Hardware grabbing mechanism

Abstract

The application discloses a hardware grabbing mechanism, and technical scheme points are as follows: a hardware grabbing mechanism, characterized in that comprising: four supporting arms, an arm driving mechanism, and the supporting arms are drivingly connected with the arm driving mechanism, the arm driving mechanism is configured to drive the four supporting arms to move to a first position, a second position, a third position and a fourth position in an operating hole respectively; a hardware point cloud recognition processing device is used for constructing point cloud information of the operating hole, wherein the point cloud information comprises plane coordinate information of an operating hole edge; a 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 onto the coordinate plate; a point corresponding to the center of the operating hole on the coordinate plate is an origin of the coordinate plate, and the arm driving mechanism moves the supporting arms based on the origin of the coordinate plate.

Description

Technical Field

[0001] This application relates to the field of hardware gripping technology, specifically to a hardware gripping mechanism. Background Technology

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

[0003] With the development of industrial production, the types and shapes of hardware parts are becoming increasingly diversified, placing higher demands on the adaptability of gripping mechanisms. Currently, the following problems exist in the field of hardware part gripping: Existing gripping technologies suffer from serious shortcomings in versatility. Gripping equipment struggles to achieve effective compatibility with hardware parts of varying shapes, necessitating frequent adjustments or replacements of the gripping devices in actual production. This not only increases production costs but also significantly reduces production efficiency.

[0004] Furthermore, traditional hardware gripping methods often lack effective gripping techniques for hardware with special structures. During gripping, it is often impossible to accurately align with the critical parts of the hardware, resulting in low gripping accuracy. In subsequent operations (such as grinding), the unstable position of the hardware can easily affect the processing quality. Summary of the Invention

[0005] In view of the shortcomings of the prior art, this application provides the following solutions to address the aforementioned technical problems.

[0006] This application discloses a hardware gripping mechanism, comprising: Four support arms can extend into the operating holes of the hardware and hold and fix the hardware in place; An arm drive mechanism is connected to the arm drive mechanism, and the arm drive mechanism is configured to drive the four arms to move to the first position, the second position, the third position and the fourth position in the operating hole respectively. A hardware component point cloud recognition and processing device is used to construct point cloud information of an operating hole, wherein the point cloud information includes planar coordinate information of the edge of the operating hole; A coordinate plate is connected to the arm drive mechanism, the arm drive mechanism moves on the coordinate plate, and the planar coordinate information is mapped onto the coordinate plate. The center of the operating hole 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 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, respectively, and are located at the coordinate points where the sum of the absolute values ​​of x and y in each quadrant is the largest. The point corresponding to the center of the coordinate plate and the operating hole is the origin of the coordinate plate, and the arm drive mechanism moves the arm based on the origin of the coordinate plate.

[0007] In the hardware gripping mechanism provided in this application, the arm drive mechanism includes a planar slide rail mechanism, a suction cup, an electromagnet device, and a lifting mechanism. The planar slide rail mechanism includes a cross slide table and a movable seat. The cross slide table is connected to the movable seat and drives the movable seat to move to any position in the plane. The movable seat is connected to the suction cup. The electromagnet device is provided inside the suction cup. The suction cup is in close contact with the coordinate plate and can move relative to it. The lifting mechanism includes a lifting slide rail, the coordinate plate and the planar slide rail mechanism are connected together by an outer frame, and the lifting slide rail is connected to the outer frame.

[0008] In the hardware gripping mechanism provided in this application, the support arm includes a handle, a main rod, a clamping mechanism, and an electromagnet mechanism. The electromagnet mechanism is disposed in the handle, the handle is connected to the main rod, the clamping mechanism is disposed in the main rod, and the electromagnet mechanism is attracted to the electromagnet device, so that the handle can follow the electromagnet device and move closely against the coordinate plate. 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 drive mechanism so that one of the support arms is lowered 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 gripping mechanism provided in this application also includes a feeding bracket, which is connected to the coordinate plate. The feeding bracket has a U-shaped structure, and a sliding plate is provided on the inner wall of the feeding bracket. A corresponding slot is provided on the seat handle, and the seat handle can be moved into and out of the feeding bracket by the electromagnet device.

[0010] In the hardware gripping mechanism provided in this application, the clamping mechanism includes: The upper gripper mechanism is mounted on the main rod and is used to abut against the upper surface of the hardware. The lower gripper mechanism is located at the bottom of the main rod, below the upper gripper mechanism, and is used to abut against the lower surface of the hardware. The four support arms are used to limit the hardware in the x and y directions, and the upper gripper mechanism and the lower gripper mechanism are used to limit the hardware in the z direction.

[0011] In the hardware gripping mechanism provided in this application, the main rod is hollow inside; The upper gripper mechanism includes: Upper splint; An upper rotating shaft is 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. The upper toothed plate meshes with the toothed groove on the upper rotating shaft and is in contact with the inner bottom wall of the main rod; The upper coil spring has one end connected to the upper rotating shaft and the other end connected to the box on which the upper coil spring is fitted. The lower gripper mechanism includes: a lower clamping plate; The lower rotating shaft is connected to the lower clamping plate, and the lower rotating shaft is rotatably connected to the inner wall of the main rod. There is a gap between the lower rotating shaft and the inner bottom wall of the main rod. The lower toothed plate meshes with the toothed groove opened under the lower rotating shaft and is in contact with the inner bottom wall of the main rod; The lower coil spring has one end connected to the upper rotating shaft and the other end connected to the box of the lower coil spring outer sleeve. A rope-driven motor is located inside the seat handle; The chain rope has one end wound around the drive end of the rope drive motor and connected to the upper toothed plate, and the other end connected to the lower toothed plate. The guide roller is rotatably connected to the bottom of the main rod. After the chain rope passes downward around the guide roller, it extends upward and connects to the lower toothed plate. The rope drive motor is configured to wind the chain rope, and after the chain rope moves upward, the upper toothed plate moves upward and the lower toothed plate moves downward, causing the upper clamping plate and the lower clamping plate to rotate in opposite directions to clamp the hardware.

[0012] The hardware gripping mechanism provided in this application also includes an airbag mechanism, which is disposed inside the main rod and is used to expand the circumference of the main rod.

[0013] In the hardware gripping mechanism provided in this application, the airbag mechanism includes an air pump, an inner main pipe, a secondary pipe, and an airbag body. The airbag body surrounds the outer wall of the main rod. The air pump is disposed inside the seat handle. There are two inner main pipes, 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 toothed plate and the lower toothed plate are slidably connected to the inner main pipes. The secondary pipe is connected to the inner main pipes and to the airbag body for inflating and deflating the airbag body.

[0014] In the hardware gripping mechanism provided in this application, both the upper clamping plate and the lower clamping plate can retract into the main rod. The angle formed by the upper clamping plate and the lower clamping plate after clamping the hardware is an acute angle. Both the upper clamping plate and the lower clamping plate are covered with a rubber layer. The contact surfaces of the upper clamping plate and the lower clamping plate relative to the hardware are inclined surfaces, so that the upper clamping plate and the lower clamping plate are evenly attached to the surface of the hardware after contact.

[0015] In the hardware gripping mechanism provided in this application, the cross slide includes a telescopic cylinder and two cross-shaped overlapping movable plates. The telescopic cylinder is connected to the movable plates, and the movable seat is inserted into the movable plates and is slidable.

[0016] In summary, this application has the following main advantages: This organization utilizes a hardware part point cloud recognition and processing device to perform a precise scan of the operating hole, acquiring accurate point cloud information, including detailed planar coordinate information of the operating hole's edge. By establishing a coordinate system with the center of the operating hole as the origin and mapping the coordinate information onto a coordinate plate, the arm drive mechanism can accurately drive the outriggers accordingly. The four outriggers can precisely reach specific coordinate points within the four quadrants of the operating hole, holding and fixing the hardware part within the operating hole from four directions. This precise gripping method effectively avoids the positional deviation of the hardware part caused by inaccurate positioning in traditional gripping methods. During subsequent grinding and processing of the hardware part, it can be guaranteed to be in an accurate position, significantly improving grinding quality and processing accuracy, and meeting the requirements of high-precision processing.

[0017] This gripping mechanism demonstrates exceptional versatility when dealing with various shapes of hardware parts that possess operating holes. Regardless of the hardware part's shape, as long as an operating hole exists, this mechanism can achieve stable gripping through the cooperation of the support arm and the operating hole. This characteristic contrasts sharply with traditional gripping technologies, which are often limited to specific shapes of hardware parts and require frequent adjustments or replacements of the gripping device when dealing with different shapes. This mechanism eliminates this need, significantly improving production efficiency, reducing downtime caused by adjustments or replacements, lowering equipment purchase and maintenance costs, and making it more suitable for the diverse industrial environment of modern hardware production.

[0018] Four outriggers extend into the operating holes of the hardware component to hold and secure it, providing a stable clamping force through multi-directional support. This effectively prevents the hardware from loosening or shifting during gripping and movement. Particularly during the movement of the hardware component to the grinding station by the robotic arm, the component maintains a stable posture, ensuring that the grinding operation is performed under ideal conditions. This avoids uneven grinding and surface damage caused by hardware movement, thus improving product quality and consistency.

[0019] First, the hardware component point cloud recognition and processing device scans the hardware component operation hole to obtain the point cloud information of the operation hole. This information includes the planar coordinate information of the operation hole edge, 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. The obtained planar coordinate information is mapped onto the coordinate plate connected to the arm drive mechanism. At the same time, the point corresponding to the center of the operating hole on the coordinate plate is taken as the origin of the coordinate plate, thereby establishing the coordinate correspondence between the operating hole and the coordinate plate.

[0021] Then, the arm drive mechanism begins to function. Based on the coordinate information on the coordinate plate, it drives the four arms to move to specific positions within the operating holes. Specifically, the four arms are moved to the first position (located at a specific coordinate point in the first quadrant), the second position (located at a specific coordinate point in the second quadrant), the third position (located at a specific coordinate point in the third quadrant), and the fourth position (located at a specific coordinate point in the fourth quadrant) within the operating holes. After extending into the operating holes, the four arms hold and fix the hardware component, thus completing the gripping of the hardware. After gripping, the gripped hardware can be moved by the subsequent robotic arm body to a designated position for operations such as grinding. Throughout the entire process, the movement of the arm drive mechanism on the coordinate plate and the positioning of the arms within the operating holes rely on precise coordinate information, thereby ensuring the accuracy and stability of the gripping process, achieving effective gripping of the hardware and smooth execution of subsequent operations.

[0022] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the overall structure of this 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 This is a diagram showing the direction of motion of the chain rope and the upper and lower clamping plates in this application; Figure 5 This is a quadrant and positional distribution diagram of the operating holes in this application.

[0025] Figure label: 10. Support arm; 101. Handle; 102. Main rod; 103. Clamping mechanism; 104. Feeding bracket; 20. Hardware parts; 201. Operating holes; 30. Arm drive mechanism; 301. Planar slide rail mechanism; 302. Suction cup; 303. Lifting mechanism; 40. Coordinate board; 50. Upper gripper mechanism; 501. Upper clamping plate; 502. Upper rotating shaft; 503. Upper toothed plate; 504. Upper coil spring; 51. Lower gripper mechanism; 511. Lower clamping plate; 512. Lower rotating shaft; 513. Lower toothed plate; 514. Lower coil spring; 52. Guide roller; 53. Chain rope; 60. Airbag mechanism; 601. Internal main tube; 70. Cross slide. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

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

[0029] It should be understood that, in order to clearly describe the technical solutions of the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and effect. For example, the first groove and the second groove are only used to distinguish different grooves and do not limit their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0030] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0031] In the design of hardware component 20, the operating hole 201 has multiple functions and forms. Firstly, the operating hole 201 may be designed for weight reduction. While maintaining the overall structural strength of hardware component 20, opening holes in appropriate locations can effectively reduce its weight, which is particularly important in applications with strict weight requirements, such as certain small hardware connectors used in the aerospace field. Secondly, the operating hole 201 may also be designed for aesthetics. The shape, arrangement, and distribution of these holes are carefully designed to enhance the artistic appeal and uniqueness of hardware component 20, making it more visually attractive and meeting consumer demands for product aesthetics, such as in decorative hardware pendants. Furthermore, the operating hole 201 may also be designed for ease of gripping; its size and position conform to ergonomic principles, making it more comfortable and convenient for users to handle hardware component 20, similar to the grip holes on some hand tools.

[0032] It is worth noting that these operating holes 201 vary in shape and size, potentially including circular, square, triangular, and other geometric shapes, with vastly different dimensions. However, the gripping mechanism proposed in this invention cleverly solves this complex problem through its design. By setting the center of the operating hole 201 as the origin of a two-dimensional coordinate system and dividing it into four quadrants, the location of the fixing point can be accurately determined. Regardless of the shape and size of the operating hole 201, this quadrant-based fixing point setting method ensures that the four arms 10 move accurately to the appropriate position, achieving stable gripping of the hardware 20, fully demonstrating the high adaptability of this gripping mechanism to hardware 20 with different types of operating holes 201.

[0033] Point cloud information is the information contained in a set of discrete points on the surface of an object in three-dimensional space. In the context of a hardware gripping 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 part 20. These points together constitute a digital description of the surface shape of the operating hole 201.

[0034] The acquisition methods typically involve using 3D laser scanning or structured light scanning to obtain point cloud information. Taking 3D laser scanning as an example, the laser scanner emits a laser beam towards the surface of the operating hole 201. After the laser beam contacts the surface, it reflects back. Based on parameters such as the laser's time of flight, the 3D spatial position of each reflection point is calculated, thus obtaining the positional information of numerous points along the edge of the operating hole 201, forming a point cloud. Structured light scanning, on the other hand, projects a specific light pattern onto the surface of the operating hole 201, and then calculates the position of the points based on the deformed pattern.

[0035] The role of point cloud information in hardware gripping is crucial, especially the planar coordinate information within the point cloud. After constructing the point cloud information of the operating hole 201 using the hardware part 20 point cloud recognition processing device, the planar coordinate information of the edge of the operating hole 201 is extracted. This coordinate information is used to establish a mapping relationship with the coordinate plate 40, thereby guiding the arm drive mechanism 30 to accurately move the support arm 10 to a specific position within the operating hole 201. For example, by analyzing the point cloud information to determine the center position of the operating hole 201 as the origin of the two-dimensional coordinate system, precise coordinates are provided for the positioning of the four support arms 10 within the four quadrants of the operating hole 201. This allows the support arms 10 to accurately insert into the operating hole 201 and hold and fix the hardware part 20, achieving efficient and accurate gripping of the hardware part 20.

[0036] The processing and optimization of point cloud information is crucial. The raw point cloud information acquired may contain noisy points, i.e., erroneous or inaccurate points caused by measurement errors, reflection interference, and other factors. Therefore, point cloud filtering is necessary to remove these noisy points and improve the quality of the point cloud information. Simultaneously, to better utilize the point cloud information for grasping operations, point cloud registration and feature extraction may also be required. Point cloud registration aligns point cloud data acquired from different viewpoints to obtain a complete and accurate description of the shape of the operating hole 201. Feature extraction identifies key features from the point cloud that represent the shape and position of the operating hole 201, such as edge points and curvature change points, further assisting in the positioning and grasping of the support arm 10.

[0037] The basic structure of the point cloud recognition and processing device includes: 1. A sensor unit, including a laser scanner: emitting a laser beam and receiving reflected light to measure distance, calculating based on time-of-flight or phase difference, capable of collecting a large amount of point data per second. A structured light sensor: projecting a light pattern onto the surface of the operating hole 201, the camera capturing the deformed pattern, and calculating the three-dimensional coordinates using the principle of triangulation. A binocular vision sensor: two cameras taking pictures from different angles, calculating depth based on the principle of parallax, and acquiring color point cloud data. 2. A data acquisition and transmission module: receiving sensor data, initially formatting and packaging it before transmitting it to the processing unit. High speed, stability, and reliability must be ensured; transmission can be achieved via high-speed data cable or wireless communication protocol. 3. A data processing unit, including a filtering module: removing noise points using statistical filtering, radius filtering, etc.; a feature extraction module: extracting feature information such as edge points of the operating hole 201 and curvature change points from the filtered data; and a registration module: integrating point cloud data from multiple angles or multiple sensors.

[0038] refer to Figures 1-5This application provides a hardware gripping mechanism, comprising: four support arms 10, capable of extending into the operation holes 201 of a hardware component 20, and for holding and fixing the hardware component 20; an arm drive mechanism 30, drivenly connected to the support arms 10, configured to drive the four support arms 10 to move to a first position, a second position, a third position, and a fourth position within the operation holes 201 respectively; a hardware component 20 point cloud recognition processing device, used to construct point cloud information of the operation holes 201, wherein the point cloud information includes planar coordinate information of the edges of the operation holes 201; and a coordinate plate 40, connected to the arm drive mechanism. The arm drive mechanism 30 is connected to the coordinate plate 40, and the planar coordinate information is mapped onto the coordinate plate 40. The center of the operation 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 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 201, respectively, and are located at the coordinate points where the sum of the absolute values ​​of x and y in each quadrant is the largest. The point corresponding to the center of the coordinate plate 40 and the operation hole 201 is the origin of the coordinate plate 40. The arm drive mechanism 30 moves the arm 10 based on the origin of the coordinate plate 40.

[0039] The hardware component 20 point cloud recognition and processing device scans the hardware component 20 operation hole 201 to obtain the point cloud information of the operation hole 201. This information includes the planar coordinate information of the edge of the operation 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. The obtained planar 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 operating hole 201 is taken as the origin of the coordinate plate 40, thereby establishing the coordinate correspondence between the operating hole 201 and the coordinate plate 40.

[0041] Then, the arm drive mechanism 30 begins to function. Based on the coordinate information on the coordinate plate 40, it drives the four arms 10 to move to specific positions within the operating hole 201. Specifically, the four arms 10 are moved to the first position (located at a specific coordinate point in the first quadrant), the second position (located at a specific coordinate point in the second quadrant), the third position (located at a specific coordinate point in the third quadrant), and the fourth position (located at a specific coordinate point in the fourth quadrant) within the operating hole 201. After the four arms 10 extend into the operating hole 201, they hold and fix the hardware 20, thereby completing the gripping of the hardware 20. After gripping, the gripped hardware 20 can be moved by the subsequent manipulator body to a designated position for operations such as grinding. Throughout the process, the movement of the arm drive mechanism 30 on the coordinate plate 40 and the positioning of the arms 10 within the operating hole 201 rely on precise coordinate information, thus ensuring the accuracy and stability of the gripping process, achieving effective gripping of the hardware 20 and smooth execution of subsequent operations. By combining point cloud information and coordinate system, the support arm 10 can be accurately positioned at a specific location within the operating hole 201, effectively fixing the hardware 20, improving gripping accuracy and stability, and adapting to hardware 20 with different operating holes 201, thus enhancing the versatility of the gripping mechanism.

[0042] The arm drive 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 table 70 and a movable seat. The cross slide table 70 is connected to the movable seat and drives the movable seat to move to any position in the plane. The movable seat is connected to the suction cup 302. An electromagnet device is installed inside the suction cup 302. The suction cup 302 is in close contact with the coordinate plate 40 and can move relative to it. The lifting mechanism 303 includes a lifting slide rail. The coordinate plate 40 and the planar slide rail mechanism 301 are connected together through an outer frame. The lifting slide rail is connected to the outer frame.

[0043] The planar slide rail mechanism 301 is key to enabling the arm drive mechanism 30 to move flexibly in a horizontal two-dimensional plane. The cross slide table 70, as its core component, drives two overlapping cross-shaped moving plates through its internal mechanical structure and drive mechanism (such as screw drive or gear drive). The sliding design of the moving seat interlocking with the moving plates allows the moving seat to move freely to any position within the plane under the drive of the moving plates. This design decomposes the two-dimensional motion in the plane into two linear motions in mutually perpendicular directions, thereby achieving high-precision planar positioning.

[0044] The suction cup 302 is in close contact with the coordinate plate 40 and can move relative to it. The electromagnet inside the suction cup 302 generates a magnetic field when energized. When it approaches the corresponding electromagnet mechanism on the support arm 10, the attraction 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 the suction cup 302 can slide smoothly on the coordinate plate 40 during the movement of the arm drive mechanism 30, without jamming or detachment.

[0045] The lifting mechanism 303's lifting slide rail is connected to the coordinate plate 40 and the planar slide rail mechanism 301 as a whole through the outer frame. When it is necessary to adjust the height of the arm drive mechanism 30 in the vertical direction, the lifting slide rail drives the entire outer frame and the connected planar slide rail mechanism 301 and coordinate plate 40 to move up and down together through its internal lifting drive device (such as electric push rod, hydraulic rod, etc.), thereby realizing the alignment and insertion of the support arm 10 with the operating hole 201 in the vertical direction.

[0046] The planar slide rail 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 allows the gripping mechanism to adapt to various complex layouts of the operating hole 201 and placement of the hardware parts 20, improving the success rate of gripping. 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, stably transmitting power during movement and preventing the support arm 10 from loosening or falling off. At the same time, the relative movement design between the suction cup 302 and the coordinate plate 40 ensures the smooth movement of the entire system. Additionally, the bottom pad of the hardware part 20 should have a center hole to facilitate the insertion and operation of the support arm 10.

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

[0048] In some embodiments, the support arm 10 includes a handle 101, a main rod 102, a clamping mechanism 103, and an electromagnet mechanism. The electromagnet mechanism is disposed within the handle 101, which is connected to the main rod 102. The clamping mechanism 103 is disposed within the main rod 102. The electromagnet mechanism and the electromagnet device are attracted to each other, allowing the handle 101 to move along with the electromagnet device against the coordinate plate 40. The electromagnet device is configured to move one support arm 10 from the feeding position to a position. The lifting mechanism 303 lowers the height of the arm drive mechanism 30, causing one support arm 10 to lower and insert 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. The main rod 102 is used to abut against the inner wall of the operating hole 201.

[0049] The electromagnet mechanism inside the base 101 of the support arm 10 and the electromagnet device of the arm drive mechanism 30 interact through electromagnetic attraction. When the electromagnet device is energized, it generates a magnetic field that attracts the electromagnet mechanism inside the base 101, allowing the base 101 to move smoothly on the coordinate plate 40. Based on a preset program and sensor information, the electromagnet device moves the support arm 10 from the feeding position to the vicinity of the operating hole 201. Subsequently, the lifting mechanism 303 is activated, lowering the arm drive mechanism 30 through a transmission method such as a lead screw and nut, accurately inserting the support arm 10 into the operating hole 201. After insertion, the clamping mechanism 103 applies pressure to the inner wall of the operating hole 201 using its own mechanical structure, while the main rod 102 abuts against the inner wall over a large area; the two work together to achieve stable fixation. After one support arm 10 is connected, it is fixed in position by clamping the hardware 20. Then, the electromagnet device moves the remaining support arms 10. Finally, the electromagnet device generates a magnetic force, which attracts all four support arms 10 within their respective areas, thus fixing the support arms 10 on the coordinate plate 40 and facilitating the controlled movement of the hardware 20. The magnetic force range of the electromagnet device must be larger than that of the general operating hole 201. Before operation, the type of hardware 20 and the size of the electromagnet device should be selected accordingly.

[0050] In some embodiments, a feeding bracket 104 is also included. The feeding bracket 104 is connected to the coordinate plate 40. The feeding bracket 104 has a U-shaped structure. The inner wall of the feeding bracket 104 is provided with a sliding piece. The seat handle 101 is provided with a corresponding slot. The seat handle 101 can be moved into and out of the feeding bracket 104 by an electromagnet device.

[0051] The feeding bracket 104 is U-shaped, with its inner wall sliding plate engaging with the slot of the handle 101. When the electromagnet device is working, the handle 101 moves in or out of the feeding bracket 104 along the path defined by the sliding plate and the slot under its attraction. This provides an orderly storage and management space for the support arm 10, avoiding feeding chaos. Simultaneously, since the support arm 10 is fixed by the electromagnet device, it relies on the feeding bracket 104 for fixation when the electromagnet device is not in operation. The sliding plate and the slot ensure precise positioning of the handle 101 during insertion and removal, facilitating subsequent gripping. This automates the feeding of the support arm 10, reduces manual intervention, improves production efficiency, and reduces human error.

[0052] In some embodiments, the clamping mechanism 103 includes: an upper gripper mechanism 50 disposed on the main rod 102 for abutting against the upper surface of the hardware component 20; a lower gripper mechanism 51 disposed at the bottom of the main rod 102, below the upper gripper mechanism 50, for abutting against the lower surface of the hardware component 20; four support arms 10 for limiting the hardware component 20 in the x and y directions, and the upper gripper mechanism 50 and the lower gripper mechanism 51 for limiting the hardware component 20 in the z direction.

[0053] After the support arm 10 is inserted into the operating hole 201, the drive device drives the upper and lower gripper mechanisms 50 and 51 to move and apply pressure to the surface of the hardware part 20 simultaneously. The four support arms 10 are limited in the x and y directions, cooperating with the upper and lower gripper mechanisms 50 and 51 in the z direction to form a three-dimensional limiting space. This achieves three-dimensional omnidirectional fixation of the hardware part 20, greatly improving gripping stability and ensuring the hardware part 20 maintains a stable posture during complex movements. It effectively prevents the hardware part 20 from shaking, shifting, and rotating, ensuring gripping quality and avoiding any impact on the surface quality of the hardware part 20. It provides reliable support for various operations (movement, processing, etc.) and improves the reliability of the production process.

[0054] In some embodiments, the main rod 102 is hollow inside; the upper gripper 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 being rotatably connected to the inner wall of the main rod 102, and having a gap between the upper rotating shaft 502 and the inner bottom wall of the main rod 102; an upper toothed plate 503 meshing with a toothed groove on the upper rotating shaft 502 and fitting against the inner bottom wall of the main rod 102; and an upper coil spring 504, one end of which is connected to the upper rotating shaft 502, and the other end of which is connected to a box covering the upper coil spring 504; the lower gripper 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 being rotatably connected to the inner wall of the main rod 102, and having a gap between the lower rotating shaft 512 and the inner bottom wall of the main rod 102; and a lower toothed plate 513 meshing with a toothed groove on the lower rotating shaft 512. The lower coil spring 514 is connected at one end to the upper rotating shaft 502 and at the other end to the box covering the lower coil spring 514. The rope drive motor is located inside the handle 101. The chain rope 53 is wound at one end around the drive end of the rope drive motor and connected to the upper toothed plate 503, and its end is connected to the lower toothed plate 513. The guide roller 52 is rotatably connected to the bottom of the main rod 102. After the chain rope 53 passes down around the guide roller 52, it extends upward to connect to the lower toothed plate 513. The rope drive motor is configured to wind the chain rope 53, and the chain rope 53 moves upward, causing the upper toothed plate 503 to move upward and the lower toothed plate 513 to move downward, causing the upper clamping plate 501 and the lower clamping plate 511 to rotate in opposite directions to clamp the hardware 20.

[0055] A rope-driven motor drives the chain rope 53 to wind, causing it to move upwards. This pulls the upper toothed plate 503 upwards, which is used to set the guide roller 52. The bottom chain rope 53 is then turned, causing the lower toothed plate 513 to move downwards. This, in turn, causes the upper clamping plate 501 and lower clamping plate 511 to rotate towards each other, thus clamping the hardware part 20. The upper and lower coil springs 504 and 514 play a crucial resetting 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 a box fixed inside the main rod 102. When the upper clamping plate 501 rotates around the upper rotating shaft 502 under the drive of the chain rope 53, the upper coil spring 504 undergoes elastic deformation, storing elastic potential energy. The lower coil spring 514 has the same connection method and working principle as the upper coil spring 504. During the clamping of 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 enough energy when the hardware 20 is clamped.

[0056] When the hardware component 20 needs to be released, the rope drive motor reverses, and the chain rope 53 begins to move in the opposite direction. At this time, the coil spring releases its 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, inertia, and other possible resistances of the clamping plates during the movement, allowing the clamping plates to return to their initial position.

[0057] In some embodiments, an airbag mechanism 60 is further included, disposed within the main rod 102, for expanding the circumference of the main rod 102. The airbag mechanism 60 includes an air pump, an inner main tube 601, a secondary tube, and a bladder body. The bladder body surrounds the outer wall of the main rod 102. The air pump is disposed within the handle 101. Two inner main tubes 601 are included, both connected to the air pump. The inner main tubes 601 are installed on the inner bottom wall of the main rod 102. The two inner main tubes 601 are arranged in parallel. The upper toothed plate 503 and the lower toothed plate 513 are slidably connected to the inner main tubes 601. The secondary tube is connected to the inner main tubes 601 and to the bladder body for inflating and deflating the bladder body.

[0058] The air pump in the airbag mechanism 60 inside the main rod 102 operates, compressing the intake air and sending it into the inner main tube 601, then through the secondary tube into the airbag body, causing the airbag to expand and fill the gap between the main rod 102 and the operating hole 201. The airbag expansion enhances the stability of the support arm 10 within the operating hole 201, reducing the swaying of the support arm 10 when the hardware 20 is subjected to external forces. It can accommodate hardware 20 of different sizes within a certain range, improving the versatility of the gripping mechanism. Applying uniform pressure to the inner wall of the operating hole 201 prevents damage to the hardware 20 and the support arm 10, and also buffers external impacts.

[0059] In some embodiments, both the upper clamping plate 501 and the lower clamping plate 511 can retract into the main rod 102. The angle formed by the upper clamping plate 501 and the lower clamping plate 511 and the hardware 20 after clamping is an acute angle. Both the upper clamping plate 501 and the lower clamping plate 511 are covered with a rubber layer. The contact surfaces of the upper clamping plate 501 and the lower clamping plate 511 relative to the hardware 20 are inclined surfaces, so that the upper clamping plate 501 and the lower clamping plate 511 are evenly attached to the surface of the hardware 20 after contact. The acute angle formed by the upper clamping plate 501 and the lower clamping plate 511 clamping the hardware 20 ensures that the hardware 20 is properly clamped when the upper clamping plate 501 and the lower clamping plate 511 clamp it in place, rather than the structure other than the ends of the upper clamping plate 501 and the lower clamping plate 511 abutting against the hardware 20. If they were set to be parallel, due to accuracy issues, the upper clamping plate 501 and the lower clamping plate 511 would not be able to make good parallel contact with the hardware 20.

[0060] The cross slide 70 includes a telescopic cylinder and two cross-shaped overlapping movable plates. The telescopic cylinder is connected to the movable plates, and the movable seat is inserted into the movable plates and can slide. The cross slide 70 can also be a ball screw cross slide, consisting of two vertical ball screw pairs and a slider. The screws have high precision, the nut is connected to the slider, and there is a ball channel inside. The slider is mounted on a guide rail (linear or dovetail guide rail). A synchronous belt cross slide consists of two vertical synchronous belt drive systems and a slider. The synchronous belt cooperates with the synchronous pulley, and the slider fixes the synchronous belt connector and is on the guide rail. A hydraulic or pneumatic cross slide consists of two vertical hydraulic or pneumatic cylinders, pistons, and a slider. The slider is on a linear guide rail. The hydraulic system includes a pump, valves, and oil pipes; the pneumatic system includes a compressor, pneumatic valves, and air pipes.

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

Claims

1. A hardware gripping mechanism, characterized in that, include: Four support arms, which can extend into the operating holes of the hardware and hold and fix the hardware. An arm drive mechanism is connected to the arm drive mechanism and is configured to drive the four arms to move to the first position, the second position, the third position and the fourth position respectively within the operating hole; A hardware component point cloud recognition and processing device is used to construct point cloud information of an operating hole, wherein the point cloud information includes planar coordinate information of the edge of the operating hole. A coordinate plate is connected to the arm drive mechanism, the arm drive mechanism moves on the coordinate plate, and the planar coordinate information is mapped onto the coordinate plate. The center of the operating hole 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 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, respectively, and are located at the coordinate points where the sum of the absolute values ​​of x and y in each quadrant is the largest. The point corresponding to the center of the coordinate plate and the operating hole is the origin of the coordinate plate, and the arm drive mechanism moves the arm based on the origin of the coordinate plate. The arm drive mechanism includes a planar slide rail mechanism, a suction cup, an electromagnet device, and a lifting mechanism. The planar slide rail mechanism includes a cross slide table and a movable seat. The cross slide table is connected to the movable seat and drives the movable seat to move to any position in the plane. The movable seat is connected to the suction cup. The electromagnet device is installed inside the suction cup. The suction cup is in close contact with the coordinate plate and can move relative to it. The lifting mechanism includes 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; The support arm includes a handle, a main rod, a clamping mechanism, and an electromagnet mechanism. The electromagnet mechanism is disposed in the handle, which is connected to the main rod. The clamping mechanism is disposed in the main rod, and the electromagnet mechanism is attracted to the electromagnet device, so that the handle can follow the electromagnet device and move closely against the coordinate plate. 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 drive mechanism so that one of the support arms is lowered 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.

2. The hardware gripping mechanism according to claim 1, characterized in that, It also includes a feeding bracket connected to the coordinate plate. The feeding bracket has a U-shaped structure, and the inner wall of the feeding bracket is provided with a sliding piece. The seat handle is provided with a corresponding slot, and the seat handle can be moved into and out of the feeding bracket by the electromagnet device.

3. The hardware gripping mechanism according to claim 1, characterized in that, The clamping mechanism includes: An upper gripper mechanism is mounted on the main rod and is used to abut against the upper surface of the hardware. The lower gripper mechanism is located at the bottom of the main rod, below the upper gripper mechanism, and is used to abut against the lower surface of the hardware. The four support arms are used to limit the hardware in the x and y directions, and the upper and lower gripper mechanisms are used to limit the hardware in the z direction.

4. The hardware gripping mechanism according to claim 3, characterized in that, The main rod is hollow inside; The upper gripper mechanism includes: Upper splint; An upper rotating shaft is connected to the upper clamping plate and is rotatably connected to the inner wall of the main rod. There is a gap between the upper rotating shaft and the inner bottom wall of the main rod. The upper toothed plate is engaged with the toothed groove 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 on which the upper coil spring is fitted; The lower gripper mechanism includes: a lower clamping plate; The lower rotating shaft is connected to the lower clamping plate and is rotatably connected to the inner wall of the main rod. There is a gap between the lower rotating shaft and the inner bottom wall of the main rod. The lower toothed plate is engaged with the toothed groove formed under the lower rotating shaft and is in contact with the inner bottom wall of the main rod. The lower coil spring has one end connected to the lower rotating shaft and the other end connected to the box on which the lower coil spring is fitted. A rope-driven motor, wherein the rope-driven motor is disposed within the seat handle; A chain rope, one end of which is wound around the drive end of the rope drive motor and connected to the upper toothed plate, and the end of which is connected to the lower toothed plate; A guide roller is rotatably connected to the bottom of the main rod. The chain rope passes downward around the guide roller and then extends upward to connect to the lower toothed plate. The rope drive motor is configured to wind the chain rope, and the chain rope moves upward, causing the upper toothed plate to move upward and the lower toothed plate to move downward, causing the upper clamping plate and the lower clamping plate to rotate in opposite directions to clamp the hardware.

5. The hardware gripping mechanism according to claim 4, characterized in that, It also includes an airbag mechanism, which is disposed within the main rod and is used to expand the circumference of the main rod.

6. The hardware gripping mechanism according to claim 5, characterized in that, The airbag mechanism includes an air pump, an inner main tube, a secondary tube, and an airbag body. The airbag body surrounds the outer wall of the main rod. The air pump is located inside the seat handle. There are two inner main tubes, both of which are connected to the air pump. The inner main tubes are installed on the inner bottom wall of the main rod and are arranged in parallel. The upper toothed plate and the lower toothed plate are slidably connected to the inner main tubes. The secondary tube is connected to the inner main tube and to the airbag body for inflating and deflating the airbag body.

7. The hardware gripping mechanism according to claim 4, characterized in that, Both the upper clamping plate and the lower clamping plate can retract into the main rod. The angle formed by the upper clamping plate and the lower clamping plate after clamping with the hardware is an acute angle. Both the upper clamping plate and the lower clamping plate are covered with a rubber layer. The contact surfaces of the upper clamping plate and the lower clamping plate with the hardware are inclined surfaces, so that the upper clamping plate and the lower clamping plate are evenly attached to the surface of the hardware after contact.

8. The hardware gripping mechanism according to claim 1, characterized in that, The cross slide includes a telescopic cylinder and two cross-shaped overlapping movable plates. The telescopic cylinder is connected to the movable plates, and the movable seat is inserted into the movable plates and is slidable.

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