Compact structure device of full-pneumatic power-assisted manipulator

Abstract

The utility model belongs to the technical field of manipulators, particularly relates to a full-pneumatic power-assisted manipulator compact structure device, and aims to solve the problems that stable grabbing is inconvenient and the grabbing range is inconvenient to adjust in the using process of an existing manipulator, the following scheme is provided: the full-pneumatic power-assisted manipulator compact structure device comprises a mounting plate; the fixed bin is fixedly mounted at the bottom of the mounting plate, a first sealing groove and a second sealing groove are formed in the fixed bin, and the same vent hole is formed between the first sealing groove and the second sealing groove; the number of the clamping jaws is two, connecting blocks are fixedly installed on the two clamping jaws, and connecting columns are fixedly installed on the outer sides of the two connecting blocks; the adjusting mechanism is arranged on the two connecting columns and used for adjusting the distance between the two clamping jaws, in the using process, stable grabbing can be facilitated, the grabbing range can be adjusted conveniently, the structure is simple, and use is convenient.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, and in particular to a compact structure device for a fully pneumatically assisted robotic arm. Background Technology

[0002] A robotic arm is an automated operating device that can mimic certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. Its characteristic is that it can be programmed to complete various expected tasks. In terms of structure and performance, it combines the advantages of both humans and machines. The robotic arm is the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to realize the mechanization and automation of production. It can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, and nuclear energy sectors.

[0003] Patent document CN219563134U discloses a pneumatic manipulator device, which includes a fixed chamber with a top plate fixedly installed on its top surface. Two clamping plates are provided on one side of the fixed chamber, and clamping components are located on both sides of the fixed chamber for clamping objects. Each clamping component includes: a fixing hole on both sides of the fixed chamber, with a cylinder fixedly fitted inside the fixing hole; and a limit hole on one side of the fixed chamber, with two movable tubes movably fitted inside the limit hole. The movable tubes are fixedly installed to one end of the telescopic shaft of the cylinder. Through the coordinated use of the fixed chamber, top plate, clamping plates, fixing holes, cylinders, limit holes, movable tubes, movable plates, a first fixing plate, and a protective pad, the two clamping plates can clamp smaller objects, demonstrating good applicability.

[0004] However, the aforementioned patent documents are not convenient for stable gripping during use, and it is also inconvenient to adjust the gripping range. Therefore, we propose a compact structure device for a fully pneumatically assisted manipulator to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing robotic arms, such as difficulty in stable grasping and difficulty in adjusting the grasping range, by proposing a compact structure device for a fully pneumatically assisted robotic arm.

[0006] The compact structure device for the fully pneumatically assisted manipulator provided in this application adopts the following technical solution:

[0007] A compact structure for a fully pneumatically assisted robotic arm, comprising:

[0008] Mounting plate;

[0009] The fixed compartment is fixedly installed at the bottom of the mounting plate. The fixed compartment has a first sealing groove and a second sealing groove, and the same vent is provided between the first sealing groove and the second sealing groove.

[0010] The gripper has two grippers, each with a connecting block fixedly mounted on it, and a connecting post fixedly mounted on the outer side of each connecting block.

[0011] The adjustment mechanism is located on two connecting columns and is used to adjust the distance between the two grippers.

[0012] Furthermore, an installation slot is provided inside the fixed chamber, and a first cylinder is fixedly installed on the top inner wall of the installation slot. The output shaft of the first cylinder is fixedly connected to the top of the first piston plate. When the first cylinder is opened, the first cylinder drives the first piston plate to move vertically.

[0013] Furthermore, the other ends of the two L-shaped tubes are fixedly connected to flexible hoses, one end of each flexible hose is fixedly connected to the first sealing groove, and a limit plate is fixedly installed in the second sealing groove.

[0014] Furthermore, each of the two guide posts has a groove at its other end, and an adjusting post is fixedly installed in each of the two grooves. One end of each adjusting post is fixedly connected to the outside of the two connecting posts. A second cylinder is fixedly installed on one side of the inner wall of each of the two grooves. The output shafts of the two second cylinders are fixedly connected to the two adjusting posts. When the second cylinder is opened, the adjusting post drives the connecting post to move horizontally.

[0015] Furthermore, the adjustment mechanism includes two guide pillars, and mounting holes are provided on both sides of the inner wall of the second sealing groove. The two guide pillars are slidably installed in the two mounting holes respectively, and one end of the two guide pillars is fixedly connected to the outer side of the two second piston plates respectively.

[0016] Furthermore, rubber airbags are fixedly connected to the outer sides of both grippers, and L-shaped tubes are fixedly installed on both connecting posts, with one end of each L-shaped tube fixedly connected to the two rubber airbags.

[0017] Furthermore, a first piston plate is movably installed in the first sealing groove, and a first sealing ring is fixedly connected to the outer side of the first piston plate. Two symmetrical second piston plates are movably installed in the second sealing groove, and a second sealing ring is fixedly connected to the outer side of each of the two second piston plates.

[0018] In summary, this application includes at least one of the following beneficial technical effects:

[0019] 1. When the first cylinder is activated, the first cylinder drives the first piston plate to move vertically upward. The first piston plate generates negative pressure in the second sealing groove through the vent hole, which in turn causes the two second piston plates to move closer to each other. The two connecting columns drive the two connecting blocks and the two grippers to move closer to each other, thus enabling the gripping action.

[0020] 2. When the second cylinder is activated, the second cylinder drives the adjusting column to move horizontally. The adjusting column drives the connecting column, connecting block and gripper to move horizontally, thereby adjusting the distance between the two grippers, which can be used to grip objects of different sizes.

[0021] This invention enables stable gripping during use and allows for easy adjustment of the gripping range. It has a simple structure and is easy to use. Attached Figure Description

[0022] Figure 1 This is a front view structural schematic diagram of the compact structure device for the fully pneumatically assisted manipulator proposed in this utility model;

[0023] Figure 2 The compact structure device for the fully pneumatically assisted manipulator proposed in this utility model Figure 1 Enlarged structural diagram of section A;

[0024] Figure 3 The compact structure device for the fully pneumatically assisted manipulator proposed in this utility model Figure 1 Enlarged structural diagram of part B.

[0025] Reference numerals: 1. Mounting plate; 2. Fixing chamber; 3. Mounting groove; 4. First cylinder; 5. Gripper; 6. Connecting block; 7. Connecting column; 8. Rubber airbag; 9. L-shaped tube; 10. Hose; 11. First piston plate; 12. First sealing ring; 13. First sealing groove; 14. Second sealing groove; 15. Second piston plate; 16. Second sealing ring; 17. Limiting plate; 18. Guide column; 19. Slide groove; 20. Second cylinder; 21. Adjusting column. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Example

[0027] Reference Figures 1-3 A compact structure device for a fully pneumatically assisted robotic arm, comprising:

[0028] Mounting plate 1;

[0029] Fixed compartment 2 is fixedly installed at the bottom of mounting plate 1. A first sealing groove 13 and a second sealing groove 14 are provided in the fixed compartment 2. A vent hole is provided between the first sealing groove 13 and the second sealing groove 14.

[0030] The clamp 5 has two clamps, and each clamp 5 has a connecting block 6 fixedly installed on it. Each connecting block 6 has a connecting post 7 fixedly installed on its outer side.

[0031] An adjustment mechanism is set on two connecting columns 7 to adjust the distance between the two grippers 5. An installation groove 3 is provided in the fixed chamber 2. A first cylinder 4 is fixedly installed on the top inner wall of the installation groove 3. The output shaft of the first cylinder 4 is fixedly connected to the top of the first piston plate 11. When the first cylinder 4 is turned on, the first cylinder 4 drives the first piston plate 11 to move vertically.

[0032] Reference Figure 2 and Figure 3 The other ends of the two L-shaped tubes 9 are fixedly connected to flexible hoses 10. One end of each flexible hose 10 is fixedly connected to the first sealing groove 13. A limit plate 17 is fixedly installed in the second sealing groove 14. The other ends of the two guide posts 18 are each provided with a sliding groove 19. An adjusting post 21 is fixedly installed in each of the two sliding grooves 19. One end of each adjusting post 21 is fixedly connected to the outer side of each of the two connecting posts 7. A second cylinder 20 is fixedly installed on one inner wall of each of the two sliding grooves 19. The output shafts of the two second cylinders 20 are fixedly connected to the two adjusting posts 21. When the second cylinder 20 is opened, the adjusting post 21 drives the connecting post 7 to move horizontally. The adjusting mechanism includes two guide posts 18 and a second sealing groove 13. Mounting holes are provided on both sides of the inner wall of the sealing groove 14. Two guide posts 18 are slidably installed in the two mounting holes respectively. One end of the two guide posts 18 is fixedly connected to the outer side of the two second piston plates 15 respectively. Rubber air bags 8 are fixedly connected to the outer side of the two grippers 5. L-shaped tubes 9 are fixedly installed on the two connecting posts 7 respectively. One end of the two L-shaped tubes 9 is fixedly connected to the two rubber air bags 8 respectively. A first piston plate 11 is movably installed in the first sealing groove 13. A first sealing ring 12 is fixedly connected to the outer side of the first piston plate 11. Two symmetrical second piston plates 15 are movably installed in the second sealing groove 14. A second sealing ring 16 is fixedly connected to the outer side of the two second piston plates 15 respectively.

[0033] The implementation principle of the compact structure device of the fully pneumatic assisted manipulator in this application embodiment is as follows: During use, the first cylinder 4 is activated, causing the first piston plate 11 to move vertically downwards. The first piston plate 11 compresses the air in the first sealing groove 13 into the second sealing groove 14 through the vent. This air pressure causes the two second piston plates 15 to move away from each other. The two second piston plates 15 then drive the two guide posts 18 to move away from each other, which in turn drive the two adjusting posts 21 and the two connecting posts 7 to move away from each other. Consequently, the two connecting blocks 6 drive the two grippers 5 to move away from each other. Then, the grippers 5 are moved to the object to be gripped. The first cylinder 4 is activated again, causing the first piston plate 11 to move vertically upwards. This creates a negative pressure in the second sealing groove 14 through the vent, which in turn drives the two second piston plates 15 to move away from each other. The stopper plates 15 move closer together, and the two second piston plates 15 drive the two guide pillars 18 to move closer together. The two guide pillars 18 drive the two adjusting pillars 21 and the two connecting pillars 7 to move closer together. Then, the two connecting blocks 6 drive the two grippers 5 to move closer together, thus gripping the object. At the same time, the first piston plate 11 compresses the air above it through the two hoses 10 and the two L-shaped tubes 9 into the two rubber airbags 8. The two rubber airbags 8 expand and can wrap the surface of the object, thus effectively improving the gripping stability. At the same time, by opening the second cylinder 20, the second cylinder 20 drives the adjusting pillar 21 to move horizontally. The adjusting pillar 21 drives the connecting pillars 7, connecting blocks 6 and grippers 5 to move horizontally, thus adjusting the distance between the two grippers 5, so as to be suitable for gripping objects of different sizes. Example

[0034] The difference between this embodiment and embodiment one is that pressure sensors are fixedly installed on both grippers 5, and a controller is fixedly installed in the mounting groove 3. The pressure sensors, controller and first cylinder 4 are connected in sequence. When the two grippers 5 grasp an object, the two pressure sensors can monitor the clamping force of the two grippers 5. When the clamping force reaches a preset threshold, the pressure sensors send a command to the controller, and the controller can control the first cylinder 4 to automatically shut down.

[0035] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A compact structure device for a fully pneumatically assisted manipulator, characterized in that: include: Mounting plate (1); Fixed compartment (2) is fixedly installed at the bottom of mounting plate (1). A first sealing groove (13) and a second sealing groove (14) are provided in the fixed compartment (2). A vent hole is provided between the first sealing groove (13) and the second sealing groove (14). The clamp (5) has two clamps, and each clamp (5) has a connecting block (6) fixedly installed on its two clamps (5). Each connecting block (6) has a connecting post (7) fixedly installed on its outer side. An adjustment mechanism is provided on two connecting columns (7) for adjusting the distance between the two grippers (5).

2. The compact structure device for a fully pneumatically assisted manipulator according to claim 1, characterized in that: A first piston plate (11) is movably installed in the first sealing groove (13), and a first sealing ring (12) is fixedly connected to the outside of the first piston plate (11). Two symmetrical second piston plates (15) are movably installed in the second sealing groove (14), and a second sealing ring (16) is fixedly connected to the outside of each of the two second piston plates (15).

3. The compact structure device for a fully pneumatically assisted manipulator according to claim 2, characterized in that: The fixed chamber (2) is provided with an installation groove (3), and a first cylinder (4) is fixedly installed on the top inner wall of the installation groove (3). The output shaft of the first cylinder (4) is fixedly connected to the top of the first piston plate (11).

4. The compact structure device for a fully pneumatically assisted manipulator according to claim 3, characterized in that: Rubber airbags (8) are fixedly connected to the outer sides of the two grippers (5), and L-shaped tubes (9) are fixedly installed on the two connecting columns (7). One end of the two L-shaped tubes (9) is fixedly connected to the two rubber airbags (8).

5. The compact structure device for a fully pneumatically assisted manipulator according to claim 4, characterized in that: The other ends of the two L-shaped tubes (9) are fixedly connected to hoses (10), and one end of each hose (10) is fixedly connected to the first sealing groove (13). A limit plate (17) is fixedly installed in the second sealing groove (14).

6. The compact structure device for a fully pneumatically assisted manipulator according to claim 5, characterized in that: The adjustment mechanism includes two guide posts (18), and mounting holes are provided on both sides of the inner wall of the second sealing groove (14). The two guide posts (18) are slidably installed in the two mounting holes respectively, and one end of the two guide posts (18) is fixedly connected to the outer side of the two second piston plates (15).

7. The compact structure device for a fully pneumatically assisted manipulator according to claim 6, characterized in that: The other end of each of the two guide posts (18) is provided with a slide groove (19), and an adjusting post (21) is fixedly installed in each of the two slide grooves (19). One end of each adjusting post (21) is fixedly connected to the outside of the two connecting posts (7). A second cylinder (20) is fixedly installed on one side of the inner wall of each of the two slide grooves (19), and the output shafts of the two second cylinders (20) are fixedly connected to the two adjusting posts (21).

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