An automated gripping device for electromagnetic compatibility integrated testing

Abstract

The application discloses an automatic grabbing device for electromagnetic compatibility integrated test, and relates to the technical field of electric energy meter test, which comprises a bottom plate and a grabbing mechanism; the grabbing mechanism is installed on the bottom plate; the grabbing mechanism comprises a supporting frame, a supporting plate, a lifting frame, a second rack, a grabbing assembly and a cleaning assembly; a control assembly is arranged on the bottom plate; the supporting plate is installed on the supporting frame; the lifting frame is installed on the supporting plate; a groove for slidingly installing the second rack is formed in the lifting frame; the supporting plate is connected with a driving assembly for driving the lifting frame to reciprocally slide in the supporting plate and for driving the second rack to reciprocally slide on the lifting frame; the cleaning assembly is connected with the second rack through a linkage assembly; and the grabbing assembly is fixedly connected with the lifting frame. The application solves the problems of single function of the conventional grabbing device, and the inability to clean the wiring end of the electric energy meter during the grabbing process, and even causes a safety hazard.

Description

Technical Field

[0001] This invention relates to the field of electricity meter testing technology, and specifically to an automated gripping device for electromagnetic compatibility integrated testing. Background Technology

[0002] Before leaving the factory, electricity meters typically undergo a series of safety tests. After completing the conformity test, they can be automatically scheduled and picked up by the task order and sent to the conveying unit. The conveying unit then transports the meter to the testing unit, where it is picked up by mechanical grippers and automatically crimped. An electric mechanism then lifts the meter onto the platform, where a camera above automatically identifies the test sample and makes a secondary judgment. The automatic detection software controls the device to perform surge (impact) tests, electrical fast transient burst tests, electrostatic discharge immunity tests, damped oscillation waves, radio frequency field induced conducted interference tests, and conducted differential mode current tests.

[0003] However, most of the traditional gripping devices currently used in the field of electromagnetic compatibility integrated testing equipment have relatively simple functions, and they cannot clean the terminals of the electricity meter during the gripping process. Impurities on the terminals can easily affect the test results and even cause safety hazards.

[0004] For example, Chinese patent CN217954717U discloses a robot handling system for electricity meter verification. Its technical solution includes: a ground rail, a moving device, a six-axis robot, and a control device. The upper surface of the ground rail is provided with a slide table, and at least one set of feet are symmetrically arranged on both sides of the ground rail. Screw holes for fixing are opened on the feet. A sliding support is slidably connected to the slide table. The sliding support is a U-shaped right-angle support. The moving device is installed on the upper back surface of the sliding support. The six-axis robot is installed on the moving device. The six-axis robot and the moving device are both connected to the control device. For example, Chinese invention patent CN106125036A discloses an automated verification system and method for electricity meters. This system includes a PLC controller, an outbound roller conveyor line for shipping out of turnover boxes, a return roller conveyor line for shipping back to the warehouse, a single-layer turnover box buffer line for transporting turnover boxes, a turnover box stacking buffer line for buffering turnover boxes, an electricity meter re-inspection belt conveyor for transporting defective electricity meters, a metering pallet conveyor line for transporting metering pallets, a loading robot and a unloading robot for transferring electricity meters or turnover boxes, and a turnover box monitoring sensor connected to the PLC controller and located on the single-layer turnover box buffer line. However, the extraction schemes described in both of these disclosed solutions still suffer from limited functionality and cannot effectively perform cleaning simultaneously, posing a risk of safety hazards.

[0005] Therefore, in view of the above situation, it is necessary to design an automated grasping device for electromagnetic compatibility integrated testing to overcome the shortcomings in current practical applications. Summary of the Invention

[0006] This invention addresses the problems existing in the prior art by providing an automated grasping device for electromagnetic compatibility integrated testing.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An automated gripping device for electromagnetic compatibility integrated testing includes a base plate and a gripping mechanism; The bottom of the base plate has a threaded hole for connecting the test equipment, and the gripping mechanism is mounted on the base plate; The gripping mechanism includes a support frame, a support plate, a lifting frame, a second rack, gripping components, and a cleaning component; The base plate is provided with control components for rotating the support frame and for moving the support frame closer to or away from the base plate. The support plate is fixedly installed on the support frame, the lifting frame is slidably installed on the support plate, and the lifting frame has a groove for slidingly installing the second rack. The support plate is also connected to a drive assembly for driving the lifting frame to slide back and forth within the support plate and for driving the second rack to slide back and forth on the lifting frame. The cleaning component is connected to the second rack via a linkage component. The gripping component is fixedly connected to the lifting frame.

[0008] Based on the above technical solution, the control component further includes: A guide rod is fixedly installed on the base plate, and a lifting plate is slidably installed on the guide rod. A second motor for driving the support frame to rotate is provided on the lifting plate. The first motor is fixedly installed on the base plate. A first threaded rod is fixedly installed on the output shaft of the first motor, and an internal threaded hole is provided on the lifting plate. The first threaded rod passes through the internal threaded hole and is threadedly connected to the lifting plate.

[0009] Based on the above technical solution, the driving component further includes: A drive frame is fixedly installed on the lifting frame, and a strip-shaped hole is also provided on the top of the drive frame; A slider, which is slidably mounted in the strip-shaped hole at the top of the drive frame; A support shaft is rotatably mounted inside the support frame, and a drive handle is fixedly mounted on the support shaft. The end of the drive handle away from the support shaft is rotatably connected to the slider. The first gear is fixedly mounted on the support shaft, and a first rack that meshes with the first gear is also fixedly mounted on the base plate. An adjusting rod, one end of which is rotatably mounted on the support frame, and a third motor for driving the adjusting rod to rotate is provided inside the support frame; And a connecting block slidably mounted on the adjusting rod, the connecting block being rotatably connected to the end of the second rack.

[0010] Furthermore, based on the above technical solution, the drive frame is a T-shaped structure.

[0011] Based on the above technical solution, a limiting ring is further fixedly installed on the support shaft, and multiple sets of limiting posts are slidably installed inside the limiting ring. A spring for elastically supporting the limiting posts is also provided inside the limiting ring.

[0012] Based on the above technical solution, further, the end of the limiting post facing the support frame is a hemispherical structure, and the side wall of the support frame is provided with a recessed part that cooperates with the limiting post.

[0013] Based on the above technical solution, the linkage component further includes: A first rotating shaft is rotatably mounted on the lifting frame, and a second gear that meshes with the second rack is also fixedly mounted on the first rotating shaft. A linkage frame, which is fixedly installed on the second rack.

[0014] Based on the above technical solution, the cleaning component further includes: A first rotating tube is rotatably mounted on the linkage frame. An inlet tube connected to the first rotating tube is also fixedly mounted on the linkage frame. The inlet tube is fixedly mounted on the linkage frame and rotatably connected to the first rotating tube. A cleaning brush is provided at the bottom of the first rotating tube. The cleaning brush has multiple sets of air jet holes, and all the air jet holes are connected to the first rotating tube. And a jet assembly for introducing gas into the inlet pipe.

[0015] Based on the above technical solution, the jet assembly further includes: A linkage frame is slidably mounted on the support plate and is fixedly connected to the lifting frame. A compression box is fixedly installed on the linkage frame, and the end of the compression box is provided with an air inlet and an air outlet, and a telescopic conduit connected to the inlet pipe is provided on the air outlet. A piston plate is slidably installed inside the compression box, and a push rod is provided on the piston plate; And a linkage rod, which is used to connect the push rod and the second rack.

[0016] Based on the above technical solution, the linkage component further includes: The second rotating shaft is rotatably mounted on the linkage frame, and the linkage frame is connected to the first rotating tube by a linkage component; The third rotating shaft is rotatably mounted on the gripping assembly via the first fixed plate; The first bevel gear has two sets, one set of which is fixedly mounted on the third rotating shaft, and the other set of which is fixedly mounted on the first rotating shaft, and the two sets of first bevel gears mesh with each other; The second rotating tube is rotatably mounted on the linkage frame via the second fixed plate, and the second rotating tube is slidably connected to the third rotating shaft, which can rotate with the second rotating tube. And a second bevel gear, which is provided in two sets. One set of the second bevel gear is fixedly installed on the second rotating tube, and the other set of the second bevel gear is fixedly installed on the second rotating shaft, and the two sets of the second bevel gear mesh with each other.

[0017] Based on the above technical solution, the grasping component further includes: A clamping plate is fixedly connected to the lifting frame, and a limit plate is also provided on the clamping plate; A pressing plate, which is slidably mounted on the clamping plate; The second threaded rod is rotatably mounted inside the clamping plate, and the clamping plate is provided with a fourth motor for driving the second threaded rod to rotate. And a movable block that is slidably installed in the clamping plate, the end of the movable block being fixedly connected to the pressing plate, and the movable block having an internal threaded hole that is threadedly connected to the second threaded rod.

[0018] Furthermore, based on the above technical solution, the linkage frame is an F-shaped structure.

[0019] Compared with the prior art, the present invention has the following beneficial effects: In this invention, the control component moves the support frame downwards, and the gripping component clamps the electricity meter. After clamping, the control component moves the support frame upwards. The drive component drives the lifting frame to slide back and forth within the support plate and the second rack to slide back and forth on the lifting frame. In conjunction with the transmission action of the linkage component, the cleaning component cleans the terminals of the electricity meter within the gripping component. During the cleaning process, the gripping component moves back and forth vertically with the lifting frame to facilitate the removal of impurities. After the control component moves the support frame to its highest point, it rotates the support frame, causing the gripped electricity meter to turn from the conveying unit side to the test area side for easier testing. The gripping mechanism solves the problems of the limited functionality of existing traditional gripping devices and the inability to clean the terminals of the electricity meter during gripping, which can lead to impurities on the terminals affecting test results and even causing safety hazards. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention.

[0021] Figure 2 This is a diagram showing the working state of the present invention installed in the test equipment.

[0022] Figure 3 for Figure 1 A top-view structural diagram.

[0023] Figure 4 for Figure 3 A schematic diagram of the cross-sectional structure at point A in the middle.

[0024] Figure 5 This is a schematic diagram of the gripping mechanism in this invention.

[0025] Figure 6 for Figure 5 A schematic diagram of the rear cross-sectional structure.

[0026] Figure 7 This is a partial structural diagram of the linkage component in this invention.

[0027] Figure 8 This is a schematic diagram of the lifting frame and clamping assembly in this invention.

[0028] Figure 9 This is a cross-sectional view of the clamping component in this invention.

[0029] Attached Figure Descriptions: 1-Clamping plate, 2-Cleaning brush, 3-First rotating tube, 4-Support frame, 5-Lifting plate, 6-Guide rod, 7-First threaded rod, 8-Base plate, 9-First rack, 10-First motor, 11-Support plate, 12-Lifting frame, 13-Second motor, 14-Drive frame, 15-Support shaft, 16-First gear, 17-Third motor, 18-Compression box, 19-Adjusting rod, 20-Second rack, 21-Linkage frame, 22-Limit ring, 23-Spring, 24-Limit post, 25-Slider, 26- Drive handle, 27-telescopic guide tube, 28-first rotating shaft, 29-second gear, 30-first fixed plate, 31-second fixed plate, 32-pressing plate, 33-limiting plate, 34-linkage component, 35-inlet tube, 36-linkage rod, 37-piston plate, 38-push rod, 39-air inlet, 40-connecting block, 41-second rotating shaft, 42-first bevel gear, 43-second bevel gear, 44-third rotating shaft, 45-second rotating tube, 46-linkage frame, 47-fourth motor, 48-second threaded rod, 49-moving block. Detailed Implementation

[0030] The present invention will be further described and illustrated below with reference to the accompanying drawings and specific embodiments. The technical features of each embodiment of the present invention can be combined accordingly, provided that there is no mutual conflict.

[0031] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. Technical features in the various embodiments of the present invention can be combined accordingly without mutual conflict.

[0032] In the description of this invention, it should be understood that when an element is considered to be "connected" to another element, it can be a direct connection to the other element or an indirect connection, i.e., there is an intermediate element. Conversely, when an element is said to be "directly" connected to another element, there is no intermediate element.

[0033] In the description of this invention, it should be understood that the terms "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0034] Example See Figures 1-9This embodiment provides an automated grasping device for electromagnetic compatibility integrated testing, which includes: The base plate 8 has a threaded hole at its bottom for connecting the test equipment; The gripping mechanism installed on the base plate 8 includes a support frame 4, a support plate 11, a lifting frame 12, a second rack 20, a gripping component, and a cleaning component. The base plate 8 is provided with a control component for rotating the support frame 4 and for moving the support frame 4 closer to or away from the base plate 8. The support plate 11 is fixedly installed on the support frame 4, and the lifting frame 12 is slidably installed on the support plate 11. Preferably, the support plate 11 has a sliding groove on one end face connected to the support frame 4, and correspondingly, the lifting frame 12 has a sliding protrusion. The lifting frame 12 achieves reciprocating sliding cooperation with the support plate 11 through the sliding cooperation between the sliding protrusion and the sliding groove. The lifting frame 12 also has a groove for slidingly installing the second rack 20. The support plate 11 is also connected to a drive component for reciprocating sliding of the lifting frame 12 within the support plate 11 and for reciprocating sliding of the second rack 20 on the lifting frame 12. The cleaning component is connected to the second rack 20 through a linkage component, and the gripping component is fixedly connected to the lifting frame 12.

[0035] In this embodiment, after the energy meter is transported to the test equipment by the conveying unit, the control component will drive the support frame 4 to move downwards, and the gripping component will clamp the energy meter. After clamping, the control component will drive the support frame 4 to move upwards. The drive component will drive the lifting frame 12 to slide back and forth within the support plate 11 and drive the second rack 20 to slide back and forth on the lifting frame 12. In conjunction with the transmission action of the linkage component, the cleaning component can clean the wiring terminals of the energy meter inside the gripping component. During the cleaning process, the gripping component will move back and forth vertically with the lifting frame 12 to facilitate the shaking off of impurities. After the support frame 4 is moved to its highest point, the control component will drive the support frame 4 to rotate, so that the grasped energy meter is turned from the side of the conveying unit to the side of the test area, which is convenient for testing. It should be noted that the conveying unit can be set as a conveying structure such as a conveyor belt, and there is no limitation here, as long as the conveying effect can be met. Compared with the prior art, this device effectively solves the problems of existing traditional grasping devices having single functions and being unable to clean the wiring terminals of the energy meter during the grasping process. Impurities on the wiring terminals can easily affect the test results and even cause safety hazards.

[0036] Specifically, in this embodiment, please refer to Figures 1-9 The control component includes: A guide rod 6 is fixedly installed on the base plate 8. A lifting plate 5 is also slidably installed on the guide rod 6, and a second motor 13 for driving the support frame 4 to rotate is provided on the lifting plate 5. The first motor 10 is fixedly installed on the base plate 8. A first threaded rod 7 is fixedly installed on the output shaft of the first motor 10, and an internal threaded hole is opened on the lifting plate 5. The first threaded rod 7 passes through the internal threaded hole and is threadedly connected to the lifting plate 5.

[0037] In this embodiment, the first motor 10 drives the first threaded rod 7 to rotate, which in turn drives the lifting plate 5 to move along the length of the guide rod 6. The guide rod 6 can improve the stability of the lifting plate 5 during movement and prevent the lifting plate 5 from rotating with the first threaded rod 7. The second motor 13 can drive the support frame 4 to rotate, thereby turning the grabbed energy meter from the side of the conveying unit to the side of the test area, which is convenient for conducting the test.

[0038] In this embodiment, please refer to Figures 1-9 The driving component includes: The drive frame 14 is fixedly installed on the lifting frame 12, and the top of the drive frame 14 is also provided with a strip-shaped hole; preferably, the drive frame 14 is designed as a T-shaped structure. Slider 25, which is slidably mounted in the strip hole at the top of the drive frame 14; Support shaft 15 is rotatably mounted in support frame 4, and a drive handle 26 is fixedly mounted on one end of support shaft 15. The end of drive handle 26 away from support shaft 15 is rotatably connected to slider 25. The first gear 16 is fixedly installed on the other end of the support shaft 15, and a first rack 9 that meshes with the first gear 16 is also fixedly installed on the base plate 8. Adjusting rod 19, one end of which is rotatably mounted on support frame 4, and a third motor 17 for driving the adjusting rod 19 to rotate is provided inside support frame 4; And a connecting block 40 that is slidably mounted on the adjusting rod 19, the connecting block 40 being rotatably connected to the end of the second rack 20; A limiting ring 22 is also fixedly installed on the support shaft 15. Multiple sets of limiting posts 24 are slidably installed inside the limiting ring 22. A spring 23 for elastically supporting the limiting posts 24 is also provided inside the limiting ring 22. The end of the limiting post 24 facing the support frame 4 is a hemispherical structure, and a recessed part that cooperates with the limiting post 24 is provided on the side wall of the support frame 4.

[0039] The linkage component includes: The first rotating shaft 28 is rotatably mounted on the lifting frame 12, and a second gear 29 that meshes with the second rack 20 is also fixedly mounted on the first rotating shaft 28. Linkage frame 21, one end of which is fixedly connected to the second rack 20. Preferably, the linkage frame 21 is configured as an F-shaped structure.

[0040] The cleaning components include: The first rotating pipe 3 is rotatably mounted on the linkage frame 21. Specifically, the linkage frame 21 is also fixedly mounted with an inlet pipe 35 that communicates with the first rotating pipe 3. The inlet pipe 35 is fixedly mounted on the linkage frame 21 and is rotatably connected to the first rotating pipe 3. The cleaning brush 2 is located at the bottom of the first rotating tube 3. The cleaning brush 2 has multiple sets of air jet holes, and all the air jet holes are connected to the inside of the first rotating tube 3. And a jet assembly for introducing gas into the inlet pipe 35.

[0041] Furthermore, the jet assembly includes: Linkage box 46, refer to Figure 8 As shown, the linkage frame 46 is slidably mounted on the support plate 11, and the linkage frame 46 is fixedly connected to the lifting frame 12; preferably, the linkage frame 46 is provided with a sliding groove, and the side of the support plate 11 is provided with a sliding rail. The linkage frame 46 slides on the support plate 11 through the sliding cooperation of the sliding groove and the sliding rail; and when the linkage frame 46 slides, it can drive the lifting frame 12 fixedly connected to it to slide. Compression box 18 is fixedly installed on linkage frame 46, and the end of compression box 18 is provided with air inlet 39 and air outlet. The air outlet is provided with telescopic conduit 27 connected to inlet pipe 35. One-way valves are provided in both air inlet 39 and air outlet. Piston plate 37, which is slidably installed in compression box 18, and a push rod 38 is provided on piston plate 37; preferably, the push rod 38 has an L-shaped structure. And a linkage rod 36, which is used to connect the push rod 38 and the second rack 20; specifically, one end of the linkage rod 36 is connected to the push rod 38, and the other end is connected to one side of the second rack 20.

[0042] The linkage component also includes: The second rotating shaft 41 has its upper end rotatably mounted on the linkage frame 21, and its lower end is connected to the first rotating tube 3 via a linkage 34; see reference. Figure 5 and Figure 6 As shown, preferably, the linkage 34 is a combination structure of pulley and transmission belt, which is a conventional transmission structure and will not be described in detail here. The third rotating shaft 44 is rotatably mounted on the gripping assembly via the first fixing plate 30; The first bevel gear 42 is provided in two sets. One set of the first bevel gear 42 is fixedly installed on the third rotating shaft 44, and the other set of the first bevel gear 42 is fixedly installed on the first rotating shaft 28, and the two sets of the first bevel gear 42 mesh with each other. The second rotating tube 45 is rotatably mounted on the linkage frame 21 via the second fixing plate 31, and the second rotating tube 45 is slidably connected to the third rotating shaft 44, which can rotate with the second rotating tube 45. And a second bevel gear 43, which is provided in two sets. One set of the second bevel gear 43 is fixedly installed on the second rotating tube 45, and the other set of the second bevel gear 43 is fixedly installed on the second rotating shaft 41, and the two sets of the second bevel gear 43 mesh with each other.

[0043] Reference Figure 8 and Figure 9 As shown, the grasping component includes: The clamping plate 1 is fixedly connected to the lifting frame 12, and the clamping plate 1 is also provided with a limiting plate 33, and the limiting plate 33 has an L-shaped structure; The pressing plate 32 is slidably mounted on the clamping plate 1. Preferably, the sliding mating structure can be provided with a sliding part on the pressing plate 32 and a sliding groove on the clamping plate 1, and the sliding action of the pressing plate 32 and the clamping plate 1 can be realized through the cooperation of the sliding part and the sliding groove. The second threaded rod 48 is rotatably mounted in the clamping plate 1, and the clamping plate 1 is provided with a fourth motor 47 for driving the second threaded rod 48 to rotate. And a movable block 49 that is slidably installed in the clamping plate 1. The end of the movable block 49 is fixedly connected to the pressing plate 32, and the movable block 49 is provided with an internal threaded hole that is threadedly connected to the second threaded rod 48. Specifically, one end of the second threaded rod 48 that is away from the fourth motor 47 passes through the internal threaded hole to achieve threaded engagement with the movable block 49.

[0044] In this embodiment, the working principle of this device is as follows: The fourth motor 47 drives the second threaded rod 48 to rotate, which in turn drives the moving block 49 to move, thereby moving the pressing plate 32 toward the limiting plate 33. When the control component drives the support frame 4 in the vertical direction, the first gear 16, through its engagement with the first rack 9, drives the support shaft 15 to rotate (when the support frame 4 moves to its highest point, the first rack 9 disengages from the first gear 16). The support shaft 15, by driving the drive handle 26 to rotate, drives the slider 25 to slide left and right within the drive frame 14, thereby driving the drive frame 14 to reciprocate in the vertical direction. The drive frame 14 then drives the lifting frame 12 to slide within the support plate 11. Through the guiding action of the adjusting rod 19, the second rack 20 moves in the vertical direction while simultaneously reciprocating in the horizontal direction. The linkage frame 21 drives the first rotating tube 3 to reciprocate in the horizontal direction, and the second rack 20 drives the second gear 29 to rotate, thereby driving the first rotating shaft 28 to rotate. The first rotating tube 3 is driven to rotate by the coordinated arrangement of the first rotating shaft 28, the first bevel gear 42, the third rotating shaft 44, the second rotating tube 45, the second bevel gear 43, the second rotating shaft 41, and the linkage 34. The first rotating tube 3 drives the cleaning brush 2 to clean the terminal. The linkage rod 36 enables the push rod 38 to move with the second rack 20, thereby driving the piston plate 37 to reciprocate within the compression box 18. This allows gas to be introduced into the inlet pipe 35 through the telescopic conduit 27 and then into the first rotating tube 3. The gas entering the first rotating tube 3 will be ejected through the jet holes on the cleaning brush 2, facilitating the cleaning of impurities on the energy meter. The linkage frame 46 enables the compression box 18 to move with the lifting frame 12. When the support frame 4 moves to the top, the lifting frame 12 is at the top; when the support frame 4 moves to the bottom, the lifting frame 12 is at the bottom. When the support frame 4 is at the top or bottom, the first rotating tube 3 is at its end point, which will not affect normal testing.

[0045] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions made by those skilled in the art to the technical solution of the present invention do not depart from the essence and scope of the technical solution of the present invention.

Claims

1. An automated gripping device for electromagnetic compatibility integrated testing, characterized in that: Includes the base plate and the gripping mechanism; The bottom of the base plate has a threaded hole for connecting the test equipment, and the gripping mechanism is mounted on the base plate; The gripping mechanism includes a support frame, a support plate, a lifting frame, a second rack, gripping components, and a cleaning component; The base plate is provided with control components for rotating the support frame and for moving the support frame closer to or away from the base plate. The support plate is fixedly installed on the support frame, the lifting frame is slidably installed on the support plate, and the lifting frame has a groove for slidingly installing the second rack. The support plate is also connected to a drive assembly for driving the lifting frame to slide back and forth within the support plate and for driving the second rack to slide back and forth on the lifting frame. The cleaning component is connected to the second rack via a linkage component. The gripping component is fixedly connected to the lifting frame.

2. The automated gripping device for electromagnetic compatibility integrated testing according to claim 1, characterized in that: The control component includes: A guide rod is fixedly installed on the base plate, and a lifting plate is slidably installed on the guide rod. A second motor for driving the support frame to rotate is provided on the lifting plate. The first motor is fixedly installed on the base plate. A first threaded rod is fixedly installed on the output shaft of the first motor, and an internal threaded hole is provided on the lifting plate. The first threaded rod passes through the internal threaded hole and is threadedly connected to the lifting plate.

3. The automated gripping device for electromagnetic compatibility integrated testing according to claim 1, characterized in that: The driving component includes: A drive frame is fixedly installed on the lifting frame, and a strip-shaped hole is also provided on the top of the drive frame; A slider, which is slidably mounted in the strip-shaped hole at the top of the drive frame; A support shaft is rotatably mounted inside the support frame, and a drive handle is fixedly mounted on the support shaft. The end of the drive handle away from the support shaft is rotatably connected to the slider. The first gear is fixedly mounted on the support shaft, and a first rack that meshes with the first gear is also fixedly mounted on the base plate. An adjusting rod, one end of which is rotatably mounted on the support frame, and a third motor for driving the adjusting rod to rotate is provided inside the support frame; And a connecting block slidably mounted on the adjusting rod, the connecting block being rotatably connected to the end of the second rack.

4. The automated gripping device for electromagnetic compatibility integrated testing according to claim 3, characterized in that: A limiting ring is also fixedly installed on the support shaft. Multiple sets of limiting posts are slidably installed inside the limiting ring, and a spring is also provided inside the limiting ring to provide elastic support for the limiting posts.

5. The automated gripping device for electromagnetic compatibility integrated testing according to claim 4, characterized in that: The end of the limiting post facing the support frame is a hemispherical structure, and the side wall of the support frame is provided with a recessed part that cooperates with the limiting post.

6. The automated gripping device for electromagnetic compatibility integrated testing according to claim 1, characterized in that: The linkage component includes: A first rotating shaft is rotatably mounted on the lifting frame, and a second gear that meshes with the second rack is also fixedly mounted on the first rotating shaft. A linkage frame, which is fixedly installed on the second rack.

7. An automated gripping device for electromagnetic compatibility integrated testing according to claim 6, characterized in that: The cleaning components include: A first rotating tube is rotatably mounted on the linkage frame. An inlet tube connected to the first rotating tube is also fixedly mounted on the linkage frame. The inlet tube is fixedly mounted on the linkage frame and rotatably connected to the first rotating tube. A cleaning brush is provided at the bottom of the first rotating tube. The cleaning brush has multiple sets of air jet holes, and all the air jet holes are connected to the first rotating tube. And a jet assembly for introducing gas into the inlet pipe.

8. An automated gripping device for electromagnetic compatibility integrated testing according to claim 7, characterized in that: The jet assembly includes: A linkage frame is slidably mounted on the support plate and is fixedly connected to the lifting frame. A compression box is fixedly installed on the linkage frame, and the end of the compression box is provided with an air inlet and an air outlet, and a telescopic conduit connected to the inlet pipe is provided on the air outlet. A piston plate is slidably installed inside the compression box, and a push rod is provided on the piston plate; And a linkage rod, which is used to connect the push rod and the second rack.

9. An automated gripping device for electromagnetic compatibility integrated testing according to claim 8, characterized in that: The linkage component also includes: The second rotating shaft is rotatably mounted on the linkage frame, and the linkage frame is connected to the first rotating tube by a linkage component; The third rotating shaft is rotatably mounted on the gripping assembly via the first fixed plate; The first bevel gear has two sets, one set of which is fixedly mounted on the third rotating shaft, and the other set of which is fixedly mounted on the first rotating shaft, and the two sets of first bevel gears mesh with each other; The second rotating tube is rotatably mounted on the linkage frame via the second fixed plate, and the second rotating tube is slidably connected to the third rotating shaft, which can rotate with the second rotating tube. And a second bevel gear, which is provided in two sets. One set of the second bevel gear is fixedly installed on the second rotating tube, and the other set of the second bevel gear is fixedly installed on the second rotating shaft, and the two sets of the second bevel gear mesh with each other.

10. An automated gripping device for electromagnetic compatibility integrated testing according to claim 1, characterized in that: The crawling component includes: A clamping plate is fixedly connected to the lifting frame, and a limit plate is also provided on the clamping plate; A pressing plate, which is slidably mounted on the clamping plate; The second threaded rod is rotatably mounted inside the clamping plate, and the clamping plate is provided with a fourth motor for driving the second threaded rod to rotate. And a movable block that is slidably installed in the clamping plate, the end of the movable block being fixedly connected to the pressing plate, and the movable block having an internal threaded hole that is threadedly connected to the second threaded rod.

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