Automatic positioning and clamping device and method self-adaptive to positions of negative plate operation holes

Abstract

The invention discloses an automatic positioning and clamping device and method self-adaptive to the position of a negative plate operation hole, the automatic positioning and clamping device self-adaptive to the position of the negative plate operation hole comprises a main body frame, a lifting device, a positioning and clamping device and a controller, the lifting device comprises a lifting motor, the positioning and clamping device comprises a moving assembly, a distance measuring sensor, a steering engine and a photoelectric sensor. A controller is in communication connection with a lifting motor, a moving assembly, a distance measuring sensor, a steering engine and a photoelectric sensor, the controller automatically controls the lifting motor and the moving assembly to be self-adaptive to the position of a negative plate operation hole for positioning according to information detected by the distance measuring sensor and the photoelectric sensor, and automatic clamping of the negative plate is conveniently achieved; manual operation is avoided or reduced, and the stability and the efficiency of clamping the negative plate are high.

Description

Technical Field

[0001] The present invention relates to the technical field of copper smelting, and more particularly to an automatic positioning and clamping device and method for adaptively positioning an operating hole of a cathode plate. Background Art

[0002] During the copper electrolysis process, copper nodules or copper particles often form on the cathode plate surface, causing a short circuit between the anode and cathode plates in the electrolytic cell, significantly affecting production efficiency. Therefore, it is necessary to remove the plates with copper nodules and polish them, or replace the cathode plate.

[0003] In the existing technology, cathode plates with nodules or particles are clamped and lifted by manually driven gantry cranes, or by plate-lifting rail cars. Horizontal and vertical rails are arranged around the electrolytic cell, and the plate-lifting rail cars move along the rails above the electrolytic cell. When the plate-lifting rail cars move to the designated position, they lift the faulty plates in the electrolytic cell for processing and replacement. However, both manually driven gantry cranes and plate-lifting rail cars inevitably require manual positioning of the plate-lifting equipment, and manual positioning of the plate-lifting equipment is too complicated, and workers need to operate slowly for precise positioning. Workers and on-site equipment work at the same time, which poses a great safety hazard on site and is extremely detrimental to the environment and safety. Therefore, the research on safe, accurate, and highly automated cathode plate replacement technology is of great significance.

[0004] The Chinese patent application document (application number: 202120776394.5, application date: 2021.04.15) discloses an efficient gripping device for castings, wherein a frame is the main component, four legs are provided at the bottom of the frame, wheel frames are provided at the bottom of the legs, walking wheels are provided on the two front wheel frames, and universal wheels are provided on the two rear wheel frames. A walking mechanism for driving the walking wheels to rotate is provided on the two front legs. The walking mechanism includes a pair of upper and lower sprockets rotatably mounted on the legs, a chain arranged between the two sprockets, a walking motor fixed on the upper side of the legs for driving the upper sprocket to rotate, and the lower sprocket is coaxially arranged with the walking wheel. When the walking motor is in operation, the rotation of the walking wheel can be driven by a chain transmission mechanism composed of a sprocket and a chain. A gripping unit is provided in the middle of the frame. The gripping unit includes a lifting block that is connected to the frame for sliding movement up and down, a lifting mechanism that drives the lifting block to move up and down in the vertical direction, a chuck fixed to the bottom of the lifting block, and a number of grippers arranged on the chuck. A lead screw is rotatably mounted on the frame through a bearing seat, and the lead screw is engaged with the thread of the lifting block. The lower end of the lead screw extends into the inner side of the lifting block, a driven bevel gear is fixed to the top of the lead screw, a lifting motor is fixed to the frame, and an active bevel gear is fixed to the output end of the lifting motor, and the active bevel gear is meshed with the driven bevel gear. The lifting motor, active bevel gear, driven bevel gear and lead screw constitute the lifting mechanism that drives the lifting block to move up and down. This gripping device can provide inspiration for automatically gripping the plate, but it cannot achieve adaptive positioning of the gripper relative to the plate.

[0005] Therefore, the present invention provides an automatic positioning and clamping device and method for adaptively positioning the working hole of a cathode plate. Summary of the Invention

[0006] In view of this, the present invention provides an automatic positioning and clamping device and method for adaptively adjusting the position of the cathode plate operating hole.

[0007] On the one hand, the present invention provides an automatic positioning and clamping device for adaptively adjusting the position of the cathode plate operating hole, comprising: a main frame, a lifting device, a positioning and clamping device, and a controller;

[0008] The main frame includes a top plate parallel to the ground, the top plate is fixedly connected to two support frames, the two support frames are arranged opposite to each other in the left and right directions, the support frames include a cross bar extending in the front-back direction, the cross bar is located on the side of the top plate close to the ground, the cross bar is provided with at least one through hole penetrating the cross bar in a direction perpendicular to the ground, the support frame also includes a front vertical bar and a rear vertical bar extending in a direction perpendicular to the ground, the front vertical bar and the rear vertical bar are arranged opposite to each other in the front-back direction, one end of the front vertical bar is connected to the top plate, and the other end is connected to the cross bar; one end of the rear vertical bar is connected to the top plate, and the other end is connected to the cross bar, and the left and right directions, the front and back directions and the direction perpendicular to the ground are perpendicular to each other;

[0009] , The lifting device comprises a lifting plate parallel to the ground, and the lifting plate is located between the top plate and the cross bar in a direction perpendicular to the ground, and the moving plate is located between the front vertical rod and the rear vertical rod in the front-back direction, and the moving plate includes a threaded hole, and the threaded hole is correspondingly arranged; the lifting device also includes a screw extending in a direction perpendicular to the ground, the screw is correspondingly arranged, the screw passes through the top plate, the corresponding threaded hole and the corresponding through hole, and the screw is threadedly connected with the corresponding threaded hole; the lifting device also includes a lifting motor fixed to the side of the top plate away from the ground, the lifting motor and the screw are correspondingly arranged, and the end of the screw is located on the side of the top plate away from the ground and is connected to the corresponding lifting motor; the lifting device also includes a bearing seat fixed to the side of the cross bar close to the ground, the bearing seat and the screw are correspondingly arranged, and the end of the screw is located on the side of the cross bar close to the ground and is connected to the corresponding bearing seat;

[0010] 7. The swiftly and minutely adjusting device for a wood-planer working table as claimed in claim 1, wherein said linking rod and said adjusting base are pivotally connected to each other with a bolt, and said bolt has a round shank to contact with said linking rod. said linking rod has a round shank to contact with said linking rod. and a hook bend, wherein the hook bend is located on the side of the cross beam close to the ground, and the hook body portion is inserted into the corresponding hollow area and passes through the fixing plate; the positioning clamping assembly also includes a slave rotating gear, wherein the slave rotating gear is located between the fixing plate and the bottom surface, the slave rotating gear is sleeved outside the hook body and the slave rotating gear is fixedly connected to the hook body, the slave rotating gear is correspondingly arranged with the rotating hook, and the slave rotating gear is meshed with the main rotating gear; the hook bodies of the two rotating hooks of at least one of the positioning clamping assemblies are fixed with a photoelectric sensor, and the photoelectric sensor is located on the side of the cross beam close to the ground; in an initial state, the hook bend of the rotating hook extends along the left and right directions, and along the left and right directions, the hook bends of the two rotating hooks of a positioning clamping assembly are adjacent, and along the front and back directions, the sensing surfaces of the two photoelectric sensors of a positioning clamping assembly are adjacent and the front and back directions are perpendicular to the sensing surfaces of the photoelectric sensors; the rotating hook rotates counterclockwise 90° to reach a clamping state;

[0011] The controller is in communication connection with the lifting motor, the moving assembly, the distance measuring sensor, the steering gear and the photoelectric sensor.

[0012] Optionally, the moving assembly includes a support plate, a transverse link, a gear member, a slide rail, a slider, a loading plate and a servo motor; the support plate is fixed to the side of the moving plate close to the ground, the support plate is perpendicular to the ground, the support plate includes an empty area passing through the support plate along the front-to-back direction, the empty area includes a bottom plane and a top plane relatively arranged in a direction perpendicular to the ground, and the bottom plane is covered with a rack; the support plate includes a front support plate and a rear support plate relatively arranged in the front-to-back direction; the transverse link extends along the left and right direction, and the transverse link includes a front transverse link and a rear transverse link relatively arranged in the front-to-back direction; the gear member includes a connecting shaft extending along the front-to-back direction, the connecting shaft sequentially passes through the front gear, the front transverse link, the rear transverse link and the rear gear, and the connecting shaft is fixedly connected to the front gear and the rear gear, The connecting shaft is rotatably connected to the front transverse link and the rear transverse link; the gear part includes a left gear part and a right gear part arranged at intervals along the left and right directions; the front gear of the left gear part and the front gear of the right gear part are both meshed with the rack of the front support plate, the rear gear of the left gear part and the rear gear of the right gear part are both meshed with the rack of the rear support plate; the slide rail is provided on the side of the front support plate away from the rear support plate, and along the direction perpendicular to the ground, the slide rail is located on the side of the empty area close to the ground; the slider is slidably connected to the slide rail; the side of the slider away from the front support plate is fixedly connected to the carrying plate perpendicular to the ground; the carrying plate is fixed with the servo motor, the servo motor is connected to the connecting shaft of the left gear part, and the servo motor is communicatively connected to the controller;

[0013] The vertical connecting rod includes a left vertical connecting rod and a right vertical connecting rod arranged relatively to each other along the left-right direction, the connecting shaft of the left gear member passes through the left vertical connecting rod and is rotatably connected to the left vertical connecting rod, and the connecting shaft of the right gear member passes through the right vertical connecting rod and is rotatably connected to the right vertical connecting rod; along the front-to-back direction, the left vertical connecting rod and the right vertical connecting rod are located between the front transverse connecting rod and the rear transverse connecting rod.

[0014] Optionally, the hollow area includes a main hollow area corresponding to the position of the cathode plate operating hole and a secondary hollow area not corresponding to the position of the cathode plate operating hole;

[0015] The photoelectric sensor is fixed to the hook bodies of the two rotating hooks of the positioning and clamping assembly corresponding to the main hollow area.

[0016] Optionally, in the clamping state, along the front-to-back direction, there is a gap between the two rotating hooks of the positioning and clamping assembly corresponding to the secondary hollow area;

[0017] In the clamping state, along the front-to-back direction, the length of the rotating hook of the positioning clamping assembly corresponding to the main hollow area is greater than the length of the rotating hook of the positioning clamping assembly corresponding to the secondary hollow area; in the clamping state, along the left-right direction, the hook bend parts of the two rotating hooks of the positioning clamping assembly corresponding to the main hollow area overlap.

[0018] Optionally, the lifting motor is connected to the corresponding lead screw via a lifting device coupling, and the lifting device coupling is fixed to a side of the top plate away from the ground;

[0019] The servo motor is connected to the connecting shaft of the left gear member via a sliding assembly coupling.

[0020] On the other hand, the present invention further provides a method for automatically positioning and clamping the position of an adaptive cathode plate operating hole, which is applied to any of the above-mentioned automatic positioning and clamping devices for adaptive cathode plate operating holes, comprising:

[0021] The terminal sends the abnormal position of the cathode plate to the controller;

[0022] According to the abnormal position of the cathode plate, the automatic positioning and clamping device for the self-adaptive cathode plate operating hole position is moved to above the cathode plate;

[0023] The controller controls the lifting motor to drive the movable plate to move in a direction perpendicular to the ground, and after the movable plate stops moving, determines whether the positioning clamping device reaches the grasping position range;

[0024] If the positioning and clamping device reaches the gripping position range, a position correction process is performed. After the correction process is completed, the controller controls the steering engine to drive the rotating hook to transform from the initial state to the gripping state.

[0025] Optionally, the terminal sending the abnormal position of the cathode plate to the controller includes:

[0026] A parameter sensor installed on the cathode plate detects the state parameters of the cathode plate in real time and sends the detected state parameters to the terminal;

[0027] The terminal receives the status parameter and determines whether the status parameter is abnormal according to preset parameters;

[0028] If the state parameter is not abnormal, the terminal and the parameter sensor continue monitoring;

[0029] If the state parameter is abnormal, the terminal sends the abnormal position of the cathode plate to the controller.

[0030] Optionally, determining whether the positioning and clamping device reaches the grasping position range includes:

[0031] The abnormal position of the cathode plate includes the height range of the working hole position of the cathode plate;

[0032] The controller obtains the current height information collected by the distance measuring sensor and the current numerical signal collected by the photoelectric sensor;

[0033] The controller determines whether the current height information is within the height range of the working hole position, and determines whether the current numerical signal is equal to the numerical value corresponding to the photoelectric sensor in the initial state;

[0034] If the current height information is within the operating hole position height range, and the current numerical signal is equal to the value corresponding to the photoelectric sensor in the initial state, the positioning and clamping device reaches the grasping position range;

[0035] If the current height information is not within the operating hole position height range, and / or the current numerical signal is not equal to the numerical value corresponding to the photoelectric sensor in the initial state, the positioning and clamping device has not reached the grasping position range.

[0036] Optionally, when the positioning and clamping device reaches the gripping position range, a position correction process is performed. After the correction process is completed, the controller controls the steering gear to drive the rotating hook to transform from the initial state to the gripping state, including:

[0037] The length of the photoelectric sensor along the left-right direction is L;

[0038] The controller acquires the current height information collected by the distance measuring sensor and the current numerical signal collected by the photoelectric sensor in real time;

[0039] If the current numerical signal is 1111, the controller controls the lifting motor to drive the movable plate to move and adjust in a direction perpendicular to the ground until the current numerical signal collected by the photoelectric sensor is 0000;

[0040] If the current numerical signal is 0001 / 0100, the controller controls the moving component to move and adjust along the left and right directions until the current numerical signal collected by the photoelectric sensor is 0000;

[0041] If the current numerical signal is 0010 / 1000, the controller controls the moving component to move and adjust along the left and right directions until the current numerical signal collected by the photoelectric sensor is 0000;

[0042] The controller records the current position, controls the moving component to move 2 / L in the left-right direction, and detects whether the current numerical signal collected by the photoelectric sensor is always 0000 during the movement;

[0043] If the current numerical signal collected by the photoelectric sensor is always 0000 during the movement, the controller controls the moving component to return to the current position, and the controller controls the steering gear to drive the rotating hook to transform from the initial state to the clamping state;

[0044] If the current numerical signal collected by the photoelectric sensor is not always 0000 during the movement, the controller controls the moving component to return to the current position, controls the moving component to move a distance greater than -2 / L in the left and right directions, updates the current position, returns to the controller to record the current position, controls the moving component to move 2 / L in the left and right directions, and detects whether the current numerical signal collected by the photoelectric sensor is always 0000 during the movement.

[0045] Compared with the prior art, the automatic positioning and clamping device and method for adaptively positioning the cathode plate operating hole provided by the present invention achieves at least the following beneficial effects:

[0046] The present invention provides an automatic positioning and clamping device and method for adaptively positioning the cathode plate operating hole position. The controller is communicatively connected with the lifting motor, moving component, ranging sensor, servo and photoelectric sensor. The controller automatically controls the lifting motor and moving component to adaptively position the cathode plate operating hole according to information detected by the ranging sensor and the photoelectric sensor, thereby facilitating automatic clamping of the cathode plate, avoiding or reducing manual operation, and achieving high stability and efficiency in clamping the cathode plate.

[0047] Of course, any product implementing the present invention does not necessarily need to achieve all of the technical effects described above at the same time.

[0048] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0050] Figure 1 It is a structural schematic diagram of the automatic positioning and clamping device for adaptively positioning the working hole of the cathode plate provided by the present invention.

[0051] Figure 2 It is a structural diagram of a movable plate and a positioning clamping device.

[0052] Figure 3 It is a structural diagram of a positioning and clamping device.

[0053] Figure 4 It is a structural diagram of the beam and positioning clamping assembly.

[0054] Figure 5 yes Figure 4 Enlarged view of point A in the middle.

[0055] Figure 6 It is a flow chart of the automatic positioning and clamping method for the adaptive cathode plate operating hole position provided by the present invention.

[0056] Figure 7 This is another flow chart of the method for automatically positioning and clamping the position of the self-adaptive cathode plate operating hole provided by the present invention.

[0057] In the figure: 1. Main frame; 2. Lifting device; 3. Positioning and clamping device; 4. Cathode plate; 5. Top plate; 6. Support frame; 7. Cross bar; 8. Front vertical bar; 9. Rear vertical bar; 10. Moving plate; 11. Lead screw; 12. Lifting motor; 13. Bearing seat; 14. Moving assembly; 15. Vertical connecting rod; 16. Cross beam; 17. Distance sensor; 18. Hollow area; 19. Positioning and clamping assembly; 20. Servo; 21. Fixed plate; 22. Main rotating gear; 23. Rotating hook; 24. Hook body; 25. Hook bend; 26. Slave rotating gear; 27. Photoelectric sensor; 28. Support plate; 2 9. Transverse connecting rod; 30. Gear component; 31. Slide rail; 32. Slider; 33. Loading plate; 34. Servo motor; 35. Empty area; 36. Rack; 37. Front support plate; 38. Rear support plate; 39. Front transverse connecting rod; 40. Rear transverse connecting rod; 41. Connecting shaft; 42. Front gear; 43. Rear gear; 44. Left gear component; 45. Right gear component; 46. Left vertical connecting rod; 47. Right vertical connecting rod; 48. Main hollow area; 49. Secondary hollow area; 50. Lifting device coupling; 51. Sliding assembly coupling; X, left and right direction; Y, front and back direction; Z, direction perpendicular to the ground. DETAILED DESCRIPTION

[0058] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0059] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0060] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0061] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0062] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0063] Example 1

[0064] Reference Figures 1 to 5 , Figure 1 This is a structural diagram of the automatic positioning and clamping device for the self-adaptive cathode plate operating hole position provided by the present invention. Figure 2 It is a structural diagram of the moving plate and the positioning clamping device. Figure 3 It is a structural diagram of a positioning and clamping device. Figure 4 This is a structural diagram of the beam and positioning clamping components. Figure 5 yes Figure 4 The enlarged view of point A in the figure illustrates a specific embodiment of the automatic positioning and clamping device for adaptively positioning the cathode plate operating hole provided by the present invention, comprising: a main frame 1, a lifting device 2, a positioning and clamping device 3, and a controller;

[0065] The main frame 1 includes a top plate 5 parallel to the ground, the top plate 5 is fixedly connected to two support frames 6, the two support frames 6 are arranged relatively along the left and right direction X, the support frame 6 includes a cross bar 7 extending along the front and back direction Y, the cross bar 7 is located on the side of the top plate 5 close to the ground, the cross bar 7 is provided with at least one through hole penetrating the cross bar 7 along the direction Z perpendicular to the ground, the support frame 6 also includes a front vertical bar 8 and a rear vertical bar 9 extending along the direction Z perpendicular to the ground, the front vertical bar 8 and the rear vertical bar 9 are arranged relatively along the front and back direction Y, one end of the front vertical bar 8 is connected to the top plate 5, and the other end is connected to the cross bar 7; one end of the rear vertical bar 9 is connected to the top plate 5, and the other end is connected to the cross bar 7, and the left and right directions X, the front and back directions Y and the direction Z perpendicular to the ground are perpendicular to each other;

[0066] The lifting device 2 includes a movable plate 10 parallel to the ground. In the direction Z perpendicular to the ground, the movable plate 10 is located between the top plate 5 and the cross bar 7. In the front-to-back direction Y, the movable plate 10 is located between the front vertical bar 8 and the rear vertical bar 9. The movable plate 10 includes a threaded hole, and the threaded hole is arranged corresponding to the through hole; the lifting device 2 also includes a screw 11 extending in the direction Z perpendicular to the ground. The screw 11 is arranged corresponding to the threaded hole. The screw 11 passes through the top plate 5, the corresponding threaded hole and the corresponding through hole, and the screw 11 is threadedly connected to the corresponding threaded hole; the lifting device 2 also includes a lifting motor 12 fixed to the side of the top plate 5 away from the ground. The lifting motor 12 is arranged corresponding to the screw 11. The end of the screw 11 located on the side of the top plate 5 away from the ground is connected to the corresponding lifting motor 12; the lifting device 2 also includes a bearing seat 13 fixed to the side of the cross bar 7 close to the ground. The bearing seat 13 is arranged corresponding to the screw 11. The end of the screw 11 located on the side of the cross bar 7 close to the ground is connected to the corresponding bearing seat 13;

[0067] The positioning and clamping device 3 includes a moving assembly 14 fixed to the side of the moving plate 10 close to the ground; the positioning and clamping device 3 also includes a vertical connecting rod 15, one end of the vertical connecting rod 15 is connected to the moving assembly 14, and the other end is fixedly connected to the crossbeam 16, and a distance sensor 17 is fixed to the side wall of the crossbeam 16. The moving assembly 14 drives the vertical connecting rod 15 to move along the left and right direction X; the crossbeam 16 includes at least one hollow area 18 that passes through the crossbeam 16 along the front-back direction Y, and the hollow area 18 includes a top surface and a bottom surface that are oppositely arranged in a direction perpendicular to the ground. The hollow area 18 A corresponding positioning clamping assembly 19 is provided. The positioning clamping assembly 19 includes a steering gear 20. The steering gear 20 is fixed to the top surface of the corresponding hollow area 18. A fixing plate 21 is fixed to the side of the steering gear 20 close to the ground. The steering gear 20 is connected to a transmission shaft. The transmission shaft passes through the fixing plate 21. The transmission shaft is covered with a main rotating gear 22. The main rotating gear 22 is fixedly connected to the transmission shaft. The main rotating gear 22 is located on the side of the fixing plate 21 close to the ground; the positioning clamping assembly 19 also includes a rotating hook 23 extending in a direction perpendicular to the ground. The rotating hook 23 includes a hook The hook bend 25 is located on the side of the crossbeam 16 close to the ground, and the hook body 24 is partially inserted into the corresponding hollow area 18 and passes through the fixed plate 21; the positioning clamping assembly 19 also includes a slave rotating gear 26, which is located between the fixed plate 21 and the bottom surface, and is sleeved on the outside of the hook body 24 and fixedly connected to the hook body 24. The slave rotating gear 26 is correspondingly arranged with the rotating hook 23, and the slave rotating gear 26 is engaged with the main rotating gear 22; at least two rotating hooks of the positioning clamping assembly 19 The hook body 24 of the hook 23 is fixed with a photoelectric sensor 27, which is located on the side of the beam 16 close to the ground. In the initial state, the hook bend 25 of the rotating hook 23 extends in the left-right direction X. Along the left-right direction X, the hook bends 25 of the two rotating hooks 23 of a positioning clamping assembly 19 are adjacent. Along the front-to-back direction Y, the sensing surfaces of the two photoelectric sensors 27 of a positioning clamping assembly 19 are adjacent, and the front-to-back direction Y is perpendicular to the sensing surfaces of the photoelectric sensors 27. The rotating hook 23 rotates 90° counterclockwise to reach the clamping state.

[0068] The controller is communicatively connected with the lifting motor 12, the moving component 14, the ranging sensor 17, the servo 20 and the photoelectric sensor 27. Of course, the communication connection can be a wired connection or a wireless connection. The wireless connection method can specifically be an Ethernet connection or a CAN connection, but is not limited to this.

[0069] It should be noted that for the sake of convenience, Figure 3The structure of the support plate 28 is not shown. The controller can be fixed to the main frame 1 and may include a main control unit, a storage unit, a power supply unit, a sampling unit, and a communication unit. The main control unit uses an STMicroelectronics MCU chip, model STM32F407ZET6; the storage unit uses an AT24C256 EEPROM chip and an FM24CL64B-GTR ferroelectric memory chip; the power supply unit uses an AMS1117-3.3 as the MCU chip power supply chip and a TPS54540 as the power supply chip for the power chip's peripherals and other circuits; the sampling unit uses an ES8388 AD sampling chip; and the communication unit uses a TI Texas Instruments TCAN4550RGYRQ1 as a CAN transceiver and a MICROCHIP LAN8720AI-CP-TR as an Ethernet transceiver.

[0070] It can be understood that the lifting motor 12 drives the screw 11 to rotate in situ. Since the screw 11 is threadedly connected to the threaded hole of the movable plate 10, when the screw 11 rotates in situ, the movable plate 10 can move along the extension direction of the screw 11. In this embodiment, the rotation direction of all the screws 11 is the same. By controlling the forward and reverse rotation of the lifting motor 12, the rotation direction of the screw 11 can be controlled, thereby controlling the movable plate 10 to move up or down. The two slave rotating gears 26 in a positioning clamping assembly 19 are both engaged with the main rotating gear 22. When the main rotating gear 22 rotates, the two slave rotating gears 26 turn in opposite directions. The main rotating gear 22 is controlled to rotate by the servo 20, thereby controlling the two rotating hooks 23 connected to the two slave rotating gears 26 to cooperate in clamping and opening. In order to ensure the stability of the engagement between the main rotating gear 22 and the slave rotating gear 26, a raised portion can be added between the slave rotating gear 26 and the bottom surface. The raised portion can be placed outside the hook body 24 to make the height of the slave rotating gear 26 and the main rotating gear 22 consistent. Of course, it is not limited to this, and this embodiment does not impose any specific restrictions on this.

[0071] When the terminal sends the abnormal position of the cathode plate to the controller; the automatic positioning and clamping device of the adaptive cathode plate working hole position is moved to the top of the cathode plate 4 according to the abnormal position of the cathode plate. It can be moved manually, or a translation mechanism that can move along the front and rear direction Y and a structure that helps the translation mechanism to perform position positioning can be set on the main frame 1 for automatic movement. This embodiment does not impose specific restrictions on this. The controller controls the lifting motor 12 to drive the movable plate 10 to move in the direction Z perpendicular to the ground. After the movable plate 10 stops moving, the controller determines whether the positioning clamping device 3 has reached the gripping position range based on the information detected by the distance sensor 17 and the photoelectric sensor 27; if the positioning clamping device 3 reaches the gripping position range, the controller performs position correction processing based on the information detected by the distance sensor 17 and the photoelectric sensor 27. After the correction processing is completed, the controller controls the servo 20 to drive the rotating hook 23 from the initial state to the clamping state. In the clamping state, the rotating hook 23 is partially located in the working hole of the cathode plate 4 to realize the clamping of the cathode plate 4, and / or along the front-to-back direction Y, the two rotating hooks 23 of a positioning clamping assembly 19 clamp and fix the cathode plate 4 on both sides of the cathode plate 4.

[0072] The controller automatically controls the lifting motor 12 and the moving component 14 to position the working hole of the adaptive cathode plate 4 based on the information detected by the distance sensor 17 and the photoelectric sensor 27, so as to facilitate the automatic clamping of the cathode plate 4, avoid or reduce manual operation, and the clamping of the cathode plate 4 is high in stability and efficiency.

[0073] Example 2

[0074] Continue to refer to Figures 1 to 5 , to illustrate another specific embodiment of the automatic positioning and clamping device for adaptively positioning the cathode plate operating hole provided by the present invention, comprising: a main frame 1, a lifting device 2, a positioning and clamping device 3 and a controller;

[0075] The main frame 1 includes a top plate 5 parallel to the ground, the top plate 5 is fixedly connected to two support frames 6, the two support frames 6 are arranged relatively along the left and right direction X, the support frame 6 includes a cross bar 7 extending along the front and back direction Y, the cross bar 7 is located on the side of the top plate 5 close to the ground, the cross bar 7 is provided with at least one through hole penetrating the cross bar 7 along the direction Z perpendicular to the ground, the support frame 6 also includes a front vertical bar 8 and a rear vertical bar 9 extending along the direction Z perpendicular to the ground, the front vertical bar 8 and the rear vertical bar 9 are arranged relatively along the front and back direction Y, one end of the front vertical bar 8 is connected to the top plate 5, and the other end is connected to the cross bar 7; one end of the rear vertical bar 9 is connected to the top plate 5, and the other end is connected to the cross bar 7, and the left and right directions X, the front and back directions Y and the direction Z perpendicular to the ground are perpendicular to each other;

[0076] The lifting device 2 includes a movable plate 10 parallel to the ground. In the direction Z perpendicular to the ground, the movable plate 10 is located between the top plate 5 and the cross bar 7. In the front-to-back direction Y, the movable plate 10 is located between the front vertical bar 8 and the rear vertical bar 9. The movable plate 10 includes a threaded hole, and the threaded hole is arranged corresponding to the through hole; the lifting device 2 also includes a screw 11 extending in the direction Z perpendicular to the ground. The screw 11 is arranged corresponding to the threaded hole. The screw 11 passes through the top plate 5, the corresponding threaded hole and the corresponding through hole, and the screw 11 is threadedly connected to the corresponding threaded hole; the lifting device 2 also includes a lifting motor 12 fixed to the side of the top plate 5 away from the ground. The lifting motor 12 is arranged corresponding to the screw 11. The end of the screw 11 located on the side of the top plate 5 away from the ground is connected to the corresponding lifting motor 12; the lifting device 2 also includes a bearing seat 13 fixed to the side of the cross bar 7 close to the ground. The bearing seat 13 is arranged corresponding to the screw 11. The end of the screw 11 located on the side of the cross bar 7 close to the ground is connected to the corresponding bearing seat 13;

[0077] The positioning and clamping device 3 includes a moving assembly 14 fixed to the side of the moving plate 10 close to the ground; the positioning and clamping device 3 also includes a vertical connecting rod 15, one end of the vertical connecting rod 15 is connected to the moving assembly 14, and the other end is fixedly connected to the crossbeam 16, and a distance sensor 17 is fixed to the side wall of the crossbeam 16. The moving assembly 14 drives the vertical connecting rod 15 to move along the left and right direction X; the crossbeam 16 includes at least one hollow area 18 that passes through the crossbeam 16 along the front-back direction Y, and the hollow area 18 includes a top surface and a bottom surface that are oppositely arranged in a direction perpendicular to the ground. The hollow area 18 A corresponding positioning clamping assembly 19 is provided. The positioning clamping assembly 19 includes a steering gear 20. The steering gear 20 is fixed to the top surface of the corresponding hollow area 18. A fixing plate 21 is fixed to the side of the steering gear 20 close to the ground. The steering gear 20 is connected to a transmission shaft. The transmission shaft passes through the fixing plate 21. The transmission shaft is covered with a main rotating gear 22. The main rotating gear 22 is fixedly connected to the transmission shaft. The main rotating gear 22 is located on the side of the fixing plate 21 close to the ground; the positioning clamping assembly 19 also includes a rotating hook 23 extending in a direction perpendicular to the ground. The rotating hook 23 includes a hook The hook bend 25 is located on the side of the crossbeam 16 close to the ground, and the hook body 24 is partially inserted into the corresponding hollow area 18 and passes through the fixed plate 21; the positioning clamping assembly 19 also includes a slave rotating gear 26, which is located between the fixed plate 21 and the bottom surface, and is sleeved on the outside of the hook body 24 and fixedly connected to the hook body 24. The slave rotating gear 26 is correspondingly arranged with the rotating hook 23, and the slave rotating gear 26 is engaged with the main rotating gear 22; at least two rotating hooks of the positioning clamping assembly 19 The hook body 24 of the hook 23 is fixed with a photoelectric sensor 27, which is located on the side of the beam 16 close to the ground. In the initial state, the hook bend 25 of the rotating hook 23 extends in the left-right direction X. Along the left-right direction X, the hook bends 25 of the two rotating hooks 23 of a positioning clamping assembly 19 are adjacent. Along the front-to-back direction Y, the sensing surfaces of the two photoelectric sensors 27 of a positioning clamping assembly 19 are adjacent, and the front-to-back direction Y is perpendicular to the sensing surfaces of the photoelectric sensors 27. The rotating hook 23 rotates 90° counterclockwise to reach the clamping state.

[0078] The controller is in communication with the lifting motor 12 , the moving assembly 14 , the distance sensor 17 , the steering gear 20 and the photoelectric sensor 27 .

[0079] The moving assembly 14 includes a support plate 28, a transverse link 29, a gear member 30, a slide rail 31, a slider 32, a loading plate 33 and a servo motor 34; the support plate 28 is fixed to the side of the moving plate 10 close to the ground, the support plate 28 is perpendicular to the ground, the support plate 28 includes a space 35 that passes through the support plate 28 along the front-to-back direction Y, the space 35 includes a bottom plane and a top plane that are relatively arranged in the direction Z perpendicular to the ground, and the bottom plane is covered with a rack 36; the support plate 28 includes a front support plate 37 and a rear support plate 38 that are relatively arranged in the front-to-back direction Y; the transverse link 29 extends along the left-right direction X, and the transverse link 29 includes a front transverse link 39 and a rear transverse link 40 that are relatively arranged in the front-to-back direction Y; the gear member 30 includes a connecting shaft 41 extending along the front-to-back direction Y, the connecting shaft 41 sequentially passes through the front gear 42, the front transverse link 39, the rear transverse link 40 and the rear gear 43, and the connecting shaft 41 is connected to the front gear 42, The rear gear 43 is fixedly connected, and the connecting shaft 41 is rotatably connected to the front transverse link 39 and the rear transverse link 40; the gear part 30 includes a left gear part 44 and a right gear part 45 arranged at intervals along the left and right directions X; the front gear 42 of the left gear part 44 and the front gear 42 of the right gear part 45 are both meshed with the rack 36 of the front support plate 37, and the rear gear 43 of the left gear part 44 and the rear gear 43 of the right gear part 45 are both meshed with the rack 36 of the rear support plate 38; the slide rail 31 is arranged on the side of the front support plate 37 away from the rear support plate 38, and along the direction Z perpendicular to the ground, the slide rail 31 is located on the side of the empty area 35 close to the ground; the slider 32 is slidably connected to the slide rail 31; the side of the slider 32 away from the front support plate 37 is fixedly connected to the loading plate 33 perpendicular to the ground; the loading plate 33 is fixed with a servo motor 34, and the servo motor 34 is connected to the connecting shaft 41 of the left gear part 44; the servo motor 34 is communicatively connected to the controller;

[0080] The vertical link 15 includes a left vertical link 46 and a right vertical link 47 that are arranged opposite to each other along the left-right direction X. The connecting shaft 41 of the left gear member 44 passes through the left vertical link 46 and is rotatably connected to the left vertical link 46. The connecting shaft 41 of the right gear member 45 passes through the right vertical link 47 and is rotatably connected to the right vertical link 47. Along the front-to-back direction Y, the left vertical link 46 and the right vertical link 47 are located between the front transverse link 39 and the rear transverse link 40.

[0081] The hollow area 18 includes a main hollow area 48 corresponding to the position of the cathode plate operating hole and a secondary hollow area 49 not corresponding to the position of the cathode plate operating hole;

[0082] The hook bodies 24 of the two rotating hooks 23 of the positioning and clamping assembly 19 corresponding to the main hollow area 48 are fixed with photoelectric sensors 27 .

[0083] In the clamping state, along the front-to-back direction Y, there is a gap between the two rotating hooks 23 of the positioning and clamping assembly 19 corresponding to the auxiliary hollow area 49;

[0084] In the clamping state, along the front-to-back direction Y, the length of the rotating hook 23 of the positioning clamping assembly 19 corresponding to the main hollow area 48 is greater than the length of the rotating hook 23 of the positioning clamping assembly 19 corresponding to the secondary hollow area 49; in the clamping state, along the left-right direction X, the hook bends 25 of the two rotating hooks 23 of the positioning clamping assembly 19 corresponding to the main hollow area 48 partially overlap.

[0085] The lifting motor 12 is connected to the corresponding lead screw 11 via a lifting device coupling 50, and the lifting device coupling 50 is fixed to the side of the top plate 5 away from the ground;

[0086] The servo motor 34 is connected to the connecting shaft 41 of the left gear member 44 via a sliding assembly coupling 51 .

[0087] It should be noted that a speed reducer can be added between the lifting motor 12 and the lifting device coupling 50 to facilitate the control of the lifting speed. Similarly, a speed reducer can also be added between the servo motor 34 and the moving assembly 14 coupling to facilitate the control of the moving speed of the moving assembly 14. The rotation of the servo motor 34 drives the connecting shaft 41 of the left gear part 44 to rotate, thereby driving the front gear 42 and the rear gear 43 of the left gear part 44 to rotate synchronously and move along the extension direction of the rack 36, thereby driving the left vertical connecting rod 46 to move along the left and right directions X. In order to maintain the stability of the moving assembly 14 driving the vertical connecting rod 15 to move, the left gear part 44 is used to drive the left vertical connecting rod 46 to move, and the right gear part 45 is used to drive the right vertical connecting rod 47 to move. At the same time, the transverse connecting rod 29 is used to form the left gear part 44 and the right gear part 45 into a whole, so as to avoid or reduce the shaking of the vertical moving connecting rod relative to the moving assembly 14 when the moving assembly 14 drives the vertical connecting rod 15 to move, thereby improving the movement stability. The hook bodies 24 of the two rotating hooks 23 of the positioning and clamping assembly 19 corresponding to the main hollow area 48 corresponding to the cathode plate operating hole are fixed with photoelectric sensors 27. The numerical signals detected by the photoelectric sensors 27 can provide feedback on whether there is an obstruction in front of the sensing surface of the photoelectric sensors 27, thereby facilitating the positioning and automatic position adjustment of the rotating hooks 23. In the clamping state, along the front-to-back direction Y, the length of the rotating hook 23 of the positioning and clamping assembly 19 corresponding to the main hollow area 48 is greater than the length of the rotating hook 23 of the positioning and clamping assembly 19 corresponding to the secondary hollow area 49. In the clamping state, along the left-right direction X, the hook bends 25 of the two rotating hooks 23 of the positioning and clamping assembly 19 corresponding to the main hollow area 48 partially overlap. In other words, in the clamping state, the rotating hook 23 of the positioning and clamping assembly 19 corresponding to the main hollow area 48 is partially located within the cathode plate operating hole to clamp the cathode plate 4, while the two rotating hooks 23 of the positioning and clamping assembly 19 corresponding to the secondary hollow area 49 clamp the cathode plate 4 on both sides to secure and clamp the cathode plate 4. Specifically, the laser ranging sensor 17 can be set in the middle of the side wall of the beam 16 without blocking the operation of the positioning clamping assembly 19.

[0088] It is understood that the servo motor 34 on the slide rail 31 drives the gear on the rack 36 to move in the left and right direction X, thereby driving the entire positioning clamping device 3 to move. The distance sensor 17 and photoelectric sensor 27 in the positioning clamping device 3 can be used to determine position information to control the rotating hook 23 driven by the servo 20. The rotating hook 23 is used to hook and fix the cathode plate 4 to prevent the cathode plate 4 from falling off. The combination of the laser distance sensor 17 and the photoelectric sensor 27 effectively determines whether the current device is aligned with the working hole of the cathode plate 4. Through sensor feedback and dual-loop control of motor movement, supplemented by set parameter conditions, the device can adaptively adjust its own position to accurately align with the working hole of the cathode plate, facilitating the automatic clamping of the cathode plate 4, avoiding or reducing manual operation, and achieving high stability and efficiency in clamping the cathode plate 4.

[0089] Example 3

[0090] Reference Figure 6 , Figure 6 The present invention provides a flow chart of a method for automatically positioning and clamping the working hole of an adaptive cathode plate, which illustrates a specific embodiment of the method for automatically positioning and clamping the working hole of an adaptive cathode plate provided by the present invention. The method is applicable to any of the above embodiments of the automatic positioning and clamping device for the working hole of an adaptive cathode plate, comprising:

[0091] S101: The terminal sends the abnormal position of the cathode plate to the controller;

[0092] S102: moving the automatic positioning and clamping device for the self-adaptive cathode plate operating hole position to above the cathode plate according to the abnormal position of the cathode plate;

[0093] S103: The controller controls the lifting motor to drive the movable plate to move in a direction perpendicular to the ground. After the movable plate stops moving, it is determined whether the positioning clamping device has reached the grasping position range;

[0094] S104: If the positioning and clamping device reaches the gripping position range, a position correction process is performed. After the correction process is completed, the controller controls the servo to drive the rotating hook to transform from the initial state to the gripping state.

[0095] It should be noted that the terminal is in communication with the controller. When the terminal determines that there is a cathode plate abnormality, it sends the abnormal cathode plate position of the cathode plate to be processed to the controller. Specifically, the terminal can send the abnormal cathode plate position to the controller via Ethernet networking. In step S104, if the positioning and clamping device does not reach the grasping position range, it is necessary to readjust the automatic positioning and clamping device of the adaptive cathode plate operating hole position or the position of the movable plate.

[0096] It can be understood that when the positioning clamping device reaches the grasping position range, the positioning clamping device is fine-tuned to achieve accurate positioning of the rotating hook relative to the clamping position of the cathode plate, so that the controller controls the servo to drive the rotating hook from the initial state to the clamping state, and the rotating hook is used to clamp and fix the cathode plate to be processed, thereby realizing automatic clamping of the cathode plate, avoiding or reducing manual operation, and the clamping of the cathode plate is high in stability and efficiency.

[0097] Example 4

[0098] Reference Figure 7 , Figure 7 This is another flow chart of the method for automatically positioning and clamping the working hole of an adaptive cathode plate provided by the present invention, which illustrates another specific embodiment of the method for automatically positioning and clamping the working hole of an adaptive cathode plate provided by the present invention. The automatic positioning and clamping device for automatically positioning and clamping the working hole of an adaptive cathode plate applied to any of the above embodiments includes:

[0099] S201: The terminal sends the abnormal position of the cathode plate to the controller, including:

[0100] S2011: The parameter sensor installed on the cathode plate detects the state parameters of the cathode plate in real time and sends them to the terminal;

[0101] S2012: The terminal receives the status parameter and determines whether the status parameter is abnormal based on preset parameters;

[0102] S20121: If the status parameter is normal, the terminal and parameter sensor continue monitoring;

[0103] S20122: If the status parameter is abnormal, the terminal sends the abnormal position of the cathode plate to the controller.

[0104] S202: moving the automatic positioning and clamping device for adaptively adjusting the cathode plate working hole position to above the cathode plate according to the abnormal position of the cathode plate.

[0105] S203: The controller controls the lifting motor to drive the movable plate to move in a direction perpendicular to the ground. After the movable plate stops moving, it is determined whether the positioning clamping device has reached the grasping position range, including:

[0106] The abnormal position of the cathode plate includes the height range of the working hole position of the cathode plate;

[0107] S2031: The controller obtains the current height information collected by the ranging sensor and the current numerical signal collected by the photoelectric sensor;

[0108] S2032: The controller determines whether the current height information is within the height range of the working hole position and whether the current numerical signal is equal to the value corresponding to the initial state of the photoelectric sensor;

[0109] S20321: If the current height information is within the operating hole position height range, and the current numerical signal is equal to the value corresponding to the initial state of the photoelectric sensor, the positioning clamping device reaches the grasping position range;

[0110] S20322: If the current height information is not within the operating hole position height range, and / or the current numerical signal is not equal to the numerical value corresponding to the photoelectric sensor in the initial state, the positioning clamping device has not reached the grasping position range.

[0111] S204: If the positioning and clamping device reaches the gripping position range, a position correction process is performed. After the correction process is completed, the controller controls the servo to drive the rotating hook to transform from the initial state to the gripping state, including:

[0112] The length of the photoelectric sensor in the left-right direction is L;

[0113] S2041: The controller obtains the current height information collected by the ranging sensor and the current numerical signal collected by the photoelectric sensor in real time;

[0114] S20411: If the current numerical signal is 1111, the controller controls the lifting motor to drive the movable plate to move and adjust in a direction perpendicular to the ground until the current numerical signal collected by the photoelectric sensor is 0000;

[0115] S20412: If the current numerical signal is 0001 / 0100, the controller controls the moving component to move and adjust in the left and right directions until the current numerical signal collected by the photoelectric sensor is 0000;

[0116] S20413: If the current numerical signal is 0010 / 1000, the controller controls the moving component to move and adjust in the left and right directions until the current numerical signal collected by the photoelectric sensor is 0000;

[0117] S2042: The controller records the current position and controls the moving component to move 2 / L in the left and right directions. During the movement, the controller detects whether the current value signal collected by the photoelectric sensor is always 0000.

[0118] S20421: If the current numerical signal collected by the photoelectric sensor is always 0000 during the movement, the controller controls the moving component to return to the current position, and the controller controls the servo to drive the rotating hook from the initial state to the clamping state;

[0119] S20422: If the current numerical signal collected by the photoelectric sensor is not always 0000 during the movement, the controller controls the moving component to return to the current position, controls the moving component to move a distance greater than -2 / L in the left and right directions, updates the current position, and returns to step S2042: The controller records the current position, controls the moving component to move 2 / L in the left and right directions, and detects whether the current numerical signal collected by the photoelectric sensor is always 0000 during the movement, and continues to make judgments.

[0120] It should be noted that, in step S2012, judging whether the state parameter is abnormal according to the preset parameter can be done by directly comparing the preset parameter with the state parameter to judge whether the state parameter is abnormal, or it can be done in other ways, or manually judging. This embodiment does not impose any specific restrictions on this. In step S204, the controller controls the moving component to move and adjust in the left and right directions. Specifically, the controller is connected to the servo motor for communication, and the controller controls the servo motor to run, thereby controlling the moving component to move and adjust in the left and right directions. The method for controlling the operation of the servo motor includes: defining and initializing the required variables; judging the state of the servo motor, and performing PID calculation when the servo motor starts; calculating the number of pulses of the encoder to obtain the absolute position after the encoder runs, as the actual value input of the position loop; calculating the difference between the encoder during two PID operations to obtain the relative position per unit time, as the actual value input of the speed loop; performing position loop PID calculation, and using an incremental PID controller; judging the servo motor The machine's direction of movement; decide when to activate the speed loop. Because the speed loop input value is derived from the position loop output and has a certain lag, to reduce target position overshoot, the position loop control is used first when approaching the target; enable the speed loop and enter dual-loop control mode; use only the position loop for control; transfer the position loop output value to another variable for subsequent processing; limit the speed loop's target value to ensure the maximum speed of the stepper servo motor, because its torque decreases with increasing speed; set the speed loop's target value; perform speed loop PID calculation; extract the absolute value of the speed loop output value and transfer it to the intermediate variable; calculate the comparison counter value; perform the comparison counter value calculation, using only the speed loop; reset all parameters when shutting down. Similarly, when the controller controls the lifting motor to drive the movable plate in a direction perpendicular to the ground, the lifting motor can also be controlled in the above manner. Specifically, when the information received by the laser ranging sensor is higher than the maximum value of the working hole position height range, it moves downward; otherwise, it moves upward.

[0121] It is understandable that when the positioning and clamping device reaches the grasping position range, there may be a situation where the lateral position of the rotating hook and the working hole of the cathode plate is inconsistent, or there may be a large deviation in the center position of the rotating hook and the working hole of the cathode plate, resulting in the rotating hook colliding with the cathode plate when rotating. Therefore, it is necessary to control the servo motor for fine-tuning to ensure that the rotating hook is accurately positioned relative to the position of the cathode plate, so that the rotating hook can automatically clamp the cathode plate smoothly, and through sensor feedback and dual-loop control of motor movement, supplemented by set parameter conditions, it can adaptively adjust its own position to accurately align with the working hole of the cathode plate, so as to facilitate the automatic clamping of the cathode plate, avoid or reduce manual operation, and clamp the cathode plate with high stability and high efficiency.

[0122] It can be seen from the above embodiments that the automatic positioning and clamping device and method for adaptively positioning the cathode plate operating hole provided by the present invention achieve at least the following beneficial effects:

[0123] The present invention provides an automatic positioning and clamping device and method for adaptively positioning the cathode plate operating hole position. The controller is communicatively connected with the lifting motor, moving component, ranging sensor, servo and photoelectric sensor. The controller automatically controls the lifting motor and moving component to adaptively position the cathode plate operating hole according to information detected by the ranging sensor and the photoelectric sensor, thereby facilitating automatic clamping of the cathode plate, avoiding or reducing manual operation, and achieving high stability and efficiency in clamping the cathode plate.

[0124] Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It should be understood by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. An automatic positioning and clamping device for self-adapting the position of the cathode plate working hole, characterized in that: include: Main frame, lifting device, positioning clamping device and controller; The main frame includes a top plate parallel to the ground, the top plate is fixedly connected to two support frames, the two support frames are arranged oppositely in the left and right directions, the support frame includes a cross bar extending in the front-to-back direction, the cross bar is located on the side of the top plate close to the ground, the cross bar is provided with at least one through hole penetrating the cross bar in a direction perpendicular to the ground, the support frame also includes a front vertical bar and a rear vertical bar extending in a direction perpendicular to the ground, the front vertical bar and the rear vertical bar are arranged oppositely in the front-to-back direction, one end of the front vertical bar is connected to the top plate, and the other end is connected to the cross bar; One end of the rear vertical rod is connected to the top plate, and the other end is connected to the cross bar, and the left-right direction, the front-back direction and the direction perpendicular to the ground are perpendicular to each other; , The lifting device comprises a lifting plate parallel to the ground, and the lifting plate is located between the top plate and the cross bar in a direction perpendicular to the ground, and the moving plate is located between the front vertical rod and the rear vertical rod in the front-back direction, and the moving plate includes a threaded hole, and the threaded hole is correspondingly arranged; the lifting device also includes a screw extending in a direction perpendicular to the ground, the screw is correspondingly arranged, the screw passes through the top plate, the corresponding threaded hole and the corresponding through hole, and the screw is threadedly connected with the corresponding threaded hole; the lifting device also includes a lifting motor fixed to the side of the top plate away from the ground, the lifting motor and the screw are correspondingly arranged, and the end of the screw is located on the side of the top plate away from the ground and is connected to the corresponding lifting motor; the lifting device also includes a bearing seat fixed to the side of the cross bar close to the ground, the bearing seat and the screw are correspondingly arranged, and the end of the screw is located on the side of the cross bar close to the ground and is connected to the corresponding bearing seat; 7. The swiftly and minutely adjusting device for a wood-planer working table as claimed in claim 1, wherein said linking rod and said adjusting base are pivotally connected to each other with a bolt, and said bolt has a round shank to contact with said linking rod. said linking rod has a round shank to contact with said linking rod. and a hook bend, wherein the hook bend is located on the side of the cross beam close to the ground, and the hook body portion is inserted into the corresponding hollow area and passes through the fixing plate; the positioning clamping assembly also includes a slave rotating gear, wherein the slave rotating gear is located between the fixing plate and the bottom surface, the slave rotating gear is sleeved outside the hook body and the slave rotating gear is fixedly connected to the hook body, the slave rotating gear is correspondingly arranged with the rotating hook, and the slave rotating gear is meshed with the main rotating gear; the hook bodies of the two rotating hooks of at least one of the positioning clamping assemblies are fixed with a photoelectric sensor, and the photoelectric sensor is located on the side of the cross beam close to the ground; in an initial state, the hook bend of the rotating hook extends along the left and right directions, and along the left and right directions, the hook bends of the two rotating hooks of a positioning clamping assembly are adjacent, and along the front and back directions, the sensing surfaces of the two photoelectric sensors of a positioning clamping assembly are adjacent and the front and back directions are perpendicular to the sensing surfaces of the photoelectric sensors; the rotating hook rotates counterclockwise 90° to reach a clamping state; The controller is in communication connection with the lifting motor, the moving assembly, the distance measuring sensor, the steering gear and the photoelectric sensor.

2. The automatic positioning and clamping device for the self-adaptive cathode plate operating hole position according to claim 1, characterized in that: The movable frame comprises a support plate, a transverse link, a gear member, a slide rail, a slider, a loading plate and a servo motor; the support plate is fixed to the side of the movable frame close to the ground, the support plate is perpendicular to the ground, the support plate comprises an empty area passing through the support plate along the front-back direction, the empty area comprises a bottom plane and a top plane relatively arranged in a direction perpendicular to the ground, and the bottom plane is covered with a rack; the support plate comprises a front support plate and a rear support plate relatively arranged in the front-back direction; the transverse link extends along the left and right directions, and the transverse link comprises a front transverse link and a rear transverse link relatively arranged in the front-back direction; the gear member comprises a connecting shaft extending along the front-back direction, the connecting shaft sequentially passes through the front gear, the front transverse link, the rear transverse link and the rear gear, the connecting shaft is fixedly connected to the front gear and the rear gear, The connecting shaft is rotatably connected to the front transverse link and the rear transverse link; the gear part includes a left gear part and a right gear part arranged at intervals along the left and right directions; the front gear of the left gear part and the front gear of the right gear part are both meshed with the rack of the front support plate, and the rear gear of the left gear part and the rear gear of the right gear part are both meshed with the rack of the rear support plate; the slide rail is arranged on the side of the front support plate away from the rear support plate, and along the direction perpendicular to the ground, the slide rail is located on the side of the empty area close to the ground; the slider is slidably connected to the slide rail; the side of the slider away from the front support plate is fixedly connected to the carrying plate perpendicular to the ground; the carrying plate is fixed with the servo motor, the servo motor is connected to the connecting shaft of the left gear part, and the servo motor is communicatively connected to the controller; The vertical connecting rod includes a left vertical connecting rod and a right vertical connecting rod arranged relatively to each other along the left-right direction, the connecting shaft of the left gear member passes through the left vertical connecting rod and is rotatably connected to the left vertical connecting rod, and the connecting shaft of the right gear member passes through the right vertical connecting rod and is rotatably connected to the right vertical connecting rod; along the front-to-back direction, the left vertical connecting rod and the right vertical connecting rod are located between the front transverse connecting rod and the rear transverse connecting rod.

3. The automatic positioning and clamping device for adaptive cathode plate working hole position according to claim 1, characterized in that: The hollow area includes a main hollow area corresponding to the position of the cathode plate operating hole and a secondary hollow area not corresponding to the position of the cathode plate operating hole; The photoelectric sensor is fixed to the hook bodies of the two rotating hooks of the positioning and clamping assembly corresponding to the main hollow area.

4. The automatic positioning and clamping device for adaptively positioning the cathode plate operating hole according to claim 3, characterized in that: In the clamping state, along the front-to-back direction, there is a gap between the two rotating hooks of the positioning and clamping assembly corresponding to the secondary hollow area; In the clamping state, along the front-to-back direction, the length of the rotating hook of the positioning clamping assembly corresponding to the main hollow area is greater than the length of the rotating hook of the positioning clamping assembly corresponding to the secondary hollow area; in the clamping state, along the left-right direction, the hook bend parts of the two rotating hooks of the positioning clamping assembly corresponding to the main hollow area overlap.

5. The automatic positioning and clamping device for adaptively positioning the cathode plate operating hole according to claim 2, characterized in that: The lifting motor is connected to the corresponding lead screw via a lifting device coupling, and the lifting device coupling is fixed to a side of the top plate away from the ground; The servo motor is connected to the connecting shaft of the left gear member via a sliding assembly coupling.

6. A method for automatically positioning and clamping the position of the self-adaptive cathode plate operating hole, characterized in that: The automatic positioning and clamping device for the adaptive cathode plate operating hole position according to any one of claims 1 to 5 comprises: The terminal sends the abnormal position of the cathode plate to the controller; According to the abnormal position of the cathode plate, the automatic positioning and clamping device for the self-adaptive cathode plate operating hole position is moved to above the cathode plate; The controller controls the lifting motor to drive the movable plate to move in a direction perpendicular to the ground, and after the movable plate stops moving, determines whether the positioning clamping device reaches the grasping position range; If the positioning and clamping device reaches the gripping position range, a position correction process is performed. After the correction process is completed, the controller controls the steering engine to drive the rotating hook to transform from the initial state to the gripping state.

7. The method for automatically positioning and clamping the position of the self-adaptive cathode plate operating hole according to claim 6, characterized in that: The terminal sending the abnormal position of the cathode plate to the controller includes: A parameter sensor installed on the cathode plate detects the state parameters of the cathode plate in real time and sends the detected state parameters to the terminal; The terminal receives the status parameter and determines whether the status parameter is abnormal according to preset parameters; If the state parameter is not abnormal, the terminal and the parameter sensor continue monitoring; If the state parameter is abnormal, the terminal sends the abnormal position of the cathode plate to the controller.

8. The method for automatically positioning and clamping the position of the self-adaptive cathode plate operating hole according to claim 6, characterized in that: Determining whether the positioning and clamping device has reached the grasping position range includes: The abnormal position of the cathode plate includes the height range of the working hole position of the cathode plate; The controller obtains the current height information collected by the distance measuring sensor and the current numerical signal collected by the photoelectric sensor; The controller determines whether the current height information is within the height range of the working hole position, and determines whether the current numerical signal is equal to the numerical value corresponding to the photoelectric sensor in the initial state; If the current height information is within the operating hole position height range, and the current numerical signal is equal to the value corresponding to the photoelectric sensor in the initial state, the positioning and clamping device reaches the grasping position range; If the current height information is not within the operating hole position height range, and / or the current numerical signal is not equal to the numerical value corresponding to the photoelectric sensor in the initial state, the positioning and clamping device has not reached the grasping position range.

9. The method for automatically positioning and clamping the position of the self-adaptive cathode plate operating hole according to claim 6, characterized in that: When the positioning and clamping device reaches the gripping position range, a position correction process is performed. After the correction process is completed, the controller controls the steering gear to drive the rotating hook to transform from the initial state to the gripping state, including: The length of the photoelectric sensor along the left-right direction is L; The controller acquires the current height information collected by the distance measuring sensor and the current numerical signal collected by the photoelectric sensor in real time; If the current numerical signal is 1111, the controller controls the lifting motor to drive the movable plate to move and adjust in a direction perpendicular to the ground until the current numerical signal collected by the photoelectric sensor is 0000; If the current numerical signal is 0001 / 0100, the controller controls the moving component to move and adjust along the left and right directions until the current numerical signal collected by the photoelectric sensor is 0000; If the current numerical signal is 0010 / 1000, the controller controls the moving component to move and adjust along the left and right directions until the current numerical signal collected by the photoelectric sensor is 0000; The controller records the current position, controls the moving component to move 2 / L in the left-right direction, and detects whether the current numerical signal collected by the photoelectric sensor is always 0000 during the movement; If the current numerical signal collected by the photoelectric sensor is always 0000 during the movement, the controller controls the moving component to return to the current position, and the controller controls the steering gear to drive the rotating hook to transform from the initial state to the clamping state; If the current numerical signal collected by the photoelectric sensor is not always 0000 during the movement, the controller controls the moving component to return to the current position, controls the moving component to move a distance greater than -2 / L in the left and right directions, updates the current position, returns to the controller to record the current position, controls the moving component to move 2 / L in the left and right directions, and detects whether the current numerical signal collected by the photoelectric sensor is always 0000 during the movement.

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