Adjustable air cylinder for mechanical arm

Abstract

The utility model discloses an adjustable air cylinder for a mechanical arm, which comprises a bottom plate, the inner wall of the bottom plate is rotatably connected with a fixed disc, the top surface of the fixed disc is fixedly connected with a fixed box, the inner wall of the fixed box is fixedly connected with a first electric push rod, and a vacuum pump is connected with a carrying mechanism. The adjusting mechanism and the other driving motor are started to drive the carrying mechanism to rotate through the connecting assembly so as to adjust the grabbing angle, the vacuum pump and the carrying mechanism are started to grab the workpiece, and the driving assembly is started to drive the carrying mechanism to rotate to the screw locking machine through the fixing disc, the fixing box, the connecting plate, the first adjusting base and the adjusting rod so as to pick and place the workpiece. The grabbing height can be adjusted by starting the first electric push rod, the grabbing length can be adjusted by starting the adjusting mechanism, the aim of automatically adjusting the grabbing angle of the air cylinder on the mechanical arm conveniently is achieved, and the problem that the grabbing flexibility of the mechanical arm is greatly reduced due to the fact that an existing air cylinder installation mode is fixed is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of full-automatic screw locking machines, in particular to a cylinder for an adjustable robotic arm. Background Art

[0002] The full-automatic screw locking machine, also known as the full-automatic screw fastening machine, automatic screw feeder, automatic screw feeding and locking machine, industrial tightening system, etc., is a machine used to replace the traditional manual screw tightening. When using the screw locking machine, a manipulator is required, which cooperates with the cylinder and suction cup on the manipulator to automatically grab the workpiece and move it to the screw locking machine, and at the same time automatically take the workpiece after the screw is tightened.

[0003] At present, although the existing manipulator can automatically adjust the grasping position of the cylinder on the workpiece, due to the relatively fixed installation method of the cylinder, it is difficult to automatically adjust the grasping angle when the cylinder grasps the special-shaped workpiece, thus greatly reducing the grasping flexibility of the manipulator. Summary of the Utility Model

[0004] Aiming at the deficiencies of the prior art, the utility model provides a cylinder for an adjustable robotic arm to solve the problems raised in the above background art.

[0005] In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0006] A cylinder for an adjustable robotic arm includes a bottom plate. The inner wall of the bottom plate is rotatably connected with a fixed disk. The top surface of the fixed disk is fixedly connected with a fixed box. The inner wall of the fixed box is fixedly connected with a first electric push rod. The output end of the first electric push rod is fixedly connected with a connecting plate, and the connecting plate overlaps with the top surface of the fixed box. The top surface of the connecting plate is fixedly connected with a first adjusting seat. The front surface of the first adjusting seat is fixedly connected with a driving motor, and the output end of the driving motor is fixedly connected with the rotating end of the first adjusting seat. The inner wall of the first adjusting seat is fixedly connected with an adjusting rod. An adjusting mechanism is arranged inside the adjusting rod. A connecting component is arranged on the left side of the adjusting rod. A carrying mechanism is arranged on the left side of the adjusting rod. A driving component is arranged on the bottom surface of the bottom plate.

[0007] Preferably, the adjusting mechanism consists of a second electric push rod, a first servo motor and an adjusting disk. The second electric push rod is fixedly connected with the inner wall of the adjusting rod. The first servo motor is fixedly connected with the output end of the second electric push rod. The adjusting disk is fixedly connected with the output end of the first servo motor, and the adjusting disk overlaps with the left side of the adjusting rod.

[0008] Preferably, the connecting component consists of a second adjusting seat and a connecting sleeve. The second adjusting seat is fixedly connected with the left side of the adjusting disk. The connecting sleeve is fixedly connected with the inner wall of the second adjusting seat.

[0009] Preferably, the carrying mechanism is composed of a cylinder, a vacuum tube and a vacuum chuck. The cylinder is fixedly connected to the inner wall of the connecting sleeve. The vacuum tube is fixedly connected to the output end of the cylinder. The air outlet end of the vacuum chuck is fixedly connected to the air inlet end of the vacuum tube.

[0010] Preferably, the driving assembly is composed of a transmission shaft, a worm gear, a second servo motor and a worm. The transmission shaft is fixedly connected to the bottom surface of the fixed disk. The worm gear is fixedly connected to the surface of the transmission shaft. The second servo motor is fixedly connected to the bottom surface of the fixed disk. The worm is fixedly connected to the output end of the second servo motor and meshes with the worm gear.

[0011] Preferably, the fixed disk is circular and made of metal material.

[0012] Preferably, the number of the driving motors is multiple, and the multiple driving motors are respectively located at the rotating ends of the first adjusting seat and the second adjusting seat.

[0013] Compared with the prior art, the beneficial effects of the present utility model are as follows: for the cylinder of the adjustable robotic arm, the vacuum pump is connected to the carrying mechanism. The adjusting mechanism and another driving motor are started to drive the carrying mechanism to rotate through the connecting component to adjust the grasping angle. The vacuum pump and the carrying mechanism are started to grasp the workpiece. The driving assembly is started to drive the carrying mechanism to rotate to the screwdriving machine through the fixed disk, the fixed box, the connecting plate, the first adjusting seat and the adjusting rod to pick and place the workpiece. The first electric push rod is started to adjust the grasping height, and the adjusting mechanism is started to adjust the grasping length; the goal of facilitating the automatic adjustment of the grasping angle of the cylinder on the robotic arm is achieved, and the problem that the grasping flexibility of the robotic arm is greatly reduced due to the relatively fixed installation method of the existing cylinder is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is the isometric view of the structure of the present utility model;

[0015] Figure 2 is the enlarged view of the structure at A of the structure of the present utility model;

[0016] Figure 3 is the rear sectional view of the structure of the present utility model;

[0017] Figure 4 is the enlarged view of the structure at B of the structure of the present utility model.

[0018] In the figure: 1. Bottom plate; 2. Fixed disk; 3. Fixed box; 4. First electric push rod; 5. Connecting plate; 6. First adjusting seat; 7. Driving motor; 8. Adjusting rod; 9. Second electric push rod; 10. First servo motor; 11. Adjusting disk; 12. Second adjusting seat; 13. Connecting sleeve; 14. Cylinder; 15. Vacuum tube; 16. Vacuum suction cup; 17. Transmission shaft; 18. Worm gear; 19. Second servo motor; 20. Worm. Detailed implementation manner

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0020] Refer to Figures 1-4 , a cylinder for an adjustable robotic arm, including a bottom plate 1. The inner wall of the bottom plate 1 is rotatably connected to a fixed disk 2. The fixed disk 2 is circular in shape and is made of a metal material. The fixed disk 2 made of a metal material has higher strength, is not easily deformed and damaged after being stressed, and is more durable. The top surface of the fixed disk 2 is fixedly connected to a fixed box 3. The inner wall of the fixed box 3 is fixedly connected to a first electric push rod 4. The output end of the first electric push rod 4 is fixedly connected to a connecting plate 5, and the connecting plate 5 abuts against the top surface of the fixed box 3. The top surface of the connecting plate 5 is fixedly connected to a first adjusting seat 6. The front surface of the first adjusting seat 6 is fixedly connected to a driving motor 7. The number of driving motors 7 is multiple, and the multiple driving motors 7 are respectively located at the rotating ends of the first adjusting seat 6 and the second adjusting seat 12, and are used to drive the robotic hand and the carrying mechanism to rotate, greatly improving the carrying flexibility of the workpiece. The output end of the driving motor 7 is fixedly connected to the rotating end of the first adjusting seat 6. The inner wall of the first adjusting seat 6 is fixedly connected to an adjusting rod 8. An adjusting mechanism is arranged inside the adjusting rod 8. The adjusting mechanism is composed of a second electric push rod 9, a first servo motor 10, and an adjusting disk 11. The second electric push rod 9 is fixedly connected to the inner wall of the adjusting rod 8. The first servo motor 10 is fixedly connected to the output end of the second electric push rod 9. The adjusting disk 11 is fixedly connected to the output end of the first servo motor 10, and the adjusting disk 11 abuts against the left side of the adjusting rod 8, and is used to drive the carrying mechanism to stretch and rotate, facilitating the automatic adjustment of the grasping angle and grasping length of the carrying mechanism. A connecting component is arranged on the left side of the adjusting rod 8. A carrying mechanism is arranged on the left side of the adjusting rod 8. A driving component is arranged on the bottom surface of the bottom plate 1.

[0021] Specifically, the connecting component consists of a second adjusting seat 12 and a connecting sleeve 13. The second adjusting seat 12 is fixedly connected to the left side of the adjusting disc 11, and the connecting sleeve 13 is fixedly connected to the inner wall of the second adjusting seat 12. By driving the second adjusting seat 12 and the connecting sleeve 13 to rotate through multiple driving motors 7, the longitudinal grasping angle of the carrying mechanism can be automatically adjusted.

[0022] Specifically, the carrying mechanism consists of a cylinder 14, a vacuum tube 15, and a vacuum chuck 16. The cylinder 14 is fixedly connected to the inner wall of the connecting sleeve 13, the vacuum tube 15 is fixedly connected to the output end of the cylinder 14, and the air outlet end of the vacuum chuck 16 is fixedly connected to the air inlet end of the vacuum tube 15, which is used to connect to a vacuum pump, facilitating the adsorption and fixation of workpieces through vacuum suction, and improving the automation and stability of workpiece loading and unloading.

[0023] Specifically, the driving component consists of a transmission shaft 17, a worm gear 18, a second servo motor 19, and a worm 20. The transmission shaft 17 is fixedly connected to the bottom surface of the fixed disc 2, the worm gear 18 is fixedly connected to the surface of the transmission shaft 17, the second servo motor 19 is fixedly connected to the bottom surface of the fixed disc 2, the worm 20 is fixedly connected to the output end of the second servo motor 19, and the worm 20 meshes with the worm gear 18, which is used to drive the carrying mechanism to rotate, facilitating the driving of workpieces for loading and unloading operations, and increasing the grasping range.

[0024] All the electrical components appearing in this article are electrically connected to an external main controller and 220V mains power supply, and the main controller can be a conventional known device such as a computer for control.

[0025] During use: First, connect the air outlet end of the vacuum tube 15 to a vacuum pump, start the first servo motor 10 to drive the adjusting disc 11 to rotate. Through the rotation of the adjusting disc 11, drive the second adjusting seat 12 and the connecting sleeve 13 to rotate. At the same time, another driving motor 7 drives the connecting sleeve 13 to rotate along the inner wall of the second adjusting seat 12. Through the rotation of the connecting sleeve 13, drive the cylinder 14 to rotate to adjust the grasping angle according to the shape of the workpiece. Start the cylinder 14 to push the vacuum tube 15 and the vacuum chuck 16 to move into contact with the workpiece. Start the vacuum pump to suck the air inside the vacuum chuck 16 through the vacuum tube 15, and then the workpiece can be adsorbed and grasped in a vacuum state. Start the second servo motor 19 to drive the worm 20 to rotate. Through the meshing of the worm 20 and the worm gear 18, drive the transmission shaft 17 and the fixed disc 2 to rotate along the inner wall of the bottom plate 1. Through the rotation of the fixed disc 2, drive the fixed box 3, the connecting plate 5, the first adjusting seat 6, and the adjusting rod 8 to rotate, and then drive the cylinder 14 to rotate to the screw locking machine for picking and placing workpieces. Start the first electric push rod 4 to push the connecting plate 5 and the first adjusting seat 6 to move upward to adjust the grasping height. Start the second electric push rod 9 to push the first servo motor 10 and the adjusting disc 11 to move, and then adjust the grasping length.

[0026] In summary, for the cylinder used in the adjustable robotic arm, the vacuum pump is connected to the carrying mechanism. The adjustment mechanism and another drive motor 7 are started, and the carrying mechanism is driven to rotate through the connection component to adjust the grasping angle. The vacuum pump and the carrying mechanism are started to grasp the workpiece. The drive component is started to drive the carrying mechanism to rotate to the screw locking machine through the fixed disk 2, the fixed box 3, the connecting plate 5, the first adjustment seat 6 and the adjustment rod 8 to pick and place the workpiece. The first electric push rod 4 is started to adjust the grasping height, and the adjustment mechanism is started to adjust the grasping length, achieving the goal of facilitating the automatic adjustment of the grasping angle of the cylinder on the robotic arm, and avoiding the problem that the grasping flexibility of the robotic arm is greatly reduced due to the relatively fixed installation method of the existing cylinder, which is used to solve the problems raised in the above-mentioned background technology.

[0027] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or sequence between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0028] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An air cylinder for an adjustable robotic arm, comprising a bottom plate (1), characterized in that, A fixed disk (2) is rotatably connected to the inner wall of the bottom plate (1). A fixed box (3) is fixedly connected to the top surface of the fixed disk (2). A first electric push rod (4) is fixedly connected to the inner wall of the fixed box (3). The output end of the first electric push rod (4) is fixedly connected to a connecting plate (5), and the connecting plate (5) abuts against the top surface of the fixed box (3). A first adjusting seat (6) is fixedly connected to the top surface of the connecting plate (5). A driving motor (7) is fixedly connected to the front surface of the first adjusting seat (6), and the output end of the driving motor (7) is fixedly connected to the rotating end of the first adjusting seat (6). An adjusting rod (8) is fixedly connected to the inner wall of the first adjusting seat (6). An adjusting mechanism is arranged inside the adjusting rod (8). A connecting component is arranged on the left side of the adjusting rod (8). A carrying mechanism is arranged on the left side of the adjusting rod (8). A driving component is arranged on the bottom surface of the bottom plate (1).

2. The cylinder for an adjustable robotic arm according to claim 1, wherein The adjusting mechanism consists of a second electric push rod (9), a first servo motor (10) and an adjusting disk (11). The second electric push rod (9) is fixedly connected to the inner wall of the adjusting rod (8). The first servo motor (10) is fixedly connected to the output end of the second electric push rod (9). The adjusting disk (11) is fixedly connected to the output end of the first servo motor (10), and the adjusting disk (11) abuts against the left side of the adjusting rod (8).

3. The air cylinder for an adjustable robotic arm according to claim 2, wherein The connecting component consists of a second adjusting seat (12) and a connecting sleeve (13). The second adjusting seat (12) is fixedly connected to the left side of the adjusting disk (11). The connecting sleeve (13) is fixedly connected to the inner wall of the second adjusting seat (12).

4. The cylinder for an adjustable robotic arm according to claim 3, wherein, The carrying mechanism consists of a cylinder (14), a vacuum tube (15) and a vacuum suction cup (16). The cylinder (14) is fixedly connected to the inner wall of the connecting sleeve (13). The vacuum tube (15) is fixedly connected to the output end of the cylinder (14). The air outlet end of the vacuum suction cup (16) is fixedly connected to the air inlet end of the vacuum tube (15).

5. The cylinder for an adjustable robotic arm according to claim 1, wherein, The driving component consists of a transmission shaft (17), a worm gear (18), a second servo motor (19) and a worm (20). The transmission shaft (17) is fixedly connected to the bottom surface of the fixed disk (2). The worm gear (18) is fixedly connected to the surface of the transmission shaft (17). The second servo motor (19) is fixedly connected to the bottom surface of the fixed disk (2). The worm (20) is fixedly connected to the output end of the second servo motor (19), and the worm (20) meshes with the worm gear (18).

6. The cylinder for an adjustable robotic arm according to claim 1, wherein, The fixed disk (2) is circular in shape and is made of a metal material.

7. An air cylinder for an adjustable robotic arm according to claim 1, characterized in that, The number of the driving motors (7) is multiple, and the multiple driving motors (7) are respectively located at the rotating ends of the first adjusting seat (6) and the second adjusting seat (12).

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