A pneumatic robot arm and control method thereof

Abstract

The present invention relates to the technical field of pneumatic robots, and in particular to a pneumatic robot arm and a control method thereof. The present invention comprises an air pump and a cylinder, wherein the air pump is arranged above the cylinder, a first piston plate is slidably connected in the cylinder, a fixed block is fixedly connected to the bottom of the first piston plate, and a bottom shell is fixedly connected to the bottom of the cylinder. The present invention heats the gap by means of a heating wire. On the one hand, it can heat the air entering the gap, which is beneficial to avoid the situation that the gas expands and contracts due to the cold air in the outside atmosphere. On the other hand, the heating wire can also be used to heat the cylinder, so that the temperature of the cylinder tends to be constant, effectively maintaining the expansion efficiency of the gas, which is beneficial to avoid the situation that the output power of the cylinder is insufficient due to the thermal expansion and contraction of the gas. Secondly, the heating of the heating wire can also increase the activity of the lubricating oil in the annular oil tank.

Description

Technical Field

[0001] The present invention relates to the field of pneumatic robots, and in particular to a pneumatic robot arm and a control method thereof. Background Art

[0002] The robotic arm is the most widely used automated mechanical device in the field of robotics and is widely used in industrial manufacturing. The working principle of the pneumatic robotic arm is mainly based on the power of compressed air, and various actions are achieved through the control of pneumatic components.

[0003] The patent with publication number CN115401787A discloses a large prefabricated part tensioning pneumatic robot arm, which includes a crawler chassis, a communication module, a power-assisting robot arm fixedly mounted on the movable arm of the crawler chassis, a control system, and a tensioning jack fixedly mounted on the power-assisting robot arm.

[0004] However, the above-mentioned robot arm still has certain defects when in use. Since pneumatic robot arms often use gas as a power source, and gas often has the characteristics of thermal expansion and contraction, when the pneumatic robot arm is used in a cold environment, the robot arm often fails to hold the object firmly due to insufficient expansion of the gas. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a pneumatic robot arm and a control method thereof.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: a pneumatic robot arm, comprising an air pump and a cylinder, the air pump being arranged above the cylinder, a first piston plate being slidably connected in the cylinder, a fixed block being fixedly connected to the bottom of the first piston plate, a bottom shell being fixedly connected to the bottom of the cylinder, mechanical claws being rotatably installed on both sides of the bottom shell, the fixed block being transmission-connected to the mechanical claws, limit assemblies being arranged on both sides of the fixed block, an annular oil tank being arranged on the outside of the cylinder, the annular oil tank being used to supply oil to the limit assemblies, and a heating wire for heating the gas being also arranged between the cylinder and the annular oil tank.

[0007] Preferably, the limit assembly includes a slide rail fixedly connected to the inner walls on both sides of the bottom shell, a limit block slidably connected in the slide rail, two limit blocks are symmetrically fixedly connected on both sides of the fixed block, grooves are provided on the tops of the ends of the two limit blocks away from each other, the grooves are located in the slide rail, lubricating oil pipes are provided on both sides of the bottom of the annular oil tank, the ends of the two lubricating oil pipes away from the annular oil tank are respectively located above the grooves provided on the tops of the two limit blocks, and an electromagnetic valve is provided at the connection between the lubricating oil pipe and the annular oil tank.

[0008] Preferably, the top of the cylinder is fixedly connected to a top plate, the bottom of the cylinder is fixedly connected to a bottom plate, the top wall plate of the bottom shell is fixedly connected to the bottom plate, the air pump is fixedly connected to the top plate, and a plurality of support rods for reinforcement are fixedly connected on the side where the bottom plate and the top plate are close to each other. The top and bottom wall plates of the annular oil tank are fixedly connected to the top plate and the bottom plate respectively, a gap is provided between the annular oil tank and the cylinder, a heating wire is provided in the gap, both sides of the bottom of the gap are connected to air inlets, the air inlets are provided in the bottom plate, and the air inlets pass through the side walls of the bottom plate, and the lubricating oil pipe is opened in the bottom plate.

[0009] Preferably, one end of the air pump is connected to the gap, the other end of the air pump is connected to the cylinder, and the air inlet and outlet ends of the air pump can be converted into each other. A sliding column is fixedly connected at the bottom center of the first piston plate, and the end of the sliding column away from the first piston plate is fixedly connected to the top wall plate of the fixed block, and driving columns are fixedly connected on both sides of the fixed block. Strip grooves are provided on both sides of the bottom shell, and two driving columns are respectively slidably connected in the two strip grooves. One end of the driving column away from the fixed block is fixedly connected to a driving arm, and two output rods are provided at the bottom of the driving arm. The two output rods are respectively rotatably connected to connecting rods, and the two connecting rods are fixedly connected to the side wall plates of the two mechanical claws. The two connecting rods driven by the two driving columns are respectively located on both sides of the two mechanical claws, and the bottom of both sides of the bottom shell is fixedly connected with a rotating shaft, and one end of the mechanical claw is rotatably sleeved on the outside of the rotating shaft.

[0010] Preferably, the inner bottom of the bottom shell is fixedly connected to a recovery box body, a recovery cavity is provided in the recovery box body, two slide rails extend to the bottom of the recovery box body respectively, a slide groove is provided on the inner side of the slide rail, a limit block is slidably connected in the slide groove, the bottom of the slide groove is connected to a recovery oil pipe, the end of the recovery oil pipe away from the slide groove is connected to the recovery cavity, and a check valve is provided at the connection between the two, the bottom of the limit block is fixedly connected to a connecting plate, the bottom of the connecting plate is fixedly connected to a rubber head, the rubber head is used to squeeze the lubricating oil collected at the bottom of the slide groove, the top of the limit block is fixedly connected to a baffle plate, the baffle plate is slidably connected to a side of the slide groove close to the fixed block, and the two side wall panels of the baffle plate abut against the two side wall panels of the slide groove.

[0011] Preferably, a rubber pad is installed at the bottom of the recovery box for lifting, a round table is fixedly connected to the top of the rubber pad, a magnetic ring is embedded in the top of the round table, and a concave surface with an arc-shaped cross-section is provided at the bottom of the rubber pad.

[0012] Preferably, the bottom wall plate of the fixed block is movably abutted with an abutment column, a piston cylinder is fixedly connected to the inner center of the recovery chamber, a second piston plate is slidably connected in the piston cylinder, the abutment column is fixedly connected to the top center of the second piston plate, a piston column is fixedly connected to the bottom center of the second piston plate, the cone is fixedly connected to the end of the piston column away from the second piston plate, a spring is fixedly connected to the bottom of the second piston plate, and the end of the spring away from the second piston plate is fixedly connected to the inner bottom wall plate of the piston cylinder.

[0013] Preferably, an annular filter is provided on the outside of the piston cylinder, a buffer groove is provided between the filter and the piston cylinder, an oil outlet pipe is connected to the bottom of the buffer groove, the end of the oil outlet pipe away from the buffer groove is connected to the piston cylinder, and a one-way water inlet valve is provided at the connection between the two, an oil inlet pipe is connected to the inner bottom wall plate of the piston cylinder, and a one-way water outlet valve is provided at the connection between the two, the end of the oil inlet pipe away from the piston cylinder is connected to the annular oil tank, and the oil outlet pipe is opened on the inner bottom wall plate of the recovery box.

[0014] Preferably, a water supply pipe is provided on one side of the bottom shell, the water supply pipe passes through the side wall of the bottom shell, the water supply pipe is connected to the recovery chamber, a drain pipe is connected to the bottom side of the recovery chamber, and plugs are provided in the water supply pipe and the drain pipe.

[0015] Preferably, a control method for a pneumatic robot arm comprises the following steps:

[0016] Step 1: supply air into the cylinder through an air pump, and use the air pressure to push the first piston plate down. The first piston plate drives the fixed block to descend through the sliding column, and then the fixed block drives the driving column to descend;

[0017] Step 2: The descent of the driving column will drive the driving arm to descend, and the descent of the driving arm will squeeze the connecting rod, and then squeeze the mechanical claw, so that the mechanical claw rotates towards each other around the rotation axis to achieve clamping.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention heats the gap by means of a heating wire. On the one hand, it can heat the air entering the gap, which is beneficial to avoid the expansion and contraction of the gas due to the cold air in the outside atmosphere. On the other hand, it can also use the heating wire to heat the cylinder, so that the temperature of the cylinder tends to be constant, effectively maintaining the expansion efficiency of the gas, which is beneficial to avoid the situation where the cylinder output power is insufficient due to the expansion and contraction of the gas. Secondly, the heating of the heating wire can also increase the activity of the lubricating oil in the annular oil tank, which is beneficial to avoid the viscosity and condensation of the lubricating oil due to the low temperature, so that the manipulator can still fully lubricate the slide rail and the limit block in cold climates.

[0020] 2. The present invention arranges the spring and the magnetic ring. After the fixed block abuts the abutment column, the abutment column is pressed down. During this process, the second piston plate will squeeze the spring to make the spring contract. The spring can also play a buffering role on the fixed block, so that the gas in the cylinder drives the first piston plate to descend with a greater force, thereby making the air pressure in the cylinder higher. By increasing the air pressure, the holding force of the mechanical claw on the object is increased, thereby making the clamping more stable. Since the magnetic ring exerts a magnetic force on the bottom shell, the second piston plate needs to overcome the magnetic force to do work during the descent process, further strengthening the expansion of the gas in the cylinder, and using the high-pressure state of the gas to reduce the thermal expansion and contraction of the gas caused by the temperature, thereby ensuring that the mechanical claw can effectively grasp the object.

[0021] 3. The present invention can effectively limit the fixed block by setting the limit block and the slide rail and sliding the limit block and the slide rail, so that the fixed block will not rotate, thereby reducing the torque in the non-clamping direction on the connecting rod, the driving arm and the mechanical claw, and protecting the connecting rod, the driving arm and the mechanical claw. At the same time, the setting of the driving column and the strip groove can also limit the fixed block, further reducing the torque in the non-clamping direction on the connecting rod, the driving arm and the mechanical claw, further realizing the protection of the connecting rod, the driving arm and the mechanical claw, and thus prolonging the service life of the connecting rod, the driving arm and the mechanical claw. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the installation structure of the rubber pad of the present invention;

[0024] Figure 3 It is a schematic cross-sectional view of the structure of the top plate of the present invention;

[0025] Figure 4 For the present invention Figure 3 An enlarged schematic diagram of the structure of section A is shown;

[0026] Figure 5 For the present invention Figure 3 An enlarged schematic diagram of the structure of part B is shown;

[0027] Figure 6 For the present invention Figure 3 An enlarged schematic diagram of the C-section structure is shown;

[0028] Figure 7 For the present invention Figure 3 An enlarged schematic diagram of the D-section structure is shown;

[0029] Figure 8 It is a schematic cross-sectional view of the structure of the driving column of the present invention;

[0030] Fig. 9 For the present invention Figure 8 An enlarged schematic diagram of the structure of part E is shown;

[0031] Fig.10 For the present invention Figure 8 The enlarged schematic diagram of the F part structure is shown;

[0032] Fig.11 It is a schematic cross-sectional view of the structure of the water adding pipe of the present invention;

[0033] Fig.12 For the present invention Fig.11 The enlarged schematic diagram of the G-section structure shown;

[0034] Fig.13 It is a schematic diagram of the connection structure of the fixing block of the present invention.

[0035] In the figure: 1. air pump; 2. annular oil tank; 3. top plate; 4. bottom shell; 5. water filling pipe; 6. mechanical claw; 7. driving arm; 8. driving column; 9. connecting rod; 10. bottom plate; 11. air inlet; 12. round table; 13. rubber pad; 14. cylinder; 15. heating wire; 16. first piston plate; 17. sliding column; 18. fixing block; 19. lubricating oil pipe; 20. limit block; 21. slide rail; 22. drain pipe; 23. groove; 24. baffle; 25. connecting plate; 26. rubber head; 27. abutting column; 28. recovery box; 29. ​​piston cylinder; 30. spring; 31. filter screen; 32. recovery oil pipe; 33. second piston plate; 34. piston column; 35. magnetic ring; 36. oil inlet pipe; 37. oil outlet pipe. DETAILED DESCRIPTION

[0036] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0037] like Figures 1 to 13 A pneumatic robot arm shown includes an air pump 1 and a cylinder 14, the air pump 1 is arranged above the cylinder 14, a first piston plate 16 is slidably connected in the cylinder 14, a fixed block 18 is fixedly connected to the bottom of the first piston plate 16, a bottom shell 4 is fixedly connected to the bottom of the cylinder 14, mechanical claws 6 are rotatably installed on both sides of the bottom shell 4, the fixed block 18 is transmission-connected to the mechanical claws 6, and limit assemblies are arranged on both sides of the fixed block 18, an annular oil tank 2 is arranged on the outside of the cylinder 14, the annular oil tank 2 is used to supply oil to the limit assemblies, and a heating wire 15 for heating the gas is also arranged between the cylinder 14 and the annular oil tank 2.

[0038] In a specific implementation, by setting the heating wire 15, on the one hand, the cylinder 14 and the annular oil tank 2 can be preheated, and on the other hand, the air can also be heated. Secondly, by setting the annular oil tank 2, it can also keep the heating wire 15 and the cylinder 14 warm.

[0039] As a further implementation scheme of the present invention, the limit assembly includes a slide rail 21 fixedly connected to the inner walls on both sides of the bottom shell 4, and a limit block 20 is slidably connected in the slide rail 21. The two limit blocks 20 are symmetrically fixedly connected on both sides of the fixed block 18. The tops of the two limit blocks 20 at one end away from each other are provided with grooves 23, and the grooves 23 are located in the slide rail 21. Lubricating oil pipes 19 are provided on both sides of the bottom of the annular oil tank 2. The ends of the two lubricating oil pipes 19 away from the annular oil tank 2 are respectively located above the grooves 23 opened on the tops of the two limit blocks 20, and an electromagnetic valve is provided at the connection between the lubricating oil pipe 19 and the annular oil tank 2.

[0040] In a specific implementation, a contact switch is fixedly connected to the top of the top plate 3, and the contact switch is used to control the opening of the solenoid valve.

[0041] As a further implementation scheme of the present invention, the top of the cylinder 14 is fixedly connected to the top plate 3, the bottom of the cylinder 14 is fixedly connected to the bottom plate 10, the top wall panel of the bottom shell 4 is fixedly connected to the bottom plate 10, the air pump 1 is fixedly connected to the top plate 3, and a plurality of support rods for reinforcement are fixedly connected to the side where the bottom plate 10 and the top plate 3 are close to each other. The top and bottom wall panels of the annular oil tank 2 are fixedly connected to the top plate 3 and the bottom plate 10 respectively, a gap is provided between the annular oil tank 2 and the cylinder 14, a heating wire 15 is provided in the gap, both sides of the bottom of the gap are connected to the air inlet 11, the air inlet 11 is provided in the bottom plate 10, and the air inlet 11 passes through the side wall of the bottom plate 10, and the lubricating oil pipe 19 is opened in the bottom plate 10.

[0042] In a specific implementation, lubricating oil is pre-added in the annular oil tank 2 , and a refueling port for refueling is also provided on one side of the top of the annular oil tank 2 , and a sealing cap is provided in the refueling port.

[0043] As a further implementation scheme of the present invention, one end of the air pump 1 is connected to the gap, the other end of the air pump 1 is connected to the cylinder 14, and the air inlet and outlet ends of the air pump 1 can be converted into each other. A sliding column 17 is fixedly connected to the bottom center of the first piston plate 16, and the end of the sliding column 17 away from the first piston plate 16 is fixedly connected to the top wall plate of the fixed block 18, and the two sides of the fixed block 18 are fixedly connected with driving columns 8. Strip grooves are provided on both sides of the bottom shell 4, and the two driving columns 8 are respectively slidably connected in the two strip grooves. The end of the driving column 8 away from the fixed block 18 is fixedly connected to the driving arm 7, and two output rods are provided at the bottom of the driving arm 7. The two output rods are respectively rotatably connected with connecting rods 9, and the two connecting rods 9 are fixedly connected to the side wall plates of the two mechanical claws 6. The two connecting rods 9 driven by the two driving columns 8 are respectively located on both sides of the two mechanical claws 6. The bottom of both sides of the bottom shell 4 is fixedly connected with a rotating shaft, and one end of the mechanical claw 6 is rotatably sleeved on the outside of the rotating shaft.

[0044] In the specific implementation, the air pump 1 is a bidirectional air pump, and the mutual conversion between its air inlet end and air outlet end is the existing technology, which will not be disclosed in detail here. Both ends of the bottom shell 4 are fixedly connected with mounting blocks, and the two mounting blocks on the same side of the bottom shell 4 are fixedly connected with a rotating shaft on the opposite sides.

[0045] As a further implementation scheme of the present invention, the inner bottom of the bottom shell 4 is fixedly connected with a recovery box 28, and a recovery cavity is opened in the recovery box 28. Two slide rails 21 extend to the bottom of the recovery box 28 respectively, and a slide groove is arranged on the inner side of the slide rail 21. The limit block 20 is slidably connected in the slide groove. The bottom of the slide groove is connected with a recovery oil pipe 32, and the end of the recovery oil pipe 32 away from the slide groove is connected with the recovery cavity, and a check valve is arranged at the connection between the two. The bottom of the limit block 20 is fixedly connected with a connecting plate 25, and the bottom of the connecting plate 25 is fixedly connected with a rubber head 26, and the rubber head 26 is used to squeeze the lubricating oil collected at the bottom of the slide groove. The top of the limit block 20 is fixedly connected with a baffle 24, and the baffle 24 is slidably connected to the side of the slide groove close to the fixed block 18, and the two side wall panels of the baffle 24 abut against the two side wall panels of the slide groove.

[0046] In a specific implementation, the setting of the rubber head 26 can, on the one hand, squeeze the lubricating oil at the bottom of the slide groove into the recovery chamber, and on the other hand, can evenly apply the lubricating oil on the slide groove during the upward movement of the fixed block 18.

[0047] As a further implementation scheme of the present invention, a rubber pad 13 is installed at the bottom of the recovery box 28 for lifting, a truncated table 12 is fixedly connected to the top of the rubber pad 13, a magnetic ring 35 is embedded on the top of the truncated table 12, and a concave surface with an arc-shaped cross-section is provided at the bottom of the rubber pad 13.

[0048] In a specific implementation, the setting of the rubber pad 13 can also apply a friction force to the clamped object, which is helpful to prevent the clamped object from shifting sideways. The magnetic ring 35 and the recovery box 28 attract each other through magnetic force. The setting of the magnetic ring 35 can improve the stability of the round table 12 and the rubber pad 13.

[0049] As a further embodiment of the present invention, the bottom wall panel of the fixed block 18 is movably abutted with an abutment column 27, a piston cylinder 29 is fixedly connected at the inner center of the recovery chamber, a second piston plate 33 is slidably connected in the piston cylinder 29, the abutment column 27 is fixedly connected at the top center of the second piston plate 33, a piston column 34 is fixedly connected at the bottom center of the second piston plate 33, the cone 12 is fixedly connected to one end of the piston column 34 away from the second piston plate 33, a spring 30 is fixedly connected to the bottom of the second piston plate 33, and one end of the spring 30 away from the second piston plate 33 is fixedly connected to the inner bottom wall panel of the piston cylinder 29.

[0050] In a specific implementation, the spring 30 is specifically a damping spring. Through the arrangement of the spring 30 , the second piston plate 33 can be effectively reset, and at the same time, a certain shock absorbing and buffering effect can be played on the fixing block 18 .

[0051] As a further implementation scheme of the present invention, an annular filter screen 31 is provided on the outer side of the piston cylinder 29, a buffer groove is provided between the filter screen 31 and the piston cylinder 29, an oil outlet pipe 37 is connected to the bottom of the buffer groove, the end of the oil outlet pipe 37 away from the buffer groove is connected to the piston cylinder 29, and a one-way water inlet valve is provided at the connection between the two, an oil inlet pipe 36 is connected to the inner bottom wall panel of the piston cylinder 29, and a one-way water outlet valve is provided at the connection between the two, the end of the oil inlet pipe 36 away from the piston cylinder 29 is connected to the annular oil tank 2, and the oil outlet pipe 37 is opened on the inner bottom wall panel of the recovery box body 28.

[0052] In a specific implementation, the one-way water inlet valve can only allow the lubricating oil in the buffer tank to enter the piston cylinder 29, and the one-way water outlet valve can only allow the lubricating oil in the piston cylinder 29 to enter the annular oil tank 2. The oil inlet pipe 36 is embedded in the bottom shell 4, and the oil inlet pipe 36 passes through the bottom plate 10 from the side wall of the bottom shell 4, and then passes through the wall plate of the annular oil tank 2 to communicate with the internal chamber of the annular oil tank 2. This design realizes the hidden setting of the oil inlet pipe 36. Compared with the traditional external pipeline, this method can avoid the entanglement between the oil inlet pipe 36 and the fixing block 18, thereby causing the oil inlet pipe 36 to break.

[0053] As a further implementation scheme of the present invention, a water supply pipe 5 is provided on one side of the bottom shell 4, and the water supply pipe 5 passes through the side wall of the bottom shell 4. The water supply pipe 5 is connected to the recovery chamber, and a drain pipe 22 is connected to the bottom side of the recovery chamber. Plugs are provided in the water supply pipe 5 and the drain pipe 22.

[0054] In a specific implementation, the impurities in the recovery chamber can be effectively flushed through the provision of the water supply pipe 5 and the drainage pipe 22 .

[0055] As a further embodiment of the present invention, a control method for a pneumatic robot arm comprises the following steps:

[0056] Step 1: supply air into the air cylinder 14 through the air pump 1, and use the air pressure to push the first piston plate 16 down. The first piston plate 16 drives the fixed block 18 to descend through the sliding column 17, and then the fixed block 18 drives the driving column 8 to descend;

[0057] Step 2: The descent of the driving column 8 will drive the driving arm 7 to descend, and the descent of the driving arm 7 will squeeze the connecting rod 9, and then squeeze the mechanical claw 6, so that the mechanical claw 6 rotates in a direction close to each other around the rotation axis to achieve clamping.

[0058] Working principle of the present invention:

[0059] When the present invention is in use, air is first supplied into the cylinder 14 through the air pump 1, and the air pressure is used to lower the first piston plate 16 inside the cylinder 14. After the first piston plate 16 is lowered, it will drive the sliding column 17 and the fixed block 18 to descend, and then the fixed block 18 drives the driving arm 7 to descend through the driving column 8. The descent of the driving arm 7 applies a descending force to the connecting rod 9, thereby squeezing the mechanical claw 6, so that the mechanical claw 6 rotates in a direction close to each other with the rotating axis as the center, thereby realizing the clamping function.

[0060] When the air pump 1 is turned on, the air pump 1 draws air from the gap between the annular oil tank 2 and the cylinder 14. After the air in the gap is drawn into the air pump 1, the air in the outside atmosphere enters the gap through the air inlet 11 for replenishment, so that the air pump 1 has sufficient air source to drive the first piston plate 16 to descend. When the manipulator is used in an environment with low temperature, the heating wire 15 is turned on.

[0061] By heating the gap through the heating wire 15, on the one hand, the air entering the gap can be heated, which is beneficial to avoid the expansion and contraction of the gas due to the cold air in the outside atmosphere. On the other hand, the heating wire 15 can also be used to heat the cylinder 14, so that the temperature of the cylinder 14 tends to be constant, effectively maintaining the expansion efficiency of the gas, which is beneficial to avoid the insufficient output power of the cylinder 14 due to the thermal expansion and contraction of the gas. Secondly, the heating of the heating wire 15 can also increase the activity of the lubricating oil in the annular oil tank 2, which is beneficial to avoid the viscosity and condensation of the lubricating oil due to the low temperature, so that the manipulator can still fully lubricate the slide rail 21 and the limit block 20 in cold climates.

[0062] During the descent of the fixed block 18, the fixed block 18 will drive the limit block 20 to descend, and the limit block 20 will slide in the slide rail 21 during the descent. The sliding of the limit block 20 and the slide rail 21 can effectively limit the fixed block 18, so that the fixed block 18 will not rotate, thereby reducing the torque in the non-clamping direction on the connecting rod 9, the driving arm 7 and the mechanical claw 6, and protecting the connecting rod 9, the driving arm 7 and the mechanical claw 6. At the same time, the setting of the driving column 8 and the strip groove can also limit the fixed block 18, further reduce the torque in the non-clamping direction on the connecting rod 9, the driving arm 7 and the mechanical claw 6, and further protect the connecting rod 9, the driving arm 7 and the mechanical claw 6, thereby increasing the service life of the connecting rod 9, the driving arm 7 and the mechanical claw 6.

[0063] As the fixed block 18 descends, the fixed block 18 will abut against the abutment column 27, and then press the abutment column 27 downward. In the process of the abutment column 27 being pressed downward, the abutment column 27 will push the second piston plate 33 to slide downward. In this process, the second piston plate 33 will squeeze the spring 30, causing the spring 30 to contract. In this process, the spring 30 can also buffer the fixed block 18, so that the gas in the cylinder 14 drives the first piston plate 16 to descend with a greater force, thereby making the air pressure in the cylinder 14 higher. By increasing the air pressure, the holding force of the mechanical claw 6 on the object is increased, thereby making the clamping more stable.

[0064] During the descent of the second piston plate 33, the second piston plate 33 will drive the piston column 34 to descend, and then the piston column 34 will push the round table 12 to descend. During the descent of the round table 12, the magnetic ring 35 will exert a magnetic force on the bottom shell 4, and the descent of the round table 12 needs to overcome the magnetic force to do work, further strengthen the expansion of the gas in the cylinder 14, and use the high pressure state of the gas to reduce the thermal expansion and contraction of the gas caused by the temperature, so as to ensure that the mechanical claw 6 can effectively grasp the object. As the round table 12 descends, the round table 12 will cause the rubber pad 13 to descend, and then the rubber pad 13 will abut against the object held by the mechanical claw 6, and the concave surface at the bottom of the rubber pad 13 will further abut against the object, and then the object will be further clamped, which is conducive to improving the stability of the clamped object.

[0065] During the descent of the fixed block 18, the connecting plate 25 and the rubber head 26 at the bottom of the limit block 20 will also descend. During the descent, the rubber head 26 wipes the slide groove inside the slide rail 21, and can clean the lubricating oil adhering to the inner wall of the slide groove. On the other hand, when the rubber head 26 enters the slide groove located on the side of the recovery box 28, it will squeeze the lubricating oil collected at the bottom of the slide groove, so that the lubricating oil enters the recovery chamber through the recovery oil pipe 32, and then is filtered by the filter 31. After the filtering of the filter 31 is completed, during the rising process of the second piston plate 33, the oil enters the piston cylinder 29 through the oil outlet pipe 37. During the descending process of the second piston plate 33, the oil is recovered to the annular oil tank 2 through the oil inlet pipe 36, thereby realizing the recovery of the lubricating oil.

[0066] After grabbing the object, the gas in the cylinder 14 is extracted through the air pump 1 by changing the air inlet and outlet ends of the air pump 1, and then discharged through the air inlet 11. As the gas in the cylinder 14 decreases, the first piston plate 16 will slide upward. During the upward sliding process of the first piston plate 16, the spring 30 and the magnetic ring 35 will prompt the second piston plate 33 to reset.

[0067] Before using the manipulator, first turn on the heating wire 15 to preheat the manipulator. After preheating, turn on the solenoid valve so that the lubricating oil in the annular oil tank 2 can soak into the groove 23 of the limit block 20. Through the setting of the baffle 24, the lubricating oil is collected in the space between the groove 23, the baffle 24 and the slide groove. After the lubricating oil in the baffle 24 is full, close the solenoid valve so that the slide rail 21 can be effectively lubricated during the process of the manipulator grabbing the object.

[0068] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention, and these changes and improvements fall within the scope of the present invention claimed.

Claims

1. A pneumatic robot arm, comprising an air pump (1) and an air cylinder (14), characterized in that: The air pump (1) is arranged above the cylinder (14), a first piston plate (16) is slidably connected in the cylinder (14), a fixed block (18) is fixedly connected to the bottom of the first piston plate (16), a bottom shell (4) is fixedly connected to the bottom of the cylinder (14), mechanical claws (6) are rotatably mounted on both sides of the bottom shell (4), the fixed block (18) is drivingly connected to the mechanical claws (6), and limit assemblies are arranged on both sides of the fixed block (18), an annular oil tank (2) is arranged on the outside of the cylinder (14), the annular oil tank (2) is used to supply oil to the limit assemblies, and a heating wire (15) for heating gas is also arranged between the cylinder (14) and the annular oil tank (2); One end of the air pump (1) is connected to the gap, and the other end of the air pump (1) is connected to the cylinder (14). The air inlet end and the air outlet end of the air pump (1) can be switched with each other. A sliding column (17) is fixedly connected to the bottom center of the first piston plate (16). One end of the sliding column (17) away from the first piston plate (16) is fixedly connected to the top wall plate of the fixed block (18). The two sides of the fixed block (18) are fixedly connected to the driving columns (8). Both sides of the bottom shell (4) are provided with strip grooves. The two driving columns (8) are slidably connected to the two strip grooves. shaped groove, one end of the driving column (8) away from the fixed block (18) is fixedly connected to the driving arm (7), two output rods are arranged at the bottom of the driving arm (7), the two output rods are rotatably connected to connecting rods (9), the two connecting rods (9) are fixedly connected to the side wall panels of the two mechanical claws (6), the two connecting rods (9) connected by the two driving columns (8) are respectively located on both sides of the two mechanical claws (6), the bottom of both sides of the bottom shell (4) are fixedly connected to the rotating shaft, and one end of the mechanical claw (6) is rotatably sleeved on the outside of the rotating shaft; The bottom of the bottom shell (4) is fixedly connected to a recovery box (28), a recovery chamber is provided in the recovery box (28), two slide rails (21) extend to the bottom of the recovery box (28) respectively, a slide groove is provided inside the slide rail (21), a limit block (20) is slidably connected in the slide groove, a recovery oil pipe (32) is connected to the bottom of the slide groove, an end of the recovery oil pipe (32) away from the slide groove is connected to the recovery chamber, and a check valve is provided at the connection point between the two, a connecting plate (25) is fixedly connected to the bottom of the limit block (20), a rubber head (26) is fixedly connected to the bottom of the connecting plate (25), and the rubber head (26) is used to squeeze the lubricating oil collected at the bottom of the slide groove, a baffle (24) is fixedly connected to the top of the limit block (20), the baffle (24) is slidably connected to a side of the slide groove close to the fixed block (18), and two side wall plates of the baffle (24) abut against two side wall plates of the slide groove; A rubber pad (13) is installed at the bottom of the recovery box (28) in a lifting manner, a round table (12) is fixedly connected to the top of the rubber pad (13), a magnetic ring (35) is embedded in the top of the round table (12), and a concave surface with an arc-shaped cross section is provided at the bottom of the rubber pad (13); The bottom wall plate of the fixed block (18) is movably abutted with an abutting column (27); a piston cylinder (29) is fixedly connected to the inner center of the recovery chamber; a second piston plate (33) is slidably connected inside the piston cylinder (29); the abutting column (27) is fixedly connected to the top center of the second piston plate (33); a piston column (34) is fixedly connected to the bottom center of the second piston plate (33); the round table (12) is fixedly connected to one end of the piston column (34) away from the second piston plate (33); a spring (30) is fixedly connected to the bottom of the second piston plate (33); and one end of the spring (30) away from the second piston plate (33) is fixedly connected to the inner bottom wall plate of the piston cylinder (29).

2. A pneumatic robot arm according to claim 1, characterized in that: The limit assembly comprises a slide rail (21) fixedly connected to the inner walls of both sides of the bottom shell (4), a limit block (20) slidably connected in the slide rail (21), two limit blocks (20) symmetrically fixedly connected to both sides of the fixed block (18), a groove (23) being provided at the top of the ends of the two limit blocks (20) away from each other, the groove (23) being located in the slide rail (21), lubricating oil pipes (19) being provided at both sides of the bottom of the annular oil tank (2), the ends of the two lubricating oil pipes (19) away from the annular oil tank (2) being respectively located above the grooves (23) provided at the tops of the two limit blocks (20), and a solenoid valve being provided at the connection between the lubricating oil pipe (19) and the annular oil tank (2).

3. A pneumatic robot arm according to claim 2, characterized in that: The top of the cylinder (14) is fixedly connected to a top plate (3), the bottom of the cylinder (14) is fixedly connected to a bottom plate (10), the top wall plate of the bottom shell (4) is fixedly connected to the bottom plate (10), the air pump (1) is fixedly connected to the top plate (3), a plurality of support rods for reinforcement are fixedly connected to the side where the bottom plate (10) and the top plate (3) are close to each other, the top and bottom wall plates of the annular oil tank (2) are fixedly connected to the top plate (3) and the bottom plate (10) respectively, a gap is provided between the annular oil tank (2) and the cylinder (14), a heating wire (15) is provided in the gap, both sides of the bottom of the gap are connected to air inlets (11), the air inlet (11) is provided in the bottom plate (10), and the air inlet (11) passes through the side wall of the bottom plate (10), and a lubricating oil pipe (19) is opened in the bottom plate (10).

4. A pneumatic robot arm according to claim 3, characterized in that: An annular filter screen (31) is arranged on the outside of the piston cylinder (29), a buffer groove is arranged between the filter screen (31) and the piston cylinder (29), an oil outlet pipe (37) is connected to the bottom of the buffer groove, an end of the oil outlet pipe (37) away from the buffer groove is connected to the piston cylinder (29), and a one-way water inlet valve is arranged at the connection point between the two, an oil inlet pipe (36) is connected to the inner bottom wall plate of the piston cylinder (29), and a one-way water outlet valve is arranged at the connection point between the two, an end of the oil inlet pipe (36) away from the piston cylinder (29) is connected to the annular oil tank (2), and the oil outlet pipe (37) is opened on the inner bottom wall plate of the recovery box (28).

5. A pneumatic robot arm according to claim 4, characterized in that: A water supply pipe (5) is provided on one side of the bottom shell (4), the water supply pipe (5) passes through the side wall of the bottom shell (4), the water supply pipe (5) is connected to the recovery chamber, and a drainage pipe (22) is connected to the bottom side of the recovery chamber. Plugs are provided in both the water supply pipe (5) and the drainage pipe (22).

6. A method for controlling a pneumatic robot arm, applicable to the pneumatic robot arm according to claim 5, characterized in that: The control method comprises the following steps: Step 1: supplying air into the air cylinder (14) through the air pump (1), and using the air pressure to push the first piston plate (16) downward, so that the first piston plate (16) drives the fixed block (18) downward through the sliding column (17), and then the fixed block (18) drives the driving column (8) downward; Step 2: The driving column (8) descends, which drives the driving arm (7) to descend. The descending of the driving arm (7) squeezes the connecting rod (9), and further squeezes the mechanical claw (6), so that the mechanical claw (6) rotates in a direction close to each other around the rotation axis, thereby achieving gripping.

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