Hardware grabbing mechanism

Abstract

According to the technical scheme, the hardware grabbing mechanism is characterized in that the hardware grabbing mechanism comprises four supporting arms, an arm driving mechanism, a clamping mechanism, a clamping mechanism, a clamping mechanism and a clamping mechanism, the arm driving mechanism is configured to drive the four support arms to respectively move to a first position, a second position, a third position and a fourth position in the operation hole; the hardware point cloud recognition processing device is used for constructing point cloud information of the operation hole, and the point cloud information comprises plane coordinate information of the edge of the operation hole; the coordinate plate is connected with the arm driving mechanism, the arm driving mechanism moves on the coordinate plate, and the plane coordinate information is mapped to the coordinate plate; the point, corresponding to the center of the operation hole, of the coordinate plate is the original point of the coordinate plate, and the arm driving mechanism moves the supporting arm based on the original point of the coordinate plate.

Description

Technical Field

[0001] The present application relates to the technical field of hardware grasping, and in particular to a hardware grasping mechanism. Background Art

[0002] In the hardware processing industry, especially in operations involving hardware grinding, efficient and stable hardware grasping technology is crucial.

[0003] With the development of industrial production, the types and shapes of hardware are becoming increasingly diverse, which puts higher requirements on the adaptability of the gripping mechanism. At present, there are the following problems in the field of hardware gripping: Existing gripping technology has serious deficiencies in versatility. Faced with hardware of different shapes, it is difficult for gripping equipment to be effectively compatible, which requires frequent adjustment or replacement of gripping devices in actual production, which not only increases production costs but also greatly reduces production efficiency.

[0004] In addition, traditional hardware grasping methods usually lack effective grasping methods for hardware with special structures. When grasping, it is often impossible to accurately align the key parts of the hardware, resulting in low grasping accuracy. In subsequent operations (such as grinding), the processing quality is easily affected due to the unstable position of the hardware. Summary of the invention

[0005] In view of the deficiencies in the prior art, this application provides the following solutions to solve the above technical problems.

[0006] This application has passed a hardware grabbing mechanism, including: Four arms can extend into the operating holes of the hardware and hold and fix the hardware; An arm driving mechanism, drivingly connected to the support arms, the arm driving mechanism being configured to drive the four support arms to move to a first position, a second position, a third position and a fourth position in the operating hole respectively; A hardware point cloud recognition and processing device, used to construct point cloud information of an operation hole, wherein the point cloud information includes plane coordinate information of the edge of the operation hole; A coordinate plate connected to the arm driving mechanism, the arm driving mechanism moves on the coordinate plate, and the plane coordinate information is mapped onto the coordinate plate; The center of the operation hole is taken as the origin of the two-dimensional coordinate system, and the first position, the second position, the third position, and the fourth position are respectively located in the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant of the two-dimensional coordinate system of the operation hole, and are located at the coordinate point where the sum of the absolute values ​​of x and y in each quadrant is the largest; The point of the coordinate plate corresponding to the center of the operation hole is the origin of the coordinate plate, and the arm driving mechanism moves the support arm based on the origin of the coordinate plate.

[0007] In the hardware grabbing mechanism provided in the present application, the arm driving mechanism includes a plane slide rail mechanism, a suction cup, an electromagnet device, and a lifting mechanism. The plane slide rail mechanism includes a cross slide and a moving seat. The cross slide is connected to the moving seat and drives the moving seat to move to any position in the plane. The moving seat is connected to the suction cup, and the electromagnet device is arranged in the suction cup. The suction cup is in close contact with the coordinate plate and can move relatively. The lifting mechanism comprises a lifting slide rail, the coordinate plate and the planar slide rail mechanism are connected together through an outer frame, and the lifting slide rail is connected to the outer frame.

[0008] In the hardware grabbing mechanism provided in the present application, the support arm includes a seat handle, a main rod, a clamping mechanism, and an electromagnet mechanism, the electromagnet mechanism is arranged in the seat handle, the seat handle is connected to the main rod, the clamping mechanism is arranged in the main rod, and the electromagnet mechanism is adsorbed correspondingly to the electromagnet device, so that the seat handle can follow the electromagnet device and move closely against the coordinate plate; Wherein, the electromagnet device is configured to move one of the support arms from the feeding position to a position, the lifting mechanism lowers the height of the arm driving mechanism, so that one of the support arms is lowered in height and inserted into the operating hole, the clamping mechanism is configured to abut against the inner wall of the operating hole after the support arm is inserted into the operating hole, and the main rod is used to abut against the inner wall of the operating hole.

[0009] The hardware grabbing mechanism provided in the present application also includes a feed bracket, which is connected to the coordinate plate. The feed bracket is a U-shaped structure. A slide is provided on the inner wall of the feed bracket, and a corresponding slot is provided on the seat handle. The seat handle can be moved in and out of the feed bracket by the electromagnet device.

[0010] In the hardware grabbing mechanism provided in this application, the clamping mechanism includes: An upper clamping jaw mechanism, disposed on the main rod, for abutting against the upper surface of the hardware; The lower clamping mechanism is arranged at the bottom of the main rod, below the upper clamping mechanism, and is used to abut the lower surface of the hardware; the four arms are used to limit the x-direction and y-direction of the hardware, and the upper clamping mechanism and the lower clamping mechanism are used to limit the z-direction of the hardware.

[0011] In the hardware grabbing mechanism provided in the present application, the main rod is hollow inside; The upper clamping jaw mechanism comprises: Upper splint; An upper rotating shaft connected to the upper clamping plate, the upper rotating shaft is rotatably connected to the inner wall of the main rod, and there is a gap between the upper rotating shaft and the inner bottom wall of the main rod; An upper tooth plate is meshed and connected with the tooth grooves provided on the upper rotating shaft and is in contact with the inner bottom wall of the main rod; An upper coil spring, one end of which is connected to the upper rotating shaft, and the other end of which is connected to the box of the upper coil spring housing; The lower clamping jaw mechanism comprises: a lower clamping plate; A lower rotating shaft connected to the lower clamping plate, the lower rotating shaft is rotatably connected to the inner wall of the main rod, and there is a gap between the lower rotating shaft and the inner bottom wall of the main rod; A lower tooth plate is meshed and connected with the tooth groove provided under the lower rotating shaft and is in contact with the inner bottom wall of the main rod; A lower coil spring, one end of which is connected to the upper rotating shaft, and the other end of which is connected to the box of the lower coil spring housing; A rope drive motor is arranged in the seat handle; A chain rope, one end of which is wound around the driving end of the rope driving motor and connected to the upper tooth plate, and the terminal end is connected to the lower tooth plate; The guide roller is rotatably connected to the bottom inner portion of the main rod. After the chain rope passes downward around the guide roller, it extends upward and is connected to the lower tooth plate. The rope drive motor is configured to wind the chain rope, and then the chain rope moves upward, causing the upper tooth plate to move upward and the lower tooth plate to move downward, thereby causing the upper clamping plate and the lower clamping plate to rotate toward each other to clamp the hardware.

[0012] The hardware grabbing mechanism provided in the present application also includes an airbag mechanism, which is arranged in the main rod and is used to expand the periphery of the main rod.

[0013] In the hardware grabbing mechanism provided in the present application, the airbag mechanism includes an air pump, an inner main pipe, a subsidiary pipe, and a bag body, the bag body surrounds the outer wall of the main rod, the air pump is arranged in the seat handle, the inner main pipe includes two, both are connected to the air pump, the inner main pipe is installed on the inner bottom wall of the main rod, the two inner main pipes are arranged in parallel, the upper tooth plate and the lower tooth plate are slidably connected to the inner main pipe, the subsidiary pipe is connected to the inner main pipe, and the subsidiary pipe is connected to the bag body for inflating and deflating the bag body.

[0014] In the hardware grabbing mechanism provided in the present application, the upper splint and the lower splint can both be retracted into the main rod, and the angle formed by the upper splint and the lower splint after clamping the hardware is an acute angle. The upper splint and the lower splint are both covered with a rubber layer, and the contact surfaces of the upper splint and the lower splint relative to the hardware are inclined surfaces, so that the upper splint and the lower splint can fit evenly after contacting the surface of the hardware.

[0015] In the hardware grabbing mechanism provided in the present application, the cross slide includes a telescopic cylinder and two cross-stacked movable plates, the telescopic cylinder is connected to the movable plates, and the movable seat is interlaced with the movable plates and can slide.

[0016] In summary, this application mainly has the following beneficial effects: This mechanism uses the hardware point cloud recognition and processing device to perform a fine scan of the operating hole to obtain accurate point cloud information, including detailed plane coordinate information of the edge of the operating hole. The coordinate system is constructed by setting the center of the operating hole as the origin, and the coordinate information is mapped to the coordinate plate, so that the arm drive mechanism can accurately drive the support arm based on this. The four support arms can accurately reach specific coordinate points in the four quadrants of the operating hole, and hold and fix the hardware in the operating hole from four directions. This precise grasping method effectively avoids the problem of hardware position deviation caused by inaccurate positioning in traditional grasping methods. In the subsequent grinding and processing of the hardware, it can ensure that it is in the correct position, significantly improve the grinding quality and processing accuracy, and meet the needs of high-precision processing.

[0017] This gripping mechanism demonstrates excellent versatility when faced with a variety of hardware with different shapes but with operating holes. No matter how the appearance of the hardware changes, as long as there is an operating hole, this mechanism can achieve stable gripping through the cooperation of the support arm and the operating hole. This feature is in sharp contrast to traditional gripping technology, which is often only applicable to hardware of specific shapes, and requires frequent adjustment or replacement of gripping devices when faced with different shapes. This mechanism does not require this, greatly improving production efficiency and reducing downtime caused by adjustment or replacement of devices. At the same time, it reduces equipment acquisition and maintenance costs, and is more suitable for the industrial environment of diversified production of modern hardware.

[0018] The four arms go deep into the operating holes of the hardware to hold it in place. This multi-directional holding method provides a stable clamping force for the hardware. In the process of grabbing and moving the hardware, it can effectively prevent the hardware from becoming loose, shifting, or being unstable. Especially in the process of moving the hardware to the grinding station through the robot body, the hardware can always maintain a stable posture, ensuring that the grinding operation can be carried out under ideal conditions, avoiding problems such as uneven grinding and surface damage caused by the shaking of the hardware, and improving the quality and consistency of the product.

[0019] First, the hardware point cloud recognition and processing device scans the hardware operating hole to obtain the point cloud information of the operating hole. This information contains the plane coordinate information of the edge of the operating hole, providing a data basis for subsequent operations.

[0020] Next, the center of the operating hole is set as the origin of the two-dimensional coordinate system, and the acquired plane coordinate information is mapped onto the coordinate plate connected to the arm drive mechanism. At the same time, the point corresponding to the coordinate plate and the center of the operating hole is used as the origin of the coordinate plate, thereby establishing a coordinate correspondence between the operating hole and the coordinate plate.

[0021] Then, the arm drive mechanism starts to work. It drives the four arms to move to specific positions in the operating hole according to the coordinate information on the coordinate plate. Specifically, the four arms will be moved to the first position (located at a specific coordinate point on the first quadrant), the second position (located at a specific coordinate point on the second quadrant), the third position (located at a specific coordinate point on the third quadrant) and the fourth position (located at a specific coordinate point on the fourth quadrant) in the operating hole. After the four arms extend into the operating hole, they hold and fix the hardware, thereby completing the grasping of the hardware. After the grasping is completed, the grasped hardware can be moved by the subsequent manipulator body to the designated position for polishing and other operations. Throughout the process, the movement of the arm drive mechanism on the coordinate plate and the positioning of the arm in the operating hole rely on precise coordinate information, thereby ensuring the accuracy and stability of the grasping process, and realizing the effective grasping of the hardware and the smooth implementation of subsequent operations.

[0022] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 This is the overall structure of the application Figure 1 ; Figure 2 This is a schematic diagram of the structure of this application Figure 2 ; Figure 3 This is a schematic diagram of the structure of this application Figure 3 ; Figure 4 It is the motion direction diagram of the chain rope and the upper and lower clamping plates of the present application; Figure 5 It is a quadrant and position distribution diagram of the operating holes of this application.

[0025] Reference numerals: 10. Support arm; 101. Seat handle; 102. Main rod; 103. Clamping mechanism; 104. Feeding bracket; 20. Hardware; 201. Operation hole; 30. Arm driving mechanism; 301. Planar slide rail mechanism; 302. Suction cup; 303. Lifting mechanism; 40. Coordinate board; 50, upper clamping jaw mechanism; 501, upper clamping plate; 502, upper rotating shaft; 503, upper tooth plate; 504, upper coil spring; 51, lower clamping jaw mechanism; 511, lower clamping plate; 512, lower rotating shaft; 513, lower tooth plate; 514, lower coil spring; 52. Guide roller; 53. Chain rope; 60. Airbag mechanism; 601. Inner main pipe; 70. Cross slide. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0028] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0029] It should be understood that, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second", etc. are used to distinguish the same items or similar items with substantially the same functions and effects. For example, the first groove and the second groove are only used to distinguish different grooves, and their order is not limited. Those skilled in the art can understand that the words "first", "second", etc. do not limit the quantity and execution order, and the words "first", "second", etc. do not necessarily limit them to be different.

[0030] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0031] In the design of the hardware 20, the operating hole 201 has a variety of functions and forms. Among them, the operating hole 201 may be set for the purpose of reducing the weight of the hardware 20. Under the premise of ensuring the overall structural strength of the hardware 20, the weight of the hardware 20 can be effectively reduced by opening holes at appropriate positions, which is particularly important in some application scenarios with strict weight requirements, such as some small hardware connectors used in the aerospace field. On the other hand, the operating hole 201 may also be designed for aesthetics. The shape, arrangement and distribution of these holes are carefully designed to increase the artistic sense and uniqueness of the hardware 20, making the hardware 20 more attractive in appearance and meeting consumers' requirements for product aesthetics, such as some decorative hardware pendants. In addition, the operating hole 201 may also be set for easy holding, and its size and position conform to the principles of ergonomics, making it more comfortable and convenient for users to pick up the hardware 20, like the grip holes on some hand tools.

[0032] It is worth noting that the shapes and sizes of these operating holes 201 are different, and may be various geometric shapes such as round, square, triangle, etc., and the sizes also vary greatly. However, the grasping mechanism proposed in the present invention solves this complex problem through a clever design. By setting the center of the operating hole 201 as the origin of the two-dimensional coordinate system and dividing it into four quadrants, the location of the fixed point can be well determined. No matter how the shape and size of the operating hole 201 changes, this quadrant-based fixed point setting method can ensure that the four arms 10 are accurately moved to the appropriate position to achieve stable grasping of the hardware 20, which fully demonstrates the high adaptability of the grasping mechanism to hardware 20 with different types of operating holes 201.

[0033] Point cloud information is the information contained in the collection of discrete points on the surface of an object in three-dimensional space. In the context of a hardware grabbing mechanism, it mainly refers to the coordinates, color (if color information is collected) and other data of a series of discrete points on the edge of the operating hole 201 of the hardware 20. These points together constitute a digital description of the surface shape of the operating hole 201.

[0034] The acquisition method usually uses 3D laser scanning technology or structured light scanning technology to obtain point cloud information. Taking 3D laser scanning as an example, the laser scanner will emit a laser beam to the surface of the operating hole 201. After the laser beam contacts the surface, it will be reflected back. The 3D spatial position of each reflection point is calculated based on parameters such as the laser flight time, thereby obtaining the position information of many points on the edge of the operating hole 201 to form a point cloud. Structured light scanning is achieved by projecting a specific light pattern onto the surface of the operating hole 201, and then calculating the position of the point based on the deformed pattern.

[0035] The role of point cloud information in hardware grasping. In the hardware grasping mechanism, the plane coordinate information in the point cloud information is particularly important. After the point cloud information of the operating hole 201 is constructed by the point cloud recognition and processing device of the hardware 20, the plane coordinate information of the edge of the operating hole 201 is extracted. These coordinate information are used to establish a mapping relationship with the coordinate plate 40, so as to guide the arm drive mechanism 30 to accurately move the support arm 10 to a specific position in the operating hole 201. For example, by analyzing the point cloud information, the center position of the operating hole 201 is determined as the origin of the two-dimensional coordinate system, thereby providing an accurate coordinate basis for the positioning of the four support arms 10 in the four quadrants of the operating hole 201, so that the support arm 10 can be accurately inserted into the operating hole 201 and the hardware 20 can be held and fixed, thereby achieving efficient and accurate grasping of the hardware 20.

[0036] Processing and optimization of point cloud information. The collected original point cloud information may contain noise points, that is, erroneous or inaccurate points caused by measurement errors, reflection interference and other factors. Therefore, point cloud filtering is required to remove these noise points to improve the quality of point cloud information. At the same time, in order to better utilize point cloud information for grasping operations, point cloud alignment, feature extraction and other operations may also be required. Point cloud alignment is to align the point cloud data collected from different perspectives to obtain a complete and accurate description of the shape of the operating hole 201; feature extraction is to find key features from the point cloud that can represent the shape and position of the operating hole 201, such as edge points, curvature change points, etc., to further assist the positioning and grasping of the support arm 10.

[0037] The basic structure of the point cloud recognition and processing device includes 1. Sensor unit, including laser scanner: emits laser beam and receives reflected light to measure distance, based on flight time or phase difference calculation, a large amount of point data can be collected per second. Structured light sensor: project light pattern onto the surface of the operating hole 201, the camera captures the deformed pattern, and calculates the three-dimensional coordinates using the triangulation principle. Binocular vision sensor: two cameras shoot from different angles, calculate the depth based on the parallax principle, and obtain color point cloud data. 2. Data acquisition and transmission module, receives sensor data, and transmits it to the processing unit after preliminary formatting and packaging. To ensure high speed, stability and reliability, it can be transmitted through high-speed data lines or wireless communication protocols. 3. Data processing unit, filtering module: remove noise points using statistical filtering, radius filtering, etc. Feature extraction module: extract feature information such as edge points and curvature change points of the operating hole 201 from the filtered data. Registration module: integrates point cloud data from multiple angles or multiple sensors.

[0038] refer to Figure 1-Figure 5The present application provides a hardware grabbing mechanism, comprising: four arms 10, which can extend into an operating hole 201 of a hardware 20 and hold and fix the hardware 20; an arm driving mechanism 30, which is drivingly connected to the arms 10, and the arm driving mechanism 30 is configured to drive the four arms 10 to move to a first position, a second position, a third position and a fourth position in the operating hole 201 respectively; a point cloud recognition and processing device for the hardware 20, which is used to construct point cloud information of the operating hole 201, wherein the point cloud information includes plane coordinate information of the edge of the operating hole 201; a coordinate plate 40, which is connected to the arm driving mechanism The arm driving mechanism 30 is connected to the coordinate plate 40, the arm driving mechanism 30 moves on the coordinate plate 40, and the plane coordinate information is mapped to the coordinate plate 40; wherein, the center of the operating hole 201 is taken as the origin of the two-dimensional coordinate system, the first position, the second position, the third position, and the fourth position are respectively located in the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant of the two-dimensional coordinate system of the operating hole 201, and are located at the coordinate point where the sum of the absolute values ​​of x and y in each quadrant is the largest; the point on the coordinate plate 40 corresponding to the center of the operating hole 201 is the origin of the coordinate plate 40, and the arm driving mechanism 30 moves the support arm 10 based on the origin of the coordinate plate 40.

[0039] The point cloud recognition and processing device of the hardware 20 scans the operating hole 201 of the hardware 20 to obtain point cloud information of the operating hole 201 , which includes the plane coordinate information of the edge of the operating hole 201 , providing a data basis for subsequent operations.

[0040] Next, the center of the operating hole 201 is set as the origin of the two-dimensional coordinate system, and the acquired plane coordinate information is mapped onto the coordinate plate 40 connected to the arm drive mechanism 30. At the same time, the point corresponding to the center of the coordinate plate 40 and the operating hole 201 is used as the origin of the coordinate plate 40, thereby establishing a coordinate correspondence between the operating hole 201 and the coordinate plate 40.

[0041] Then, the arm driving mechanism 30 starts to work. It drives the four arms 10 to move to specific positions in the operation hole 201 according to the coordinate information on the coordinate plate 40. Specifically, the four arms 10 will be moved to the first position (located at a specific coordinate point on the first quadrant), the second position (located at a specific coordinate point on the second quadrant), the third position (located at a specific coordinate point on the third quadrant) and the fourth position (located at a specific coordinate point on the fourth quadrant) in the operation hole 201. After the four arms 10 extend into the operation hole 201, they hold and fix the hardware 20, thereby completing the grasping of the hardware 20. After the grasping is completed, the grasped hardware 20 can be moved by the subsequent manipulator body to the designated position for polishing and other operations. In the whole process, the movement of the arm driving mechanism 30 on the coordinate plate 40 and the positioning of the arm 10 in the operation hole 201 rely on accurate coordinate information, thereby ensuring the accuracy and stability of the grasping process, and realizing the effective grasping of the hardware 20 and the smooth implementation of subsequent operations. Through the coordination of point cloud information and coordinate system, the arm 10 can be accurately positioned at a specific position in the operating hole 201, effectively fixing the hardware 20, improving the grasping accuracy and stability, and being adaptable to hardware 20 of different operating holes 201, thereby enhancing the versatility of the grasping mechanism.

[0042] The arm driving mechanism 30 includes a planar slide rail mechanism 301, a suction cup 302, an electromagnet device, and a lifting mechanism 303. The planar slide rail mechanism 301 includes a cross slide 70 and a moving seat. The cross slide 70 is connected to the moving seat and drives the moving seat to move to any position in the plane. The moving seat is connected to the suction cup 302. The suction cup 302 is provided with an electromagnet device. The suction cup 302 is tightly attached to the coordinate plate 40 and can move relatively. The lifting mechanism 303 includes a lifting slide rail. The coordinate plate 40 and the planar slide rail mechanism 301 are connected together by an outer frame, and the lifting slide rail is connected to the outer frame.

[0043] The planar slide rail mechanism 301 is the key to realize the flexible movement of the arm driving mechanism 30 in the horizontal two-dimensional plane. The cross slide 70, as its core component, drives the movement of two cross-overlapping moving plates through the internal mechanical structure and driving method (such as screw drive, gear drive, etc.). The design of the moving seat and the moving plate being interlaced and slidable enables the moving seat to move freely to any position in the plane under the drive of the moving plate. This design can decompose the two-dimensional motion in the plane into two linear motions in perpendicular directions, thereby achieving high-precision plane positioning.

[0044] The suction cup 302 is in close contact with the coordinate plate 40 and can move relatively. The electromagnet device inside the suction cup 302 generates a magnetic field when powered. When it is close to the corresponding electromagnet mechanism on the support arm 10, the adsorption force generated between the two can tightly connect the suction cup 302 and the support arm 10. At the same time, the relative movement design between the suction cup 302 and the coordinate plate 40 ensures that during the movement of the arm drive mechanism 30, the suction cup 302 can slide smoothly on the coordinate plate 40 without jamming or detachment.

[0045] The lifting rail of the lifting mechanism 303 is connected to the coordinate plate 40 and the plane rail mechanism 301 through the outer frame to form a whole. When the height of the arm driving mechanism 30 needs to be adjusted in the vertical direction, the lifting rail drives the entire outer frame and the plane rail mechanism 301 and the coordinate plate 40 connected thereto to move up and down through the lifting driving device (such as an electric push rod, a hydraulic rod, etc.) inside the lifting rail, so as to realize the alignment and insertion of the support arm 10 with the operating hole 201 in the vertical direction.

[0046] The planar slide mechanism 301 can accurately move the support arm 10 to the corresponding position of the operating hole 201 on the horizontal plane. Its high-precision movement capability enables the grasping mechanism to adapt to various complex layouts of the operating hole 201 and the placement of the hardware 20, thereby improving the success rate of grasping. Reliable connection and stable movement: The combination of the suction cup 302 and the electromagnet device ensures a reliable connection between the support arm 10 and the arm drive mechanism 30, and can stably transmit power during movement, thereby avoiding the loosening or falling off of the support arm 10. At the same time, the relative movement design of the suction cup 302 and the coordinate plate 40 ensures the smooth movement of the entire system. At the same time, the bottom pad of the hardware 20 should have a center hole to facilitate the insertion and operation of the support arm 10.

[0047] The electromagnet device is mainly composed of the following parts: one is the iron core, which is usually made of soft magnetic material; the second is the coil, which is wound with insulated copper or aluminum wire. The number of turns determines the magnetic field strength. The winding must be tight and uniform, and it must be encapsulated to prevent damage; the third is the outer shell, which is used for protection and shielding and is made of metal or plastic.

[0048] In some embodiments, the support arm 10 includes a seat handle 101, a main rod 102, a clamping mechanism 103, and an electromagnet mechanism. The electromagnet mechanism is arranged in the seat handle 101, the seat handle 101 is connected to the main rod 102, the clamping mechanism 103 is arranged in the main rod 102, and the electromagnet mechanism is correspondingly adsorbed with the electromagnet device, so that the seat handle 101 can follow the electromagnet device to move close to the coordinate plate 40; wherein the electromagnet device is configured to move a support arm 10 from a feeding position to a position, the lifting mechanism 303 lowers the height of the arm driving mechanism 30, so that one support arm 10 is lowered in height and inserted into the operating hole 201, the clamping mechanism 103 is configured to abut against the inner wall of the operating hole 201 after the support arm 10 is inserted into the operating hole 201, and the main rod 102 is used to abut against the inner wall of the operating hole 201.

[0049] The electromagnet mechanism in the seat handle 101 of the support arm 10 and the electromagnet device of the arm driving mechanism 30 interact with each other through electromagnetic attraction. The electromagnet device generates a magnetic field when it is energized, which attracts the electromagnet mechanism in the seat handle 101, so that the seat handle 101 can move smoothly with it on the coordinate plate 40. The electromagnet device moves the support arm 10 from the feeding position to the vicinity of the operating hole 201 according to the preset program and sensor information. Subsequently, the lifting mechanism 303 is started, and the height of the arm driving mechanism 30 is lowered through a transmission method such as a screw nut, so as to drive the support arm 10 to be accurately inserted into the operating hole 201. After the support arm 10 is inserted, the clamping mechanism 103 uses its own mechanical structure to apply pressure to the inner wall of the operating hole 201, and the main rod 102 presses against the inner wall over a large area, and the two cooperate to achieve stable fixation. After one arm 10 is connected, it fixes its position by clamping the hardware 20, and then the electromagnet device moves the positions of the remaining arms 10. Finally, the electromagnet device generates suction to the range where the four arms 10 are located, and fixes the arms 10 on the coordinate plate 40, making it easier to control the movement of the hardware 20. The suction range of the electromagnet device should be larger than the range of the general operation hole 201. Before working, the type of the hardware 20 and the size of the electromagnet device should be selected.

[0050] In some embodiments, a feed bracket 104 is also included. The feed bracket 104 is connected to the coordinate plate 40. The feed bracket 104 is a U-shaped structure. A slide is provided on the inner wall of the feed bracket 104. A corresponding slot is provided on the seat handle 101. The seat handle 101 can be moved in and out of the feed bracket 104 by an electromagnet device.

[0051] The feed bracket 104 is U-shaped, and the slide on its inner wall cooperates with the slot of the seat handle 101. When the electromagnet device is working, the seat handle 101 moves in or out of the feed bracket 104 along the path defined by the slide and the slot under its suction. It provides orderly storage and management space for the support arm 10 to avoid chaotic feeding. At the same time, since the support arm 10 is fixed by the electromagnet device, it is fixed by the feed bracket 104 when the electromagnet device does not work. The slide and the slot ensure the precise positioning of the seat handle 101 when it moves in and out, which is conducive to subsequent grasping. The feeding automation of the support arm 10 is realized, manual intervention is reduced, production efficiency is improved, and human errors are reduced.

[0052] In some embodiments, the clamping mechanism 103 includes: an upper clamping mechanism 50, which is arranged on the main rod 102 and is used to abut the upper surface of the hardware 20; a lower clamping mechanism 51, which is arranged at the bottom of the main rod 102, located below the upper clamping mechanism 50, and is used to abut the lower surface of the hardware 20; the four arms 10 are used to limit the x-direction and y-direction of the hardware 20, and the upper clamping mechanism 50 and the lower clamping mechanism 51 are used to limit the z-direction of the hardware 20.

[0053] After the support arm 10 is inserted into the operating hole 201, the driving device drives the upper and lower clamping mechanisms 50 and 51 to move and apply pressure to the surface of the hardware 20 at the same time. The four support arms 10 are limited in the x and y directions, and cooperate with the upper and lower clamping mechanisms 50 and 51 in the z direction to form a three-dimensional limited space. The three-dimensional all-round fixation of the hardware 20 is achieved, which greatly improves the grasping stability and keeps the hardware 20 stable in complex movements. It effectively prevents the hardware 20 from shaking, deflecting and rotating, ensures the grasping quality, and avoids affecting the surface quality of the hardware 20. It provides reliable support for various operations (moving, processing, etc.) and improves the reliability of the production process.

[0054] In some embodiments, the interior of the main rod 102 is hollow; the upper clamping jaw mechanism 50 includes: an upper clamping plate 501; an upper rotating shaft 502, connected to the upper clamping plate 501, the upper rotating shaft 502 is rotatably connected to the inner wall of the main rod 102, and there is a gap between the upper rotating shaft 502 and the inner bottom wall of the main rod 102; an upper tooth plate 503, meshingly connected to the tooth groove opened on the upper rotating shaft 502, and fits with the inner bottom wall of the main rod 102; an upper coil spring 504, one end of which is connected to the upper rotating shaft 502, and the other end opposite to the box of the upper coil spring 504 jacket; the lower clamping jaw mechanism 51 includes: a lower clamping plate 511; a lower rotating shaft 512, connected to the lower clamping plate 511, the lower rotating shaft 512 is rotatably connected to the inner wall of the main rod 102, and there is a gap between the lower rotating shaft 512 and the inner bottom wall of the main rod 102; a lower tooth plate 513, meshingly connected to the tooth groove opened under the lower rotating shaft 512 , and fits with the inner bottom wall of the main rod 102; the lower coil spring 514, one end of which is connected to the upper rotating shaft 502, and the other end of which is connected to the box of the lower coil spring 514 jacket; a rope drive motor, which is arranged in the seat handle 101; one end of the chain rope 53 is wound around the driving end of the rope drive motor, and is connected to the upper tooth plate 503, and the terminal is connected to the lower tooth plate 513; the guide roller 52 is rotatably connected to the bottom of the main rod 102, and the chain rope 53 extends upward and is connected to the lower tooth plate 513 after bypassing the guide roller 52 downward. The rope drive motor is configured to wind the chain rope 53, and the chain rope 53 moves upward, so that the upper tooth plate 503 moves upward, and the lower tooth plate 513 moves downward, prompting the upper clamping plate 501 and the lower clamping plate 511 to rotate towards each other to clamp the hardware 20.

[0055] The rope driving motor drives the chain rope 53 to wind, so that the chain rope 53 moves upward, pulls the upper tooth plate 503 to move upward, and is used for the setting of the guide roller 52 to turn the chain rope 53 at the bottom. After turning, the lower tooth plate 513 moves downward, thereby prompting the upper clamping plate 501 and the lower clamping plate 511 to rotate toward each other to clamp the hardware 20. The upper and lower coil springs 504 and 514 play a key reset role in the entire clamping system. One end of the upper coil spring 504 is connected to the upper rotating shaft 502, and the other end is connected to the box fixed inside the main rod 102. When the upper clamping plate 501 rotates around the upper rotating shaft 502 driven by the chain rope 53, the upper coil spring 504 will be elastically deformed and store elastic potential energy. The connection method and working principle of the lower coil spring 514 are the same as those of the upper coil spring 504. In the process of clamping the hardware 20, the elastic deformation of the coil spring is proportional to the rotation angle of the clamping plate. By reasonably designing the elastic coefficient and initial preload of the coil spring, it can be ensured that the coil spring stores sufficient energy when the hardware 20 is clamped.

[0056] When the hardware 20 needs to be loosened, the rope drive motor reverses and the chain rope 53 starts to move in the opposite direction. At this time, the coil spring releases the stored elastic potential energy, pushing the upper and lower clamping plates 501 and 511 to rotate in the opposite direction. The elastic restoring force of the coil spring can overcome the friction force, inertia force and other possible resistances of the clamping plates during the movement, so that the clamping plates return to the initial position.

[0057] In some embodiments, an airbag mechanism 60 is further included, which is arranged in the main rod 102 and is used to expand the periphery of the main rod 102. The airbag mechanism 60 includes an air pump, an inner main pipe 601, a sub-pipe, and a bladder body, the bladder body surrounds the outer wall of the main rod 102, the air pump is arranged in the seat handle 101, the inner main pipe 601 includes two, both connected to the air pump, the inner main pipe 601 is installed on the inner bottom wall of the main rod 102, the two inner main pipes 601 are arranged in parallel, the upper tooth plate 503 and the lower tooth plate 513 are slidably connected to the inner main pipe 601, the sub-pipe is connected to the inner main pipe 601, and the sub-pipe is connected to the bladder body, which is used to inflate and deflate the bladder body.

[0058] The air pump of the airbag mechanism 60 in the main rod 102 works, compresses the sucked air and sends it into the inner main pipe 601, and then enters the bag body through the auxiliary pipe, so that the bag body expands and fills the gap between the main rod 102 and the operation hole 201. The expansion of the airbag enhances the stability of the support arm 10 in the operation hole 201 and reduces the shaking of the support arm 10 when the hardware 20 is subjected to external force. It can adapt to hardware 20 of different sizes within a certain range, and improve the versatility of the grabbing mechanism. Uniform pressure is applied to the inner wall of the operation hole 201 to avoid damage to the hardware 20 and the support arm 10, and it can also buffer the impact of external forces.

[0059] In some embodiments, the upper splint 501 and the lower splint 511 can both be retracted into the main rod 102, and the angle formed by the upper splint 501 and the lower splint 511 and the hardware 20 after being clamped is an acute angle. The upper splint 501 and the lower splint 511 are both covered with a rubber layer, and the contact surfaces of the upper splint 501 and the lower splint 511 relative to the hardware 20 are inclined surfaces, so that the upper splint 501 and the lower splint 511 fit evenly after being in contact with the surface of the hardware 20. The angle formed by the upper clamping plate 501 and the lower clamping plate 511 after clamping the hardware 20 is set to an acute angle, so that when the upper clamping plate 501 and the lower clamping plate 511 clamp the hardware 20, it is clamped in place, instead of the structure other than the end of the upper clamping plate 501 and the lower clamping plate 511 abutting against the hardware 20. If it is set to be parallel, for precision problems, the upper clamping plate 501 and the lower clamping plate 511 cannot be well in parallel contact with the hardware 20.

[0060] The cross slide 70 includes a telescopic cylinder and two cross-overlapping moving plates, the telescopic cylinder is connected to the moving plate, and the moving seat and the moving plate are interlaced and slidable. The cross slide 70 can also be a ball screw cross slide, which is composed of two vertical ball screw pairs and a slider. The screw has high precision, the nut is connected to the slider and has a ball channel inside. The slider is mounted on a guide rail (linear or dovetail guide rail). Synchronous belt cross slide, two vertical synchronous belt transmission systems and sliders. The synchronous belt cooperates with the synchronous wheel, and the slider fixes the synchronous belt connector and is on the guide rail. Hydraulic or pneumatic cross slide, two vertical hydraulic cylinders or cylinders, pistons, and sliders. The slider is on a linear guide rail, the hydraulic system has a pump, a valve, and an oil pipe, and the pneumatic system has a compressor, a pneumatic valve, and an air pipe.

[0061] Although the embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A hardware grabbing mechanism, characterized in that: include: Four arms can extend into the operating holes of the hardware and hold and fix the hardware; An arm driving mechanism, drivingly connected to the support arms, the arm driving mechanism being configured to drive the four support arms to move to a first position, a second position, a third position and a fourth position in the operating hole respectively; A hardware point cloud recognition and processing device, used to construct point cloud information of an operation hole, wherein the point cloud information includes plane coordinate information of the edge of the operation hole; A coordinate plate connected to the arm driving mechanism, the arm driving mechanism moves on the coordinate plate, and the plane coordinate information is mapped onto the coordinate plate; The center of the operation hole is taken as the origin of the two-dimensional coordinate system, and the first position, the second position, the third position, and the fourth position are respectively located in the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant of the two-dimensional coordinate system of the operation hole, and are located at the coordinate point where the sum of the absolute values ​​of x and y in each quadrant is the largest; The point of the coordinate plate corresponding to the center of the operation hole is the origin of the coordinate plate, and the arm driving mechanism moves the support arm based on the origin of the coordinate plate.

2. The hardware grabbing mechanism according to claim 1, characterized in that: The arm driving mechanism includes a plane slide mechanism, a suction cup, an electromagnet device, and a lifting mechanism. The plane slide mechanism includes a cross slide and a moving seat. The cross slide is connected to the moving seat and drives the moving seat to move to any position in the plane. The moving seat is connected to the suction cup. The electromagnet device is arranged in the suction cup. The suction cup is in close contact with the coordinate plate and can move relatively. The lifting mechanism comprises a lifting slide rail, the coordinate plate and the planar slide rail mechanism are connected together through an outer frame, and the lifting slide rail is connected to the outer frame.

3. The hardware grabbing mechanism according to claim 2, characterized in that: The support arm includes a seat handle, a main rod, a clamping mechanism, and an electromagnet mechanism, wherein the electromagnet mechanism is arranged in the seat handle, the seat handle is connected to the main rod, the clamping mechanism is arranged in the main rod, and the electromagnet mechanism is correspondingly adsorbed with the electromagnet device, so that the seat handle can follow the electromagnet device and move closely against the coordinate plate; Wherein, the electromagnet device is configured to move one of the support arms from the feeding position to a position, the lifting mechanism lowers the height of the arm driving mechanism, so that one of the support arms is lowered in height and inserted into the operating hole, the clamping mechanism is configured to abut against the inner wall of the operating hole after the support arm is inserted into the operating hole, and the main rod is used to abut against the inner wall of the operating hole.

4. The hardware grabbing mechanism according to claim 3, characterized in that: It also includes a feed bracket, which is connected to the coordinate plate. The feed bracket is a U-shaped structure. The inner wall of the feed bracket is provided with a slide. The seat handle is provided with a corresponding slot. The seat handle can be moved into and out of the feed bracket by the electromagnet device.

5. The hardware grabbing mechanism according to claim 3, characterized in that: The clamping mechanism comprises: An upper clamping jaw mechanism, disposed on the main rod, for abutting against the upper surface of the hardware; The lower clamping mechanism is arranged at the bottom of the main rod, below the upper clamping mechanism, and is used to abut the lower surface of the hardware; the four arms are used to limit the x-direction and y-direction of the hardware, and the upper clamping mechanism and the lower clamping mechanism are used to limit the z-direction of the hardware.

6. The hardware grabbing mechanism according to claim 5, characterized in that: The main rod is hollow inside; The upper clamping jaw mechanism comprises: Upper splint; An upper rotating shaft connected to the upper clamping plate, the upper rotating shaft is rotatably connected to the inner wall of the main rod, and there is a gap between the upper rotating shaft and the inner bottom wall of the main rod; An upper tooth plate is meshed and connected with the tooth grooves provided on the upper rotating shaft and is in contact with the inner bottom wall of the main rod; An upper coil spring, one end of which is connected to the upper rotating shaft, and the other end of which is connected to the box of the upper coil spring housing; The lower clamping jaw mechanism comprises: a lower clamping plate; A lower rotating shaft connected to the lower clamping plate, the lower rotating shaft is rotatably connected to the inner wall of the main rod, and there is a gap between the lower rotating shaft and the inner bottom wall of the main rod; A lower tooth plate is meshed and connected with the tooth groove provided under the lower rotating shaft and is in contact with the inner bottom wall of the main rod; A lower coil spring, one end of which is connected to the upper rotating shaft, and the other end of which is connected to the box of the lower coil spring housing; A rope drive motor is arranged in the seat handle; A chain rope, one end of which is wound around the driving end of the rope driving motor and connected to the upper tooth plate, and the terminal end is connected to the lower tooth plate; The guide roller is rotatably connected to the bottom inner portion of the main rod. After the chain rope passes downward around the guide roller, it extends upward and is connected to the lower tooth plate. The rope drive motor is configured to wind the chain rope, and then the chain rope moves upward, causing the upper tooth plate to move upward and the lower tooth plate to move downward, thereby causing the upper clamping plate and the lower clamping plate to rotate toward each other to clamp the hardware.

7. The hardware grabbing mechanism according to claim 6, characterized in that: It also includes an airbag mechanism, which is arranged in the main rod and is used to expand the periphery of the main rod.

8. The hardware grabbing mechanism according to claim 7, characterized in that: The airbag mechanism includes an air pump, an inner main pipe, a sub-pipe, and a bladder body. The bladder body surrounds the outer wall of the main rod. The air pump is arranged in the seat handle. The inner main pipes include two, both of which are connected to the air pump. The inner main pipes are installed on the inner bottom wall of the main rod. The two inner main pipes are arranged in parallel. The upper tooth plate and the lower tooth plate are slidably connected to the inner main pipes. The sub-pipe is connected to the inner main pipe, and the sub-pipe is connected to the bladder body for inflating and deflating the bladder body.

9. The hardware grabbing mechanism according to claim 6, characterized in that: Both the upper splint and the lower splint can be retracted into the main rod, and the angle formed by the upper splint and the lower splint after being clamped by the hardware is an acute angle. The upper splint and the lower splint are covered with a rubber layer, and the contact surfaces of the upper splint and the lower splint relative to the hardware are inclined surfaces, so that the upper splint and the lower splint fit evenly after contacting the surface of the hardware.

10. The hardware grabbing mechanism according to claim 2, characterized in that: The cross slide comprises a telescopic cylinder and two cross-stacked moving plates, the telescopic cylinder is connected to the moving plates, and the moving seat is inserted with the moving plates and can slide.

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