Based on a fully automated grinding plate loading device with a robotic arm

Abstract

This application provides a fully automated grinding plate loading device based on a robotic arm, including a grinding plate, a robotic arm, and a rotating electric gripper. The rotating electric gripper is mounted on the bottom of the robotic arm and is controlled by the robotic arm. The rotating electric gripper includes an outer electric gripper and an inner electric gripper arranged coaxially. The outer electric gripper is connected to the grinding plate and, by gripping the grinding plate, places it into or removes it from the cavity of the grinding control console. The inner electric gripper is connected to the grinding plate. When the grinding plate is placed in the cavity of the grinding control console, the inner electric gripper grips the grinding plate and rotates it, fixing the grinding plate to the upper surface of the grinding plate and pressing it down. This application can realize fully automated operation of grinding plate loading and unloading and grinding plate gripping, reducing the steps of manual sample contact and reducing the impact of vibration on the grinding plate.

Description

Technical Field

[0001] This application belongs to the field of fixture technology, and in particular relates to a fully automatic grinding sleeve loading device based on a robotic arm. Background Technology

[0002] High-throughput tissue grinding technology is widely used in fields such as biology, medicine, agriculture, and food testing. Its core principle is to use high-frequency oscillation to cause the grinding media (such as grinding beads) to collide violently with the sample, thereby rapidly breaking down cells and releasing target substances such as nucleic acids or proteins. To adapt to automated experimental processes, a grinding plate form is commonly used: this plate mainly consists of an adapter plate and multiple independent grinding tubes. The adapter plate has several holes at the bottom, each for inserting a grinding tube; the entire plate can be grasped by a robotic arm and transferred to a grinder for oscillation processing.

[0003] In practical applications, grinding sleeves are subjected to complex and intense alternating inertial forces and impacts during high-frequency oscillations (typically hundreds to thousands of times per minute). Existing robotic arms typically use rigid clamping or simple snap-fit ​​methods to grip the grinding sleeves, lacking effective vibration damping and buffering designs. This leads to the following problems: First, vibrations are directly transmitted to the gripper and robotic arm joints, which can cause a decrease in the robotic arm's positioning accuracy and structural fatigue damage over long-term operation. Second, slight relative displacement or resonance may occur between the sleeve and gripper, resulting in uneven mixing of the sample and grinding medium inside the grinding tube, and even wear on the adapter holes or loosening of the grinding tube, affecting grinding efficiency and sample consistency. Third, rigid clamping is difficult to absorb vibration energy across different frequency bands, and clamping failure is prone to occur in ultra-high frequency grinding scenarios, thus interrupting the automated process.

[0004] Furthermore, some existing solutions employ pneumatic or electromagnetic clamping mechanisms, which, while increasing clamping force, often transfer more vibration energy to the robotic arm, failing to attenuate the vibration of the grinding plate itself at its source. Simultaneously, these mechanisms are typically complex in structure and slow in response, making them difficult to match the rapid pick-and-place cycles of high-speed robotic arms. Therefore, there is an urgent need for a loading device capable of stably clamping the grinding plate and effectively reducing the impact of vibration on the plate and robotic arm, in order to improve the reliability, efficiency, and lifespan of fully automated grinding operations. Summary of the Invention

[0005] The purpose of this application is to provide a fully automatic grinding plate loading device based on a robotic arm, which is used to clamp the grinding plate and reduce the impact of vibration on the grinding plate.

[0006] In a first aspect, this application provides a fully automated grinding plate loading device based on a robotic arm, used for clamping and pressing a grinding plate. The grinding plate is placed inside the cavity of a grinding control console. The fully automated grinding plate loading device based on a robotic arm includes a grinding pressure plate, a robotic arm, and a rotating electric gripper. The rotating electric gripper is mounted on the bottom of the robotic arm and is controlled by the robotic arm. The rotating electric gripper includes an outer electric gripper and an inner electric gripper coaxially arranged. The outer electric gripper is connected to the grinding plate and, by gripping the grinding plate, places it into or removes it from the cavity of the grinding control console. The inner electric gripper is connected to the grinding pressure plate. When the grinding plate is placed inside the cavity of the grinding control console, the inner electric gripper grips the grinding pressure plate and rotates it, fixing the grinding pressure plate to the upper surface of the grinding plate and pressing it down.

[0007] In one implementation of this application, a drive base is provided on the top of the rotating electric gripper, and the drive base is connected to the robotic arm; the inner electric gripper is connected to the drive base, and the outer electric gripper is connected to the outside of the inner electric gripper.

[0008] In one implementation of this application, a rotating shaft assembly is provided at the center of the grinding plate; a rotary drive module connected to the robotic arm is provided inside the drive base; the inner electric gripper includes a first inner gripper and a second inner gripper symmetrically arranged on both sides of the rotary drive module; wherein the first inner gripper and the second inner gripper clamp the outer surface of the rotating shaft assembly on the grinding plate; the rotary drive module is connected to the rotating shaft assembly and drives the rotating shaft assembly to rotate, so as to fix the rotating shaft assembly to the fixing screw of the grinding control console.

[0009] In one implementation of this application, the rotation drive module integrates an angle sensor and / or a position sensor to provide real-time feedback of the actual rotation angle and / or rotation position information of the internal electric gripper to the robotic arm.

[0010] In one implementation of this application, the rotating shaft assembly includes an upper rotating shaft, an upper clamping ring, a lower clamping ring, and a lower rotating shaft seat connected in sequence; wherein, the upper rotating shaft is connected to the rotation drive module, and the first inner clamping claw and the second inner clamping claw clamp the outer side of the upper clamping ring.

[0011] In one implementation of this application, a positioning washer is further provided between the upper clamping ring and the lower clamping ring.

[0012] In one implementation of this application, the external electric gripper includes a first external gripper and a second external gripper respectively connected to the first inner gripper and the second inner gripper; wherein, the drive base is further provided with an electric push rod or a gear and rack drive mechanism respectively connected to the first external gripper and the second external gripper to control the opening and closing of the first external gripper and the second external gripper.

[0013] In one implementation of this application, the first outer gripper and the second outer gripper are respectively equipped with pressure sensors and / or position sensors to provide real-time feedback of gripping force and / or opening / closing position signals to the robotic arm.

[0014] In one implementation of this application, the ends of the first outer claw and the second outer claw are respectively provided with anti-slip teeth.

[0015] In one implementation of this application, a sub-plate is provided on the lower surface of the grinding plate; the sub-plate is provided with a plurality of positioning holes.

[0016] As described above, the fully automated grinding plate loading device based on a robotic arm described in this application has the following beneficial effects:

[0017] This application integrates the coordinated control of a rotary electric gripper and a robotic arm to achieve fully automated operation of grinding plate picking and placing, and grinding plate gripping, rotating and locking. This reduces the number of manual contact steps with the sample, significantly reduces process time, and can also reduce the impact of vibration on the grinding plate. Attached Figure Description

[0018] Figure 1 The diagram shown is a structural schematic of a fully automated grinding plate loading device based on a robotic arm, as described in an embodiment of this application.

[0019] Figures 2 to 5 The diagram shown is a structural schematic of the robotic arm and rotating electric gripper in a fully automatic grinding plate loading device based on a robotic arm, as described in an embodiment of this application.

[0020] Figure 6 The diagram shown is an exploded view of a robotic arm and a rotating electric gripper based on a fully automated grinding plate loading device according to an embodiment of this application.

[0021] Figure 7 The diagram shown is a structural schematic of the grinding plate in a fully automatic grinding sleeve loading device based on a robotic arm, as described in an embodiment of this application.

[0022] Figure 8 The diagram shown is an exploded view of the grinding plate in a fully automated grinding sleeve loading device based on a robotic arm, as described in an embodiment of this application.

[0023] Figure 9 The diagram shown is a schematic diagram of the bottom structure of the grinding plate in a fully automatic grinding sleeve loading device based on a robotic arm, as described in an embodiment of this application.

[0024] Figure 10 The image shown is a side view of the grinding plate in a fully automatic grinding sleeve loading device based on a robotic arm, as described in an embodiment of this application.

[0025] Figure 11 The diagram shown is a schematic diagram of the use of a fully automatic grinding plate loading device based on a robotic arm, as described in an embodiment of this application.

[0026] Component designation explanation

[0027] 10 Grinding console 20 Grinding plate 30 Fixed screw 40 Grinding plate 401 Board body 402 pivot assembly 4021 upper shaft 4022 Positioning Washer 4023 Upper clamping ring 4024 Lower clamping ring 4025 Lower pivot seat 403 Sub-pressure plate 50 Rotary electric gripper 501 External electric claw 502 Internal electric claw 60 robotic arm 601 Power and Control Unit 602 Transmission adapter unit 603 Screw mounting base 604 Screw drive unit 605 Lower end connects to base 606 Rotary electric gripper mount 607 Stroke sensor 70 robotic arm Detailed Implementation

[0028] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0029] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the shape, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0030] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0031] The following embodiments of this application provide a fully automatic grinding plate loading device based on a robotic arm, used to grip the grinding plate and reduce the impact of vibration on the grinding plate.

[0032] The following will be combined with the appendix Figure 1 To be continued Figure 11 This embodiment details the principle and implementation of a fully automated grinding plate loading device based on a robotic arm, enabling those skilled in the art to understand this embodiment without creative effort.

[0033] Please see Figure 1 As shown in the figure, this embodiment provides a fully automatic grinding plate loading device based on a robotic arm, used to clamp and press a grinding plate 20, which is placed in the cavity of a grinding control console 10. The fully automatic grinding plate loading device based on a robotic arm includes a grinding pressure plate 40, a robotic arm 60, and a rotating electric gripper 50.

[0034] For example, a fixed base plate is provided in the cavity of the grinding control console 10. Two grinding sleeves 20 can be placed side by side on the fixed base plate. A fixing screw 30 is provided on the fixed base plate. The fixing screw 30 is used to fix the grinding pressure plate 40 to the upper surface of the grinding sleeve 20 and press the grinding sleeve 20.

[0035] Specifically, in this embodiment, as Figure 2 As shown, the rotating electric gripper 50 is mounted on the bottom of the robotic arm 60 and is controlled by the robotic arm 60. Figure 3 and Figure 4 As shown, the rotating electric gripper 50 includes an outer electric gripper 501 and an inner electric gripper 502 arranged coaxially.

[0036] The external electric gripper 501 is connected to the grinding sleeve 20. By gripping the grinding sleeve 20, it can place the grinding sleeve 20 into the cavity of the grinding control console 10 or remove the grinding sleeve 20 from the cavity of the grinding control console 10. The internal electric gripper 502 is connected to the grinding pressure plate 40. When the grinding sleeve 20 is placed in the cavity of the grinding control console 10, the internal electric gripper 502 grips the grinding pressure plate 40 and drives the grinding pressure plate 40 to rotate, thereby fixing the grinding pressure plate 40 to the upper surface of the grinding sleeve 20 and pressing down on the grinding sleeve 20.

[0037] In this application, the integrated rotary electric gripper 50 and the robotic arm 60 structure, through the coordinated action of the outer electric gripper 501 and the inner electric gripper 502, can complete the picking and placing of the grinding sleeve 20, the gripping, rotating and sealing of the grinding pressure plate 40 in one integrated manner.

[0038] In one implementation of this application, such as Figure 5As shown, the rotating electric gripper 50 is provided with a drive base on its top, and the drive base is connected to the robotic arm 60; the inner electric gripper 502 is connected to the drive base, and the outer electric gripper 501 is connected to the outside of the inner electric gripper 502.

[0039] In this embodiment, the robotic arm 60 drives the rotating electric gripper 50 to rise and fall, providing power and control. An exemplary structure of the robotic arm 60 is as follows: Figure 6 As shown, the robotic arm 60 is composed of the following hierarchical components from top to bottom: a power and control unit 601, a transmission transfer unit 602, a lead screw mounting base 603, a lead screw drive unit 604, a lower end connecting base 605, a rotary electric gripper mounting base 606, and a stroke sensor 607.

[0040] The power and control unit 601 is the core component providing power and control for the entire robotic arm 60. It integrates a servo motor and motion control module, outputting stable torque and precisely controlling lifting speed and stroke position. As the top power source of the robotic arm 60, it is rigidly connected to the lower transmission unit via a flange, ensuring lossless power transmission. The transmission adapter unit 602 is a connection structure between the motor and the lead screw drive, integrating a coupling and a reduction mechanism. It converts the high-speed rotation of the motor into low-speed, high-torque rotation of the lead screw, achieving smooth transmission of lifting power. Made of high-strength aluminum alloy, it is rigidly connected to the power unit and lead screw unit via bolts, ensuring coaxiality and transmission stability. The lead screw mounting base 603 is the upper support and positioning structure for the lead screw, with an integrated lead screw bearing seat. It supports the lead screw and bears axial loads, preventing skewing during high-speed rotation. The side of the lead screw mounting base 603 has pre-drilled sensor mounting holes for mounting a stroke sensor 607, enabling precise control of the electric cylinder's lifting stroke. The lead screw drive unit 604 is the core actuator of the electric cylinder, integrating a precision ball screw and a guide rail slider mechanism. The rotational motion of the lead screw is converted into the linear lifting motion of the slider through a nut, thereby driving the lower rotating electric gripper 50 to lift synchronously. The lower connecting base 605 is the lower support structure of the lead screw, with a built-in lower bearing seat, which cooperates with the upper base to fix both ends of the lead screw, ensuring smooth operation without slippage. As a transitional connection structure between the electric cylinder and the rotating electric gripper 50, it is rigidly connected to the housing of the rotating electric gripper 50 through a flange, realizing the final transmission of lifting power. The rotating electric gripper mounting base 606 is the direct mounting platform of the rotating electric gripper 50, which is fixed to the lower connecting base 605 by bolts. Its bottom flange is precisely aligned with the housing of the rotating electric gripper 50, ensuring the coaxiality of the rotating electric gripper 50 and the robotic arm 60.

[0041] In this embodiment, the working principle of the robotic arm 60 is as follows:

[0042] After the servo motor of the power and control unit 601 is started, the torque is reduced and increased by the transmission conversion unit 602, driving the ball screw in the lead screw drive unit 604 to rotate. The rotational motion of the lead screw is converted into linear motion by the nut, driving the guide rail slider and the rotating electric claw mounting base 606 and rotating electric claw 50 below to rise and fall synchronously, realizing the picking and placing of the grinding sleeve 20 and the gripping and positioning of the pressure plate.

[0043] The stroke sensor 607 on the lead screw mounting base 603 can detect the position of the slider in real time and feed the signal back to the power and control unit 601. The power and control unit 601 precisely controls the lifting stroke, speed, and start / stop position of the electric cylinder by adjusting the motor speed and direction, ensuring that the rotational electric gripper 50 moves accurately. The power and control unit 601 of the robotic arm 60 and the drive unit of the rotational electric gripper 50 are linked through an internal wiring harness, which can precisely coordinate the timing of the lifting of the electric cylinder and the opening, closing, and rotation of the electric gripper. When the electric cylinder descends to the target position, it controls the outer electric gripper 501 to place the grinding sleeve 20; then it drives the inner electric gripper 502 to grasp and rotate the grinding pressure plate 40, realizing continuous automated operation.

[0044] In this embodiment, the rotary electric gripper 50 is adapted to different throughputs such as 96 holes and 384 holes, as well as different structures such as edgeless, half-skirted, and full-skirted grinding sleeves 20. By driving the opening and closing action of the gripper with an electric cylinder, the edge of the grinding sleeve 20 can be precisely clamped, realizing the insertion and removal of the grinding sleeve 20 in the grinding control console cavity.

[0045] In this embodiment, the internal electric gripper 502 is used to grasp and rotate the grinding plate 40. After the grinding sleeve 20 is placed into the cavity of the grinding control console 10, the grinding plate 40 is engaged with the positioning structure (such as the fixing screw 30) of the grinding sleeve 20 by the rotation action, thereby fixing the grinding plate 40.

[0046] After the outer electric claw 501 places the grinding sleeve 20 in place and keeps it stable, the inner electric claw 502 descends from the center position, grabs the grinding pressure plate, and drives the inner electric claw 502 to rotate, so that the positioning structure of the grinding pressure plate 40 and the grinding sleeve 20 is locked, ensuring that the grinding pressure plate 40 tightly presses the grinding sleeve 20, and preventing the sleeve from shifting, the sealing film from falling off, or the sample from evaporating during grinding operation oscillation.

[0047] like Figure 7 As shown, in one implementation of this application, a rotating shaft assembly 402 is provided at the center of the plate body 401 of the grinding plate 40; the drive base is provided with a rotary drive module connected to the robotic arm 60, such as... Figures 2 to 4As shown, the inner electric gripper 502 includes a first inner gripper and a second inner gripper symmetrically arranged on both sides of the rotary drive module; wherein, the first inner gripper and the second inner gripper clamp the outer surface of the upper rotating shaft assembly 402 of the grinding pressure plate 40, the rotary drive module is connected to the rotating shaft assembly 402 and drives the rotating shaft assembly 402 to rotate, so as to fix the rotating shaft assembly 402 to the fixing screw 30 of the grinding control console 10.

[0048] In this embodiment, the inner electric gripper 502 achieves the gripping, rotation, and locking of the grinding plate 40 through a symmetrical gripper design and the linkage of the rotary drive. The first and second inner grippers are arranged in a mirror image on both sides of the drive module with the central axis of the rotary drive module as the center of symmetry. The inner gripping surfaces of the first and second inner grippers have anti-slip engagement textures, which precisely fit with the outer surface of the upper rotating shaft 4021 of the rotating shaft assembly 402 of the grinding plate 40, ensuring no slippage during gripping. When the robotic arm 60 drives the rotating electric gripper 50 to descend to the position of the grinding plate 40, the first and second inner grippers open synchronously, close and clamp after covering the upper rotating shaft 4021 of the rotating shaft assembly 402, and achieve stable gripping of the grinding plate 40.

[0049] For example, the rotary drive module incorporates a servo motor and a reduction mechanism, with its output shaft coaxially engaged with the upper rotating shaft 4021 of the rotating shaft assembly 402 using a spline or bayonet structure. When the inner electric gripper 502 clamps the rotating shaft assembly 402, the drive module starts, causing the rotating shaft assembly 402 to rotate around its central axis. The lower rotating shaft seat 4025 of the rotating shaft assembly 402 has internal threads / bayonet, which engages with the fixing screw 30 within the cavity of the grinding control console 10 during rotation, achieving rigid locking of the grinding pressure plate 40 at its center and ensuring the fitting accuracy between the grinding pressure plate 40 and the grinding plate.

[0050] In one implementation of this application, the rotation drive module integrates an angle sensor and / or a position sensor to provide real-time feedback of the actual rotation angle and / or rotation position information of the internal electric gripper 502 to the robotic arm 60.

[0051] In one implementation of this application, such as Figure 8 As shown, the rotating shaft assembly 402 is a coaxial elastic clamping locking structure, which is coaxially assembled from top to bottom. Specifically, the rotating shaft assembly 402 includes an upper rotating shaft 4021, an upper clamping ring 1023, a lower clamping ring 4024, and a lower rotating shaft seat 4025 connected in sequence.

[0052] The upper rotating shaft 4021 is connected to the rotation drive module, and the first inner gripper and the second inner gripper clamp the outer side of the upper clamping ring 1023.

[0053] The top of the upper rotating shaft 4021 is coaxially connected to the output shaft of the rotary drive module using a spline / bayonet structure to transmit rotational torque; the lower part passes through the center mounting hole of the grinding plate 40 and is rigidly connected to the lower rotating shaft seat 4025.

[0054] In one implementation of this application, the outer surface of the upper clamping ring 1023 is provided with a positioning groove or protrusion that is adapted to clamp the first inner claw and the second inner claw, so that the first inner claw and the second inner claw clamp the upper clamping ring 1023.

[0055] That is, the upper clamping ring 1023 is a split elastic ring structure, with positioning grooves or protrusions on the outer surface that are adapted to the first inner claw and the second inner claw, for forming a rigid engagement with the inner electric claw 502 to avoid slippage during clamping; the inner side clamps the central hole wall of the grinding plate 40 through its own elasticity to achieve radial fixation with the grinding plate 40.

[0056] In one implementation of this application, the lower clamping ring 4024 and the upper clamping ring 1023 are symmetrically split elastic rings, clamping the central hole wall from below the grinding plate 40, forming a bidirectional clamping with the upper clamping ring 1023, thus completely avoiding relative rotation between the rotating shaft assembly 402 and the grinding plate 40.

[0057] In one implementation of this application, the lower rotating shaft seat 4025 is a base with an internal thread or bayonet at the bottom, which engages with the fixing screw 30 in the cavity of the grinding control console 10 to lock the grinding pressure plate 40.

[0058] In one implementation of this application, a positioning washer 4022 is further provided between the upper clamping ring 1023 and the lower clamping ring 4024.

[0059] The positioning washer 4022 is an annular washer used to axially position the relative positions of the upper rotating shaft 4021 and the upper clamping ring 1023, ensuring the coaxiality of the components. The axial limiting of the positioning washer 4022 prevents axial movement of the components when they are rotated and locked, ensuring the coaxiality of the rotating shaft assembly 402 and the grinding plate.

[0060] In this embodiment, the working principle of the internal electric gripper 502 is as follows:

[0061] The first and second inner clamping jaws are rigidly engaged via a positioning groove or protrusion on the outer surface of the upper clamping ring 1023. After clamping, the upper rotating shaft 4021 is rotated by the rotary drive module. The torque is transmitted to the entire rotating shaft assembly 402 through the upper rotating shaft 4021. Due to the bidirectional clamping of the upper and lower clamping rings 4024, the rotating shaft assembly 402 rotates synchronously with the grinding pressure plate 40 without relative slippage. During rotation, the internal thread / bayonet of the lower rotating shaft seat 4025 engages with the fixing screw 30 of the grinding control console 10, completing the rigid locking of the center of the grinding pressure plate 40. The axial limiting function of the positioning washer 4022 prevents axial movement of the assembly during locking, ensuring the fitting accuracy between the pressure plate and the grinding sleeve. The center locking of the rotating shaft assembly 402 and the edge pressing of the grinding pressure plate 40 form a dual fixing mechanism of rigid center locking and uniform edge pressing, effectively counteracting the lifting force generated by grinding oscillation and completely preventing the grinding sleeve 20 from shifting and the sealing film from falling off.

[0062] In one implementation of this application, such as Figures 2 to 4 As shown, the external electric gripper 501 includes a first external gripper and a second external gripper that are respectively connected to the first internal gripper and the second internal gripper; wherein, the drive base is also provided with an electric push rod or a gear and rack drive mechanism that are respectively connected to the first external gripper and the second external gripper to control the opening and closing of the first external gripper and the second external gripper.

[0063] In this embodiment, the external electric claw 501 includes a first external claw and a second external claw, which are respectively connected to the first and second internal claws of the internal electric claw 502. The whole is arranged in a mirror image with the central axis of the rotating electric claw 50 as the axis of symmetry, which is adapted to the peripheral clamping requirements of the grinding sleeve 20.

[0064] For example, in this embodiment, the drive base of the rotating electric gripper 50 has two sets of independent electric push rods or gear rack drive mechanisms built in, and the two sets of drive mechanisms are respectively connected to the first outer gripper and the second outer gripper; the control module of the robotic arm 60 outputs an electrical signal to drive the mechanism to move, and precisely control the first outer gripper and the second outer gripper to open and close synchronously, so as to realize the gripping and release of the grinding sleeve 20.

[0065] In one implementation of this application, the first and second outer grippers are respectively equipped with pressure sensors and / or position sensors to provide real-time feedback of gripping force and / or opening / closing position signals to the robotic arm 60. The robotic arm 60 performs closed-loop control based on the feedback signals: adjusting the gripping force of the outer grippers via force signals to prevent excessive force from deforming the grinding sleeve 20 or insufficient force from causing the sleeve to slip; calibrating the opening / closing stroke of the outer grippers via position signals to ensure accurate gripping positioning; and coordinating the timing of the actions of the internal electric gripper 502 to avoid mechanical interference and ensure the automated and reliable operation of the process.

[0066] In one implementation of this application, the ends of the first outer claw and the second outer claw are respectively provided with anti-slip teeth. The anti-slip teeth in this embodiment can increase the friction with the edge of the grinding plate (especially the skirt structure of full-skirted and half-skirted plates), thus preventing slippage during gripping.

[0067] In one implementation of this application, such as Figure 9 and Figure 10 As shown, a sub-pressure plate 403 is provided on the lower surface of the plate body 401 of the grinding pressure plate 40; the sub-pressure plate 403 is provided with a plurality of positioning holes. These positioning holes are precisely matched with the edge positioning posts of the grinding sleeve plate 20 or the corresponding positioning structure of the grinding control console 10, so as to realize the positioning and fit of the sub-pressure plate 403 and the grinding sleeve plate 20, ensuring that the pressing position of the sub-pressure plate 403 on the edge of the grinding sleeve plate 20 is accurate, and further improving the placement stability of the grinding sleeve plate 20 during the oscillation process.

[0068] like Figure 11 As shown in the embodiment of this application, the usage process of a fully automatic grinding plate loading device based on a robotic arm is as follows:

[0069] The horizontal movement of the robotic arm 60 is controlled by the robotic hand 70. The robotic hand 70 moves the robotic arm 60 and the rotating electric gripper 50 to the plate storage location. The robotic arm 60 drives the rotating electric gripper 50 to descend, and the outer electric gripper 501 closes to clamp the grinding plate 20. Then the robotic hand 70 moves the whole unit to the top of the grinding control console 10 cavity. The electric cylinder drives the rotating electric gripper 50 to descend and smoothly place the grinding plate 20 in. The outer electric gripper 501 opens to release the grinding plate 20.

[0070] After the outer electric claw 501 is released, the inner electric claw 502 aligns with and clamps the upper clamping ring 1023 of the rotating shaft assembly 402. The rotation drive module drives the rotating shaft assembly 402 to rotate, so that the lower rotating shaft seat 4025 engages and locks with the control console fixing screw 30. At the same time, the sub-pressure plate 403 fits against the edge of the grinding sleeve plate 20 through the positioning hole to achieve double fixation.

[0071] After the experiment is completed, the inner electric gripper 502 rotates in the opposite direction to unlock and release the grinding plate 40; the robot arm 70 drives the robotic arm 60 and the rotating electric gripper 50 to move above the grinding control console 10, the outer electric gripper 501 clamps the grinding sleeve 20 and takes it out, the robot arm 70 moves it to the designated position and then the outer electric gripper 501 releases the grinding sleeve 20; the rotating electric gripper 50 resets and waits for the next operation.

[0072] The entire process is fully automated and requires no human intervention. Through component collaboration and sensor closed-loop control, it ensures precise operation and stable performance, making it suitable for high-throughput experiments.

[0073] In summary, the integrated rotary electric gripper 50 and robotic arm 60 of this application embodiment achieve fully automated operation of picking up and placing the grinding sleeve 20 and gripping, rotating and locking the grinding pressure plate. This reduces the number of manual contact steps with the sample, significantly reduces process time, and can reduce the impact of vibration on the grinding sleeve 20. It effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0074] The descriptions of the processes or structures corresponding to the above figures each have their own emphasis. For parts of a process or structure that are not described in detail, please refer to the relevant descriptions of other processes or structures.

[0075] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A fully automated grinding plate loading device based on a robotic arm, characterized in that, The grinding sleeve is used for clamping and pressing the grinding sleeve, which is placed inside the cavity of the grinding control console. The fully automatic grinding sleeve loading device based on the robotic arm includes a grinding plate, a robotic arm, and a rotating electric gripper; wherein: The rotating electric gripper is mounted on the bottom of the robotic arm and is controlled by the robotic arm to operate; the rotating electric gripper includes an outer electric gripper and an inner electric gripper arranged coaxially; The external electric gripper is connected to the grinding sleeve plate. By gripping the grinding sleeve plate, the grinding sleeve plate is placed into the cavity of the grinding control console or taken out of the cavity of the grinding control console. The internal electric gripper is connected to the grinding plate. When the grinding sleeve is placed in the cavity of the grinding control console, the internal electric gripper grabs the grinding plate and drives the grinding plate to rotate, thereby fixing the grinding plate to the upper surface of the grinding sleeve and pressing the grinding sleeve.

2. The fully automated grinding plate loading device based on a robotic arm according to claim 1, characterized in that, The rotating electric gripper is provided with a drive base at its top, and the drive base is connected to the robotic arm; the inner electric gripper is connected to the drive base, and the outer electric gripper is connected to the outside of the inner electric gripper.

3. The fully automated grinding plate loading device based on a robotic arm according to claim 2, characterized in that, A rotating shaft assembly is provided at the center of the grinding plate; a rotary drive module connected to the robotic arm is provided in the drive base; the inner electric gripper includes a first inner gripper and a second inner gripper symmetrically arranged on both sides of the rotary drive module. The first inner clamping claw and the second inner clamping claw clamp the outer surface of the upper rotating shaft assembly of the grinding pressure plate. The rotation drive module is connected to the rotating shaft assembly and drives the rotating shaft assembly to rotate, so as to fix the rotating shaft assembly to the fixing screw of the grinding control console.

4. The fully automated grinding plate loading device based on a robotic arm according to claim 3, characterized in that, The rotation drive module integrates an angle sensor and / or a position sensor to provide real-time feedback of the actual rotation angle and / or rotation position information of the internal electric gripper to the robotic arm.

5. The fully automated grinding plate loading device based on a robotic arm according to claim 3, characterized in that, The rotating shaft assembly includes an upper rotating shaft, an upper clamping ring, a lower clamping ring, and a lower rotating shaft seat connected in sequence; wherein, the upper rotating shaft is connected to the rotation drive module, and the first inner clamping claw and the second inner clamping claw clamp the outer side of the upper clamping ring.

6. The fully automated grinding plate loading device based on a robotic arm according to claim 5, characterized in that, A positioning washer is also provided between the upper clamping ring and the lower clamping ring.

7. The fully automated grinding plate loading device based on a robotic arm according to claim 2, characterized in that, The external electric gripper includes a first external gripper and a second external gripper that are respectively connected to the first internal gripper and the second internal gripper; wherein, the drive base is further provided with an electric push rod or a gear and rack drive mechanism that are respectively connected to the first external gripper and the second external gripper to control the opening and closing of the first external gripper and the second external gripper.

8. The fully automated grinding plate loading device based on a robotic arm according to claim 7, characterized in that, The first and second outer grippers are equipped with built-in pressure sensors and / or position sensors to provide real-time feedback of gripping force and / or opening / closing position signals to the robotic arm.

9. The fully automated grinding plate loading device based on a robotic arm according to claim 7, characterized in that, The ends of the first outer claw and the second outer claw are respectively provided with anti-slip teeth.

10. The fully automated grinding plate loading device based on a robotic arm according to claim 1, characterized in that, The lower surface of the grinding plate is provided with a sub-plate; the sub-plate is provided with multiple positioning holes.

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