Grabbing device with flexible mechanical clamping jaw

Abstract

The invention belongs to the technical field of mechanical arms, and particularly relates to a grabbing device with a flexible mechanical clamping jaw, which comprises a control part, a clamping part, a drainage mechanism and a control mechanism, the control part comprises a bearing base, a humerus arm, a radius arm and a control cylinder, one end of the humerus arm is rotationally connected with the bearing base, the other end of the humerus arm is connected with the outer wall of the radius arm, and rotation of the humerus arm and the radius arm is controlled through the control cylinder; the clamping part is arranged at the end, away from the humerus arm, of the radial arm and used for grabbing a workpiece. The drainage mechanism comprises a heat preservation cover, an adapter pipe and a control pump, the heat preservation cover is fixedly installed on the outer wall of the fixed end of the control cylinder and provided with a liquid inlet and a liquid outlet, the liquid inlet of the heat preservation cover is communicated with the output end of the control pump, the adapter pipe is provided with three ports, and one port is connected with the liquid outlet of the heat preservation cover; the control mechanism comprises a heating bin and a cooling bin; through cooperation of the structure, the viscosity change amplitude of hydraulic oil is reduced, and the operation precision and sensitivity of the whole mechanical arm are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical arms, in particular to a grasping device with flexible mechanical clamping claws. Background Art

[0002] A robotic arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof, and other fields. In the field of industrial automation, a robotic arm controlled by a hydraulic cylinder is widely used in various production, processing, assembly, and material handling tasks. Its operational accuracy plays a vital role in production efficiency and product quality.

[0003] According to the working environment of the robotic arm, it can be divided into indoor operation and outdoor operation. Since the indoor space is closed, the working environment temperature is easy to adjust. When the robotic arm works outdoors, due to the vast outdoor space, the ambient temperature is not easy to adjust. The hydraulic oil is the working medium in the hydraulic cylinder of the robotic arm, and its performance is closely related to temperature.

[0004] When the external ambient temperature increases, the viscosity of the hydraulic oil will decrease and its viscous resistance will decrease. When performing an action, the movement speed of the robotic arm will increase and become difficult to control, causing the robotic arm to overshoot when reaching the target position. When the external ambient temperature decreases, the viscosity of the hydraulic oil will increase and the resistance of the hydraulic oil flowing in the system will increase, causing the robotic arm's action response to slow down and fail to stop accurately at the predetermined position, reducing the operating accuracy.

[0005] To this end, the present invention provides a gripping device with a flexible mechanical clamp. Summary of the invention

[0006] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0007] The technical solution adopted by the present invention to solve the technical problem is: a gripping device with a flexible mechanical clamping claw described in the present invention comprises a control part, a clamping part, a drainage mechanism and a control mechanism;

[0008] The control part includes a bearing base, a humeral arm, a radial arm and a control cylinder. One end of the humeral arm is rotatably connected to the bearing base, and the other end is connected to the outer wall of the radial arm. The rotation of the humeral arm and the radial arm is controlled by the control cylinder.

[0009] The clamping portion is arranged at an end of the radial arm away from the humeral arm and is used to grasp the workpiece;

[0010] The drainage mechanism includes a heat preservation cover, a transfer tube and a control pump. The heat preservation cover is fixedly mounted on the outer wall of the fixed end of the control cylinder and has a liquid inlet and a liquid outlet. The liquid inlet of the heat preservation cover is connected to the output end of the control pump. The transfer tube has three ports, one of which is connected to the liquid outlet of the heat preservation cover.

[0011] The control mechanism includes a heating chamber and a cooling chamber. Two control pumps are provided, and the input ends of the two control pumps are respectively connected to the inner cavities of the heating chamber and the cooling chamber, and the other two ports of the transfer tube are respectively connected to the inner cavities of the heating chamber and the cooling chamber.

[0012] Preferably, a protective cover is fixedly mounted on the outer wall of the humeral arm, one end of the protective cover is fixedly connected to the outer wall of the heating chamber, and the other end of the protective cover is fixedly connected to the inner cavity of the cooling chamber;

[0013] A heating component is fixedly installed on the inner wall of the heating chamber;

[0014] The inner wall of the cooling chamber is fixedly installed with a cooling component;

[0015] A thermostatic valve is fixedly installed at the bottom of the protective cover, and the output ends of the two control pumps are connected with the heat preservation cover through the thermostatic valve.

[0016] Preferably, a mounting cylinder is detachably mounted on the inner wall of the heating bin, a support ring is slidably mounted on the inner wall of the mounting cylinder, and a filter layer is fixedly mounted on the side of the support ring facing the liquid inlet direction of the heating bin.

[0017] Preferably, a support frame is fixedly mounted on the inner wall of the mounting tube, a guide rod is elastically mounted inside the support frame, and one end of the guide rod passes through the support frame and is fixedly connected to the outer wall of the support ring.

[0018] Preferably, an elastic layer is fixedly mounted on the side of the support ring away from the liquid inlet direction of the heating chamber, the filter layer is made of elastic material, and a transmission plate is fixedly mounted on the side of the elastic layer away from the filter layer.

[0019] Preferably, a tapping cone is rotatably mounted on one end of the transmission plate away from the elastic layer, and a guide plate is fixedly mounted on the radial outer wall of the tapping cone. The guide plates are inclined and multiple guide plates are evenly arranged in a ring shape along the axis of the tapping cone.

[0020] Preferably, a plug pin is fixedly mounted on the outer wall of the support frame, an elastic plate is fixedly mounted on the outer wall of the plug pin, the middle portion of the elastic plate is bent toward a side away from the plug pin, and an annular groove matching the elastic plate is provided on the inner wall of the tapping cone.

[0021] Preferably, a temporary storage box is fixedly installed on the inner wall of the heating chamber, a sewage inlet is opened on the upper end surface of the temporary storage box, a drainage outlet is opened on the side of the temporary storage box away from the sewage inlet, and a filter plate is fixedly installed in the drainage outlet;

[0022] The support ring and the filter layer are both inclined toward the water inlet direction of the heating chamber, and the temporary storage box is located at the bottom of the support ring.

[0023] Preferably, a closing plate is fixedly mounted on the bottom surface of the support ring, the bottom surface of the closing plate is slidably fitted with the upper end surface of the temporary storage box, and an escape opening is provided on the upper end surface of the closing plate;

[0024] A rubber sheet for one-way sealing of the sewage inlet is arranged inside the temporary storage box, and one side of the rubber sheet is fixedly connected to the inner wall of the temporary storage box.

[0025] Preferably, a mounting plate is slidably mounted on the inner wall of the temporary storage box, and a scraping plate is fixedly mounted on one end of the mounting plate;

[0026] The filter plate is made of elastic material, and the outer wall of the scraper plate is inclined;

[0027] A control strip is fixedly mounted on the bottom surface of the closing plate, and the control strip attracts the scraping plate through magnetic force.

[0028] The beneficial effects of the present invention are as follows:

[0029] 1. The present invention is provided with a heat preservation cover, a transfer tube and a control pump. The heat exchange fluid is discharged by the control pump, and the heat exchange fluid flows to the inside of the heat preservation cover, and then is divided and returned to the inner cavity of the heating chamber and the cooling chamber after the division, so as to realize the temperature control of the hydraulic oil inside the control cylinder. By adjusting the temperature inside the heat preservation cover, the hydraulic oil inside the control cylinder is at a suitable working temperature in real time during operation. When the workpiece is transported by the mechanical arm, the amplitude of the change of the viscosity of the hydraulic oil is reduced. Under the same programming instruction, the smaller the amplitude of the change of the viscosity of the hydraulic oil is, the higher the operation accuracy is, and the accuracy and sensitivity of the overall mechanical arm operation are improved;

[0030] 2. The present invention sets an elastic layer and a filter layer, and adjusts the power of the control valve to cause the installation to slide back and forth. As the support ring is reset, the elastic layer bulges toward the side away from the filter layer until the friction between the elastic plate and the annular groove is less than the elastic force of the transmission plate exerted by the elastic layer. At this time, the elastic plate is separated from the annular groove, and the elastic layer drives the transmission plate and the knocking cone to impact the filter layer, thereby achieving self-cleaning of the filter layer and maintaining the filtering effect of the filter layer. When the output power of the control pump is reduced, the elastic layer is reset to cause the space between the elastic layer and the filter layer to be compressed, thereby achieving recoil cleaning of the filter layer, which can effectively reduce the resistance of the recoil cleaning of the filter layer, thereby promoting each other. In addition, by adjusting the output power of the control pump to maintain the filtering effect of the filter layer, the cleaning efficiency can be effectively improved compared to the dismantling cleaning method, thereby maintaining the temperature control effect of the hydraulic oil inside the control cylinder. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention will be further described below in conjunction with the accompanying drawings.

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 It is a schematic diagram of the installation of the heating chamber in the present invention;

[0034] Figure 3 It is a schematic diagram of the internal structure of the heat preservation cover in the present invention;

[0035] Figure 4 It is a schematic diagram of the installation of the thermostatic valve in the present invention;

[0036] Figure 5 It is a schematic diagram of the installation of the installation cylinder in the present invention;

[0037] Figure 6 It is a schematic diagram of the installation of the support ring in the present invention;

[0038] Figure 7 It is a schematic diagram of the installation of the knocking cone in the present invention;

[0039] Figure 8 yes Figure 7 A partial enlarged view of the middle part;

[0040] Fig. 9 is a schematic diagram of the elastic layer bulging toward the side away from the filter layer in the present invention;

[0041] Fig.10 It is a schematic diagram of the installation of the rubber sheet in the present invention;

[0042] Fig.11 yes Fig.10 A partial enlarged view of point B in the middle.

[0043] In the figure: 1. bearing base; 2. humeral arm; 3. control cylinder; 4. heating chamber; 5. transfer tube; 6. radial arm; 7. insulation cover; 8. connecting seat; 9. flexible clamp; 10. cooling chamber; 11. protective cover; 12. control pump; 13. spiral plate; 14. sewage inlet; 15. avoidance port; 16. thermostatic valve; 17. cooling component; 18. heating component; 19. rubber sheet; 20. mounting cylinder; 21. filter layer; 22. support ring; 23. support frame; 24. guide rod; 25. closing plate; 26. temporary storage box; 27. knocking cone; 28. transmission plate; 29. ​​elastic layer; 30. guide plate; 31. plug pin; 32. elastic plate; 33. filter plate; 34. drain outlet; 35. control strip; 36. mounting plate; 37. scraper plate. DETAILED DESCRIPTION

[0044] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0045] like Figures 1 to 11 As shown, a grasping device with a flexible mechanical clamp described in the present invention includes a control part, a clamping part, a drainage mechanism and a control mechanism.

[0046] The control part includes a bearing base 1, a humeral arm 2, a radial arm 6 and a control cylinder 3. One end of the humeral arm 2 is rotatably connected to the bearing base 1, and the other end is connected to the outer wall of the radial arm 6. A plurality of control cylinders 3 are provided. The rotation of the humeral arm 2 and the radial arm 6 is controlled by the control cylinder 3. The control cylinder 3 is a common hydraulic cylinder, and the movable end of the control cylinder 3 is driven to move by controlling the hydraulic oil pressure.

[0047] like Figure 1 As shown, the control method of the humeral arm 2 is as follows: the fixed end of the control cylinder 3 is rotatably connected to the outer wall of the bearing base 1, and the movable end of the control cylinder 3 rotates with the outer wall of the humeral arm 2, and the humeral arm 2 is controlled to rotate along the outer wall of the bearing base 1 by telescoping the movable end of the control cylinder 3;

[0048] The radial arm 6 is controlled in the following manner: the fixed end of the control cylinder 3 is rotationally connected to the humeral arm 2, and the movable end of the control cylinder 3 is rotationally connected to the outer wall of the radial arm 6, and the radial arm 6 is controlled to rotate along the outer wall of the humeral arm 2 by telescoping the movable end of the control cylinder 3.

[0049] The clamping part is arranged at one end of the radial arm 6 away from the humeral arm 2, and is used to grasp the workpiece, wherein the clamping part includes a connecting seat 8 and a flexible clamping jaw 9, and the flexible clamping jaw 9 is arranged on the connecting seat 8. The deflection of the movable end of the flexible clamping jaw 9 is controlled by programming, so as to realize the clamping of the workpiece and adapt to the operation of clamping workpieces of different sizes. The connecting seat 8 is rotatably connected to the radial arm 6.

[0050] like Figure 1 As shown, the control method of the connecting seat 8 is: the fixed end of the control cylinder 3 is rotationally connected to the outer wall of the radial arm 6, the movable end of the control cylinder 3 is rotationally connected to the connecting seat 8, and the rotation of the connecting seat 8 is controlled by the telescopic control of the movable end of the control cylinder 3.

[0051] The mechanical arm structure is composed of the humeral arm 2, radial arm 6, connecting seat 8, flexible clamp 9 and control cylinder 3. When clamping and transporting the workpiece, the movable ends of multiple control cylinders 3 are extended and retracted through programming control to control the rotation of the humeral arm 2, radial arm 6 and connecting seat 8, so that the flexible clamp 9 is close to the workpiece, and then the workpiece is clamped by the flexible clamp 9 to realize the transportation of the workpiece.

[0052] The drainage mechanism includes a heat preservation cover 7, a transfer tube 5 and a control pump 12. The heat preservation cover 7 is fixedly installed on the outer wall of the fixed end of the control cylinder 3 and has a liquid inlet and a liquid discharge port. The outside of the heat preservation cover 7 is provided with heat preservation foam (not shown in the figure). Heat exchange liquid (coolant is selected) is injected into the liquid inlet and then discharged from the liquid discharge port, so as to adjust the temperature of the hydraulic oil inside the control cylinder 3. By adjusting the temperature inside the heat preservation cover 7, the hydraulic oil inside the control cylinder 3 is at a suitable working temperature in real time during operation. When the workpiece is transported by the robot arm, the amplitude of the change of the viscosity of the hydraulic oil is reduced. Under the same programming instructions (the pressure of the hydraulic oil is controlled by the logic controller to control the telescopic length of the movable end of the hydraulic cylinder), the smaller the amplitude of the change of the viscosity of the hydraulic oil, the higher the operating accuracy, thereby improving the accuracy and sensitivity of the overall robot arm operation.

[0053] The liquid inlet of the thermal insulation cover 7 is connected to the output end of the control pump 12. The transfer tube 5 has three ports, one of which is connected to the liquid discharge port of the thermal insulation cover 7. The transfer tube 5 is a three-way tube, and in order to facilitate heat exchange with the outside world, copper material is selected. The heat exchange liquid discharged from the thermal insulation cover 7 is discharged through the other two ports of the transfer tube 5 to achieve diversion.

[0054] The control mechanism includes a heating chamber 4 and a cooling chamber 10. The inner cavity of the heating chamber 4 provides space for heating the heat exchange liquid, and the inner cavity of the cooling chamber 10 provides space for cooling the heat exchange liquid.

[0055] Two control pumps 12 are provided, and the input ends of the two control pumps 12 are respectively connected to the inner cavities of the heating chamber 4 and the cooling chamber 10 . The control pump 12 is a common micro water pump for extracting heat exchange fluid.

[0056] The other two ports of the transfer tube 5 are respectively connected to the inner cavities of the heating chamber 4 and the cooling chamber 10, so as to realize the internal circulation of the heat exchange fluid.

[0057] When the external environment changes, the heat exchange liquid is discharged by controlling the pump 12, and the heat exchange liquid flows to the inside of the insulation cover 7, and then is diverted, and then flows back to the inner cavity of the heating chamber 4 and the cooling chamber 10, so as to realize the temperature control of the hydraulic oil inside the control cylinder 3, improve the operation accuracy of the robot arm, and reduce the frequency of adjusting the control signal of the control cylinder 3 due to external temperature changes.

[0058] In order to extend the flow time of the heat exchange liquid in the insulation cover 7, a spiral plate 13 is provided in the insulation cover 7. The outer wall of the spiral plate 13 is in contact with the outer wall of the fixed end of the control cylinder 3. The spiral plate 13 is used to drain the heat exchange liquid flowing in the insulation cover 7, thereby extending the flow distance while maintaining uniform heat exchange.

[0059] A protective cover 11 is fixedly installed on the outer wall of the humeral arm 2, one end of the protective cover 11 is fixedly connected to the outer wall of the heating chamber 4, and the other end of the protective cover 11 is fixedly connected to the inner cavity of the cooling chamber 10, and the connection between the cooling chamber 10 and the heating chamber 4 is achieved through the protective cover 11.

[0060] A heating component 18 is fixedly installed on the inner wall of the heating chamber 4 . The heating component 18 is a common resistance heating tube and is used to control the temperature rise of the heat exchange liquid inside the heating chamber 4 .

[0061] A cooling component 17 is fixedly installed on the inner wall of the cooling chamber 10 . The cooling component 17 is a common semiconductor refrigeration plate, and its cold end is located inside the cooling chamber 10 , and is used to control the cooling of the heat exchange fluid inside the cooling chamber 10 .

[0062] A thermostatic valve 16 is fixedly installed at the bottom of the protective cover 11. The output ends of the two control pumps 12 are connected to the insulation cover 7 through the thermostatic valve 16. The output ends of the two control pumps 12 are connected to the two input ends of the thermostatic valve 16, which are used to control the flow rate of the heat exchange liquid discharged from the cooling chamber 10 and the heating chamber 4, and then control the temperature when discharged into the insulation cover 7.

[0063] In this embodiment, the thermostatic valve 16 is an adjustable electromagnetic thermostatic valve, so as to adjust the temperature of the heat exchange fluid when discharging the heat exchange fluid, so as to adapt to the use of different types of hydraulic oil.

[0064] It should be noted that in this embodiment, since the heat exchange fluid needs to be heated in the heating chamber 4, an air pressure balance valve needs to be provided outside the heating chamber 4 to prevent the air pressure inside the heating chamber 4 from being too high. The air pressure balance valve is detachably connected to the heating chamber 4, and the heat exchange fluid can be easily replenished by removing the air pressure balance valve.

[0065] When the working environment temperature of the robot arm is high, the heating component 18 inside the heating chamber 4 stops working, and the cooling component 17 inside the cooling chamber 10 starts working to cool the heat exchange fluid, control the circulation of the cooled heat exchange fluid, and maintain the temperature of the hydraulic oil.

[0066] When the working environment temperature of the robot arm is low, the heating component 18 inside the heating chamber 4 works, and the cooling component 17 inside the cooling chamber 10 stops working, the heat exchange fluid is heated, and the circulation of the heated heat exchange fluid is controlled to maintain the temperature of the hydraulic oil.

[0067] As a preferred embodiment of the present invention, a mounting cylinder 20 is detachably mounted on the inner wall of the heating bin 4, wherein a detachable end cover is provided on the side of the heating bin 4 away from the protective cover 11, and a conduit connected to the transfer tube 5 is provided outside the end cover, and the opening of the conduit is located inside the mounting cylinder 20, and the heat exchange fluid refluxed from the transfer tube 5 enters the inner cavity of the heating bin 4 after passing through the inner cavity of the mounting cylinder 20.

[0068] A support ring 22 is slidably installed on the inner wall of the mounting cylinder 20, and a filter layer 21 is fixedly installed on the side of the support ring 22 facing the liquid inlet direction of the heating chamber 4. The heat exchange liquid in the inner cavity of the mounting cylinder 20 is filtered through the filter layer 21. By filtering impurities in the heat exchange liquid (such as metal chips, sediments, etc.), the fluidity and heat exchange performance of the coolant can be maintained, ensuring that the equipment can obtain effective heat exchange when working.

[0069] A support frame 23 is fixedly mounted on the inner wall of the mounting tube 20 , and a guide rod 24 is elastically mounted inside the support frame 23 , wherein a spring is arranged on the outer wall of the guide rod 24 , and the other end of the spring is connected to the support frame 23 .

[0070] One end of the guide rod 24 passes through the support frame 23 and is fixedly connected to the outer wall of the support ring 22 . The guide rod 24 is provided to improve the sliding stability of the support ring 22 .

[0071] As the filtering time of the filter layer 21 increases, dirt will gradually adhere to the outer wall of the filter layer 21, resulting in a decrease in the permeability of the filter layer 21, that is, the resistance to the filter layer 21 increases when the heat exchange fluid flows. At this time, the thermostatic valve 16 is adjusted to maintain the maximum open state, and then the output power of the control pump 12 is adjusted to adjust the flow rate of the heat exchange fluid through the mounting cylinder 20. At this time, the support ring 22 is driven by the elastic force to drive the filter layer 21 to move back and forth, thereby shaking off the impurities attached to the outside of the filter layer 21, maintaining the filtering effect of the filter layer 21, and maintaining the control effect on the hydraulic oil temperature in the control cylinder 3.

[0072] An elastic layer 29 is fixedly installed on the side of the support ring 22 away from the liquid inlet direction of the heating chamber 4. The filter layer 21 is made of elastic material, wherein the elastic layer 29 and the filter layer 21 are both made of sponge material, and an elastic rubber strip is embedded in the elastic layer 29.

[0073] A transmission plate 28 is fixedly mounted on the side of the elastic layer 29 away from the filter layer 21. The transmission plate 28 is pulled to drive the elastic layer 29 to bulge toward the side away from the filter layer 21 (such as Fig. 9 As shown), at this time, the heat exchange liquid enters the space between the elastic layer 29 and the filter layer 21, and then the transmission plate 28 is released to use the elastic force inside the elastic layer 29 to control the elastic layer 29 to gradually approach the filter layer 21. At this time, the space between the elastic layer 29 and the filter layer 21 is compressed, causing the liquid in the space to be discharged outward through the elastic layer 29 and the filter layer 21, thereby realizing the backwash cleaning of the filter layer 21. As the elastic layer 29 gradually approaches the filter layer 21, the transmission plate 28 hits one side of the filter layer 21, and the impact causes the filter layer 21 to shake, thereby further improving the self-cleaning effect of the filter layer 21 and maintaining the heat exchange effect of the heat exchange liquid on the hydraulic oil inside the control cylinder 3.

[0074] As a preferred embodiment of the present invention, in order to increase the instantaneous kinetic energy of the impact when the transmission plate 28 impacts the filter layer 21, a tapping cone 27 is rotatably installed at one end of the transmission plate 28 away from the elastic layer 29. The tapping cone 27 is provided to increase the counterweight of the transmission plate 28, so that when the deformation of the elastic layer 29 during the stroke and release of the transmission plate 28 is the same, the kinetic energy during the impact is increased by increasing the counterweight of the transmission plate 28, thereby improving the cleaning effect on the filter layer 21 during the impact.

[0075] A guide plate 30 is fixedly installed on the radial outer wall of the tapping cone 27. The guide plate 30 is inclined and there are multiple guide plates 30. Multiple guide plates 30 are evenly arranged in a ring shape along the axis of the tapping cone 27. The tapping cone 27 is conical in shape. The guide plates 30 are arranged at the same time, which can reduce the resistance of the heat exchange fluid to it when the elastic layer 29 drives the transmission plate 28 and the tapping cone 27 to move toward the filter plate 21.

[0076] A plug pin 31 is fixedly installed on the outer wall of the support frame 23, and a plug groove adapted to the plug pin 31 is opened on the outer wall of the tapping cone 27. When the output power of the control pump 12 is reciprocated, the support ring 22 slides back and forth, causing the plug pin 31 and the tapping cone 27 to be reciprocatedly plugged.

[0077] An elastic plate 32 is fixedly mounted on the outer wall of the plug pin 31 . The middle portion of the elastic plate 32 is bent toward a side away from the plug pin 31 . The elastic plate 32 is an elastic copper plate.

[0078] The inner wall of the knocking cone 27 is provided with an annular groove adapted to the elastic plate 32 . When the plug pin 31 is fully inserted into the knocking cone 27 , the elastic plate 32 is engaged with the annular groove.

[0079] When cleaning the filter layer 21, first increase the output power of the control pump 12, causing the support ring 22 to slide toward the support frame 23 until the plug pin 31 is fully inserted into the knocking cone 27, and the elastic plate 32 is engaged with the annular groove, and then reduce the output power of the control pump 12. At this time, the spring pushes the support ring 22 to slide in the opposite direction through the guide rod 24. At this time, the position of the knocking cone 27 remains unchanged due to the engagement of the elastic plate 32 with the annular groove. As the support ring 22 is reset, the elastic layer 29 bulges toward the side away from the filter layer 21 until the friction force between the elastic plate 32 and the annular groove is less than the elastic force of the transmission plate 28 exerted by the elastic layer 29. At this time, the elastic plate 32 is separated from the annular groove, and the elastic layer 29 drives the transmission plate 28 and the knocking cone 27 to impact the filter layer 21, thereby achieving self-cleaning of the filter layer 21 and maintaining the filtering effect of the filter layer 21.

[0080] In this embodiment, when the output power of the control pump 12 is reduced, the elastic layer 29 is reset, resulting in compression of the space between the elastic layer 29 and the filter layer 21, thereby realizing recoil cleaning of the filter layer 21. This can effectively reduce the resistance of recoil cleaning of the filter layer 21, thereby promoting each other. In addition, by adjusting the output power of the control pump 12 and maintaining the filtering effect of the filter layer 21, the cleaning efficiency can be effectively improved compared to the dismantling cleaning method, thereby maintaining the temperature control effect of the hydraulic oil inside the control cylinder 3.

[0081] As a preferred embodiment of the present invention, a temporary storage box 26 is fixedly installed on the inner wall of the heating chamber 4, and the temporary storage box 26 is used to temporarily store impurities in the heat exchange fluid, thereby reducing the impurity content inside the circulating heat exchange fluid and maintaining the heat exchange effect.

[0082] A sewage inlet 14 is provided on the upper end surface of the temporary storage box 26, and a drainage port 34 is provided on the side of the temporary storage box 26 away from the sewage inlet 14. A filter plate 33 is fixedly installed in the drainage port 34. When the heat exchange liquid passes through the inner cavity of the mounting cylinder 20, the heat exchange liquid is guided to the sewage inlet 14, and the impurities and the heat exchange liquid enter the temporary storage box 26. Then, the heat exchange liquid is discharged through the filter plate 33, and the impurities are captured in the interior of the temporary storage box 26, thereby reducing the impurity content in the circulating heat exchange liquid.

[0083] The support ring 22 and the filter layer 21 are both tilted toward the water inlet direction of the heating chamber 4. The temporary storage box 26 is located at the bottom of the support ring 22. The support ring 22 is slid until the sewage inlet 14 is located directly below the support ring 22. When the heat exchange liquid flows, due to the tilted setting of the filter layer 21, the heat exchange liquid that has not passed through the filter layer 21 is guided to the inner cavity of the temporary storage box 26, thereby capturing impurities in the heat exchange liquid.

[0084] A closing plate 25 is fixedly mounted on the bottom surface of the support ring 22. The bottom surface of the closing plate 25 is slidably fitted with the upper end surface of the temporary storage box 26, and an escape opening 15 is provided on the upper end surface of the closing plate 25. When the support ring 22 slides, the closing plate 25 slides synchronously. When it is necessary to capture impurities inside the heat exchange fluid, the closing plate 25 is slid until the escape opening 15 is aligned with the sewage inlet 14 to facilitate the impurities to enter the interior of the temporary storage box 26.

[0085] A rubber sheet 19 for one-way sealing the sewage inlet 14 is provided inside the temporary storage box 26. One side of the rubber sheet 19 is fixedly connected to the inner wall of the temporary storage box 26. The rubber sheet 19 realizes one-way conduction of the sewage inlet 14, thereby preventing impurities inside the temporary storage box 26 from flowing back into the circulating heat exchange liquid.

[0086] When it is necessary to reduce the impurity content inside the circulating heat exchange fluid, the power of the control pump 12 is adjusted to increase, causing the plug pin 31 to be fully inserted into the knocking cone 27. At this time, the avoidance port 15 and the sewage inlet 14 are aligned. Maintaining this state, the filter layer 21 is used to drain part of the heat exchange fluid into the inner cavity of the temporary storage box 26 to reduce the impurity content inside the circulating heat exchange fluid.

[0087] As a preferred embodiment of the present invention, a mounting plate 36 is slidably mounted on the inner wall of the temporary storage box 26, a scraper plate 37 is fixedly mounted on one end of the mounting plate 36, a roller is arranged on the side wall of the mounting plate 36, a track for the roller to slide is arranged in the temporary storage box 26, the scraper plate 37 is driven to slide by the sliding mounting plate 36, the outer wall of the scraper plate 37 is fitted with the outer wall of the filter plate 33, the sliding scraper plate 37 scrapes the filter plate 33 to clean the filter plate 33, thereby maintaining the permeability of the filter layer 33, and facilitating the heat exchange liquid to pass through the interior of the temporary storage box 26 when capturing impurities.

[0088] The filter plate 33 is made of elastic material, and the outer wall of the scraper plate 37 is inclined to improve the cleaning efficiency of the scraper plate 37 scraping the filter plate 33 .

[0089] A control strip 35 is fixedly installed on the bottom surface of the closing plate 25. The control strip 35 attracts the scraper plate 37 through magnetic force. The control strip 35 is a magnet. Since the temperature in the heating chamber 4 needs to be increased, the magnet is an aluminum iron boron magnet. When the closing plate 25 slides, the control strip 35 slides synchronously, and the scraper plate 37 is attracted by magnetic force so that the tip of the scraper plate 37 is deflected toward the control strip 35 to squeeze the filter plate 33. At the same time, the mounting plate 36 slides to scrape the filter plate 33. At the same time, the scraper plate 37 scrapes the filter plate 33 when squeezing the filter plate 33, further improving the cleaning efficiency of the filter plate 33.

[0090] In addition, when the filter layer 21 is backflushed and cleaned, the support ring 22 slides back and forth, driving the closing plate 25 to slide back and forth. At this time, the scraping plate 37 and the mounting plate 36 are driven to slide back and forth through the control strip 35. When the filter layer 21 cleans itself, the filter plate 33 is cleaned. It is used to maintain the heat exchange efficiency of the hydraulic oil in the control cylinder 3 by filtering and cleaning the heat exchange fluid. When the external working environment of the robotic arm changes, the hydraulic oil is kept in a stable temperature environment to maintain the operating accuracy of the robotic arm.

[0091] The above-mentioned front, back, left, right, top and bottom are all based on the figures in the specification. Figure 1 As a benchmark, according to the person's observation perspective, the side of the device facing the observer is defined as the front, the left side of the observer is defined as the left, and so on.

[0092] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the scope of protection of the present invention.

[0093] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A gripping device with a flexible mechanical gripper, characterized in that: It includes a control part, a clamping part, a drainage mechanism and a control mechanism; The control unit comprises a bearing base (1), a humeral arm (2), a radial arm (6) and a control cylinder (3); one end of the humeral arm (2) is rotatably connected to the bearing base (1), and the other end is connected to the outer wall of the radial arm (6); the rotation of the humeral arm (2) and the radial arm (6) is controlled by the control cylinder (3); The clamping portion is arranged at one end of the radial arm (6) away from the humeral arm (2) and is used to grasp a workpiece; The drainage mechanism comprises a heat preservation cover (7), a transfer pipe (5) and a control pump (12); the heat preservation cover (7) is fixedly mounted on the outer wall of the fixed end of the control cylinder (3) and has a liquid inlet and a liquid outlet; the liquid inlet of the heat preservation cover (7) is connected to the output end of the control pump (12); the transfer pipe (5) has three ports, one of which is connected to the liquid outlet of the heat preservation cover (7); The control mechanism comprises a heating chamber (4) and a cooling chamber (10), two control pumps (12) are provided, and the input ends of the two control pumps (12) are respectively connected to the inner cavities of the heating chamber (4) and the cooling chamber (10), and the remaining two ports of the transfer tube (5) are respectively connected to the inner cavities of the heating chamber (4) and the cooling chamber (10).

2. A gripping device with a flexible mechanical gripper according to claim 1, characterized in that: A protective cover (11) is fixedly mounted on the outer wall of the humeral arm (2), one end of the protective cover (11) is fixedly connected to the outer wall of the heating chamber (4), and the other end of the protective cover (11) is fixedly connected to the inner cavity of the cooling chamber (10); A heating component (18) is fixedly mounted on the inner wall of the heating chamber (4); A cooling component (17) is fixedly mounted on the inner wall of the cooling bin (10); A thermostatic valve (16) is fixedly mounted on the bottom of the protective cover (11), and the output ends of the two control pumps (12) are connected to the heat preservation cover (7) via the thermostatic valve (16).

3. A gripping device with a flexible mechanical gripper according to claim 2, characterized in that: A mounting cylinder (20) is detachably mounted on the inner wall of the heating chamber (4), a support ring (22) is slidably mounted on the inner wall of the mounting cylinder (20), and a filter layer (21) is fixedly mounted on the side of the support ring (22) facing the liquid inlet direction of the heating chamber (4).

4. A gripping device with a flexible mechanical gripper according to claim 3, characterized in that: A support frame (23) is fixedly mounted on the inner wall of the mounting tube (20), a guide rod (24) is elastically mounted inside the support frame (23), one end of the guide rod (24) passes through the support frame (23) and is fixedly connected to the outer wall of the support ring (22).

5. A gripping device with a flexible mechanical gripper according to claim 4, characterized in that: An elastic layer (29) is fixedly mounted on the side of the support ring (22) away from the liquid inlet direction of the heating chamber (4); the filter layer (21) is made of elastic material; and a transmission plate (28) is fixedly mounted on the side of the elastic layer (29) away from the filter layer (21).

6. A gripping device with a flexible mechanical gripper according to claim 5, characterized in that: A tapping cone (27) is rotatably mounted on one end of the transmission plate (28) away from the elastic layer (29), and a guide plate (30) is fixedly mounted on the radial outer wall of the tapping cone (27). The guide plates (30) are tilted and are provided in plurality. The guide plates (30) are evenly arranged in a ring shape along the axis of the tapping cone (27).

7. A gripping device with a flexible mechanical gripper according to claim 6, characterized in that: A plug pin (31) is fixedly mounted on the outer wall of the support frame (23), an elastic plate (32) is fixedly mounted on the outer wall of the plug pin (31), a middle portion of the elastic plate (32) is bent toward a side away from the plug pin (31), and an annular groove adapted to the elastic plate (32) is provided on the inner wall of the knocking cone (27).

8. A gripping device with a flexible mechanical gripper according to claim 7, characterized in that: A temporary storage box (26) is fixedly mounted on the inner wall of the heating chamber (4); a sewage inlet (14) is provided on the upper end surface of the temporary storage box (26); a drainage outlet (34) is provided on the side of the temporary storage box (26) away from the sewage inlet (14); a filter plate (33) is fixedly mounted in the drainage outlet (34); The support ring (22) and the filter layer (21) are both arranged to be inclined toward the water inlet direction of the heating chamber (4), and the temporary storage box (26) is located at the bottom of the support ring (22).

9. A gripping device with a flexible mechanical gripper according to claim 8, characterized in that: A closing plate (25) is fixedly mounted on the bottom surface of the support ring (22), the bottom surface of the closing plate (25) is slidably fitted with the upper end surface of the temporary storage box (26), and an escape opening (15) is provided on the upper end surface of the closing plate (25); A rubber sheet (19) for one-way sealing the sewage inlet (14) is arranged inside the temporary storage box (26), and one side of the rubber sheet (19) is fixedly connected to the inner wall of the temporary storage box (26).

10. A gripping device with a flexible mechanical gripper according to claim 9, characterized in that: A mounting plate (36) is slidably mounted on the inner wall of the temporary storage box (26), and a scraping plate (37) is fixedly mounted on one end of the mounting plate (36); The filter plate (33) is made of elastic material, and the outer wall of the scraper plate (37) is inclined; A control strip (35) is fixedly mounted on the bottom surface of the closing plate (25), and the control strip (35) attracts the scraping plate (37) through magnetic force.

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