Adaptive adjustment handover platform

Abstract

The invention relates to the technical field of self-adaptive platforms, in particular to a self-adaptive adjusting handover platform which comprises a bottom plate, a supporting block is arranged on the bottom plate, a positioning ball is rotationally arranged at the upper end of the supporting block and used for positioning the center between the bottom plate and a top plate, and the top plate is arranged on the positioning ball. An adjuster for adjusting the angle of the top plate is arranged between the bottom plate and the top plate; the adjustor comprises centripetal joint bearings which are symmetrically arranged on four corners of the top plate, and connecting supporting blocks are arranged at the upper ends of the centripetal joint bearings; according to the motor-driven pressure sensor feedback system, the contact nonuniformity of the top plate and the bottom plate can be judged by analyzing the data of the pressure sensors, namely which areas have higher or lower pressure, and the motor-driven pressure sensor feedback system can instruct the corresponding servo push rod motors to stretch out and draw back, so that the contact uniformity of the top plate and the bottom plate can be judged. Therefore, the position and the angle of the top plate are adjusted for parallel calibration, and the parallelism of each platform does not need to be adjusted by spending a lot of time and energy.

Description

Technical Field

[0001] The present application relates to the technical field of adaptive platforms, and in particular to an adaptive adjustment and handover platform. Background Art

[0002] An adaptive handover platform is one that can automatically adjust its state according to the external environment or changes in conditions to maintain stability or achieve a specific purpose. It can automatically adjust its structure or position according to external conditions or load changes to maintain stability or achieve a specific working state, thereby playing a key role in various complex and changeable application scenarios.

[0003] This type of platform is widely used in industrial automation, precision engineering, aerospace, medical equipment and other fields. The adaptive adjustment handover platform plays an important role in improving production efficiency, ensuring operational safety and improving product quality through its high flexibility and adaptability.

[0004] The existing technology is to design a positioning pin structure on the front and side surfaces, make rotation adjustment with the pin as the center of the circle, and then fix it with screws. During the handover process, any one of the three platforms, the upstream platform, the handover platform, and the downstream platform is used as the reference, and the parallelism of the other two platforms with the reference platform is adjusted to achieve the purpose of handing over the product.

[0005] However, the above existing technologies still have some defects when adjusting the adaptive platform:

[0006] 1. The above-mentioned prior art selects a platform as a reference, and then manually adjusts the parallelism of other platforms with the reference platform to ensure that the product can be smoothly transferred from one platform to another; however, when the equipment includes multiple upstream and downstream platforms, the complexity of adjustment increases significantly. Each additional platform requires additional adjustment steps to ensure that the newly added platform maintains the correct parallelism with the adjusted platform. As the number of platforms increases, the difficulty and workload of adjustment increase exponentially, and errors are prone to occur during the adjustment process, resulting in longer adjustment time and reduced production efficiency.

[0007] 2. The above-mentioned prior art relies on the subjective judgment and manual operation of the operator. The adjustment results may not be accurate enough and have poor repeatability. In a production environment with high precision requirements, this inaccuracy may cause product quality problems and even affect the smooth progress of the entire production process.

[0008] Based on this, and in accordance with the above-mentioned viewpoints, there is still room for improvement in the way existing technologies adjust adaptive platforms. Summary of the invention

[0009] In order to solve the above technical problems, the present application provides an adaptive adjustment handover platform, which adopts the following technical solutions:

[0010] An adaptive adjustment handover platform comprises a bottom plate, a support block is arranged on the bottom plate, a positioning ball is rotatably arranged on the upper end of the support block, the positioning ball is used to locate the center between the bottom plate and the top plate, a top plate is arranged on the positioning ball, and an adjuster for adjusting the angle of the top plate is arranged between the bottom plate and the top plate;

[0011] The regulator comprises radial spherical bearings symmetrically arranged on the four corners of the top plate, and a connecting support block is arranged at the upper end of the radial spherical bearing.

[0012] Preferably, the regulator also includes a connecting hole opened on the connecting support block and penetrating the radial joint bearing, and a servo push rod motor is arranged on the upper end of the connecting support block. After the push rod of the servo push rod motor passes through the connecting hole, a ball joint bearing connected to the base plate is arranged.

[0013] Preferably, a pressure sensor is provided between the ball joint bearing and the push rod of the servo push rod motor.

[0014] Preferably, a vacuum suction cup is provided at the lower end of the bottom plate.

[0015] Preferably, four sides of the support block are provided with avoidance slopes, and the four avoidance slopes construct the support block into an upwardly protruding cone, and the positioning ball is located at the cone end of the support block.

[0016] Preferably, a connecting frame is provided on the top plate;

[0017] The connecting frame includes a supporting transverse plate symmetrically arranged on the top plate, and one side of the two supporting transverse plates is commonly provided with a supporting vertical plate located on one side of the bottom plate.

[0018] Preferably, a plurality of positioning holes are provided on the supporting vertical plate.

[0019] Preferably, a guiding inclined surface is provided on a side of the supporting vertical plate facing away from the supporting vertical plate.

[0020] Preferably, the lower end of the supporting vertical plate is flush with the lower end of the top plate.

[0021] In summary, the present application includes at least one of the following beneficial technical effects:

[0022] 1. The motor-driven pressure sensor feedback system of the present invention can determine the unevenness of the contact between the top plate and the bottom plate, that is, which areas have greater or lesser pressure, by analyzing the data of the pressure sensor. The motor-driven pressure sensor feedback system will instruct the corresponding servo push rod motor to perform telescopic action, thereby adjusting the position and angle of the top plate for parallel calibration, thereby eliminating the need to spend a lot of time and energy to adjust the parallelism of each platform.

[0023] 2. The present invention can also accurately control the pressure conditions of the entire handover platform surface and adjust them in real time through the motor-driven pressure sensor feedback system. The motor-driven pressure sensor feedback system only needs to increase the handover position parameters of each platform, which will greatly reduce the debugging time and adjustment difficulty. Especially in the handover operation where one platform corresponds to multiple different platforms, this structure only needs to increase the handover position parameters of each platform in the system, which will greatly reduce the debugging time and adjustment difficulty. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the present invention.

[0025] Figure 2 It is a three-dimensional cross-sectional view of the present invention.

[0026] Figure 3 It is a schematic diagram of the structure of the regulator of the present invention.

[0027] Figure 4 The present invention Figure 3 A partial enlarged view of point A.

[0028] Figure 5 It is a schematic diagram of the mechanism between the present invention and the upstream platform.

[0029] Figure 6 It is a schematic diagram of the mechanism between the present invention and the downstream platform.

[0030] Figure 7 It is a structural schematic diagram of the connecting frame of the present invention.

[0031] Explanation of the accompanying drawings: 1. Bottom plate; 2. Top plate; 3. Support block; 31. Avoidance slope; 4. Positioning ball; 5. Regulator; 51. Radial spherical bearing; 52. Connecting support block; 53. Connecting hole; 54. Servo push rod motor; 55. Ball joint bearing; 56. Pressure sensor; 57. Vacuum suction cup; 6. Connecting frame; 61. Support horizontal plate; 62. Support vertical plate; 63. Positioning hole; 64. Guide slope; 7. Upstream platform; 8. Downstream platform. DETAILED DESCRIPTION

[0032] The following is combined with Figures 1 to 7 This application is described in further detail.

[0033] The embodiment of the present application discloses an adaptively adjustable handover platform, which controls the pressure condition of the entire handover platform surface through pressure feedback to adjust it in real time. It only needs to increase the handover position parameters of each platform, which will greatly reduce the debugging time and adjustment difficulty.

[0034] Embodiment 1:

[0035] Reference Figure 1 and Figure 2 As shown, an adaptive adjustment handover platform comprises a bottom plate 1, a support block 3 is arranged on the bottom plate 1, a positioning ball 4 is rotatably arranged on the upper end of the support block 3, and a top plate 2 is rotatably arranged on the positioning ball 4.

[0036] When performing adaptive adjustment, first, the bottom plate 1 is adsorbed on the target platform by the vacuum suction cup 57 arranged at the lower end of the bottom plate 1. At this time, the vacuum suction cup 57 will drive the bottom plate 1 to maintain the same angle as the target platform, that is, when one side of the target platform is higher than the other side, the vacuum suction cup 57 will drive the bottom plate 1 to maintain the same one side high and the other side low as the target platform. At the same time, the regulator 5 will produce corresponding contraction, so that the top plate 2 will present the same trend of one side high and the other side low as the bottom plate 1.

[0037] Then start the regulator 5 set between the bottom plate 1 and the top plate 2. The regulator 5 is used to adjust the angle of the top plate 2 for parallel calibration. The regulator 5 can provide precise control to meet the needs of different product handovers. The positioning ball 4 is used to locate the center between the bottom plate 1 and the top plate 2, so that the top plate 2 can be rotated around the positioning ball 4 to achieve precise positioning.

[0038] The top plate 2 is installed on the upper end of the positioning ball 4 and can rotate around the positioning ball 4 to adjust the angle between it and the bottom plate 1. Through the design of the positioning ball 4 and the adjuster 5, the platform can adapt to different product sizes and shapes and achieve fast and precise adjustment. At the same time, the adjuster 5 enables the platform to easily adapt to different operating conditions and product requirements, thereby improving the applicability and flexibility of the handover platform.

[0039] The feedback system of the pressure sensor 56 driven by the motor controls the regulator 5 to rotate the top plate 2 around the positioning ball 4. This is suitable for occasions that require frequent adjustment of angles and positions, such as automated production lines, precision assembly and material handling. It can improve production efficiency, reduce operating errors and ensure consistency in product quality.

[0040] Reference Figure 2 , Figure 3 and Figure 4 As shown, specifically, the regulator 5 includes radial spherical bearings 51 symmetrically arranged on the four corners of the top plate 2, a connecting support block 52 is arranged at the upper end of the radial spherical bearing 51, and a connecting hole 53 is opened on the connecting support block 52 and penetrates the radial spherical bearing 51.

[0041] When performing adaptive adjustment, first, the bottom plate 1 is adsorbed on the target platform by the vacuum suction cup 57 arranged at the lower end of the bottom plate 1. At this time, the vacuum suction cup 57 will drive the bottom plate 1 to keep the angle consistent with that of the target platform, that is, when one side of the target platform is higher than the other side, the vacuum suction cup 57 will drive the bottom plate 1 to keep the same angle as that of the target platform, that is, when one side of the target platform is higher than the other side.

[0042] At the same time, a servo push rod motor 54 is provided at the upper end of the connecting support block 52. The push rod of the servo push rod motor 54 on the higher side will shrink inward under the weight of the top plate 2, and the push rod of the servo push rod motor 54 is provided with a ball joint bearing 55 connected to the bottom plate 1 after passing through the connecting hole 53. Due to the shrinkage of the servo push rod motor 54 on the higher side, the top plate 2 will show a trend of one side being higher and the other side being lower, just like the bottom plate 1.

[0043] Then start the servo push rod motor 54. At this time, the pressure sensor 56 set between the ball joint bearing 55 and the push rod of the servo push rod motor 54 will detect the pressure distribution when the top plate 2 contacts the bottom plate 1. When one side of the top plate 2 is higher, the pressure sensor 56 on the higher side will detect a larger pressure value. Conversely, when the other side of the top plate 2 is lower, the pressure sensor 56 on the lower side will detect a smaller pressure value.

[0044] The pressure sensor 56 will upload the detected pressure value to the motor-driven pressure sensor 56 feedback system. The motor-driven pressure sensor 56 feedback system can determine the unevenness of the contact between the top plate 2 and the bottom plate 1, that is, which areas have greater or less pressure, by analyzing the data of the pressure sensor 56. The motor-driven pressure sensor 56 feedback system will instruct the corresponding servo push rod motor 54 to perform telescopic action, thereby adjusting the position and angle of the top plate 2 for parallel calibration.

[0045] That is, when one side is higher than the other side, the feedback system of the motor-driven pressure sensor 56 will instruct the servo push rod motor 54 on the other side to start, and the push rod of the servo push rod motor 54 on the other side will extend, causing the ball joint bearing 55 to rotate, and at the same time, driving the radial joint bearing 51 to rotate through the connecting block, and driving the other side of the top plate 2 to be lifted up, so that the top plate 2 rotates around the positioning ball 4 until the other side of the top plate 2 is lifted up and consistent with the high side.

[0046] On the contrary, when one side is lower than the other side, the feedback system of the motor-driven pressure sensor 56 will instruct the servo push rod motor 54 on the higher side to start, and the push rod of the servo push rod motor 54 on the lower side will extend, causing the ball joint bearing 55 to rotate, and at the same time driving the radial joint bearing 51 to rotate through the connecting block, and driving the lower side of the top plate 2 to lift up, so that the top plate 2 rotates around the positioning ball 4 until the lower side of the top plate 2 is lifted up and consistent with the other high side; in this way, the feedback system of the motor-driven pressure sensor 56 can gradually realize the parallel calibration of the top plate 2.

[0047] Replay Figure 2 As shown, avoidance slopes 31 are provided on the four sides of the support block 3. The avoidance slopes 31 are used to provide a certain avoidance space when the top plate 2 rotates around the positioning ball 4. When the top plate 2 needs to be at different heights or inclinations, the avoidance slopes 31 can reduce the risk of direct collision and allow the platform to be adjusted more smoothly.

[0048] Furthermore, the four avoidance slopes 31 configure the support block 3 into an upwardly protruding cone, which helps to disperse the contact pressure and reduce local stress concentration. Moreover, the cone structure itself has good stability and can support the top plate 2 and the weight it bears.

[0049] The positioning ball 4 is located at the conical end of the support block 3 to ensure that when the positioning ball 4 is in contact with the top plate 2 , the top plate 2 can be accurately rotated and adjusted around the positioning ball 4 .

[0050] Reference Figure 5 and Figure 6 As shown, for ease of understanding, the target platforms are defined as two oppositely inclined upstream platforms 7 and downstream platforms 8, that is, one side of the upstream platform 7 is high and the other side is low, while one side of the downstream platform 8 is low and the other side is high; or one side of the upstream platform 7 is low and the other side is high, while one side of the downstream platform 8 is high and the other side is low.

[0051] When performing adaptive adjustment, the bottom plate 1 is adsorbed on the upstream platform 7 or the downstream platform 8 through the vacuum suction cup 57 arranged at the lower end of the bottom plate 1. At this time, the vacuum suction cup 57 will drive the bottom plate 1 to maintain the same angle with the upstream platform 7 or the downstream platform 8. That is, when one side of the upstream platform 7 or the downstream platform 8 is higher than the other side, the vacuum suction cup 57 will drive the bottom plate 1 to maintain the same one side high and the other side low as the upstream platform 7 or the downstream platform 8. At the same time, the push rod of the servo push rod motor 54 on the higher side will shrink inward under the weight of the top plate 2. Due to the shrinkage of the servo push rod motor 54 on the higher side, the top plate 2 will show the same tilting trend as the upstream platform 7 or the downstream platform 8 as the bottom plate 1.

[0052] Then, the motor-driven pressure sensor 56 feedback system will instruct the servo push rod motor 54 on the other side of the low side to start, and the push rod of the servo push rod motor 54 on the other side of the low side will extend, and cause the ball joint bearing 55 to rotate, and at the same time drive the radial joint bearing 51 to rotate through the connecting block, and drive the lower side of the top plate 2 to lift up, so that the top plate 2 rotates around the positioning ball 4 until the lower side of the top plate 2 is lifted up and consistent with the high side. In this way, the motor-driven pressure sensor 56 feedback system can gradually realize the parallel calibration of the top plate 2.

[0053] That is to say, when handing over the products, the vacuum platform is made to stick to the upstream platform 7, and the pressure value is fed back to the motor-driven pressure sensor 56 feedback system through the pressure sensor 56. The area with high pressure contacts the upstream platform 7 before other areas, and the motor-driven pressure sensor 56 feedback system extends the push rod through the servo push rod motor 54 in other areas to make the pressure sensors 56 in each area sense the same pressure. At this time, the handover platform and the upstream platform 7 complete the parallel calibration of the two platforms, and the software system records this set of data, and then moves to the downstream platform 8 to perform parallel calibration with the downstream platform 8 through the same method. After the calibration is completed, the software system records this set of data. In the actual production process, the handover platform can achieve fast and accurate docking through the two sets of position data to complete the handover work.

[0054] At the same time, the motor-driven pressure sensor 56 feedback system can also accurately control the pressure situation of the entire platform surface and adjust it in real time. The motor-driven pressure sensor 56 feedback system only needs to increase the parameters of the intersection position of each platform, which will greatly reduce the debugging time and adjustment difficulty.

[0055] Embodiment 2:

[0056] Reference Figure 7 On the basis of the first embodiment, a connecting frame 6 is provided on the top plate 2; the connecting frame 6 can be used to easily add or replace components according to different application requirements, thereby improving the flexibility of the articulated platform.

[0057] The connecting frame 6 includes a supporting transverse plate 61 symmetrically arranged on the top plate 2, and one side of the two supporting transverse plates 61 is commonly provided with a supporting vertical plate 62 located on one side of the bottom plate 1. The supporting vertical plate 62 further enhances the structural strength of the connecting frame 6 and provides additional vertical support for the top plate 2.

[0058] A plurality of positioning holes 63 are formed on the support vertical plate 62 , and the positioning holes 63 can be used to install other components or accessories, such as sensors, fixtures or other mechanical parts, to meet specific usage requirements.

[0059] A guide slope 64 is provided below the support vertical plate 62 away from the support vertical plate 62 , and the lower end of the support vertical plate 62 is flush with the lower end of the top plate 2 .

[0060] The implementation principle of the present invention is:

[0061] (1): When performing adaptive adjustment, first, the base plate 1 is adsorbed onto the target platform through the vacuum suction cup 57 provided at the lower end of the base plate 1.

[0062] (2): At the same time, a servo push rod motor 54 is provided at the upper end of the connecting support block 52. The push rod of the servo push rod motor 54 on the higher side will shrink inward under the weight of the top plate 2, and the push rod of the servo push rod motor 54 is provided with a ball joint bearing 55 connected to the bottom plate 1 after passing through the connecting hole 53. Due to the shrinkage of the servo push rod motor 54 on the higher side, the top plate 2 will show a trend of one side being higher and the other side being lower, just like the bottom plate 1.

[0063] (3): Then start the servo push rod motor 54. At this time, the pressure sensor 56 set between the ball joint bearing 55 and the push rod of the servo push rod motor 54 will monitor the pressure distribution when the top plate 2 contacts the bottom plate 1. When one side of the top plate 2 is higher, the pressure sensor 56 on the higher side will detect a larger pressure value. Conversely, when the other side of the top plate 2 is lower, the pressure sensor 56 on the lower side will detect a smaller pressure value.

[0064] (4): The pressure sensor 56 will upload the detected pressure value to the motor-driven pressure sensor 56 feedback system. The motor-driven pressure sensor 56 feedback system can determine the unevenness of the contact between the top plate 2 and the bottom plate 1, that is, which areas have greater or less pressure, by analyzing the data of the pressure sensor 56. The motor-driven pressure sensor 56 feedback system will instruct the corresponding servo push rod motor 54 to perform telescopic action, thereby adjusting the position and angle of the top plate 2 for parallel calibration.

[0065] (5): At the same time, when the top plate 2 needs to be adjusted to different heights or inclinations, the avoidance slope 31 can reduce the risk of direct collision and allow the platform to be adjusted more smoothly.

[0066] Furthermore, the four avoidance slopes 31 configure the support block 3 into an upwardly protruding cone, which helps to disperse the contact pressure and reduce local stress concentration. Moreover, the cone structure itself has good stability and can support the top plate 2 and the weight it bears.

[0067] (6): The pressure value is fed back to the motor-driven pressure sensor 56 feedback system through the pressure sensor 56. The area with high pressure contacts the upstream platform 7 before other areas. The motor-driven pressure sensor 56 feedback system then extends the push rod through the servo push rod motor 54 in other areas to make the pressure sensors 56 in each area sense the same pressure. At this time, the handover platform and the upstream platform 7 complete the parallel calibration of the two platforms. The software system records this set of data and then moves to the downstream platform 8 to perform parallel calibration with the downstream platform 8 using the same method. After the calibration is completed, the software system records this set of data. In the actual production process, the handover platform can achieve fast and accurate docking through the two sets of position data to complete the handover work.

[0068] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An adaptively adjustable handover platform, comprising a bottom plate (1), characterized in that: The bottom plate (1) is provided with a support block (3), the upper end of the support block (3) is rotatably provided with a positioning ball (4), the positioning ball (4) is used to locate the center between the bottom plate (1) and the top plate (2), the top plate (2) is provided on the positioning ball (4), and an adjuster (5) for adjusting the angle of the top plate (2) is provided between the bottom plate (1) and the top plate (2); The regulator (5) comprises radial spherical bearings (51) symmetrically arranged on the four corners of the top plate (2), and a connecting support block (52) is arranged at the upper end of the radial spherical bearing (51).

2. The self-adaptive adjustment handover platform according to claim 1, characterized in that: The regulator (5) further comprises a connection hole (53) formed on the connection support block (52) and penetrating the radial joint bearing (51); a servo push rod motor (54) is arranged at the upper end of the connection support block (52); and a push rod of the servo push rod motor (54) passes through the connection hole (53) and is provided with a ball joint bearing (55) connected to the base plate (1).

3. The self-adaptive adjustment handover platform according to claim 2, characterized in that: A pressure sensor (56) is provided between the ball joint bearing (55) and the push rod of the servo push rod motor (54).

4. The self-adaptive adjustment handover platform according to claim 1, characterized in that: A vacuum suction cup (57) is provided at the lower end of the bottom plate (1).

5. The self-adaptive adjustment handover platform according to claim 1, characterized in that: The four sides of the support block (3) are all provided with avoidance slopes (31), and the four avoidance slopes (31) configure the support block (3) into an upwardly protruding cone, and the positioning ball (4) is located at the cone end of the support block (3).

6. The self-adaptive adjustment handover platform according to claim 1, characterized in that: A connecting frame (6) is provided on the top plate (2); The connecting frame (6) comprises a supporting transverse plate (61) symmetrically arranged on the top plate (2), and one side of the two supporting transverse plates (61) is commonly provided with a supporting vertical plate (62) located on one side of the bottom plate (1).

7. The self-adaptive adjustment handover platform according to claim 6, characterized in that: The supporting vertical plate (62) is provided with a plurality of positioning holes (63).

8. The self-adaptive adjustment handover platform according to claim 6, characterized in that: A guide slope (64) is provided below the support vertical plate (62) away from the support vertical plate (62).

9. The self-adaptive adjustment handover platform according to claim 6, characterized in that: The lower end of the supporting vertical plate (62) is flush with the lower end of the top plate (2).

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