Waterproof formwork grabbing mechanical arm based on visual correction

Abstract

The application discloses a waterproof formwork grabbing mechanical arm based on visual deviation 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 mounting frame seven, the mounting frame seven is internally provided with a transmission assembly, the transmission assembly is driven by two clamping frames, the two clamping frames are internally provided with position adjusting assemblies, the position adjusting assemblies are connected with fixed frames two, the fixed frames two are internally provided with air cylinders, telescopic rods three and two telescopic pipes one, the air cylinders and the telescopic rods three are fixedly connected with a hollow frame between the piston ends, multiple nozzles spray water to flush most positions of the clamping frame clamping the waterproof formwork, so that 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 and self-cleaning, and the economic benefits of the application of the formwork grabbing mechanical arm are ensured.

Description

Technical Field

[0001] This invention relates to the field of robotic arm application technology, specifically a waterproof template grasping robotic arm based on visual correction. Background Technology

[0002] Waterproof formwork refers to a formwork system used in concrete structure construction that not only functions as a traditional formwork but also provides active or passive waterproofing. It is mainly made of processable materials such as high-strength steel plates, aluminum alloy plates, film-coated plywood, and wood-plastic composite formwork. The production process of waterproof formwork involves various processing steps, such as cutting, drilling, spraying, and edge sealing. During the processing of waterproof formwork, handling and conveying are essential auxiliary means. In order to improve the processing speed, various robotic arms are used to grab and move the waterproof formwork.

[0003] For example, the utility model patent publication number CN220218558U relates to a gripping robotic arm, including a robotic arm body, characterized in that: a clamping base is installed on the output end of the robotic arm body, a clamping member and a clamping drive assembly for driving the clamping member to move are installed on the clamping base, at least two clamping members are provided, and a clamping area is formed between at least two clamping members, and a push plate for pushing materials out of the clamping area and a feed drive assembly for driving the push plate to move are also movably provided on the clamping base.

[0004] Taking the aforementioned robotic arm as an example, during the process of the robotic arm grasping the waterproof template, the suspension time of the waterproof template varies depending on the processing steps. For example, during handling and stacking, the waterproof template is grasped for a shorter time. However, during more complex processes such as spraying, cutting, and drilling, the waterproof template needs to be suspended for a longer time. As the robotic arm is used for a longer period of time, the amount of dust, chemicals, liquids, and other impurities adhering to the gripping part of the robotic arm increases, which reduces the friction between the gripping part and the waterproof template. When the robotic arm grasps and transports the waterproof template, the longer the waterproof template is suspended, the higher the probability of the waterproof template falling, the higher the probability of accidents, and the more likely it is to cause economic losses. Summary of the Invention

[0005] The purpose of this invention is to provide a vision-corrected waterproof template grasping robotic arm to solve the problems raised in the prior art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a waterproof template grasping robotic arm based on visual correction, comprising two drive arms, a camera, and a support arm. The support arm is connected to a mounting frame seven, and a transmission component is installed inside the mounting frame seven. The transmission component drives two clamping frames, and a position adjustment component is installed inside each of the two clamping frames. The position adjustment component is connected to a fixed frame two, and a pneumatic cylinder, a telescopic rod three, and two telescopic tubes one are installed inside the fixed frame two. A hollow frame is fixedly connected between the piston ends of the pneumatic cylinder and the telescopic rod three. The bottom ends of the two telescopic tubes one are connected to the interior of the hollow frame. A flow guide frame one is rotatably connected inside the hollow frame. A flow guide frame two is fixedly connected to the outside of the flow guide frame one. A flow guide frame three is fixedly connected to the bottom end of the flow guide frame two. Multiple nozzles are fixedly connected inside the flow guide frame three. Multiple drag-reducing frames two are rotatably connected inside the flow guide frame three. A gearbox three is fixedly inserted on the side of the clamping frame away from the position adjustment component.

[0007] Preferably, the drive arm includes a mounting frame, and a hydraulic cylinder and two telescopic rods are fixedly installed inside the mounting frame. A camera is fixedly connected to the bottom of one of the mounting frames.

[0008] Preferably, the support arm includes a second mounting frame and a third mounting frame. A second hydraulic cylinder is fixedly mounted on the second mounting frame. The piston end of the second hydraulic cylinder is fixedly connected to the third mounting frame. A plurality of telescopic rods are fixedly connected to the top of the third mounting frame. The piston ends of the telescopic rods are fixedly connected to the second mounting frame. A rotating frame is rotatably connected to the bottom of the third mounting frame. Two fourth mounting frames are fixedly connected between the rotating frame and the seventh mounting frame.

[0009] Preferably, a forward and reverse motor and a gearbox are fixedly connected to the top of the mounting bracket three. The output end of the forward and reverse motor is fixedly connected to the input end of the gearbox. A drive shaft is fixedly connected between the output end of the gearbox and the mounting bracket seven. The drive shaft rotates through the mounting bracket three. A brake three is sleeved on the outside of the drive shaft three. The outer wall of the brake three is fixedly connected to one of the mounting brackets four.

[0010] Preferably, the transmission assembly includes a gearbox II fixedly connected inside the mounting frame 7, a transmission shaft II fixedly connected to the output end of the gearbox II, a gear fixedly sleeved on the outside of the transmission shaft II, and two racks meshing on the outside of the gear. Each of the two racks is fixedly connected to a fixing frame I at one end that is far apart from each other. The bottom ends of the two fixing frames I are respectively fixed to the tops of two clamping frames. A forward and reverse motor II is fixedly connected inside the mounting frame 7. The output end of the forward and reverse motor II is fixedly connected to the input end of the gearbox II. One end of the transmission shaft II is rotatably connected to the mounting frame 7.

[0011] Preferably, a brake is sleeved on the outer side of the transmission shaft 2. The brake is fixedly installed inside the mounting bracket 7. Two guide rods are fixedly connected inside the mounting bracket 7. Both guide rods pass through the two fixed brackets 1. A side plate is fixedly connected to one side of each of the two fixed brackets 1. A mounting bracket 5 is fixedly connected to the bottom of one side of the inner cavity of the mounting bracket 7. Multiple drag-reducing brackets 1 are rotatably connected inside the mounting bracket 5. Some of the drag-reducing brackets 1 are located at the bottom of the side plate.

[0012] Preferably, the position adjustment assembly includes a lead screw fixedly connected to the output end of the gearbox and a second fixing bracket mounted on the outside of the lead screw via a nut pair. A third forward and reverse motor is fixedly connected to the outside of the clamping bracket. The output end of the third forward and reverse motor is fixedly connected to the input end of the gearbox. One end of the lead screw is rotatably connected to the inside of the clamping bracket. The second fixing bracket is disposed inside the clamping bracket and fits against the inner wall of the clamping bracket. Multiple side slots are provided on the side of the clamping bracket away from the position adjustment assembly.

[0013] Preferably, the pneumatic cylinder and the telescopic rod three are both fixedly connected to the inner wall of the fixed frame two, one end of each of the two telescopic tubes one is fixedly connected to the fixed frame two, a connecting box is fixedly connected between the two telescopic tubes two, an electromagnet is fixedly connected inside the connecting box, a square groove is opened at the end of the clamping frame away from the gearbox three, and a metal connecting pipe is provided on one side of the square groove.

[0014] Preferably, a forward and reverse motor four is fixedly connected inside the hollow frame, the output end of the forward and reverse motor four is fixedly connected to a flow guide frame one, a brake two is sleeved on the outside of the flow guide frame one, the brake two is fixedly installed inside the hollow frame, a pressure sensor is embedded inside the flow guide frame three, an air guide frame is fixedly connected inside the flow guide frame three, an air storage bag is fixedly connected to the outside of the air guide frame, and a sealing tube is fixedly connected between the detection end of the pressure sensor and the air guide frame.

[0015] Preferably, the bottom of the rotating frame is fixedly connected to two arc-shaped plates, which are staggered with the two mounting frames. The length of the arc-shaped plates is greater than the length of the mounting frames.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. When this application is used, the four forward and reverse motors are controlled to rotate in the forward direction, causing the flow guide frame three to move to the side of the clamping frame that holds the waterproof template. This creates a 45° angle between the bottom of the flow guide frame three and the bottom of the side holding the waterproof template. The position adjustment component is controlled to drive the flow guide frame three to move left and right. The telescopic tube two can retract to meet the displacement needs of the flow guide frame three and continuously supply water to the inside of multiple nozzles. The multiple nozzles spray water to rinse most of the side of the clamping frame that holds the waterproof template, quickly completing the maintenance work of the clamping frame. This gives the clamping component functions such as waterproof template clamping, bottom support, support position adjustment, and self-cleaning, ensuring the economic benefits of the template gripping robotic arm application.

[0018] 2. When using this application, the flow guide frame three can move without changing its relative position to the waterproof template in the vertical direction. Under the premise of ensuring the safety of the waterproof template movement, the position of the flow guide frame three at the bottom of the waterproof template is controlled by the position adjustment component to avoid the flow guide frame three affecting the processing of the waterproof template. The structural design of the clamping components, which consists of two clamping frames, a second fixing frame, a position adjustment component, a second flow guide frame, a third flow guide frame, and multiple drag reduction frames, ensures the flexibility of the application of the multi-degree-of-freedom robotic arm and the template grasping robotic arm composed of two clamping components, and shortens the processing cycle of the waterproof template. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of the mounting bracket 7 of the present invention;

[0021] Figure 3 This is a partial structural schematic diagram of the transmission shaft of the present invention;

[0022] Figure 4 This is a cross-sectional view of the mounting bracket 7 of the present invention;

[0023] Figure 5 This is a partial sectional view of the mounting bracket 7 of the present invention;

[0024] Figure 6 This is a schematic diagram of the structure of the fixing frame of the present invention;

[0025] Figure 7 This is a schematic diagram of the structure of the clamping frame of the present invention;

[0026] Figure 8 This is a cross-sectional view of the clamping frame of the present invention;

[0027] Figure 9 This is a cross-sectional view of the second fixing frame of the present invention;

[0028] Figure 10 This is a schematic diagram of the hollow frame structure in this invention;

[0029] Figure 11 This is a schematic diagram of the connecting box of the present invention;

[0030] Figure 12 This is a cross-sectional view of the hollow frame in this invention;

[0031] Figure 13 This is a schematic diagram of the structure of the flow guide frame three of the present invention;

[0032] Figure 14 This is a schematic diagram of the arc-shaped plate of the present invention.

[0033] 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

[0034] 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.

[0035] Example: Figures 1-14As 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.

[0036] Example 1, as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the mounting bracket 101 in the drive arm 1 is used to fix and support other components. A hydraulic cylinder 102 and two telescopic rods 103 are fixedly installed inside the mounting bracket 101. A camera 2 is fixedly connected to the bottom of one of the mounting brackets 101. The mounting bracket 101 with the camera 2 fixedly installed at the bottom is fixedly connected to a building, support, or equipment. The piston ends of the hydraulic cylinder 102 and the telescopic rods 103 in this drive arm 1 are both fixedly connected to the mounting bracket 101 in the other drive arm 1, which is slidably connected to the building, support, or equipment. The piston ends of the hydraulic cylinder 102 and the telescopic rods 103 fixedly connected inside the slidably installed mounting bracket 101 are both fixedly connected to the mounting bracket 3 in the support arm. Under the action of the two drive arms 1, the support arm can move forward and backward and left and right (the directions of up and down, forward and backward, and left and right are described in this application as follows). Figure 1 (As shown in the reference).

[0037] A hydraulic cylinder 24 is fixedly mounted on the mounting bracket 23 in the support arm. The piston end of the hydraulic cylinder 24 is fixedly connected to the mounting bracket 36. The piston ends of multiple telescopic rods 25 fixedly connected to the top of the mounting bracket 36 are also fixedly connected to the mounting bracket 23. Under the action of the hydraulic cylinder 24 and the multiple telescopic rods 25, the mounting bracket 36 and the mounting bracket 23 move relative to each other in the vertical direction. The rotating bracket 11 rotatably connected to the bottom of the mounting bracket 36 is fixedly connected to two mounting brackets 42. Therefore, the mounting bracket 710 moves synchronously with the mounting bracket 23 in the left and right and forward and backward directions. The hydraulic cylinder 24 is controlled to control the mounting bracket 710 to move up and down.

[0038] A forward / reverse motor 7 and a gearbox 8 are fixedly connected to the top of the mounting bracket 36. The output end of the forward / reverse motor 7 is fixedly connected to the input end of the gearbox 8. A drive shaft 9 is fixedly connected between the output end of the gearbox 8 and the mounting bracket 710. The drive shaft 9 is rotatably mounted on the mounting bracket 36 and can rotate on its own. The rotating bracket 11 connected to the mounting bracket 710 has a concentric circular structure with the mounting bracket 36 and the drive shaft 9. The rotation of the drive shaft 9 causes the mounting bracket 710 to rotate. The outer wall of the brake 349 sleeved on the outside of the drive shaft 9 is fixedly connected to one of the mounting brackets 412. After the forward / reverse motor 7 finishes working, the brake 349 is controlled to work to brake the drive shaft 9. The drive shaft 9 and the mounting bracket 710 are limited, and the mounting bracket 710 cannot rotate.

[0039] Two transmission assemblies are installed inside the mounting bracket 7 10. Each transmission assembly consists of a gearbox 2 14 fixedly connected inside the mounting bracket 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. A fixing bracket 19 is fixedly connected to the ends of the two racks 18 that are far apart from each other. The bottom ends of the two fixing brackets 19 are respectively fixed to the tops of two clamping brackets 24. The clamping brackets 24 and the fixing brackets 19 move synchronously. The positive... The output end of the reverse motor 13 is fixedly connected to the input end of the gearbox 14. One end of the drive shaft 15 is rotatably connected to the mounting bracket 10. Under the action of the forward and reverse motors 13 and the gearbox 14, the drive shaft 15 and the gear 16 can rotate. The rotation of the gear 16 drives the meshing rack 18 to move. When the forward and reverse motors 13 are controlled to rotate forward, the gear 16 rotates counterclockwise to drive the two racks 18 to move, causing the two fixed brackets 19 to move closer to each other and the two clamping brackets 24 to move closer to each other. When the forward and reverse motors 13 are controlled to rotate in reverse, the two clamping brackets 24 move away from each other.

[0040] A brake 17, fitted on the outside of the drive shaft 2 15, is fixedly installed inside the mounting bracket 7 10. After the forward and reverse motor 2 13 finishes working, the brake 17 controls the drive shaft 2 15 to be limited, the gear 16 is limited, and the clamping frame 24 is limited. Two guide rods 20 are fixedly connected inside the mounting bracket 7 10. Both guide rods 20 pass through the two fixed brackets 1 19 and support the fixed brackets 1 19. The clamping frame 24 moves left and right stably under the limitation of the mounting bracket 7 10, guide rods 20, and other structures. Side plates 21 are fixedly connected to one side of each of the two fixed brackets 1 19. Mounting bracket 5 22 is fixedly connected to the bottom of one side of the inner cavity of mounting bracket 7 10. Multiple drag-reducing brackets 23 are rotatably connected inside mounting bracket 5 22. Some of the drag-reducing brackets 23 are set at the bottom of the side plate 21. The multiple rotating drag-reducing brackets 23 support the side plate 21 and the fixed brackets 1 19, reducing the stress on the rack 18.

[0041] In summary, the multi-degree-of-freedom robotic arm consists of two drive arms 1, one camera 2, one support arm, mounting frame 7 10, and transmission components. The camera 2 captures an image of the waterproof template at the top of the material pile and feeds it back to the human-machine interface device. The human-machine interface device controls the multi-degree-of-freedom robotic arm's drive mechanism based on the waterproof template's position data within three-dimensional space, controlling the mounting frame 7 10's vertical, forward, backward, left, and right positions and horizontal orientation. This causes the two clamping frames 24 to move to both sides of the waterproof template and parallel to its sidewalls. The clamping frames 24 can automatically position the relative position between themselves and the waterproof template, quickly clamping and conveying the waterproof template. Workers do not need to precisely control the initial state of the waterproof template, reducing the difficulty of stacking the waterproof template and increasing the processing speed.

[0042] Example 2, as Figure 2 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 12 and Figure 13 As shown: Position adjustment assemblies are installed on both clamping frames 24. Each position adjustment assembly consists of a gearbox 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 28, a fixing bracket 30 mounted on the outside of the lead screw 29 via a nut pair, and a forward / reverse motor 27 fixedly connected to the outside of the clamping frame 24. The output end of the forward / reverse motor 27 is fixedly connected to the input end of the gearbox 28. One end of the lead screw 29 is rotatably connected inside the clamping frame 24, and the forward / reverse motor... The third 27 and the third 28 of the gearbox can drive the lead screw 29 to rotate inside the clamping frame 24. The second fixed frame 30 is set inside the clamping frame 24 and fits against the inner wall of the clamping frame 24. The movement direction of the second fixed frame 30 is limited. Therefore, when the rotating lead screw 29 drives the second fixed frame 30 to move horizontally inside the clamping frame 24, the third 27 of the forward and reverse motors is controlled to rotate forward. When the lead screw 29 rotates clockwise, the second fixed frame 30 moves to the right inside the clamping frame 24. When the third 27 of the forward and reverse motors is controlled to rotate in reverse, the second fixed frame 30 moves to the left inside the clamping frame 24.

[0043] Both the pneumatic cylinder 31 and the telescopic rod 32 are fixedly connected to the inner wall of the fixed frame 2 30. The pneumatic cylinder 31 and the telescopic rod 32 move synchronously with the fixed frame 2 30. The hollow frame 33, which is fixedly connected between the piston ends of the pneumatic cylinder 31 and the telescopic rod 32, moves synchronously. One side of the hollow frame 33 is rotatably connected to the guide frame 1 39. The output end of the forward and reverse motor 4 38, which is fixedly connected to the other side of the hollow frame 33, is fixedly connected to the guide frame 1 39. Controlling the forward and reverse motor 4 38 will drive the guide frame 1 39, the guide frame 2 41 fixedly connected to the outside of the guide frame 1 39, and the guide frame 3 42 fixedly connected to the guide frame 2 41 to rotate. Controlling the forward and reverse motor 4 38 to rotate forward will cause the guide frame 3 42 to move towards the direction between the two clamping frames 24. Controlling the forward and reverse motor 4 38 to rotate in reverse will cause the guide frame 3 42 to move away from the two clamping frames 24 and towards each other. 4. Multiple side slots 25 are provided on the side away from the position adjustment component. After the position adjustment component is operated, the flow guide 41 is aligned with one of the side slots 25. Then, the forward and reverse motor 38 is controlled to reverse, causing the flow guide 41 to rotate. The flow guide 41 rotates and passes through the side slot 25, so that the flow guide 42 is folded on the side away from the two clamping frames 24. This reduces the space occupied by the flow guide 42, and the flow guide 42 will not affect the clamping frame 24's clamping of the special waterproof template that is smaller at the top and larger at the bottom, ensuring the flexibility of the flow guide 42 in application. The brake 2 40, which is sleeved on the outside of the flow guide 39, is fixedly installed inside the hollow frame 33. After the forward and reverse motor 38 is completed, the brake 2 40 is controlled to operate to limit the flow guide 39. The flow guide 41 and the flow guide 42 are limited and braked, ensuring that the flow guide 42 is stably maintained in the adjusted state.

[0044] When two clamping frames 24 clamp a plate-shaped conventional waterproof template with the same upper and lower outer diameters, after the multi-degree-of-freedom robotic arm and the two clamping frames 24 lift the waterproof template, the control cylinder 31 works to push the hollow frame 33, the second guide frame 41, and the third guide frame 42 to move downwards. Then, the control motor 38 rotates forward for a period of time, causing the third guide frame 42 to rotate between the two clamping frames 24 and parallel to the bottom of the waterproof template. Subsequently, the control cylinder 31 works to drive the third guide frame 42 to move upwards towards the bottom of the waterproof template. Since the internal rotation of the third guide frame 42 is connected to the air guide frame 45 and multiple drag-reducing frames 43, the outer diameter of the air storage bladder 46 fixedly connected to the outside of the air guide frame 45 is normally larger than the outer diameter of the drag-reducing frame 43 at its maximum point. The upward-moving air storage bladder 46 first contacts the bottom of the waterproof template. As the control cylinder 31 works, the air storage bladder 46 deforms and the internal air pressure increases. The outer side of the drag-reducing frame 43 contacts the bottom of the waterproof template. After the bottom of the plate contacts the air bladder, the increase in air pressure inside the air bladder 46 stops. The detection end of the air pressure sensor 47 embedded in the guide frame 42 is fixedly connected to the air guide frame 45 by a sealing tube 48. The air bladder 46 is connected to the air guide frame 45. The air pressure sensor 47 detects the air pressure inside the air bladder 46 and feeds the detection result back to the human-machine interface device. When the air pressure inside the air bladder 46 stops increasing, the human-machine interface device controls the air pressure cylinder 31 to stop working. At this time, the multiple drag-reducing frames 43 rotatably connected inside the two guide frames 42 support the bottom sides of the waterproof template, preventing the waterproof template from falling when moving at a height due to wear, contamination or other reasons on the clamping sides of the two clamping frames 24. This ensures the stability and safety of the multi-degree-of-freedom robotic arm driving the two clamping frames 24 to grasp and transport the waterproof template, reducing economic losses and safety accidents caused by the accidental fall of the waterproof template.

[0045] When the waterproof template is subjected to relatively low-stress processing such as laser cutting and paint spraying while suspended, the multiple drag-reducing frames 43 can rotate, and the flow guide frame 42 can move without changing its relative position to the waterproof template in the vertical direction. This ensures the safety of the waterproof template's movement. The position of the flow guide frame 42 at the bottom of the waterproof template is controlled by the position adjustment component to prevent the flow guide frame 42 from affecting the processing of the waterproof template. The structural design of the clamping components, consisting of two clamping frames 24, a fixing frame 30, a position adjustment component, a flow guide frame 41, a flow guide frame 42, and multiple drag-reducing frames 43, ensures the flexibility of the multi-degree-of-freedom robotic arm and the template grasping robotic arm composed of two clamping components, and shortens the processing cycle of the waterproof template.

[0046] Example 3, as Figure 2 , Figure 7 , Figure 9 , Figure 10 , Figure 11 and Figure 12As shown, the telescopic tube 34, which is fixedly connected to the hollow frame 33, can extend and retract. Therefore, when the hollow frame 33 is controlled up and down by the pneumatic cylinder 31, it is not affected by the telescopic tube 34. One end of each of the two telescopic tubes 34 is fixedly connected to the fixed frame 30 by a telescopic tube 35. An electromagnet 37 is fixedly connected inside the connecting box 36, which is fixedly connected between the two telescopic tubes 35. Since the clamping frame 24 has a square groove 26 at the end away from the gearbox 28, and a metal pipe 51 is provided on one side of the square groove 26, which is fixed to the building, equipment, or support and connected to the water supply system, the template gripping robot arm is controlled to work so that the square groove 26 is aligned with the metal pipe 51. Then, the position adjustment component is controlled to work so that the connecting box 36 moves and fits onto the outside of the metal pipe 51. Then, the electromagnet 37 is controlled to work to attract and fix the iron metal pipe 51. Subsequently, the water supply system is controlled to work to supply water to the inside of the connecting box 36 through the metal pipe 51. The water enters through the telescopic tube 35, the telescopic tube 34, and the hollow frame 33. The water enters the interior of the first guide frame 39, which is fixedly connected to the second guide frame 41. The second guide frame 41 and the third guide frame 42 are also fixedly connected. Multiple nozzles 44 are fixedly connected inside the third guide frame 42. Finally, the water is pressurized by the multiple nozzles 44 and sprayed out. After the pneumatic cylinder 31 works to push the hollow frame 33 downward, it controls the forward and reverse motor 4 38 to rotate forward, causing the third guide frame 42 to move to the side of the clamping frame 24 that holds the waterproof template, so that a 4-degree angle is formed between the bottom of the third guide frame 42 and the bottom of the side holding the waterproof template. A 5° angle is controlled to adjust the position of the control component, which drives the flow guide frame 3 42 to move left and right. The telescopic tube 2 35 can retract to meet the displacement requirements of the flow guide frame 3 42 and continuously supply water to the inside of multiple nozzles 44. The multiple nozzles 44 spray water to rinse most of the side of the clamping frame 24 that holds the waterproof template, quickly completing the maintenance work of the clamping frame 24. This enables the clamping component to have functions such as waterproof template clamping, bottom support, support position adjustment, and self-cleaning, ensuring the economic benefits of the template gripping robotic arm application.

[0047] Example 4, as Figure 1 and Figure 14 As shown, two arc-shaped plates 50 can be fixedly connected to the bottom of the rotating frame 11. The two arc-shaped plates 50 are staggered with the two mounting brackets 12. The length of the arc-shaped plates 50 is greater than the length of the mounting brackets 12. Two mutually perpendicular mounting brackets 10 can be installed at the bottom of the support arm, so that the multi-degree-of-freedom robotic arm drives the four clamping parts, thus expanding the weight range of the waterproof template that can be clamped.

[0048] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

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 frame seven (10), and a transmission component is provided inside the mounting frame seven (10). The transmission component drives two clamping frames (24). A position adjustment component is installed inside each of the two clamping frames (24). Multiple side slots (25) are opened on the side of the clamping frame (24) away from the position adjustment component. The position adjustment component is connected to a fixed frame two (30). The fixed frame two (30) is equipped with a pneumatic cylinder (31), a telescopic rod three (32) and two telescopic tubes one (34). A hollow frame (33) is fixedly connected between the piston ends of the pneumatic cylinder (31) and the telescopic rod three (32). The bottom ends of the two telescopic tubes one (34) are connected to the interior of the hollow frame (33). A flow guide frame one (39) is rotatably connected inside the hollow frame (33). A flow guide frame two (41) is fixedly connected to the outside of the flow guide frame one (39). A flow guide frame three (42) is fixedly connected to the bottom end of the flow guide frame two (41). Multiple nozzles (44) are fixedly connected inside the flow guide frame three (42). Multiple drag reduction frames two (43) are rotatably connected inside the flow guide frame three (42). 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 the first guide frame (39). The control position adjustment component works to drive the second fixed frame (30) to move horizontally inside the clamping frame (24). After the second guide frame (41) is aligned with one of the side slots (25), the four-way motor (38) is controlled to work in reverse, and the second guide frame (41) rotates. The second guide frame (41) rotates through the side slot (25), and the third guide frame (42) is folded on the side away from each other of the two clamping frames (24). The four-way motor (38) is controlled to work in forward rotation, and the third guide frame (42) moves in the direction between the two clamping frames (24). One end of each of the two telescopic tubes (34) is fixedly connected to the fixed frame (30) via a telescopic tube (35). A connecting box (36) is fixedly connected between the two telescopic tubes (35). An electromagnet (37) is fixedly connected inside the connecting box (36). A gearbox (28) is fixedly inserted on the side of the clamping frame (24) away from the position adjustment component. A square groove (26) is opened on the side of the clamping frame (24) away from the gearbox (28). A metal connecting pipe (51) is provided on one side of the square groove (26). Water enters the interior of the first guide frame (39) through the second telescopic pipe (35), the first telescopic pipe (34), and the hollow frame (33). The first guide frame (39) is fixedly connected to the second guide frame (41), and the second guide frame (41) is fixedly connected to the third guide frame (42). Multiple nozzles (44) are fixedly connected inside the third guide frame (42). The water is pressurized by the multiple nozzles (44) and then sprayed out.

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 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) by 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).

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).

9. The waterproof template grasping robotic arm based on visual correction according to claim 1, characterized in that: Brake 2 (40) is sleeved on the outside of the first flow guide (39). Brake 2 (40) is fixedly installed inside the hollow frame (33). Air pressure sensor (47) is embedded inside the third flow guide (42). Air guide frame (45) is fixedly connected inside the third flow guide (42). Air storage bag (46) is fixedly connected to the outside of the air guide frame (45). Sealing tube (48) is fixedly connected between the detection end of the air 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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