A robotic arm structure with workpiece clamping function for product design

Abstract

This invention relates to the field of robotic arm clamping technology, and more particularly to a robotic arm structure with workpiece clamping function for product design, including a workpiece fixing and adjustment module and an inner expansion support module; the workpiece fixing and adjustment module is installed inside the base, and the inner expansion support module is installed on top of the workpiece fixing and adjustment module. One side of the inner expansion support module is connected to a connecting pipe, and the other end of the connecting pipe is connected to a first inflation device; an operating table is also fixedly connected to the top of the base, and a uniformly distributed pushing mechanism is installed above the operating table. A movable clamping module is installed on the pushing mechanism; the robotic arm abandons the traditional clamping method and adopts an inner expansion clamping structure: first, the guide block is inserted into the cylindrical workpiece, and the bottom of the guide block is set as a pointed structure to achieve entry into the cylinder; then, air is injected into the hollow cylinder by a second inflation device, and the second support mechanism expands outward under the action of air pressure and fits tightly against the inner wall of the workpiece cylinder, completing the fixing and transfer of the workpiece.

Description

Technical Field

[0001] This invention relates to the field of robotic arm clamping technology, specifically to a robotic arm structure with workpiece clamping function for product design. Background Technology

[0002] In the processing stage of industrial product design and development, various cylindrical workpieces often need to be processed. The conventional processing flow is as follows: first, a robotic arm clamps the cylindrical workpiece to complete the displacement and transportation, and then it is transferred to the processing station and fixed in place by a clamping structure. In the existing technology, the clamping and processing of cylindrical parts mostly uses curved surface clamping parts to clamp and position their outer walls. Although this method can meet the basic fixed clamping requirements, when clamping thin-walled metal cylindrical parts, the lack of corresponding support and protection structure on the inner wall of the cylindrical structure makes it easy for the parts to deform under the combined action of the clamping force of the robotic arm and the clamping force of the processing station clamping mechanism. This affects the subsequent processing accuracy and the quality of the finished product. Therefore, to address the above problems, a robotic arm structure with workpiece clamping function for product design is proposed. Summary of the Invention

[0003] The purpose of this invention is to provide a robotic arm structure with workpiece clamping function for product design, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: As an optional solution to the robotic arm structure with workpiece clamping function for product design described in this invention, the robotic arm structure with workpiece clamping function for product design includes a base, a workpiece fixing and adjustment module, and an inner expansion support module. The base is equipped with a workpiece fixing and adjustment module. An inner expansion support module is installed on the top of the workpiece fixing and adjustment module. A connecting pipe is connected to one side of the inner expansion support module, and the other end of the connecting pipe is connected to the first inflation device. The top of the base is also fixedly connected to an operating table, and evenly distributed pushing mechanisms are installed above the operating table. Movable clamping modules are installed on the pushing mechanisms. A robotic arm base is fixedly connected above the operating table, a robotic arm is fixedly connected above the robotic arm base, a second inflation device is fixedly connected to the moving end of the robotic arm, a hollow cylinder is fixedly connected to the bottom of the second inflation device, and a guide block is fixedly connected to the bottom of the hollow cylinder. A groove is provided on the outer side of the hollow cylinder, and a second support mechanism is provided on the inner side of the groove in a sliding connection with the hollow cylinder. A sliding column is rotatably connected to the outer side of the guide block, and a sliding detector is fixedly connected to the outer side of each sliding column.

[0005] As an optional solution for a robotic arm structure with workpiece clamping function for product design according to the present invention, a solenoid valve and a pressure gauge are installed on the outer side of both the first hose and the second hose.

[0006] The sliding column is L-shaped, and a second spring is fixedly connected to the outside of the sliding column. The other end of the second spring is fixedly connected to the guide block.

[0007] In the processing stage of industrial product design and development, it is often necessary to process various cylindrical workpieces. The conventional processing flow is as follows: first, the cylindrical workpiece is clamped by a robotic arm to complete the displacement and transportation, and then it is transferred to the processing station and fixed and positioned by the clamping structure. In existing technologies, the clamping and processing of cylindrical parts often uses curved surface clamping devices to clamp and position their outer walls. While this method can meet basic clamping requirements, it is prone to deformation when clamping thin-walled metal cylindrical parts because the inner wall of the cylindrical structure lacks corresponding support and protection. Under the combined action of the clamping force from the robotic arm and the clamping force from the processing station clamping mechanism, the parts are easily deformed, which in turn affects the subsequent processing accuracy and finished product quality. The robotic arm of this device abandons the traditional clamping method and adopts an internal expansion clamping structure: first, the guide block is inserted into the cylindrical workpiece, and the bottom of the guide block is set as a pointed structure to guide the entry into the cylinder; then, air is injected into the hollow cylinder by the second inflation device, and the second support mechanism expands outward under the action of air pressure and fits tightly against the inner wall of the workpiece cylinder, completing the fixation and transfer of the workpiece.

[0008] If the workpiece becomes loose and slides during the transfer process, the sliding detector can monitor the status in real time and feed the signal back to the control terminal. The control terminal then instructs the second inflation device to increase the air pressure inside the hollow cylinder, further improving the clamping and fixing effect and ensuring the stability of the transfer.

[0009] The sliding column adopts an arc-shaped structure design, which also serves as a guide; and the sliding column moves smoothly outward under the elastic force of the second spring, ensuring that the sliding detector at its top always remains in contact with the inner wall of the workpiece cylinder, thus achieving stable and continuous monitoring of the workpiece's sliding state.

[0010] As an optional solution for a robotic arm structure with workpiece clamping function for product design according to the present invention, a solenoid valve and a pressure gauge are installed on the outer side of both the first hose and the second hose.

[0011] The internal expansion support module includes a hollow cylinder, with hollow discs fixedly connected to both the upper and lower sides of the hollow cylinder. An annular groove is opened on the outer side of the hollow disc, and an inflatable sealing bladder is installed inside the annular groove. A connecting pipe is connected to the inner side of the inflatable sealing bladder. The hollow disc is fixedly connected to a first support mechanism on one side.

[0012] As an optional solution for a robotic arm structure with workpiece clamping function for product design according to the present invention, a solenoid valve and a pressure gauge are installed on the outer side of both the first hose and the second hose.

[0013] The bottom of the hollow disc below is fixedly connected to a connecting sleeve, and the bottom of the connecting sleeve is fixedly connected to a second connecting disc. The bottom of the second connecting disc is detachably connected to the workpiece fixing and adjusting module, and the side of the connecting sleeve is also connected to a connecting pipe.

[0014] As an optional solution for a robotic arm structure with workpiece clamping function for product design according to the present invention, a solenoid valve and a pressure gauge are installed on the outer side of both the first hose and the second hose.

[0015] The hollow cylinder has evenly distributed through holes on its outer side, and a sealing gasket is also installed on the outer side of the hollow disc.

[0016] As an optional solution for a robotic arm structure with workpiece clamping function for product design according to the present invention, a solenoid valve and a pressure gauge are installed on the outer side of both the first hose and the second hose.

[0017] The first support component includes a connecting plate that is fixedly connected to the hollow plate. The center of the connecting plate is connected to the hollow plate. Multiple sets of sliding rods are provided inside the connecting plate. One end of each sliding rod is fixedly connected to a sealing plate, and the other end of each sliding rod is fixedly connected to a pressure plate. A first spring is also provided on the outside of the sliding rod. One end of the first spring is fixedly connected to the sealing plate, and the other end of the first spring is fixedly connected to the connecting plate.

[0018] As an optional solution for a robotic arm structure with workpiece clamping function for product design according to the present invention, a solenoid valve and a pressure gauge are installed on the outer side of both the first hose and the second hose.

[0019] The other end of each sealing plate is fixedly connected to a sealing disc, and the outer side of the sealing disc is in contact with the connecting disc.

[0020] After the workpiece cylinder is moved to the outside of the inner expansion support module, the first inflation device injects air into the inner expansion support module through connecting pipes. Part of the gas is injected into the inflation sealing bladder via the hollow disc, causing the bladder to expand and adhere to the inner wall of the workpiece cylinder, achieving an inner wall seal. The other part of the gas is injected into the hollow cylinder through the first flexible hose, inflating the center position of the hollow discs on both sides of the hollow cylinder. When the clamping module clamps and fixes the outer wall of the workpiece cylinder, the air pressure inside the hollow cylinder provides effective support to the inner wall of the workpiece cylinder. This external clamping and internal support clamping method prevents deformation of the thin-walled workpiece, ensuring the quality of workpiece processing.

[0021] This device can adapt and fix cylindrical workpieces of different diameters by cooperating with the first support member and the inflatable sealing bladder inside the hollow disk; at the same time, the inner expansion support module adopts a detachable design, and after disassembly, the device can directly fix and clamp columnar parts, which greatly expands the applicability of the device.

[0022] As an optional solution for a robotic arm structure with workpiece clamping function for product design according to the present invention, a solenoid valve and a pressure gauge are installed on the outer side of both the first hose and the second hose.

[0023] The clamping module includes a fixed plate that is fixedly connected to the moving end. A reinforcing plate is fixedly connected to one side of the fixed plate. One side of the reinforcing plate is slidably arranged with the pushing mechanism. A lifting mechanism is fixedly connected inside the fixed plate. A moving plate is fixedly connected to one end of the lifting mechanism.

[0024] As an optional solution for a robotic arm structure with workpiece clamping function for product design according to the present invention, a solenoid valve and a pressure gauge are installed on the outer side of both the first hose and the second hose.

[0025] The workpiece fixing and adjustment module includes a motor that is fixedly connected to the base, a lifting mechanism that is fixedly connected to the end of the motor's main shaft, a first connecting plate that is fixedly connected to the free end of the lifting mechanism, and the first connecting plate that is detachably connected to the inner expansion support module by bolts.

[0026] After the workpiece cylinder is machined, machining debris easily adheres to the inner wall of the clamping module. At this point, the workpiece fixing adjustment module can drive the inner expansion support module to rotate in both directions. The through-holes on the outer side of the hollow cylinder allow for rotary air jetting towards the inner wall of the clamping module as the module rotates, achieving efficient debris removal. This design gives the inner expansion support module the dual functions of pneumatic internal support to protect the workpiece and rotary air jetting to clean the clamping module, enhancing the practicality and functionality of the device.

[0027] As an optional solution for a robotic arm structure with workpiece clamping function for product design according to the present invention, a solenoid valve and a pressure gauge are installed on the outer side of both the first hose and the second hose.

[0028] The connecting fittings include a flexible protective hose, with a first hose and a second hose installed inside the protective hose. The air inlet ends of the first hose and the second hose are both connected to the first inflation device. The other end of the first hose is connected to the inside of the hollow cylinder. The other end of the second hose is provided with two sets of exhaust ports, and the two sets of exhaust ports are respectively connected to the upper and lower sets of hollow discs.

[0029] As an optional solution for a robotic arm structure with workpiece clamping function for product design according to the present invention, a solenoid valve and a pressure gauge are installed on the outer side of both the first hose and the second hose.

[0030] The protective hose, the first hose, and the second hose are all made of rubber blocks, which can be bent, thus facilitating their rotation in both directions at a certain angle along with the inner expansion support module. When fixing the hollow cylinder workpiece, the connecting pipe is first inflated with air through the first inflation device, at which point the inner expansion support module is partially sealed. Then, the first hose of the connecting pipe is inflated with air through the first inflation device, which enables internal inflation support inside the workpiece cylinder, facilitating subsequent design and processing of the workpiece cylinder.

[0031] Compared with the prior art, the beneficial effects of the present invention are: The robotic arm of this device abandons the traditional clamping method and adopts an internal expansion clamping structure: first, the guide block is inserted into the cylindrical workpiece, and the bottom of the guide block is set as a pointed structure to realize the entry into the cylinder; then, the second inflation device injects air into the hollow cylinder, and the second support mechanism expands outward under the action of air pressure and fits tightly against the inner wall of the workpiece cylinder to complete the fixing and transfer of the workpiece.

[0032] If the workpiece becomes loose and slides during the transfer process, the sliding detector can monitor the status in real time and feed the signal back to the control terminal. The control terminal then instructs the second inflation device to increase the air pressure inside the hollow cylinder, further improving the clamping and fixing effect and ensuring the stability of the transfer.

[0033] The sliding column adopts an arc-shaped structure design, which also serves as a guide; and the sliding column moves smoothly outward under the elastic force of the second spring, ensuring that the sliding detector at its top always remains in contact with the inner wall of the workpiece cylinder, thus achieving stable and continuous monitoring of the workpiece's sliding state.

[0034] After the workpiece cylinder is moved to the outside of the inner expansion support module, the first inflation device injects air into the inner expansion support module through connecting pipes: part of the gas is injected into the inflation sealing bladder through the hollow disc, causing the inflation sealing bladder to expand and fit against the inner wall of the workpiece cylinder, achieving an inner wall seal; the other part of the gas is injected into the hollow cylinder through the first hose, inflating the center position of the hollow discs on both sides of the hollow cylinder. When the clamping module clamps and fixes the outer wall of the workpiece cylinder, the air pressure inside the hollow cylinder can effectively support the inner wall of the workpiece cylinder. Through the clamping method of external clamping and internal support, deformation of thin-walled workpieces is avoided, ensuring the workpiece processing quality.

[0035] This device can adapt and fix cylindrical workpieces of different diameters by cooperating with the first support member and the inflatable sealing bladder inside the hollow disk; at the same time, the inner expansion support module adopts a detachable design, and after disassembly, the device can directly fix and clamp columnar parts, which greatly expands the applicability of the device.

[0036] After the workpiece cylinder is machined, machining debris easily adheres to the inner wall of the clamping module. At this point, the workpiece fixing adjustment module can drive the inner expansion support module to rotate in both directions. The through-holes on the outer side of the hollow cylinder allow for rotary air jetting towards the inner wall of the clamping module as the module rotates, achieving efficient debris removal. This design gives the inner expansion support module the dual functions of pneumatic internal support to protect the workpiece and rotary air jetting to clean the clamping module, enhancing the practicality and functionality of the device. Attached Figure Description

[0037] Figure 1 A schematic diagram of the overall structure of a robotic arm with workpiece clamping function for product design; Figure 2 A schematic diagram of the mounting structure of the rotating column of a robotic arm with workpiece clamping function for product design; Figure 3 A schematic diagram of a workpiece fixing and adjustment module for a robotic arm structure with workpiece clamping function for product design. Figure 4 A schematic diagram of the internal expansion support module of a robotic arm with workpiece clamping function for product design. Figure 5 A schematic diagram of the first support mechanism of a robotic arm with workpiece clamping function for product design. Figure 6 This is a schematic diagram of a connecting pipe fitting for a robotic arm structure with workpiece clamping function used in product design.

[0038] In the diagram: 1. Base; 2. Operating platform; 3. First inflation device; 4. Pushing mechanism; 5. Clamping module; 501. Fixing plate; 502. Reinforcing plate; 503. Moving plate; 504. Lifting mechanism; 6. Robotic arm base; 7. Workpiece fixing and adjusting module; 701. Motor; 702. Lifting mechanism; 703. First connecting plate; 8. Inner expansion support module; 801. Hollow cylinder; 802. Hollow disc; 803. Connecting sleeve; 804. Second connecting disc; 805. Inflatable sealing bladder; 806. Sealing... 807. Sealing gasket; 808. Connecting disc; 809. Sliding rod; 810. Lower pressure plate; 811. Sealing disc; 812. First spring; 813. Sealing plate; 9. Connecting pipe fitting; 901. Protective hose; 902. First hose; 903. Second hose; 904. Solenoid valve; 905. Pressure gauge; 10. Robotic arm; 11. Second inflation device; 12. Hollow cylinder; 13. Groove; 14. Second support mechanism; 15. Guide block; 16. Sliding column; 17. Sliding detector; 18. Second spring. Detailed Implementation

[0039] Example 1: Please refer to Figure 1 , Figure 2 and Figure 3The present invention provides a technical solution: A robotic arm structure with workpiece clamping function for product design includes a base 1, a workpiece fixing and adjustment module 7, and an inner expansion support module 8. The base 1 has a workpiece fixing and adjustment module 7 installed inside. The top of the workpiece fixing and adjustment module 7 has an inner expansion support module 8 installed on it. One side of the inner expansion support module 8 is connected to a connecting pipe 9, and the other end of the connecting pipe 9 is connected to the first inflation device 3. The top of the base 1 is also fixedly connected to the operating table 2. The operating table 2 is equipped with evenly distributed pushing mechanisms 4. The pushing mechanisms 4 are equipped with movable clamping modules 5. A robotic arm base 6 is fixedly connected above the operating table 2. A robotic arm 10 is fixedly connected above the robotic arm base 6. A second inflation device 11 is fixedly connected to the moving end of the robotic arm 10. A hollow cylinder 12 is fixedly connected to the bottom of the second inflation device 11. A guide block 15 is fixedly connected to the bottom of the hollow cylinder 12. A groove 13 is provided on the outer side of the hollow cylinder 12, and a second support mechanism 14 is provided on the inner side of the groove 13 in a sliding connection with the hollow cylinder 12. A sliding post 16 is rotatably connected to the outer side of the guide block 15, and a sliding detector 17 is fixedly connected to the outer side of each sliding post 16.

[0040] The sliding column 16 is L-shaped, and a second spring 18 is fixedly connected to the outside of the sliding column 16. The other end of the second spring 18 is fixedly connected to the guide block 15.

[0041] In the processing stage of industrial product design and development, it is often necessary to process various cylindrical workpieces. The conventional processing flow is as follows: first, the cylindrical workpiece is clamped by a robotic arm to complete the displacement and transportation, and then it is transferred to the processing station and fixed and positioned by the clamping structure. In existing technologies, the clamping and processing of cylindrical parts often uses curved surface clamping devices to clamp and position their outer walls. While this method can meet basic clamping requirements, it is prone to deformation when clamping thin-walled metal cylindrical parts because the inner wall of the cylindrical structure lacks corresponding support and protection. Under the combined action of the clamping force of the robotic arm and the clamping force of the processing station clamping mechanism, the parts are easily deformed, which affects the subsequent processing accuracy and product quality. The robotic arm of this device abandons the traditional clamping method and adopts an internal expansion clamping structure: first, the guide block 15 is inserted into the cylindrical workpiece, and the bottom of the guide block 15 is set as a pointed structure to guide the entry into the cylinder; then, the second inflation device 11 injects air into the hollow cylinder 12, and the second support mechanism 14 expands outward under the action of air pressure and fits tightly against the inner wall of the workpiece cylinder, completing the fixation and transfer of the workpiece.

[0042] If the workpiece becomes loose and slides during the transfer process, the sliding detector 17 can monitor the status in real time and feed the signal back to the control terminal. The control terminal then instructs the second inflation device 11 to increase the air pressure inside the hollow cylinder 12, further improving the clamping and fixing effect and ensuring the stability of the transfer.

[0043] The sliding column 16 adopts an arc-shaped structure design, which also serves as a guide; and the sliding column 16 moves smoothly outward under the elastic force of the second spring 18, ensuring that the sliding detector 17 at its top always remains in contact with the inner wall of the workpiece cylinder, thereby achieving stable and continuous monitoring of the sliding state of the workpiece. Also includes the following: When the guide block 15 is inserted into the workpiece cylinder, its sliding column 16 is pushed outward under the action of the second spring 18, so that the sliding detector 17 on the outside of the sliding column 16 can stably contact the inner wall of the workpiece cylinder. The second support mechanism 14 is located inside the groove 13 and will not affect the downward movement of the hollow cylinder 12. When the sliding detector 17 detects that the workpiece cylinder is sliding downward, the air pressure on the hollow cylinder 12 is increased in time by the second inflation device 11. At this time, the second support mechanism 14 can increase the squeezing force on the inner wall of the workpiece cylinder in time, so as to prevent the workpiece cylinder from continuing to slide down and falling, and to achieve stable transportation and transfer of the workpiece cylinder. When the workpiece cylinder is transferred, it is fitted onto the outside of the inner expansion support module 8 by the robotic arm 10. The initial fixation of the workpiece cylinder can be achieved through the cooperation between the inner expansion support module 8, the pushing mechanism 4 and the clamping module 5.

[0044] Example 2: This example is an improvement upon Example 1. Please refer to [link / reference]. Figure 4 and Figure 5 Specifically, the inner expansion support module 8 includes a hollow cylinder 801, with hollow discs 802 fixedly connected to both the upper and lower sides of the hollow cylinder 801. An annular groove is provided on the outer side of the hollow disc 802, and an inflatable sealing bladder 805 is provided in the annular groove. A connecting pipe 9 is connected to the inner side of the inflatable sealing bladder 805. The hollow disc 802 is fixedly connected to a first support mechanism on one side.

[0045] The bottom of the hollow disc 802 is fixedly connected to a connecting sleeve 803, and the bottom of the connecting sleeve 803 is fixedly connected to a second connecting disc 804. The bottom of the second connecting disc 804 is detachably connected to the workpiece fixing and adjusting module 7. The side of the connecting sleeve 803 is also connected to a connecting pipe 9.

[0046] The hollow cylinder 801 has evenly distributed through holes on its outer side, and the hollow disc 802 is also fitted with a sealing gasket 806 on its outer side.

[0047] The first support member includes a connecting plate 807 that is fixedly connected to the hollow plate 802. The center of the connecting plate 807 is connected to the hollow plate 802. Multiple sets of sliding rods 808 are provided inside the connecting plate 807. One end of each sliding rod 808 is fixedly connected to a sealing plate 812, and the other end of each sliding rod 808 is fixedly connected to a pressure plate 809. A first spring 811 is also provided on the outside of the sliding rod 808. One end of the first spring 811 is fixedly connected to the sealing plate 812, and the other end of the first spring 811 is fixedly connected to the connecting plate 807.

[0048] The other end of the sealing plate 812 is fixedly connected to a sealing disc 810, and the outer side of the sealing disc 810 is in contact with the connecting disc 807.

[0049] After the workpiece cylinder is moved to the outside of the inner expansion support module 8, the first inflation device 3 injects air into the inner expansion support module 8 through the connecting pipe 9. Part of the gas is injected into the inflation sealing bladder 805 through the hollow disc 802, causing the inflation sealing bladder 805 to expand and fit against the inner wall of the workpiece cylinder, thus achieving an inner wall seal. The other part of the gas is injected into the interior of the hollow cylinder 801 through the first hose 902, inflating the center position of the hollow discs 802 on both sides of the hollow cylinder 801.

[0050] When the clamping module 5 clamps and fixes the outer wall of the workpiece cylinder, the air pressure inside the hollow cylinder 801 can effectively support the inner wall of the workpiece cylinder. Through the clamping method of external clamping and internal support, the thin-walled workpiece is prevented from deforming, thus ensuring the processing quality of the workpiece.

[0051] This device can adapt and fix cylindrical workpieces of different diameters by cooperating with the first support member and the inflatable sealing bladder 805 inside the hollow disc 802; at the same time, the inner expansion support module 8 adopts a detachable design, and after disassembly, the device can directly fix and clamp the columnar parts, which greatly expands the applicability of the device. Also includes the following: When the workpiece cylinder is internally expanded and fixed, the workpiece cylinder is located outside the internal expansion support module 8. First, the upper and lower hollow discs 802 are inflated through the connecting pipe 9. At this time, the outer inflatable sealing bladder 805 can be inflated. The inflatable sealing bladder 805 expands and contacts the inner wall of the workpiece cylinder to achieve initial sealing. At the same time, the inflation will also inflate the connecting disc 807. At this time, the gas squeezes the sealing disc 810, which in turn causes the sealing plate 812 on one side of the sealing disc 810 to squeeze the sliding rod 808. The sliding rod 808 drives the first spring 811 to stretch. At this time, the lower pressure plate 809 on the other side can be moved to move closer to the inner wall of the workpiece cylinder. This serves to support the inner wall of the workpiece cylinder and also supports and presses down the sealing gasket 806, thereby further fixing the inflatable sealing bladder 805 and preventing it from being misaligned and leaking. The annular groove and the inflatable sealing bladder 805 also serve to limit the movement. Because the seal uses an adjustable-volume inflatable sealing bladder 805, it is also applicable to some hollow pipe fittings with small diameter changes.

[0052] Example 3: This example is an improvement on Example 2. Please refer to [link / reference]. Figure 1 Specifically, the clamping module 5 includes a fixed plate 501 fixedly connected to the moving end, a reinforcing plate 502 fixedly connected to one side of the fixed plate 501, and a side of the reinforcing plate 502 slidingly connected to the pushing mechanism 4. A lifting mechanism 504 is fixedly connected inside the fixed plate 501, and a moving plate 503 is fixedly connected to one end of the lifting mechanism 504.

[0053] The workpiece fixing and adjusting module 7 includes a motor 701 fixedly connected to the base 1. A lifting mechanism 702 is fixedly connected to the end of the main shaft of the motor 701. A first connecting plate 703 is fixedly connected to the free end of the lifting mechanism 702. The first connecting plate 703 is detachably connected to the inner expansion support module 8 by bolts.

[0054] After the workpiece cylinder is processed, machining debris easily adheres to the inner wall of the clamping module 5. At this time, the inner expansion support module 8 can be rotated forward and backward by the workpiece fixing adjustment module 7. The through hole on the outside of the hollow cylinder 801 can rotate and spray air towards the inner wall of the clamping module 5 as the module rotates, achieving efficient cleaning of debris. This design enables the inner expansion support module 8 to have the dual functions of pneumatic internal support to protect the workpiece and rotary air jet cleaning of the clamping module, improving the practicality and functionality of the device. Also includes the following: This device also has a fixed component height adjustment mode. The lifting mechanism 504 drives the upper moving plate 503 to move, which can fix workpiece cylinders of different heights in a targeted manner. The pushing mechanism 4 drives the fixed plate 501 to move, and the fixed plate 501 drives the internal lifting mechanism 504 and the upper moving plate 503 to move, which can fix the workpiece cylinder at multiple angles. At the same time, the reinforcing plate 502 is set to reinforce the fixed plate 501 to prevent it from deforming. It also has a debris cleaning function. When the workpiece cylinder is designed and processed, some debris will adhere to the inside of the moving plate 503 and the fixed plate 501. When the workpiece cylinder is reused, the debris will adhere to the inside and come into contact with the workpiece cylinder, which will affect the surface quality of the workpiece cylinder. At this time, before fixing, the connecting pipe 9 is inflated by the first inflation device 3. The air is discharged through the through hole on the outside of the hollow cylinder 801. In conjunction with the forward and reverse rotation of the motor 701, the hollow cylinder 801 can be driven to perform multi-angle blowing and cleaning, ensuring that the inside of the moving plate 503 and the fixed plate 501 is clean and tidy, which is convenient for normal use next time. The lifting mechanism 702 can drive the inner expansion support module 8 to move, so as to achieve targeted clamping and fixing of the inside of the workpiece cylinder.

[0055] Example 4: This example is an improvement on Example 3. Please refer to [link / reference]. Figure 6 Specifically, the connecting pipe 9 includes a flexible protective hose 901. A first hose 902 and a second hose 903 are provided inside the protective hose 901. The air inlet ends of the first hose 902 and the second hose 903 are both connected to the first inflation device 3. The other end of the first hose 902 is connected to the inside of the hollow cylinder 801. The other end of the second hose 903 is provided with two sets of exhaust ports, and the two sets of exhaust ports are respectively connected to the upper and lower sets of hollow discs 802.

[0056] Solenoid valves 904 and pressure gauges 905 are installed on the outer sides of both the first hose 902 and the second hose 903.

[0057] The protective hose 901, the first hose 902, and the second hose 903 are all made of rubber block material, which can be bent, so it is convenient for them to rotate in a certain angle in both directions with the inner expansion support module 8. When fixing the hollow cylinder workpiece, the connecting pipe 9 is first injected with air through the first inflation device 3. At this time, the inner expansion support module 8 is partially sealed. Then, the first hose 903 of the connecting pipe 9 is injected with air through the first inflation device 3. At this time, the internal inflation support of the workpiece cylinder can be realized, which facilitates the subsequent design and processing of the workpiece cylinder. Also includes the following: By first injecting air into the second hose 903 and sealing the upper and lower parts of the workpiece cylinder through the inner expansion support module 8, and then injecting air into the center through the first hose 903 to increase the air pressure and achieve secondary clamping and fixing, this setting can effectively prevent the workpiece cylinder from being squeezed and deformed, ensuring the quality of the workpiece cylinder. The air passage is controlled by the solenoid valve 904, and the air pressure gauge 905 can detect the internal air pressure at all times to ensure stable clamping and fixing of the workpiece cylinder.

[0058] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only for the purpose of helping to understand the method and core ideas of the present invention. The above descriptions are only preferred embodiments of the present invention. It should be noted that due to the limitations of textual expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of the present invention.

Claims

1. A robotic arm structure with workpiece clamping function for product design, characterized in that: It includes a base (1), a workpiece fixing and adjusting module (7), and an inner expansion support module (8); The base (1) is equipped with a workpiece fixing adjustment module (7), and an inner expansion support module (8) is installed on the top of the workpiece fixing adjustment module (7). A connecting pipe (9) is connected to one side of the inner expansion support module (8), and the other end of the connecting pipe (9) is connected to the first inflation device (3). The top of the base (1) is also fixedly connected to the operating table (2), and the top of the operating table (2) is equipped with evenly distributed pushing mechanisms (4), and the pushing mechanisms (4) are equipped with movable clamping modules (5). A robotic arm base (6) is fixedly connected above the operating table (2), a robotic arm (10) is fixedly connected above the robotic arm base (6), a second inflation device (11) is fixedly connected to the moving end of the robotic arm (10), a hollow cylinder (12) is fixedly connected to the bottom of the second inflation device (11), and a guide block (15) is fixedly connected to the bottom of the hollow cylinder (12). A groove (13) is provided on the outer side of the hollow cylinder (12), and a second support mechanism (14) is provided on the inner side of the groove (13) in a sliding connection with the hollow cylinder (12). A sliding column (16) is rotatably connected to the outer side of the guide block (15), and a sliding detector (17) is fixedly connected to the outer side of the sliding column (16). The internal expansion support module (8) includes a hollow cylinder (801), and hollow discs (802) are fixedly connected to both the upper and lower sides of the hollow cylinder (801). An annular groove is opened on the outer side of the hollow disc (802), and an inflatable sealing bladder (805) is provided in the annular groove. A connecting pipe (9) is connected to the inner side of the inflatable sealing bladder (805). The hollow plate (802) is fixedly connected to a first support mechanism on one side.

2. The robotic arm structure with workpiece clamping function for product design according to claim 1, characterized in that: The sliding column (16) is L-shaped, and a second spring (18) is fixedly connected to the outside of the sliding column (16). The other end of the second spring (18) is fixedly connected to the guide block (15).

3. The robotic arm structure with workpiece clamping function for product design according to claim 1, characterized in that: The bottom of the hollow disc (802) below is fixedly connected to a connecting sleeve (803), the bottom of the connecting sleeve (803) is fixedly connected to a second connecting disc (804), the bottom of the second connecting disc (804) is detachably connected to the workpiece fixing adjustment module (7), and the side of the connecting sleeve (803) is also connected to a connecting pipe (9).

4. The robotic arm structure with workpiece clamping function for product design according to claim 1, characterized in that: The hollow cylinder (801) has evenly distributed through holes on its outer side, and the hollow disc (802) is also fitted with a sealing gasket (806).

5. A robotic arm structure with workpiece clamping function for product design according to claim 1, characterized in that: The clamping module (5) includes a fixed plate (501) fixedly connected to the moving end. A reinforcing plate (502) is fixedly connected to one side of the fixed plate (501). One side of the reinforcing plate (502) is slidably connected to the pushing mechanism (4). A lifting mechanism (504) is fixedly connected inside the fixed plate (501). A moving plate (503) is fixedly connected to one end of the lifting mechanism (504).

6. The robotic arm structure with workpiece clamping function for product design according to claim 1, characterized in that: The workpiece fixing adjustment module (7) includes a motor (701) fixedly connected to the base (1), a lifting mechanism (702) fixedly connected to the end of the main shaft of the motor (701), a first connecting plate (703) fixedly connected to the free end of the lifting mechanism (702), and the first connecting plate (703) is detachably connected to the inner expansion support module (8) by bolts.

7. A robotic arm structure with workpiece clamping function for product design according to claim 1, characterized in that: The first support component includes a connecting plate (807) that is fixedly connected to the hollow plate (802). The center of the connecting plate (807) is connected to the hollow plate (802). Multiple sets of sliding rods (808) are provided inside the connecting plate (807). One end of each sliding rod (808) is fixedly connected to a sealing plate (812), and the other end of each sliding rod (808) is fixedly connected to a pressure plate (809). A first spring (811) is also provided on the outside of the sliding rod (808). One end of the first spring (811) is fixedly connected to the sealing plate (812), and the other end of the first spring (811) is fixedly connected to the connecting plate (807).

8. A robotic arm structure with workpiece clamping function for product design according to claim 7, characterized in that: The other end of the sealing plate (812) is fixedly connected to a sealing disc (810), and the outer side of the sealing disc (810) is in contact with the connecting disc (807).

9. A robotic arm structure with workpiece clamping function for product design according to claim 1, characterized in that: The connecting fitting (9) includes a flexible protective hose (901). The inner side of the protective hose (901) is provided with a first hose (902) and a second hose (903). The air inlet ends of the first hose (902) and the second hose (903) are connected to the first inflation device (3). The other end of the first hose (902) is connected to the inside of the hollow cylinder (801). The other end of the second hose (903) is provided with two sets of exhaust ports, and the two sets of exhaust ports are connected to the upper and lower sets of hollow discs (802) respectively.

10. A robotic arm structure with workpiece clamping function for product design according to claim 9, characterized in that: Solenoid valves (904) and pressure gauges (905) are installed on the outside of both the first hose (902) and the second hose (903).

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