Waterproof template grabbing mechanical arm based on visual correction

Abstract

The invention discloses a waterproof formwork grabbing mechanical arm based on visual correction, and relates to the technical field of mechanical arm application, the waterproof formwork grabbing mechanical arm comprises two driving arms, a camera and a supporting arm, the supporting arm is connected with a seventh mounting frame, a transmission assembly is arranged in the seventh mounting frame, the transmission assembly drives two clamping frames, and the clamping frames are connected with the camera. The two clamping frames are internally provided with position adjusting assemblies, the position adjusting assemblies are connected with a second fixing frame, the second fixing frame is internally provided with a pneumatic cylinder, a third telescopic rod and two first telescopic pipes, and a hollow frame is fixedly connected between the pneumatic cylinder and the piston end of the third telescopic rod; the multiple sprayers spray water to wash most positions of the side, clamping the waterproof formwork, of the clamping frame, the maintenance work of the clamping frame is rapidly completed, the clamping piece has the functions of waterproof formwork clamping, bottom supporting, supporting position adjusting, self-cleaning and the like, and the economic benefits of application of the formwork grabbing mechanical arm are guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arm application, in particular to a waterproof formwork grabbing mechanical arm based on visual correction. BACKGROUND

[0002] The waterproof formwork refers to a formwork system that not only plays the role of a traditional formwork but also has active or passive waterproof function in the construction of a concrete structure, which is mainly made of processable materials such as high-strength steel plates, aluminum alloy plates, film-coated plywood, and wood-plastic formworks. During the production of the waterproof formwork, various processing procedures such as cutting, drilling, spraying, and edge sealing need to be experienced. In the processing of the waterproof formwork, carrying and conveying are essential auxiliary means. In order to improve the processing speed, various mechanical arms are used to grab and carry the waterproof formwork. For example, the utility model with the patent announcement number CN220218558U relates to a grabbing mechanical arm, which comprises a mechanical arm body, characterized in that: a clamping base is installed on the output end of the mechanical arm body, a clamping piece and a clamping driving assembly that drives the clamping piece to move are installed on the clamping base, at least two clamping pieces are provided, a clamping area is formed between the at least two clamping pieces, a pushing plate that pushes the material away from the clamping area and a feeding driving assembly that drives the pushing plate to move are also movably provided on the clamping base.

[0003] Taking the above mechanical arm as an example, during the grabbing of the waterproof formwork by the mechanical arm, the suspended time of the waterproof formwork is different according to different processing procedures, such as carrying and stacking. When the waterproof formwork is grabbed and moved for a short time, such as spraying, cutting, and drilling, the waterproof formwork needs to be suspended for a long time. With the increase of the application time of the mechanical arm, the impurities such as dust, chemicals, and liquid attached to the clamping part of the mechanical arm increase, which reduces the friction between the clamping part and the waterproof formwork. When the waterproof formwork is grabbed and carried by the mechanical arm, the longer the suspended time of the waterproof formwork, the higher the possibility of the waterproof formwork falling, and the higher the probability of accidents occurring, which is easy to cause economic losses. SUMMARY

[0004] The purpose of the present application is to provide a waterproof formwork grabbing mechanical arm based on visual correction to solve the problems in the prior art.

[0005] In order to achieve the above object, the application provides the following technical scheme: the waterproof formwork grabbing mechanical arm based on visual correction, comprising two driving arms, a camera and a supporting arm, the supporting arm is connected with a mounting frame seven, the mounting frame seven is internally provided with a transmission assembly, the transmission assembly is driven by two clamping frames, the position adjusting assembly is internally mounted in the two clamping frames, the position adjusting assembly is connected with a fixed frame two, the fixed frame two is internally provided with a pneumatic cylinder, a telescopic rod three and two telescopic pipes one, the hollow frame is fixedly connected between the pneumatic cylinder and the telescopic rod three piston end, the bottom end of the two telescopic pipes one is in communication with the inside of the hollow frame, the inside of the hollow frame is rotatably connected with a flow guide frame one, the outside of the flow guide frame one is fixedly connected with a flow guide frame two, the bottom end of the flow guide frame two is fixedly connected with a flow guide frame three, the inside of the flow guide frame three is fixedly connected with a plurality of nozzles, and the inside of the flow guide frame three is rotatably connected with a plurality of drag reduction frames two.

[0006] Preferably, the driving arm comprises a mounting frame one, the mounting frame one is internally fixedly provided with a hydraulic cylinder one and two telescopic rods one, and one of the mounting frame one bottom is fixedly connected with a camera.

[0007] Preferably, the supporting arm comprises a mounting frame two and a mounting frame three, the mounting frame two is fixedly provided with a hydraulic cylinder two, the hydraulic cylinder two piston end is fixedly connected with the mounting frame three, the mounting frame three top is fixedly connected with a plurality of telescopic rods two, the telescopic rod two piston end is fixedly connected with the mounting frame two, the mounting frame three bottom is rotatably connected with a rotating frame, and the rotating frame is fixedly connected with two mounting frames four between the mounting frame seven.

[0008] Preferably, the mounting frame three top is fixedly connected with a forward and reverse motor one and a speed changer one, the forward and reverse motor one output end is fixedly connected with the speed changer one input end, the speed changer one output end is fixedly connected with a transmission shaft one between the mounting frame seven, the transmission shaft one is rotatably provided in the mounting frame three, the transmission shaft one outside is sleeved with a brake three, and the brake three outer wall is fixedly connected with one of the mounting frames four.

[0009] Preferably, the transmission assembly comprises a speed changer two fixedly connected in the mounting frame seven, a transmission shaft two fixedly connected with the speed changer two output end, a gear fixedly sleeved on the transmission shaft two outside, and two racks meshed on the gear outside, one end of the two racks away from each other is fixedly connected with a fixed frame one, and the bottom end of the two fixed frames one is fixedly connected with the top of the two clamping frames respectively, the mounting frame seven is fixedly connected with a forward and reverse motor two, the forward and reverse motor two output end is fixedly connected with the speed changer two input end, and one end of the transmission shaft two is rotatably connected with the mounting frame seven.

[0010] Preferably, the transmission shaft is sleeved with a brake one on the outer side, the brake one is fixedly installed in the installation frame seven, two guide rods are fixedly connected inside the installation frame seven, both of the two guide rods penetrate through two fixed frames one, both of the two fixed frames one are fixedly connected with side plates, the installation frame five is fixedly connected to the bottom of one side of the installation frame seven, a plurality of drag reduction frames one are rotationally connected inside the installation frame five, and part of the drag reduction frames one are arranged at the bottom of the side plate.

[0011] Preferably, the position adjusting assembly comprises a variable speed gear three fixedly inserted on the side of the clamping frame away from the position adjusting assembly, a lead screw fixedly connected to the output end of the variable speed gear three, and a fixed frame two mounted through a nut pair on the outer side of the lead screw, the clamping frame is fixedly connected with a reversible motor three on the outer side, the output end of the reversible motor three is fixedly connected with the input end of the variable speed gear three, one end of the lead screw is rotationally connected inside the clamping frame, the fixed frame two is arranged inside the clamping frame and abuts against the inner wall of the clamping frame, and a plurality of side grooves are formed on the side of the clamping frame away from the position adjusting assembly.

[0012] Preferably, the air cylinder and the telescopic rod three are fixedly connected with the inner wall of the fixed frame two, both of the two telescopic pipes one are fixedly connected with telescopic pipes two between the fixed frame two, a connecting box is fixedly and communicatively connected between the two telescopic pipes two, an electromagnet is fixedly connected inside the connecting box, a square groove is formed on the end of the clamping frame away from the variable speed gear three, and a metal connecting pipe is arranged on one side of the square groove.

[0013] Preferably, the hollow frame is fixedly connected with a reversible motor four, the output end of the reversible motor four is fixedly connected with a flow guide frame one, the flow guide frame one is sleeved with a brake two, the brake two is fixedly installed in the hollow frame, an air pressure sensor is embedded in the flow guide frame three, the flow guide frame three is fixedly connected with a gas guide frame, the gas guide frame is fixedly and communicatively connected with a gas storage air bag on the outer side, and a sealing pipe is fixedly connected between the detection end of the air pressure sensor and the gas guide frame.

[0014] Preferably, the rotating frame is fixedly connected with two arc-shaped plates on the bottom, the two arc-shaped plates are arranged alternately with the two installation frames four, and the length of the arc-shaped plate is greater than the length of the installation frame four.

[0015] Compared with the prior art, the present application has the following advantages: 1、In use of the application, the four positive motor is controlled to work in positive direction, the guide frame three is moved to the side of the clamping waterproof formwork of the clamping frame, a 45° angle is formed between the bottom of the guide frame three and the bottom of the clamping waterproof formwork side, the position adjusting assembly is controlled to work to drive the left and right displacement of the guide frame three, the telescopic pipe two can be contracted to meet the displacement needs of the guide frame three and continuously supply water to the inside of the plurality of nozzles, the plurality of nozzles spray water to wash most positions of the clamping frame clamping waterproof formwork side, the maintenance work of the clamping frame is quickly completed, the clamping part has the functions of waterproof formwork clamping, bottom supporting, supporting position adjusting, self-cleaning and the like, and the economic benefits of the template grabbing mechanical arm application are ensured.

[0016] 2、In use of the application, the guide frame three can move without changing the relative position between the upper and lower directions of the waterproof formwork, the position of the guide frame three at the bottom of the waterproof formwork is controlled by the position adjusting assembly under the premise of ensuring the safety of the waterproof formwork movement, the processing of the waterproof formwork is avoided from being affected by the guide frame three, the structure design of the clamping part composed of two clamping frames, the fixed frame two, the position adjusting assembly, the guide frame two, the guide frame three and the plurality of drag reduction frames two ensures the flexibility of the template grabbing mechanical arm application composed of the multi-degree-of-freedom mechanical arm and the two clamping parts, and the processing cycle of the waterproof formwork is shortened. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a structural schematic view of the application; Figure 2 is a structural schematic view of the mounting frame seven of the application; Figure 3 is a partial structural schematic view of the transmission shaft one of the application; Figure 4 is a sectional view of the mounting frame seven of the application; Figure 5 is a partial sectional view of the mounting frame seven of the application; Figure 6 is a structural schematic view of the fixed frame one of the application; Figure 7 is a structural schematic view of the clamping frame of the application; Figure 8 is a sectional view of the clamping frame of the application; Figure 9 is a sectional view of the fixed frame two of the application; Figure 10 is a structural schematic view of the hollow frame of the application; Figure 11 is a structural schematic view of the connecting box of the application; Figure 12 is a sectional view of the hollow frame of the application; Figure 13 is a structural schematic view of the guide frame three of the application; Figure 14 This is a schematic diagram of the arc-shaped plate of the present invention.

[0018] Numbered in the diagram: 1. Drive arm; 101. Mounting bracket one; 102. Hydraulic cylinder one; 103. Telescopic rod one; 2. Camera; 3. Mounting bracket two; 4. Hydraulic cylinder two; 5. Telescopic rod two; 6. Mounting bracket three; 7. Forward and reverse motor one; 8. Gearbox one; 9. Drive shaft one; 10. Mounting bracket seven; 11. Rotating frame; 12. Mounting bracket four; 13. Forward and reverse motor two; 14. Gearbox two; 15. Drive shaft two; 16. Gear; 17. Brake one; 18. Rack; 19. Fixing bracket one; 20. Guide rod; 21. Side plate; 22. Mounting bracket five; 23. Drag reduction bracket one; 24. Clamping bracket 25. Side groove; 26. Square groove; 27. Three forward and reverse motors; 28. Three gearboxes; 29. ​​Lead screw; 30. Two fixing frames; 31. Pneumatic cylinder; 32. Three telescopic rods; 33. Hollow frame; 34. One telescopic tube; 35. Two telescopic tubes; 36. Connecting box; 37. Electromagnet; 38. Four forward and reverse motors; 39. One flow guide frame; 40. Two brakes; 41. Two flow guide frames; 42. Three flow guide frames; 43. Two drag reduction frames; 44. Nozzle; 45. Air guide frame; 46. Air storage bag; 47. Air pressure sensor; 48. Sealing tube; 49. Three brakes; 50. Arc plate; 51. Metal connecting pipe. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Example: Figures 1-14 As shown, the present invention provides a technical solution for a waterproof template grasping robotic arm based on visual correction, including two drive arms 1, a camera 2, and a support arm. The support arm is connected to a mounting frame 7 10. The mounting frame 7 10 is equipped with a transmission component, which drives two clamping frames 24. Each clamping frame 24 is equipped with a position adjustment component. The position adjustment component is connected to a fixed frame 2 30. The fixed frame 2 30 is equipped with a pneumatic cylinder 31, a telescopic rod 32, and two telescopic tubes 1 34. A hollow frame 33 is fixedly connected between the piston ends of the pneumatic cylinder 31 and the telescopic rod 32. The bottom ends of the two telescopic tubes 1 34 are connected to the interior of the hollow frame 33. A flow guide frame 1 39 is rotatably connected inside the hollow frame 33. A flow guide frame 2 41 is fixedly connected to the outside of the flow guide frame 1 39. A flow guide frame 3 42 is fixedly connected to the bottom end of the flow guide frame 2 41. Multiple nozzles 44 are fixedly connected inside the flow guide frame 3 42. Multiple drag reduction frames 2 43 are rotatably connected inside the flow guide frame 3 42.

[0021] Embodiment one, as shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 , the mounting frame one 101 in the drive arm 1 is used to fix and support other components, the mounting frame one 101 is internally fixed and penetrates the hydraulic cylinder one 102 and the two telescopic rods one 103, one of the mounting frame one 101 is fixedly connected with the camera 2 at the bottom, the mounting frame one 101 fixedly installed with the camera 2 at the bottom is fixedly connected with the building, support or equipment, the piston end of the hydraulic cylinder one 102 and the telescopic rod one 103 fixedly connected inside the slidingly installed mounting frame one 101 are fixedly connected with the mounting frame two 3 in the supporting arm, under the action of the two drive arms 1, the supporting arm can move forward and backward and left and right (in this application, the directions of up and down, forward and backward and left and right are described with Figure 1 as the reference).

[0022] The mounting frame two 3 in the supporting arm is fixedly penetrated by the hydraulic cylinder two 4, the piston end of the hydraulic cylinder two 4 is fixedly connected with the mounting frame three 6, the piston end of the plurality of telescopic rods two 5 fixedly connected at the top of the mounting frame three 6 is fixedly connected with the mounting frame two 3, under the action of the hydraulic cylinder two 4 and the plurality of telescopic rods two 5, the mounting frame three 6 and the mounting frame two 3 relatively displace in the up and down direction, the two mounting frames four 12 are fixedly connected between the rotating frame 11 rotatably connected at the bottom of the mounting frame three 6 and the mounting frame seven 10, so that the mounting frame seven 10 and the mounting frame two 3 synchronously move left and right and forward and backward, and the mounting frame seven 10 moves up and down by controlling the hydraulic cylinder two 4 to work.

[0023] The positive and negative motor one 7 and the speed changer one 8 are fixedly connected at the top of the mounting frame three 6, the output end of the positive and negative motor one 7 is fixedly connected with the input end of the speed changer one 8, the transmission shaft one 9 is fixedly connected between the output end of the speed changer one 8 and the mounting frame seven 10, and the transmission shaft one 9 is rotatably penetrated in the mounting frame three 6 and can rotate by itself, the rotating frame 11 connected with the mounting frame seven 10 is concentric with the mounting frame three 6 and the transmission shaft one 9, the mounting frame seven 10 rotates with the transmission shaft one 9, the outer wall of the brake three 49 sleeved outside the transmission shaft one 9 is fixedly connected with one of the mounting frames four 12, after the positive and negative motor one 7 works, the brake three 49 is controlled to work to brake the transmission shaft one 9, the transmission shaft one 9 and the mounting frame seven 10 are limited, and the mounting frame seven 10 cannot rotate.

[0024] Two transmission assemblies are arranged in the mounting frame seven 10, and each transmission assembly is composed of a transmission two 14 fixedly connected to the inside of the mounting frame seven 10, a transmission shaft two 15 fixedly connected to the output end of the transmission two 14, a gear 16 fixedly sleeved to the outside of the transmission shaft two 15, and two racks 18 engaged with the outside of the gear 16. The two racks 18 are both fixedly connected with a fixed frame one 19 at the end away from each other. The bottom ends of the two fixed frame one 19 are both fixed to the top of the two clamping frames 24. The clamping frame 24 moves synchronously with the fixed frame one 19. The output end of the forward and reverse motor two 13 fixedly connected to the inside of the mounting frame seven 10 is fixedly connected with the input end of the transmission two 14. One end of the transmission shaft two 15 is rotatably connected to the mounting frame seven 10. Under the action of the forward and reverse motor two 13 and the transmission two 14, the transmission shaft two 15 and the gear 16 can rotate. The gear 16 drives the engaged rack 18 to move. When the forward and reverse motor two 13 is controlled to work in the forward direction, the gear 16 rotates counterclockwise to drive the two racks 18 to move, so that the two fixed frame one 19 move close to each other, and the two clamping frames 24 move close to each other. When the forward and reverse motor two 13 is controlled to work in the reverse direction, the two clamping frames 24 move away from each other.

[0025] The brake one 17 fixedly sleeved to the outside of the transmission shaft two 15 is fixedly installed in the inside of the mounting frame seven 10. After the forward and reverse motor two 13 works, the brake one 17 is controlled to work to limit the transmission shaft two 15, so that the gear 16 is limited and the clamping frame 24 is limited. Two guide rods 20 are fixedly connected in the inside of the mounting frame seven 10. Both of the two guide rods 20 penetrate through the two fixed frame one 19. The guide rod 20 supports the fixed frame one 19. The clamping frame 24 stably moves left and right under the limitation of the structure such as the mounting frame seven 10 and the guide rod 20. One side of each of the two fixed frame one 19 is fixedly connected with a side plate 21. One side of the bottom of the inner cavity of the mounting frame seven 10 is fixedly connected with a mounting frame five 22. A plurality of resistance reduction frames one 23 are rotatably connected in the inside of the mounting frame five 22. Part of the resistance reduction frames one 23 are arranged at the bottom of the side plate 21. The rotating plurality of resistance reduction frames one 23 support the side plate 21 and the fixed frame one 19 to reduce the stress received by the rack 18.

[0026] In conclusion, the multi-degree-of-freedom mechanical arm is composed of two driving arms 1, one camera 2, one supporting arm, the mounting frame seven 10, the transmission assembly and the like. After the camera 2 shoots the image of the waterproof template at the top of the material pile and feeds back to the human-computer interaction device, the human-computer interaction device controls the multi-degree-of-freedom mechanical arm to work to control the up-down position, the front-back position, the left-right position and the horizontal orientation of the mounting frame seven 10 according to the position data of the waterproof template in the three-dimensional space, so that the two clamping frames 24 move to the sides of the waterproof template and are parallel to the side walls of the waterproof template. The relative position between the clamping frame 24 and the waterproof template can be automatically positioned, the waterproof template can be clamped and conveyed quickly, and the worker does not need to accurately control the initial state of the waterproof template, so as to reduce the difficulty of the worker to stack the waterproof template and improve the processing speed of the waterproof template.

[0027] In the embodiment two, as shown in Figure 2 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 12 and Figure 13 As shown: the position adjusting assembly is installed on both clamping frames 24, which is composed of a speed changer three 28 fixedly inserted from the side of the clamping frame 24 away from the position adjusting assembly, a lead screw 29 fixedly connected at the output end of the speed changer three 28, a fixed frame two 30 installed through a nut pair outside the lead screw 29, a forward-reverse motor three 27 fixedly connected to the outer side of the clamping frame 24, etc., wherein the output end of the forward-reverse motor three 27 is fixedly connected to the input end of the speed changer three 28, one end of the lead screw 29 is rotatably connected inside the clamping frame 24, the lead screw 29 can be driven to rotate inside the clamping frame 24 by the forward-reverse motor three 27 and the speed changer three 28, the fixed frame two 30 is arranged inside the clamping frame 24 and adheres to the inner wall of the clamping frame 24, the movement direction of the fixed frame two 30 is limited, so the rotating lead screw 29 drives the fixed frame two 30 to horizontally displace inside the clamping frame 24, the forward-reverse motor three 27 is controlled to work in forward rotation, the lead screw 29 rotates clockwise, and the fixed frame two 30 moves right inside the clamping frame 24; the electromagnet 37 is controlled to work in reverse rotation, and the fixed frame two 30 moves left inside the clamping frame 24.

[0028] The air cylinder 31 and the telescopic rod three 32 are fixedly connected with the inner wall of the fixing frame two 30, the air cylinder 31 and the telescopic rod three 32 move synchronously with the fixing frame two 30, the hollow frame 33 fixedly connected between the piston end of the air cylinder 31 and the telescopic rod three 32 moves synchronously, one side of the inside of the hollow frame 33 is rotatably connected with the flow guide frame one 39, the output end of the reversible motor four 38 fixedly connected with the other side of the inside of the hollow frame 33 is fixedly connected with the flow guide frame one 39, the reversible motor four 38 is controlled to work, so that the flow guide frame one 39, the flow guide frame two 41 fixedly connected with the outside of the flow guide frame one 39 and the flow guide frame three 42 fixedly connected with the flow guide frame two 41 are driven to rotate; the reversible motor four 38 is controlled to work in the forward direction, the flow guide frame three 42 moves towards the direction between the two clamping frames 24, the reversible motor four 38 is controlled to work in the reverse direction, the flow guide frame three 42 moves away from the side where the two clamping frames 24 are close to each other, a plurality of side grooves 25 are arranged on the side of the position adjustment assembly away from the clamping frame 24, after the flow guide frame two 41 is aligned with one of the side grooves 25 by controlling the position adjustment assembly to work, the reversible motor four 38 is controlled to work in the reverse direction, so that the flow guide frame two 41 rotates, the flow guide frame two 41 rotates through the side groove 25, so that the flow guide frame three 42 is folded on the side where the two clamping frames 24 are away from each other, while reducing the space occupied by the flow guide frame three 42, the flow guide frame three 42 will not affect the clamping of the special waterproof formwork with the upper small and the lower large by the clamping frame 24, the application flexibility of the flow guide frame three 42 is ensured, the brake two 40 fixedly installed on the outside of the flow guide frame one 39 in the inside of the hollow frame 33 is controlled to work to limit and brake the flow guide frame one 39 after the reversible motor four 38 works, the flow guide frame two 41 and the flow guide frame three 42 are limited and braked, so that the flow guide frame three 42 stably maintains the adjusted state.

[0029] When two clamping frames 24 clamp the plate-shaped conventional waterproof formwork with the same upper and lower outer diameter, after the waterproof formwork is lifted by the multi-DOF robot arm and the two clamping frames 24, the hollow frame 33, the flow guide frame two 41 and the flow guide frame three 42 are driven to move downward by controlling the pneumatic cylinder 31 to work, the flow guide frame three 42 is rotated to be parallel to the bottom of the waterproof formwork by controlling the positive and negative motor four 38 to work for a period of time, and then the flow guide frame three 42 is driven to move upward to the bottom of the waterproof formwork by controlling the pneumatic cylinder 31 to work. Since the flow guide frame three 42 is rotatably connected with the air guide frame 45 and the plurality of drag reduction frames two 43 inside, the outer diameter of the air storage air bag 46 fixedly connected outside the air guide frame 45 is greater than the maximum outer diameter of the drag reduction frames two 43. The air storage air bag 46 moves upward first contacts the bottom of the waterproof formwork. With the working of the pneumatic cylinder 31, the air storage air bag 46 deforms and the internal pressure increases. After the outer side of the drag reduction frames two 43 contacts the bottom of the waterproof formwork, the internal pressure of the air storage air bag 46 stops increasing. The sealing tube 48 fixedly connected between the detection end of the air pressure sensor 47 embedded in the flow guide frame three 42 and the air guide frame 45 is connected with the inside of the air guide frame 45. The air pressure sensor 47 detects the air pressure in the air storage air bag 46. The detection result of the air pressure sensor 47 is fed back to the human-computer interaction device. When the air pressure in the air storage air bag 46 stops increasing, the human-computer interaction device controls the pneumatic cylinder 31 to stop working. At this time, the plurality of drag reduction frames two 43 rotatably connected inside the two flow guide frames three 42 support the two sides of the bottom of the waterproof formwork, avoiding the waterproof formwork from falling when moving at a high place due to wear and tear, pollution, etc. on the clamping side of the two clamping frames 24, ensuring the stability and safety of the waterproof formwork during the grabbing and conveying process of the waterproof formwork by the multi-DOF robot arm driving the two clamping frames 24, and reducing economic losses and safety accidents caused by accidental falling of the waterproof formwork.

[0030] When the waterproof formwork is processed by laser cutting, paint spraying and other processes with small stress in a suspended state, since the plurality of drag reduction frames two 43 can rotate and the flow guide frame three 42 can move without changing the relative position in the up-down direction between the flow guide frame three 42 and the waterproof formwork, the position of the flow guide frame three 42 on the bottom of the waterproof formwork is adjusted by the position adjustment assembly to avoid the flow guide frame three 42 affecting the processing of the waterproof formwork. The structural design of the clamping part composed of the two clamping frames 24, the fixed frame two 30, the position adjustment assembly, the flow guide frame two 41, the flow guide frame three 42 and the plurality of drag reduction frames two 43 ensures the flexibility of the template grabbing robot arm composed of the multi-DOF robot arm and the two clamping parts, and shortens the processing cycle of the waterproof formwork.

[0031] In the embodiment three, Figure 2 , Figure 7 , Figure 9 , Figure 10 , Figure 11 and Figure 12As shown, the hollow frame 33 fixed communication telescopic tube one 34 can be telescopic, so the hollow frame 33 is controlled by the pneumatic cylinder 31 up and down position is not affected by telescopic tube one 34, both telescopic tube one 34 one end is fixedly connected with the fixed frame two 30 between the telescopic tube two 35, two telescopic tube two 35 between fixed communication connecting box 36 inside fixedly connected with the electromagnet 37; Because the clamping frame 24 away from the transmission three 28 one end of the square slot 26 is set, the square slot 26 side of the metal pipe 51 is set with the building, equipment or support fixed and communicated with the water supply system, the control template grabbing mechanical arm work, make the square slot 26 aligns the metal pipe 51, control position adjustment assembly work, make the connecting box 36 movement set to the outside of the metal pipe 51, control electromagnet 37 work adsorption fixed iron metal pipe 51, then control water supply system work through the metal pipe 51 to the inside of the connecting box 36, water through telescopic tube two 35, telescopic tube one 34, hollow frame 33 into the guide frame one 39 inside, guide frame one 39 and guide frame two 41 fixed communication, guide frame two 41 and guide frame three 42 fixed communication, guide frame three 42 inside fixed communication has a plurality of nozzles 44, finally water is pressurized by a plurality of nozzles 44 and sprayed out; The pneumatic cylinder 31 work push hollow frame 33 down, control the positive and negative motor four 38 positive rotation work, make the guide frame three 42 move to the clamping frame 24 clamping waterproof template side, make the guide frame three 42 bottom and clamping waterproof template side bottom between 45 DEG angle, control position adjustment assembly work drive guide frame three 42 left and right displacement, telescopic tube two 35 can be contracted to meet the displacement needs of guide frame three 42 and continuously supply water to the inside of a plurality of nozzles 44, a plurality of nozzles 44 spray water to the clamping frame 24 clamping waterproof template side most position is washed, the maintenance work of clamping frame 24 is completed quickly, so that the clamping piece has waterproof template clamping, bottom support, support position adjustment, self cleaning and other functions, ensure the economic benefit of template grabbing mechanical arm application.

[0032] As shown in Figure 1 and Figure 14 As shown, two arc-shaped plates 50 can be fixedly connected at the bottom of the rotating frame 11, the two arc-shaped plates 50 are staggered with the two mounting frames four 12, the length of the arc-shaped plate 50 is greater than the length of the mounting frame four 12, two mutually perpendicular mounting frames seven 10 can be installed at the bottom of the support arm, so that the multi-degree-of-freedom mechanical arm drives four clamping pieces, and the weight range of the waterproof template that can be clamped is widened.

[0033] It will be apparent to those skilled in the art that the application is not limited to the details of the above-exemplified embodiments and that the present application can be implemented in other particular forms without departing from the spirit or essential characteristics of the present application. The embodiments should therefore be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the above description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. No reference signs in the claims should be considered as limiting the scope of the claims with respect to the figures of the patent document.

Claims

1. A waterproof template grasping robotic arm based on visual correction, comprising two drive arms (1), a camera (2), and a support arm, characterized in that: The support arm is connected to a mounting bracket seven (10). The mounting bracket seven (10) is equipped with a transmission assembly. The transmission assembly drives two clamping brackets (24). Each of the two clamping brackets (24) is equipped with a position adjustment assembly. The position adjustment assembly is connected to a fixing bracket two (30). The fixing bracket two (30) is equipped with a pneumatic cylinder (31), a telescopic rod three (32), and two telescopic tubes one (34). The piston ends of the pneumatic cylinder (31) and the telescopic rod three (32) are fixedly connected. A hollow frame (33) is connected to the hollow frame (33). The bottom ends of the two telescopic tubes (34) are connected to the interior of the hollow frame (33). A flow guide frame (39) is rotatably connected inside the hollow frame (33). A flow guide frame (41) is fixedly connected to the outside of the flow guide frame (39). A flow guide frame (42) is fixedly connected to the bottom of the flow guide frame (41). Multiple nozzles (44) are fixedly connected inside the flow guide frame (42). Multiple drag-reducing frames (43) are rotatably connected inside the flow guide frame (42).

2. The waterproof template grasping robotic arm based on visual correction according to claim 1, characterized in that: The drive arm (1) includes a mounting frame (101), in which a hydraulic cylinder (102) and two telescopic rods (103) are fixedly installed, and a camera (2) is fixedly connected to the bottom of one of the mounting frames (101).

3. The waterproof template grasping robotic arm based on visual correction according to claim 1, characterized in that: The support arm includes mounting frame two (3) and mounting frame three (6). A hydraulic cylinder two (4) is fixedly mounted on the mounting frame two (3). The piston end of the hydraulic cylinder two (4) is fixedly connected to the mounting frame three (6). Multiple telescopic rods two (5) are fixedly connected to the top of the mounting frame three (6). The piston end of the telescopic rods two (5) is fixedly connected to the mounting frame two (3). A rotating frame (11) is rotatably connected to the bottom of the mounting frame three (6). Two mounting frames four (12) are fixedly connected between the rotating frame (11) and the mounting frame seven (10).

4. The waterproof template grasping robotic arm based on visual correction according to claim 3, characterized in that: The top of the mounting bracket three (6) is fixedly connected to a forward and reverse motor one (7) and a gearbox one (8). The output end of the forward and reverse motor one (7) is fixedly connected to the input end of the gearbox one (8). The output end of the gearbox one (8) is fixedly connected to the mounting bracket seven (10) with a drive shaft one (9). The drive shaft one (9) is rotatably mounted on the mounting bracket three (6). A brake three (49) is sleeved on the outside of the drive shaft one (9). The outer wall of the brake three (49) is fixedly connected to one of the mounting brackets four (12).

5. The waterproof template grasping robotic arm based on visual correction according to claim 1, characterized in that: The transmission assembly includes a gearbox 2 (14) fixedly connected inside the mounting frame 7 (10), a transmission shaft 2 (15) fixedly connected to the output end of the gearbox 2 (14), a gear (16) fixedly sleeved on the outside of the transmission shaft 2 (15), and two racks (18) meshing on the outside of the gear (16). The ends of the two racks (18) that are far apart from each other are fixedly connected to a fixing frame 1 (19). The bottom ends of the two fixing frames 1 (19) are respectively fixed to the top of two clamping frames (24). A forward and reverse motor 2 (13) is fixedly connected inside the mounting frame 7 (10). The output end of the forward and reverse motor 2 (13) is fixedly connected to the input end of the gearbox 2 (14). One end of the transmission shaft 2 (15) is rotatably connected to the mounting frame 7 (10).

6. The waterproof template grasping robotic arm based on visual correction according to claim 5, characterized in that: A brake (17) is sleeved on the outside of the second transmission shaft (15). The brake (17) is fixedly installed inside the mounting frame (10). Two guide rods (20) are fixedly connected inside the mounting frame (10). Both guide rods (20) pass through two fixed frames (19). A side plate (21) is fixedly connected to one side of each of the two fixed frames (19). A mounting frame (22) is fixedly connected to the bottom of one side of the inner cavity of the mounting frame (10). Multiple drag-reducing frames (23) are rotatably connected inside the mounting frame (22). Some of the drag-reducing frames (23) are located at the bottom of the side plate (21).

7. The waterproof template grasping robotic arm based on visual correction according to claim 1, characterized in that: The position adjustment assembly includes a gearbox three (28) fixedly inserted on the side of the clamping frame (24) away from the position adjustment assembly, a lead screw (29) fixedly connected to the output end of the gearbox three (28), and a fixing bracket two (30) installed on the outside of the lead screw (29) through a nut pair. A forward and reverse motor three (27) is fixedly connected to the outside of the clamping frame (24). The output end of the forward and reverse motor three (27) is fixedly connected to the input end of the gearbox three (28). One end of the lead screw (29) is rotatably connected to the inside of the clamping frame (24). The fixing bracket two (30) is set inside the clamping frame (24) and fits against the inner wall of the clamping frame (24). Multiple side slots (25) are opened on the side of the clamping frame (24) away from the position adjustment assembly.

8. The waterproof template grasping robotic arm based on visual correction according to claim 7, characterized in that: The pneumatic cylinder (31) and the telescopic rod three (32) are both fixedly connected to the inner wall of the fixed frame two (30). One end of each of the two telescopic tubes one (34) is fixedly connected to the fixed frame two (30) via a telescopic tube two (35). A connecting box (36) is fixedly connected between the two telescopic tubes two (35). An electromagnet (37) is fixedly connected inside the connecting box (36). A square groove (26) is provided at the end of the clamping frame (24) away from the gearbox three (28). A metal connecting pipe (51) is provided on one side of the square groove (26).

9. The waterproof template grasping robotic arm based on visual correction according to claim 1, characterized in that: The hollow frame (33) is fixedly connected to a four-way motor (38). The output end of the four-way motor (38) is fixedly connected to a first guide frame (39). A second brake (40) is sleeved on the outside of the first guide frame (39). The second brake (40) is fixedly installed inside the hollow frame (33). A pressure sensor (47) is embedded inside the third guide frame (42). An air guide frame (45) is fixedly connected inside the third guide frame (42). An air storage bag (46) is fixedly connected to the outside of the air guide frame (45). A sealing tube (48) is fixedly connected between the detection end of the pressure sensor (47) and the air guide frame (45).

10. The waterproof template grasping robotic arm based on visual correction according to claim 3, characterized in that: The bottom of the rotating frame (11) is fixedly connected to two arc-shaped plates (50). The two arc-shaped plates (50) are staggered with the two mounting frames (12). The length of the arc-shaped plates (50) is greater than the length of the mounting frames (12).

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