Position acquisition device and method of sheet-shaped connecting rod adapted to industrial internet of things production

Abstract

The application discloses a kind of attitude acquisition device and method of sheet-shaped connecting rod suitable for industrial internet of things production, the device includes discharge vibration disc, discharge guide rail, material taking manipulator, grabbing component, discharge guide rail end is provided with counterbore;Grabbing component includes several clamping jaws;It further includes the fixed connection of the positioning rod of upper end and material taking manipulator;The shape of the lower end of positioning rod is conical frustum with top tip at bottom;The relative position of positioning rod and clamping jaw satisfies: for the sheet-shaped connecting rod moving to the end of material groove, when positioning rod is embedded in the end portion through hole and forms annular contact surface or annular contact line with the end portion through hole, sheet-shaped connecting rod is located in the clamping space;When forming the annular contact surface or annular contact line, the top tip is located in the counterbore.The method is the use method of the device.The scheme can effectively control the deformation and overturning of sheet-shaped connecting rod when being grabbed by grabbing and applying pull constraint, and is favorable to the attitude acquisition of sheet-shaped connecting rod.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of material clamping devices, in particular to a sheet-shaped connecting rod posture acquisition device and method suitable for industrial Internet of Things production. BACKGROUND

[0002] In the process of automatic assembly and manufacturing, in order to improve the automation degree of the system, a better solution is to realize the automatic assembly and manufacturing of the whole process, which involves the single piece position transfer of sheet-shaped parts by a mechanical hand.

[0003] Specifically, when using a mechanical hand to implement single piece transfer of sheet-shaped parts, for parts placed flat in the trough, due to the characteristics of thinness and poor overall mechanical strength, if the side clamping method is used to clamp the material, due to the small height of the contact surface and the poor rigidity of the part, the part is easy to turn over and twist and deform, which ultimately reduces the success rate of part taking or causes the posture / shape of the clamped part to change, resulting in the subsequent process cannot be smoothly implemented. In order to overcome the above problems, for sheet-shaped parts with an initial posture of lying flat, the commonly used part grabbing means is to use a suction cup negative pressure adsorption, that is, a negative pressure adsorption device is connected to the front end of the mechanical hand, and the negative pressure adsorption device acts on the upper surface of the part to complete the part acquisition, and further through the relevant actions of the mechanical hand, the position transfer of the part is completed.

[0004] In the design of specific parts, in order to reduce the material usage of the parts and ensure the mechanical properties of the parts during normal use, sheet-shaped parts with stripes on the surface, such as Figure 1 The provided connecting rod has stripes on the upper surface when lying flat, and the existing negative pressure adsorption device cannot generate reliable adsorption force, so that the negative pressure adsorption device cannot be ideally used for taking such parts (cannot provide a flat contact surface for the negative pressure adsorption device, and a large gas leakage gap is the direct cause of adsorption failure).

[0005] In order to improve the automation degree of the assembly and manufacturing process, it is necessary to improve the taking device and method for taking sheet-shaped parts. SUMMARY

[0006] In view of the above, in order to improve the automation degree of assembly and manufacturing implementation process, it is necessary to improve the technical problem of the sheet-shaped part taking device and method, and the application provides a sheet-shaped connecting rod attitude acquisition device and method suitable for industrial internet of things production. According to the structural characteristics of the sheet-shaped connecting rod with an end hole along the thickness direction in the sheet-shaped part, a simple sheet-shaped connecting rod taking scheme is provided, which can effectively control the deformation and overturning of the sheet-shaped connecting rod when it is grabbed by means of grabbing and applying pulling constraint, and is beneficial to the attitude acquisition of the sheet-shaped connecting rod.

[0007] In view of the above problems, the sheet-shaped connecting rod attitude acquisition device and method suitable for industrial internet of things production provided by the application solves the problems through the following technical points: the sheet-shaped connecting rod attitude acquisition device suitable for industrial internet of things production comprises a discharge vibration disc, a discharge guide rail connected with the outlet of the discharge vibration disc at the inlet end, a taking manipulator for acquiring the sheet-shaped connecting rod from the end of the material groove of the discharge guide rail, a grabbing assembly for grabbing the sheet-shaped connecting rod from the end of the material groove is installed on the taking manipulator, and a counterbore is arranged on the bottom surface of the material groove at the end of the discharge guide rail;

[0008] The grabbing assembly comprises a plurality of clamping jaws, and a clamping space for clamping the sheet-shaped connecting rod is formed between the clamping jaws;

[0009] Further comprising a positioning rod fixedly connected with the taking manipulator at the upper end, the size of the lower end of the positioning rod satisfies that it can be inserted into the counterbore from the aperture above the counterbore;

[0010] The shape of the lower end of the positioning rod is a truncated cone with a tip at the bottom, and the diameter of the truncated cone satisfies that the diameter of the upper end is greater than or equal to the diameter of the end hole of the sheet-shaped connecting rod;

[0011] The relative position of the positioning rod and the clamping jaw satisfies that for the sheet-shaped connecting rod moving to the end of the material groove, when the positioning rod is embedded in the end hole and forms an annular contact surface or an annular contact line with the end hole, the sheet-shaped connecting rod is located in the clamping space;

[0012] When the annular contact surface or the annular contact line is formed, the tip is located in the counterbore.

[0013] As Figure 1 The provided sheet-shaped connecting rod is generally used as a transmission part in an assembly body and is connected to the assembly body through the end holes at both ends. Figure 1The length x width x thickness size of the shown sheet-shaped connecting rod is 46.6mm x 8.1mm x 2.5mm (end thickness 2.5mm, connecting rod middle part thickness 1.9mm), and the connecting rod is injection molded with patterns. In order to realize automatic assembly, when it needs to be single piece grasped and constrained in a specific posture, this type of part is not easy to be stably sucked by the traditional suction disc assembly (usually used for sheet-shaped part constraint form). If it is placed in a prone position and clamped by two plane sides, due to the small clamping area and the part is easy to deform, the part is easy to turn over or slip during clamping, which eventually leads to failure of material taking, affects the smooth implementation of subsequent process, and reduces the efficiency of automatic assembly. For single piece specific posture material taking of this type of sheet-shaped part, the above device is provided, which is easy to understand. When the connecting rod of this type is grasped by the grasping assembly in the scheme in a specific posture, under the action of the relevant joints of the grasping manipulator, the part can be constrained in the specified posture, realizing successful taking and posture taking of the sheet-shaped connecting rod.

[0014] The above device structure features are used to realize: sheet-shaped connecting rod single piece taking and posture taking, the specific use method is:

[0015] S1, by the discharge vibration disc, the sheet-shaped connecting rod located in the discharge vibration disc is transmitted from the discharge vibration disc outlet to the trough of the discharge guide rail;

[0016] Among them:

[0017] The sheet-shaped connecting rod is transmitted to the end of the trough in a prone position in the trough;

[0018] The position of the sheet-shaped connecting rod at the end of the trough is constrained by the front end of the sheet-shaped connecting rod being blocked;

[0019] Through the corresponding constraint means, the sheet-shaped connecting rod at the end of the trough is: the end hole in front of the sheet-shaped connecting rod is located directly above the counterbore;

[0020] S2, the sheet-shaped connecting rod is grasped by the grasping assembly on the taking manipulator from the end of the trough;

[0021] The specific grasping process of the grasping assembly is:

[0022] S2-1, the positioning rod moves downward, its lower end passes through the sheet-shaped connecting rod through the end hole in front of the sheet-shaped connecting rod and enters the counterbore, and moves to form an annular contact surface or annular contact line with the end hole;

[0023] S2-2, the clamping jaw performs a grasping action under the action of the configured driving mechanism, and clamps the sheet-shaped connecting rod on the grasping assembly;

[0024] S2-3, by the taking manipulator, the positioning rod and the grasping assembly are driven to move synchronously, and the position of the grasped sheet-shaped connecting rod is transferred.

[0025] In this solution, the discharging vibration plate sequentially conveys the sheet-like connecting rod in a specific posture to the discharging guide rail, realizes the transfer of the sheet-like connecting rod in a horizontal posture in the material trough, and grabs the parts at the end of the material trough by the material picking robot. These are all conventional applications. This solution is different from the existing technology. The specific structure includes a countersink and a positioning rod. The countersink serves as a channel for the positioning rod to further insert the lower end after passing through the end through hole. Therefore, this solution can be used as follows: before the gripper on the grabbing assembly clamps the sheet-like connecting rod, the lower end of the positioning rod is inserted into the end through hole from the upper end of the end through hole through the downward insertion action provided for the positioning rod, and is inserted until the positioning rod is coaxial with the end through hole (forming the annular contact surface or annular contact line) ), through the interaction between the positioning rod and the end through-hole, the corresponding end of the lamellar connecting rod is constrained to be located at a specific position in the radial direction of the positioning rod, and then, the side of the lamellar connecting rod is clamped by the clamping space. At this time, the constraints provided by this device for the lamellar connecting rod include the supporting effect of the side of the positioning rod on the wall of the end through-hole and the clamping effect of the grasping component on the side of the lamellar connecting rod. Therefore, this scheme makes full use of the structural characteristics of the lamellar connecting rod. When the lamellar connecting rod is clamped and deformed or even flipped due to stiffness problems, the pulling effect of the positioning rod on the end of the lamellar connecting rod can effectively reduce the deformation of the connecting rod and reduce the possibility of flipping, thereby achieving a favorable effect on the fixed posture of the lamellar connecting rod.

[0026] At the same time, taking the common plastic sheet connecting rod as an example, its characteristics include not only poor rigidity, but also light weight. In order to avoid jumping and overlapping in the trough, the better implementation method is that the width of the trough is slightly larger than the width of the sheet connecting rod (for Figure 1 In the specific embodiment provided, the width range of the material trough is set to 8.4~9.0mm), so during the transmission process of the sheet-like connecting rod, the sheet-like connecting rod has a certain skew space in its width direction. In this solution, the lower end of the positioning rod is set to a frustum with a top. When the positioning rod is inserted, even if the axis of the end through hole has a certain offset relative to the axis of the frustum, it is only necessary to satisfy the requirement that the lower end of the positioning rod can be inserted into the end through hole through the top. The constraint of the frustum side surface on the wall of the end through hole can be used to realize the deviation correction of the sheet-like connecting rod end (the sheet-like connecting rod will swing to a certain extent during this process). When the annular contact surface or annular contact line is formed, the end through hole can be constrained to be coaxial with the positioning rod. Therefore, this solution also has the characteristics of high reliability of positioning rod insertion and the ability to adjust the posture of the sheet-like connecting rod before clamping to improve the grasping efficiency of the grasping component (the stroke of the clamping claw can be set smaller) and the success rate (the position accuracy of the sheet-like connecting rod before clamping is higher).

[0027] In the specific application, the positioning rod and the grabbing assembly can be synchronized at any time under the action of the material taking manipulator, for example, after the positioning rod is inserted into the end hole, the grabbing assembly reaches the correct relative position with the sheet-shaped connecting rod: the sheet-shaped connecting rod is located in the clamping space, and at this time, the sheet-shaped connecting rod is clamped by the action of the grabbing assembly; or the positioning rod can be relatively moved with respect to the grabbing assembly in the axial direction of the end hole, for example, after the material taking manipulator moves the grabbing assembly to the accurate position (the sheet-shaped connecting rod is located in the clamping space), at this time, the positioning rod is inserted into the end hole under the action of other mechanisms, and after being inserted into the position, the clamping assembly performs the clamping action.

[0028] As a person skilled in the art, in the manufacturing field, the existing industrial internet of things production is also called intelligent manufacturing, which includes a management platform, a sensing network platform and an object platform, the management platform is also called a server or a data processing center, the object platform includes devices specifically used for manufacturing, and the sensing network platform is used for communication between the management platform and the object platform, which is usually bidirectional communication, in the specific application, the management platform sends manufacturing control instructions to the object platform through the sensing network platform, and the management platform receives inspection parameters from the object platform through the sensing network platform. In the present scheme, according to the structural characteristics of the sheet-shaped connecting rod, in order to make the sheet-shaped connecting rod obtained by single piece better adapt to the production activities based on the industrial internet of things, the end of the discharge guide rail is improved, and a positioning rod for pulling and restraining the sheet-shaped connecting rod before grabbing is added, a scheme with simple structure is provided, which is suitable for taking sheet-shaped parts with non-flat upper surface, and is beneficial to the deformation and turning control of the sheet-shaped parts. The scheme can be used as a part of the object platform in specific practice, and the consistency of the constraint of the target object (sheet-shaped connecting rod) on the object platform is improved by pulling and clamping, so as to reduce the failure rate in the industrial internet of things production activities, thereby ensuring the smooth implementation and efficient implementation of the industrial internet of things production activities.

[0029] As the sheet-shaped connecting rod posture acquisition device adapted to the industrial internet of things production, further technical schemes are as follows:

[0030] The upper end diameter of the conical frustum is equal to the diameter of the end hole, and an equal-diameter section is further arranged on the positioning rod and connected with the upper end of the conical frustum, the equal-diameter section is coaxial with the conical frustum, and the diameter of the equal-diameter section is equal to the diameter of the upper end of the conical frustum;

[0031] When the axis of the equal-diameter section or the conical frustum is in the vertical direction, the equal-diameter section has a section with the same height as the clamping space. The present scheme provides a specific positioning rod form, i.e. the equal-diameter section with the lower end connected to the upper end of the conical frustum, so that the conical frustum is used as a guide section to realize the introduction of the positioning rod into the end through hole and the end part of the sheet-shaped connecting rod is corrected, and the equal-diameter section is used as a positioning section to make the positioning rod have a larger contact area with the hole wall of the end through hole. After being limited to the condition that the axis of the equal-diameter section or the conical frustum is in the vertical direction, the equal-diameter section is provided with a section with the same height as the clamping space, i.e. the section with the same height as the clamping space is the section of the positioning rod specifically used for contacting the sheet-shaped connecting rod. However, as a person skilled in the art, it should be understood that the same height is actually limited to the relative position of the section and the clamping space. In specific use, the positioning rod does not necessarily move in the vertical direction, and the axis of the equal-diameter section or the conical frustum is in the vertical direction.

[0032] The front end of the material taking manipulator is provided with a connecting disc, and the positioning rod is a straight rod with the upper end fixedly connected to the connecting disc;

[0033] The grabbing assembly further includes an assembly seat and a driving mechanism for driving the clamping jaw to perform the opening and clamping actions. The driving mechanism is installed on the assembly seat, the upper end of the assembly seat is fixedly connected to the connecting disc, the clamping jaw is slidably installed on the lower end of the assembly seat through a sliding rail or a sliding groove on the assembly seat, and the extension direction of the sliding rail or the sliding groove is perpendicular to the axis of the positioning rod. The present scheme provides a specific front end structure of the material taking manipulator, i.e. the upper end of the positioning rod is directly connected to the material taking manipulator through the connecting disc, and the movement of the positioning rod is derived from the movement of the material taking manipulator. For the above-mentioned scheme: the positioning rod and the grabbing assembly are synchronously moved at any moment under the action of the material taking manipulator, the grabbing assembly reaches the correct relative position with the sheet-shaped connecting rod after the positioning rod is inserted into the end through hole, and a technical scheme for restricting the movement track of the clamping jaw by using the sliding rail or the sliding groove and making the clamping jaw open and close under the action of the driving mechanism is provided.

[0034] In view of the thin feature of the sheet-shaped connecting rod, in order to improve the reliability of clamping and ensure the side contact area, the end of the discharging guide rail is further provided with a cavity, a liftable lifting block is installed in the cavity, and a material groove is arranged on the discharging guide rail and the lifting block;

[0035] The lifting block can be configured by lifting action:

[0036] The lifting block can be lifted to a first state relative to the discharging guide rail, and when in the first state, the two ends of the lifting block material groove are connected to the discharging guide rail material groove;

[0037] The lifting block can be lowered relative to the discharge guide rail to a second state. When in the second state, the lifting block upper chute sinks relative to the discharge guide rail upper chute.

[0038] The size and position of the cavity are such that the sheet-like connecting rod at the end of the trough can span the cavity, and the end through-hole at the front end of the sheet-like connecting rod is located directly above the countersunk hole;

[0039] In the second state, the clamping jaws can be inserted into the space formed by the sinking.

[0040] In the above scheme, the lifting and lowering action can occur under the pushing of the material picking mechanism, or it can occur after a special driving mechanism acts on the lifting block. In specific application, when in the first state, the entire material trough is connected, and the sheet-like connecting rod can be pushed in turn or move toward the end of the material trough under other action modes. The second state and the setting that the lamellar connecting rod can span the cavity are intended to enable the lamellar connecting rod at the end of the material trough to be supported in the material trough with both ends supported and the middle part suspended. At this time, the sinking of the lifting block will not cause the lamellar connecting rod to sink, and the grasping assembly grasps the lamellar connecting rod in the second state. After the clamping claw is embedded in the space formed by the sinking, the characteristic that the clamping claw can move to the bottom of the lamellar connecting rod is utilized to fully utilize the side of the lamellar connecting rod to complete the clamping of the lamellar connecting rod, so that the clamped area of ​​the lamellar connecting rod can be extended from the top side of the lamellar connecting rod to the bottom side of the lamellar connecting rod, that is, the clamped area covers the full height of the lamellar connecting rod. In this way, the purpose of improving the clamping reliability and avoiding the flipping of the lamellar connecting rod can be achieved.

[0041] A support plate for supporting the lamellar connecting rod is provided at the lower end of the clamp, and the size of the clamp satisfies: in the second state, the support plate can be moved to the bottom of the lamellar connecting rod at the end of the material trough under the action of the material picking robot, and the bottom surface of the support plate is located below the lamellar connecting rod or in the same plane as the bottom surface of the lamellar connecting rod. The present invention aims to provide a technical solution that reduces the requirement for the corresponding clamping force when clamping the lamellar connecting rod by means of a support plate: for example, when the lamellar connecting rod is supported by the middle part in suspension on a horizontal plane, when the clamp moves to the bottom side or top surface of the lamellar connecting rod and is in the same plane as the bottom surface of the lamellar connecting rod, the clamp retracts, and when the support plate is partially located directly below the lamellar connecting rod, the material-grabbing robot moves up. At this time, the side of the clamp clamps the side of the lamellar connecting rod to constrain the position of the lamellar connecting rod in the width direction, and the top surface of the support plate supports the bottom surface of the lamellar connecting rod to constrain the position of the lamellar connecting rod in the height direction. Compared with directly clamping the side of the lamellar connecting rod, in order to achieve the purpose of stably constraining the lamellar connecting rod by the grasping assembly, the required lateral clamping force is smaller, and the smaller lateral clamping force is beneficial to improving the deformation of the lamellar connecting rod when clamped and the posture change caused by torsion, that is, the present invention also has the characteristics of facilitating the maintenance of the part shape and posture on the basis of stably clamping the lamellar connecting rod.

[0042] The number of the clamping jaws is two, and the gap between the two clamping jaws serves as the clamping space;

[0043] Each clamping jaw is provided with a groove, and the support plate on each clamping jaw provides a side surface at the lower side of the groove, and the grooves of the two clamping jaws are in the same plane. The present scheme provides a specific implementation form of the grabbing assembly. In specific application, through the relevant actions of the material taking manipulator, one of the clamping jaws moves downward from one side of the sheet-shaped connecting rod, and the other clamping jaw moves downward from the other side of the sheet-shaped connecting rod to obtain the relative position relationship between the support plate and the bottom surface of the sheet-shaped connecting rod. Then, the two clamping jaws move towards each other to complete the clamping of the sheet-shaped connecting rod. The groove is used for the sheet-shaped connecting rod to be embedded, that is, the bottom surface of the groove serves as the clamping surface for providing the clamping force for the side surface of the sheet-shaped connecting rod. The grooves of the two clamping jaws are in the same plane, which is designed to adapt to the most common sheet-shaped connecting rod in the form of a flat plate. In specific implementation, the groove width of the groove is preferably the same as the height (thickness) of the sheet-shaped connecting rod, and is configured to move the grabbing assembly to the state that the top surface of the support plate is coplanar with the bottom surface of the sheet-shaped connecting rod under the action of the material taking manipulator. At this time, the clamping jaws move towards each other along the width direction of the sheet-shaped connecting rod, so that the side surface of the sheet-shaped connecting rod can be smoothly embedded in the groove on each side. In this way, the stability of the sheet-shaped connecting rod during transfer by the material taking manipulator can be effectively guaranteed, and the maximum speed that can be used during transfer can be improved.

[0044] Each clamping jaw is provided with a pressing plate, and the pressing plate of each clamping jaw provides a side surface at the upper side of the groove;

[0045] The pressing plates on the two clamping jaws are arranged in front and back in the direction of transmission of the sheet-shaped connecting rod in the trough;

[0046] The length of the pressing plate satisfies: when the grabbing assembly is in the state of clamping the sheet-shaped connecting rod, the pressing plates on the two clamping jaws are in the staggered state. The scheme is further optimized based on the above scheme, aiming to realize: by setting the pressing plate, when the support plate provides bottom support for the sheet-shaped connecting rod, the bottom surface of the pressing plate provides constraint for the top of the sheet-shaped connecting rod. In this way, the shape and posture stability of the sheet-shaped connecting rod under the clamping force of the clamping jaw can be greatly improved. The front and rear arrangement of the pressing plates in the relevant direction makes the pressing plates on the two clamping jaws staggered, providing a structural basis for the staggered state. The above staggered state aims to make the action area of the pressing plate on the sheet-shaped connecting rod cover the full width of the sheet-shaped connecting rod, that is, the clamping jaw forms a slot-shaped space with an open lower part in the clamped state. The staggered pressing plates provide a continuous slot-shaped space boundary above the slot-shaped space. For the sheet-shaped connecting rod, each position from one side to the other side can be constrained by the pressing plate, which is more conducive to the deformation control and overturning control of the pressing plate. As a person skilled in the art, if the sheet-shaped connecting rod is transmitted along the front and rear directions, the pressing plates of the two clamping jaws are arranged front and rear. The staggered state refers to: when the grabbing assembly is in the state of clamping the sheet-shaped connecting rod, the projection part of one pressing plate towards the side where the other pressing plate is located falls on the other pressing plate.

[0047] The end of the discharging guide rail is fixed with a fixed block, and the cavity and the counterbore are arranged on the fixed block;

[0048] Further comprising an elastic member, the lower end position of the elastic member is fixed relative to the fixed block, and the lifting block is supported on the upper end of the elastic member;

[0049] Further comprising a positioning mechanism arranged on the fixed block. When the lifting block is in contact with the bottom surface of the positioning mechanism, the lifting block is in the first state, and the elastic member is in elastic compression deformation along the height direction of the cavity in the first state. The scheme aims to provide a technical scheme for conveniently configuring a discharging guide rail: by butting the fixed block at the end of the existing discharging guide rail, a technical scheme with a cavity and a lifting block in the complete process can be obtained. The scheme aims to provide a technical scheme in which the lifting block completes the change of the relevant state based on a simple structure: no separate driving device is needed, and the elastic restoring force of the lifting block is used to realize the conversion from the second state to the first state, and the power and the related action of the material taking robot are used to realize the conversion from the first state to the second state. The scheme aims to provide a technical scheme in which the lifting block recovers quickly and is accurately positioned: by arranging the positioning mechanism, the installed elastic member is always in an elastic compression state, so that the speed of the lifting block recovering from the second state to the first state is improved. By arranging the positioning mechanism, the lifting block is forcibly constrained during upward movement, so that the positioning accuracy of the lifting block is improved.

[0050] The positioning mechanism comprises a plurality of screw assemblies threadedly connected to the top of the fixed block, and the screw assemblies are spaced apart around the circumferential direction of the cavity.

[0051] The screw assembly comprises a screw threadedly connected to the fixed block and a gasket clamped between the screw cap and the fixed block.

[0052] The gasket of each screw assembly comprises a metal gasket and an elastic gasket, and the gasket in contact with the top surface of the fixed block is a metal gasket and a flat gasket, and the elastic gasket is clamped between the metal gasket and the cap.

[0053] Each screw assembly is: through the local extension of the metal gasket above the cavity, a contact surface is provided for constraining the lifting block to the first state. The specific implementation form of the positioning mechanism is provided, and the arrangement mode of the screw assembly aims to use the positioning mechanism to provide multi-point constraint for the lifting block, so as to improve the holding accuracy of the above first state. More specifically, the gasket in contact with the top surface of the fixed block is used to provide a contact surface directly contacting the lifting block, and the metal gasket is used to maintain the stability of the actual position of the contact surface in space by using the anti-deformation ability of the metal gasket. The elastic gasket is used to provide a loosening pre-tightening force for the screw to avoid affecting the compression stability of the metal gasket under the vibration of the discharge vibration disc. However, in specific implementation, the compression amount of the elastic gasket needs to be controlled to avoid the upward movement of the metal gasket under the jacking of the lifting block and affect the positioning accuracy of the lifting block. The metal gasket is preferably made of stainless steel gasket with high hardness.

[0054] Regarding the screw loosening, the preferred mode is to set the fixed block and the discharge guide rail to have mutually independent supports. Regarding the connection between the positioning block and the end of the discharge guide rail, an elastic material is used as the trough connecting part and the damping part therebetween.

[0055] The present application has the following beneficial effects:

[0056] The structure design and sheet-shaped connecting rod acquisition method provided by the present application can achieve:

[0057] The structure characteristics of the sheet-shaped connecting rod are fully utilized. When the sheet-shaped connecting rod is clamped and deformed or even overturned due to stiffness problems, the pulling action of the positioning rod on the end of the sheet-shaped connecting rod can effectively reduce the deformation of the connecting rod and the possibility of overturning, achieving the beneficial effect of acquiring the attitude of the sheet-shaped connecting rod.

[0058] The lower end of the positioning rod is provided with a conical platform with a tip, when the positioning rod is inserted, the conical platform side can constrain the end hole wall to correct the end of the sheet-shaped connecting rod, when the annular contact surface or annular contact line is formed, the end hole can be constrained coaxially with the positioning rod, so that the scheme also has the characteristics of high reliability of the positioning rod insertion, the posture of the clamped sheet-shaped connecting rod can be adjusted to improve the grabbing efficiency and success rate of the grabbing assembly. BRIEF DESCRIPTION OF DRAWINGS

[0059] Figure 1 A structure schematic view of a specific embodiment of the sheet-shaped part described in the scheme;

[0060] Figure 2 A whole structure schematic view of a specific embodiment of the sheet-shaped part taking device described in the scheme;

[0061] Figure 3 For Figure 2 The structure schematic view of the discharge vibration disc and the discharge guide rail part in the structure shown;

[0062] Figure 4 A structure schematic view of the grabbing end of the taking manipulator described in the scheme;

[0063] Figure 5 For Figure 4 The local structure side view reflecting the specific structure of the grabbing assembly in the structure shown;

[0064] Figure 6 A structure schematic view of the end of the discharge guide rail described in the scheme;

[0065] Figure 7 For Figure 6 The schematic view of the structure shown after being cut open;

[0066] Figure 8 For Figure 6 The schematic view of the structure shown after being cut open, and Figure 7 The difference is that, in Figure 7 The lifting block is in the first state, and in Figure 8 The lifting block is in the second state;

[0067] Figure 9 A structure schematic view of the end of the discharge guide rail described in the scheme, and Figure 6 The difference is that, Figure 9 The sheet-shaped part is provided in

[0068] Figure 10 A local structure schematic view of the scheme, for reflecting the action mode of the taking manipulator on the sheet-shaped part;

[0069] Figure 11This is a partial structural diagram of this solution, which is used to reflect the way the material-retrieving robot acts on sheet parts. Figure 10 The status shown is different. Figure 10 The state shown can be considered as the state when the clamp presses down the lifting block. Figure 11 The state shown can be considered as the state of the gripper during the grasping action;

[0070] Figure 12 This is a partial structural diagram of this solution, which is used to reflect the way the material-retrieving robot acts on the sheet parts. This diagram reflects the state of the material-retrieving robot when it moves with the sheet parts.

[0071] Figure 13 This is a partial structural diagram of this solution, which is used to reflect the way the material-retrieving robot acts on sheet parts. Figure 12 There is a difference. The diagram is Figure 12 A partial schematic diagram of the structure shown in FIG, and the partial structure is different from the Figure 12 The viewport position.

[0072] The reference numerals in the accompanying drawings are: 1. Material picking robot, 2. Discharge vibration plate, 3. Discharge guide rail, 4. Clamp, 5. Driving mechanism, 6. Positioning rod, 7. Press plate, 8. Support plate, 9. Positioning mechanism, 10. Lifting block, 11. Material trough, 12. Detection device, 13. Fixed block, 14. Elastic part, 15. Cavity, 16. Countersunk hole, 17. End through hole, 18. Equal diameter section. DETAILED DESCRIPTION

[0073] The present invention will be further described in detail below with reference to the embodiments, but the present invention is not limited to the following embodiments:

[0074] Example 1:

[0075] like Figures 1 to 13 As shown, a fixed posture acquisition device for a sheet-like connecting rod suitable for industrial Internet of Things production includes a discharge vibration plate 2, a discharge guide rail 3 whose inlet end is connected to the outlet of the discharge vibration plate 2, and a retrieving manipulator 1 for obtaining the sheet-like connecting rod from the end of the trough 11 of the discharge guide rail 3. The retrieving manipulator 1 is equipped with a grabbing assembly for grabbing the sheet-like connecting rod from the end of the trough 11. A countersunk hole 16 is provided on the bottom surface of the trough 11 at the end of the discharge guide rail 3.

[0076] The gripping assembly includes a plurality of clamping jaws 4, and the clamping jaws 4 form a clamping space for clamping the sheet-shaped connecting rod;

[0077] It also includes a positioning rod 6 whose upper end is fixedly connected to the retrieving manipulator 1, and the size of the lower end of the positioning rod 6 satisfies: it can be inserted into the countersunk hole 16 through the hole above the countersunk hole 16;

[0078] The lower end of the positioning rod 6 is shaped as a circular truncated cone with a tip at the bottom, and the diameter of the circular truncated cone satisfies: the diameter of the upper end is greater than or equal to the diameter of the end hole 17 of the sheet-shaped connecting rod;

[0079] The relative position of the positioning rod 6 and the clamping jaw 4 satisfies: when the positioning rod 6 is embedded in the end hole 17 and forms an annular contact surface or an annular contact line with the end hole 17, the sheet-shaped connecting rod is located in the clamping space for the sheet-shaped connecting rod moving to the end of the trough 11.

[0080] When the annular contact surface or the annular contact line is formed, the tip is located in the counterbore 16.

[0081] As shown in the drawings, Figure 1 The provided sheet-shaped connecting rod is generally used as a transmission part in an assembly and is connected to the assembly through the end holes 17 at both ends. Figure 1 The length x width x thickness of the sheet-shaped connecting rod shown is 46.6 mm x 8.1 mm x 2.5 mm (the thickness of the end platform is 2.5 mm, and the thickness of the middle part of the connecting rod is 1.9 mm), and the connecting rod is injection molded with patterns. For the realization of automatic assembly, when the sheet-shaped part needs to be grasped and constrained in a specific posture, such parts are not easy to be stably sucked by traditional suction disc assemblies (the commonly used constraint form of sheet-shaped parts), and if the part is grasped in a prone posture and grasped by two flat surfaces on the side, the part is easy to turn over or slip during the grasping process due to the small grasping area and the easy deformation of the part, which finally leads to the failure of material taking, affects the smooth implementation of the subsequent process, and reduces the efficiency of automatic assembly. For the single-piece specific posture material taking of such sheet-shaped parts, the above device is provided, and it is easy to understand that after the connecting rod of this type is grasped by the grasping assembly in the scheme in a specific posture, the part can be constrained in a specified posture under the action of the relevant joints of the grasping manipulator, realizing successful material taking and posture taking of the sheet-shaped connecting rod.

[0082] The above device structure features are used to realize single-piece material taking and posture taking of the sheet-shaped connecting rod, and the specific use method is:

[0083] S1, the sheet-shaped connecting rod located in the outfeed vibration disc 2 is transmitted from the outfeed vibration disc 2 outlet to the trough 11 of the outfeed guide rail 3 through the outfeed vibration disc 2;

[0084] Among them:

[0085] The sheet-shaped connecting rod is transmitted to the end of the trough 11 in a prone posture in the trough 11;

[0086] The position of the sheet-shaped connecting rod at the end of the trough 11 is constrained in the transmission direction of the trough 11 by the resistance of the front end of the sheet-shaped connecting rod;

[0087] Through corresponding constraint means, the sheet-shaped connecting rod at the end of the trough 11 is that the end hole 17 in front of the sheet-shaped connecting rod is located directly above the counterbore 16;

[0088] S2, the sheet-shaped connecting rod at the end of the trough 11 is grabbed by the grabbing assembly on the taking manipulator 1;

[0089] The specific grabbing process of the grabbing assembly is:

[0090] S2-1, the positioning rod 6 is lowered, the lower end of the positioning rod 6 passes through the sheet-shaped connecting rod through the end hole 17 in front of the sheet-shaped connecting rod and enters the counterbore 16, and moves to form an annular contact surface or an annular contact line with the end hole 17;

[0091] S2-2, the clamping jaw 4 performs a grabbing action under the action of the configured driving mechanism 5, and clamps the sheet-shaped connecting rod on the grabbing assembly;

[0092] S2-3, through the taking manipulator 1, the driving positioning rod 6 is driven to move synchronously with the grabbing assembly, and the position transfer of the grabbed sheet-shaped connecting rod is completed.

[0093] In the scheme, the ejection vibrating disc 2 sequentially transports the sheet-shaped connecting rod with a specific posture to the ejection guide rail 3, realizes the transmission of the sheet-shaped connecting rod in a prone posture in the trough 11, and the taking manipulator 1 grabs the parts at the end of the trough 11. All of them are conventional uses. The difference between the present scheme and the prior art is that the specific structure includes the counterbore 16 and the positioning rod 6. The counterbore 16 serves as a channel for the lower end of the positioning rod 6 to further insert after the positioning rod 6 passes through the end hole 17. Therefore, the present scheme can be used as follows: before the clamping jaw 4 on the grabbing assembly clamps the sheet-shaped connecting rod, the lower end of the positioning rod 6 is inserted into the end hole 17 from the upper end of the end hole 17 through the insertion action of the positioning rod 6, and the positioning rod 6 is coaxial with the end hole 17 (the annular contact surface or the annular contact line is formed). Through the interaction between the positioning rod 6 and the end hole 17, the corresponding end of the sheet-shaped connecting rod is constrained to a specific position in the radial direction of the positioning rod 6. Then, the side surface of the sheet-shaped connecting rod is clamped through the clamping space. At this time, the constraints provided by the present device for the sheet-shaped connecting rod include the supporting action of the side surface of the positioning rod 6 on the hole wall of the end hole 17 and the clamping action of the grabbing assembly on the side surface of the sheet-shaped connecting rod. Therefore, the present scheme fully utilizes the structural characteristics of the sheet-shaped connecting rod. When the sheet-shaped connecting rod is clamped, the pulling action of the positioning rod 6 on the end of the sheet-shaped connecting rod can effectively reduce the deformation of the connecting rod and the possibility of overturning, thereby achieving a favorable effect of obtaining the posture of the sheet-shaped connecting rod.

[0094] Meanwhile, taking the common plastic sheet-shaped connecting rod as an example, its characteristics not only include poor rigidity, but also light weight, in order to avoid overlapping due to jumping in the trough 11, preferably, the width of the trough 11 is slightly larger than the width of the sheet-shaped connecting rod (for the Figure 1 In the specific embodiments, the width of the trough 11 is set to be in the range of 8.4-9.0 mm, so that the sheet-shaped connecting rod has a certain skew space in the width direction during transmission, and the lower end of the positioning rod 6 is provided as a conical frustum with a tip in the scheme. When the positioning rod 6 is inserted, even if the axis of the end portion through hole 17 has a certain offset amount relative to the axis of the conical frustum, as long as the lower end of the positioning rod 6 can be inserted into the end portion through hole 17 through the tip, the conical frustum side can constrain the hole wall of the end portion through hole 17 to realize the end portion correction of the sheet-shaped connecting rod (a certain swing of the sheet-shaped connecting rod occurs in the process), and when the annular contact surface or annular contact line is formed, the end portion through hole 17 can be constrained to be coaxial with the positioning rod 6. Therefore, the scheme also has the characteristics of high reliability of the positioning rod 6 insertion, the posture of the clamped sheet-shaped connecting rod can be adjusted to improve the grabbing efficiency (the stroke of the clamping jaw 4 can be set to be smaller) and success rate (the position accuracy of the clamped sheet-shaped connecting rod is higher) of the grabbing assembly.

[0095] In the specific application of the scheme, the positioning rod 6 and the grabbing assembly can be synchronous motion at any time under the action of the material taking manipulator 1. For example, after the positioning rod 6 is inserted into the end portion through hole 17 to the position, the grabbing assembly reaches the correct relative position with the sheet-shaped connecting rod: the sheet-shaped connecting rod is located in the clamping space, and the clamping and grabbing of the sheet-shaped connecting rod are completed through the action of the grabbing assembly. Alternatively, the positioning rod 6 can be relatively moved relative to the grabbing assembly in the axial direction of the end portion through hole 17. For example, after the material taking manipulator 1 moves the grabbing assembly to the accurate position (the sheet-shaped connecting rod is located in the clamping space), the positioning rod 6 is embedded into the end portion through hole 17 under the action of other mechanisms. After the embedding is completed, the clamping and grabbing assembly performs the clamping and grabbing action.

[0096] Embodiment 2:

[0097] The embodiment is further limited based on the embodiment 1:

[0098] The upper end diameter of the conical frustum is equal to the diameter of the end portion through hole 17, and an equal diameter section 18 connected with the upper end of the conical frustum is further arranged on the positioning rod 6, the equal diameter section 18 is coaxial with the conical frustum, and the diameter of the equal diameter section 18 is equal to the diameter of the upper end of the conical frustum;

[0099] When the axis of the equal-diameter section 18 or the conical frustum is in the vertical direction, the equal-diameter section 18 has a section with the same height as the clamping space. The present scheme provides a specific positioning rod 6 form, i.e. the equal-diameter section 18 with the lower end connected to the upper end of the conical frustum is arranged on the positioning rod 6, so that the conical frustum is used as a guide section to achieve the introduction of the positioning rod 6 into the end through hole 17 and the correction of the end of the sheet-shaped connecting rod, and the equal-diameter section 18 is used as a positioning section to make the positioning rod 6 have a larger contact area with the hole wall of the end through hole 17. After being limited to the condition that the axis of the equal-diameter section 18 or the conical frustum is in the vertical direction, the equal-diameter section 18 is arranged to have a section with the same height as the clamping space, i.e. the section with the same height as the clamping space is the section of the positioning rod 6 that is specifically used to contact the sheet-shaped connecting rod. However, as a person skilled in the art, it should be understood that the equal height is actually limited to the relative position of the section and the clamping space. In specific use, the positioning rod 6 does not necessarily move in the vertical direction, and the axis of the equal-diameter section 18 or the conical frustum is in the vertical direction.

[0100] The front end of the material taking manipulator 1 is provided with a connecting disc, and the positioning rod 6 is a straight rod with the upper end fixedly connected to the connecting disc;

[0101] The grabbing assembly further includes an assembly seat and a driving mechanism 5 for driving the clamping jaw 4 to perform the opening and clamping actions. The driving mechanism 5 is installed on the assembly seat, the upper end of the assembly seat is fixedly connected to the connecting disc, the clamping jaw 4 is slidably installed on the lower end of the assembly seat through a slide rail or a slide groove on the assembly seat, and the extension direction of the slide rail or the slide groove is perpendicular to the axis of the positioning rod 6. The present scheme provides a specific front end structure of the material taking manipulator 1, i.e. the upper end of the positioning rod 6 is directly connected to the material taking manipulator 1 through the connecting disc, and the movement of the positioning rod 6 is derived from the movement of the material taking manipulator 1. The above-mentioned scheme provides that the positioning rod 6 and the grabbing assembly are synchronously moved at any moment under the action of the material taking manipulator 1, and the grabbing assembly reaches the correct relative position with the sheet-shaped connecting rod after the positioning rod 6 is inserted into the end through hole 17. The scheme further provides a technical scheme for restricting the movement track of the clamping jaw 4 by using the slide rail or the slide groove, and the clamping jaw 4 is opened and closed under the action of the driving mechanism 5.

[0102] Embodiment 3:

[0103] The present embodiment is further limited based on the embodiment 1:

[0104] In view of the thinness of the sheet-shaped connecting rod, in order to improve the reliability of clamping and ensure the side contact area, the end of the discharging guide rail 3 is further provided with a cavity 15, a liftable lifting block 10 is installed in the cavity 15, and a material groove 11 is arranged on the discharging guide rail 3 and the lifting block 10;

[0105] The lifting block 10 can be configured through the lifting action of the lifting block 10:

[0106] The lifting block 10 can be lifted relative to the discharge guide rail 3 to a first state, in which both ends of the loading groove 11 of the lifting block 10 are connected with the loading groove 11 of the discharge guide rail 3;

[0107] The lifting block 10 can be lowered relative to the discharge guide rail 3 to a second state, in which the loading groove 11 of the lifting block 10 is sunken relative to the loading groove 11 of the discharge guide rail 3;

[0108] The size and position of the cavity 15 satisfy that the sheet-shaped connecting rod at the end of the loading groove 11 can span the cavity 15, and the end hole 17 at the front end of the sheet-shaped connecting rod is located directly above the counterbore 16;

[0109] In the second state, the clamping jaw 4 can be embedded into the space formed by the sinking.

[0110] In the above scheme, the lifting action can occur under the pushing of the taking mechanism, or can occur after the special driving mechanism 5 acts on the lifting block 10. In specific applications, when in the first state, the entire loading groove 11 is continuous, and the sheet-shaped connecting rod can be pushed or moved to the end of the loading groove 11 under other action modes. The second state and the setting that the sheet-shaped connecting rod can span the cavity 15 are designed to make the sheet-shaped connecting rod at the end of the loading groove 11 supported in the loading groove 11 in a posture of being supported at both ends and suspended at the middle, so that the sinking of the lifting block 10 does not cause the sinking of the sheet-shaped connecting rod. The grasping of the sheet-shaped connecting rod by the clamping jaw 4 is completed in the second state. After the clamping jaw 4 is embedded into the space formed by the sinking, the clamping jaw 4 can be moved to the lower side of the sheet-shaped connecting rod by using the feature that the clamping jaw 4 can move to the lower side of the sheet-shaped connecting rod, and the side surface of the sheet-shaped connecting rod is fully utilized to complete the clamping of the sheet-shaped connecting rod, so that the clamped area of the sheet-shaped connecting rod can be continued from the top side of the sheet-shaped connecting rod to the bottom side of the sheet-shaped connecting rod, that is, the clamped area covers the full height of the sheet-shaped connecting rod. In this way, the clamping reliability can be improved, and the sheet-shaped connecting rod can be prevented from being turned over.

[0111] The lower end of the gripper 4 is provided with a support plate 8 for supporting the sheet-shaped connecting rod, and the size of the gripper 4 meets that, in the second state, the support plate 8 can be moved to the lower side of the sheet-shaped connecting rod at the end of the trough 11 under the action of the material taking manipulator 1, and the bottom surface of the support plate 8 is located below or in the same plane as the bottom surface of the sheet-shaped connecting rod. The scheme aims to provide a technical scheme for reducing the requirement for the size of the corresponding clamping force when the sheet-shaped connecting rod is clamped by the support plate 8: for example, the sheet-shaped connecting rod is suspended in the middle and supported on the horizontal plane, when the gripper 4 is moved to the bottom side of the sheet-shaped connecting rod or the top surface is located in the same plane as the bottom surface of the sheet-shaped connecting rod, the gripper 4 is retracted, when the support plate 8 is partially located on the lower side of the sheet-shaped connecting rod, the material taking manipulator 1 is moved upward, at this time, the state that the side surface of the gripper 4 clamps the side surface of the sheet-shaped connecting rod to constrain the position of the sheet-shaped connecting rod in the width direction and the top surface of the support plate 8 supports the bottom surface of the sheet-shaped connecting rod to constrain the position of the sheet-shaped connecting rod in the height direction can be obtained, compared with directly clamping the side surface of the sheet-shaped connecting rod, the lateral clamping force required to achieve the purpose of stably clamping the sheet-shaped connecting rod by the gripping assembly is smaller, and the smaller lateral clamping force is beneficial to improving the deformation of the sheet-shaped connecting rod when it is clamped and the change in posture caused by twisting, that is, the scheme also has the characteristics of facilitating the part shape and posture to be maintained on the basis of stably clamping the sheet-shaped connecting rod.

[0112] The number of the grippers 4 is two, and the gap between the two grippers 4 serves as the clamping space;

[0113] Each gripper 4 is provided with a groove, the support plate 8 on each gripper 4 provides a side surface on the lower side for the groove, and the grooves of the two grippers 4 are located in the same plane. The scheme provides a specific implementation form of the gripping assembly, in specific application, through the related actions of the material taking manipulator 1, one of the grippers 4 is moved downward from one side of the sheet-shaped connecting rod, the other gripper 4 is moved downward from the other side of the sheet-shaped connecting rod, to obtain the relative position relationship between the support plate 8 and the bottom surface of the sheet-shaped connecting rod, and then the two grippers 4 are moved towards each other to complete the clamping of the sheet-shaped connecting rod, the groove is used for embedding the sheet-shaped connecting rod, that is, the bottom surface of the groove serves as the clamping surface for providing the clamping force for the side surface of the sheet-shaped connecting rod, and the grooves of the two grippers 4 are located in the same plane, which aims to adapt to the most common sheet-shaped connecting rod in the form of a flat plate. In specific implementation, the groove width is preferably the same as the height (thickness) of the sheet-shaped connecting rod, and is configured to move the gripping assembly to the state that the top surface of the support plate 8 is coplanar with the bottom surface of the sheet-shaped connecting rod under the action of the material taking manipulator 1, at this time, the grippers 4 move towards each other along the width direction of the sheet-shaped connecting rod, so that the side surface of the sheet-shaped connecting rod can be smoothly embedded in the groove on each side, thereby effectively guaranteeing the stability of the sheet-shaped connecting rod during the transfer by the material taking manipulator 1 and improving the maximum speed that can be adopted during the transfer.

[0114] Each gripper 4 is provided with a pressing plate 7, and the pressing plate 7 of each gripper 4 provides a side surface on the upper side for the groove;

[0115] The pressing plates 7 on the two clamping jaws 4 are arranged in front of and behind each other in the sheet-shaped connecting rod transmission direction in the trough 11;

[0116] The length of the pressing plate 7 satisfies: when the grabbing assembly is in the state of clamping the sheet-shaped connecting rod, the pressing plates 7 on the two clamping jaws 4 are in the staggered state. The scheme is based on the above scheme, and further optimization of the structure of the groove is proposed, which aims to: by being provided with the pressing plate 7, when the supporting plate 8 provides bottom support for the sheet-shaped connecting rod, the bottom surface of the pressing plate 7 provides constraint for the top of the sheet-shaped connecting rod. In this way, the shape and posture stability of the sheet-shaped connecting rod under the clamping force of the clamping jaw 4 can be greatly improved. The front and rear arrangement of the pressing plate 7 in the relevant direction makes the pressing plates 7 on the two clamping jaws 4 staggered with each other, providing a structural basis for the staggered state. The above staggered state aims to make the action area of the pressing plate 7 on the sheet-shaped connecting rod cover the full width of the sheet-shaped connecting rod, that is, the clamping jaw 4 forms a groove-shaped space with an open lower part in the clamped state. The staggered pressing plate 7 provides a continuous groove-shaped space boundary above the groove-shaped space, and for the sheet-shaped connecting rod, each position from one side to the other side can be constrained by the pressing plate 7, which is more conducive to the deformation control and overturning control of the pressing plate 7. As a person skilled in the art, if the sheet-shaped connecting rod is transmitted along the front and rear directions, the pressing plates 7 of the two clamping jaws 4 are arranged in front of and behind each other, and the staggered state refers to: when the grabbing assembly is in the state of clamping the sheet-shaped connecting rod, the projection part of one pressing plate 7 towards the side where the other pressing plate 7 is located falls on the other pressing plate 7.

[0117] The end of the discharge guide rail 3 is fixed with a fixed block 13, and the cavity 15 and the counterbore 16 are arranged on the fixed block 13;

[0118] Further comprising an elastic member 14, the lower end position of the elastic member 14 is fixed relative to the fixed block 13, and the lifting block 10 is supported on the upper end of the elastic member 14;

[0119] The positioning mechanism 9 is arranged on the fixed block 13, when the lifting block 10 is in contact with the bottom surface of the positioning mechanism 9, the lifting block 10 is in the first state, and the elastic element 14 is in compression elastic deformation along the height direction of the cavity 15. The technical scheme is to provide a discharging guide rail 3, which is convenient to configure: the fixed block 13 is connected to the end of the existing discharging guide rail 3, and the technical scheme with the cavity 15 and the lifting block 10 in the complete process is obtained; the technical scheme is to provide a lifting block 10, which is simple in structure and can change the state: without a separate driving device, the elastic restoring force of the lifting block 10 is used to change from the second state to the first state, and the power and the action of the material taking robot 1 are used to change from the first state to the second state; the technical scheme is to provide a lifting block 10, which is rapid in state recovery and accurate in position positioning: the elastic element 14 is always in the elastic compression state after installation through the positioning mechanism 9, so that the speed of the lifting block 10 from the second state to the first state is improved, and the positioning precision of the lifting block 10 is improved through the forced constraint of the lifting block 10 provided by the positioning mechanism 9.

[0120] The positioning mechanism 9 comprises a plurality of screw assemblies arranged on the top of the fixed block 13, and the screw assemblies are arranged along the circumferential direction of the cavity 15.

[0121] The screw assembly comprises a screw arranged on the fixed block 13 and a gasket clamped between the screw cap and the fixed block 13.

[0122] The gasket of each screw assembly comprises a metal gasket and an elastic gasket, the gasket in contact with the top surface of the fixed block 13 is a metal gasket and a flat gasket, and the elastic gasket is clamped between the metal gasket and the screw cap.

[0123] Each screw assembly is arranged in such a way that the metal gasket is partially extended above the cavity 15 to provide a contact surface for constraining the lifting block 10 to the first state. The specific implementation form of the positioning mechanism 9 is provided, the arrangement of the screw assembly is to provide multi-point constraint for the lifting block 10 by the positioning mechanism 9 to improve the holding accuracy of the first state, more specifically, the gasket in contact with the top surface of the fixed block 13 is used to provide a contact surface directly in contact with the lifting block 10, the metal gasket is used to maintain the stability of the actual position of the contact surface in space by using the anti-deformation ability of the metal gasket, and the elastic gasket is used to provide a loosening pre-tightening force for the screw to avoid affecting the compression stability of the metal gasket under the vibration of the discharging vibration disc 2. However, the compression amount of the elastic gasket needs to be controlled in specific implementation to avoid the upward movement of the metal gasket under the lifting of the lifting block 10 and affect the positioning accuracy of the lifting block 10. The metal gasket is preferably made of stainless steel with high hardness.

[0124] Regarding the screw anti-loosening, the preferred mode is to set the fixed block 13 and the discharge guide rail 3 to have independent supports. Regarding the connection of the positioning block and the end of the discharge guide rail 3, an elastic material is used as the connecting part and damping part between the two.

[0125] The above is a further detailed description of the present application in combination with specific preferred embodiments, and cannot be considered as limiting the specific embodiments of the present application to these descriptions. Other embodiments obtained by those skilled in the art without departing from the technical solutions of the present application should be included in the protection scope of the present application.

Claims

1. A device for acquiring the posture of a sheet-shaped connecting rod suitable for industrial Internet of Things production, comprising a discharge vibration disc (2), a discharge guide rail (3) connected to the outlet of the discharge vibration disc (2), and a material taking manipulator (1) for acquiring a sheet-shaped connecting rod from the end of a material groove (11) of the discharge guide rail (3), wherein a grabbing assembly for grabbing a sheet-shaped connecting rod from the end of the material groove (11) is installed on the material taking manipulator (1). The bottom surface of the chute (11) at the end of the discharge guide rail (3) is provided with a counterbore (16); The grabbing assembly comprises a plurality of clamping jaws (4), and a clamping space for clamping the sheet-shaped connecting rod is formed between the clamping jaws (4); The positioning rod (6) is further provided with an equal-diameter section (18) connected with the upper end of the conical frustum, the equal-diameter section (18) is coaxial with the conical frustum, and the diameter of the equal-diameter section (18) is equal to the diameter of the upper end of the conical frustum; The relative position of the positioning rod (6) and the clamping jaw (4) satisfies that, for the sheet-shaped connecting rod moving to the end of the chute (11), when the positioning rod (6) is embedded in the end through hole (17) and forms an annular contact surface or an annular contact line with the end through hole (17), the sheet-shaped connecting rod is located in the clamping space; When the annular contact surface or the annular contact line is formed, the tip is located in the counterbore (16); The end of the discharge guide rail (3) is provided with a cavity (15), the cavity (15) is provided with a lifting block (10) capable of lifting, and the discharge guide rail (3) and the lifting block (10) are both provided with a chute (11); The lifting block (10) is configured to: The lifting block (10) can be lifted to a first state relative to the discharge guide rail (3), and in the first state, both ends of the chute (11) on the lifting block (10) are connected with the chute (11) on the discharge guide rail (3); The lifting block (10) can be lowered to a second state relative to the discharge guide rail (3), and in the second state, the chute (11) on the lifting block (10) is sunken relative to the chute (11) on the discharge guide rail (3); The size and position of the cavity (15) satisfy that the sheet-shaped connecting rod at the end of the chute (11) can cross the cavity (15), and the end through hole (17) at the front end of the sheet-shaped connecting rod is located directly above the counterbore (16); In the second state, the clamping jaw (4) can be embedded in the space formed by the sinking. The upper end diameter of the conical frustum is equal to the diameter of the end through hole (17), and the positioning rod (6) is further provided with an equal-diameter section (18) connected with the upper end of the conical frustum, the equal-diameter section (18) is coaxial with the conical frustum, and the diameter of the equal-diameter section (18) is equal to the diameter of the upper end of the conical frustum; 2. The pose acquisition device for sheet-shaped link adapted for industrial IoT production according to claim 1, characterized in that, When the axis of the equal-diameter section (18) or the conical frustum is in the vertical direction, the equal-diameter section (18) has a section higher than the clamping space. The front end of the material taking manipulator (1) is provided with a connecting disc, and the positioning rod (6) is a straight rod with the upper end fixedly connected with the connecting disc; 3. The pose acquisition device of a sheet-shaped link adapted to an industrial IoT production according to claim 2, characterized in that, The grabbing assembly further comprises an assembly seat and a driving mechanism (5) for driving the clamping jaw (4) to perform opening and clamping actions, the driving mechanism (5) is installed on the assembly seat, the upper end of the assembly seat is fixedly connected with the connecting disc, the clamping jaw (4) is slidably installed on the lower end of the assembly seat through a slide rail or a slide groove on the assembly seat, and the extension direction of the slide rail or the slide groove is perpendicular to the axis of the positioning rod (6). ​ 4. The pose acquisition device for sheet-shaped link adapted for industrial IoT production according to claim 1, characterized in that, The lower end of the clamping jaw (4) is provided with a support plate (8) for supporting the sheet link, and the size of the clamping jaw (4) satisfies that in the second state, the support plate (8) can move to the lower side of the sheet link at the end of the trough (11) under the action of the taking manipulator (1), and the bottom surface of the support plate (8) is located below or in the same plane as the bottom surface of the sheet link.

5. The pose acquisition device of a sheet-shaped link adapted to an industrial IoT production according to claim 4, characterized in that, The number of the clamping jaw (4) is two, and the gap between the two clamping jaws (4) serves as the clamping space; Each clamping jaw (4) is provided with a groove, and the support plate (8) on each clamping jaw (4) provides a side surface on the lower side of the groove, and the grooves of the two clamping jaws (4) are in the same plane.

6. The pose acquisition device of a sheet-shaped link adapted to an industrial IoT production according to claim 5, characterized in that, Each clamping jaw (4) is provided with a pressing plate (7), and the pressing plate (7) of each clamping jaw (4) provides a side surface on the upper side of the groove; The pressing plates (7) on the two clamping jaws (4) are arranged in front and back in the conveying direction of the sheet link in the trough (11); The length of the pressing plate (7) satisfies that when the grabbing assembly is in the state of clamping the sheet link, the pressing plates (7) on the two clamping jaws (4) are in a staggered state.

7. The pose acquisition apparatus of a sheet-shaped link adapted to an industrial IoT production according to claim 1, characterized by, The end of the discharge guide rail (3) is fixed with a fixed block (13), and the cavity (15) and the counterbore (16) are arranged on the fixed block (13); Further comprising an elastic member (14), the lower end position of the elastic member (14) is fixed relative to the fixed block (13), and the lifting block (10) is supported on the upper end of the elastic member (14); Further comprising a positioning mechanism (9) arranged on the fixed block (13), when the lifting block (10) is in contact with the bottom surface of the positioning mechanism (9), the lifting block (10) is in the first state, and the elastic member (14) is in compression elastic deformation along the height direction of the cavity (15) in the first state.

8. The pose acquisition device of a sheet-shaped link adapted to an industrial IoT production according to claim 7, characterized in that, The positioning mechanism (9) comprises a plurality of screw assemblies threadedly connected to the top of the fixed block (13), and the screw assemblies are distributed in the circumferential direction of the cavity (15) at intervals; The screw assembly comprises a screw threadedly connected to the fixed block (13) and a gasket clamped between the screw cap and the fixed block (13); The gasket of each screw assembly comprises a metal gasket and an elastic gasket, the gasket in contact with the top surface of the fixed block (13) is a metal gasket and a flat gasket, and the elastic gasket is clamped between the metal gasket and the cap; Each screw assembly is that the metal gasket thereon extends locally above the cavity (15), thereby providing a contact surface for constraining the lifting block (10) to the first state.

9. A method for acquiring the posture of a sheet-shaped link adapted to industrial Internet of Things production, the method being used for single-sheet material taking of a sheet-shaped link, characterized in that, The method is implemented by using the sheet link attitude acquisition device of any one of claims 1 to 8, and the method specifically comprises: S1, by the discharge vibrating disc (2), the sheet link in the discharge vibrating disc (2) is conveyed from the outlet of the discharge vibrating disc (2) to the trough (11) of the discharge guide rail (3); Wherein: The sheet link is conveyed to the end of the trough (11) in a prone position in the trough (11); The position of the sheet link at the end of the trough (11) in the conveying direction of the trough (11) is constrained by the front end of the sheet link being blocked; The lower end of the clamping jaw (4) is provided with a support plate (8) for supporting the sheet link, and the size of the clamping jaw (4) satisfies that in the second state, the support plate (8) can move to the lower side of the sheet link at the end of the trough (11) under the action of the taking manipulator (1), and the bottom surface of the support plate (8) is located below or in the same plane as the bottom surface of the sheet link. The number of the clamping jaw (4) is two, and the gap between the two clamping jaws (4) serves as the clamping space; Each clamping jaw (4) is provided with a groove, and the support plate (8) on each clamping jaw (4) provides a side surface on the lower side of the groove, and the grooves of the two clamping jaws (4) are in the same plane. Each clamping jaw (4) is provided with a pressing plate (7), and the pressing plate (7) of each clamping jaw (4) provides a side surface on the upper side of the groove; The pressing plates (7) on the two clamping jaws (4) are arranged in front and back in the conveying direction of the sheet link in the trough (11); The length of the pressing plate (7) satisfies that when the grabbing assembly is in the state of clamping the sheet link, the pressing plates (7) on the two clamping jaws (4) are in a staggered state. The end of the discharge guide rail (3) is fixed with a fixed block (13), and the cavity (15) and the counterbore (16) are arranged on the fixed block (13); Further comprising an elastic member (14), the lower end position of the elastic member (14) is fixed relative to the fixed block (13), and the lifting block (10) is supported on the upper end of the elastic member (14); Further comprising a positioning mechanism (9) arranged on the fixed block (13), when the lifting block (10) is in contact with the bottom surface of the positioning mechanism (9), the lifting block (10) is in the first state, and the elastic member (14) is in compression elastic deformation along the height direction of the cavity (15) in the first state. The positioning mechanism (9) comprises a plurality of screw assemblies threadedly connected to the top of the fixed block (13), and the screw assemblies are distributed in the circumferential direction of the cavity (15) at intervals; The screw assembly comprises a screw threadedly connected to the fixed block (13) and a gasket clamped between the screw cap and the fixed block (13); The gasket of each screw assembly comprises a metal gasket and an elastic gasket, the gasket in contact with the top surface of the fixed block (13) is a metal gasket and a flat gasket, and the elastic gasket is clamped between the metal gasket and the cap; Each screw assembly is that the metal gasket thereon extends locally above the cavity (15), thereby providing a contact surface for constraining the lifting block (10) to the first state. The method is implemented by using the sheet link attitude acquisition device of any one of claims 1 to 8, and the method specifically comprises: S1, by the discharge vibrating disc (2), the sheet link in the discharge vibrating disc (2) is conveyed from the outlet of the discharge vibrating disc (2) to the trough (11) of the discharge guide rail (3); Wherein: The sheet link is conveyed to the end of the trough (11) in a prone position in the trough (11); The position of the sheet link at the end of the trough (11) in the conveying direction of the trough (11) is constrained by the front end of the sheet link being blocked; The sheet-shaped connecting rod at the end of the trough (11) is characterized in that the end hole (17) at the front of the sheet-shaped connecting rod is located directly above the counterbore (16); S2, the sheet-shaped connecting rod at the end of the trough (11) is grabbed by a grabbing assembly on the taking mechanical arm (1); The specific grabbing process of the grabbing assembly is as follows: S2-1, the positioning rod (6) moves downward, the lower end of the positioning rod (6) passes through the sheet-shaped connecting rod through the end hole (17) at the front of the sheet-shaped connecting rod and enters the counterbore (16), and moves to form an annular contact surface or an annular contact line with the end hole (17); S2-2, the clamping jaw (4) performs a grabbing action under the action of the configured driving mechanism (5), and clamps the sheet-shaped connecting rod on the grabbing assembly; S2-3, through the taking mechanical arm (1), the positioning rod (6) is driven to move synchronously with the grabbing assembly, and the position of the grabbed sheet-shaped connecting rod is transferred.

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