Flexible pneumatic universal mobile manipulator

Abstract

The present invention discloses a flexible pneumatic universal mobile manipulator, wherein a linear bearing seat is fixed in a bearing seat slot, a linear guide rail is inserted and passed through the linear bearing for longitudinal relative sliding, one end of the linear guide rail is detachably fixed to a guide rail push block, a cylinder mounting plate is detachably fixed to a side wall of the linear bearing seat, a driving cylinder is placed in a cylinder mounting slot, the driving cylinder is fixedly mounted on the cylinder mounting plate, and the output end of the driving cylinder passes through a cylinder mounting hole and is detachably connected to a guide rail push block, the bottom of a bottom plate of a forward and backward moving module is fixedly connected to an upper portion of a bracket, the bottom of a bottom plate of a vertical moving module is connected to a front wall of a guide rail push block of the forward and backward moving module, and the output end of a driving cylinder of a vertical moving module extends downward to connect to a guide rail push block of the vertical moving module. The present invention has flexible position adjustment, high precision, and strong versatility, and can save use costs.

Description

Technical Field

[0001] The invention relates to the field of machinery, and in particular to a flexible pneumatic universal mobile manipulator. Background Art

[0002] Current robots are generally designed with fixed bracket structures and mobile modules according to actual scenarios. When the processing scenario changes, the entire robot is basically unusable, and a new robot needs to be redesigned to adapt to the new usage scenario. It has poor versatility, lacks flexibility in use, and has high cost of use. Summary of the invention

[0003] The purpose of the present invention is to provide a flexible pneumatic universal mobile manipulator with strong versatility, flexible use and low use cost.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: a flexible pneumatic universal mobile manipulator is provided, including a bracket, two linear motion modules and a mechanical claw mechanism, the linear motion module including a base plate, at least two linear bearing seats, a driving cylinder, a cylinder mounting plate, two linear guide rails and a guide rail pushing block, the top of the base plate is provided with at least two transverse bearing seat slots, the linear bearing seat is detachably fixed in the bearing seat slots, two longitudinal linear bearing mounting holes are provided on the linear bearing seat, linear bearings are installed in the linear bearing mounting holes, the linear guide rail is longitudinally relatively slidably inserted through the linear bearing, one end of the linear guide rail is detachably fixed to the guide rail pushing block, the two linear guide rails are parallel to each other, and the A cylinder mounting groove is provided on the top of the linear bearing seat between the two linear bearing mounting holes, the cylinder mounting plate is detachably fixed to the side wall of one of the linear bearing seats, a cylinder mounting hole facing the cylinder mounting groove is provided on the cylinder mounting plate, the driving cylinder is placed in the cylinder mounting groove, the driving cylinder is fixedly mounted on the cylinder mounting plate, and the output end of the driving cylinder passes through the cylinder mounting hole and is detachably connected to the guide rail pushing block, the two linear moving modules are respectively a front-and-rear moving module and a vertical moving module, the bottom plate of the front-and-rear moving module is vertically arranged, the linear guide rail of the front-and-rear moving module is in a front-and-rear direction, and the bottom of the bottom plate of the front-and-rear moving module is fixed to the upper part of the bracket Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end face has hook portion, and a bar passes position between the end of two swing arms and the hook portion. The fixing block, the other side end of the adjusting block is provided with a tightening crack communicating with the tightening hole, the adjusting block is also provided with a tightening screw hole penetrating itself and vertically passing through the tightening crack, the upper end of the pillar is inserted through the tightening hole, and the tightening screw is screwed and inserted in the tightening screw hole, the mechanical claw mechanism includes left and right fine-tuning components and air claw components, the left and right fine-tuning components include two fine-tuning screws, a plurality of fixing screws, a rear mounting plate, a rear adjustment fixing block, a front adjustment sliding block and two adjustment end plates, the upper part of the rear mounting plate is connected to the rear part of the guide rail pushing block of the vertical moving module, the lower part of the rear mounting plate extends downward to the bottom of the guide rail pushing block of the vertical moving module and is fixedly connected to the rear wall of the rear adjustment fixing block,The left and right ends of the rear adjustment fixing block are provided with fixing screw holes, the rear wall of the front adjustment slider slides left and right and is clamped on the front wall of the rear adjustment fixing block, the air claw assembly is fixedly installed on the front wall of the front adjustment slider, the adjustment end plate is provided with a fixing plug hole directly opposite to the fixing screw hole, the adjustment end plate is provided with an adjustment screw hole at the end portion directly opposite to the front adjustment slider, the fixing screw is inserted through the fixing plug hole and screwed into the fixing screw hole, the fine-tuning screw is screwed into the adjusting screw hole and the free end of the fine-tuning screw is pressed against the end portion of the front adjustment slider.

[0005] Furthermore, the flexible pneumatic universal mobile manipulator also includes left and right linear moving modules, the structure of the left and right linear moving modules is consistent with the structure of the front and rear moving modules and the vertical moving module, the bottom of the base plate of the left and right linear moving modules is connected to the lower wall of the guide rail pushing block of the vertical moving module, and the linear guide rails of the left and right linear moving modules are in a left and right direction.

[0006] Furthermore, the linear motion module also includes a plurality of fixing screws, a plurality of fixing screw holes are opened at the bottom of the linear bearing seat, a guide socket is opened at the bottom plate opposite to the fixing screw holes, and the fixing screws are inserted through the guide sockets and screwed into the fixing screw holes.

[0007] Furthermore, the output shaft of the driving cylinder is fixed with a pushing head, a mounting slot is opened on the inner side of the free end of the pushing head, a pushing head mounting slot is opened in the middle of the top of the guide rail pushing block, and both side walls of the pushing head mounting slot close to one end of the base plate are protruding inwardly with a clamping protrusion, the pushing head is installed in the pushing head mounting slot, and the clamping protrusion is clamped in the mounting slot.

[0008] Furthermore, the bracket also includes a lower connecting block and an adjusting screw. A plurality of adjusting screw holes are opened on the lower connecting block opposite to the adjusting through hole. A plurality of adjusting through holes elongated in the left and right directions are opened on the lower connecting block opposite to the adjusting screw hole. The adjusting screw passes through the adjusting through hole and is screwed into the adjusting screw hole.

[0009] Furthermore, the flexible pneumatic universal mobile manipulator also includes two first flanges, a first rotating shaft, two second flanges and a second rotating shaft, the first flange includes a first flange seat, a first flange sleeve connected to the first flange seat and a first locking screw, the side wall of the first flange is provided with a first tightening crack that penetrates the first flange, the first flange is provided with first locking studs that are opposite to each other on both sides of the first tightening crack, the first locking stud is provided with a first screw hole that penetrates the first locking stud, the first locking screw can be screwed through the two first screw holes to tighten the first tightening crack, the two first flanges are respectively a base plate flange and a push block flange, the first flange seat of the base plate flange is fixed to the bottom of the base plate of the vertical moving module, and the first flange seat of the push block flange is fixed to the front wall of the guide rail push block of the front and rear moving module , the two ends of the first rotating shaft are respectively inserted into the first flange sleeve of the base plate flange and the first flange sleeve of the push block flange, the second flange includes a second flange seat, a second flange sleeve connected to the second flange seat and a second locking screw, the side wall of the second flange is provided with a second tightening crack running through itself, the second flange is respectively provided with second locking studs facing each other on both sides of the second tightening crack, the second locking stud is provided with a second screw hole running through the second locking stud, the second locking screw can be screwed through the two second screw holes to tighten the second tightening crack, the two second flanges are respectively a base flange and an external flange, the second flange seat of the base flange is fixed to the bottom of the lower connecting block, and the two ends of the second rotating shaft are respectively inserted into the second flange sleeve of the base flange and the second flange sleeve of the external flange.

[0010] Furthermore, the air gripper assembly includes a square air gripper mounting plate, an air gripper, a front connecting plate and mounting screws. The rear wall of the front connecting plate is fixedly connected to the front wall of the front adjusting slider. The fixed end of the air gripper is detachably fixedly connected to the bottom wall of the air gripper mounting plate. The side wall or top wall of the air gripper mounting plate is provided with a mounting screw hole. The front wall of the front connecting plate is provided with a mounting protrusion protruding upward. The mounting protrusion is provided with a mounting through hole facing the mounting screw hole. The mounting screw is inserted through the mounting through hole and screwed into the mounting screw hole.

[0011] Furthermore, the air gripper assembly includes an air gripper mounting box, an air gripper, an air gripper shaft, a transmission gear, a cylinder, a cylinder mounting plate, a sliding guide rail and a spur rack. The upper and lower ends of the air gripper mounting box are respectively provided with an upper shaft hole and a lower shaft hole. The upper end of the air gripper shaft is rotatably inserted through the upper shaft hole to connect with the transmission gear, and the lower end of the air gripper shaft is rotatably inserted through the lower shaft hole to connect with the fixed end of the air gripper. The rear wall of the air gripper mounting box is fixedly connected to the front wall of the front adjustment slider, and the rear wall of the cylinder mounting plate is fixedly connected to the front wall of the air gripper mounting box. The cylinder mounting plate is provided with left and right The top of the air claw mounting box is provided with a rack mounting notch running left and right between the cylinder mounting plate and the transmission gear, the spur rack is installed in the rack mounting notch left and right and meshes with the transmission gear, the left and right ends of the spur rack are respectively provided with guide rail connecting parts protruding forward, the sliding guide rails are relatively slidably inserted in the guide rail through holes, and the two ends of the sliding guide rails are respectively fixedly connected with the guide rail connecting parts, the fixed end of the cylinder is fixed to the front wall of the cylinder mounting plate, and the output shaft of the cylinder extends left and right to be fixedly connected with the guide rail connecting part at the corresponding end.

[0012] Compared with the prior art, the forward and backward moving module, vertical moving module, bracket and mechanical claw mechanism of the flexible pneumatic universal mobile manipulator of the present invention can be adjusted in position or replaced with components according to actual scenarios. It has strong versatility and flexible use, greatly saves use costs, and has high precision.

[0013] The present invention will become more apparent from the following description taken in conjunction with the accompanying drawings, which are used to illustrate embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a structural diagram from a first angle of the first embodiment of the flexible pneumatic universal mobile manipulator of the present invention.

[0015] Figure 2 This is a structural diagram from a second angle of the first embodiment of the flexible pneumatic universal mobile manipulator of the present invention.

[0016] Figure 3 This is a structural diagram from the first angle of the linear motion module of the first embodiment of the flexible pneumatic universal mobile manipulator of the present invention.

[0017] Figure 4 for Figure 3 Exploded diagram of .

[0018] Figure 5 This is a structural diagram from a second angle of the linear motion module of the first embodiment of the flexible pneumatic universal mobile manipulator of the present invention.

[0019] Figure 6 for Figure 5 Exploded diagram of .

[0020] Figure 7 This is a exploded view of the linear motion module of the first embodiment of the flexible pneumatic universal mobile manipulator of the present invention from the third angle.

[0021] Figure 8 It is a partial exploded view from the third angle of the first embodiment of the flexible pneumatic universal mobile manipulator of the present invention.

[0022] Fig. 9 It is a structural diagram of the second embodiment of the flexible pneumatic universal mobile manipulator of the present invention.

[0023] Fig.10 for Fig. 9 Enlarged view of part A.

[0024] Fig.11 It is a structural diagram of the third embodiment of the flexible pneumatic universal mobile manipulator of the present invention.

[0025] Fig.12 It is a three-dimensional view from an angle of the air gripper assembly of the third embodiment of the flexible pneumatic universal mobile manipulator of the present invention.

[0026] Fig.13 This is an exploded view from another angle of the air gripper assembly of the third embodiment of the flexible pneumatic universal mobile manipulator of the present invention.

[0027] Fig.14 It is a structural diagram of the fourth embodiment of the flexible pneumatic universal mobile manipulator of the present invention. DETAILED DESCRIPTION

[0028] refer to Figures 1 to 8 The flexible pneumatic universal mobile manipulator of the present invention includes a bracket 200, two linear motion modules 100 and a mechanical claw mechanism 300.

[0029] The linear motion module 100 includes a base plate 10, at least two linear bearing seats 20, a driving cylinder 30, a cylinder mounting plate 40, two linear guide rails 50 and a guide rail pushing block 60. In this embodiment, the number of the linear bearing seats 20 is two.

[0030] At least two transverse bearing seat slots 11 are provided at the top of the base plate 10. In the present embodiment, the number of the bearing seat slots 11 is three. The linear bearing seat 20 is detachably fixed in the bearing seat slot 11. Two longitudinal linear bearing mounting holes 21 are provided on the linear bearing seat 20, and linear bearings 22 are installed in the linear bearing mounting holes 21. The linear guide rail 50 is inserted and passed through the linear bearing 22 in a longitudinally relatively sliding manner. One end of the linear guide rail 50 is detachably fixed to the guide rail push block 60. The two linear guide rails 50 are parallel to each other. A cylinder mounting groove 23 is provided at the top of the linear bearing seat 20 between the two linear bearing mounting holes 21. The cylinder mounting plate 40 is detachably fixed to the side wall of one of the linear bearing seats 20. In the present embodiment, the cylinder mounting plate 40 is detachably fixed to a side wall of a linear bearing seat 20 close to the guide rail push block 60 and away from the guide rail push block 60. The cylinder mounting plate 40 is provided with a cylinder mounting hole 41 facing the cylinder mounting groove 23. The driving cylinder 30 is placed in the cylinder mounting groove 23, and the driving cylinder 30 is fixedly mounted on the cylinder mounting plate 40, and the output end of the driving cylinder 30 passes through the cylinder mounting hole 41 and is detachably connected to the guide rail push block 60. The two linear moving modules 100 are respectively a front-to-back moving module 101 and a vertical moving module 102. The bottom plate 10 of the front-to-back moving module 101 is vertically arranged, and the bottom of the bottom plate 10 of the front-to-back moving module 101 is fixedly connected to the upper part of the bracket 200. The linear guide rail 50 of the front-to-back moving module 101 is in a front-to-back direction. The bottom plate 10 of the vertical moving module 102 is vertically arranged, and the bottom of the bottom plate 10 of the vertical moving module 102 is connected to the front wall of the guide rail push block 60 of the front-to-back moving module 101. The linear guide rail 50 of the vertical moving module 102 is vertically oriented, and the output end of the driving cylinder 30 of the vertical moving module 102 extends downward to connect with the guide rail pushing block 60 of the vertical moving module 102 , and the guide rail pushing block 60 of the vertical moving module 102 is connected with the mechanical claw structure 300 .

[0031] Preferably, a longitudinal limiting block 111 is protruding upward from the bottom of the bearing seat slot 11 , and a limiting slot 24 is formed at the bottom of the linear bearing seat 20 opposite to the limiting block 111 , and the limiting block 111 is clamped in the limiting slot 24 .

[0032] Preferably, the linear motion module 100 also includes a plurality of fixing screws (not shown in the figure), a plurality of fixing screw holes (not shown in the figure) are opened at the bottom of the linear bearing seat 20, and a guide socket 12 is opened at the bottom plate 10 opposite to the fixing screw hole 25, and the fixing screw is inserted through the guide socket 12 and screwed and fixed in the fixing screw hole 25.

[0033] Preferably, the linear motion module 100 further includes a limit block 80. The limit block 80 is provided with two limit holes 81, the other ends of the two linear guide rails 50 are fixedly inserted into the limit holes 81, and the top of the limit block 80 is provided with a cylinder slot 82 for accommodating the driving cylinder 30 between the two limit holes 81.

[0034] Preferably, the guide rail pushing block 60 is provided with a fixing ring 61 protrudingly facing the linear guide rail 50, the inner wall of the fixing ring 61 is tapped with threads, the inner wall of the limiting hole 81 is tapped with threads, and both ends of the linear guide rail 50 are tapped with threads, and the two ends of the linear guide rail 50 are respectively screwed and fixed in the fixing ring 61 and the limiting hole 81.

[0035] A push head 31 is fixedly installed at the output end of the driving cylinder 30, and a mounting slot 311 is opened on the inner side of the free end of the push head 31. A push head mounting slot 62 is opened in the middle of the top of the guide rail pushing block 60, and two side walls of the push head mounting slot 62 close to one end of the base plate 10 are protruding inward with a clamping protrusion 621. The push head 31 is installed in the push head mounting slot 62, and the clamping protrusion 621 is clamped in the mounting slot 311.

[0036] When the linear motion module 100 is in use, the output end of the driving cylinder 30 pushes the guide rail pushing block 60 , and the linear guide rail 50 is driven by the guide rail pushing block 60 to move in the linear bearing 22 along the pushing direction.

[0037] The linear bearing seat of the linear motion module can be installed in bearing seat slots in different positions according to needs, and the driving cylinder and linear guide can also be replaced with different models according to needs. It is more versatile, more flexible to use, and more cost-effective.

[0038] It should be noted that the bearing seat slots are not limited to the above three, and may also be four or other suitable numbers; the linear bearing seat 20 may also be other suitable numbers besides the above two;

[0039] The bracket 200 includes a base 210, two pillars 220, two adjustment blocks 230 and two tightening screws (not shown). Two fixing flanges 211 are installed on the top of the base 210, and a plurality of adjustment through holes 212 are provided on the base 210, which penetrate the base 210 vertically and are elongated in the left-right direction. The base 210 can be screwed and fixed to an external mounting member provided with a screw hole by passing the screws through the adjustment through holes 212. When the left-right position of the base 210 needs to be adjusted, the screws are loosened to move the base 210 left-right within the left-right movable range of the adjustment through holes 212, and then the screws are re-tightened. The lower end of the pillar 22 is fixedly inserted into the fixing flange 211. A tightening hole 231 extending up and down is provided in the middle of the adjustment block 230, a bottom plate fixing block 232 is convexly provided on one side of the adjustment block 230, and a tightening crack 233 communicating with the tightening hole 231 is provided on the other side of the adjustment block 230. The adjusting block 230 is also provided with a tightening screw hole 234 that penetrates the adjusting block 230 and vertically passes through the tightening slit 233 . The upper end of the support column 22 is inserted through the tightening hole 231 , and the tightening screw 240 is screwed and inserted into the tightening screw hole 231 .

[0040] Specifically, the flexible pneumatic universal mobile manipulator 1000 also includes a plurality of locking screws 400, the guide rail pushing block 60 of the forward and backward moving module 101 is provided with a plurality of locking sockets 601, and the bottom of the base plate 10 of the vertical moving module 102 is provided with a plurality of locking screw holes 103, and the locking screws 400 are inserted through the locking sockets 601 and screwed into the locking screw holes 103.

[0041] The mechanical claw mechanism 301 includes a left and right fine-tuning assembly 310 and an air claw assembly. The left and right fine-tuning assembly 310 includes two fine-tuning screws (not shown), a plurality of fixing screws (not shown), a rear mounting plate 313, a rear adjustment fixing block 315, a front adjustment slider 316 and two adjustment end plates 317. The upper portion of the rear mounting plate 313 is connected to the rear portion of the guide rail push block 60 of the vertical moving module 102, and the lower portion of the rear mounting plate 313 extends downward to the lower portion of the guide rail push block 60 of the vertical moving module 102 and is fixedly connected to the rear wall of the rear adjustment fixing block 315. The left and right ends of the rear adjustment fixing block 315 are provided with fixing screw holes 3151, and the rear wall of the front adjustment slider 316 is slidably engaged with the front wall of the rear adjustment fixing block 315. In this embodiment, the rear wall of the front adjustment slider 316 is provided with a dovetail-shaped slide rail 3161 extending left and right, and the front wall of the rear adjustment fixing block 315 is provided with a dovetail-shaped slide groove 3152 extending left and right, and the slide rail 3161 is relatively slidably engaged with the slide groove 3152. The air claw assembly is fixedly installed on the front wall of the front adjustment slider 316. The adjustment end plate 317 is provided with a fixing plug hole 3171 facing the fixing screw hole 3151, and the adjustment end plate 317 is provided with an adjusting screw hole 3172 at the end of the front adjustment slider 316. The fixing screw is inserted through the fixing plug hole 3171 and screwed into the fixing screw hole 3151. The fine adjustment screw is screwed and inserted into the adjustment screw hole 3172, and the free end of the fine adjustment screw is pressed against the end of the front adjustment slider 316. When the left and right positions of the air gripper assembly need to be adjusted, the fixing screws on the two adjustment end plates 317 are loosened, and then the two fine adjustment screws are rotated to push the adjustment slider 316 to move left and right to the specified position. After the position is adjusted, the fixing screws are re-screwed and locked.

[0042] Specifically, the air gripper assembly includes a square air gripper mounting plate 321, an air gripper 322, a front connecting plate 323 and mounting screws (not shown). The rear wall of the front connecting plate 323 is fixedly connected to the front wall of the front adjusting slider 316. The fixed end of the air gripper 322 is detachably fixedly connected to the bottom wall of the air gripper mounting plate 321. In this embodiment, the fixed end of the air gripper 322 is detachably fixedly connected to the bottom wall of the air gripper mounting plate 321 by screw connection. The side wall or top wall of the air gripper mounting plate 321 is provided with a mounting screw hole 3211, and the front wall of the front connecting plate 323 is provided with a mounting protrusion 3231 protruding upward. The mounting protrusion 3231 is provided with a mounting through hole 3232 facing the mounting screw hole 3211, and the mounting screw is inserted through the mounting through hole 3142 and screwed into the mounting screw hole 3211.

[0043] refer to Fig. 9 and Fig.10, different from the first embodiment, the bracket 200 further includes a lower connecting block 250 and an adjusting screw (not shown). The lower connecting block 250 is provided with a plurality of adjusting screw holes (not shown) facing the adjusting through hole 212, and the adjusting screw passes through the adjusting through hole 212 and is screwed into the adjusting screw hole.

[0044] The flexible pneumatic universal mobile manipulator also includes two first flanges 500, a first rotating shaft (not shown), two second flanges 700 and a second rotating shaft (not shown). The first flange 500 includes a first flange seat 510, a first flange sleeve 520 connected to the first flange seat 510, and a first locking screw (not shown). The side wall of the first flange 500 is provided with a first tightening crack 540 that runs through the first flange 500, and the first flange 500 is provided with first locking studs 550 that are opposite to each other on both sides of the first tightening crack 540, and the first locking studs 540 are provided with first screw holes 551 that run through the first locking studs 550. The first locking screw can be screwed through the two first screw holes 551 to tighten the first tightening crack 540. The two first flanges 500 are the base plate flange 501 and the push block flange 502 respectively. The first flange seat 510 of the base plate flange 501 is fixed to the bottom of the base plate 10 of the vertical moving module 102, and the first flange seat 510 of the push block flange 502 is fixed to the front wall of the guide rail push block 60 of the forward and backward moving module 101. The two ends of the first rotating shaft are respectively inserted into the first flange sleeve 520 of the base plate flange 501 and the first flange sleeve 520 of the push block flange 502. The two first flanges 500 and the first rotating shaft are combined into a first flange rotation adjustable structure. When the rotation angle of the vertical moving module 102 needs to be adjusted, loosen the first locking screw, and then rotate the vertical moving module 102 to a suitable angle. After adjustment, re-tighten the first locking screw.

[0045] The second flange 700 includes a second flange seat 710, a second flange sleeve 720 connected to the second flange seat 710, and a second locking screw (not shown). The side wall of the second flange 700 is provided with a second tightening slit 740 penetrating the second flange 700, and the second flange 700 is provided with second locking studs 750 facing each other on both sides of the second tightening slit 740, and the second locking studs 750 are provided with second screw holes 751 penetrating the second locking studs 750. The second locking screw can be screwed through the two second screw holes 751 to tighten the second tightening slit 740. The two second flanges 700 are a base flange 701 and an external flange 702, respectively. The second flange seat 710 of the base flange 701 is fixed to the bottom of the lower connecting block 250, and the two ends of the second rotating shaft are respectively inserted into the second flange sleeve 720 of the base flange 701 and the second flange sleeve 720 of the external flange 702. The combination of the two second flanges 700 and the first rotating shaft and the combination of the two first flanges 500 and the first rotating shaft are both flange rotation adjustable structures. When the rotation angle of the bracket 200 needs to be adjusted, the second locking screw is loosened, and then the bracket 200 is rotated to a suitable angle. After adjustment, the second locking screw is re-tightened.

[0046] By cooperating with the two first flanges 500 and the first rotating shaft to adjust the rotation angle of the front and rear moving module 101 and cooperating with the two second flanges 700 and the second rotating shaft to adjust the rotation angle of the bracket 200, the flexible pneumatic universal mobile manipulator can be more flexibly installed in various usage spaces.

[0047] refer to Figures 11 to 13The left and right fine-tuning components 310 of the mechanical claw mechanism 302 are consistent with the left and right fine-tuning components 310 of the mechanical claw mechanism 301 in structure. Unlike the second embodiment, the air claw assembly includes an air claw installation box 410, an air claw 420, an air claw shaft 430, a transmission gear 440, a cylinder 450, a cylinder installation plate 460, a sliding guide rail 470 and a spur rack 480. The upper and lower ends of the air claw installation box 410 are respectively provided with an upper shaft hole 411 and a lower shaft hole (not shown). The upper end of the air claw shaft 430 is rotatably inserted through the upper shaft hole 411 to connect with the transmission gear 440, and the lower end of the air claw shaft 430 is rotatably inserted through the lower shaft hole to connect with the fixed end of the air claw 420. The rear wall of the air claw installation box 410 is fixedly connected to the front wall of the front adjustment slider 316. The rear wall of the cylinder mounting plate 460 is fixedly connected to the front wall of the air gripper mounting box 410. The cylinder mounting plate 460 is provided with a guide rail through hole 461 extending left and right. The top of the air gripper mounting box 410 is provided with a rack mounting notch 413 extending left and right between the cylinder mounting plate 460 and the transmission gear 440. The spur rack 480 is installed left and right in the rack mounting notch 413 and meshes with the transmission gear 440. The left and right ends of the spur rack 480 are respectively provided with guide rail connecting parts 481 protruding forward, and the sliding guide rail 470 is inserted into the guide rail through hole 461 for relative sliding, and the two ends of the sliding guide rail 470 are respectively fixedly connected to the guide rail connecting parts 481. The fixed end of the cylinder 450 is fixed to the front wall of the cylinder mounting plate 460, and the output shaft of the cylinder 450 extends left and right to be fixedly connected to the guide rail connecting part 481 at the corresponding end. The cylinder 450 advances and retracts, thereby driving the spur rack 480 to push out and retract, thereby driving the transmission gear 440 to rotate back and forth, and further driving the air gripper 420 to rotate back and forth, so that the rotation position of the air gripper 420 can be adjusted more flexibly.

[0048] refer to Fig.14 , different from the first embodiment, the flexible pneumatic universal mobile manipulator further includes a left-right linear moving module 800, the structure of which is consistent with the structure of the front-back moving module 101 and the vertical moving module 102, the bottom of the bottom plate 10 of the left-right linear moving module 800 is connected to the lower wall of the guide rail push block 60 of the vertical moving module 102, and the linear guide rail 50 of the left-right linear moving module 800 is in a left-right direction. The guide rail push block 60 of the left-right linear moving module 800 is externally connected to the mechanical claw mechanism 301 described in the first and second embodiments, and the installation method of the mechanical claw mechanism 301 in this embodiment and the guide rail push block 60 of the left-right linear moving module 800 is consistent with the installation method of the mechanical claw mechanism 301 and the guide rail push block 60 of the vertical linear moving module 102 in the first embodiment.

[0049] The forward and backward moving modules, vertical moving modules, brackets and mechanical claw mechanisms of the flexible pneumatic universal mobile manipulator of the present invention can all be adjusted in position or have components replaced according to actual scenarios. It has strong versatility and flexible use, greatly saves use costs, and has high precision.

[0050] It should be noted that in addition to being configured with two or three groups of linear motion modules, the flexible pneumatic universal mobile manipulator can also be configured with four groups or other numbers of linear motion modules. The installation method between two adjacent linear motion modules can be directly that the base plate and the guide rail pushing block are directly detachably fixed, or a flange rotation adjustable structure can be set between the base plate and the guide rail pushing block, as described above; the installed mechanical claw mechanism can be the mechanical claw mechanism described in the first to fourth embodiments, or it can be other suitable mechanical claw mechanisms.

[0051] The present invention is described above in conjunction with the best embodiment, but the present invention is not limited to the embodiment disclosed above, but should cover various modifications and equivalent combinations based on the essence of the embodiment.

Claims

1. A flexible pneumatic universal mobile manipulator, characterized in that: The invention comprises a bracket, two linear motion modules and a mechanical claw mechanism, wherein the linear motion module comprises a base plate, at least two linear bearing seats, a driving cylinder, a cylinder mounting plate, two linear guide rails and a guide rail pushing block, the top of the base plate is provided with at least two transverse bearing seat slots, the linear bearing seat is detachably fixed in the bearing seat slots, the linear bearing seat is provided with two longitudinal linear bearing mounting holes, linear bearings are installed in the linear bearing mounting holes, the linear guide rail is inserted and passed through the linear bearing for longitudinal relative sliding, one end of the linear guide rail is detachably fixed to the guide rail pushing block, the two linear guide rails are parallel to each other, the top of the linear bearing seat is provided with a cylinder mounting groove between the two linear bearing mounting holes, the cylinder mounting plate is detachable The cam is fixed to the side wall of one of the linear bearing seats, the cylinder mounting plate is provided with a cylinder mounting hole facing the cylinder mounting groove, the driving cylinder is placed in the cylinder mounting groove, the driving cylinder is fixedly mounted on the cylinder mounting plate, and the output end of the driving cylinder passes through the cylinder mounting hole and is detachably connected to the guide rail pushing block, the two linear moving modules are respectively a front-and-rear moving module and a vertical moving module, the bottom plate of the front-and-rear moving module is vertically arranged, the linear guide rail of the front-and-rear moving module is in a front-and-rear direction, the bottom of the bottom plate of the front-and-rear moving module is fixedly connected to the upper part of the bracket, the bottom plate of the vertical moving module is vertically arranged, the bottom of the bottom plate of the vertical moving module is connected to the front-and-rear moving module The front wall of the guide rail pushing block of the movable module is connected, the linear guide of the vertical moving module is vertically oriented, the output end of the driving cylinder of the vertical moving module extends downwardly and is connected to the guide rail pushing block of the vertical moving module, the bracket comprises a base, two pillars, two adjusting blocks and two tightening screws, the top of the base is equipped with two fixing flanges, the base is provided with a plurality of adjusting through holes that penetrate the base vertically and are elongated in the left and right directions, the lower ends of the pillars are fixedly inserted in the fixing flanges, the middle part of the adjusting block is provided with a tightening hole that runs vertically, one side end of the adjusting block is convexly provided with a bottom plate fixing block, the other side end of the adjusting block is provided with a tightening crack that communicates with the tightening hole, and the adjusting block is also provided with a through hole that penetrates the base vertically and is elongated in the left and right directions The tightening screw hole passes directly through the tightening crack, the upper end of the pillar is inserted through the tightening hole, and the tightening screw is screwed and inserted in the tightening screw hole. The mechanical claw mechanism includes left and right fine-tuning components and an air claw component. The left and right fine-tuning components include two fine-tuning screws, a plurality of fixing screws, a rear mounting plate, a rear adjustment fixing block, a front adjustment slider and two adjustment end plates. The upper part of the rear mounting plate is connected to the rear part of the guide rail pushing block of the vertical moving module, and the lower part of the rear mounting plate extends downward to the bottom of the guide rail pushing block of the vertical moving module and is fixedly connected to the rear wall of the rear adjustment fixing block. Fixing screw holes are provided at the left and right ends of the rear adjustment fixing block, and the rear wall of the front adjustment slider slides left and right to be clamped on the front wall of the rear adjustment fixing block.The air gripper assembly is fixedly mounted on the front wall of the front adjustment slider, the adjustment end plate is provided with a fixing plug hole at a position opposite to the fixing screw hole, the adjustment end plate is provided with an adjusting screw hole at an end portion opposite to the front adjustment slider, the fixing screw is inserted through the fixing plug hole and screwed into the fixing screw hole, the fine-tuning screw is screwed into the adjusting screw hole and the free end of the fine-tuning screw is pressed against the end portion of the front adjustment slider.

2. The flexible pneumatic universal mobile manipulator according to claim 1, characterized in that: It also includes a left and right linear moving module, the structure of which is consistent with the structure of the front and rear moving module and the vertical moving module, the bottom of the base plate of the left and right linear moving module is connected to the lower wall of the guide rail pushing block of the vertical moving module, and the linear guide rail of the left and right linear moving module is in a left and right direction.

3. The flexible pneumatic universal mobile manipulator according to claim 1, characterized in that: The linear motion module also includes a plurality of fixing screws. The bottom of the linear bearing seat is provided with a plurality of fixing screw holes. The bottom plate is provided with guide holes opposite to the fixing screw holes. The fixing screws are inserted through the guide holes and screwed into the fixing screw holes.

4. The flexible pneumatic universal mobile manipulator according to claim 1, characterized in that: The output shaft of the driving cylinder is fixedly equipped with a pushing head, a mounting slot is provided on the inner side of the free end of the pushing head, a pushing head mounting slot is provided in the middle of the top of the guide rail pushing block, and both side walls of the pushing head mounting slot close to one end of the bottom plate are provided with a clamping protrusion protruding inwardly, the pushing head is installed in the pushing head mounting slot, and the clamping protrusion is clamped in the mounting slot.

5. The flexible pneumatic universal mobile manipulator according to claim 1, characterized in that: The bracket also includes a lower connecting block and an adjusting screw. A plurality of adjusting screw holes are opened on the lower connecting block opposite to the adjusting through hole. A plurality of adjusting through holes elongated in the left and right directions are opened on the lower connecting block opposite to the adjusting screw hole. The adjusting screw passes through the adjusting through hole and is screwed and inserted into the adjusting screw hole.

6. The flexible pneumatic universal mobile manipulator according to claim 5, characterized in that: The invention also includes two first flanges, a first rotating shaft, two second flanges and a second rotating shaft, the first flange including a first flange seat, a first flange sleeve connected to the first flange seat and a first locking screw, a side wall of the first flange is provided with a first tightening crack penetrating through the first flange, the first flange is provided with first locking studs facing each other on both sides of the first tightening crack, the first locking stud is provided with a first screw hole penetrating through the first locking stud, the first locking screw can be screwed through the two first screw holes to tighten the first tightening crack, the two first flanges are respectively a base plate flange and a push block flange, the first flange seat of the base plate flange is fixed to the bottom of the base plate of the vertical moving module, the first flange seat of the push block flange is fixed to the front wall of the guide rail push block of the front-rear moving module, and the two ends of the first rotating shaft are provided with a first screw hole penetrating through the first locking stud. The ends are respectively inserted in the first flange sleeve of the base plate flange and the first flange sleeve of the push block flange, the second flange includes a second flange seat, a second flange sleeve connected to the second flange seat and a second locking screw, the side wall of the second flange is provided with a second tightening crack running through itself, the second flange is respectively provided with second locking studs facing each other on both sides of the second tightening crack, the second locking stud is provided with a second screw hole running through the second locking stud, the second locking screw can be screwed through the two second screw holes to tighten the second tightening crack, the two second flanges are respectively a base flange and an external flange, the second flange seat of the base flange is fixed to the bottom of the lower connecting block, and the two ends of the second rotating shaft are respectively inserted in the second flange sleeve of the base flange and the second flange sleeve of the external flange.

7. The flexible pneumatic universal mobile manipulator according to claim 1, characterized in that: The air gripper assembly includes a square air gripper mounting plate, an air gripper, a front connecting plate and mounting screws. The rear wall of the front connecting plate is fixedly connected to the front wall of the front adjusting slider. The fixed end of the air gripper is detachably fixedly connected to the bottom wall of the air gripper mounting plate. The side wall or the top wall of the air gripper mounting plate is provided with a mounting screw hole. The front wall of the front connecting plate is provided with a mounting protrusion protruding upward. The mounting protrusion is provided with a mounting through hole facing the mounting screw hole. The mounting screw is inserted through the mounting through hole and screwed into the mounting screw hole.

8. The flexible pneumatic universal mobile manipulator according to claim 1, characterized in that: The air gripper assembly includes an air gripper mounting box, an air gripper, an air gripper shaft, a transmission gear, a cylinder, a cylinder mounting plate, a sliding guide rail and a spur rack. An upper shaft hole and a lower shaft hole are respectively provided at the upper and lower ends of the air gripper mounting box. The upper end of the air gripper shaft is rotatably inserted through the upper shaft hole to connect with the transmission gear, and the lower end of the air gripper shaft is rotatably inserted through the lower shaft hole to connect with the fixed end of the air gripper. The rear wall of the air gripper mounting box is fixedly connected to the front wall of the front adjustment slider, and the rear wall of the cylinder mounting plate is fixedly connected to the front wall of the air gripper mounting box. The cylinder mounting plate has left and right directions. The top of the air claw mounting box is provided with a rack mounting notch running left and right between the cylinder mounting plate and the transmission gear, the spur rack is installed left and right in the rack mounting notch and meshes with the transmission gear, the left and right ends of the spur rack are respectively provided with guide rail connecting parts protruding forward, the sliding guide rails are relatively slidably inserted in the guide rail through hole, and the two ends of the sliding guide rails are respectively fixedly connected with the guide rail connecting parts, the fixed end of the cylinder is fixed to the front wall of the cylinder mounting plate, and the output shaft of the cylinder extends left and right and is fixedly connected with the guide rail connecting part at the corresponding end.

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