WO2022267204A1 - 一种录波仪用的移栽装置及其方法 - Google Patents
一种录波仪用的移栽装置及其方法 Download PDFInfo
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- WO2022267204A1 WO2022267204A1 PCT/CN2021/112994 CN2021112994W WO2022267204A1 WO 2022267204 A1 WO2022267204 A1 WO 2022267204A1 CN 2021112994 W CN2021112994 W CN 2021112994W WO 2022267204 A1 WO2022267204 A1 WO 2022267204A1
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- WIPO (PCT)
- Prior art keywords
- clamping
- sleeve
- driving
- shell
- housing
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 60
- 230000005540 biological transmission Effects 0.000 claims description 37
- 230000006835 compression Effects 0.000 claims description 8
- 238000007906 compression Methods 0.000 claims description 8
- 238000003032 molecular docking Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 abstract description 3
- 230000017525 heat dissipation Effects 0.000 description 11
- 230000008569 process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000007789 sealing Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000004078 waterproofing Methods 0.000 description 1
Classifications
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- 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
Definitions
- the invention belongs to the technical field of wave recorder processing, and in particular relates to a transplanting device and method for wave recorders.
- the manipulator In the production process, in order to facilitate the transfer of the oscilloscope, to achieve sticky notes, locking or loading and unloading and other processes, the manipulator is naturally used to grip the oscilloscope.
- the outer wall of the wave recorder In order to increase the heat dissipation performance or sealing performance of the wave recorder, the outer wall of the wave recorder is generally set as a surface with a certain radian. It is very different; therefore, the gripper is affected by the arc surface when gripping, which reduces the contact area with the outer wall of the oscilloscope, so that the gripping friction is small and the gripping is unstable.
- the present invention provides a transplanting device and method for wave recorders.
- a transplanting device for an oscilloscope which is set to clamp from both sides of the oscilloscope housing; comprising:
- the mounting part is provided with a driving mechanism; at least one set of clamping hands, the clamping hands are connected to the driving end of the driving mechanism;
- the inner wall of the gripper has a clamping portion that deforms according to the axial or radial variation trend of the casing side.
- Two sets of connecting arms one end of which is symmetrically hinged to both ends of the hinge block;
- chain plates are connected to the other ends of the two sets of connecting arms; adjacent chain plates are hinged head to tail.
- the chain plates hinged at the beginning and the end are deformable structures, which deform according to the specific structure of the shell, wrapping the shell and increasing the clamping area to the greatest extent.
- the clamping part is provided with a rebound part for controlling the rebound of the chain plate
- the rebound part includes: a guide rod inserted through the connector; one end of the guide rod is fixed to one of the chain plates; the other end of the guide rod is provided with a stopper;
- the driving part is sleeved on the guide rod; the driving part is located between the stop part and the connecting part; the two ends of the driving part are respectively hinged to the connecting arm through the hinge rod;
- the compression spring is sleeved on the guide rod; the compression spring is located between the driving part and the connecting part.
- suction nozzles are hinged on the inner surface of each chain plate
- the clamping portion clamps along the axial direction of the housing.
- the clamping force is further increased to avoid the phenomenon of slipping; at the same time, the clamping is vertical clamping, that is, the space formed between the clamping part and the clamping part is the clamping space when clamping.
- the cross-sectional area of the clamping space tends to gradually increase and then gradually decrease from bottom to top, so the cross-sectional area of the bottom of the clamping space is the largest, which can effectively prevent the clamping process from Case slips off.
- the clamping part includes:
- a connecting plate which is connected to the drive mechanism by transmission
- the outer splint and the inner splint are vertically fixed to the connecting plate; a transmission mechanism perpendicular to the connecting plate is arranged between the inner splint and the outer splint;
- one end of the sleeve away from the outer splint is an open structure, and the other end is provided with a linkage mechanism;
- a moving part is arranged inside the sleeve, and the moving part drives connected to the linkage mechanism, the linkage mechanism drives the moving part to move in the sleeve along the axial direction of the sleeve;
- the linkage mechanism is drivingly connected to the transmission mechanism.
- the transmission mechanism and the linkage mechanism to control the moving parts in the sleeve respectively, the distances that each moving part protrudes are different to match with the shell, ensuring that each section has a moving part for clamping, Increase grip.
- the linkage mechanism includes:
- At least three groups of docking blocks are radially distributed at one end of the sleeve; adjacent docking blocks are equidistantly distributed to form accommodating chambers;
- At least three driving blocks are respectively placed in the accommodating cavity, and one of the driving blocks is transmission-connected to the transmission mechanism; a connecting rod is hinged in the accommodating cavity, and one end of the connecting rod is clamped with the moving part, The other end is clamped to the drive block;
- the driving block moves in the radial direction, and when the driving blocks gather together, the moving part is pushed out to contact and clamp the housing; when the driving blocks move away from each other, the moving part shrinks in the sleeve.
- the connecting rod pushes out the moving part to a length H
- the sleeves are numbered in order from bottom to top, which are the first sleeve, the second sleeve, ... and the mth sleeve ; Where m is an integer greater than or equal to 3;
- the length L of the shell at different heights is different due to its heat dissipation requirements or sealing requirements, so if the clamping is performed with a straight plate, the clamping strength is low, so by setting In order to be able to carry out effective clamping according to the moving parts with different lengths and different distances, forming complementary clamping.
- suction nozzles are hinged on the inner surface of each moving part
- the clamping portion clamps along the axial direction of the housing.
- the clamping force is further increased to avoid the phenomenon of slipping; at the same time, the clamping is vertical clamping, that is, the space formed between the clamping part and the clamping part is the clamping space when clamping.
- the cross-sectional area of the clamping space tends to gradually increase and then gradually decrease from bottom to top, so the cross-sectional area of the bottom of the clamping space is the largest, which can effectively prevent the clamping process from Case slips off.
- the transmission mechanism includes:
- the transmission motor is fixed on the connecting plate
- the threaded rod is connected to the output shaft of the transmission motor through transmission;
- the threaded sleeve is connected to the threaded rod through internal and external thread transmission; the threaded sleeve is fixed to one of the driving blocks, and the direction of the driving part of the driving block is consistent with the length direction of the threaded rod.
- the threaded sleeve connected with the threaded rod can control the movement of the driving block together to ensure the consistency of clamping.
- a kind of transplanting method that uses the transplanting device that wave recorder is used as above, comprises the following steps:
- Step 1 When the selected clamping part is composed of chain plates, the driving end first controls the back movement of the gripper to make the gripper in an open state. When clamping is required, the gripper moves to both sides of the housing and moves along the Axial placement of the housing;
- Step 2 The driving end controls the relative movement of the grippers, so that the two sides of the gripper move the shell and keep moving toward each other; when continuing to move, the chain plate deforms according to the shape of the shell, increasing the contact surface area with the shell ;
- Step 3 After the nozzle is in contact with the shell, adjust the angle according to the shape of the shell to fit the shell;
- Step 4 When unloading the shell, the driving end controls the gripper to move backward until the suction nozzle is separated from the shell;
- Step 5 When the selected clamping part is a sleeve type, the driving end first controls the back movement of the gripper so that the gripper is in an open state. When clamping is required, the gripper moves to both sides of the housing and moves along the Axial placement of the housing;
- Step 7 When unloading the shell, reversely control the transmission mechanism to separate the suction nozzle from the shell at the same time, and then control the back movement of the gripper through the driving end.
- the invention discloses a clamping hand, the inner wall of which has a clamping part deformed according to the change trend of the side of the shell in the axial or radial direction, which is suitable for use in the shell in order to ensure the normal heat dissipation of the oscilloscope in the prior art.
- a heat dissipation part is provided on the top, and the heat dissipation part is convex outward.
- FIG. 1 is a schematic structural view of the gripper of Example 1.
- FIG. 1 is a schematic structural view of the gripper of Example 1.
- FIG. 2 is a schematic structural view of the gripper of Example 2.
- FIG. 2 is a schematic structural view of the gripper of Example 2.
- FIG. 3 is a schematic diagram of a partial structure of the gripper of Example 2.
- FIG. 4 is a schematic structural view of the sleeve in Embodiment 2.
- FIG. 1 to Fig. 4 Each mark in Fig. 1 to Fig. 4 is: connecting piece 101, connecting arm 102, chain plate 103, guide rod 104, mounting piece 105, driving piece 106, stopper 107, compression spring 108, suction nozzle 109, housing 110, driving cylinder 111, transmission rod 112, hinge block 113, connecting plate 201, outer splint 202, inner splint 203, sleeve 204, moving part 205, docking block 206, driving block 207, accommodating cavity 208, connecting rod 209 .
- grippers are generally used for transfer.
- the shell was a square polygon
- the stable gripping could be realized by directly gripping its two sides.
- the two sides or the rear side of the shell are provided with some protrusions or some are arc surfaces
- the protrusions or arcs Under the action of the surface, the clamping area is directly reduced, and the clamping is unstable.
- the shell needs to be turned over during unloading so that the shell can be placed in the forward direction, and the processing cost and time cost are relatively large. If the front side and the rear side are clamped, one side button or other parts will be touched, causing damage to the housing.
- this embodiment provides a transplanting device for wave recorders.
- the transplanting device is set to clamp from both sides of the wave recorder housing 110; it not only protects the front side of the housing 110 parts, buttons, etc. At the same time, it is ensured that the housing 110 can always be placed in the forward direction when clamping and unloading.
- the transplanting device includes: a mounting part 105 installed at the end of the mechanical arm, a driving mechanism is provided on the mounting part 105, and two sets of grippers are provided at the driving end of the driving mechanism.
- the inner wall of the gripper has a clamping portion that deforms according to the variation trend of the side surface of the housing 110 in the axial or radial direction.
- the clamping part includes: a hinge block 113 , a connecting arm 102 and a chain plate 103 .
- the hinge block 113 is hinged at the end of the driving end.
- Two groups of connecting arms 102 are arranged symmetrically on both sides of the connecting member 101 , wherein one end of each group of connecting arms 102 is hinged to the hinge block 113 .
- the chain plates 103 located at both ends are respectively hinged to the other end of the connecting arm 102 .
- the chain plate 103 in the embodiment constitutes a flexible structure. When clamping, the flexible chain plate 103 is deformed according to the shape of the side of the housing 110 and attached to the side, which greatly increases the contact during clamping. area, improving the stability of clamping.
- a rebound portion for controlling the rebound of the chain plates 103 is provided on the clamping portion.
- the rebound part includes: a guide rod 104 inserted on the connecting rod, one end of the guide rod 104 is fixedly connected to one of the chain plates 103 , and the other end is provided with a stopper 107 . It also includes a driving member 106 sleeved on the guide rod 104 , the driving member 106 is located between the stop portion 107 and the connecting member 101 , and the 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 located between the driving part 106 and the connecting part 101 .
- the chain plates 103 When in use, when clamping the housing 110, firstly, the chain plates 103 are deformed according to the arc surface or protrusions on the side to hug and clamp to realize the transfer. After the shell 110 is unloaded subsequently, under the rebound of the compression spring 108, the connector 101 is pushed inward, and the chain plates 103 are reset, so that the preparation for clamping a shell 110 is done, and the efficiency of clamping switching is increased.
- a suction nozzle 109 is hinged on the inner surface of each chain plate 103 .
- the clamping force is further increased to avoid the phenomenon of slipping.
- the clamping portion clamps along the axial direction of the housing 110 .
- the space formed between the clamping parts is the clamping space, and the cross-sectional area of the clamping space tends to gradually increase and then gradually decrease from bottom to top. , so the bottom of the clamping space has the largest cross-sectional area, which can effectively prevent the casing 110 from sliding down during the clamping process.
- Step 1 The driving end first controls the back movement of the gripper so that the gripper is in an open state. When gripping is required, the gripper moves to both sides of the housing 110 and is placed along the axial direction of the housing 110;
- Step 2 The driving end controls the relative movement of the jaws, so that the two sides of the housing 110 that the jaws move, and keep moving in the opposite direction; when continuing to move, the chain plate 103 is deformed according to the shape of the housing 110, and increases with the housing 110. contact surface area;
- Step 3 After the nozzle is in contact with the housing 110, adjust the angle according to the shape of the housing 110 to fit the housing 110;
- Step 4 When unloading the casing 110 , the driving end controls the gripper to move backward until the suction nozzle 109 is separated from the casing 110 .
- the driving cylinder 111 fixed on the mounting part 105 , the piston rod of the driving cylinder 111 is connected to the connecting part 101 through transmission.
- the mounting part 105 is hinged to the connecting arm 102 through the transmission rod 112 .
- the chain plates 103 can effectively deform along the outer surface of the housing 110, their deformation is always limited, and they can only be effectively fitted in a small deformation and a large range. , when the deformation strength is large, it still cannot fit well with the shell 110, which will eventually lead to a decrease in stability.
- the transplanting device includes: a mounting part 105 installed at the end of the mechanical arm, a driving mechanism is arranged on the mounting part 105, and two groups of grippers are arranged at the driving end of the driving mechanism.
- the inner wall of the gripper has a clamping portion that deforms according to the variation trend of the side surface of the housing 110 in the axial or radial direction.
- the clamping part includes: a connecting plate 201 that is transmission-connected to the driving mechanism.
- the driving mechanism may be a clamping cylinder. It also includes: an outer splint 202 and an inner splint 203 vertically fixed to the connecting plate 201 , and a transmission mechanism perpendicular to the connecting plate 201 is arranged between the inner splint 203 and the outer splint 202 .
- the number of sleeves 204 is four.
- the end of the sleeve 204 away from the outer splint 202 is an open structure, and the other end is provided with a linkage mechanism; the sleeve 204 is provided with a moving part 205, and the moving part 205 is transmission-connected to the linkage mechanism,
- 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 transmission-connected to the transmission mechanism.
- the driving mechanism is first controlled to bring the inner splint 203 and the housing 110 close to each other, and then the transmission mechanism is turned on, and the transmission mechanism simultaneously controls four sets of linkage mechanisms, and the linkage mechanisms respectively control the sleeve 204
- the moving part 205 inside passes through the open structure and clamps the housing 110 .
- the linkage mechanism includes: three sets of docking blocks 206 distributed radially at one end of the sleeve 204; adjacent docking blocks 206
- the accommodating cavities 208 are formed for equidistant distribution; the interior of the accommodating cavities 208 is correspondingly placed with a driving block 207 .
- one of the driving blocks 207 is connected to the transmission mechanism, and a connecting rod 209 is hinged in the accommodating cavity 208, and one end of the connecting rod 209 is clamped to the moving part 205, The other end is clipped to the driving block 207 .
- the driving block 207 moves radially, and when the driving blocks 207 gather together, the moving part 205 is pushed out to contact and clamp the housing 110; when the driving blocks 207 move away from each other, the moving part 205 shrinks Inside the sleeve 204, it is in a ready-to-work state.
- the connecting rod 209 is defined to push the moving part 205 out to a length H, and the sleeve 204 is carried out in order from bottom to top.
- the numbers are the first sleeve 204, the second sleeve 204, ... and the mth sleeve 204 in turn; wherein m is an integer greater than or equal to 3;
- each sleeve 204 is H1, H2, ... Hm;
- the ejected lengths of the moving parts 205 in each sleeve 204 are not equal, and the value of the length depends on the length of the housing 110 corresponding to the same plane as the sleeve 204.
- the length of the moving part 205 in the corresponding sleeve 204 is the longest; when the housing 110 When the length is longer (that is, the housing 110 at this plane has been treated for heat dissipation or sealing, and a part of the protrusion or arc surface is extended outside the housing 110 itself), the moving part 205 in the corresponding sleeve 204 is ejected The length is shorter.
- each moving part 205 is hinged with a suction nozzle 109; further increasing the clamping force and avoiding the phenomenon of slipping.
- the clamping portion clamps along the axial direction of the housing 110 .
- the space formed between the clamping part and the clamping part is the clamping space, and the cross-sectional area of the clamping space is gradually increasing and then gradually decreasing from bottom to top, so the clamping
- the cross-sectional area of the bottom of the holding space is the largest, which can effectively prevent the casing 110 from sliding down during the holding process.
- the transmission mechanism includes: a transmission motor fixed on the connecting plate 201 , the output shaft of the transmission motor is connected with a threaded rod, and four sets of threaded sleeves are sleeved on the threaded rod.
- the threaded sleeve is fixed to one of the driving blocks 207, and the direction of the driving part of the driving block 207 is consistent with the length direction of the threaded rod (in order to facilitate the movement of the threaded sleeve and the driving block 207).
- the transplanting method of the present embodiment comprises the following steps:
- Step 1 The driving end first controls the back movement of the gripper so that the gripper is in an open state.
- the gripper moves to both sides of the housing and is placed along the axial direction of the housing;
- Step 3 When unloading the shell, reversely control the transmission mechanism to separate the suction nozzle from the shell at the same time, and then control the back movement of the gripper through the driving end.
- the invention discloses a clamping hand, the inner wall of which has a clamping part deformed according to the change trend of the side of the shell in the axial or radial direction, which is suitable for use in the shell in order to ensure the normal heat dissipation of the oscilloscope in the prior art.
- a heat dissipation part is arranged on the top, and the heat dissipation part is convex outward.
Abstract
本发明公开了一种录波仪用的移栽装置及其方法，属于录波仪加工处理的技术领域。包括：安装件，所述安装件上设置有驱动机构；至少一组夹手，所述夹手连接于所述驱动机构的驱动端；所述夹手的内壁具有按照壳体侧面在轴向或者径向上的变化趋势进行形变的夹持部。本发明通过可变形的夹持部根据壳体的实际情况发生形变，保证夹手在夹持时做大最大面积的接触，增加夹持的稳定性。
Description
本发明属于录波仪加工处理的技术领域，特别是涉及一种录波仪用的移栽装置及其方法。
随着网络技术的应用与发展，录波仪的使用需求日益渐增，因此对录波仪的加工效率也有所要求。
在生产过程中，为了便于录波仪的转移，实现贴便签、锁紧或者装卸等工序，机械手便很自然的被用来夹取录波仪。但是录波仪为了增加其散热性能或者其密封性能，一般录波仪的外壁处都设置为具有一定弧度的面，根据型号不同、散热功能和散热需求的不同，弧面的角度、形状等都大不相同；因此夹手在夹取时受到弧面的影响，使得与录波仪的外壁之间的接触面积降低，从而夹持摩擦力小，导致夹持不稳定。
本发明为解决上述背景技术中存在的技术问题，提供了一种录波仪用的移栽装置及其方法。
一种录波仪用的移栽装置，被设置为从录波仪壳体的两侧面进行夹持；包括：
安装件，所述安装件上设置有驱动机构；至少一组夹手，所述夹手连接于所述驱动机构的驱动端；
所述夹手的内壁具有按照壳体侧面在轴向或者径向上的变化趋势进行形变的夹持部。
铰接块，传动连接于所述驱动端的末端处；
两组连接臂，一端对称铰接于所述铰接块的两端；
若干个链板，连接于两组连接臂的另一端处；相邻的链板之间为首尾铰接。首尾相互铰接的链板为产生形变的结构，根据壳体的具体结构发生形变，对壳体起到包裹的效果，最大程度的增加了夹持面积。
在进一步的实施例中，所述夹持部上设置有用于控制链板回弹的回弹部；
所述回弹部包括：导向杆，穿插于连接件；所述导向杆的一端固定于其中一个链板；所述导向杆的另一端处设置有挡止部；
驱动件，套接于所述导向杆上；所述驱动件位于挡止部与连接件之间；所述驱动件的两端分别通过铰接杆铰接于所述连接臂；
压缩弹簧，套接于所述导向杆上；所述压缩弹簧位于驱动件与连接件之间。通过设置了回弹部，确保链板在夹持上个壳体结束后复位，能够立马进入到下一个壳体的夹取，增加夹持切换的效率。
在进一步的实施例中，每个链板的内侧面均铰接有吸嘴；
夹取时，夹持部沿壳体的轴向夹取。
通过设置吸嘴，进一步增加夹持力，避免出现滑落的现象；同时夹取时为竖向夹取，即在夹取时夹持部与夹持部之间构成的空间为夹持空间，所述夹持空间的横截面的面积从下至上之间呈逐渐变大再逐渐变小的趋势，因此所述夹持空间的底部的横截面的面积为最大，可以有效的防止在夹持的过程壳体滑落。
相反的，如果采用横向夹取，即夹持部为横向放置并构成夹持空间所述夹持空间的横截面的面积从下至上之间的变化较小，容易发生滑落。
在进一步的实施例中，所述夹持部包括：
连接板，传动连接于所述驱动机构；
外夹板和内夹板，垂直固定于所述连接板；所述内夹板与外夹板之间设置有于连接板相垂直的传动机构；
若干个套筒，依次垂直固定于所述内夹板；所述套筒远离外夹板的一端为敞口结构，另一端设置有联动机构；所述套筒内设置有移动件，所述移动件传动连接于所述联动机构，联动机构驱动所述移动件在套筒内沿套筒的轴向移动；
所述联动机构传动连接于所述传动机构。
通过采用传动机构和联动机构分别控制套筒内的移动件，每个移动件伸出来的距离都各不相同，用于与壳体相适配，确保每段都有用于夹持的移动件，增加夹持度。
在进一步的实施例中，所述联动机构包括：
至少三组对接块，沿径向分布于所述套筒的一端；相邻的对接块为等距分布构成容置腔；
至少三个驱动块，分别放置在所述容置腔内，且其中一个驱动块传动连接于传动机构；所述容置腔内铰接有连杆，所述连杆的一端卡接与移动件，另一端卡接于驱动块；
所述驱动块沿径向移动，当驱动块相互聚拢时移动件被顶出与壳体接触并夹持；当驱动块相互背驰移动时，移动件收缩在套筒内。
在进一步的实施例中，定义连杆将移动件顶出长度为H，并对套筒按照从下至上的顺序进行编号，依次为第一套筒、第二套筒、…和第m套筒；其中m为大于等于3的整数；
则每个套筒中的对应的顶出长度为H1、H2、…Hm；
定义与第一套筒、第二套筒、…和第m套筒处于同一水平面处的壳体的长度为L1、L2、…Lm，则满足以下关系：½L1+ H1=½L2+ H2=…=½Lm+
Hm。
通过采用上述技术方案：壳体因其散热需求或者密封需求，在不同高度上的壳体的长度L是不一样的，因此在夹取时如果采用直板夹取时夹取强度低，故通过设置了能够根据不同长度伸出不同距离的移动件进行有效的夹持，形成互补式夹持。
在进一步的实施例中，每个移动件的内侧面均铰接有吸嘴；
夹取时，夹持部沿壳体的轴向夹取。
通过设置吸嘴，进一步增加夹持力，避免出现滑落的现象；同时夹取时为竖向夹取，即在夹取时夹持部与夹持部之间构成的空间为夹持空间，所述夹持空间的横截面的面积从下至上之间呈逐渐变大再逐渐变小的趋势，因此所述夹持空间的底部的横截面的面积为最大，可以有效的防止在夹持的过程壳体滑落。
在进一步的实施例中，所述传动机构包括：
传动电机，固定在所述连接板上；
螺纹杆，传动连接于所述传动电机的输出轴上；
螺纹套，通过内外螺纹传动连接于螺纹杆；所述螺纹套固定于其中一个驱动块，所述驱动块的驱动部所在的方向与螺纹杆的长度方向一致。
通过采用上述技术方案：与螺纹杆传动连接的螺纹套能够一起控制驱动块的移动，以确保夹持的一致性。
一种使用如上所述的录波仪用的移栽装置的移栽方法，包括以下步骤：
步骤一、当选用的夹持部为链板构成时，则驱动端首先控制夹手背向运动使夹手处于张开状态，当需要夹持时，夹手分别移动到壳体的两侧且沿壳体的轴向放置；
步骤二、驱动端控制夹手相向运动，使夹手移动的壳体的两侧，并保持相向运动；在继续移动时，链板根据壳体的形状发生形变，增加与壳体的接触面面积；
步骤三、喷嘴与壳体接触后跟随着壳体的形状做角度的调整以适配于壳体；
步骤四、卸载壳体时，驱动端控制夹手背向运动，直至吸嘴与壳体分离；
步骤五、当选用的夹持部为套筒式时，则驱动端首先控制夹手背向运动使夹手处于张开状态，当需要夹持时，夹手分别移动到壳体的两侧且沿壳体的轴向放置；
步骤六、驱动端控制夹手相向运动，使夹手移动的壳体的两侧，传动机构驱动联动机构，联动机构控制与之连接的驱动块向下移动，即在套筒内，驱动块是向套筒的中心移动，结合连杆，将移动件推出适当的长度使吸嘴与壳体相吸，其长度满足以下关系：½L1+ H1=½L2+
H2=…=½Lm+ Hm；
步骤七、卸载壳体时，反向控制传动机构，将吸嘴同时与壳体进行分离，然后再通过驱动端控制夹手背向运动。
本发明公开了一种夹手，其内壁具有按照壳体侧面在轴向或者径向上的变化趋势进行形变的夹持部，适用于现有技术中为了保证录波仪的正常散热而在壳体上设置了散热部，所述散热部为向外凸起的。通过可变形的夹持部根据壳体的实际情况发生形变，保证夹手在夹持时做大最大面积的接触，增加夹持的稳定性。
图1为实施例1的夹手的结构示意图。
图2为实施例2的夹手的结构示意图。
图3为实施例2的夹手的局部结构示意图。
图4为实施例2中的套筒的结构示意图。
图1至图4中的各标注为：连接件101、连接臂102、链板103、导向杆104、安装件105、驱动件106、挡止部107、压缩弹簧108、吸嘴109、壳体110、驱动气缸111、传动杆112、铰接块113、连接板201、外夹板202、内夹板203、套筒204、移动件205、对接块206、驱动块207、容置腔208、连杆209。
现有技术中，为了不影响录波仪的使用性能：散热、密封、防水等都需要做到很好的处理，而上述处理一般都是通过改变壳体的结构来实现。因此很多录波仪的壳体不再是方方正正的多边体，而是由两侧面或者更多侧面为部分凸起的异形壳体。以确保上述散热性、密封性和防水性。
在生产时，为了增加生产效率一般都是使用夹手进行转移，在之前，当壳体为方方正正的多边体时，直接夹取其两侧即可实现稳定性的夹取。而现在更多的使用异形壳体（壳体的两侧面或者后侧面设有部分的凸起或者有部分为弧面），如果仍采用之前的夹取工具进行夹取时，在凸起或者弧面的作用下直接导致夹取面积减少，夹取不稳定。
假设采用夹取顶面和底面，则在卸货时还需要对壳体提供翻转的工序才能使壳体正向摆放，加工成本和时间成本较大。如果夹取前侧面和后侧面，则会触碰到一侧按钮或者其他的零部件，造成壳体的破损。
实施例
1
本实施例为解决上述技术问题，提供了一种录波仪用的移栽装置，移栽装置被设置为从录波仪壳体110的两侧面进行夹持；既保护了壳体110前侧面处的零部件或者按钮等。同时保证了夹取、卸载时壳体110始终能够正向摆放。
在进一步的实施例中，移栽装置包括：安装在机械臂末端处的安装件105，安装件105上设置有驱动机构，驱动机构的驱动端处设置有两组夹手。
为了夹持具有凸起或者弧面的壳体110，夹手的内壁具有按照壳体110侧面在轴向或者径向上的变化趋势进行形变的夹持部。
如图1所示，夹持部包括：铰接块113、连接臂102和链板103。其中，铰接块113铰接在驱动端的末端处。连接臂102为两组，对称设置在连接件101的两侧，其中每组连接臂102的一端与铰接块113相互铰接。链板103为若干个，相邻的链板103之间为首尾铰接。位于两端的链板103同时分别铰接于连接臂102的另一端。在实施例中的链板103构成柔性结构，在夹持时，柔性的链板103条根据壳体110的侧面的形状发生对应的形变并与贴合于侧面，大大增加了夹持时的接触面积，提高了夹持的稳定性。
同时，为了不影响对下一个壳体110的夹持，保证链板103条能够随时处于待夹持的状态，故在夹持部上设置有用于控制链板103回弹的回弹部。回弹部包括：穿插在连接杆上的导向杆104，所述导向杆104的一端与其中一个链板103固定连接，另一端则设置有挡止部107。还包括套接在导向杆104上的驱动件106，驱动件106位于挡止部107与连接件101之间，且驱动件106的两端分别通过铰接杆铰接于所述连接臂102。导向杆104上套接有压缩弹簧108，压缩弹簧108位于驱动件106与连接件101之间。
在使用时，当夹持壳体110时首先链板103条根据侧面的弧面或者凸起发生形变抱紧夹持，实现转移。随后卸载壳体110后，在压缩弹簧108的回弹下，将连接件101向内推动，链板103条复位，做好夹取一个壳体110的准备，增加夹持切换的效率。
为了增加夹持的吸附力，每个链板103的内侧面均铰接有吸嘴109。通过设置吸嘴109，进一步增加夹持力，避免出现滑落的现象。
同时在使用时，夹持部沿壳体110的轴向夹取。换句话说，在夹取时夹持部与夹持部之间构成的空间为夹持空间，所述夹持空间的横截面的面积从下至上之间呈逐渐变大再逐渐变小的趋势，因此所述夹持空间的底部的横截面的面积为最大，可以有效的防止在夹持的过程壳体110滑落。
相反的，如果采用横向夹取，即夹持部为横向放置并构成夹持空间所述夹持空间的横截面的面积从下至上之间的变化较小，容易发生滑落。
本实施例的移栽方法，包括以下步骤：
步骤一、驱动端首先控制夹手背向运动使夹手处于张开状态，当需要夹持时，夹手分别移动到壳体110的两侧且沿壳体110的轴向放置；
步骤二、驱动端控制夹手相向运动，使夹手移动的壳体110的两侧，并保持相向运动；在继续移动时，链板103根据壳体110的形状发生形变，增加与壳体110的接触面面积；
步骤三、喷嘴与壳体110接触后跟随着壳体110的形状做角度的调整以适配于壳体110；
步骤四、卸载壳体110时，驱动端控制夹手背向运动，直至吸嘴109与壳体110分离。
在本实施例中，固定在安装件105上的驱动气缸111，所述驱动气缸111的活塞杆传动连接于连接件101。且安装件105与连接臂102之间通过传动杆112铰接。当驱动气缸111推动活塞杆时，连接件101被顶出，在传动杆112的作用下，连接臂102处于张开的状态；反之，连接臂102处于夹紧状态。
实施例
2
在上述实施例中，虽然链板103条能够跟随着壳体110的外侧面进行有效的形变，但是其形变度总是有限的，且仅能在较小的形变大范围内做有效的贴合，当形变强度较大时还是不能很好的与壳体110贴合，最终还是会导致稳定性降低，
故，为了解决上述问题，本实施例对夹持部做了一定的改进。移栽装置包括：安装在机械臂末端处的安装件105，安装件105上设置有驱动机构，驱动机构的驱动端处设置有两组夹手。
为了夹持具有凸起或者弧面的壳体110，夹手的内壁具有按照壳体110侧面在轴向或者径向上的变化趋势进行形变的夹持部。
如图2所示，夹持部包括：传动连接于驱动机构的连接板201，在本实施例中，驱动机构可以采用夹持气缸。还包括：垂直固定于所述连接板201的外夹板202和内夹板203，并在内夹板203与外夹板202之间设置有于连接板201相垂直的传动机构。
内夹板203从下至上依次垂直固定有若干个套筒204，在本实施例中，套筒204的个数为4个。结合图4，套筒204远离外夹板202的一端为敞口结构，另一端设置有联动机构；所述套筒204内设置有移动件205，所述移动件205传动连接于所述联动机构，联动机构驱动所述移动件205在套筒204内沿套筒204的轴向移动；联动机构传动连接于所述传动机构。
在使用时，当需要夹持壳体110时，首先控制驱动机构将内夹板203与壳体110相互靠近，随后，开启传动机构，传动机构同时控制四组联动机构，联动机构分别控制套筒204内的移动件205穿过敞口结构，并对壳体110实现夹持。
在进一步的实施例中，为了在有限的空间内实现对可以的夹持，故联动机构包括：三组对接块206，沿径向分布于所述套筒204的一端；相邻的对接块206为等距分布构成容置腔208；所述容置腔208的内部对应放置有驱动块207。为了传动移动件205在套筒204内移动，其中的一个驱动块207传动连接于传动机构，同时容置腔208内铰接有连杆209，所述连杆209的一端卡接与移动件205，另一端卡接于驱动块207。
在使用时，所述驱动块207沿径向移动，当驱动块207相互聚拢时移动件205被顶出与壳体110接触并夹持；当驱动块207相互背驰移动时，移动件205收缩在套筒204内，处于待工作的状态。
为了适用于不同的壳体110（主要是对壳体110外壁的凸起和弧面），定义连杆209将移动件205顶出长度为H，并对套筒204按照从下至上的顺序进行编号，依次为第一套筒204、第二套筒204、…和第m套筒204；其中m为大于等于3的整数；
则每个套筒204中的对应的顶出长度为H1、H2、…Hm；
定义与第一套筒204、第二套筒204、…和第m套筒204处于同一水平面处的壳体110的长度为L1、L2、…Lm，则满足以下关系：½L1+ H1=½L2+
H2=…=½Lm+
Hm。
换言之，每个套筒204内的移动件205被顶出的长度都是不等的，其长度的取值取决于与套筒204对应的同一平面的壳体110的长度，当壳体110的长度较短时（即该平面处的壳体110未做其他处理，仅为壳体110的本身），对应套筒204内的移动件205被顶出的长度为最长；当壳体110的长度为较长时（即该平面处的壳体110做了散热或者密封等处理，在壳体110本身外延伸处了部分凸起或者弧面）对应套筒204内的移动件205被顶出的长度为较短。
每个移动件205的内侧面均铰接有吸嘴109；进一步增加夹持力，避免出现滑落的现象。
同时在夹取时，夹持部沿壳体110的轴向夹取。夹取时夹持部与夹持部之间构成的空间为夹持空间，所述夹持空间的横截面的面积从下至上之间呈逐渐变大再逐渐变小的趋势，因此所述夹持空间的底部的横截面的面积为最大，可以有效的防止在夹持的过程壳体110滑落。
在本实施例中，传动机构包括：固定在连接板201上的传动电机，传动电机的输出轴上传动连接有螺纹杆，螺纹杆上套接有四组螺纹套。螺纹套固定于其中一个驱动块207，所述驱动块207的驱动部所在的方向与螺纹杆的长度方向一致（为了便于驱动螺纹套和驱动块207移动）。当螺纹套在螺纹杆的作用下，向下移动时，与之连接的驱动块207向下移动，相对于套筒204而言，驱动块207向套筒204的轴线移动，在连杆209的作用下，将移动件205顶出处于夹持状态。本实施例的移栽方法，包括以下步骤：
步骤一、驱动端首先控制夹手背向运动使夹手处于张开状态，当需要夹持时，夹手分别移动到壳体的两侧且沿壳体的轴向放置；
步骤二、驱动端控制夹手相向运动，使夹手移动的壳体的两侧，传动机构驱动联动机构，联动机构控制与之连接的驱动块向下移动，即在套筒内，驱动块是向套筒的中心移动，结合连杆，将移动件推出适当的长度使吸嘴与壳体相吸，其长度满足以下关系：½L1+ H1=½L2+
H2=…=½Lm+ Hm；
步骤三、卸载壳体时，反向控制传动机构，将吸嘴同时与壳体进行分离，然后再通过驱动端控制夹手背向运动。
本发明公开了一种夹手，其内壁具有按照壳体侧面在轴向或者径向上的变化趋势进行形变的夹持部，适用于现有技术中为了保证录波仪的正常散热而在壳体上设置了散热部，所述散热部为向外凸起的。通过可变形的夹持部根据壳体的实际情况发生形变，保证夹手在夹持时做大最大面积的接触，增加夹持的稳定性。
Claims (10)
- 一种录波仪用的移栽装置，被设置为从录波仪壳体的两侧面进行夹持；其特征在于，包括：安装件，所述安装件上设置有驱动机构；至少一组夹手，所述夹手连接于所述驱动机构的驱动端；所述夹手的内壁具有按照壳体侧面在轴向或者径向上的变化趋势进行形变的夹持部。
- 根据权利要求1所述的一种录波仪用的移栽装置，其特征在于，所述夹持部包括：铰接块，传动连接于所述驱动端的末端处；两组连接臂，一端对称铰接于所述铰接块的两端；若干个链板，连接于两组连接臂的另一端处；相邻的链板之间为首尾铰接。
- 根据权利要求2所述的一种录波仪用的移栽装置，其特征在于，所述夹持部上设置有用于控制链板回弹的回弹部；所述回弹部包括：导向杆，穿插于连接件；所述导向杆的一端固定于其中一个链板；所述导向杆的另一端处设置有挡止部；驱动件，套接于所述导向杆上；所述驱动件位于挡止部与连接件之间；所述驱动件的两端分别通过铰接杆铰接于所述连接臂；压缩弹簧，套接于所述导向杆上；所述压缩弹簧位于驱动件与连接件之间。
- 根据权利要求2所述的一种录波仪用的移栽装置，其特征在于，每个链板的内侧面均铰接有吸嘴；夹取时，夹持部沿壳体的轴向夹取。
- 根据权利要求1所述的一种录波仪用的移栽装置，其特征在于，所述夹持部包括：连接板，传动连接于所述驱动机构；外夹板和内夹板，垂直固定于所述连接板；所述内夹板与外夹板之间设置有于连接板相垂直的传动机构；若干个套筒，依次垂直固定于所述内夹板；所述套筒远离外夹板的一端为敞口结构，另一端设置有联动机构；所述套筒内设置有移动件，所述移动件传动连接于所述联动机构，联动机构驱动所述移动件在套筒内沿套筒的轴向移动；所述联动机构传动连接于所述传动机构。
- 根据权利要求5所述的一种录波仪用的移栽装置，其特征在于，所述联动机构包括：至少三组对接块，沿径向分布于所述套筒的一端；相邻的对接块为等距分布构成容置腔；至少三个驱动块，分别放置在所述容置腔内，且其中一个驱动块传动连接于传动机构；所述容置腔内铰接有连杆，所述连杆的一端卡接与移动件，另一端卡接于驱动块；所述驱动块沿径向移动，当驱动块相互聚拢时移动件被顶出与壳体接触并夹持；当驱动块相互背驰移动时，移动件收缩在套筒内。
- 根据权利要求6所述的一种录波仪用的移栽装置，其特征在于，定义连杆将移动件顶出长度为H，并对套筒按照从下至上的顺序进行编号，依次为第一套筒、第二套筒、…和第m套筒；其中m为大于等于3的整数；则每个套筒中的对应的顶出长度为H1、H2、…Hm；定义与第一套筒、第二套筒、…和第m套筒处于同一水平面处的壳体的长度为L1、L2、…Lm，则满足以下关系：½L1+ H1=½L2+ H2=…=½Lm+ Hm。
- 根据权利要求5所述的一种录波仪用的移栽装置，其特征在于，每个移动件的内侧面均铰接有吸嘴；夹取时，夹持部沿壳体的轴向夹取。
- 根据权利要求5所述的一种录波仪用的移栽装置，其特征在于，所述传动机构包括：传动电机，固定在所述连接板上；螺纹杆，传动连接于所述传动电机的输出轴上；螺纹套，通过内外螺纹传动连接于螺纹杆；所述螺纹套固定于其中一个驱动块，所述驱动块的驱动部所在的方向与螺纹杆的长度方向一致。
- 一种使用如权利要求1至9中任意一项所述的录波仪用的移栽装置的移栽方法，其特征在于，包括以下步骤：步骤一、当选用的夹持部为链板构成时，则驱动端首先控制夹手背向运动使夹手处于张开状态，当需要夹持时，夹手分别移动到壳体的两侧且沿壳体的轴向放置；步骤二、驱动端控制夹手相向运动，使夹手移动的壳体的两侧，并保持相向运动；在继续移动时，链板根据壳体的形状发生形变，增加与壳体的接触面面积；步骤三、喷嘴与壳体接触后跟随着壳体的形状做角度的调整以适配于壳体；步骤四、卸载壳体时，驱动端控制夹手背向运动，直至吸嘴与壳体分离；步骤五、当选用的夹持部为套筒式时，则驱动端首先控制夹手背向运动使夹手处于张开状态，当需要夹持时，夹手分别移动到壳体的两侧且沿壳体的轴向放置；步骤六、驱动端控制夹手相向运动，使夹手移动的壳体的两侧，传动机构驱动联动机构，联动机构控制与之连接的驱动块向下移动，即在套筒内，驱动块是向套筒的中心移动，结合连杆，将移动件推出适当的长度使吸嘴与壳体相吸，其长度满足以下关系：½L1+ H1=½L2+ H2=…=½Lm+ Hm；步骤七、卸载壳体时，反向控制传动机构，将吸嘴同时与壳体进行分离，然后再通过驱动端控制夹手背向运动。
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| CN107379000A (zh) * | 2017-09-13 | 2017-11-24 | 倪亮 | 一种用于拾取不规则物体的机械手 |
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