CN116673916A - Interlocking matched product detection grabbing mechanical arm and grabbing method thereof - Google Patents
Interlocking matched product detection grabbing mechanical arm and grabbing method thereof Download PDFInfo
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- CN116673916A CN116673916A CN202310758978.3A CN202310758978A CN116673916A CN 116673916 A CN116673916 A CN 116673916A CN 202310758978 A CN202310758978 A CN 202310758978A CN 116673916 A CN116673916 A CN 116673916A
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- 238000001514 detection method Methods 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 60
- 230000000712 assembly Effects 0.000 claims abstract description 17
- 238000000429 assembly Methods 0.000 claims abstract description 17
- 230000009471 action Effects 0.000 claims description 18
- 238000007689 inspection Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/02—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby of table type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/10—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting holders for tool or work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
- B25H1/16—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top in height
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application relates to the technical field of product detection, in particular to an interlocking matched product detection grabbing manipulator and a grabbing method thereof, comprising the following steps: the fixing plates are symmetrically arranged, and guide plates are arranged between the fixing plates; the support plates are arranged on the fixing plates, support assemblies connected with the support plates are arranged between the fixing plates, a translation mechanism connected with the support assemblies is also arranged between the fixing plates, and the translation mechanism can drive the support plates to reciprocate in the horizontal direction through the support assemblies; the lifting component is arranged on the guide plate and connected with the translation mechanism, and can act when the translation mechanism moves; the clamping rods are symmetrically hinged to the bearing plate, and clamping assemblies connected with the clamping rods and the supporting assemblies are arranged on the bearing plate and drive the clamping rods to rotate; the locking mechanism is arranged on the bearing plate and is connected with the clamping assembly.
Description
Technical Field
The application relates to the technical field of product detection, in particular to an interlocking matched product detection grabbing manipulator and a grabbing method thereof.
Background
Before a qualified product is delivered to a customer, a product reliability test is required to ensure the use experience of the customer. When detecting the product, generally the product is manually taken to a detection place for detection, the efficiency of the mode is lower, the product can be grasped by a manipulator, the manipulator is an automatic operation device which can simulate certain action functions of a human hand and an arm and is used for grasping and carrying objects or operating tools according to a fixed program, and the product detection device is characterized in that various expected operations can be completed through programming, and the structure and the performance of the product detection device have the advantages of the human hand and the manipulator.
However, when the existing manipulator is used for grabbing, the control needs to be performed through a plurality of driving sources, and the used compact parts are more, so that the damage rate of the manipulator is increased, and the overhaul difficulty is higher.
Disclosure of Invention
The application aims to provide an interlocking matched product detection grabbing mechanical arm and a grabbing method thereof, so as to solve the problems in the background technology.
In order to achieve the above purpose, the present application provides the following technical solutions:
an interlocking matched product detection grasping manipulator, comprising:
the fixing plates are symmetrically arranged, and guide plates are arranged between the fixing plates;
the support plates are arranged on the fixing plates, support assemblies connected with the support plates are arranged between the fixing plates, a translation mechanism connected with the support assemblies is also arranged between the fixing plates, and the translation mechanism can drive the support plates to reciprocate in the horizontal direction through the support assemblies;
the lifting component is arranged on the guide plate and connected with the translation mechanism, can act when the translation mechanism moves, and drives the bearing plate to reciprocate in the vertical direction through the supporting component;
characterized by further comprising:
the clamping rods are symmetrically hinged to the bearing plate, clamping assemblies connected with the clamping rods and the supporting assemblies are arranged on the bearing plate, and the clamping assemblies can act when the bearing plate moves to a position abutting against the materials and drive the clamping rods to rotate;
the locking mechanism is arranged on the bearing plate and connected with the clamping assembly, and the locking mechanism can control the movement state of the clamping rod through the clamping assembly when the clamping rod is used for fixing materials.
As a further scheme of the application: the support assembly comprises a hollow rod fixedly mounted on the bearing plate and symmetrically arranged, a support rod is movably mounted in the hollow rod, a support plate is arranged at one end of the support rod away from the bearing plate, a spring I which is in butt joint with the support plate is sleeved on the support rod and the hollow rod, and the support plate is connected with the clamping assembly and the translation mechanism.
As still further aspects of the application: the translation mechanism comprises a screw rod rotatably arranged between the fixed plates, a threaded sleeve which is in threaded fit with the screw rod is movably arranged on the screw rod, a connecting plate is arranged on the side wall of the threaded sleeve, a guide assembly connected with the connecting plate is arranged on the fixed plates, and the guide assembly is connected with the lifting assembly and the supporting plate.
As still further aspects of the application: the guide assembly comprises guide rods fixedly arranged between the fixing plates, guide sleeves are movably arranged on the guide rods, fixing rods are respectively arranged on the guide sleeves and the threaded sleeves, support sleeves fixedly connected with the support plates are sleeved on the fixing rods, the guide sleeves are fixedly connected with the connecting plates, and the support sleeves are connected with the lifting assembly.
As still further aspects of the application: the lifting assembly comprises an upper chute arranged on the guide plate, a straight chute communicated with the upper chute is further arranged on the guide plate, a lower chute communicated with the straight chute and symmetrically arranged with the upper chute is further arranged on the guide plate, and a limit rod is arranged on the side wall of the support sleeve and is clamped with the upper chute and the straight chute and the lower chute.
As still further aspects of the application: the clamping assembly comprises a guide rail which is fixedly arranged on the bearing plate and symmetrically arranged, a sliding block which is symmetrically arranged is arranged in the guide rail in a sliding mode, a connecting rod is hinged to the sliding block, one side of the supporting plate, which faces the bearing plate, is provided with a bearing rod hinged to the connecting rod, the bearing rod is connected with the locking mechanism, and the sliding block is hinged to the clamping rod.
As still further aspects of the application: the locking mechanism comprises a baffle fixedly mounted on the bearing plate, a limit sleeve symmetrically arranged is arranged on the baffle, a second spring is arranged in the limit sleeve, and a clamping assembly connected with the limit sleeve and the bearing rod is arranged on the bearing plate.
As still further aspects of the application: the clamping assembly comprises a movable rod movably mounted in the limit sleeve and abutted to the second spring, an inclined block is arranged at one end of the movable rod, which is far away from the limit sleeve, a plurality of limit rings which are equidistantly arranged are arranged on the bearing rod, the limit rings are clamped with the inclined blocks, and a limit structure connected with the limit sleeve and the movable rod is arranged on the bearing plate.
As still further aspects of the application: the limiting structure comprises a clamping groove formed in the limiting sleeve, a limiting wheel clamped with the clamping groove is arranged on the movable rod, and a guide wheel matched with the limiting wheel is arranged on the fixed plate.
A grabbing method of an interlocking matched product detection grabbing manipulator comprises the following steps:
step one: in the initial state, the clamping rods are positioned at the stroke tail ends in the mutually-far direction, and under the action of the translation mechanism, the supporting component is driven to move, so that the bearing plate is driven to move towards the materials to be grabbed;
step two: the translation mechanism also drives the lifting assembly to move, so that the bearing plate moves towards the ground direction until the bearing plate moves to a position where the bearing plate is abutted against the material;
step three: the bearing plate continues to move and drives the clamping assembly to move, so that the clamping rod rotates around the hinge point, and when the lifting assembly moves to the end of the stroke, the clamping rod clamps the material on the bearing plate;
step four: after the clamping rod is fixed with the material, the clamping rod is fixed through the clamping assembly under the action of the locking mechanism, at the moment, the translation mechanism drives the bearing plate to move towards the initial position through the supporting assembly, and when the bearing plate moves to the required transfer position, the clamping rod rotates under the action of the locking mechanism so as to separate the material from the clamping rod.
Compared with the prior art, the application has the beneficial effects that: when the automatic detection device is used, a product to be detected can be automatically grabbed to a detection position for detection, when the detection is needed, the supporting component drives the bearing plate to move under the action of the translation mechanism, the height of the bearing plate is controlled under the action of the lifting component, when the bearing plate moves to a position abutting against the product, the supporting component drives the clamping component to move, so that the clamping rod rotates around the hinging point and fixes the product on the bearing plate, the hinging rod is ensured not to move under the action of the locking mechanism, at the moment, the translation mechanism drives the bearing plate to move towards the initial position, and when the product moves to the detection position, the locking mechanism works and enables the hinging rod to move, so that the product falls into the detection position.
Drawings
FIG. 1 is a schematic view of an embodiment of an interlocking product inspection grasping manipulator;
FIG. 2 is an enlarged schematic view of the structure shown at A in FIG. 1;
FIG. 3 is a schematic view of a structure of an interlocking product inspection grasping manipulator according to another embodiment;
FIG. 4 is a schematic diagram of an exploded view of a lifting assembly and a portion of a translation mechanism in one embodiment of an interlocking product inspection grasping manipulator;
FIG. 5 is a schematic diagram of the connection relationship of the clamping assembly, the supporting assembly, and the locking mechanism in one embodiment of the interlocking product detection grasping manipulator;
FIG. 6 is a schematic structural view of a partial locking mechanism of an interlocking product inspection grasping manipulator in one embodiment;
FIG. 7 is a schematic structural view of a clamping assembly and a clamping rod in an embodiment of an interlocking product inspection gripping manipulator;
FIG. 8 is a schematic diagram of an exploded view of a clamping assembly and a clamping rod in one embodiment of an interlocking product inspection gripping robot;
FIG. 9 is a schematic diagram of an exploded view of a portion of a locking mechanism in one embodiment of an interlocking product inspection grasping manipulator;
in the figure: 1. a fixing plate; 2. a screw rod; 3. a threaded sleeve; 4. a connecting plate; 5. a guide sleeve; 6. a guide rod; 7. a fixed rod; 8. a support sleeve; 9. a support plate; 10. a limit rod; 11. a guide plate; 12. a chute is arranged; 13. a straight groove; 14. a lower chute; 15. a support rod; 16. a hollow rod; 17. a first spring; 18. a receiving plate; 19. a guide rail; 20. a sliding block; 21. a connecting rod; 22. a clamping rod; 23. a receiving rod; 24. a limiting ring; 25. a baffle; 26. a limit sleeve; 27. a clamping groove; 28. a second spring; 29. a movable rod; 30. a tilting block; 31. a limiting wheel; 32. and a guide wheel.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In addition, an element in the present disclosure may be referred to as being "fixed" or "disposed" on another element or being directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Referring to fig. 1 to 9, in an embodiment of the present application, an interlocking product detection grabbing manipulator includes:
the fixing plates 1 are symmetrically arranged, and guide plates 11 are arranged between the fixing plates 1;
referring to fig. 1-3 and 5, a support plate 18 is disposed on the fixing plate 1, a support assembly connected with the support plate 18 is disposed between the fixing plates 1, the support assembly includes a hollow rod 16 fixedly mounted on the support plate 18 and symmetrically disposed, a support rod 15 is movably mounted in the hollow rod 16, a support plate 9 is disposed at one end of the support rod 15 away from the support plate 18, a first spring 17 abutting against the support plate 9 is sleeved on the support rod 15 and the hollow rod 16, and the support plate 9 is connected with the clamping assembly and the translation mechanism.
In detail, in the initial state, the first spring 17 is in a compressed state, so that the supporting rod 15 is located at the end of the travel far away from the direction of the hollow rod 16, when the material is required to be detected, the product is required to be grabbed to the detection position, at this time, under the action of the translation mechanism, the supporting plate 9 is driven to move in the horizontal direction, so as to drive the hollow rod 16 and the supporting rod 15 to move, so that the receiving plate 18 moves, and after the material is grabbed, the translation mechanism will control the supporting plate 9 to move towards the initial position, and the above steps are repeated, so that the material is continuously grabbed.
Referring to fig. 1 and 3-5, a translation mechanism connected with the supporting component is further disposed between the fixing plates 1, the translation mechanism can drive the carrying plates 18 to reciprocate in the horizontal direction through the supporting component, the translation mechanism comprises a screw rod 2 rotatably mounted between the fixing plates 1, a threaded sleeve 3 in threaded fit with the screw rod 2 is movably mounted on the screw rod 2, a connecting plate 4 is disposed on the side wall of the threaded sleeve 3, a guiding component connected with the connecting plate 4 is disposed on the fixing plates 1, the guiding component is connected with the lifting component and the supporting plate 9, the guiding component comprises a guiding rod 6 fixedly mounted between the fixing plates 1, guiding sleeves 5 are movably mounted on the guiding rod 6, fixing rods 7 are respectively disposed on the guiding sleeves 5 and the threaded sleeve 3, supporting sleeves 8 fixedly connected with the supporting plates 9 are sleeved on the fixing rods 7, the guiding sleeves 5 are fixedly connected with the connecting plate 4, and the supporting sleeves 8 are connected with the lifting component.
It should be noted that, the check out test set is located the stroke end of lead screw 2 one side, under the initial condition, thread bush 3 is located the stroke end of lead screw 2 one side and is located the check out test set top, when needs snatch the product, at this moment, lead screw 2 rotates, drive thread bush 3 motion, thereby drive connecting plate 4 motion, make guide bush 5 along the length direction motion of guide bar 6, guide bush 5 and guide bar 6 have the effect of direction, make thread bush 3 along the length direction motion of lead screw 2, and can not follow lead screw 2 and rotate, thread bush 3 and guide bush 5 still can drive dead lever 7 motion, and drive support sleeve 8 motion, make backup pad 9 along the length direction motion of lead screw 2, support sleeve 8 still can drive the lifting assembly motion, make the altitude change of backup pad 9.
Referring to fig. 1, 3-5, a lifting assembly is disposed on the guide plate 11 and connected with the translation mechanism, the lifting assembly can move when the translation mechanism moves, and drives the receiving plate 18 to reciprocate in a vertical direction through the support assembly, the lifting assembly comprises an upper chute 12 disposed on the guide plate 11, a straight chute 13 communicated with the upper chute 12 is further disposed on the guide plate 11, a lower chute 14 communicated with the straight chute 13 and symmetrically disposed with the upper chute 12 is further disposed on the guide plate 11, a limit rod 10 is disposed on a side wall of the support sleeve 8, and the limit rod 10 is engaged with the upper chute 12, the straight chute 13 and the lower chute 14.
Further, the upper chute 12 and the lower chute 14 are arranged in an inclined symmetrical manner, in an initial state, the limit rod 10 is located at the travel end of the lower chute 14, so that the support sleeve 8 is located at the travel end of the direction far away from the threaded sleeve 3, the receiving plate 18 is located at the travel end of the direction far away from the guide plate 11, when the product is required to be grabbed, the screw rod 2 rotates, the threaded sleeve 3 is driven to move, the support sleeve 8 is driven to move through the fixing rod 7, the support plate 9 moves along the length direction of the screw rod 2, meanwhile, the support sleeve 8 also drives the limit rod 10 to move along the length direction of the lower chute 14, the support sleeve 8 moves towards the threaded sleeve 3 while moving in the horizontal direction, so as to drive the receiving plate 18 to move, when the limit rod 10 moves to the connecting position of the lower chute 14 and the straight chute 13, the receiving plate 18 moves to the travel end far away from the ground, the screw rod 2 continues to move, so that the receiving plate 18 moves in the horizontal direction, when the limit rod 10 moves into the upper chute 12, the support sleeve 8 moves towards the direction far away from the direction of the threaded sleeve 3, the receiving plate 18 moves towards the receiving plate 18, the receiving plate 18 moves towards the connecting plate 22 and the lower chute 13 until the product is clamped by the connecting member, and the product is clamped between the lower chute and the lower chute 14 and the connecting member and the product is clamped by the end, and the end of the connecting member, and the end of the product is clamped by the connecting member, and the connecting member is held by the support member, and the support member is moved towards the lower chute and the lower chute, and the end.
Further comprises:
referring to fig. 1-3, 5, 7 and 8, the clamping rod 22 is symmetrically hinged to the receiving plate 18, the receiving plate 18 is provided with a clamping assembly connected with the clamping rod 22 and the supporting assembly, the clamping assembly can act when the receiving plate 18 moves to a position abutting against the material and drives the clamping rod 22 to rotate, the clamping assembly comprises a guide rail 19 fixedly mounted on the receiving plate 18 and symmetrically arranged, a sliding block 20 symmetrically arranged is slidably mounted in the guide rail 19, a connecting rod 21 is hinged to the sliding block 20, a receiving rod 23 hinged to the connecting rod 21 is arranged on one side of the supporting plate 9 facing the receiving plate 18, the receiving rod 23 is connected with the locking mechanism, and the sliding block 20 is hinged to the clamping rod 22.
Still further, in the initial state, the first spring 17 is in a compressed state, the hollow rod 16 is located at the end of travel far away from the direction of the hollow rod 16, under the action of the supporting rod 23 and the connecting rod 21, the two sliding blocks 20 are located at the end of travel close to each other, so that the included angle between the clamping rod 22 and the supporting plate 18 is the largest, when the limiting rod 10 is located in the upper chute 12, the supporting plate 18 is driven to move towards the ground, when the supporting plate 18 moves to a position abutting against a product, the supporting plate 9 continues to move, the supporting rod 15 moves towards the hollow rod 16, so that the first spring 17 is compressed, the supporting plate 9 also drives the supporting rod 23 to move towards the supporting plate 18, and drives the two sliding blocks 20 to move towards the direction far away from each other through the connecting rod 21, so as to drive the clamping rod 22 to rotate around the hinge point, and clamp the product on the supporting plate 18 at the moment, the screw rod 2 is reversed, and under the action of ensuring that the supporting plate 18 moves to the supporting plate 9 and the product supporting plate 18, when the supporting plate 18 moves to the product abutting against the product abutting position, the supporting plate 18 is not changed, the supporting plate 18 is driven to move towards the supporting plate 18, the supporting plate 18 is separated from the supporting plate 18, the supporting plate is driven to move towards the direction, the supporting plate 18 is separated from the supporting plate 18, and the supporting plate is released, the supporting plate 18 is separated from the supporting plate 18 by the supporting plate is driven to move, and the supporting plate 18 is separated from the supporting plate 18, and the supporting plate 18 is moved towards the supporting plate 18.
Referring to fig. 1-3 and 5-9, a locking mechanism is disposed on the receiving plate 18 and connected with the clamping assembly, the locking mechanism can control the moving state of the clamping rod 22 through the clamping assembly when the clamping rod 22 fixes the material, the locking mechanism includes a baffle 25 fixedly mounted on the receiving plate 18, a limit sleeve 26 symmetrically disposed is disposed on the baffle 25, a No. two spring 28 is disposed in the limit sleeve 26, a clamping assembly connected with the limit sleeve 26 and the receiving rod 23 is disposed on the receiving plate 18, the clamping assembly includes a movable rod 29 movably mounted in the limit sleeve 26 and abutting against the No. two spring 28, one end of the movable rod 29, far away from the limit sleeve 26, is provided with an inclined block 30, a plurality of limit rings 24 disposed at equal intervals are disposed on the receiving rod 23, the limit rings 24 are clamped with the inclined block 30, a clamping wheel 31 disposed on the receiving plate 18 and connected with the limit sleeve 26 and the movable rod 29 is provided with a guide wheel 31, and the clamping groove 31 disposed on the receiving plate 18 is matched with the guide wheel 31.
In the unfolded state, the second spring 28 is in a compressed state, so that the movable rod 29 is located at the end of the travel far away from the direction of the limit sleeve 26, so that the limit wheel 31 is located at the end of the travel on one side of the clamping groove 27, at this time, the inclined surface of the inclined block 30 is abutted with the conical surface of the limit ring 24, when the limit rod 10 moves into the upper chute 12, and the receiving plate 18 moves to a position abutted with a product, the support plate 9 continues to move, so that the receiving rod 23 moves towards the direction of the receiving plate 18, the receiving rod 23 also drives the limit ring 24 to move, under the action of the limit ring 24, the movable rod 29 is driven to move towards the inside of the limit sleeve 26, so that the second spring 28 is compressed until the clamping rod 22 fixes the product, at this time, under the action of the second spring 28, the horizontal plane of the tilting block 30 is abutted with the horizontal plane of the limiting ring 24, the distance between the bearing rod 23 and the bearing plate 18 is kept unchanged, at this time, the screw rod 2 is reversed, so that the bearing plate 18 moves towards the initial position, when the limiting rod 10 moves into the lower chute 14 and the limiting wheel 31 moves to the position abutted with the guide wheel 32, the limiting wheel 31 moves towards the inside of the limiting sleeve 26, the tilting block 30 is driven to move through the movable rod 29, the spring No. two 28 is compressed, the tilting block 30 is separated from the limiting ring 24, at this time, the spring No. one 17 is elastically released, and drives the bearing plate 18 to move towards the direction away from the supporting plate 9, so that the distance between the bearing rod 23 and the bearing plate 18 is increased, and the sliding block 20 is driven to move through the connecting rod 21, so that the clamping rod 22 is driven to move, so that the product is separated from the bearing plate 18.
A grabbing method of an interlocking matched product detection grabbing manipulator comprises the following steps:
step one: in the initial state, the clamping rods 22 are at the stroke end in the mutually-away direction, and under the action of the translation mechanism, the support assembly is driven to move, so that the bearing plate 18 is driven to move towards the materials to be grabbed;
step two: the translation mechanism also drives the lifting assembly to move, so that the bearing plate 18 moves towards the ground direction until the bearing plate 18 moves to a position abutting against the material;
step three: the bearing plate 18 continues to move and drives the clamping assembly to move, so that the clamping rod 22 rotates around the hinge point, and when the lifting assembly moves to the end of the stroke, the clamping rod 22 clamps the material on the bearing plate 18;
step four: after the clamping rod 22 is used for fixing materials, the clamping rod 22 is fixed through the clamping assembly under the action of the locking mechanism, at the moment, the translation mechanism drives the bearing plate 18 to move towards the initial position through the supporting assembly, and when the bearing plate 18 moves to the required transfer position, the clamping rod 22 is rotated under the action of the locking mechanism, so that the materials are separated from the clamping rod 22.
It will be evident to those skilled in the art that the application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (10)
1. An interlocking matched product detection grasping manipulator, comprising:
the fixing plates (1) are symmetrically arranged, and guide plates (11) are arranged between the fixing plates (1);
the support plates (18) are arranged on the fixed plates (1), support assemblies connected with the support plates (18) are arranged between the fixed plates (1), translation mechanisms connected with the support assemblies are also arranged between the fixed plates (1), and the translation mechanisms can drive the support plates (18) to reciprocate in the horizontal direction through the support assemblies;
the lifting component is arranged on the guide plate (11) and connected with the translation mechanism, can act when the translation mechanism moves, and drives the carrying plate (18) to reciprocate in the vertical direction through the supporting component;
characterized by further comprising:
the clamping rods (22) are symmetrically hinged to the bearing plate (18), clamping assemblies connected with the clamping rods (22) and the supporting assemblies are arranged on the bearing plate (18), and the clamping assemblies can act when the bearing plate (18) moves to a position abutting against a material and drive the clamping rods (22) to rotate;
the locking mechanism is arranged on the bearing plate (18) and is connected with the clamping assembly, and the locking mechanism can control the movement state of the clamping rod (22) through the clamping assembly when the clamping rod (22) is used for fixing materials.
2. The interlocking matched product detection grabbing mechanical arm according to claim 1, wherein the supporting component comprises a hollow rod (16) fixedly installed on the bearing plate (18) and symmetrically arranged, a supporting rod (15) is movably installed in the hollow rod (16), one end, far away from the bearing plate (18), of the supporting rod (15) is provided with a supporting plate (9), a first spring (17) abutted with the supporting plate (9) is sleeved on the supporting rod (15) and the hollow rod (16), and the supporting plate (9) is connected with the clamping component and the translation mechanism.
3. The interlocking matched product detection grabbing mechanical arm according to claim 2, wherein the translation mechanism comprises a screw rod (2) rotatably installed between the fixed plates (1), a threaded sleeve (3) in threaded fit with the screw rod (2) is movably installed on the screw rod (2), a connecting plate (4) is arranged on the side wall of the threaded sleeve (3), a guide assembly connected with the connecting plate (4) is arranged on the fixed plates (1), and the guide assembly is connected with the lifting assembly and the supporting plate (9).
4. A product detection grabbing manipulator in an interlocking fit according to claim 3, characterized in that the guiding assembly comprises a guiding rod (6) fixedly mounted between the fixing plates (1), guiding sleeves (5) are movably mounted on the guiding rod (6), fixing rods (7) are respectively arranged on the guiding sleeves (5) and the threaded sleeves (3), supporting sleeves (8) fixedly connected with the supporting plates (9) are sleeved on the fixing rods (7), the guiding sleeves (5) are fixedly connected with the connecting plates (4), and the supporting sleeves (8) are connected with the lifting assembly.
5. The interlocking matched product detection grabbing manipulator according to claim 4, wherein the lifting assembly comprises an upper chute (12) arranged on the guide plate (11), a straight chute (13) communicated with the upper chute (12) is further arranged on the guide plate (11), a lower chute (14) communicated with the straight chute (13) and symmetrically arranged with the upper chute (12) is further arranged on the guide plate (11), a limit rod (10) is arranged on the side wall of the support sleeve (8), and the limit rod (10) is clamped with the upper chute (12) and the straight chute (13) and the lower chute (14).
6. The interlocking matched product detection grabbing mechanical arm according to claim 2, wherein the clamping assembly comprises guide rails (19) fixedly mounted on the bearing plate (18) and symmetrically arranged, sliding blocks (20) symmetrically arranged are slidably mounted in the guide rails (19), connecting rods (21) are hinged to the sliding blocks (20), bearing rods (23) hinged to the connecting rods (21) are arranged on one sides, facing the bearing plate (18), of the supporting plates (9), the bearing rods (23) are connected with the locking mechanism, and the sliding blocks (20) are hinged to the clamping rods (22).
7. The interlocking product detection grabbing mechanical arm according to claim 6, wherein the locking mechanism comprises a baffle plate (25) fixedly installed on the bearing plate (18), a limit sleeve (26) symmetrically arranged is arranged on the baffle plate (25), a second spring (28) is arranged in the limit sleeve (26), and a clamping assembly connected with the limit sleeve (26) and the bearing rod (23) is arranged on the bearing plate (18).
8. The interlocking matched product detection grabbing mechanical arm according to claim 7, wherein the clamping assembly comprises a movable rod (29) movably mounted in the limit sleeve (26) and abutted to the second spring (28), one end, far away from the limit sleeve (26), of the movable rod (29) is provided with an inclined block (30), the bearing rod (23) is provided with a plurality of limit rings (24) which are equidistantly arranged, the limit rings (24) are clamped with the inclined block (30), and the bearing plate (18) is provided with a limit structure connected with the limit sleeve (26) and the movable rod (29).
9. The interlocking matched product detection grabbing mechanical arm according to claim 8, wherein the limiting structure comprises a clamping groove (27) formed in the limiting sleeve (26), a limiting wheel (31) clamped with the clamping groove (27) is arranged on the movable rod (29), and a guiding wheel (32) matched with the limiting wheel (31) is arranged on the fixed plate (1).
10. The interlocking product detection grabbing mechanical arm grabbing method is characterized by comprising the following steps of:
step one: in the initial state, the clamping rods (22) are positioned at the stroke tail ends in the mutually-far direction, and under the action of the translation mechanism, the supporting component is driven to move, so that the bearing plate (18) is driven to move towards the materials to be grabbed;
step two: the translation mechanism also drives the lifting assembly to move, so that the bearing plate (18) moves towards the ground direction until the bearing plate (18) moves to a position abutting against the material;
step three: the bearing plate (18) continues to move and drives the clamping assembly to move, so that the clamping rod (22) rotates around the hinge point, and when the lifting assembly moves to the end of the stroke, the clamping rod (22) clamps the material on the bearing plate (18);
step four: after the clamping rod (22) is used for fixing materials, the clamping rod (22) is fixed through the clamping assembly under the action of the locking mechanism, at the moment, the translation mechanism drives the bearing plate (18) to move towards the initial position through the supporting assembly, and when the bearing plate (18) moves to a required transfer position, the clamping rod (22) is rotated under the action of the locking mechanism, so that the materials are separated from the clamping rod (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310758978.3A CN116673916A (en) | 2023-06-26 | 2023-06-26 | Interlocking matched product detection grabbing mechanical arm and grabbing method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310758978.3A CN116673916A (en) | 2023-06-26 | 2023-06-26 | Interlocking matched product detection grabbing mechanical arm and grabbing method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117308734A (en) * | 2023-11-30 | 2023-12-29 | 成都欧派智能家居有限公司 | Rapid detection device for dimensional tolerance of plate |
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2023
- 2023-06-26 CN CN202310758978.3A patent/CN116673916A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117308734A (en) * | 2023-11-30 | 2023-12-29 | 成都欧派智能家居有限公司 | Rapid detection device for dimensional tolerance of plate |
| CN117308734B (en) * | 2023-11-30 | 2024-02-06 | 成都欧派智能家居有限公司 | Rapid detection device for dimensional tolerance of plate |
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