Clamp clamping state automatic detection equipment, cleaning robot

Abstract

The application discloses a kind of clamp clamping state automatic detection equipment, cleaning robot, it is related to automatic detection technical field, the detection equipment includes case, clamping device and state monitoring device, clamping device includes: drive mechanism, fixedly installed in the inner wall of case;Linkage push plate, fixedly installed in the output end of drive mechanism;First elastic telescopic part, fixedly installed in the inner wall of linkage push plate;Clamping piece, fixedly installed in the free end of first elastic telescopic part;State monitoring device contains: trigger plate, slidingly installed on the first base of drive mechanism fixed end;First inclined surface guide block, fixedly installed at the top of trigger plate;Sensor, fixedly installed on the surface of first base;When clamping piece clamps part, the contraction of first elastic telescopic part drives clamping piece linkage trigger first inclined surface guide block, makes trigger plate displacement and activates sensor to confirm clamping state, to improve the precision of clamping.

Description

Technical Field

[0001] This invention relates to the field of automatic detection technology, specifically to an automatic detection device for clamping status and a cleaning robot. Background Technology

[0002] Automatic detection of the clamping status is an important function that ensures the clamp is properly clamped during operation to prevent accidents.

[0003] Patent publication number CN1438092A relates to a clamp working status detection device. A clamping rod is vertically movably inserted into a housing. The housing has a lower end wall forming a detection hole substantially concentric with the axis of the clamping rod. The detection hole has a circumferential surface that is opened to form at least one inlet hole for supplying compressed air. A detection element is vertically movably assembled in the detection hole. The detection element has an outer circumferential surface that has a closing surface that closes the opening portion of the inlet hole and a recess that allows the opening portion to communicate with the outside air. The clamping rod has a downward protrusion that is connected to the detection element, allowing it to move radially relative to the clamping rod.

[0004] The aforementioned patent has the following problems: excessive clamping force may damage the parts during the clamping process, and it is also impossible to accurately confirm whether the parts are clamped, resulting in the parts not being clamped properly, which will cause them to loosen and affect the clamping effect. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an automatic detection device for clamping status and a cleaning robot, which solves the problems mentioned in the background section.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an automatic clamping state detection device for a fixture, comprising a chassis, a clamping device, and a state monitoring device, wherein: the clamping device comprises: a drive mechanism, fixedly installed on the inner wall of the chassis; a linkage push plate, fixedly installed on the output end of the drive mechanism; a first elastic telescopic member, fixedly installed on the inner wall of the linkage push plate; and a clamping member, fixedly installed on the free end of the first elastic telescopic member; the drive mechanism moves the output end, causing the linkage push plate to move towards the center of the chassis, which in turn causes the first elastic telescopic member to move towards the center of the chassis, and the first telescopic elastic member causes the clamping member to move. The state monitoring device comprises: a trigger plate, slidably installed on a first base at the fixed end of the drive mechanism; a first inclined guide block, fixedly installed on the top of the trigger plate; and a sensor, fixedly installed on the surface of the first base; when the clamping member clamps a part, the contraction of the first elastic telescopic member causes the clamping member to trigger the first inclined guide block, causing the trigger plate to shift and activating the sensor to confirm the clamping state.

[0007] According to the above technical solution, the output end of the drive mechanism is provided with a first limiting groove that matches the trigger plate. For example, the output end of the drive mechanism is provided with a first limiting groove, and the side of the trigger plate near the linkage push plate is set as an inclined surface to match and limit the first limiting groove.

[0008] According to the above technical solution, a second base is installed on the top of the clamping member. When the clamping member contacts the part, the reverse force pushes the clamping member to move away from the center of the chassis. When the second base moves away from the center of the chassis and contacts the inclined surface of the first inclined guide block, it pushes the first inclined guide block to move downward, causing the trigger plate to move downward, so that the trigger plate is stuck in the first limiting groove, and the driving mechanism is limited by the trigger plate.

[0009] According to the above technical solution, a reset elastic element is provided between the trigger plate and the first base, and the trigger plate is reset by the reset elastic element.

[0010] According to the above technical solution, a position correction device is provided on the linkage push plate; wherein: the position correction device includes a rack, a gear and a displacement actuator, the rack moves synchronously with the linkage push plate, the rack meshes with the surface of the gear, and the displacement actuator is installed on the inner wall of the gear; when the linkage push plate moves, the rack drives the gear to rotate, thereby driving the displacement actuator to move along the axis to adjust the position of the part.

[0011] According to the above technical solution, the position correction device further includes: a first connecting member, which is fixedly installed on the surface of the linkage push plate, and the rack is fixedly installed on the surface of the first connecting member; and a second connecting member, which is fixedly installed on the inner wall of the chassis, and the gear is rotatably installed on the surface of the second connecting member. Moving the linkage push plate towards the center of the chassis moves the first connecting member towards the center of the chassis, which in turn moves the rack towards the center of the chassis, and the rack's movement towards the center of the chassis rotates the gear.

[0012] According to the above technical solution, the displacement actuator is provided with a buffer correction head at its end, comprising: a hollow cylinder fixed to the end of the displacement actuator, with an exhaust hole at the top; a sealing plate and a concave plate, wherein the sealing plate is slidably disposed in the hollow cylinder and connected to the concave plate through a third connector; when the concave plate contacts the part, the sealing plate compresses the gas in the hollow cylinder to form a damping buffer.

[0013] According to the above technical solution, a reset elastic element is provided between the hollow cylinder and the sealing plate to drive the sealing plate to reset.

[0014] According to the above technical solution, the displacement actuator penetrates the surface of the gear, and the inner wall of the gear is provided with a threaded groove.

[0015] According to the above technical solution, the automatic clamping state detection device further includes a linkage locking device, comprising: a door assembly, including a door rotatably mounted on the top of the chassis, and a reset elastic element between the door and the chassis to drive the door to reset, and a second limiting groove is provided on the inner wall of the door; a linkage push rod assembly, including: a fixing plate, fixed to the surface of a second base on the top of the clamping member; and a second inclined guide block provided on the fixing plate; a slide rail limiting block, slidably mounted in a slide groove provided on the inner wall of the chassis and connected by a reset elastic element, the inclined surface of the slide rail limiting block matching the second inclined guide block; and a second elastic telescopic member provided on the top of the slide rail limiting block; when the clamping member moves backward, it moves towards the center of the chassis through the first connecting member, driving the second base to move towards the center of the chassis, and the movement of the second base towards the center of the chassis will drive the second inclined guide block to move towards the center of the chassis, and the second inclined guide block pushes the slide rail limiting block to move upward along the slide groove, so that the second elastic telescopic member is embedded in the second limiting groove.

[0016] According to the above technical solution, a third elastic telescopic member is fixedly installed at the bottom of the second limiting groove on the inner wall of the door. A pressure plate is fixedly installed at the free end of the third elastic telescopic member, and a fixing rod is fixedly installed at the bottom of the pressure plate. The fixing rod is positioned above the second limiting groove. When the pressure plate is pressed down, the fixing rod abuts against the second elastic telescopic member, causing it to disengage from the second limiting groove on the inner wall of the door, thus releasing the limitation on the door.

[0017] According to the above technical solution, the slide rail limiting block is a trapezoidal block, and the slide rail limiting block and the inner wall of the slide groove are provided with a reset elastic element, which drives the slide rail limiting block to reset through the reset elastic element.

[0018] According to the above technical solution, a cleaning device is fixed to the top of the inner wall of the chassis, and a cleaning platform is provided at the bottom. The spray direction of the cleaning device is directly opposite the clamping station on the cleaning platform. The parts are clamped by clamping components to ensure that the parts are at the bottom of the cleaning device, which facilitates the cleaning of the parts.

[0019] Another aspect of the present invention is achieved through the following technical solution: a cleaning robot with a clamping state self-checking function, comprising a chassis, a cleaning device fixed to the top of the inner wall of the chassis, a cleaning platform provided at the bottom, and the spray direction of the cleaning device facing the clamping station on the cleaning platform. It also includes a clamping device and a state monitoring device, wherein: the clamping device includes: a drive mechanism fixedly installed on the inner wall of the chassis; a linkage push plate fixedly installed at the output end of the drive mechanism; a first elastic telescopic member fixedly installed on the inner wall of the linkage push plate; and a clamping member fixedly installed at the free end of the first elastic telescopic member; the state monitoring device includes: a trigger plate slidably installed on a first base at the fixed end of the drive mechanism; a first inclined guide block fixedly installed on the top of the trigger plate; and a sensor fixedly installed on the surface of the first base. When the clamping member clamps a part, the contraction of the first elastic telescopic member drives the clamping member to trigger the first inclined guide block, causing the trigger plate to shift and activating the sensor to confirm the clamping state.

[0020] Compared with the prior art, the present invention has at least the following beneficial effects:

[0021] This invention provides an automatic detection device for the clamping state of a fixture. The device includes a chassis, a clamping device, and a state monitoring device. The clamping device includes: a drive mechanism fixedly installed on the inner wall of the chassis; a linkage push plate fixedly installed on the output end of the drive mechanism; a first elastic telescopic member fixedly installed on the inner wall of the linkage push plate; and a clamping member fixedly installed on the free end of the first elastic telescopic member. The state monitoring device includes: a trigger plate slidably installed on a first base at the fixed end of the drive mechanism; a first inclined guide block fixedly installed on the top of the trigger plate; and a sensor fixedly installed on the surface of the first base. This device, when the clamping member clamps a part, causes the trigger plate to be limited, preventing the first elastic telescopic member from continuously pushing the clamping member to clamp the part, which could lead to excessive clamping and damage to the internal structure. Simultaneously, when the trigger plate moves downwards, it triggers the sensor, thereby detecting that the clamping plate is in a clamping state, improving clamping accuracy. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the automatic clamping state detection device of the present invention;

[0023] Figure 2 This is a schematic diagram of the overall internal structure of the automatic clamping state detection device of the present invention;

[0024] Figure 3 This is a partial structural diagram of the automatic clamping state detection device of the present invention;

[0025] Figure 4 This is a schematic diagram of the position correction device of the present invention;

[0026] Figure 5 This is a schematic diagram of the cross-sectional structure of the hollow cylinder of the present invention;

[0027] Figure 6 This is a partial structural diagram of the linkage locking device of the present invention;

[0028] Figure 7 This is a schematic diagram of the cross-sectional structure of the chassis and door of the present invention.

[0029] In the diagram: 1. Chassis; 2. Door; 3. Handle; 4. Cleaning device; 5. Cleaning table; 6. Drive mechanism; 7. Linkage push plate; 8. First elastic telescopic component; 9. Clamping component; 10. Second base; 11. First base; 12. Trigger plate; 13. First inclined guide block; 14. Sensor; 151. First connector; 152. Rack; 153. Second connector; 154. Gear; 155. Displacement actuator; 156. Hollow cylinder; 157. Sealing plate; 158. Third connector; 159. Exhaust hole; 1510. Concave plate; 161. Fixing plate; 162. Second inclined guide block; 163. Slide rail limit block; 164. Second elastic telescopic component; 165. Limiting groove; 166. Third elastic telescopic component; 167. Pressure plate; 168. Fixing rod. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0031] Please see Figures 1-3 One embodiment of the present invention is: an automatic detection device for clamping status of a fixture, including a housing 1, and further including a clamping device and a status monitoring device.

[0032] The clamping device includes a drive mechanism 6, a linkage push plate 7, a first elastic telescopic member 8, a clamping member 9, and a second base 10. The drive mechanism 6 is fixedly installed on the inner wall of the chassis 1. The linkage push plate 7 is fixedly installed on the output end of the drive mechanism 6. The first elastic telescopic member 8 is fixedly installed on the inner wall of the linkage push plate 7. The clamping member 9 is fixedly installed on the free end of the first elastic telescopic member 8. The second base 10 is also installed on the top of the clamping member 9. Moving the output end of the drive mechanism 6 drives the linkage push plate 7 to move towards the center of the chassis 1. The movement of the linkage push plate 7 towards the center of the chassis drives the first elastic telescopic member 8 to move towards the center of the chassis, and the first telescopic elastic member 8 drives the clamping member 9 to move. In one embodiment, the drive mechanism uses an electric push rod or a hydraulic / pneumatic push rod, but the invention is not limited to this. Furthermore, in one embodiment, the second base is an L-shaped plate, but the invention is not limited to this.

[0033] See Figure 3 As shown, in one embodiment, a state monitoring device is also included, comprising a trigger plate 12, a first inclined guide block 13, and a sensor 14. A first base 11 is mounted on the fixed end of the drive mechanism 6. The trigger plate 12 is slidably mounted on the surface of the first base 11, the first inclined guide block 13 is fixedly mounted on the top of the trigger plate 12, and the sensor 14 is fixedly mounted on the surface of the first base 11. When the clamping member 9 clamps the part, the contraction of the first elastic telescopic member 8 drives the clamping member 9 to trigger the first inclined guide block 13, causing the trigger plate 12 to shift and activating the sensor 14 to confirm the clamping state. In one embodiment, the sensor 14 is a pressure sensor, which monitors the clamping force when the clamping member clamps the part, preventing the drive mechanism 6 from continuously pushing the clamping member 9 to clamp the part, which could lead to excessive clamping and damage to the internal structure. In one embodiment, the first inclined guide block 13 is a triangular block, but the invention is not limited to this.

[0034] In addition, in one embodiment, a reset elastic element, such as a reset spring, is provided between the trigger plate 12 and the first base 11, which drives the trigger plate 12 to reset.

[0035] In one embodiment, the output end of the drive mechanism 6 is provided with a first limiting groove that matches the trigger plate 12. For example, the output end of the drive mechanism 6 is provided with a first limiting groove, and the side of the trigger plate 12 near the linkage push plate is set as an inclined surface to match and limit the first limiting groove.

[0036] In this embodiment, the drive mechanism 6 moves at its output end, causing the linkage push plate 7 to move toward the center of the housing 1. The movement of the linkage push plate 7 toward the center of the housing 1 causes the first elastic telescopic member 8 to move toward the center of the housing 1. The movement of the first elastic telescopic member 8 toward the center of the housing 1 causes the clamping member 9 to move toward the center of the housing 1, thereby clamping the part. Simultaneously, when the clamping member 9 contacts the part, the reverse force pushes the clamping member 9 away from the center of the chassis 1. The movement of the clamping member 9 away from the center of the chassis 1 will cause the second base 10 to move away from the center of the chassis 1. The second base 10 will contact the inclined surface of the first inclined guide block 13. The second base 10 will push the first inclined guide block 13 downward. The downward movement of the first inclined guide block 13 will cause the trigger plate 12 to move downward. The downward movement of the trigger plate 12 will lock into the first limiting groove. The trigger plate 12 limits the drive mechanism 6, preventing the drive mechanism 6 from continuously pushing the clamping member 9 to clamp the part, which would cause the part to be subjected to excessive clamping and damage to the internal structure. At the same time, when the trigger plate 12 moves downward, it will contact the control end of the sensor 14. The downward movement of the trigger plate 12 pushes the control end of the sensor 14 downward, thereby detecting that the clamping member 9 is in a clamping state, improving the clamping accuracy.

[0037] In one embodiment, the automatic clamping status detection device is a cleaning robot with a clamping status self-inspection function. A cleaning device 4 is fixedly installed on the top of the inner wall of the housing 1, and a cleaning table 5 is fixedly installed on the bottom of the inner wall of the housing 1. The spray direction of the cleaning device 4 is directly facing the clamping station on the cleaning table 5. The parts are clamped by the clamping components to ensure that the parts are at the bottom of the cleaning device, which facilitates the cleaning of the parts.

[0038] Please see Figures 4-5Based on the above embodiments, in another embodiment of the present invention, the linkage push plate 7 is provided with a position correction device for correcting parts; the correction device includes a first connector 151, a rack 152, a second connector 153, a gear 154, and a displacement actuator 155, etc. The first connector 151 is fixedly installed on the surface of the linkage push plate 7, the rack 152 is fixedly installed on the surface of the first connector 151, the second connector 153 is fixedly installed on the inner wall of the housing 1, the gear 154 is rotatably installed on the surface of the second connector 153, and the displacement actuator 155 is installed on the inner wall of the gear 154, with the rack 152 meshing with the surface of the gear 154. In one embodiment, the second connector 153 is a hollow column. In another embodiment, the displacement actuator 155 is a threaded rod that penetrates the surface of the gear 154, and a threaded groove is formed on the inner wall of the gear 154, with the displacement actuator 155 threadedly installed on the inner wall of the gear 154. When the linkage push plate 7 moves, the rack 152 drives the gear 154 to rotate, which in turn drives the displacement actuator 155 to move along the axis to adjust the position of the part. The displacement actuator 155 moves towards the center of the housing 1 to correct the position of the part and prevent the part from being misplaced, which could cause the clamping member 9 to fail to clamp the part properly.

[0039] In one embodiment, see Figure 5 As shown, the displacement actuator 155 has a buffer straightening head at its end, comprising a hollow cylinder 156, a sealing plate 157, and a concave plate 1510. The hollow cylinder 156 is fixed to the end of the displacement actuator 155. An exhaust port 159 is provided at the top of the hollow cylinder 156. The sealing plate 157 is slidably mounted on the inner wall of the hollow cylinder 156. A third connecting member 158 is fixedly mounted on the surface of the sealing plate 157, and the concave plate 1510 is fixedly mounted on the surface of the third connecting member 158. The sealing plate 157 compresses the gas inside the hollow cylinder 156, causing it to slowly escape through the exhaust port 159, achieving a deceleration effect. This also prevents parts that are too large from being crushed during straightening, thus adapting to parts of different sizes and increasing its applicability.

[0040] In one embodiment, a reset elastic element, such as a reset spring, is provided between the hollow cylinder 156 and the sealing plate 157, which drives the sealing plate 157 to reset.

[0041] In this embodiment, the linkage push plate 7 moves towards the center of the housing 1, causing the first connecting member 151 to move towards the center of the housing 1. The movement of the first connecting member 151 towards the center of the housing 1 causes the rack 152 to move towards the center of the housing 1. The movement of the rack 152 towards the center of the housing 1 causes the gear 154 to rotate. The rotation of the gear 154 causes the displacement actuator 155 to move towards the center of the housing 1. The movement of the displacement actuator 155 towards the center of the housing 1 corrects the position of the parts, preventing deviations in the placement of the parts. This would prevent the clamping member 9 from clamping the parts properly, resulting in the parts not being cleaned properly during subsequent cleaning and reducing work efficiency. Simultaneously, when the displacement actuator 155 moves towards the center of the housing 1, it will drive the hollow cylinder 156, sealing plate 157, third connector 158, and concave plate 1510 to move towards the center of the housing 1. When the concave plate 1510 contacts the part, continuous compression will cause the sealing plate 157 to contract into the hollow cylinder 156. The gas inside the hollow cylinder 156 is slowly discharged through the exhaust port 159 by the compression of the sealing plate 157, achieving a deceleration effect. At the same time, it can also prevent the part from being too large, which would cause the part to be directly damaged during correction. It can adapt to parts of different sizes and improve the applicability.

[0042] Please see Figures 6-7 Based on the above embodiments, in another embodiment of the present invention, the automatic detection device for clamping state of the clamp further includes a linkage locking device, which includes a door assembly and a linkage push rod assembly. The door assembly includes a door 2 rotatably mounted on the top of the housing 1, and a reset elastic element, such as a torsion spring, is provided between the door 2 and the housing 1 to drive the door 2 to reset. A handle 3 is fixedly mounted on the surface of the door 2, and a second limiting groove 165 is provided on the inner wall of the door.

[0043] The linkage push rod assembly includes a fixed plate 161, a second inclined guide block 162, a slide rail limiting block 163, and a second elastic telescopic member 164. The fixed plate 161 is fixed to the surface of the second base 10 at the top of the clamping member 9; the second inclined guide block 162 is disposed on the fixed plate 161; the slide rail limiting block 163 is slidably installed in a groove opened in the inner wall of the housing 1 and connected by a reset elastic member, which drives the slide rail limiting block 163 to reset, and the inclined surface of the slide rail limiting block 163 matches the second inclined guide block 162; the second elastic telescopic member 164 is disposed on the top of the slide rail limiting block 163. When the clamping member 9 moves backward, the first connecting member 151 moves towards the center of the chassis, causing the second base 161 to move towards the center of the chassis. The movement of the second base 161 towards the center of the chassis will cause the second inclined guide block 162 to move towards the center of the chassis. The second inclined guide block 162 pushes the slide rail limiting block 163 to move upward along the slide groove, so that the second elastic telescopic member 164 is embedded in the second limiting groove 165.

[0044] In one embodiment, the second inclined guide block 162 is a triangular block and the slide rail limiting block 163 is a trapezoidal block, but the present invention is not limited thereto.

[0045] Further reading Figure 7 As shown, in one embodiment, a third elastic telescopic member 166 is fixedly installed at the bottom of the inner wall of the second limiting groove 165 opened in the inner wall of the door. A pressure plate 167 is fixedly installed at the free end of the third elastic telescopic member 166, and a fixing rod 168 is fixedly installed at the bottom of the pressure plate 167. The fixing rod is positioned above the second limiting groove. When the pressure plate 167 is pressed down, the fixing rod 168 abuts against the second elastic telescopic member 164, causing it to disengage from the second limiting groove 165 opened in the inner wall of the door, thus releasing the limitation on the door.

[0046] In this embodiment, when the first connecting piece 151 moves towards the center of the housing 1, it drives the fixing plate 161 to move towards the center of the housing 1. The movement of the fixing plate 161 towards the center of the housing 1 will drive the second inclined guide block 162 towards the center of the housing 1. The movement of the second inclined guide block 162 towards the center of the housing 1 will contact the inclined surface of the slide rail limit block 163. The movement of the second inclined guide block 162 towards the center of the housing 1 will push the slide rail limit block 163 upward. The upward movement of the slide rail limit block 163 will drive the second elastic telescopic member 164 upward. The upward movement of the second elastic telescopic member 164 will be engaged in the second limit groove 165. The free end of the second elastic telescopic member 164 limits the door 2, preventing the user from accidentally opening the door 2 during the cleaning process, which would cause the cleaning fluid to splash out and increase the user's workload. Meanwhile, when it is necessary to open the door 2 in an emergency, the pressure plate 167 can be manually pushed downwards. The downward movement of the pressure plate 167 will cause the fixing rod 168 to move downwards. The downward movement of the fixing rod 168 will push the free end of the second elastic telescopic member 164 downwards. The downward movement of the free end of the second elastic telescopic member 164 will release the restriction on the door 2, making it convenient for users to carry out emergency maintenance on the equipment and improving the protection effect of the equipment.

[0047] In summary, compared with the prior art, the automatic clamping state detection device provided by the present invention: ① clamps the part with the clamping member to ensure that the part is at the bottom of the cleaning device, which facilitates the cleaning of the part. At the same time, the first elastic telescopic member can adapt to parts of different sizes. When clamped, it will drive the trigger plate to limit the slot, preventing the drive mechanism from continuously pushing the clamping member to clamp the part, which would cause the part to be subjected to excessive clamping and damage to the internal structure. At the same time, when the trigger plate moves downward, it will contact the control end of the sensor, thereby detecting that the clamping member is in a clamping state, improving the clamping accuracy. ② The first connecting piece moves towards the center of the chassis, which in turn moves the displacement actuator towards the center of the chassis to correct the position of the parts. This prevents the parts from being misplaced, which could lead to the clamping parts failing to clamp properly, resulting in the parts not being cleaned properly during subsequent cleaning and reducing work efficiency. At the same time, when the concave plate contacts the parts, the continuous pressure will cause the sealing plate to contract into the hollow cylinder. The gas inside the hollow cylinder is slowly discharged through the exhaust hole by the sealing plate, achieving a deceleration effect. This also prevents parts that are too large from being directly damaged during correction. It is suitable for parts of different sizes, thus improving its applicability. ③ The first connector moves towards the center of the chassis, causing the free end of the second elastic telescopic component to engage in the limiting groove. This limits the door, preventing accidental opening of the door by the user during the cleaning process, which would cause cleaning fluid to splash out and increase the user's workload. In case of emergency, the pressure plate is pressed down, causing it to drive the fixing rod to press the free end of the second elastic telescopic component downward, thus easily releasing the limit on the door. This allows the user to perform emergency maintenance on the equipment and improves the protection of the equipment.

[0048] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic detection device for clamping status of a fixture, comprising a chassis, characterized in that: It also includes a clamping device and a condition monitoring device, wherein: The clamping device includes: The drive mechanism is fixedly installed on the inner wall of the chassis; A linkage push plate is fixedly installed at the output end of the drive mechanism; The first elastic telescopic component is fixedly installed on the inner wall of the linkage push plate; A clamping element is fixedly installed at the free end of the first elastic telescopic element; The status monitoring device includes: A trigger plate is slidably mounted on a first base at the fixed end of the drive mechanism; The first inclined guide block is fixedly installed on the top of the trigger plate; The sensor is fixedly mounted on the surface of the first base. When the clamping member clamps the part, the contraction of the first elastic telescopic member causes the clamping member to trigger the first inclined guide block, causing the trigger plate to shift and activating the sensor to confirm the clamping state.

2. The device according to claim 1, characterized in that: The output end of the drive mechanism is provided with a first limiting groove that matches the trigger plate.

3. The device according to claim 2, characterized in that: A second base is mounted on the top of the clamping member; when the clamping member contacts the part, the reverse force pushes the clamping member to move away from the center of the chassis, and the second base moves away from the center of the chassis and contacts the first inclined guide block, pushing the first inclined guide block to move downward, driving the trigger plate to move downward, so that the trigger plate is stuck in the first limiting groove, and the driving mechanism is limited by the trigger plate.

4. The device according to claim 1, characterized in that: in, The linkage push plate is equipped with a position correction device; wherein: the position correction device includes a rack, a gear and a displacement actuator, the rack moves synchronously with the linkage push plate, the rack meshes with the surface of the gear, and the displacement actuator is installed on the inner wall of the gear; when the linkage push plate moves, the rack drives the gear to rotate, thereby causing the displacement actuator to move along the axis to adjust the position of the part.

5. The device according to claim 4, characterized in that: The position correction device further includes: A first connector is fixedly installed on the surface of the linkage push plate, and the rack is fixedly installed on the surface of the first connector. The second connector is fixedly installed on the inner wall of the chassis, and the gear is rotatably installed on the surface of the second connector.

6. The device according to claim 4, characterized in that: The displacement actuator is provided with a buffer correction head at its end, the buffer correction head comprising: A hollow cylinder is fixed to the end of the displacement actuator, and an exhaust hole is provided at the top. A sealing plate and a concave plate, wherein the sealing plate is slidably disposed inside the hollow cylinder and connected to the concave plate by a third connector; A reset elastic element is provided between the hollow cylinder and the sealing plate; When the concave plate contacts the part, the sealing plate compresses the gas inside the hollow cylinder to form a damping buffer.

7. The device according to claim 4, characterized in that: The displacement actuator penetrates the surface of the gear, and the inner wall of the gear has a threaded groove.

8. The device according to claim 3, characterized in that: It also includes a linkage locking device, comprising: The door assembly includes a door that is rotatably mounted on the top of the chassis, and a reset elastic element is provided between the door and the chassis, and a second limiting groove is provided on the inner wall of the door. The linkage push rod assembly includes a fixing plate fixed to the surface of the second base, and a second inclined guide block disposed on the fixing plate; The slide rail limiting block is slidably installed in the slide groove opened in the inner wall of the chassis and connected by a reset elastic element. The inclined surface of the slide rail limiting block matches the second inclined surface guide block. The second elastic telescopic component is located at the top of the slide rail limiting block; When the clamping member moves backward, the second inclined guide block pushes the slide rail limiting block to move along the slide groove, so that the second elastic telescopic member is embedded in the second limiting groove.

9. The device according to claim 8, characterized in that: A third elastic telescopic member is fixedly installed at the bottom of the inner wall of the second limiting groove. A pressure plate is fixedly installed at the free end of the third elastic telescopic member, and a fixing rod is fixedly installed at the bottom of the pressure plate. When the pressure plate is pressed down, the fixing rod abuts against the second elastic telescopic member to disengage it from the second limiting groove.

10. A cleaning robot with a clamping state self-inspection function, comprising a chassis, wherein a cleaning device is fixed to the top of the inner wall of the chassis, and a cleaning platform is provided at the bottom, and the spray direction of the cleaning device is directly facing the clamping station on the cleaning platform, characterized in that: It also includes a clamping device and a condition monitoring device, wherein: The clamping device includes: The drive mechanism is fixedly installed on the inner wall of the chassis; A linkage push plate is fixedly installed at the output end of the drive mechanism; The first elastic telescopic component is fixedly installed on the inner wall of the linkage push plate; A clamping element is fixedly installed at the free end of the first elastic telescopic element; The status monitoring device includes: A trigger plate is slidably mounted on a first base at the fixed end of the drive mechanism; The first inclined guide block is fixedly installed on the top of the trigger plate; The sensor is fixedly mounted on the surface of the first base. When the clamping member clamps the part, the contraction of the first elastic telescopic member causes the clamping member to trigger the first inclined guide block, causing the trigger plate to shift and activating the sensor to confirm the clamping state.

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