Mechanical arm positioning pin of integrated cleaning machine

Abstract

The utility model relates to the technical field of positioning pins, and discloses an integrated cleaning machine mechanical arm positioning pin which comprises a mechanical arm positioning pin head, a positioning pin rod is fixedly arranged on one side of the mechanical arm positioning pin head, the total length of a structure formed by the mechanical arm positioning pin head and the positioning pin rod is 40mm, the outer diameter of the positioning pin rod is 6mm, and the outer diameter of the positioning pin rod is 6mm. The whole body of the mechanical arm positioning pin head and the whole body of the positioning pin rod are made of 2205 duplex stainless steel, and a positioning pin external wire is fixedly arranged on the side, close to the mechanical arm positioning pin head, of the outer surface of the positioning pin rod. According to the mechanical arm positioning pin of the integrated cleaning machine, on the premise that the length and the diameter of the positioning pin are not changed, the Rockwell hardness 70 HRB of a traditional 304 steel nail is replaced with a 2205 duplex stainless steel nail, the hardness of the positioning pin is improved, meanwhile, the abrasion resistance of the positioning pin is enhanced, and the positioning pin has the advantage of being not prone to abrasion; and the service life of the positioning pin is effectively prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of positioning pins, in particular to a positioning pin for an integrated cleaning machine mechanical arm. Background Art

[0002] When the cleaning machine's loading trough is filled with 7 groups of flower baskets, a basket grabbing command is sent to the cleaning robot arm. The cleaning robot arm moves horizontally to the top of the flower basket, and the clamp descends to the height of the basket. The cylinder retracts and drives the mechanical clamp to clamp. After the robot arm's positioning pins are accurately inserted into the positioning holes on both sides of the flower basket, the robot arm rises to a high position and moves horizontally to place the flower basket into the next cleaning sink. The cylinder drives the robot arm to open, and the positioning pins exit the positioning holes on both sides of the flower basket. The robot arm rises to a high position and then goes to the next target sink, repeating the cycle.

[0003] When the robotic arm grabs the flower basket and rises, the positioning pin slides from the widened part of the flower basket positioning hole to the narrow hole, ensuring that the flower basket does not slide left and right while positioning and shaping the flower basket, ensuring the neatness of the flower basket. When the positioning pin slides into the narrow hole, it will produce friction with the flower basket. Similarly, when the robotic arm hangs the flower basket and moves horizontally, the upper part of the positioning pin and the contact surface of the flower basket will also produce friction due to slight shaking.

[0004] The existing integrated cleaning machine's gripper positioning pins have varying degrees of wear due to long-term gripping and releasing of flower baskets, and the frequent friction between the pin body and the contact part of the flower basket. After the positioning pins are thickened, the fault tolerance is reduced when the pin head is inserted into the flower basket positioning hole, which will cause an alarm when the basket is not in place, affecting the stable operation of the cleaning machine. Utility Model Content

[0005] (1) Technical problems solved

[0006] The purpose of the utility model is to provide an integrated cleaning machine robot arm positioning pin to solve the problems of poor wear resistance and poor stability of the existing integrated cleaning machine clamp positioning pins mentioned in the background technology.

[0007] (2) Technical solution

[0008] To achieve the above-mentioned object, the present invention provides the following technical solution: a positioning pin for an integrated cleaning machine robot arm, comprising a robot arm positioning pin head, a positioning pin rod fixedly provided on one side of the robot arm positioning pin head, the total length of the structure composed of the robot arm positioning pin head and the positioning pin rod is 40 mm, the outer diameter of the positioning pin rod is 6 mm, and the robot arm positioning pin head and the positioning pin rod are made of 2205 duplex stainless steel;

[0009] A positioning pin external wire is fixedly provided on the side of the outer surface of the positioning pin rod close to the positioning pin head of the robot arm, and a chamfered guide surface is fixedly provided on the side of the outer surface of the positioning pin rod away from the positioning pin external wire;

[0010] A positioning pin external wire is fixedly provided on the side of the outer surface of the positioning pin rod close to the positioning pin head of the robot arm, and a chamfered guide surface is fixedly provided on the side of the outer surface of the positioning pin rod away from the positioning pin external wire.

[0011] Preferably, a smooth head surface is fixedly provided on the side of the outer surface of the robot arm positioning pin head away from the positioning pin rod, and a smooth tail surface is fixedly provided on the side of the outer surface of the robot arm positioning pin head away from the smooth head surface.

[0012] Preferably, an anti-slip vertical groove is fixedly provided on the outer surface of the robot arm positioning pin head, and the anti-slip vertical groove is located between the smooth head surface and the smooth tail surface.

[0013] Preferably, a gasket structure is provided on one side of the positioning pin head of the robotic arm, and the gasket structure includes a first connecting gasket and a second connecting gasket, and the first connecting gasket is movably connected to one side of the positioning pin head of the robotic arm.

[0014] Preferably, the first connecting gasket is located on the outside of the external wire cutting of the positioning pin, the second connecting gasket is movably connected to the outside of the external wire cutting of the positioning pin, the second connecting gasket is located on the side of the first connecting gasket away from the positioning pin head of the robotic arm, and the outer surface of the positioning pin rod is movably connected with a tightening cap, and the tightening cap is movably connected to the second connecting gasket.

[0015] Preferably, a positioning pin embedded in the positioning groove is fixedly provided on the inner side of the tightening sleeve cap, and the positioning pin embedded in the positioning groove is matched with the positioning pin external wire running.

[0016] Preferably, the external wire of the positioning pin is movably connected to the internal positioning groove of the positioning pin, and the outer surface of the tightening cap is fixedly provided with a friction surface.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] The positioning pin of the integrated cleaning machine robot arm replaces the traditional 304 steel nail with a Rockwell hardness of 70HRB with a 2205 duplex stainless steel nail while ensuring that the length and diameter of the positioning pin remain unchanged. While improving the hardness of the positioning pin, the wear resistance of the positioning pin is enhanced, making the positioning pin less prone to wear and effectively extending the service life of the positioning pin. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of the utility model;

[0020] Figure 2 This is a schematic diagram of the three-dimensional structure of the positioning pin head of the mechanical arm of the utility model;

[0021] Figure 3 This is a schematic diagram of the three-dimensional structure of the gasket structure of the utility model;

[0022] Figure 4 This is a schematic diagram of the three-dimensional structure of the tightening cap of the utility model;

[0023] Figure 5 This is a schematic diagram of the enlarged structure of the local details of the external wire-cutting with a positioning pin in the utility model.

[0024] In the figure: 101, robot arm positioning pin head; 102, positioning pin rod; 103, positioning pin external wire; 104, chamfered guide surface; 105, smooth head surface; 106, smooth tail surface; 107, anti-slip vertical groove; 108, gasket structure; 1081, first connecting gasket; 1082, second connecting gasket; 109, tightening cap; 110, positioning pin embedded in the positioning groove; 111, friction surface. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] See also Figure 1 - Figure 5The utility model provides a technical solution: a positioning pin for an integrated cleaning machine robot arm, comprising a robot arm positioning pin head 101, a positioning pin rod 102 fixedly provided on one side of the robot arm positioning pin head 101, the total length of the structure composed of the robot arm positioning pin head 101 and the positioning pin rod 102 is 40 mm, the outer diameter of the positioning pin rod 102 is 6 mm, and the robot arm positioning pin head 101 and the positioning pin rod 102 are made of 2205 duplex stainless steel; The outer surface of the positioning pin rod 102 is fixedly provided with a positioning pin external wire 103 on the side close to the positioning pin head 101 of the robot arm, and a chamfered guide surface 104 is fixedly provided on the side of the outer surface of the positioning pin rod 102 away from the positioning pin external wire 103. The outer surface of the robot arm positioning pin head 101 is fixedly provided with a smooth head surface 105 on the side away from the positioning pin rod 102, and a smooth tail surface 106 is fixedly provided on the side of the outer surface of the robot arm positioning pin head 101 away from the smooth head surface 105. The outer surface of the robot arm positioning pin head 101 is fixedly provided with an anti-skid vertical groove 107, and the anti-skid vertical groove 107 is located between the smooth head surface 105 and the smooth tail surface 106. The robot arm locating pin is a 2205 duplex stainless steel structure with a length of 40mm and a diameter of 6mm, which makes the locating pin have relatively excellent strength and wear resistance. The staff picked up the robot arm locating pin head 101, and the anti-slip vertical groove 107 between the smooth head surface 105 and the smooth tail surface 106 increased the friction between the staff's hand and the contact surface of the robot arm locating pin head 101, making the grip of the robot arm locating pin head 101 more stable. The staff inserted the locating pin rod 102 into the mounting hole of the cleaning machine robot arm, so that the first connecting gasket 1081 was away from the side of the robot arm locating pin head 101 and fully contacted with the outer surface of the robot arm.

[0027] A gasket structure 108 is provided on one side of the robot arm positioning pin head 101, and the gasket structure 108 includes a first connecting gasket 1081 and a second connecting gasket 1082. The first connecting gasket 1081 is movably connected to one side of the robot arm positioning pin head 101, and the first connecting gasket 1081 is located on the outside of the positioning pin external wire 103. The second connecting gasket 1082 is movably connected to the outside of the positioning pin external wire 103. The second connecting gasket 1082 is located on the side of the first connecting gasket 1081 away from the robot arm positioning pin head 101. The outer surface is movably connected with a tightening cap 109, and the tightening cap 109 is movably connected to the second connecting gasket 1082. The inner side of the tightening cap 109 is fixedly provided with a positioning pin embedded in the positioning groove 110, and the positioning pin embedded in the positioning groove 110 is matched with the positioning pin external wire 103. The positioning pin external wire 103 is movably connected with the positioning pin embedded in the positioning groove 110. The outer surface of the tightening cap 109 is fixedly provided with a friction surface 111. When using the positioning pin to perform the flower basket grabbing operation of the cleaning machine robot arm, the staff will chamfer the first connecting gasket 1081 through the chamfer. One end of the guide surface 104 is sleeved on the positioning pin rod 102, and the first connecting gasket 1081 is moved to fully connect it with the positioning pin head 101 of the robot arm. The staff sleeves the second connecting gasket 1082 on the positioning pin rod 102 through one end of the chamfered guide surface 104. By moving the second connecting gasket 1082, the second connecting gasket 1082 is fully contacted with the side of the robot arm away from the first connecting gasket 1081. Then the staff picks up the tightening cap 109. The design of the friction surface 111 makes the staff hold the tightening cap 109 more steadily. The staff will put the tightening cap 109 on the positioning pin rod 102 through one end of the chamfered guide surface 104 until the tightening cap 109 contacts the positioning pin external wire 103. The staff will screw the tightening cap 109 to make the positioning pin embedded in the positioning groove 110 on the inner side of the tightening cap 109 threadedly connected with the positioning pin external wire 103, thereby realizing the tightening operation of the tightening cap 109, ensuring the tightness of the first connecting gasket 1081 and the second connecting gasket 1082 with the two side contact surfaces of the cleaning machine robot arm, and realizing a stable connection between the positioning pin and the robot arm.

[0028] Working principle: The robot arm locating pin is a 2205 duplex stainless steel structure with a length of 40mm and a diameter of 6mm, which makes the locating pin have relatively excellent strength and wear resistance. When using the locating pin for the flower basket grabbing operation of the cleaning machine robot arm, the staff puts the first connecting gasket 1081 on the locating pin rod 102 through one end of the chamfered guide surface 104, and fully connects it with the robot arm locating pin head 101 by moving the first connecting gasket 1081. Then the staff picks up the robot arm locating pin head 101. The anti-slip vertical groove 107 between the smooth head surface 105 and the smooth tail surface 106 increases the friction between the staff's hand and the contact surface of the robot arm locating pin head 101, making the grip of the robot arm locating pin head 101 more stable. The staff inserts the locating pin rod 102 into the mounting hole of the cleaning machine robot arm, so that the side of the first connecting gasket 1081 away from the robot arm locating pin head 101 is in full contact with the outer surface of the robot arm. The staff puts the second The connecting gasket 1082 is sleeved on the positioning pin rod 102 through one end of the chamfered guide surface 104. By moving the second connecting gasket 1082, the second connecting gasket 1082 is fully contacted with the side of the robot arm away from the first connecting gasket 1081. Then the staff will pick up the tightening cap 109. The design of the friction surface 111 makes the staff's grip on the tightening cap 109 more stable. The staff will sleeve the tightening cap 109 on the positioning pin rod 102 through one end of the chamfered guide surface 104. On the pin rod 102, until the tightening cap 109 contacts the external wire 103 of the positioning pin, the staff twists the tightening cap 109 to make the positioning pin embedded in the positioning groove 110 on the inner side of the tightening cap 109 and the external wire 103 of the positioning pin to achieve threaded connection, thereby realizing the tightening operation of the tightening cap 109, ensuring the tightness of the first connecting gasket 1081 and the second connecting gasket 1082 with the two side contact surfaces of the cleaning machine robot arm, and realizing a stable connection between the positioning pin and the robot arm.

[0029] Finally, it should be noted that the above content is only used to illustrate the technical solution of the utility model, rather than to limit the scope of protection of the utility model. Simple modifications or equivalent replacements of the technical solution of the utility model by ordinary technicians in this field do not deviate from the essence and scope of the technical solution of the utility model.

Claims

1. A positioning pin for an integrated cleaning machine robot arm, comprising a robot arm positioning pin head (101), characterized in that: A positioning pin rod (102) is fixedly provided on one side of the robot arm positioning pin head (101), the total length of the structure composed of the robot arm positioning pin head (101) and the positioning pin rod (102) is 40 mm, the outer diameter of the positioning pin rod (102) is 6 mm, and the entire body of the robot arm positioning pin head (101) and the positioning pin rod (102) is made of 2205 duplex stainless steel; A positioning pin external wire (103) is fixedly provided on the side of the outer surface of the positioning pin rod (102) close to the robot arm positioning pin head (101), and a chamfered guide surface (104) is fixedly provided on the side of the outer surface of the positioning pin rod (102) away from the positioning pin external wire (103).

2. The positioning pin of the integrated cleaning machine robot arm according to claim 1, characterized in that: A smooth head surface (105) is fixedly provided on the side of the outer surface of the robot arm positioning pin head (101) away from the positioning pin rod (102), and a smooth tail surface (106) is fixedly provided on the side of the outer surface of the robot arm positioning pin head (101) away from the smooth head surface (105).

3. The positioning pin of the integrated cleaning machine robot arm according to claim 2, characterized in that: An anti-skid vertical groove (107) is fixedly provided on the outer surface of the robot arm positioning pin head (101), and the anti-skid vertical groove (107) is located between the smooth head surface (105) and the smooth tail surface (106).

4. The positioning pin for the integrated cleaning machine robot arm according to claim 3, characterized in that: A gasket structure (108) is provided on one side of the robot arm positioning pin head (101), and the gasket structure (108) includes a first connecting gasket (1081) and a second connecting gasket (1082), and the first connecting gasket (1081) is movably connected to one side of the robot arm positioning pin head (101).

5. The positioning pin of the integrated cleaning machine robot arm according to claim 4, characterized in that: The first connecting gasket (1081) is located on the outside of the positioning pin external wire (103), the second connecting gasket (1082) is movably connected to the outside of the positioning pin external wire (103), the second connecting gasket (1082) is located on the side of the first connecting gasket (1081) away from the robot arm positioning pin head (101), the outer surface of the positioning pin rod (102) is movably connected to a tightening cap (109), and the tightening cap (109) is movably connected to the second connecting gasket (1082).

6. The positioning pin of the integrated cleaning machine robot arm according to claim 5, characterized in that: A positioning pin embedded positioning groove (110) is fixedly provided on the inner side of the tightening sleeve cap (109), and the positioning pin embedded positioning groove (110) is matched with the positioning pin external wire (103).

7. The positioning pin of the integrated cleaning machine robot arm according to claim 6, characterized in that: The positioning pin external wire (103) is movably connected to the positioning pin internal positioning groove (110), and the outer surface of the tightening cap (109) is fixedly provided with a friction surface (111).

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