A positioning device for a stand-alone robot

Abstract

The application discloses a positioning device of a stand-alone mechanical hand and relates to the technical field of mechanical hands.The positioning device comprises a side connecting plate, the top of the side connecting plate is provided with an electric push rod, a hollow air cushion is arranged as a concave rubber body with a hollow region inside, the inner side of the hollow air cushion is provided with a cleaning assembly, and the bottom of the hollow air cushion is provided with a ventilation round hole.The positioning device of the stand-alone mechanical hand is characterized in that the cleaning assembly is pushed by the electric push rod, the hollow air cushion is used for fixedly positioning the second rotating plate after adjustment, the position of the stand-alone mechanical hand is prevented from deviating from the adjusted position when the stand-alone mechanical hand is used for grabbing heavy objects or when parts are loose after long-time use, the hollow air cushion made of elastic material is arranged between the cleaning assembly and the second rotating plate to elastically contact and support the second rotating plate, and the surface of the second rotating plate is prevented from being gradually worn due to the influence of hard material and thus affecting use.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more specifically to a positioning device for an independent robotic arm. Background Technology

[0002] A robotic arm is an automated operating device that can mimic certain movements and functions of a human hand and arm to grasp, move, or operate tools according to a fixed program. It mainly consists of three parts: an actuator, a drive mechanism, and a control system. It can replace humans in heavy labor to achieve mechanization and automation of production. It is widely used in machinery manufacturing, light industry, and nuclear energy sectors. A stand-alone robotic arm is a robotic arm that does not rely on other equipment or the main structure of a production line. It has its own complete mechanical structure, drive system, and control system and can independently complete tasks such as grasping, moving, and operating. Its independence allows it to be flexibly deployed in different work scenarios without relying on specific large equipment.

[0003] Existing independent robotic arms are frequently used in various work scenarios and operate frequently due to their independence. However, when independent robotic arms grasp heavy objects or when parts become loose after long-term use, they may deviate from their adjusted and positioned positions. Therefore, we propose a positioning device for independent robotic arms. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides a positioning device for an independent robotic arm, comprising:

[0005] An electric turntable, the top of which is provided with an inclined support;

[0006] A first rotating plate, with a first motor installed on one side of the first rotating plate;

[0007] The second rotating plate has a second motor installed on one side;

[0008] The support and positioning mechanism is used to provide a resistive support and fix the robot arm after it has been positioned, so as to prevent the robot arm from shifting from its adjusted position when it is grasping heavy objects or when the parts become loose after long-term use.

[0009] An electric gripper is fixedly connected to the 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 inclined bracket, one side of the inclined bracket is fixedly connected to the output end of the first motor, the drive shaft of the first motor is fixedly connected to one side of the first rotating plate, the side of the first rotating plate near the first motor is fixedly connected to the drive shaft of the second motor, the drive shaft of the second motor is fixedly connected to one side of the second rotating plate, and one side of the inclined bracket is fixedly connected to one side of the support positioning mechanism.

[0011] The supporting positioning mechanism includes:

[0012] Side plate, the top of which is provided with an electric push rod;

[0013] A hollow air cushion is configured as a concave rubber body with a hollowed-out area inside. An electric push rod pushes the cleaning component, causing the hollow air cushion to provide contact support and fixation to the adjusted second rotating plate. This prevents the independent robotic arm from shifting from its adjusted position when gripping heavy objects or when parts become loose after prolonged use. The hollow air cushion, made of elastic material, provides elastic contact support to the second rotating plate, preventing wear and tear caused by prolonged contact with hard materials. The concave shape of the hollow air cushion allows for adaptive contact with the surface of the second rotating plate at different angles, preventing poor support and positioning when the second rotating plate is adjusted to different angles. The cleaning component is located on the inner side of the hollow air cushion.

[0014] The top of the side plate is fixedly connected to the bottom of the electric push rod, the drive 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 plate is fixedly connected to one side of the inclined bracket;

[0016] The top of the inclined bracket is provided with a first groove, and the side of the first rotating plate away from the inclined bracket is provided with a second groove.

[0017] The inner wall of the first groove is rotatably connected to the side of the first rotating plate away from the first motor by 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 by a rotating bolt.

[0018] The bottom of the hollow air cushion has a ventilation hole, and a ventilation component is fixedly connected to the inner wall of the ventilation hole. A T-shaped rod is fixedly connected to the inner wall of the hollow air cushion. A circular sleeve is fitted and slidably connected to the outer surface of the T-shaped rod. By setting a circular sleeve inside the return spring, the compressed spring is internally supported and shaped to prevent the return spring from bending and being easily damaged as the force direction changes with the adjustment of the second rotating plate angle. The return spring is fitted and slidably connected to the outer surface of the circular sleeve.

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

[0020] Furthermore, the cleaning component includes an annular long plate, with a built-in long rod fixedly connected to the inner wall of the annular long plate. A drive motor is fixedly connected to one side of the annular long plate, and a threaded long rod is fixedly connected to the drive shaft of the drive motor. A threaded sleeve block is fitted and threadedly connected to the outer surface of the threaded long rod. A corrugated sleeve plate is fixedly connected to one side of the threaded sleeve block. By fitting the retractable corrugated sleeve plate around the outside of the threaded long rod, the threaded long rod is wrapped as the threaded sleeve block moves, preventing dust scraped from the surface of the hollow air cushion from falling onto the threaded surface of the threaded long rod and affecting the threaded engagement with the threaded sleeve block, thus preventing jamming. A concave connecting rod is fixedly connected to the side of the threaded sleeve block near the corrugated sleeve plate, and a semi-circular rod is fixedly connected to the end of the concave connecting rod away from the threaded sleeve block. An arc-shaped wave plate is fixedly connected to one side of the semi-circular rod. The moving arc-shaped wave plate cleans the surface of the hollow air cushion by scraping, preventing dust and other particles from gradually accumulating on the surface of the hollow air cushion after long-term use. When the object comes into contact with the second rotating plate, it is squeezed and worn. The hollow air cushion surface is scraped and cleaned multiple times by setting the waveform of the arc-shaped wave plate. This prevents the relatively rough surface of the hollow air cushion made of elastic rubber from being difficult to clean in one go. A square through plate is fixedly connected to the side of the semi-circular arc rod near the arc-shaped wave plate. By setting the square through plate on one side of the semi-circular arc rod, the arc-shaped wave plate is passed through and its shape is fixed. This prevents the arc-shaped wave plate from gradually detaching from the tight contact with the hollow air cushion when it is in frictional contact with the surface of the hollow air cushion, which would affect the cleaning effect. The outer surface of the annular long plate is fixedly connected to the drive shaft of the electric push rod. 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 drive motor passes through 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. The side of the square through plate away from the semi-circular arc rod passes through the arc-shaped wave plate and is fixedly connected to the arc-shaped wave plate.

[0021] Furthermore, the ventilation component includes a corrugated disc with corrugated circular holes on its outer surface. These holes, along with dust-filtering vents, allow for timely discharge of compressed gas from the hollow air cushion, preventing excessive internal gas pressure that could lead to bursting and damage. A return spring is fixedly connected to one side of the corrugated disc. When the disc loses its gas propulsion, the spring pulls the disc back to its original corrugated shape, aligning the corrugated holes with the trapezoidal block. This prevents uneven force distribution when the expanded disc is pulled back by suction, ensuring the corrugated holes align with the trapezoidal block. An inner circular plate is fixedly connected to the end of the return spring furthest from the corrugated disc. Dust-filtering vents are located on the outer surface of the inner circular plate. A trapezoidal circular block is fixedly connected to one side of the return spring. When the corrugated disc returns to its original position under the influence of the return spring's return force, the trapezoidal circular block inserts into the corrugated circular hole and seals it, preventing dust from accumulating between the inner circular plate and the corrugated disc due to the continuous flow of gas during repeated expansion and contraction movements. When the trapezoidal circular block is inserted into the corrugated circular hole, it performs a penetrating cleaning of the inside of the corrugated circular hole, preventing dust from accumulating inside the corrugated circular hole during repeated expansion and contraction movements of the corrugated disc and clogging it, thus affecting ventilation efficiency. The outer side of the corrugated disc is fixedly connected to the inner wall of the ventilation hole, and the outer side of the inner circular plate is fixedly connected to the inner wall of the ventilation hole. Multiple corrugated circular holes are provided, and the multiple corrugated circular holes are distributed on the outer surface of the corrugated disc. Multiple trapezoidal circular blocks are provided, and the multiple trapezoidal circular blocks are respectively aligned with the corrugated circular holes.

[0022] The beneficial effects of this invention are as follows:

[0023] 1. This invention uses an electric push rod to drive the cleaning component, causing the hollow air cushion to be fixedly positioned against the adjusted second rotating plate. This prevents the independent robotic arm from shifting from its adjusted position when gripping heavy objects or when parts become loose after prolonged use. The moving arc-shaped wave plate cleans the surface of the hollow air cushion by scraping it, preventing dust and other particles that gradually accumulate on the surface of the hollow air cushion after prolonged use from being squeezed and damaged when in contact with the second rotating plate. By opening dust filter pores and wave-shaped circular holes, the compressed gas inside the hollow air cushion is discharged in time, preventing excessive internal gas pressure that cannot be discharged when the hollow air cushion is compressed to the excessive degree, which can easily lead to the hollow air cushion bursting and breaking.

[0024] 2. This invention, by setting up a support and positioning mechanism, uses an electric push rod to push the cleaning component, causing the hollow air cushion to provide contact support and fixation for the adjusted second rotating plate. This prevents the independent robotic arm from shifting from its adjusted position when gripping heavy items or when parts become loose after prolonged use. The hollow air cushion, made of elastic material, provides elastic contact support between the cleaning component and the second rotating plate, preventing wear and tear on the surface of the second rotating plate caused by prolonged contact with hard materials. The concave shape of the hollow air cushion allows for adaptive contact with the surface of the second rotating plate at different angles, preventing poor support and positioning when the second rotating plate is adjusted to different angles. A circular sleeve inside the return spring provides internal support and fixation, preventing the return spring from bending and being easily damaged as the force direction changes with the adjustment of the second rotating plate angle.

[0025] 3. This invention, through the setting of a cleaning component, uses a moving arc-shaped wave plate to scrape and clean the surface of the hollow air cushion. This prevents dust and other particulate matter from gradually accumulating on the surface of the hollow air cushion after prolonged use and being squeezed and damaged when in contact with the second rotating plate. The waveform setting of the arc-shaped wave plate allows for multiple scraping and cleaning of the surface of the hollow air cushion, preventing the relatively rough surface of the elastic rubber hollow air cushion from being difficult to clean in one go. By setting a square through plate on one side of the semi-circular arc rod to pass through the arc-shaped wave plate and fix its shape, it prevents the arc-shaped wave plate from gradually detaching from the tight contact with the hollow air cushion surface due to the pushing force when in frictional contact with the hollow air cushion surface, thus affecting the cleaning effect. By fitting a retractable wave-shaped sleeve over the outside of the threaded long rod, it wraps around the threaded long rod as the threaded sleeve moves, preventing the dust scraped off the surface of the hollow air cushion from falling onto the threaded surface of the threaded long rod and affecting the threaded engagement with the threaded sleeve, thus preventing jamming.

[0026] 4. This invention, by incorporating a ventilation component and utilizing dust-filtering air holes and corrugated circular holes, promptly discharges the compressed gas inside the hollow air cushion. This prevents excessive internal gas pressure caused by over-compression, which could lead to the air cushion bursting and rupture. When the corrugated disc loses its gas propulsion, a return spring pulls the disc back to its original corrugated shape, with the corrugated circular holes aligned with the trapezoidal blocks. This prevents uneven force distribution on the expanded corrugated disc during suction pull, which could cause further damage. The corrugated circular holes on the surface are difficult to align with the trapezoidal circular blocks. When the corrugated disc is restored by the return force of the spring, the trapezoidal circular blocks are inserted into the corrugated circular holes and seal them. This prevents the continuous flow of gas during repeated expansion and contraction from causing dust to gradually accumulate between the inner circular plate and the corrugated disc, which is difficult to handle. When the trapezoidal circular blocks are inserted into the corrugated circular holes, they perform a penetrating cleaning of the inside of the corrugated circular holes, preventing dust from accumulating inside the corrugated circular holes during repeated expansion and contraction of the corrugated disc and clogging them, thus affecting ventilation efficiency. Attached Figure Description

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

[0028] Figure 2 This is a schematic diagram of the side structure of the independent robotic arm 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 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 This is a side cross-sectional view of the ventilation component of the present invention;

[0034] Figure 8 This is an enlarged structural diagram of the ventilation component at point A in the side section of the present invention;

[0035] In the diagram: 1. Electric turntable; 2. Inclined bracket; 3. First rotating plate; 4. First motor; 5. Second rotating plate; 6. Second motor; 7. Electric gripper; 8. Support and positioning mechanism; 9. First groove; 10. Second groove; 801. Side plate; 802. Electric push rod; 803. Hollow air cushion; 804. Cleaning assembly; 805. Ventilation hole; 806. Ventilation assembly; 807. T-shaped rod; 808. Circular sleeve; 809. Return spring; 80 41. Annular long plate; 8042. Built-in long rod; 8043. Drive motor; 8044. Threaded long rod; 8045. Threaded sleeve block; 8046. Waveform sleeve; 8047. Concave connecting rod; 8048. Semi-circular arc rod; 8049. Arc-shaped wave plate; 80410. Square through plate; 8061. Waveform circular plate; 8062. Wave-shaped circular hole; 8063. Retraction spring; 8064. Inner circular plate; 8065. Dust filter air hole; 8066. Trapezoidal circular block. Detailed Implementation

[0036] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and design various embodiments with various modifications suitable for a particular purpose.

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

[0038] Electric turntable 1, with a slanted support 2 on the top of the electric turntable 1;

[0039] The first rotating plate 3 has a first motor 4 installed on one side;

[0040] The second rotating plate 5 has a second motor 6 installed on one side;

[0041] Support positioning mechanism 8, which is used to perform contact support type fixed positioning of the robot arm after the position has been adjusted;

[0042] An electric gripper 7 is fixedly connected to the 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 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 near 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. One side of the inclined bracket 2 is fixedly connected to one side of the support positioning mechanism 8.

[0044] Among them, the positioning support mechanism 8 includes:

[0045] Side plate 801, with an electric push rod 802 installed on the top of the side plate 801;

[0046] Hollow air cushion 803 is configured as a concave rubber body with a hollow area inside, and a cleaning component 804 is provided on the inner side of the hollow air cushion 803.

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

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

[0049] The top of the inclined bracket 2 is provided with a first groove 9, and the side of the first rotating plate 3 away from the inclined bracket 2 is provided with a second groove 10.

[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 by 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 by a rotating bolt.

[0051] The bottom of the hollow air cushion 803 has a ventilation hole 805. The inner wall of the ventilation hole 805 is fixedly connected to a ventilation component 806. The inner wall of the hollow air cushion 803 is fixedly connected to a T-shaped rod 807. A circular sleeve 808 is fitted and slidably connected to the outer surface of the T-shaped rod 807. A return spring 809 is fitted and slidably connected to the outer surface of the circular sleeve 808.

[0052] The circular housing 808 is fixedly connected to the inner wall of the hollow air cushion 803 on the side away from the T-shaped round rod 807. Both ends of the return spring 809 are fixedly connected to the inner wall of the hollow air cushion 803. In use, the circumferential position is adjusted by rotating the inclined bracket 2 driven by the electric turntable 1. 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. The electric gripper 7 is adjusted and positioned to a suitable position through the linkage rotation of the first rotating plate 3 and the second rotating plate 5. After adjustment, the support is fixed. The positioning mechanism 8 provides a contact-support fixed position for the second rotating plate 5. The electric push rod 802 pushes the cleaning component 804 upwards, causing the hollow air cushion 803 to move upwards as well. As the hollow air cushion 803 moves upwards, it contacts the surface of the second rotating plate 5 and is continuously compressed 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 compressed, the internal gas is discharged outwards through the ventilation component 806. Simultaneously, the internal return spring 809 is also compressed. The preload is continuously increased to provide resistance and support to the second rotating plate 5. The cleaning component 804 is pushed by the electric push rod 802, causing the hollow air cushion 803 to provide resistance and fixation to the adjusted second rotating plate 5. An elastic hollow air cushion 803 is placed between the cleaning component 804 and the second rotating plate 5 to provide elastic contact and resistance support. The hollow air cushion 803 is concave to adapt and conform to the surface of the second rotating plate 5 at different angles. When the hollow air cushion 803 is compressed, T... The T-shaped round rod 807 moves towards the circular sleeve 808 to cooperate in contraction. By setting the circular sleeve 808 inside the return spring 809, the compressed spring is internally supported and fixed. When the hollow air cushion 803 does not resist the second rotating plate 5, the return spring 809 loses the compressive force and pushes the hollow air cushion 803 to expand and recover through the extension 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. At this time, the surface of the hollow air cushion 803 can be scraped cleaned by the cleaning component 804.

[0053] Second embodiment, please refer to Figures 1-8This invention provides a positioning device for an independent robotic arm: a cleaning assembly 804 includes an annular long plate 8041, an internal long rod 8042 fixedly connected to the inner wall of the annular long plate 8041, a drive motor 8043 fixedly connected to one side of the annular long plate 8041, a threaded long rod 8044 fixedly connected to the drive shaft of the drive motor 8043, a threaded sleeve block 8045 sleeved and threadedly connected to the outer surface of the threaded long rod 8044, a corrugated sleeve 8046 fixedly connected to one side of the threaded sleeve block 8045, a concave connecting rod 8047 fixedly connected to the side of the threaded sleeve block 8045 near the corrugated sleeve 8046, and a semi-circular rod 8048 fixedly connected to the end of the concave connecting rod 8047 away from the threaded sleeve block 8045. An arc-shaped wave plate 8049 is fixedly connected to one side of the arc rod 8048. A square through plate 80410 is fixedly connected to the side of the semi-circular arc rod 8048 near the arc-shaped wave plate 8049. The outer surface of the annular long plate 8041 is fixedly connected to the drive shaft of the electric push rod 802. The outer surface of the annular long plate 8041 is fixedly connected to the inner side of the hollow air cushion 803. The end of the built-in long rod 8042 away from the drive motor 8043 passes through the threaded sleeve block 8045 and is slidably connected to the threaded sleeve block 8045. The outer surface of the threaded sleeve block 8045 is slidably connected to the inner wall of the annular long plate 8041. The side of the square through plate 80410 away from the semi-circular arc rod 8048 passes through the arc-shaped wave plate 8049 and is fixedly connected to the arc-shaped wave plate 8049.

[0054] The ventilation assembly 806 includes a corrugated circular plate 8061. A corrugated circular hole 8062 is formed on the outer surface of the corrugated circular plate 8061. A return spring 8063 is fixedly connected to one side of the corrugated circular plate 8061. An inner circular plate 8064 is fixedly connected to the end of the return spring 8063 away from the corrugated circular plate 8061. A dust filter hole 8065 is formed 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 near the return spring 8063. The outer side of the corrugated circular plate 8061 is fixedly connected to the inner wall of the ventilation hole 805, and the outer side of the inner circular plate 8064 is fixedly connected to the inner wall of the ventilation hole 805. Multiple corrugated circular holes 8062 are provided, and the multiple corrugated circular holes 8062 are distributed on the outer surface of the corrugated circular plate 8061. On the surface, multiple trapezoidal circular blocks 8066 are provided, and each trapezoidal circular block 8066 is aligned with the corrugated circular hole 8062. In use, the drive motor 8043 is started to rotate the threaded rod 8044. When the threaded rod 8044 rotates, it causes the threaded sleeve block 8045, which is limited by the built-in rod 8042, to move closer to the drive motor 8043. The movement of the threaded sleeve block 8045 causes the concave connecting rod 8047 on one side to move. The movement of the concave connecting rod 8047 causes the semi-circular arc rod 8048 at one end to move. The movement of the semi-circular arc rod 8048 causes the arc-shaped corrugated plate 8049 and the square through plate 80410 on one side to move. The arc-shaped corrugated plate 8049 moves towards the hollow air cushion 803 along with the semi-circular arc rod 8048 and aligns with the hollow air cushion 803. The surface of the hollow air cushion 803 is cleaned by the moving arc-shaped wave plate 8049 scraping it. The wave pattern of the arc-shaped wave plate 8049 is used to repeatedly scrape and clean the surface of the hollow air cushion 803. A square through-plate 80410 is installed on one side of the semi-circular rod 8048 to pass through the arc-shaped wave plate 8049 and fix its shape. When the threaded sleeve block 8045 moves, it also pulls the wave plate 8046 on one side to extend. By fitting the retractable wave plate 8046 onto the outside of the threaded rod 8044, the threaded rod 8044 is wrapped around it as the threaded sleeve block 8045 moves. After cleaning, the drive motor 8043 drives the threaded rod 8044 to reverse, causing the arc-shaped wave plate 8049 to gradually move. Moving the hollow air cushion 803 to one side does not affect its contact with the second rotating plate 5. When the hollow air cushion 803 is compressed, the internal gas flows through the dust filter holes on the inner circular plate 8064 in the ventilation hole 805 and 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, pushing the corrugated disc 8061 to extend and expand outward. When the corrugated hole 8062 extends and expands, it pulls the return spring 8063 to extend. When the corrugated disc 8061 extends and expands, the corrugated hole 8062 on the surface gradually disengages from the sealing engagement with the trapezoidal block 8066, and the gas between the inner circular plate 8064 and the corrugated disc 8061 is discharged outward through the corrugated hole 8062.By creating dust filter holes 8065 and corrugated circular holes 8062, the compressed gas inside the hollow air cushion 803 is promptly discharged. 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 holes 8062 and the dust filter holes 8065 in sequence and re-enters the hollow air cushion 803. When the corrugated disc 8061 loses its gas propulsion, the retraction spring 8063 pulls the corrugated disc 8061 back to its original shape with the corrugated circular holes 8062 aligned with the trapezoidal circular block 8066. When the corrugated disc 8061 recovers under the influence of the retraction force of the retraction spring 8063, the trapezoidal circular block 8066 inserts into the corrugated circular hole 8062 and seals it. When the trapezoidal circular block 8066 inserts into the corrugated circular hole 8062, it performs a penetrating cleaning of the inside of the corrugated circular hole 8062.

[0055] In operation, the circumferential position is adjusted by rotating the inclined support 2 via the electric turntable 1. The first motor 4 rotates the first rotating plate 3, and the second motor 6 rotates the second rotating plate 5. The coordinated rotation of the first and second rotating plates 3 and 5 adjusts and positions the electric gripper 7 to a suitable position. After adjustment, the second rotating plate 5 is fixed in place by the support and positioning mechanism 8. The cleaning component 804 is moved upwards by the electric push rod 802, causing the hollow air cushion 803 to move upwards as well. As the hollow air cushion 803 moves upwards, it contacts the surface of the second rotating plate 5 and is continuously compressed 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 compressed, the internal gas flows through it. The air is discharged outward through the venting assembly 806, and at the same time, the internal return spring 809 is also compressed. As the return spring 809 is compressed, the preload increases to provide contact support for the second rotating plate 5. The cleaning assembly 804 is pushed by the electric push rod 802, causing the hollow air cushion 803 to provide contact support and fixation for the adjusted second rotating plate 5. The hollow air cushion 803, made of elastic material, is placed between the cleaning assembly 804 and the second rotating plate 5 to provide elastic contact support for the second rotating plate 5. The hollow air cushion 803 is concave to adapt and conform to the surface of the second rotating plate 5 at different angles. When the hollow air cushion 803 is compressed, the T-shaped round rod 807 moves towards the circular sleeve 808 to retract, and the return spring 809... A circular sleeve 808 is provided on the inner side of the 09 to internally support and fix the compressed spring. When the hollow air cushion 803 does not resist the second rotating plate 5, the return spring 809 loses its compressive force and pushes the hollow air cushion 803 to expand and recover through its extension force. At the same time, the hollow air cushion 803 drives the T-shaped round rod 807 to slide outward from the circular concave shell. At this time, the surface of the hollow air cushion 803 can be scraped cleaned by the cleaning component 804. The drive 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 limited by the built-in long rod 8042, to move closer to the drive 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, causing the semi-circular arc rod 8048 at one end to move. As the semi-circular arc rod 8048 moves, it also moves the arc-shaped corrugated plate 8049 and the square through plate 80410 on one side. The arc-shaped corrugated plate 8049 moves towards the hollow air cushion 803 along with the semi-circular arc rod 8048 and comes into contact with the surface of the hollow air cushion 803. The moving arc-shaped corrugated plate 8049 cleans the surface of the hollow air cushion 803 by scraping it. Multiple scraping and cleaning operations are performed on the surface of the hollow air cushion 803 by setting the waveform of the arc-shaped corrugated plate 8049. The square through plate 80410 is set on one side of the semi-circular arc rod 8048 to pass through the arc-shaped corrugated plate 8049 and fix its shape. When the threaded sleeve block 8045 moves, it also pulls the corrugated sleeve 8046 on one side to extend.By fitting the retractable corrugated sleeve 8046 around the outside of the threaded rod 8044, the threaded rod 8044 is wrapped as the threaded sleeve block 8045 moves. After cleaning, the threaded rod 8044 is reversed by the drive motor 8043, causing the arc-shaped corrugated plate 8049 to gradually move to one side of the hollow air cushion 803 without affecting its contact with the second rotating plate 5. When the hollow air cushion 803 is compressed, the internal gas passes through the inner circular plate 80 in the ventilation hole 805. The dust filter holes on plate 64 allow gas to flow between the inner circular plate 8064 and the corrugated disc 8061. Gas continuously exiting from the dust filter holes fills the area between the corrugated disc 8061 and the inner circular plate 8064, pushing the corrugated disc 8061 to expand outwards. As the corrugated holes 8062 expand, they pull the return spring 8063 to extend further. As the corrugated disc 8061 expands, the corrugated holes 8062 on its surface gradually detach from the sealing mechanism of the trapezoidal block 8066. When the inner circular plate 8064 and the corrugated circular plate 8061 are closed, the gas between them passes through the corrugated circular hole 8062 and is discharged to the outside. The gas compressed inside the hollow air cushion 803 is discharged in time by opening the dust filter hole 8065 and the corrugated circular hole 8062. When the hollow air cushion 803 expands and returns to its original state under the extension force of the return spring 809, the external gas passes through the corrugated circular hole 8062 and the dust filter hole 8065 in sequence and re-enters the hollow air cushion 803. When the gas-driven plate 8061 loses its propulsion, the return spring 8063 pulls the wave-shaped disc 8061 back to its original shape through the return force, aligning the wave-shaped circular hole 8062 with the trapezoidal block 8066. As the wave-shaped disc 8061 returns to its original shape under the influence of the return spring 8063, the trapezoidal block 8066 inserts into the wave-shaped circular hole 8062 and seals it. The insertion of the trapezoidal block 8066 into the wave-shaped circular hole 8062 performs a penetrating cleaning action on its interior.

[0056] Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art and related fields based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described and explained in the present invention, unless otherwise specified or limited, shall be implemented according to conventional means in the art.

Claims

1. A positioning device for an independent robotic arm, characterized in that, include: An electric turntable (1) is provided with a slanted support (2) on its top. The first rotating plate (3) has a first motor (4) on one side. The second rotating plate (5) has a second motor (6) on one side. Support positioning mechanism (8) is used to perform contact support fixed positioning of the robot arm after the position has been adjusted; An electric gripper (7) is fixedly connected to the 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) near 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 support positioning mechanism (8). The supporting positioning mechanism (8) includes: Side plate (801), the top of which is provided with an electric push rod (802). Hollow air cushion (803) is configured as a concave rubber body with a hollow area inside, and a cleaning component (804) is provided on the inner side of the hollow air cushion (803). The top of the side plate (801) is fixedly connected to the bottom of the electric push rod (802), the drive shaft of the electric push rod (802) is fixedly connected to the outer surface of the cleaning assembly (804), and the hollow air cushion (803) is sleeved on the cleaning assembly (804) and fixedly connected to the cleaning assembly (804). One side of the side plate (801) is fixedly connected to one side of the inclined bracket (2); The hollow air cushion (803) has a ventilation hole (805) at its bottom. A ventilation component (806) is fixedly connected to the inner wall of the ventilation hole (805). A T-shaped rod (807) is fixedly connected to the inner wall of the hollow air cushion (803). A circular shell (808) is fitted and slidably connected to the outer surface of the T-shaped rod (807). A return spring (809) is fitted and slidably connected to the outer surface of the circular shell (808). The ventilation assembly (806) includes a corrugated disc (8061), the outer surface of which has a corrugated circular hole (8062), a retraction spring (8063) is fixedly connected to one side of the corrugated disc (8061), an inner circular plate (8064) is fixedly connected to the end of the retraction spring (8063) away from the corrugated disc (8061), a dust filter hole (8065) ​​is opened on the outer surface of the inner circular plate (8064), and a trapezoidal circular block (8066) is fixedly connected to the side of the inner circular plate (8064) near the retraction spring (8063). The outer side of the wave-shaped disc (8061) is fixedly connected to the inner wall of the vent hole (805), the outer side of the inner disc (8064) is fixedly connected to the inner wall of the vent hole (805), a plurality of wave-shaped holes (8062) are provided, and the plurality of wave-shaped holes (8062) are distributed on the outer surface of the wave-shaped disc (8061), and a plurality of trapezoidal blocks (8066) are provided, and the plurality of trapezoidal blocks (8066) are respectively aligned with the wave-shaped holes (8062).

2. The positioning device for an independent robotic arm according to claim 1, characterized in that: The top of the inclined bracket (2) is provided with a first groove (9), and the side of the first rotating plate (3) away from the inclined bracket (2) is provided with a second groove (10).

3. The positioning device for an independent robotic arm 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) by 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) by a rotating bolt.

4. The positioning device for an independent robotic arm according to claim 1, characterized in that: The side of the circular sleeve (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).

5. The positioning device for an independent robotic arm according to claim 1, characterized in that: The cleaning assembly (804) includes an annular long plate (8041), with an internal long rod (8042) fixedly connected to the inner wall of the annular long plate (8041). A drive motor (8043) is fixedly connected to one side of the annular long plate (8041), and a threaded long rod (8044) is fixedly connected to the drive shaft of the drive motor (8043). A threaded sleeve block (8045) is fitted and threadedly connected to the outer surface of the threaded long rod (8044), and one side of the threaded sleeve block (8045) is fixedly connected to... A wave-shaped sleeve (8046) is provided. A concave connecting rod (8047) is fixedly connected to the side of the threaded sleeve (8045) near the wave-shaped sleeve (8046). A semi-circular arc rod (8048) is fixedly connected to the end of the concave connecting rod (8047) away from the threaded sleeve (8045). An arc-shaped wave plate (8049) is fixedly connected to one side of the semi-circular arc rod (8048). A square through plate (80410) is fixedly connected to the side of the semi-circular arc rod (8048) near the arc-shaped wave plate (8049).

6. The positioning device for an independent robotic arm according to claim 5, characterized in that: The outer surface of the annular long plate (8041) is fixedly connected to the drive 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).

7. The positioning device for an independent robotic arm according to claim 5, characterized in that: The end of the built-in long rod (8042) away from the drive motor (8043) passes through the threaded sleeve block (8045) and is slidably connected to the threaded sleeve block (8045). The outer surface of the threaded sleeve block (8045) is slidably connected to the inner wall of the annular long plate (8041). The side of the square through plate (80410) away from the semi-circular arc rod (8048) passes through the arc-shaped wave plate (8049) and is fixedly connected to the arc-shaped wave plate (8049).

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