Pneumatic counterbalance robot arm

Abstract

The present application belongs to the field of pneumatic conveying technology, and discloses a kind of pneumatic balance mechanical arm, including pneumatic mechanical arm and conveying table, the pneumatic mechanical arm is arranged in conveying table one side, one end of the pneumatic mechanical arm is equipped with fixed disc, the top of fixed disc is fixed with lug, the inside of fixed disc is equipped with negative pressure cavity, the bottom of negative pressure cavity is close to the edge of inner wall and is penetrated to the bottom of fixed disc, the inner wall between negative pressure cavity is equipped with movable disc and is sealed and arranged, the present application, through pneumatic mechanical arm drive fixed disc movement, and through the adsorption component on fixed disc object is grabbed and is carried, in the process of grabbing and carrying, through positioning assembly, it can prevent it from shaking, material is carried to conveying table, and then, through the fixed column of conveying seat top and adsorption site contact, so as to trigger feedback component, release adsorption component adsorption to object, so that object can be placed in storage tank internal storage.

Description

Technical Field

[0001] This invention relates to the field of pneumatic handling technology, and in particular to a pneumatically balanced robotic arm. Background Technology

[0002] A robotic arm is a human-machine collaborative device designed to assist humans in handling heavy objects and performing precision operations. It is mainly used for material handling, assembly and positioning, etc. It can reduce the intensity of manual labor and improve the accuracy of operation. The device achieves load balance or precise force control through pneumatic, electric or hydraulic power drive and force sensing technology.

[0003] Currently, when pneumatic robotic arms drive suction cups to grab materials, the weight of the materials themselves will generate a reverse pulling force on the internal negative pressure suction force during the handling process. When the weight of the materials is large, it will cause the suction cup to vibrate back and forth, affecting the stability during handling. Summary of the Invention

[0004] In order to solve the problems existing in the prior art, the present invention provides a pneumatically balanced robotic arm.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a pneumatic balancing robotic arm, comprising a pneumatic robotic arm and a conveyor table, wherein the pneumatic robotic arm is disposed on one side of the conveyor table, a fixed plate is installed at one end of the pneumatic robotic arm, a protrusion is fixed on the top of the fixed plate, a negative pressure chamber is formed inside the fixed plate, the bottom of the negative pressure chamber extends to the bottom of the fixed plate near the inner wall edge, a movable plate is slidably sealed between the inner walls of the negative pressure chamber, and a feedback component is provided on the inner wall of the negative pressure chamber;

[0006] The movable disc has multiple adsorption components evenly spaced inside. The top of the conveyor platform has a conveyor seat with a fixed column at the center of the top. The top of the conveyor seat has multiple storage slots evenly spaced. A pneumatic robotic arm drives the fixed disc to move, and the adsorption components on the fixed disc grab and transport objects. During the grabbing and transporting process, a positioning component prevents the object from shaking. After the material is transported to the conveyor platform, the fixed column at the top of the conveyor seat contacts the adsorption part, thereby triggering the feedback component to release the adsorption components from the object, allowing the object to be placed in the storage slot for storage.

[0007] Preferably, a compression spring is fixed to the top of the movable disc, the top of the compression spring is fixed to the top surface inside the negative pressure chamber, a guide post is fixed to the top of the movable disc, a hexagonal guide groove is opened inside the protrusion, and the top of the guide post extends through to the top of the protrusion.

[0008] Preferably, the protrusion has a hexagonal guide groove inside, and a hexagonal guide plate is fixed on the outer surface of the guide post. The hexagonal guide plate slides between the inner walls of the hexagonal guide groove. A bend is formed on the outer surface of the guide post near the top edge of the movable disk, and one end of the bend extends through to the outer surface of the guide post near the top edge.

[0009] Preferably, the adsorption assembly includes a conduit, a plurality of hexagonal limiting grooves are equidistantly provided inside the movable disk, a plurality of cap tubes are equidistantly fixed to the top of the movable disk, positioning components are provided on both sides of the inner wall of the plurality of conduits near the top edge, the conduits are disposed inside the hexagonal limiting grooves, a plurality of fixing rings are equidistantly fixed to the bottom of the movable disk, the bottom of the conduit slides through to the bottom of the movable disk and is located between the inner walls of the fixing rings, the top of the conduit slides through to the inside of the cap tube and slides against the inner wall of the cap tube, and positioning grooves are provided on both sides of the inner wall of the cap tube.

[0010] Preferably, the bottom of the conduit is provided with a rubber suction cup, the outer surface of the conduit is threaded with a threaded ring, a hexagonal limiting plate is fixed on the outer surface of the conduit, the hexagonal limiting plate slides between the inner walls of the hexagonal limiting groove, a return spring is fixed on the top of the hexagonal limiting plate, the top of the return spring is fixed to the inner top surface of the hexagonal limiting groove, the top of the conduit is closed, and a through hole is opened in the middle of the top of the conduit.

[0011] Preferably, the outer surface of the conduit has multiple flat openings at equal intervals near the top edge, and the outer surface of the cap tube has multiple side openings at equal intervals along the circumferential direction, with each of the side openings located directly above the flat opening.

[0012] Preferably, the positioning component includes a positioning rod, and inner cavities are formed inside the two side walls of the conduit near the top. Inner slide plates are slidably arranged between the inner walls of the two inner cavities. The positioning rod is fixed to one side of the inner slide plate. Pushing cavities are formed inside the two side walls of the conduit. Circular grooves are formed between the inner walls of the two sides and the outer surfaces of the two sides of the conduit. Limiting rings are fixed between the inner walls of the pushing cavities. A guide rod is arranged inside the pushing cavities.

[0013] Preferably, a suction membrane is fixed between the inner walls of the circular grooves on the outer surface of the conduit, and an annular elastic membrane is fixed between the inner walls of the circular grooves on the inner wall of the conduit. One end of the guide rod slides and extends to be fixed to one side of the suction membrane, and the other end of the guide rod slides and extends to be fixed to one side of the annular elastic membrane. A push plate is fixed to the outer surface of the guide rod, and the outer surface of the push plate slides and seals against the inner wall of the pushing cavity. A gap is left between the outer surface of the guide rod and the inner side of the limiting ring. A guide channel penetrating into the pushing cavity is opened at one end of the inner cavity.

[0014] Preferably, the feedback component includes an inner sliding sleeve, an annular cavity is formed inside the movable disk near the edge of the outer surface, a plurality of storage slots are formed at equal intervals on the inner wall of the negative pressure cavity, a side pipe communicating with the interior of the annular cavity is fixed on the outer surface of the movable disk, and a plurality of air outlets penetrating into the interior of the negative pressure cavity are formed at equal intervals on the inner wall of the annular cavity.

[0015] Preferably, the inner sliding sleeve is slidably sealed between the inner walls of the annular cavity, the bottom of the inner sliding sleeve extends slidably into the inside of the storage groove, and a bending plate is slidably arranged between the inner walls on both sides of the multiple storage grooves. The top of the multiple bending plates is fixed to the bottom of the inner sliding sleeve, and a slot is opened on one side of the multiple bending plates. A spring sheet is fixed on the inner top surface of the multiple storage grooves, and one end of the multiple spring sheets is engaged inside the slot.

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

[0017] 1. In this invention, a pneumatic robotic arm drives a fixed plate to move, and an adsorption component on the fixed plate grasps and transports objects. During the grasping and transporting process, a positioning component can prevent the object from shaking. After the material is transported to the conveyor platform, the fixed column on the top of the conveyor seat contacts the adsorption part, thereby triggering the feedback component to release the adsorption component from the object, so that the object can be placed in the storage tank for storage.

[0018] 2. When the adsorption component of the present invention is working, the side tube is connected to the external vacuum generator so that it can generate negative pressure adsorption force inside the side tube. Then, the fixed plate is driven to slide down by the pneumatic mechanical arm so that the rubber suction cup is pressed to the top of the object to be adsorbed.

[0019] 3. When the positioning component of this invention is working, when the conduit slides upward, since the side port and the flat port are connected to each other, a negative pressure adsorption force will be generated inside the conduit. The negative pressure adsorption force acts on the annular elastic membrane, adsorbing the annular elastic membrane to one side, thereby driving the guide rod together with the push plate to slide towards one end of the pushing cavity. During the sliding process, the hydraulic oil inside the pushing cavity is pressed into the inner cavity through the guide channel by the push plate, which drives the inner slide plate together with the positioning rod to slide towards one end of the inner cavity, so that one end of the positioning rod is inserted into the positioning groove, thereby positioning the conduit.

[0020] 4. When the feedback component of this invention is working, the top of the fixed column contacts the bottom of the movable plate, thereby lifting the movable plate upward. During the upward sliding of the movable plate, the top edge of the movable plate contacts one end of the bottom of the bending plate, thereby driving the inner sliding sleeve to slide upward inside the annular cavity. The inner sliding sleeve blocks and seals the air outlet, thereby relieving the negative pressure adsorption force that the side pipe continuously acts on inside the negative pressure cavity. Attached Figure Description

[0021] Figure 1 This invention provides a front-view three-dimensional structural diagram of a pneumatically balanced robotic arm;

[0022] Figure 2 A top-view three-dimensional structural diagram of a pneumatically balanced robotic arm is provided for this invention;

[0023] Figure 3 This invention provides a bottom-view three-dimensional structural diagram of the pneumatic manipulator and the fixed plate in a pneumatic balancing manipulator;

[0024] Figure 4 This invention provides a cross-sectional three-dimensional structural diagram of the fixed disk in a pneumatically balanced robotic arm;

[0025] Figure 5 This invention provides a front-view three-dimensional structural diagram of the duct in a pneumatically balanced robotic arm;

[0026] Figure 6 This invention provides a cross-sectional three-dimensional structural diagram of the guide tube in a pneumatically balanced robotic arm;

[0027] Figure 7 For the present invention Figure 4 A magnified view of a portion of point A in the middle;

[0028] Figure 8 For the present invention Figure 4 A magnified view of a portion of point B in the middle;

[0029] Figure 9 For the present invention Figure 6 A magnified view of a portion of point C.

[0030] In the diagram: 1. Pneumatic robotic arm; 2. Conveyor table; 3. Fixed plate; 4. Conveyor seat; 5. Storage slot; 6. Fixed column; 7. Side tube; 8. Movable plate; 9. Guide column; 10. Protrusion; 11. Hexagonal guide groove; 12. Hexagonal guide plate; 13. Bending track; 14. Negative pressure chamber; 15. Annular cavity; 16. Fixed ring; 17. Conduit; 18. Threaded ring; 19. Rubber suction cup; 20. Cap tube; 21. Side opening; 22. Hexagonal limiting plate; 23. Compound 24. Positioning spring; 25. Flat opening; 26. Positioning groove; 27. Through hole; 28. Air outlet; 29. ​​Compression spring; 30. Storage groove; 31. Inner sliding sleeve; 32. Bending plate; 33. Bayonet; 34. Spring sheet; 35. Hexagonal limiting groove; 36. Pushing chamber; 37. Circular groove; 38. Annular elastic membrane; 39. Limiting ring; 40. Push plate; 41. Suction membrane; 42. Guide rod; 43. Inner cavity; 44. Positioning rod; 45. Inner sliding plate; 46. Guide channel. Detailed Implementation

[0031] 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.

[0032] Please see Figure 1-9 The present invention provides a technical solution: a pneumatic balancing robotic arm, including a pneumatic robotic arm 1 and a conveyor 2. The pneumatic robotic arm 1 is disposed on one side of the conveyor 2. A fixed plate 3 is installed at one end of the pneumatic robotic arm 1. A protrusion 10 is fixed on the top of the fixed plate 3. A negative pressure chamber 14 is opened inside the fixed plate 3. The bottom of the negative pressure chamber 14 extends to the bottom of the fixed plate 3 near the inner wall edge. A movable plate 8 is slidably sealed between the inner walls of the negative pressure chamber 14. A feedback component is provided on the inner wall of the negative pressure chamber 14.

[0033] Multiple adsorption components are equidistantly arranged inside the movable disk 8. A conveyor seat 4 is provided on the top of the conveyor table 2. A fixed column 6 is fixed in the middle of the top of the conveyor seat 4. Multiple storage slots 5 are equidistantly opened on the top of the conveyor seat 4. A compression spring 28 is fixed on the top of the movable disk 8. The top of the compression spring 28 is fixed to the top surface inside the negative pressure chamber 14. A guide column 9 is fixed on the top of the movable disk 8. A hexagonal guide groove 11 is opened inside the protrusion 10. The top of the guide column 9 extends to the top of the protrusion 10. A hexagonal guide plate 12 is fixed on the outer surface of the guide column 9. The hexagonal guide plate 12 slides between the inner walls of the hexagonal guide groove 11. A bending channel 13 is opened on the outer surface of the guide column 9 near the top edge of the movable disk 8. One end of the bending channel 13 extends to the outer surface of the guide column 9 near the top edge.

[0034] The effect achieved is that the pneumatic robotic arm 1 drives the fixed plate 3 to move, and the adsorption component on the fixed plate 3 grabs and transports the object. During the grabbing and transporting process, the positioning component can prevent it from shaking. After the material is transported to the conveyor table 2, the fixed column 6 on the top of the conveyor seat 4 contacts the adsorption part, thereby triggering the feedback component to release the adsorption component from the object, so that the object can be placed in the storage tank 5 for storage.

[0035] like Figure 3 , Figure 4 , Figure 5 and Figure 8As shown, the adsorption assembly includes a conduit 17. Multiple hexagonal limiting grooves 34 are equidistantly arranged inside the movable disk 8. Multiple cap tubes 20 are equidistantly fixed to the top of the movable disk 8. Positioning components are provided on the inner walls of both sides of the multiple conduits 17 near the top edge. The conduits 17 are located inside the hexagonal limiting grooves 34. Multiple fixing rings 16 are equidistantly fixed to the bottom of the movable disk 8. The bottom of the conduit 17 slides through to the bottom of the movable disk 8 and is located between the inner walls of the fixing rings 16. The top of the conduit 17 slides through to the inside of the cap tube 20 and slides against the inner wall of the cap tube 20. Positioning grooves 25 are provided on both sides of the inner wall of the cap tube 20. The bottom of the conduit 17 is provided with... A rubber suction cup 19 is provided. A threaded ring 18 is threaded on the outer surface of the conduit 17. A hexagonal limiting plate 22 is fixed on the outer surface of the conduit 17. The hexagonal limiting plate 22 slides between the inner walls of the hexagonal limiting groove 34. A return spring 23 is fixed on the top of the hexagonal limiting plate 22. The top of the return spring 23 is fixed on the inner top surface of the hexagonal limiting groove 34. The top of the conduit 17 is closed. A through hole 26 is opened in the middle of the top of the conduit 17. Multiple flat openings 24 are equidistantly opened on the outer surface of the conduit 17 near the top edge. Multiple side openings 21 are equidistantly opened on the outer surface of the cap tube 20 along the circumferential direction. The multiple side openings 21 are all located directly above the flat openings 24.

[0036] The effect achieved is as follows: the side tube 7 is connected to an external vacuum generator, which can generate a negative pressure adsorption force inside the side tube 7. Then, the pneumatic mechanical arm 1 drives the fixed plate 3 to slide downward, so that the rubber suction cup 19 presses against the top of the object to be adsorbed. During the downward pressing process, the elastic force of the compression spring 28 presses the movable plate 8 against the bottom surface inside the negative pressure chamber 14. The pressing force of the compression spring 28 on the movable plate 8 is greater than the adsorption force of the negative pressure on the top of the movable plate 8, so the movable plate 8 remains stationary. When the rubber suction cup 19 presses against the top of the object, it will drive the guide tube 17 to slide upward to the point where the flat opening 24 and the side opening 21 are interconnected. At this time, the negative pressure adsorption force in the negative pressure chamber 14 can be transmitted to the inside of the guide tube 17, so that the rubber suction cup 19 generates a negative pressure adsorption force on the contact surface of the bottom object.

[0037] like Figure 4 , Figure 6 , Figure 8 and Figure 9As shown, the positioning assembly includes a positioning rod 43. Inner cavities 42 are formed near the top of both side walls of the conduit 17. Inner sliding plates 44 are slidably disposed between the inner walls of the two inner cavities 42. The positioning rod 43 is fixed to one side of the inner sliding plate 44. Pushing chambers 35 are formed inside both side walls of the conduit 17. Circular grooves 36 are formed between the inner walls and outer surfaces of both sides of the conduit 17. Limiting rings 38 are fixed between the inner walls of the pushing chambers 35. A guide rod 41 is disposed inside the pushing chamber 35 and is fixed between the inner walls of the circular grooves 36 on the outer surface of the conduit 17. There is a suction membrane 40, and an annular elastic membrane 37 is fixed between the inner wall of the circular groove 36 located on the inner wall of the conduit 17. One end of the guide rod 41 slides and extends to be fixed to one side of the suction membrane 40, and the other end of the guide rod 41 slides and extends to be fixed to one side of the annular elastic membrane 37. A push plate 39 is fixed on the outer surface of the guide rod 41. The outer surface of the push plate 39 slides and seals against the inner wall of the push cavity 35. A gap is left between the outer surface of the guide rod 41 and the inner side of the limiting ring 38. A guide channel 45 is opened at one end of the inner cavity 42, which extends into the interior of the push cavity 35.

[0038] The effect is as follows: hydraulic oil is filled in the cavity connecting the push chamber 35 and the inner cavity 42, which is located in the guide channel 45. When the guide tube 17 is not sliding upward, the flat opening 24 is closed at the connection between the guide tube 17 and the movable plate 8. The suction membrane 40 is located on one side of the side opening 21. The negative pressure suction force inside the negative pressure chamber 14 can pull the suction membrane 40 to one side. At this time, the guide rod 41 will drive the annular elastic membrane 37 to slide to one side. At this time, the positioning rod 43 is stored inside the inner cavity 42. When the guide tube 17 slides upward, the suction membrane 40 slides above the side opening 21. At this time, the negative pressure suction force in the negative pressure chamber 14 can no longer attract the suction membrane 40. However, since the side opening 21 and the flat opening 24 are interconnected, a negative pressure adsorption force is generated inside the conduit 17. The negative pressure adsorption force acts on the annular elastic membrane 37, adsorbing the annular elastic membrane 37 to one side, thereby driving the guide rod 41 together with the push plate 39 to slide towards one end of the pushing cavity 35. At this time, the annular elastic membrane 37 has a reverse elastic restoring force. During the sliding process, the hydraulic oil inside the pushing cavity 35 is pressed into the inner cavity 42 through the guide channel 45 by the push plate 39, driving the inner slide plate 44 together with the positioning rod 43 to slide towards one end of the inner cavity 42, so that one end of the positioning rod 43 is inserted into the positioning groove 25, thereby positioning the conduit 17 and preventing it from shaking when transporting objects.

[0039] like Figure 4 and Figure 7As shown, the feedback component includes an inner sliding sleeve 30. An annular cavity 15 is formed inside the movable disk 8 near the edge of its outer surface. Multiple storage slots 29 are equidistantly formed on the inner wall of the negative pressure cavity 14. A side tube 7 is fixed on the outer surface of the movable disk 8, which connects to the inside of the annular cavity 15. Multiple air outlets 27 are equidistantly formed on the inner wall of the annular cavity 15, which penetrate into the inside of the negative pressure cavity 14. The inner sliding sleeve 30 is slidably sealed between the inner walls of the annular cavity 15. The bottom of the inner sliding sleeve 30 extends slidably into the inside of the storage slots 29. Bending plates 31 are slidably arranged between the inner walls on both sides of the multiple storage slots 29. The tops of the multiple bending plates 31 are fixed to the bottom of the inner sliding sleeve 30. A latch 32 is formed on one side of the multiple bending plates 31. A spring plate 33 is fixed on the top surface inside the multiple storage slots 29. One end of the multiple spring plates 33 is engaged inside the latch 32.

[0040] The effect is as follows: when the pneumatic robotic arm 1 transports the fixed plate 3 to the top of the conveyor table 2 and it is opposite the top of the conveyor seat 4, the fixed plate 3 moves downward, so that the top of the fixed column 6 contacts the bottom of the movable plate 8, thereby lifting the movable plate 8 upward. During the upward sliding of the movable plate 8, the top edge of the movable plate 8 contacts the bottom end of the bending plate 31, thereby driving the inner sliding sleeve 30 to slide upward inside the annular cavity 15. The inner sliding sleeve 30 blocks and seals the air outlet 27, thereby relieving the continuous action of the side pipe 7 on the negative pressure chamber 1. 4. The internal negative pressure adsorption force, and at the same time, when the movable disk 8 slides upward, the guide post 9 will slide upward synchronously. At this time, the top of the bend 13 on the guide post 9 slides above the protrusion 10, and the air located outside can enter the negative pressure cavity 14 through the bend 13, releasing the negative pressure adsorption force inside the negative pressure cavity 14. At this time, under the action of the elastic restoring force of the annular elastic membrane 37, the guide rod 41 is driven to reverse and reset, thereby releasing the positioning constraint between the positioning rod 43 and the positioning groove 25, and at the same time releasing the adsorption force of the rubber suction cup 19 on the object.

[0041] Working principle: The side tube 7 is connected to an external vacuum generator, which generates a negative pressure suction force inside the side tube 7. Then, the pneumatic mechanical arm 1 drives the fixed plate 3 to slide downward, causing the rubber suction cup 19 to press against the top of the object to be suctioned. During the downward pressing process, the elastic force of the compression spring 28 presses the movable plate 8 against the bottom surface of the negative pressure chamber 14. The pressing force of the compression spring 28 on the movable plate 8 is greater than the suction force of the negative pressure acting on the top of the movable plate 8, so the movable plate 8 remains stationary. When the rubber suction cup 19 presses against the top of the object, it drives the guide tube 17 to slide upward to the point where the flat opening 24 and the side opening 21 communicate with each other. At this time, the negative pressure suction force in the negative pressure chamber 14 can be transmitted to the inside of the guide tube 17, causing the rubber suction cup 19 to press against the bottom surface. A negative pressure adsorption force is generated at the contact surface of the object. Hydraulic oil is filled in the cavity connecting the push chamber 35 and the inner cavity 42, which is located in the channel 45. When the guide tube 17 is not sliding upward, the flat opening 24 is closed at the connection between the guide tube 17 and the movable plate 8. The suction membrane 40 is located on one side of the side opening 21. The negative pressure adsorption force inside the negative pressure chamber 14 can pull the suction membrane 40 to one side. At this time, the guide rod 41 will drive the annular elastic membrane 37 to slide to one side. At this time, the positioning rod 43 is stored inside the inner cavity 42. When the guide tube 17 slides upward, the suction membrane 40 slides above the side opening 21. At this time, the negative pressure adsorption force in the negative pressure chamber 14 can no longer adsorb the suction membrane 40. However, since the side opening 21 and the flat opening 24 are connected, at this time... Negative pressure adsorption force is generated inside the conduit 17. This negative pressure adsorption force acts on the annular elastic membrane 37, adsorbing the annular elastic membrane 37 to one side. This, in turn, drives the guide rod 41 and the push plate 39 to slide towards one end of the pushing chamber 35. At this time, the annular elastic membrane 37 has a reverse elastic restoring force. During the sliding process, the hydraulic oil inside the pushing chamber 35 is pressed into the inner cavity 42 through the guide channel 45 by the push plate 39. This drives the inner slide plate 44 and the positioning rod 43 to slide towards one end of the inner cavity 42, so that one end of the positioning rod 43 is inserted into the positioning groove 25, thereby positioning the conduit 17 and preventing it from shaking when transporting objects. When the pneumatic robotic arm 1 transports the fixed plate 3 to the top of the conveyor table 2 and it is opposite to the top of the conveyor seat 4, the fixed plate 3 is moved downward, so that the top of the fixed column 6 is in contact with the movable plate 4. The bottom of the movable plate 8 contacts the upper part of the moving plate 8, which in turn lifts the movable plate 8 upward. As the movable plate 8 slides upward, its top edge contacts the bottom end of the bending plate 31, causing the inner sliding sleeve 30 to slide upward inside the annular cavity 15. The inner sliding sleeve 30 blocks and seals the air outlet 27, thereby relieving the negative pressure adsorption force continuously exerted by the side pipe 7 inside the negative pressure cavity 14. At the same time, as the movable plate 8 slides upward, the guide post 9 slides upward simultaneously. At this time, the top of the bending channel 13 on the guide post 9 slides above the protrusion 10, allowing air from the outside to enter the negative pressure cavity 14 through the bending channel 13, relieving the negative pressure adsorption force inside the negative pressure cavity 14. Then, under the elastic restoring force of the annular elastic membrane 37, the guide rod 41 is driven to return to its original position in the opposite direction.This releases the positioning constraint between the positioning rod 43 and the positioning groove 25, and simultaneously releases the suction force of the rubber suction cup 19 on the object.

[0042] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A pneumatically balanced robotic arm, characterized in that, The device includes a pneumatic robotic arm (1) and a conveyor (2). The pneumatic robotic arm (1) is located on one side of the conveyor (2). A fixed plate (3) is installed at one end of the pneumatic robotic arm (1). A protrusion (10) is fixed on the top of the fixed plate (3). A negative pressure chamber (14) is opened inside the fixed plate (3). The bottom of the negative pressure chamber (14) extends to the bottom of the fixed plate (3) near the inner wall edge. A movable plate (8) is slidably sealed between the inner walls of the negative pressure chamber (14). A feedback component is provided on the inner wall of the negative pressure chamber (14). The movable plate (8) has multiple adsorption components arranged at equal intervals inside. The top of the conveyor (2) is provided with a conveyor seat (4). The top of the conveyor seat (4) is fixed with a fixing column (6) at the middle. The top of the conveyor seat (4) is provided with multiple storage slots (5) at equal intervals.

2. The pneumatically balanced robotic arm according to claim 1, characterized in that: A compression spring (28) is fixed to the top of the movable disc (8). The top of the compression spring (28) is fixed to the top surface inside the negative pressure chamber (14). A guide post (9) is fixed to the top of the movable disc (8). A hexagonal guide groove (11) is opened inside the protrusion (10). The top of the guide post (9) extends through to the top of the protrusion (10).

3. The pneumatically balanced robotic arm according to claim 2, characterized in that: The protrusion (10) has a hexagonal guide groove (11) inside. The outer surface of the guide post (9) is fixed with a hexagonal guide plate (12). The hexagonal guide plate (12) slides between the inner walls of the hexagonal guide groove (11). The outer surface of the guide post (9) is provided with a bend (13) near the top edge of the movable disk (8). One end of the bend (13) extends through to the outer surface of the guide post (9) near the top edge.

4. The pneumatically balanced robotic arm according to claim 1, characterized in that: The adsorption assembly includes a conduit (17), and the interior of the movable disk (8) is provided with a plurality of hexagonal limiting grooves (34) at equal intervals. The top of the movable disk (8) is fixed with a plurality of cap tubes (20) at equal intervals. Positioning components are provided on the inner walls of the two sides of the plurality of conduits (17) near the top edge. The conduits (17) are located inside the hexagonal limiting grooves (34). The bottom of the movable disk (8) is fixed with a plurality of fixing rings (16) at equal intervals. The bottom of the conduit (17) slides through to the bottom of the movable disk (8) and is located between the inner walls of the fixing rings (16). The top of the conduit (17) slides through to the interior of the cap tubes (20) and slides against the inner wall of the cap tubes (20). Positioning grooves (25) are provided on the inner walls of the two sides of the cap tubes (20).

5. A pneumatically balanced robotic arm according to claim 4, characterized in that: The bottom of the conduit (17) is provided with a rubber suction cup (19), the outer surface of the conduit (17) is provided with a threaded ring (18), the outer surface of the conduit (17) is fixed with a hexagonal limiting plate (22), the hexagonal limiting plate (22) slides between the inner walls of the hexagonal limiting groove (34), the top of the hexagonal limiting plate (22) is fixed with a return spring (23), the top of the return spring (23) is fixed to the inner top surface of the hexagonal limiting groove (34), the top of the conduit (17) is closed, and a through hole (26) is opened in the middle of the top of the conduit (17).

6. A pneumatically balanced robotic arm according to claim 5, characterized in that: The outer surface of the conduit (17) is provided with multiple flat openings (24) at equal intervals near the top edge, and the outer surface of the cap tube (20) is provided with multiple side openings (21) at equal intervals along the circumferential direction, with each of the multiple side openings (21) located directly above the flat openings (24).

7. A pneumatically balanced robotic arm according to claim 4, characterized in that: The positioning assembly includes a positioning rod (43). The inner walls of the conduit (17) are provided with cavities (42) near the top. The inner walls of the two cavities (42) are slidably provided with inner slide plates (44). The positioning rod (43) is fixed to one side of the inner slide plate (44). The inner walls of the conduit (17) are provided with pushing cavities (35). The inner walls of the conduit (17) and the outer surfaces of the two sides are provided with circular grooves (36). The inner walls of the pushing cavities (35) are fixed with limit rings (38). The inside of the pushing cavities (35) is provided with guide rods (41).

8. A pneumatically balanced robotic arm according to claim 7, characterized in that: A suction membrane (40) is fixed between the inner walls of the circular groove (36) on the outer surface of the conduit (17), and an annular elastic membrane (37) is fixed between the inner walls of the circular groove (36) on the inner wall of the conduit (17). One end of the guide rod (41) slides and extends to be fixed to one side of the suction membrane (40), and the other end of the guide rod (41) slides and extends to be fixed to one side of the annular elastic membrane (37). A push plate (39) is fixed on the outer surface of the guide rod (41), and the outer surface of the push plate (39) slides and seals against the inner wall of the pushing cavity (35). A gap is left between the outer surface of the guide rod (41) and the inner side of the limiting ring (38). A guide channel (45) penetrating into the inside of the pushing cavity (35) is opened at one end of the inner cavity (42).

9. A pneumatically balanced robotic arm according to claim 1, characterized in that: The feedback component includes an inner sliding sleeve (30), an annular cavity (15) is provided inside the movable disk (8) near the edge of the outer surface, a plurality of storage slots (29) are provided at equal intervals on the inner wall of the negative pressure cavity (14), a side tube (7) is fixed on the outer surface of the movable disk (8) and communicates with the inside of the annular cavity (15), and a plurality of air outlets (27) are provided at equal intervals on the inner wall of the annular cavity (15) and penetrate into the inside of the negative pressure cavity (14).

10. A pneumatically balanced robotic arm according to claim 9, characterized in that: The inner sliding sleeve (30) is slidably sealed between the inner walls of the annular cavity (15). The bottom of the inner sliding sleeve (30) extends slidably into the storage groove (29). A bending plate (31) is slidably disposed between the inner walls on both sides of the multiple storage grooves (29). The top of the multiple bending plates (31) is fixed to the bottom of the inner sliding sleeve (30). A slot (32) is opened on one side of the multiple bending plates (31). A spring sheet (33) is fixed on the inner top surface of the multiple storage grooves (29). One end of the multiple spring sheets (33) is engaged in the slot (32).

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