License plate carrying manipulator

Abstract

The invention relates to the technical field of manipulators, in particular to a license plate carrying manipulator which is used for solving the problem that no follow-up remedial measures exist after a suction cup is separated from a license plate when an existing suction cup manipulator grabs the license plate. The mechanical arm comprises an arm body, the arm body comprises a mounting plate, the mounting plate is connected with a grabbing mechanism, the grabbing mechanism comprises four pressure transmitting pipes vertically sliding at the four corners of the mounting plate, the bottoms of the pressure transmitting pipes are connected with corrugated pipes, and the bottom ends of the corrugated pipes communicate with suction cups; the device further comprises a detection mechanism and an auxiliary mechanism, the detection mechanism comprises a vertical rod vertically sliding in the middle of the mounting plate, and the auxiliary mechanism comprises four wedge blocks hinged to the side portion of the mounting plate; the mechanical arm can conduct automatic remedy after the suction cup is separated from the license plate, the wedge block swings the lower portion of the license plate, the license plate is pressed on the separated suction cup, and the suction cup adsorbs the license plate again.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, belongs to B25J9*, and particularly relates to a license plate transporting manipulator. Background Art

[0002] In the field of license plate handling, efficient, stable and reliable handling equipment has always been the goal pursued by the industry. At present, license plate handling work mostly relies on manual operation, which is not only inefficient, but also prone to damage such as scratches and drops due to human negligence, which seriously affects the quality and efficiency of license plate handling.

[0003] Although the existing suction cup manipulator has solved some of the grasping problems to a certain extent, it still has major defects. When the suction cup is separated from the license plate due to various reasons during the handling process, there is often no follow-up remedial measure and it can only rely on manual re-operation, which not only interrupts the handling process and greatly reduces work efficiency, but may also cause the license plate to be damaged due to multiple attempts to grasp. Summary of the invention

[0004] The invention provides a license plate transporting manipulator to solve the problem that when the existing suction cup manipulator grabs the license plate, there is no subsequent remedial measure after the suction cup is separated from the license plate.

[0005] In order to alleviate the above technical problems, the technical solution provided by the present invention is:

[0006] A license plate handling manipulator comprises an arm body, the arm body comprises a mounting plate, a gripping mechanism is connected to the mounting plate, the gripping mechanism comprises four pressure transmission tubes vertically sliding at four corners of the mounting plate, a bellows is connected to the bottom of the pressure transmission tube, and a suction cup is connected to the bottom end of the bellows;

[0007] It also includes a detection mechanism and an auxiliary mechanism. The detection mechanism includes a vertical rod that slides vertically in the middle of the mounting plate, and the auxiliary mechanism includes four wedge blocks hinged to the side of the mounting plate. When there is air leakage at the contact point between the suction cup and the license plate, the bellows extends, and the vertical rod slides down under the mounting plate. Then the wedge block swings to the bottom of the license plate to push the license plate close to the mounting plate. After the wedge block swings to the bottom of the license plate, negative pressure continues to be generated in the pressure transmission tube to allow the suction cup to re-absorb the license plate.

[0008] Furthermore, the gripping mechanism also includes a circular ring connected to the upper part of the pressure transmission tube, and a tension spring is connected between the circular ring and the upper surface of the mounting plate. When the mounting plate is close to the license plate, the pressure transmission tube can move up on the mounting plate to stretch the tension spring.

[0009] Furthermore, the grabbing mechanism also includes an N-shaped frame fixedly connected to the mounting plate, the N-shaped frame having an exhaust pipe fixedly connected in the middle, the middle of the circular ring having an intubation pipe connected to the pressure transmission pipe fixedly connected, the intubation pipe being inserted into the exhaust pipe, and when the pressure transmission pipe moves upward, the intubation pipe can be connected to the exhaust pipe.

[0010] Furthermore, the grasping mechanism also includes a conical plug vertically slidably connected to the cannula, and a pressure rod is fixedly connected to the exhaust pipe. When the cannula moves up to the exhaust pipe, the pressure rod applies pressure to the conical plug to move down, so that the exhaust pipe is connected to the cannula, and after negative pressure is generated in the pressure transmission pipe, the bellows is shortened, so that the cannula moves down to the exhaust pipe, so that the pressure rod is away from the conical plug, and the conical plug moves up to close the cannula.

[0011] Furthermore, a conical inner wall cooperating with the conical plug is provided in the insert tube, and a mounting seat is fixedly connected to the conical inner wall, a mounting rod is slidably connected to the mounting seat, the top of the mounting rod is fixedly connected to the conical plug, a spring is sleeved on the mounting rod, and both ends of the spring are respectively fixedly connected to the conical plug and the mounting seat.

[0012] Furthermore, the detection mechanism also includes a piston plate fixedly connected to the top of the vertical rod, a piston cavity cooperating with the piston plate is opened in the mounting plate, a voltage-stabilizing tube connected to the piston cavity is connected to the mounting plate, an electromagnetic valve is arranged on the voltage-stabilizing tube, the mounting plate is close to the license plate so that when the suction cup grabs the license plate, the electromagnetic valve opens, thereby the piston plate can move upward, and after the suction cup grabs the license plate, the electromagnetic valve closes, thereby increasing the resistance of the piston plate to move downward.

[0013] Furthermore, the auxiliary mechanism also includes a connecting rod, the connecting rod is hinged to the side of the mounting plate, and the wedge block is fixedly connected to the connecting rod.

[0014] Furthermore, the mounting plate is slidably connected to a limit block located below the hinge point of the connecting rod, the limit block is fixedly connected to a piston rod, the mounting plate is provided with a cylindrical cavity cooperating with the piston rod, a transmission pipe is connected between the cylindrical cavity and the piston cavity, during the transportation of the license plate, when the suction cup is detached from the license plate, the vertical rod can move downward, so that the piston cavity extracts the gas in the cylindrical cavity, so that the limit block moves horizontally out of the bottom of the connecting rod, so that the connecting rod swings to move the wedge block to the bottom of the license plate, and, after the suction cup continues to grab the license plate, the license plate pushes the vertical rod to move upward, so that the piston cavity injects gas into the cylindrical cavity, so that the limit block slides back to its original position and pushes the connecting rod to swing upward.

[0015] Furthermore, a first limiting protrusion abutting against the limiting block is provided on the lower surface of the connecting rod.

[0016] Furthermore, the mounting plate is provided with a second limiting protrusion which abuts against the connecting rod.

[0017] The beneficial effects of the present invention are analyzed as follows:

[0018] A license plate handling robot comprises an arm body, the arm body comprises a mounting plate, a gripping mechanism is connected to the mounting plate, the gripping mechanism comprises four pressure transmission tubes vertically sliding on the four corners of the mounting plate, a bellows is connected to the bottom of the pressure transmission tube, and a suction cup is connected to the bottom end of the bellows; the robot also comprises a detection mechanism and an auxiliary mechanism, the detection mechanism comprises a vertical rod vertically sliding on the middle part of the mounting plate, the auxiliary mechanism comprises four wedge blocks hinged to the side of the mounting plate, when there is air leakage at the contact part between the suction cup and the license plate, the bellows extends, the vertical rod slides down under the mounting plate, and then the wedge block swings to the lower part of the license plate to push the license plate close to the mounting plate, after the wedge block swings to the lower part of the license plate, negative pressure continues to be generated in the pressure transmission tube to make the suction cup re-absorb the license plate.

[0019] The mounting plate moves to the top of the license plate, and then the robotic arm drives the mounting plate downward, so that the suction cup is pressed on the license plate. Then negative pressure is generated in the pressure transmission tube, so that the suction cup is adsorbed on the license plate. When the suction cup is adsorbed on the license plate, the bellows shortens, and the distance between the mounting plate and the license plate becomes smaller. The license plate pushes the vertical rod to move up to the mounting plate, and the bottom end of the vertical rod contacts the license plate. When leakage occurs between any suction cup and the license plate, the bellows deforms and recovers, pushing the license plate downward, so that the vertical rod close to the suction cup moves down to the mounting plate, and at the same time close to the The wedge of the suction cup swings to the bottom of the license plate, allowing the license plate to slide along the inclined surface of the wedge, so that the license plate can be close to the mounting plate. At this time, there is pressure between the license plate and the detached suction cup, ensuring that a relatively closed state is formed between the suction cup and the license plate. Subsequently, negative pressure continues to be generated in the pressure transmission tube connected to the suction cup, causing the suction cup to be adsorbed on the license plate again. At the same time, the bellows is shortened again due to the negative pressure, and then the wedge swings back to its original position, ensuring that there is no interference with the release of the license plate, thereby ensuring the stability of the license plate capture. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related technologies, the drawings required for use in the specific embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 It is a structural schematic diagram of the grabbing mechanism of the present invention;

[0023] Figure 3 For the present invention Figure 2 The structural diagram of part A in the figure;

[0024] Figure 4 It is a structural schematic diagram of the wedge block of the present invention in a downward swing state;

[0025] Figure 5 It is a structural schematic diagram of the detection mechanism of the present invention;

[0026] Figure 6 For the present invention Figure 5 The structural diagram of part B;

[0027] Figure 7 It is a schematic diagram of the structure of the limit block of the present invention.

[0028] icon:

[0029] 100, arm body; 110, mounting plate; 120, mechanical arm; 200, grasping mechanism; 210, pressure transmission tube; 211, bellows; 212, suction cup; 220, ring; 230, tension spring; 240, insert tube; 241, mounting rod; 242, mounting seat; 243, spring; 244, cone plug; 250, N-shaped frame; 251, exhaust pipe; 252, pressure rod; 300, detection mechanism; 310, piston chamber; 320, piston plate; 330, vertical rod; 340, voltage-stabilizing tube; 400, auxiliary mechanism; 410, connecting rod; 420, wedge block; 430, limit block; 440, piston rod; 441, cylindrical chamber; 442, transmission tube; 450, second limit protrusion; 460, first limit protrusion. DETAILED DESCRIPTION

[0030] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] Examples, such as Figure 1-Figure 7 As shown, a license plate handling manipulator includes an arm body 100, the arm body 100 includes a mounting plate 110, the mounting plate 110 is connected to a gripping mechanism 200, the gripping mechanism 200 includes four pressure transmission tubes 210 vertically sliding on the four corners of the mounting plate 110, the bottom of the pressure transmission tube 210 is connected to a bellows 211, and the bottom end of the bellows 211 is connected to a suction cup 212; it also includes a detection mechanism 300 and an auxiliary mechanism 400, the detection mechanism 300 includes a vertically sliding The vertical rod 330 is in the middle of the mounting plate 110, and the auxiliary mechanism 400 includes four wedge blocks 420 hinged to the side of the mounting plate 110. When there is air leakage at the contact part between the suction cup 212 and the license plate, the bellows 211 extends, and the vertical rod 330 slides down the mounting plate 110. Then the wedge block 420 swings to the bottom of the license plate to push the license plate close to the mounting plate 110. After the wedge block 420 swings to the bottom of the license plate, negative pressure continues to be generated in the pressure transmission tube 210 to allow the suction cup 212 to re-absorb the license plate.

[0034] The working mechanism of the manipulator provided in this embodiment is as follows:

[0035] The mounting plate 110 is connected to a mechanical arm 120, which is controlled by a program to move the mounting plate 110, and the suction cup 212 is used to grab the license plate and then carry it. When grabbing the license plate, the mounting plate 110 moves to the top of the license plate, and then the mechanical arm 120 drives the mounting plate 110 to move downward, so that the suction cup 212 is pressed on the license plate, and then negative pressure is generated in the pressure transmission tube 210, so that the suction cup 212 is adsorbed on the license plate. When the suction cup 212 is adsorbed on the license plate, the bellows 211 is shortened, and the distance between the mounting plate 110 and the license plate becomes smaller. The license plate pushes the vertical rod 330 to move upward on the mounting plate 110, and at this time, the bottom end of the vertical rod 330 contacts the license plate. When leakage occurs between any suction cup 212 and the license plate, the bellows 211 is pressed against the license plate. The tube 211 deforms and recovers, pushing the license plate downward, so that the vertical rod 330 near the suction cup 212 moves downward to the mounting plate 110, and at the same time the wedge block 420 near the suction cup 212 swings to the bottom of the license plate, so that the license plate can slide along the inclined surface of the wedge block 420, so that the license plate can approach the mounting plate 110. At this time, there is pressure between the license plate and the detached suction cup 212, ensuring that a relatively closed state can be formed between the suction cup 212 and the license plate. Then, negative pressure continues to be generated in the pressure transmission tube 210 connected to the suction cup 212, so that the suction cup 212 is adsorbed on the license plate again. At the same time, the bellows 211 is shortened again due to the negative pressure, and then the wedge block 420 swings back to ensure that it does not interfere with the release of the license plate.

[0036] During the process of the suction cup 212 detaching from the license plate and re-grasping it, the control system controls the operating speed of the robot arm 120 to slow down or stop, so that the wedge block 420 will not hit the target area for carrying the license plate. Moreover, after the control program detects that the operating coordinates of the robot arm 120 are close to the placement target area, the suction cup 212 will no longer be re-grasped. The specific implementation method can be to set an electromagnet or an electric block on the vertical rod 330. When the control program detects that the operating coordinates of the robot arm 120 are close to the placement target area, the electromagnet or the electric block will operate to lock the position of the vertical rod 330 on the mounting plate 110, so that the subsequent wedge block 420 will no longer swing to the lower part of the license plate.

[0037] Among the optional methods of this embodiment, the more preferred ones are:

[0038] The gripping mechanism 200 also includes a circular ring 220 connected to the upper part of the pressure transmission tube 210. A tension spring 230 is connected between the circular ring 220 and the upper surface of the mounting plate 110. When the mounting plate 110 is close to the license plate, the pressure transmission tube 210 can move upward on the mounting plate 110 to stretch the tension spring 230.

[0039] When the mounting plate 110 is located on the upper part of the license plate, the mechanical arm 120 drives the mounting plate 110 to move downward so that the suction cup 212 contacts the license plate. At this time, the pressure transmission tube 210 can slide up relative to the mounting plate 110. At this time, the tension spring 230 is pulled, and negative pressure is transmitted in the pressure transmission tube 210 so that the suction cup 212 is adsorbed on the license plate. Then, the bellows 211 can contract. At this time, the total length of the pressure transmission tube 210, the bellows 211 and the suction cup 212 is reduced, and the tension spring 230 pulls the ring 220 to move the pressure transmission tube 210 downward to the mounting plate 110.

[0040] Among the optional methods of this embodiment, the more preferred ones are:

[0041] The grabbing mechanism 200 also includes an N-shaped frame 250 fixedly connected to the mounting plate 110, and an exhaust pipe 251 is fixedly connected to the middle of the N-shaped frame 250. A plug 240 connected to the pressure transmission pipe 210 is fixedly connected to the middle of the ring 220. The plug 240 is inserted into the exhaust pipe 251, and when the pressure transmission pipe 210 moves upward, the plug 240 can be connected to the exhaust pipe 251.

[0042] The exhaust pipe 251 is connected to the vacuum equipment. When the mounting plate 110 moves down close to the license plate, the pressure transmission pipe 210 moves up relative to the mounting plate 110, so that the insertion tube 240 is connected to the exhaust pipe 251, so that the exhaust pipe 251 transmits negative pressure to the pressure transmission pipe 210, so that the suction cup 212 is adsorbed on the license plate.

[0043] Among the optional methods of this embodiment, the more preferred ones are:

[0044] The grabbing mechanism 200 also includes a conical plug 244 vertically slidably connected to the insert tube 240, and a pressure rod 252 is fixedly connected to the exhaust pipe 251. When the insert tube 240 moves up to the exhaust pipe 251, the pressure rod 252 applies pressure to the conical plug 244 to move the conical plug 244 downward, so that the exhaust pipe 251 is connected to the insert tube 240, and after negative pressure is generated in the pressure transmission pipe 210, the bellows 211 is shortened, so that the insert tube 240 moves down to the exhaust pipe 251, so that the pressure rod 252 is away from the conical plug 244, so that the conical plug 244 moves up to close the insert tube 240.

[0045] When the pressure transmission tube 210 moves upward, the cannula 240 fixedly connected to the pressure transmission tube 210 moves upward synchronously, so that the cannula 240 can slide into the exhaust pipe 251. At this time, the pressure rod 252 in the exhaust pipe 251 can press down on the cone plug 244, so that the cone plug 244 moves downward relative to the cannula 240. At this time, the port of the cannula 240 is opened, so that the cannula 240 is connected to the exhaust pipe 251.

[0046] Among the optional methods of this embodiment, the more preferred ones are:

[0047] A conical inner wall cooperating with the conical plug 244 is provided in the insert tube 240, and a mounting seat 242 is fixedly connected to the conical inner wall, a mounting rod 241 is slidably connected to the mounting seat 242, the top of the mounting rod 241 is fixedly connected to the conical plug 244, a spring 243 is sleeved on the mounting rod 241, and both ends of the spring 243 are fixedly connected to the conical plug 244 and the mounting seat 242 respectively.

[0048] The spring 243 provides a thrust for the cone plug 244 to return to its original position. When the air extraction pipe 251 draws a vacuum into the pressure transmission pipe 210 so that the suction cup 212 is adsorbed on the license plate and the bellows 211 contracts, the pressure transmission pipe 210 moves down to the mounting plate 110. At this time, the insertion pipe 240 moves down relative to the air extraction pipe 251, and the cone plug 244 moves away from the pressure rod 252. Thus, the spring 243 pushes the cone plug 244 to move up. At this time, the cone plug 244 closes the port of the insertion pipe 240 again.

[0049] It should be noted here that both the exhaust pipe 251 and the pressure transmission pipe 210 are in a negative pressure state, so that the pressure difference at both ends of the cone plug 244 is small, and the spring 243 has sufficient elastic force, thereby preventing the cone plug 244 from sliding toward the pressure transmission pipe 210 due to the negative pressure of the pressure transmission pipe 210, causing the insertion tube 240 to open and the suction cup 212 to release pressure.

[0050] Regarding the structure of the detection mechanism 300, specifically:

[0051] The detection mechanism 300 also includes a piston plate 320 fixedly connected to the top of the vertical rod 330, a piston chamber 310 cooperating with the piston plate 320 is opened in the mounting plate 110, a voltage-stabilizing tube 340 connected to the piston chamber 310 is connected to the mounting plate 110, and a solenoid valve is arranged on the voltage-stabilizing tube 340, and the mounting plate 110 is close to the license plate so that when the suction cup 212 grabs the license plate, the solenoid valve opens so that the piston plate 320 can move up, and after the suction cup 212 grabs the license plate, the solenoid valve closes, so that the resistance of the piston plate 320 to move downward increases.

[0052] When the control system detects that the robotic arm 120 moves to the control mounting plate 110 and moves down to grab the license plate, the solenoid valve opens. At this time, the air in the piston chamber 310 can be discharged through the voltage-stabilizing tube 340, so that the vertical rod 330 and the piston plate 320 can be blocked by the license plate and move up to the piston chamber 310. The air in the piston chamber 310 is discharged through the voltage-stabilizing tube 340 at this time, and the suction cup 212 grabs the license plate by negative pressure adsorption. After the control system detects that the negative pressure at the pressure transmission tube 210 reaches the level of grabbing the license plate, it controls the solenoid valve to close. At this time, the piston chamber 310 is closed to ensure that the vertical rod 330 will not easily move down in the piston chamber 310, so that the license plate will not easily fall off the suction cup 212 due to the downward pressure of the gravity of the vertical rod 330.

[0053] Regarding the structure of the auxiliary mechanism 400, specifically:

[0054] The auxiliary mechanism 400 further includes a connecting rod 410 , which is hinged to a side of the mounting plate 110 , and a wedge block 420 is fixedly connected to the connecting rod 410 .

[0055] The arrangement of the connecting rod 410 enlarges the moving radius of the wedge block 420, thereby ensuring that the wedge block 420 can stably move to the lower part of the license plate.

[0056] Among the optional methods of this embodiment, the more preferred ones are:

[0057] A limit block 430 is slidably connected to the mounting plate 110 at the lower part of the hinge point of the connecting rod 410, and a piston rod 440 is fixedly connected to the limit block 430. A cylindrical cavity 441 cooperating with the piston rod 440 is opened on the mounting plate 110, and a transmission pipe 442 is connected between the cylindrical cavity 441 and the piston cavity 310. During the transportation of the license plate, when the suction cup 212 is separated from the license plate, the vertical rod 330 can move downward, so that the piston cavity 310 extracts the gas in the cylindrical cavity 441, so that the limit block 430 moves horizontally out of the bottom of the connecting rod 410, so that the connecting rod 410 swings to make the wedge block 420 move to the lower part of the license plate, and after the suction cup 212 continues to grab the license plate, the license plate pushes the vertical rod 330 to move upward, so that the piston cavity 310 injects gas into the cylindrical cavity 441, so that the limit block 430 slides back to its original position and pushes the connecting rod 410 to swing upward.

[0058] After the suction cup 212 grabs the license plate, the supporting force of the license plate on the vertical rod 330 prevents the vertical rod 330 from moving downward easily. If one of the suction cups 212 is accidentally separated from the license plate, the corresponding pressure transmission tube 210 will release pressure. At this time, the bellows 211 loses the effect of negative pressure and deforms and stretches back, so that the supporting force of the license plate on the vertical rod 330 corresponding to the suction cup 212 that is separated from the license plate is reduced. At this time, the vertical rod 330 moves downward, and the piston plate 320 connected to the vertical rod 330 moves downward to the corresponding piston cavity 310, so that the piston cavity 310 extracts the air in the cylindrical cavity 441 corresponding to the suction cup 212, so that the piston rod 440 slides in the direction of the mounting plate 110 under the effect of negative pressure, so that the limit block 430 moves out of the bottom of the connecting rod 410, so that the connecting rod 410 can swing in the direction of the license plate, thereby making the connecting rod 410 connected to the connecting rod 410 The wedge block 420 swings to the lower part of the license plate, so that the license plate can slide up on the inclined surface of the wedge block 420, so that the license plate is pushed by the wedge block 420 and approaches the mounting plate 110. At this time, the pressure between the license plate and the suction cup 212 increases, and the pressure transmission pipe 210 is pushed to connect with the air extraction pipe 251 again. After the control system detects that the negative pressure value of the corresponding pressure transmission pipe 210 disappears sharply, the corresponding pressure transmission pipe 210 performs the negative pressure extraction action again, so that the corresponding suction cup 212 sucks the license plate again, and the bellows 211 shortens again, and the license plate approaches the mounting plate 110 again. At this time, the license plate pushes the corresponding vertical rod 330 upward, and the piston chamber 310 transmits air to the cylindrical chamber 441, so that the limit block 430 slides in the direction away from the mounting plate 110, and the limit block 430 pushes the connecting rod 410 to swing upward, so that the wedge block 420 moves out of the lower part of the license plate.

[0059] The total weight of the connecting rod 410 and the wedge block 420 is relatively light. When the wedge block 420 swings down, it relies on inertia to hit the lower part of the license plate, so that the license plate is close to the mounting plate 110, reducing the force applied by the limit block 430 to push the connecting rod 410 to swing up, and the limit block 430 does not push the connecting rod 410 to a fully reset state, but only allows the wedge block 420 to separate from the bottom of the license plate, and the angle between the connecting rod 410 and the plane of the mounting plate 110 is greater than one hundred and twenty degrees, so that after the mechanical arm 120 drives the mounting plate 110 to transfer the license plate to the desired position, the surface of the license plate placement area pushes the wedge block 420, so that the connecting rod 410 continues to swing up, and at the same time the vertical rod 330 moves up relative to the mounting plate 110, so that the limit block 430 can slide and reset, ensuring that the connecting rod 410 returns to a horizontal state.

[0060] Among the optional methods of this embodiment, the more preferred ones are:

[0061] A first limiting protrusion 460 abutting against the limiting block 430 is disposed on the lower surface of the connecting rod 410 .

[0062] The first limiting protrusion 460 limits the sliding travel of the limiting block 430 . When the limiting block 430 abuts against the first limiting protrusion 460 , the sliding of the limiting block 430 is blocked, thereby preventing the limiting block 430 from being separated from the mounting plate 110 .

[0063] Among the optional methods of this embodiment, the more preferred ones are:

[0064] The mounting plate 110 is provided with a second limiting protrusion 450 which abuts against the connecting rod 410 .

[0065] The second limiting protrusion 450 limits the upward swing angle of the connecting rod 410. When the connecting rod 410 swings to a horizontal state, the surface of the connecting rod 410 abuts against the second limiting protrusion 450, so that the connecting rod 410 no longer swings upward.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A license plate handling manipulator, characterized in that: The arm body (100) comprises an arm body (100), the arm body (100) comprises a mounting plate (110), a gripping mechanism (200) is connected to the mounting plate (110), the gripping mechanism (200) comprises four pressure transmission tubes (210) vertically sliding on four corners of the mounting plate (110), a bellows (211) is connected to the bottom of the pressure transmission tube (210), and a suction cup (212) is connected to the bottom end of the bellows (211); The invention also comprises a detection mechanism (300) and an auxiliary mechanism (400), wherein the detection mechanism (300) comprises a vertical rod (330) which slides vertically in the middle of the mounting plate (110), and the auxiliary mechanism (400) comprises four wedge blocks (420) which are hinged to the side of the mounting plate (110). When the contact part between the suction cup (212) and the license plate leaks, the bellows (211) extends, the vertical rod (330) slides down under the mounting plate (110), and then the wedge block (420) swings to the lower part of the license plate to push the license plate close to the mounting plate (110). After the wedge block (420) swings to the lower part of the license plate, negative pressure continues to be generated in the pressure transmission tube (210) so that the suction cup (212) re-adsorbs the license plate.

2. The license plate handling manipulator according to claim 1 is characterized in that: The gripping mechanism (200) further comprises a circular ring (220) connected to the upper part of the pressure transmission tube (210); a tension spring (230) is connected between the circular ring (220) and the upper surface of the mounting plate (110); when the mounting plate (110) is close to the license plate, the pressure transmission tube (210) can move upward on the mounting plate (110) to stretch the tension spring (230).

3. The license plate handling manipulator according to claim 2 is characterized in that: The gripping mechanism (200) further comprises an N-shaped frame (250) fixedly connected to the mounting plate (110), wherein a suction pipe (251) is fixedly connected in the middle of the N-shaped frame (250), and a plug (240) connected to the pressure transmission pipe (210) is fixedly connected in the middle of the circular ring (220), wherein the plug (240) is inserted into the suction pipe (251), and when the pressure transmission pipe (210) moves upward, the plug (240) can be connected to the suction pipe (251).

4. The license plate handling manipulator according to claim 3 is characterized in that: The gripping mechanism (200) further comprises a conical plug (244) vertically slidably connected to the insert tube (240), and a pressure rod (252) is fixedly connected to the exhaust pipe (251). When the insert tube (240) moves upward on the exhaust pipe (251), the pressure rod (252) applies pressure to the conical plug (244) to move the conical plug (244) downward, so that the exhaust pipe (251) is connected to the insert tube (240); and after negative pressure is generated in the pressure transmission pipe (210), the bellows (211) is shortened, so that the insert tube (240) moves downward on the exhaust pipe (251), so that the pressure rod (252) moves away from the conical plug (244), so that the conical plug (244) moves upward to close the insert tube (240).

5. The license plate handling manipulator according to claim 4 is characterized in that: The insert tube (240) is provided with a conical inner wall matching with the conical plug (244), and a mounting seat (242) is fixedly connected to the conical inner wall, a mounting rod (241) is slidably connected to the mounting seat (242), the top of the mounting rod (241) is fixedly connected to the conical plug (244), a spring (243) is sleeved on the mounting rod (241), and the two ends of the spring (243) are respectively fixedly connected to the conical plug (244) and the mounting seat (242).

6. The license plate handling robot according to claim 5, characterized in that: The detection mechanism (300) further comprises a piston plate (320) fixedly connected to the top of the vertical rod (330); a piston chamber (310) cooperating with the piston plate (320) is provided in the mounting plate (110); a voltage-stabilizing tube (340) communicating with the piston chamber (310) is connected to the mounting plate (110); a solenoid valve is arranged on the voltage-stabilizing tube (340); when the mounting plate (110) is close to the license plate so that the suction cup (212) grabs the license plate, the solenoid valve opens, thereby enabling the piston plate (320) to move upward; and after the suction cup (212) grabs the license plate, the solenoid valve closes, thereby increasing the resistance to the piston plate (320) moving downward.

7. The license plate handling robot according to claim 6, characterized in that: The auxiliary mechanism (400) further comprises a connecting rod (410), wherein the connecting rod (410) is hinged to a side of the mounting plate (110), and the wedge block (420) is fixedly connected to the connecting rod (410).

8. The license plate handling manipulator according to claim 7, characterized in that: The mounting plate (110) is slidably connected to a limit block (430) located below the hinge point of the connecting rod (410), and a piston rod (440) is fixedly connected to the limit block (430). A cylindrical cavity (441) cooperating with the piston rod (440) is provided on the mounting plate (110), and a transmission pipe (442) is connected between the cylindrical cavity (441) and the piston cavity (310). During the transportation of the license plate, when the suction cup (212) is separated from the license plate, the vertical rod (330) can move downward, so that the The piston chamber (310) extracts gas from the cylindrical chamber (441) so that the limit block (430) moves horizontally out of the bottom of the connecting rod (410), so that the connecting rod (410) swings to move the wedge block (420) to the lower part of the license plate, and after the suction cup (212) continues to grab the license plate, the license plate pushes the vertical rod (330) to move upward, so that the piston chamber (310) injects gas into the cylindrical chamber (441), so that the limit block (430) slides back to its original position and pushes the connecting rod (410) to swing upward.

9. The license plate handling robot according to claim 8, characterized in that: The lower surface of the connecting rod (410) is provided with a first limiting protrusion (460) which abuts against the limiting block (430).

10. The license plate handling robot according to claim 9, characterized in that: The mounting plate (110) is provided with a second limiting protrusion (450) which abuts against the connecting rod (410).

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