an inner clamping plate 203, a sleeve 204, a moving piece 205, a butt joint block 206, a driving block 207, a containing cavity 208 and a connecting rod 209.
Detailed Description
In the prior art, in order not to influence the usability of the recorder: good processing is required for heat dissipation, sealing, waterproofing and the like, and the processing is generally realized by changing the structure of the shell. Therefore, the shell of many wave recorders is not a square regular polygon, but a special-shaped shell with two or more side surfaces being partially convex. To ensure the heat dissipation, sealing, and water resistance.
During production, generally, the clamping hands are used for transferring in order to increase the production efficiency, and in the prior art, when the shell is a square and regular polygonal body, the two sides of the shell can be directly clamped, so that stable clamping can be realized. At present, more special-shaped shells are used (the two side surfaces or the rear side surface of the shell are provided with partial bulges or partial cambered surfaces), and if the previous clamping tools are still used for clamping, the clamping area is directly reduced under the action of the bulges or the cambered surfaces, and the clamping is unstable.
If the clamping top surface and the clamping bottom surface are adopted, the shell can be placed in the forward direction only by providing a turnover process for the shell during unloading, and the processing cost and the time cost are high. If the front side and the rear side are clamped, a button or other parts on one side can be touched, and the shell is damaged.
Example 1
In order to solve the above technical problems, the present embodiment provides a transplanting device for a wave recorder, the transplanting device is configured to be clamped from two side surfaces of a shell 110 of the wave recorder; both components or buttons etc. at the front side of the housing 110 are protected. And simultaneously ensures that the shell 110 can be always placed in the forward direction when the clamping and unloading are carried out.
In a further embodiment, the transplanting device comprises: the mounting part 105 is installed at the tail end of the mechanical arm, a driving mechanism is arranged on the mounting part 105, and two groups of clamping hands are arranged at the driving end of the driving mechanism.
In order to hold the housing 110 having a convex or curved surface, the inner wall of the gripper has a holding portion that deforms according to a changing tendency of the side surface of the housing 110 in the axial direction or the radial direction.
As shown in fig. 1, the clamping portion includes: a hinge block 113, a link arm 102 and a link plate 103. Wherein a hinge block 113 is hinged at the end of the drive end. The connecting arms 102 are arranged in two groups symmetrically on two sides of the connecting piece 101, wherein one end of each group of connecting arms 102 is hinged with the hinge block 113. The chain plates 103 are a plurality of, and the adjacent chain plates 103 are hinged end to end. The link plates 103 at both ends are hinged to the other end of the link arm 102, respectively. The chain plate 103 in the embodiment forms a flexible structure, and when clamping is performed, the flexible chain plate 103 deforms correspondingly according to the shape of the side surface of the shell 110 and is attached to the side surface, so that the contact area during clamping is greatly increased, and the clamping stability is improved.
Meanwhile, in order to avoid affecting the clamping of the next shell 110 and ensure that the chain plates 103 can be in a state to be clamped at any time, the clamping parts are provided with springback parts for controlling the springback of the chain plates 103. The rebound portion includes: and a guide rod 104 inserted in the connecting rod, wherein one end of the guide rod 104 is fixedly connected with one of the chain plates 103, and the other end is provided with a stop part 107. The device further comprises a driving member 106 sleeved on the guide rod 104, the driving member 106 is located between the stopping portion 107 and the connecting member 101, and two ends of the driving member 106 are respectively hinged to the connecting arm 102 through hinge rods. A compression spring 108 is sleeved on the guide rod 104, and the compression spring 108 is positioned between the driving piece 106 and the connecting piece 101.
When the clamping device is used, when the shell 110 is clamped, firstly, the chain plates 103 deform and clamp tightly according to the cambered surfaces or bulges on the side surfaces, and the transfer is realized. After unloading the housing 110, the link members 101 are pushed inward by the resilience of the compression springs 108, and the link plates 103 are returned to be ready for gripping one housing 110, thereby increasing the efficiency of gripping switching.
In order to increase the clamping suction force, a suction nozzle 109 is hinged to the inner side surface of each chain plate 103. Through setting up suction nozzle 109, further increase clamping-force, avoid appearing the phenomenon of landing.
And when in use, the clamping part clamps along the axial direction of the shell 110. In other words, the space formed between the clamping portion and the clamping portion is the clamping space when the clamping device clamps the object, and the area of the cross section of the clamping space tends to become larger and smaller from bottom to top, so that the area of the cross section of the bottom of the clamping space is the largest, and the sliding of the shell 110 in the clamping process can be effectively prevented.
On the contrary, if the lateral clamping is adopted, namely the clamping part is transversely placed and forms the clamping space, the change of the cross section area of the clamping space from bottom to top is small, and the slipping is easy to occur.
The transplanting method of the embodiment comprises the following steps:
firstly, the driving end controls the back movement of the clamping hands to enable the clamping hands to be in an open state, and when clamping is needed, the clamping hands respectively move to two sides of the shell 110 and are placed along the axial direction of the shell 110;
step two, the driving end controls the clamping hands to move oppositely, so that the clamping hands move towards two sides of the shell 110 and keep moving oppositely; when the chain plate 103 moves continuously, the chain plate is deformed according to the shape of the shell 110, and the contact surface area of the chain plate and the shell 110 is increased;
step three, the contact heel of the nozzle and the shell 110 is angularly adjusted along with the shape of the shell 110 so as to be matched with the shell 110;
and step four, when the shell 110 is unloaded, controlling the back movement of the clamping hand by the driving end until the suction nozzle 109 is separated from the shell 110.
In this embodiment, a driving cylinder 111 is fixed on the mounting member 105, and a piston rod of the driving cylinder 111 is in transmission connection with the connecting member 101. And the mounting member 105 is hinged to the connecting arm 102 by a transmission rod 112. When the driving cylinder 111 pushes the piston rod, the connecting piece 101 is ejected out, and the connecting arm 102 is in an open state under the action of the transmission rod 112; conversely, the connecting arm 102 is in a clamped state.
Example 2
In the above embodiment, although the chain plates 103 can effectively deform along with the outer side surface of the casing 110, the deformation degree is always limited, and the chain plates can only effectively fit in a small deformation range, and cannot fit in the casing 110 well when the deformation strength is large, and finally the stability is reduced,
therefore, in order to solve the above problems, the present embodiment improves the clamping portion. The transplanting device comprises: the mounting part 105 is installed at the tail end of the mechanical arm, a driving mechanism is arranged on the mounting part 105, and two groups of clamping hands are arranged at the driving end of the driving mechanism.
In order to hold the housing 110 having a convex or curved surface, the inner wall of the gripper has a holding portion that deforms according to a changing tendency of the side surface of the housing 110 in the axial direction or the radial direction.
As shown in fig. 2, the clamping portion includes: the connecting plate 201 is connected to a driving mechanism in a transmission manner, and in the embodiment, the driving mechanism can adopt a clamping air cylinder. Further comprising: an outer clamping plate 202 and an inner clamping plate 203 which are vertically fixed on the connecting plate 201, and a transmission mechanism which is vertical to the connecting plate 201 is arranged between the inner clamping plate 203 and the outer clamping plate 202.
The inner clamping plate 203 is vertically fixed with a plurality of sleeves 204 from bottom to top in turn, and in this embodiment, the number of the sleeves 204 is 4. Referring to fig. 4, one end of the sleeve 204 away from the outer clamping plate 202 is an open structure, and the other end is provided with a linkage mechanism; a moving member 205 is arranged in the sleeve 204, the moving member 205 is connected to the linkage mechanism in a transmission manner, and the linkage mechanism drives the moving member 205 to move in the sleeve 204 along the axial direction of the sleeve 204; the linkage mechanism is connected with the transmission mechanism in a transmission way.
When the clamping device is used, when the shell 110 needs to be clamped, the driving mechanism is controlled to enable the inner clamping plate 203 and the shell 110 to be close to each other, then the transmission mechanism is started, the transmission mechanism simultaneously controls four groups of linkage mechanisms, and the linkage mechanisms respectively control the moving piece 205 in the sleeve 204 to penetrate through the open structure and clamp the shell 110.
In a further embodiment, in order to achieve clamping that is possible within a limited space, the linkage mechanism comprises: three pairs of butt-joint blocks 206 radially distributed at one end of the sleeve 204; the adjacent butt-joint blocks 206 are distributed at equal intervals to form accommodating cavities 208; the drive block 207 is correspondingly placed in the accommodating cavity 208. In order to drive the moving member 205 to move in the sleeve 204, one of the driving blocks 207 is connected to the transmission mechanism in a transmission manner, and meanwhile, a connecting rod 209 is hinged in the accommodating cavity 208, one end of the connecting rod 209 is clamped with the moving member 205, and the other end of the connecting rod 209 is clamped with the driving block 207.
In use, the driving blocks 207 move in the radial direction, and the moving piece 205 is ejected out to contact and clamp the shell 110 when the driving blocks 207 are mutually gathered; when the driving blocks 207 move away from each other, the moving member 205 is retracted in the sleeve 204, and is in a standby state.
In order to be suitable for different shells 110 (mainly for the convex and arc surfaces of the outer wall of the shell 110), the connecting rod 209 is defined to eject the moving member 205 by a length H, and the sleeves 204 are numbered from bottom to top, namely a first sleeve 204, a second sleeve 204, … and an m-th sleeve 204; wherein m is an integer of 3 or more;
the corresponding ejection length in each sleeve 204 is H1, H2, … Hm;
defining the length of the housing 110 at the same level as the first sleeve 204, the second sleeve 204, …, and the mth sleeve 204 as L1, L2, … Lm, the following relationships are satisfied: floor, "ne", and "ne", wherein "ne" is selected from the group consisting of, but not limited to, ne L1+ H1= ne L2+ H2= … = ne Lm + Hm.
In other words, the length of the moving member 205 ejected from each sleeve 204 is different, and the value of the length depends on the length of the housing 110 in the same plane corresponding to the sleeve 204, and when the length of the housing 110 is shorter (i.e. the housing 110 in the plane is not processed, but is only the housing 110 itself), the length of the moving member 205 ejected from the corresponding sleeve 204 is longest; when the length of the casing 110 is longer (i.e. the casing 110 at the plane is processed by heat dissipation or sealing, and a part of convex or cambered surface is extended outside the casing 110 itself), the length of the moving member 205 pushed out corresponding to the sleeve 204 is shorter.
The inner side surface of each moving piece 205 is hinged with a suction nozzle 109; further increasing the clamping force and avoiding the phenomenon of sliding.
Meanwhile, when the clamping is performed, the clamping portion clamps along the axial direction of the housing 110. When the clamping is carried out, the space formed between the clamping part and the clamping part is a clamping space, the area of the cross section of the clamping space is gradually increased and gradually decreased from bottom to top, so that the area of the cross section of the bottom of the clamping space is the largest, and the process shell 110 can be effectively prevented from sliding off in the clamping process.
In this embodiment, the transmission mechanism includes: the transmission motor is fixed on the connecting plate 201, a threaded rod is connected to an output shaft of the transmission motor in a transmission mode, and four groups of threaded sleeves are sleeved on the threaded rod in a sleeved mode. The threaded sleeve is fixed to one of the driving blocks 207, and the driving part of the driving block 207 is oriented in the same direction as the length of the threaded rod (in order to facilitate the driving of the threaded sleeve and the driving block 207). When the threaded sleeve moves downwards under the action of the threaded rod, the driving block 207 connected with the threaded sleeve moves downwards, relative to the sleeve 204, the driving block 207 moves towards the axis of the sleeve 204, and the moving piece 205 is ejected out to be in a clamping state under the action of the connecting rod 209. The transplanting method of the embodiment comprises the following steps:
firstly, a driving end controls a clamping hand to move back to open the clamping hand, and when clamping is needed, the clamping hand moves to two sides of a shell and is placed along the axial direction of the shell;
step two, the driving end controls the clamping hands to move oppositely, so that the clamping hands move on two sides of the shell, the transmission mechanism drives the linkage mechanism, the linkage mechanism controls the driving block connected with the linkage mechanism to move downwards, namely, the driving block moves towards the center of the sleeve in the sleeve, the connecting rod is combined to push out the moving piece by a proper length so that the suction nozzle and the shell are sucked, and the length of the suction nozzle meets the following relation: floor comprises, wherein the formula comprises: ne L1+ H1= ne L2+ H2= … = ne Lm + Hm;
and step three, when the shell is unloaded, reversely controlling the transmission mechanism to separate the suction nozzle from the shell at the same time, and then controlling the back movement of the gripper through the driving end.
The invention discloses a tong, wherein the inner wall of the tong is provided with a clamping part which deforms according to the change trend of the side surface of a shell in the axial direction or the radial direction, and the tong is suitable for the situation that a heat dissipation part is arranged on the shell in order to ensure the normal heat dissipation of a wave recorder in the prior art, and the heat dissipation part is outwards protruded. Deformation occurs according to the actual condition of the shell through the deformable clamping part, the clamping hand is guaranteed to make the largest area of contact when clamped, and the clamping stability is improved.
Claims (10)
1. A transplanting device for a wave recorder is arranged to be clamped from two side surfaces of a shell of the wave recorder; it is characterized by comprising:
the mounting piece is provided with a driving mechanism; the clamping hand is connected to the driving end of the driving mechanism;
the inner wall of the clamping hand is provided with a clamping part which deforms according to the change trend of the side surface of the shell in the axial direction or the radial direction.
2. The transplanting device for the oscillograph according to claim 1, wherein the clamping portion comprises:
the hinged block is in transmission connection with the tail end of the driving end;
one ends of the two groups of connecting arms are symmetrically hinged to the two ends of the hinge block;
the chain plates are connected to the other ends of the two groups of connecting arms; the adjacent chain plates are hinged end to end.
3. The transplanting device for the oscillograph according to claim 2, wherein the grip portion is provided with a springback portion for controlling springback of the link plate;
the spring back portion includes: the guide rod is inserted in the connecting piece in a penetrating way; one end of the guide rod is fixed on one of the chain plates; a stopping part is arranged at the other end of the guide rod;
the driving piece is sleeved on the guide rod; the driving piece is positioned between the stopping part and the connecting piece; two ends of the driving piece are respectively hinged to the connecting arm through hinge rods;
the compression spring is sleeved on the guide rod; the compression spring is positioned between the driving piece and the connecting piece.
4. The transplanting device for a wave recorder according to claim 2,
the inner side surface of each chain plate is hinged with a suction nozzle;
when clamping, the clamping part clamps along the axial direction of the shell.
5. The transplanting device for a wave recorder according to claim 1,
the clamping portion includes:
the connecting plate is in transmission connection with the driving mechanism;
the outer clamping plate and the inner clamping plate are vertically fixed on the connecting plate; a transmission mechanism vertical to the connecting plate is arranged between the inner clamping plate and the outer clamping plate;
the sleeves are sequentially and vertically fixed on the inner clamping plate; one end of the sleeve, which is far away from the outer clamping plate, is of an open structure, and the other end of the sleeve is provided with a linkage mechanism; the sleeve is internally provided with a moving piece, the moving piece is connected to the linkage mechanism in a transmission way, and the linkage mechanism drives the moving piece to move in the sleeve along the axial direction of the sleeve;
the linkage mechanism is connected with the transmission mechanism in a transmission way.
6. The transplanting device for a wave recorder according to claim 5,
the link gear includes:
the at least three pairs of butt-joint blocks are distributed at one end of the sleeve in the radial direction; the adjacent butt-joint blocks are distributed at equal intervals to form accommodating cavities;
at least three driving blocks which are respectively arranged in the accommodating cavities, wherein one driving block is connected with the transmission mechanism in a transmission way; a connecting rod is hinged in the accommodating cavity, one end of the connecting rod is clamped with the moving piece, and the other end of the connecting rod is clamped with the driving block;
the driving blocks move along the radial direction, and when the driving blocks are gathered together, the moving piece is ejected out to be in contact with the shell and clamped; when the driving blocks move away from each other, the moving piece is contracted in the sleeve.
7. The transplanting device for a wave recorder according to claim 6,
defining the ejection length of the moving part by the connecting rod to be H, numbering the sleeves in sequence from bottom to top, and sequentially arranging a first sleeve, a second sleeve, … and an m-th sleeve; wherein m is an integer of 3 or more;
the corresponding ejection length in each sleeve is H1, H2, … Hm;
defining the length of the housing at the same level as the first, second, … and mth sleeves as L1, L2, … Lm, the following relationships are satisfied: floor, "ne", and "ne", wherein "ne" is selected from the group consisting of, but not limited to, ne L1+ H1= ne L2+ H2= … = ne Lm + Hm.
8. The transplanting device for a wave recorder according to claim 5,
the inner side surface of each moving part is hinged with a suction nozzle;
when clamping, the clamping part clamps along the axial direction of the shell.
9. The transplanting device for a wave recorder according to claim 5,
the transmission mechanism includes:
the transmission motor is fixed on the connecting plate;
the threaded rod is connected to an output shaft of the transmission motor in a transmission manner;
the threaded sleeve is connected to the threaded rod through internal and external threads in a transmission manner; the thread bush is fixed on one of the driving blocks, and the direction of the driving part of the driving block is consistent with the length direction of the thread rod.
10. A transplanting method using the transplanting apparatus for a wave recorder according to any one of claims 1 to 9, comprising the steps of:
step one, when the selected clamping part is formed by a chain plate, the driving end firstly controls the back movement of the clamping hand to enable the clamping hand to be in an open state, and when clamping is needed, the clamping hand respectively moves to two sides of the shell and is placed along the axial direction of the shell;
step two, the driving end controls the clamping hands to move oppositely, so that the clamping hands move towards two sides of the shell and keep moving oppositely; when the chain plate moves continuously, the chain plate deforms according to the shape of the shell, and the area of a contact surface between the chain plate and the shell is increased;
step three, adjusting the angle of the contact heel of the nozzle and the shell along with the shape of the shell so as to be matched with the shell;
step four, when the shell is unloaded, the driving end controls the clamping hand to move backwards until the suction nozzle is separated from the shell;
step five, when the selected clamping part is in a sleeve type, the driving end firstly controls the back movement of the clamping hand to enable the clamping hand to be in an open state, and when clamping is needed, the clamping hand respectively moves to two sides of the shell and is placed along the axial direction of the shell;
step six, the driving end controls the clamping hands to move oppositely, so that the clamping hands move on two sides of the shell, the transmission mechanism drives the linkage mechanism, the linkage mechanism controls the driving block connected with the linkage mechanism to move downwards, namely the driving block moves towards the center of the sleeve in the sleeve, the connecting rod is combined to push the moving piece out by a proper length so that the suction nozzle and the shell are sucked, and the length of the suction nozzle meets the following relation: floor comprises, wherein the formula comprises: ne L1+ H1= ne L2+ H2= … = ne Lm + Hm;
and seventhly, when the shell is unloaded, reversely controlling the transmission mechanism to separate the suction nozzle from the shell at the same time, and then controlling the back movement of the gripper through the driving end.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110697268.5A CN113334419A (en) | 2021-06-23 | 2021-06-23 | Transplanting device and method for wave recorder |
| PCT/CN2021/112994 WO2022267204A1 (en) | 2021-06-23 | 2021-08-17 | Transplanting device for oscillograph, and method using same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110697268.5A CN113334419A (en) | 2021-06-23 | 2021-06-23 | Transplanting device and method for wave recorder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113334419A true CN113334419A (en) | 2021-09-03 |
Family
ID=77478151
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110697268.5A Withdrawn CN113334419A (en) | 2021-06-23 | 2021-06-23 | Transplanting device and method for wave recorder |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113334419A (en) |
| WO (1) | WO2022267204A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116408675B (en) * | 2023-04-19 | 2023-11-14 | 无锡发那特机械科技有限公司 | Clamping structure and clamping method convenient to adjust for machining nozzle ring |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102015222798B4 (en) * | 2015-11-18 | 2023-05-25 | Volkswagen Aktiengesellschaft | Gripping device and picking system |
| CN107379000A (en) * | 2017-09-13 | 2017-11-24 | 倪亮 | A kind of manipulator for being used to pick up irregularly shaped object |
| CN110076818B (en) * | 2019-06-05 | 2023-04-25 | 海盐汇通智能家居股份有限公司 | Manipulator for grabbing irregular object |
| DE102019118906A1 (en) * | 2019-07-12 | 2021-01-14 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Gripping device and robot |
| CN112372660A (en) * | 2020-11-03 | 2021-02-19 | 广州大学 | Mechanical arm clamp capable of self-adjusting object shape |
-
2021
- 2021-06-23 CN CN202110697268.5A patent/CN113334419A/en not_active Withdrawn
- 2021-08-17 WO PCT/CN2021/112994 patent/WO2022267204A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022267204A1 (en) | 2022-12-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1322962C (en) | Robot pneumatic shillful hand | |
| JP6976532B2 (en) | New flexible gripping head and its flexible gripping tool, and flexible gripping pen | |
| CN113334419A (en) | Transplanting device and method for wave recorder | |
| CN109910049B (en) | Self-locking rigid-flexible coupling mechanical gripper | |
| CN105172036B (en) | Correction and ejection mechanism for screen cloth | |
| CN111055301A (en) | Double-drive multi-knuckle bionic gripper | |
| CN111452069B (en) | Flexible negative pressure tongs of electrically driven artificial muscle of modularization | |
| CN110253606B (en) | Soft tongs of imitative paper folding structure | |
| CN205579105U (en) | Automatic it is telescopic from rapping bar | |
| CN204487580U (en) | A kind of three-dimension flexible organ cellular construction for bio-robot | |
| US20230042573A1 (en) | Robot Hand Module | |
| CN111452065A (en) | Fluid-driven membrane shrinkage rod array self-adaptive robot hand device | |
| CN113199470B (en) | Gripping device and control method of soft mechanical arm | |
| US5498121A (en) | Robot which is capable of receiving impact load | |
| CN112976052B (en) | Mirror image control mechanical arm unit | |
| CN209478225U (en) | A kind of manipulator feed mechanism | |
| CN213335811U (en) | Flexible folding wing at tail of pipeline launching projectile body | |
| CN214187178U (en) | Foldable telescopic outer limb mechanical arm with streamline housing | |
| CN213946483U (en) | Mechanical clamping arm for machine manufacturing | |
| CN208696269U (en) | A kind of mosaic work handgrip | |
| CN113263514A (en) | Rigid-flexible coupling bionic finger and bionic hand | |
| CN220622568U (en) | Buffer connecting rod for toy car | |
| CN219835490U (en) | Adjustable Christmas ball | |
| CN218747774U (en) | Manipulator that finger can remove | |
| CN109758755A (en) | A kind of badminton service robot bulb separation mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210903 |