Positioning device of independent manipulator

Abstract

The invention discloses a positioning device of an independent manipulator, and relates to the technical field of manipulators, the positioning device comprises a side connecting plate, and an electric push rod is arranged at the top of the side connecting plate; the positioning device comprises a hollow air cushion, the hollow air cushion is arranged to be a concave rubber body with a hollow area inside, a cleaning assembly is arranged on the inner side of the hollow air cushion, and a ventilation round hole is formed in the bottom of the hollow air cushion. A cleaning assembly is pushed through an electric push rod, so that a hollow air cushion is used for carrying out abutting supporting type fixed positioning on an adjusted second rotating plate, and the situation that the independent manipulator deviates from the adjusted and positioned position when the independent manipulator grabs heavy objects or parts are loosened after being used for a long time is prevented; the hollow air cushion made of the elastic material is arranged between the cleaning assembly and the second rotating plate to carry out elastic contact type abutting supporting on the second rotating plate, and the situation that the second rotating plate is affected by abutting supporting of the hard material for a long time, the surface is abraded gradually, and use is affected is prevented.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a positioning device for an independent manipulator. Background Art

[0002] A manipulator refers to an automatic operating device that can imitate certain movements and functions of human hands and arms, and is used to grasp, carry objects or operate tools according to a fixed procedure. It is mainly composed of three parts: an actuator, a drive mechanism and a control system. It can replace people in heavy labor to achieve mechanization and automation of production. It is widely used in machinery manufacturing, light industry and atomic energy. An independent manipulator refers to a manipulator that does not rely on other equipment or the main structure of the production line, has its own complete mechanical structure, drive system and control system, and can independently complete tasks such as grasping, carrying and operating. Its independence allows it to be flexibly arranged in different work scenarios without being attached to specific large equipment;

[0003] Existing independent manipulators are frequently used in various work scenarios and work frequently due to their independence. However, when independent manipulators grasp heavy objects or parts become loose after long-term use, they will deviate from the adjusted positioning position. Therefore, we propose a positioning device for an independent manipulator. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a positioning device for an independent manipulator, comprising:

[0005] An electric turntable, wherein an inclined bracket is arranged on the top of the electric turntable;

[0006] A first rotating plate, wherein a first motor is disposed on one side of the first rotating plate;

[0007] A second rotating plate, a second motor being disposed on one side of the second rotating plate;

[0008] A support and positioning mechanism is used to perform a resistance support and fixed positioning on the manipulator after the position adjustment, so as to prevent the independent manipulator from deviating from the adjusted position when grasping heavy objects or when parts become loose after long-term use;

[0009] An electric clamp is fixedly connected to a side of the first rotating plate away from the second rotating plate;

[0010] The top of the electric turntable is fixedly connected to the bottom of the oblique bracket, one side of the oblique bracket is fixedly connected to the output end of the first motor, the driving shaft of the first motor is fixedly connected to one side of the first rotating plate, the side of the first rotating plate close to the first motor is fixedly connected to the driving shaft of the second motor, the driving shaft of the second motor is fixedly connected to one side of the second rotating plate, and one side of the oblique bracket is fixedly connected to one side of the supporting positioning mechanism;

[0011] Wherein, the support and positioning mechanism comprises:

[0012] A side connecting plate, wherein an electric push rod is arranged on the top of the side connecting plate;

[0013] The hollow air cushion is configured as a concave rubber body with a hollow area inside. The cleaning component is pushed by an electric push rod so that the hollow air cushion performs a resistance support and fixed positioning on the adjusted second rotating plate, preventing the independent manipulator from deviating from the adjusted and positioned position when grabbing heavy objects or when parts become loose after long-term use. A hollow air cushion of elastic material is provided between the cleaning component and the second rotating plate to perform elastic contact resistance support on the second rotating plate, preventing the second rotating plate from being gradually worn due to the resistance support of hard materials for a long time and affecting its use. The hollow air cushion is configured as a concave shape to perform adaptive fit resistance on the surface of the second rotating plate at different angles, preventing the hollow air cushion from being difficult to adapt and fit when the second rotating plate is adjusted to different angles, resulting in poor support and positioning effect. A cleaning component is provided on the inner side of the hollow air cushion.

[0014] The top of the side connecting plate is fixedly connected to the bottom of the electric push rod, the driving shaft of the electric push rod is fixedly connected to the outer surface of the cleaning assembly, and the hollow air cushion is sleeved on the cleaning assembly and fixedly connected to the cleaning assembly;

[0015] One side of the side connecting plate is fixedly connected to one side of the oblique bracket;

[0016] A first groove is formed on the top of the oblique bracket, and a second groove is formed on a side of the first rotating plate away from the oblique bracket;

[0017] The inner wall of the first groove is rotatably connected to the side of the first rotating plate away from the first motor through a rotating bolt, and the inner wall of the second groove is rotatably connected to the side of the second rotating plate away from the second motor through a rotating bolt;

[0018] A vent hole is provided at the bottom of the hollow air cushion, a vent assembly is fixedly connected to the inner wall of the vent hole, a T-shaped round rod is fixedly connected to the inner wall of the hollow air cushion, a round casing is sleeved and slidably connected to the outer surface of the T-shaped round rod, and the compressed spring is supported and fixed by arranging the round casing inside the return spring to prevent the return spring from bending and being easily damaged due to the continuous change of the force direction as the angle of the second rotating plate is adjusted, and the return spring is sleeved and slidably connected to the outer surface of the round casing;

[0019] The side of the circular casing away from the T-shaped round rod is fixedly connected to the inner wall of the hollow air cushion, and both ends of the return spring are fixedly connected to the inner wall of the hollow air cushion.

[0020] Furthermore, the cleaning assembly includes an annular long plate, the inner wall of the annular long plate is fixedly connected with a built-in long rod, one side of the annular long plate is fixedly connected to a driving motor, the driving shaft of the driving motor is fixedly connected to a threaded long rod, the outer surface of the threaded long rod is sleeved and threadedly connected with a threaded sleeve block, and one side of the threaded sleeve block is fixedly connected with a corrugated sleeve. By sleeved the retractable corrugated sleeve on the outer side of the threaded long rod, the threaded long rod is wrapped at the time of movement of the threaded sleeve block to prevent dust scraped off the surface of the hollow air cushion from falling on the threaded surface of the threaded long rod, affecting the thread cooperation with the threaded sleeve block and causing jamming. A concave connecting rod is fixedly connected to the side of the threaded sleeve block close to the corrugated sleeve, and a semicircular arc rod is fixedly connected to the end of the concave connecting rod away from the threaded sleeve block, and an arc wave plate is fixedly connected to one side of the semicircular arc rod. The moving arc wave plate cleans the surface of the hollow air cushion when scraping, so as to prevent dust and other particles from gradually adhering to the surface of the hollow air cushion after long-term use. When the object contacts the second rotating plate, it is squeezed and worn and damaged. The surface of the hollow air cushion is scraped and cleaned multiple times through the waveform setting of the arc wave plate to prevent the hollow air cushion surface made of elastic rubber from being relatively rough and the dust attached to the surface from being difficult to scrape off at one time. The semicircular arc rod is fixedly connected with a square penetration plate on one side of the arc wave plate. The square penetration plate is set on one side of the semicircular arc rod to penetrate the arc wave plate and fix its shape to prevent the arc wave plate from being gradually separated from the tight contact with the hollow air cushion due to the pushing force when it is in friction contact with the surface of the hollow air cushion, affecting the cleaning effect. The outer surface of the annular long plate is fixedly connected to the driving shaft of the electric push rod, and the outer surface of the annular long plate is fixedly connected to the inner side of the hollow air cushion. The end of the built-in long rod away from the driving motor penetrates the threaded sleeve block and is slidably connected to the threaded sleeve block. The outer surface of the threaded sleeve block is slidably connected to the inner wall of the annular long plate, and the side of the square penetration plate away from the semicircular arc rod penetrates the arc wave plate and is fixedly connected to the arc wave plate.

[0021] Furthermore, the ventilation component includes a corrugated disc, an outer surface of which is provided with corrugated circular holes, and the gas squeezed inside the hollow air cushion is discharged in time by providing dust filtering holes and the corrugated circular holes, so as to prevent the hollow air cushion from being easily exploded and damaged due to excessive internal gas pressure that cannot be discharged when the hollow air cushion is squeezed too much. A retraction spring is fixedly connected to one side of the corrugated disc, and when the corrugated disc loses the gas push, the retraction spring pulls the corrugated disc back to the waveform through the retraction force and the corrugated circular holes are aligned with the trapezoidal round blocks, so as to prevent the corrugated disc that is expanded and stretched by the gas from being subjected to uneven force when it moves back under suction, resulting in the corrugated circular holes on the surface being difficult to align with the trapezoidal round blocks. The end of the retraction spring away from the corrugated disc is fixedly connected to an inner circular plate, and the outer surface of the inner circular plate is provided with dust filtering holes, and the inner circular plate is close to A trapezoidal round block is fixedly connected to one side of the retraction spring. When the corrugated disc is restored by the retraction force of the retraction spring, the trapezoidal round block is inserted into the corrugated circular hole and blocks it to prevent the gas from flowing continuously during multiple expansion and contraction movements, causing dust to gradually accumulate between the inner circular plate and the corrugated disc and become difficult to handle. When the trapezoidal round block is inserted into the corrugated circular hole, a piercing cleaning is performed on the inside of the corrugated circular hole to prevent dust from accumulating between the inside of the corrugated circular hole under the multiple expansion and contraction movements of the corrugated disc, blocking it and affecting the ventilation efficiency. The outer side of the corrugated disc is fixedly connected to the inner wall of the ventilation circular hole, and the outer side of the inner circular plate is fixedly connected to the inner wall of the ventilation circular hole. A plurality of the corrugated circular holes are provided, and the plurality of the corrugated circular holes are distributed on the outer surface of the corrugated disc. A plurality of the trapezoidal round blocks are provided, and the plurality of the trapezoidal round blocks are respectively aligned with the corrugated circular holes.

[0022] The present invention has the beneficial effects:

[0023] 1. The present invention uses an electric push rod to push the cleaning component so that the hollow air cushion can be fixedly positioned against the adjusted second rotating plate in a supporting manner, thereby preventing the independent manipulator from deviating from the adjusted and positioned position when grabbing heavy objects or when parts become loose after long-term use. The moving arc wave plate cleans the surface of the hollow air cushion by scraping, thereby preventing the hollow air cushion from being squeezed and worn out by dust and other particulate debris gradually adhering to the surface after long-term use when in contact with the second rotating plate. The dust filtering pores and the circular holes on the wave surface are provided to discharge the squeezed gas inside the hollow air cushion in time, thereby preventing the hollow air cushion from being easily exploded and damaged due to excessive internal gas pressure that cannot be discharged when the hollow air cushion is squeezed too much.

[0024] 2. The present invention provides a supporting and positioning mechanism, and uses an electric push rod to push the cleaning component so that the hollow air cushion can perform a resistance support and fixed positioning on the adjusted second rotating plate, thereby preventing the independent manipulator from deviating from the adjusted and positioned position when grabbing heavy objects or when parts become loose after long-term use. A hollow air cushion of elastic material is provided between the cleaning component and the second rotating plate to perform elastic contact resistance support on the second rotating plate, thereby preventing the second rotating plate from being gradually worn out due to the resistance support of hard materials for a long time and affecting its use. The hollow air cushion is set to a concave shape to perform adaptive fit resistance on the surface of the second rotating plate at different angles, thereby preventing the hollow air cushion from being difficult to adapt and fit when the second rotating plate is adjusted to different angles, thereby preventing the support and positioning effect from being poor. A circular sleeve is provided on the inner side of the reset spring to internally support the compressed spring, thereby preventing the reset spring from bending and being easily damaged as the force direction changes continuously with the adjustment of the angle of the second rotating plate.

[0025] 3. The present invention provides a cleaning component, and the movable arc wave plate cleans the surface of the hollow air cushion by scraping, so as to prevent the hollow air cushion from being gradually attached to the surface of dust and other particulate debris after long-term use and being squeezed and worn out when in contact with the second rotating plate; the waveform setting of the arc wave plate is used to scrape and clean the surface of the hollow air cushion multiple times, so as to prevent the rough surface of the hollow air cushion made of elastic rubber material and the dust attached to the surface from being difficult to be scraped off at one time; a square through plate is provided on one side of the semicircular arc rod to penetrate the arc wave plate and fix its shape, so as to prevent the arc wave plate from being gradually separated from the tight contact with the hollow air cushion due to the pushing force when in friction contact with the surface of the hollow air cushion, thereby affecting the cleaning effect; a retractable corrugated sleeve is provided on the outside of the threaded long rod to wrap the threaded long rod as the threaded sleeve block moves, so as to prevent the dust scraped off the surface of the hollow air cushion from falling on the threaded surface of the threaded long rod, affecting the thread cooperation with the threaded sleeve block and causing jamming.

[0026] 4. The present invention provides a ventilation component, and provides dust filter holes and wave surface holes to timely discharge the squeezed gas inside the hollow air cushion, so as to prevent the hollow air cushion from being easily exploded and damaged due to excessive internal gas pressure that cannot be discharged when the hollow air cushion is squeezed too much. When the corrugated disc loses the gas push, the retraction spring pulls the corrugated disc back to the waveform through the retraction force, and the wave surface holes are aligned with the trapezoidal round blocks, so as to prevent the corrugated disc that is expanded and stretched by the gas from being subjected to uneven force when it moves back under suction. The wavy circular holes on the surface are difficult to align with the trapezoidal round blocks. When the wavy round plate is restored by the retraction force of the retraction spring, the trapezoidal round block is inserted into the wavy circular hole and blocks it to prevent the gas from flowing continuously during multiple expansion and contraction movements, causing dust to gradually accumulate between the inner circular plate and the wavy circular plate and become difficult to handle. When the trapezoidal round block is inserted into the wavy circular hole, the inside of the wavy circular hole is cleaned by penetration to prevent dust from accumulating between the inside of the wavy circular hole under the multiple expansion and contraction movements of the wavy circular plate, blocking it and affecting the ventilation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the structure of the independent manipulator of the present invention;

[0028] Figure 2 It is a schematic diagram of the side structure of the independent manipulator of the present invention;

[0029] Figure 3 This is a schematic diagram of the bottom structure of the support and positioning mechanism of the present invention;

[0030] Figure 4 This is a schematic diagram of the internal structure of the support and positioning mechanism of the present invention;

[0031] Figure 5 This is a schematic diagram of the cleaning component structure of the present invention;

[0032] Figure 6 This is a schematic diagram of the internal structure of the cleaning component of the present invention;

[0033] Figure 7 It is a schematic diagram of the side cross-section structure of the ventilation assembly of the present invention;

[0034] Figure 8 This is an enlarged structural schematic diagram of the side section A of the ventilation assembly of the present invention;

[0035] In the figure: 1, electric turntable; 2, inclined bracket; 3, first turntable; 4, first motor; 5, second turntable; 6, second motor; 7, electric clamp; 8, support positioning mechanism; 9, first groove; 10, second groove; 801, side plate; 802, electric push rod; 803, hollow air cushion; 804, cleaning component; 805, ventilation hole; 806, ventilation component; 807, T-shaped round rod; 808, round shell; 809, reset spring; 80 41. Annular long plate; 8042. Built-in long rod; 8043. Driving motor; 8044. Threaded long rod; 8045. Threaded sleeve block; 8046. Corrugated sleeve; 8047. Concave connecting rod; 8048. Semicircular arc rod; 8049. Arc wave plate; 80410. Square through plate; 8061. Corrugated round plate; 8062. Wave surface round hole; 8063. Retraction spring; 8064. Inner round plate; 8065. Dust filter hole; 8066. Trapezoidal round block. DETAILED DESCRIPTION

[0036] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

[0037] For the first embodiment, please refer to Figure 1-Figure 4 The present invention is a positioning device for an independent manipulator, comprising:

[0038] An electric turntable 1, with an inclined bracket 2 disposed on the top of the electric turntable 1;

[0039] A first rotating plate 3, a first motor 4 is disposed on one side of the first rotating plate 3;

[0040] A second rotating plate 5, a second motor 6 is disposed on one side of the second rotating plate 5;

[0041] A support and positioning mechanism 8, which is used to perform a support-type fixed positioning of the manipulator after adjusting its position;

[0042] An electric clamp 7 is fixedly connected to one side of the first rotating plate 3 away from the second rotating plate 5;

[0043] The top of the electric turntable 1 is fixedly connected to the bottom of the oblique bracket 2, one side of the oblique bracket 2 is fixedly connected to the output end of the first motor 4, the driving shaft of the first motor 4 is fixedly connected to one side of the first rotating plate 3, the side of the first rotating plate 3 close to the first motor 4 is fixedly connected to the driving shaft of the second motor 6, the driving shaft of the second motor 6 is fixedly connected to one side of the second rotating plate 5, and one side of the oblique bracket 2 is fixedly connected to one side of the supporting positioning mechanism 8;

[0044] Wherein, the supporting and positioning mechanism 8 comprises:

[0045] A side connecting plate 801, on the top of which an electric push rod 802 is provided;

[0046] A hollow air cushion 803, which is configured as a concave rubber body with a hollow area inside, and a cleaning component 804 is disposed inside the hollow air cushion 803;

[0047] The top of the side connecting plate 801 is fixedly connected to the bottom of the electric push rod 802, the driving shaft of the electric push rod 802 is fixedly connected to the outer surface of the cleaning component 804, and the hollow air cushion 803 is sleeved on the cleaning component 804 and fixedly connected to the cleaning component 804;

[0048] One side of the side connecting plate 801 is fixedly connected to one side of the oblique bracket 2;

[0049] A first groove 9 is formed on the top of the oblique bracket 2, and a second groove 10 is formed on a side of the first rotating plate 3 away from the oblique bracket 2;

[0050] The inner wall of the first groove 9 is rotatably connected to the side of the first rotating plate 3 away from the first motor 4 through a rotating bolt, and the inner wall of the second groove 10 is rotatably connected to the side of the second rotating plate 5 away from the second motor 6 through a rotating bolt;

[0051] A vent hole 805 is provided at the bottom of the hollow air cushion 803, a vent assembly 806 is fixedly connected to the inner wall of the vent hole 805, a T-shaped round rod 807 is fixedly connected to the inner wall of the hollow air cushion 803, a round casing 808 is sleeved and slidably connected to the outer surface of the T-shaped round rod 807, and a return spring 809 is sleeved and slidably connected to the outer surface of the round casing 808;

[0052] The side of the circular shell 808 away from the T-shaped round rod 807 is fixedly connected to the inner wall of the hollow air cushion 803, and the two ends of the reset spring 809 are fixedly connected to the inner wall of the hollow air cushion 803. When in use, the oblique bracket 2 is driven to rotate by the electric turntable 1 to adjust the circumferential position, the first motor 4 is started to drive the first rotating plate 3 to rotate, and then the second motor 6 is started to drive the second rotating plate 5 to rotate, and the electric clamp 7 is adjusted to the appropriate position through the linkage rotation of the first rotating plate 3 and the second rotating plate 5. After the adjustment is completed, the support is fixed The positioning mechanism 8 performs a support-type fixed positioning on the second rotating plate 5, and the electric push rod 802 pushes the cleaning component 804 to move upward, driving the hollow air cushion 803 to move upward together. When the hollow air cushion 803 moves upward, it contacts the surface of the second rotating plate 5 and is continuously squeezed between the cleaning component 804 and the second rotating plate 5 through the push of the electric push rod 802. When the hollow air cushion 803 is squeezed, the internal gas is discharged to the outside through the ventilation component 806, and at the same time, the internal return spring 809 is also compressed. The pre-tightening force is continuously increased to resist and support the second rotating plate 5, and the cleaning component 804 is pushed by the electric push rod 802 to make the hollow air cushion 803 resist and support the adjusted second rotating plate 5. The hollow air cushion 803 made of elastic material is arranged between the cleaning component 804 and the second rotating plate 5 to perform elastic contact and resist support on the second rotating plate 5. The hollow air cushion 803 is set to be concave to perform adaptive fit and resist on the surface of the second rotating plate 5 at different angles. When the hollow air cushion 803 is squeezed, The T-shaped round rod 807 moves toward the circular shell 808 to cooperate with the contraction. The circular shell 808 is set on the inner side of the reset spring 809 to support the compressed spring. When the hollow air cushion 803 does not support the second rotating plate 5, the reset spring 809 loses the extrusion force and pushes the hollow air cushion 803 to expand and recover through the stretching force. At the same time, the hollow air cushion 803 drives the T-shaped round rod 807 to slide out of the circular concave shell to the outside. At this time, the surface of the hollow air cushion 803 can be scraped and cleaned by the cleaning component 804.

[0053] For the second embodiment, please refer to Figure 1-Figure 8The present invention provides a positioning device for an independent manipulator: a cleaning component 804 includes an annular long plate 8041, an inner wall of the annular long plate 8041 is fixedly connected with a built-in long rod 8042, one side of the annular long plate 8041 is fixedly connected with a driving motor 8043, a driving shaft of the driving motor 8043 is fixedly connected with a threaded long rod 8044, an outer surface of the threaded long rod 8044 is sleeved and threadedly connected with a threaded sleeve block 8045, one side of the threaded sleeve block 8045 is fixedly connected with a corrugated sleeve sheet 8046, a side of the threaded sleeve block 8045 close to the corrugated sleeve sheet 8046 is fixedly connected with a concave connecting rod 8047, an end of the concave connecting rod 8047 away from the threaded sleeve block 8045 is fixedly connected with a semicircular arc rod 8048, and a semicircular arc rod 8049 is fixedly connected with a semicircular arc rod 8049. A curved wave plate 8049 is fixedly connected to one side of the circular arc rod 8048, a square through plate 80410 is fixedly connected to one side of the semicircular arc rod 8048 close to the curved wave plate 8049, an outer surface of the annular long plate 8041 is fixedly connected to the driving shaft of the electric push rod 802, an outer surface of the annular long plate 8041 is fixedly connected to the inner side of the hollow air cushion 803, an end of the built-in long rod 8042 away from the driving motor 8043 passes through the threaded sleeve block 8045 and is slidably connected to the threaded sleeve block 8045, an outer surface of the threaded sleeve block 8045 is slidably connected to the inner wall of the circular long plate 8041, a side of the square through plate 80410 away from the semicircular arc rod 8048 passes through the curved wave plate 8049 and is fixedly connected to the curved wave plate 8049;

[0054] The ventilation component 806 includes a corrugated disc 8061, the outer surface of which is provided with a corrugated circular hole 8062, a retraction spring 8063 is fixedly connected to one side of the corrugated disc 8061, an end of the retraction spring 8063 away from the corrugated disc 8061 is fixedly connected to an inner circular plate 8064, a dust filter hole 8065 is provided on the outer surface of the inner circular plate 8064, a trapezoidal circular block 8066 is fixedly connected to the side of the inner circular plate 8064 close to the retraction spring 8063, the outer side of the corrugated disc 8061 is fixedly connected to the inner wall of the ventilation circular hole 805, the outer side of the inner circular plate 8064 is fixedly connected to the inner wall of the ventilation circular hole 805, a plurality of corrugated circular holes 8062 are provided, and the plurality of corrugated circular holes 8062 are distributed on the outer side of the corrugated disc 8061 On the surface, there are multiple trapezoidal round blocks 8066, and the multiple trapezoidal round blocks 8066 are respectively aligned with the wave surface circular holes 8062. When in use, the driving motor 8043 is started to drive the threaded long rod 8044 to rotate. When the threaded long rod 8044 rotates, it drives the threaded sleeve block 8045 that is penetrated and limited by the built-in long rod 8042 to move in the direction close to the driving motor 8043. When the threaded sleeve block 8045 moves, it drives the concave connecting rod 8047 on one side to move. The movement of the concave connecting rod 8047 drives the semi-circular arc rod 8048 at one end to move. When the semi-circular arc rod 8048 moves, it drives the arc wave plate 8049 and the square penetration plate 80410 on one side to move. The arc wave plate 8049 moves toward the hollow air cushion 803 along with the semi-circular arc rod 8048 and aligns with the hollow air cushion. The surface of the hollow air cushion 803 is in contact with the moving arc wave plate 8049 to scrape and clean the surface of the hollow air cushion 803. The surface of the hollow air cushion 803 is scraped and cleaned multiple times by the waveform setting of the arc wave plate 8049. A square penetration plate 80410 is set on one side of the semicircular arc rod 8048 to penetrate the arc wave plate 8049 and fix its shape. When the threaded sleeve block 8045 moves, it will also pull the waveform sleeve 8046 on one side to stretch. By sleeveing ​​the retractable waveform sleeve 8046 on the outside of the threaded long rod 8044, the threaded long rod 8044 is wrapped as the threaded sleeve block 8045 moves. After cleaning, the driving motor 8043 drives the threaded long rod 8044 to reverse, so that the arc wave plate 8049 can be gradually moved. When the hollow air cushion 803 moves to one side, it does not affect the contact with the second rotating plate 5. When the hollow air cushion 803 is squeezed, the internal gas passes through the dust filter hole opened on the inner circular plate 8064 in the ventilation hole 805 and flows into the space between the inner circular plate 8064 and the corrugated disc 8061. The gas continuously discharged from the dust filter hole fills the area between the corrugated disc 8061 and the inner circular plate 8064, and then pushes the corrugated disc 8061 to expand outward. When the corrugated circular hole 8062 expands, it pulls the retraction spring 8063 to expand. When the corrugated disc 8061 expands, the corrugated circular hole 8062 on the surface gradually breaks away from the blocking cooperation with the trapezoidal circular block 8066, and the gas between the inner circular plate 8064 and the corrugated disc 8061 passes through the corrugated circular hole 8062 and is discharged outward.The gas squeezed inside the hollow air cushion 803 is discharged in time by opening the dust filter pores 8065 and the wave surface circular holes 8062. When the hollow air cushion 803 expands and recovers under the extension force of the reset spring 809, the external gas passes through the wave surface circular holes 8062 and the dust filter pores 8065 in sequence and re-enters the hollow air cushion 803. When the corrugated disc 8061 loses the gas push, the retraction spring 8063 pulls the corrugated disc 8061 back to the corrugated shape through the retraction force, and the corrugated circular hole 8062 is aligned with the trapezoidal round block 8066. When the corrugated disc 8061 recovers under the influence of the retraction force of the retraction spring 8063, the trapezoidal round block 8066 is inserted into the corrugated circular hole 8062 and blocks it. When the trapezoidal round block 8066 is inserted into the corrugated circular hole 8062, the inside of the corrugated circular hole 8062 is cleaned by penetration.

[0055] When the present invention is in operation, the oblique bracket 2 is driven to rotate by the electric turntable 1 to adjust the circumferential position, the first motor 4 is started to drive the first rotating plate 3 to rotate, and then the second motor 6 is started to drive the second rotating plate 5 to rotate, and the electric clamp 7 is adjusted and positioned to a suitable position through the linked rotation of the first rotating plate 3 and the second rotating plate 5. After the adjustment is completed, the second rotating plate 5 is fixedly positioned in a resistance supporting manner through the supporting positioning mechanism 8, and the cleaning component 804 is pushed upward by the electric push rod 802 to drive the hollow air cushion 803 to move upward together. When the hollow air cushion 803 moves upward, it contacts the surface of the second rotating plate 5 and is continuously squeezed between the cleaning component 804 and the second rotating plate 5 by the push of the electric push rod 802. When the hollow air cushion 803 is squeezed, the internal gas passes The air is discharged outward through the ventilation component 806, and the internal return spring 809 is also compressed. When the return spring 809 is compressed, the preload force is continuously increased to support the second rotating plate 5 in contact. The cleaning component 804 is pushed by the electric push rod 802 to make the hollow air cushion 803 support and fix the adjusted second rotating plate 5 in a contact manner. A hollow air cushion 803 made of elastic material is arranged between the cleaning component 804 and the second rotating plate 5 to support the second rotating plate 5 in an elastic contact manner. The hollow air cushion 803 is set to a concave shape to adaptably fit and resist the surface of the second rotating plate 5 at different angles. When the hollow air cushion 803 is squeezed, the T-shaped round rod 807 moves toward the direction of the circular shell 808 to cooperate with the contraction. 09 is provided with a circular sleeve 808 on the inner side to support the compressed spring. When the hollow air cushion 803 does not resist and support the second rotating plate 5, the reset spring 809 loses the squeezing force and pushes the hollow air cushion 803 to expand and recover through the stretching force. At the same time, the hollow air cushion 803 drives the T-shaped round rod 807 to slide out of the circular concave shell to the outside. At this time, the surface of the hollow air cushion 803 can be scraped and cleaned by the cleaning component 804, and the driving motor 8043 is started to drive the threaded long rod 8044 to rotate. When the threaded long rod 8044 rotates, it drives the threaded sleeve block 8045 which is penetrated by the built-in long rod 8042 to move in the direction close to the driving motor 8043. When the threaded sleeve block 8045 moves, it drives the concave connecting rod 8047 on one side to move. The concave connecting rod 8047 moves to drive the semicircular arc rod 8048 at one end to move. When the semicircular arc rod 8048 moves, it drives the arc wave plate 8049 and the square penetration plate 80410 on one side to move. The arc wave plate 8049 moves toward the hollow air cushion 803 along with the semicircular arc rod 8048 and contacts the surface of the hollow air cushion 803. The moving arc wave plate 8049 scrapes and cleans the surface of the hollow air cushion 803. The surface of the hollow air cushion 803 is scraped and cleaned multiple times by the waveform setting of the arc wave plate 8049. A square penetration plate 80410 is set on one side of the semicircular arc rod 8048 to penetrate the arc wave plate 8049 and fix its shape. When the threaded sleeve block 8045 moves, it will also pull the waveform sleeve 8046 on one side to stretch.The retractable corrugated sleeve 8046 is sleeved on the outside of the threaded long rod 8044, and the threaded long rod 8044 is wrapped with the threaded sleeve block 8045 at the time of movement. After cleaning, the driving motor 8043 drives the threaded long rod 8044 to reverse, so that the arc wave plate 8049 gradually moves to the side of the hollow air cushion 803 without affecting the contact with the second rotating plate 5. When the hollow air cushion 803 is squeezed, the internal gas passes through the inner circular plate 8049 in the ventilation circular hole 805. The dust filter holes opened on the inner circular plate 8064 flow into the space between the inner circular plate 8064 and the corrugated disc 8061. The gas continuously discharged from the dust filter holes fills the area between the corrugated disc 8061 and the inner circular plate 8064, and then pushes the corrugated disc 8061 to expand outward. When the corrugated circular hole 8062 expands, it pulls the retraction spring 8063 to expand. When the corrugated circular plate 8061 expands, the corrugated circular hole 8062 on the surface gradually breaks away from the blocking match with the trapezoidal circular block 8066. The gas between the inner circular plate 8064 and the corrugated circular plate 8061 passes through the corrugated circular hole 8062 and is discharged to the outside. The dust filter pores 8065 and the corrugated circular hole 8062 are provided to timely discharge the gas squeezed inside the hollow air cushion 803. When the hollow air cushion 803 expands and recovers under the extension force of the return spring 809, the external gas passes through the corrugated circular hole 8062 and the dust filter pores 8065 in turn and enters the hollow air cushion 803 again. When the sheet 8061 loses the gas push, the retraction spring 8063 pulls the corrugated disc 8061 back to the corrugated shape through the retraction force, and the corrugated circular hole 8062 is aligned with the trapezoidal round block 8066. When the corrugated disc 8061 is restored under the influence of the retraction force of the retraction spring 8063, the trapezoidal round block 8066 is inserted into the corrugated circular hole 8062 and blocks it. When the trapezoidal round block 8066 is inserted into the corrugated circular hole 8062, the inside of the corrugated circular hole 8062 is cleaned by penetration.

[0056] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention are implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. A positioning device for an independent manipulator, characterized in that: include: An electric turntable (1), wherein an inclined bracket (2) is arranged on the top of the electric turntable (1); A first rotating plate (3), wherein a first motor (4) is disposed on one side of the first rotating plate (3); A second rotating plate (5), a second motor (6) being arranged on one side of the second rotating plate (5); A support positioning mechanism (8), the support positioning mechanism (8) is used to perform a resistance support type fixed positioning on the manipulator after the position adjustment; An electric clamp (7) is fixedly connected to a side of the first rotating plate (3) away from the second rotating plate (5); The top of the electric turntable (1) is fixedly connected to the bottom of the inclined bracket (2), one side of the inclined bracket (2) is fixedly connected to the output end of the first motor (4), the drive shaft of the first motor (4) is fixedly connected to one side of the first rotating plate (3), the side of the first rotating plate (3) close to the first motor (4) is fixedly connected to the drive shaft of the second motor (6), the drive shaft of the second motor (6) is fixedly connected to one side of the second rotating plate (5), and one side of the inclined bracket (2) is fixedly connected to one side of the supporting positioning mechanism (8); Wherein, the supporting and positioning mechanism (8) comprises: A side connecting plate (801), wherein an electric push rod (802) is arranged on the top of the side connecting plate (801); A hollow air cushion (803), wherein the hollow air cushion (803) is configured as a concave rubber body having a hollow area inside, and a cleaning component (804) is disposed inside the hollow air cushion (803); The top of the side connecting plate (801) is fixedly connected to the bottom of the electric push rod (802), the driving shaft of the electric push rod (802) is fixedly connected to the outer surface of the cleaning component (804), and the hollow air cushion (803) is sleeved on the cleaning component (804) and fixedly connected to the cleaning component (804); One side of the side connecting plate (801) is fixedly connected to one side of the oblique bracket (2).

2. The positioning device of a stand-alone manipulator according to claim 1, characterized in that: A first groove (9) is formed on the top of the inclined bracket (2), and a second groove (10) is formed on a side of the first rotating plate (3) away from the inclined bracket (2).

3. A positioning device for an independent manipulator according to claim 2, characterized in that: The inner wall of the first groove (9) is rotatably connected to the side of the first rotating plate (3) away from the first motor (4) via a rotating bolt, and the inner wall of the second groove (10) is rotatably connected to the side of the second rotating plate (5) away from the second motor (6) via a rotating bolt.

4. The positioning device of a stand-alone manipulator according to claim 1, characterized in that: A circular ventilation hole (805) is provided at the bottom of the hollow air cushion (803), a ventilation assembly (806) is fixedly connected to the inner wall of the circular ventilation hole (805), a T-shaped round rod (807) is fixedly connected to the inner wall of the hollow air cushion (803), a circular sleeve (808) is sleeved and slidably connected to the outer surface of the T-shaped round rod (807), and a return spring (809) is sleeved and slidably connected to the outer surface of the circular sleeve (808).

5. The positioning device of a stand-alone manipulator according to claim 4, characterized in that: The side of the circular casing (808) away from the T-shaped round rod (807) is fixedly connected to the inner wall of the hollow air cushion (803), and both ends of the return spring (809) are fixedly connected to the inner wall of the hollow air cushion (803).

6. The positioning device of a stand-alone manipulator according to claim 1, characterized in that: The cleaning assembly (804) comprises an annular long plate (8041), the inner wall of the annular long plate (8041) is fixedly connected to a built-in long rod (8042), one side of the annular long plate (8041) is fixedly connected to a driving motor (8043), the driving shaft of the driving motor (8043) is fixedly connected to a threaded long rod (8044), the outer surface of the threaded long rod (8044) is sleeved and threadedly connected to a threaded sleeve block (8045), and one side of the threaded sleeve block (8045) is fixedly connected to A corrugated sleeve (8046) is provided, and a concave connecting rod (8047) is fixedly connected to one side of the threaded sleeve (8045) close to the corrugated sleeve (8046), and a semicircular arc rod (8048) is fixedly connected to one end of the concave connecting rod (8047) away from the threaded sleeve (8045), and a curved wave plate (8049) is fixedly connected to one side of the semicircular arc rod (8048), and a square through plate (80410) is fixedly connected to one side of the semicircular arc rod (8048) close to the curved wave plate (8049).

7. A positioning device for an independent manipulator according to claim 6, characterized in that: The outer surface of the annular long plate (8041) is fixedly connected to the driving shaft of the electric push rod (802), and the outer surface of the annular long plate (8041) is fixedly connected to the inner side of the hollow air cushion (803).

8. The positioning device of an independent manipulator according to claim 6, characterized in that: The end of the built-in long rod (8042) away from the driving motor (8043) passes through the threaded sleeve (8045) and is slidably connected to the threaded sleeve (8045); the outer surface of the threaded sleeve (8045) is slidably connected to the inner wall of the annular long plate (8041); and the side of the square through plate (80410) away from the semicircular arc rod (8048) passes through the arc wave plate (8049) and is fixedly connected to the arc wave plate (8049).

9. The positioning device of a stand-alone manipulator according to claim 4, characterized in that: The ventilation component (806) comprises a corrugated disc (8061), the outer surface of which is provided with a corrugated circular hole (8062), one side of which is fixedly connected to a retraction spring (8063), the end of which is away from the corrugated disc (8061) being fixedly connected to an inner circular plate (8064), the outer surface of which is provided with a dust filtering hole (8065), and the side of which is close to the retraction spring (8063) being fixedly connected to a trapezoidal circular block (8066).

10. The positioning device of an independent manipulator according to claim 9, characterized in that: The outer side of the corrugated disc (8061) is fixedly connected to the inner wall of the ventilation circular hole (805), the outer side of the inner circular plate (8064) is fixedly connected to the inner wall of the ventilation circular hole (805), a plurality of the corrugated circular holes (8062) are provided, and the plurality of the corrugated circular holes (8062) are distributed on the outer surface of the corrugated disc (8061), a plurality of the trapezoidal circular blocks (8066) are provided, and the plurality of the trapezoidal circular blocks (8066) are respectively aligned with the corrugated circular holes (8062).

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