Pneumatic locking device for mechanical arm

Abstract

The utility model provides a pneumatic locking device for a mechanical arm, and relates to the technical field of mechanical arms. The mechanical arm pneumatic locking device comprises a mechanical arm body and a mounting frame fixed to one end of the mechanical arm body, two movable rods are slidably connected to the interior of the mounting frame, and a clamping jaw is mounted at one end of each movable rod. A pneumatic mechanism is used for pushing a movable rod to slide in a mounting frame, under the action of a rotating rod, a connecting gear and two connecting racks, the two movable rods get close to each other, an object is clamped and fixed under the action of two clamping claws, and under the action of an arranged outer box, a ratchet wheel, a movable inserting rod and a spring, the object can be clamped and fixed through the clamping claws. According to the clamping device, the rotating rod rotates in a single direction, under the action of the rotating rod, the connecting gear and the two connecting racks, the two clamping jaws are not prone to loosening, the locking effect is achieved, meanwhile, when a pneumatic mechanism fails or is powered off, the two clamping jaws can still clamp an object, and the object is prevented from falling off and being damaged.

Description

Technical Field

[0001] This utility model relates to a locking device, specifically a pneumatic locking device for a robotic arm, belonging to the field of robotic arm technology. Background Technology

[0002] A robotic arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion protection and other fields. As a complex system, the robotic arm has uncertainties such as parameter perturbation, external interference and unmodeled dynamics. The mechanical gripper at the end of the robotic arm is used to clamp, transfer and transport objects.

[0003] Chinese Patent Publication No. CN216422600U discloses a robotic gripper arm. Addressing the problem that existing robotic grippers are inconvenient to disassemble and install, leading to complex maintenance procedures and inconvenient operation, the following solution is proposed: The gripper arm includes a main body and a mounting base. The main body comprises a housing, a cylinder, and two gripping plates. A curved plate is fixedly installed on the side of the two gripping plates that are far apart from each other, and a wedge-shaped plate is fixedly installed on the top of the side of the two curved plates that are close to each other. A pressure plate is fixedly installed on the output end of the cylinder. Supports are fixedly installed on both sides of the bottom of the pressure plate, and rollers are rotatably installed inside the supports. The two rollers are respectively rolledly connected to one side of the corresponding wedge-shaped plate. A fixing frame is fixedly installed on the top inner wall of the housing, and the cylinder is fixedly installed at the bottom of the fixing frame.

[0004] However, the inventor of the above device believes that there are certain defects. The above device uses a cylinder to drive two clamping plates to come close to each other to clamp the object. It lacks a locking mechanism. When the object is heavy or the power is cut off, the electrical components do not work, resulting in insufficient clamping force. The object is easy to fall off between the two clamping plates. Therefore, this utility model provides a pneumatic locking device for a robotic arm. Utility Model Content

[0005] The purpose of this utility model is to provide a pneumatic locking device for robotic arms to solve the above-mentioned problems, thereby addressing the issue that the existing technology lacks a locking mechanism, and that insufficient clamping force is caused by the electrical components not working when the object has a large weight or when the power is off, making it easy for the object to fall off between the two clamping plates.

[0006] This utility model is achieved through the following technical solution: a pneumatic locking device for a robotic arm, comprising a robotic arm body and a mounting frame fixed to one end of the robotic arm body. Two movable rods are slidably connected inside the mounting frame, and a clamping claw is mounted at one end of each movable rod. A rotating rod is rotatably connected inside the mounting frame, and a connecting gear is fixedly connected to the outer surface of the rotating rod. Connecting racks are fixedly connected to the sides of the two movable rods that are close to each other, and both connecting racks mesh with the connecting gear. A pneumatic mechanism for driving one movable rod to slide is provided on the mounting frame. An outer box is fixedly connected to the mounting frame, and one end of the rotating rod extends into the interior of the outer box. A ratchet is fixedly connected to the rotating rod. A movable insert rod is slidably connected to the outer box, and a baffle is fixedly connected to the movable insert rod. The baffle is connected to the inner wall of the outer box by a spring.

[0007] Preferably, the pneumatic mechanism includes a cylinder fixed to one side of the mounting frame, and the telescopic end of the cylinder is fixedly connected to a movable rod. The movable rod is pushed to slide inside the mounting frame by activating the cylinder.

[0008] Preferably, a fixed slide rod is fixedly connected inside the mounting frame, and the movable rod is slidably connected to the fixed slide rod. The fixed slide rod allows the movable rod to slide stably inside the mounting frame.

[0009] Preferably, an electromagnet is fixedly connected to the mounting bracket to attract one end of the movable plug rod. One end of the movable plug rod is embedded with an iron plate. By energizing the electromagnet, one end of the movable plug rod is attracted, and the one end of the movable plug rod is pulled out from between the teeth of the ratchet.

[0010] Preferably, a sliding rod is fixedly connected to one side of the gripping claw, and the sliding rod is slidably connected to the movable rod. Under the action of the sliding rod, the gripping claw slides on one side of the movable rod, thereby adjusting the initial position of the two gripping claws.

[0011] Preferably, a connecting slide rod is fixedly connected to one side of the gripping claw, and a connecting sleeve is fixedly connected to one side of the movable rod. The connecting slide rod slides inside the connecting sleeve, and a fixing bolt is threaded onto the connecting sleeve. A fixing hole adapted to the fixing bolt is provided on the connecting slide rod. The action of the fixing bolt and the fixing hole restricts the gripping claw from sliding on one side of the movable rod.

[0012] Preferably, one end of the rotating rod extends to the outside of the outer casing, and a rotating handle is fixedly connected to one end of the rotating rod, so that the rotating rod can be manually driven to rotate under the action of the rotating handle.

[0013] This utility model provides a pneumatic locking device for a robotic arm, which has the following beneficial effects:

[0014] 1. This device uses a pneumatic mechanism to push a movable rod to slide inside the mounting frame. Under the action of the rotating rod, connecting gear, and two connecting racks, the two movable rods are brought closer together. The two gripping claws then clamp and fix the object. Through the action of the outer box, ratchet, movable insert rod, and spring, the rotating rod rotates in one direction. The two gripping claws are not easy to loosen under the action of the rotating rod, connecting gear, and two connecting racks, achieving a locking effect. At the same time, when the pneumatic mechanism fails or power is cut off, the two gripping claws can still clamp the object to prevent it from falling and being damaged.

[0015] 2. When the electromagnet is energized, it generates a magnetic force that attracts one end of the movable rod, causing it to be pulled out from between the teeth of the ratchet. By rotating the fixing bolt, one end is pulled out from the fixing hole. The initial position of the clamping claw is adjusted by controlling the sliding of the clamping claw on one side of the movable rod, thereby improving the clamping size range. Attached Figure Description

[0016] Figure 1 This is a perspective view of the entire utility model;

[0017] Figure 2 This is a three-dimensional view of the internal structure of the mounting bracket of this utility model;

[0018] Figure 3 This is a perspective view of the interior of the outer casing of this utility model;

[0019] Figure 4 For the present utility model Figure 2 Enlarged view of point A.

[0020] [Explanation of Key Component Symbols]

[0021] 1. Mounting frame; 11. Cylinder; 2. Robotic arm body; 3. Movable rod; 31. Fixed slide rod; 4. Gripper; 41. Connecting slide rod; 5. Connecting rack; 6. Rotating rod; 61. Connecting gear; 7. Outer casing; 71. Ratchet; 72. Movable insert rod; 73. Spring; 8. Electromagnet; 9. Connecting sleeve. Detailed Implementation

[0022] This utility model provides a pneumatic locking device for a robotic arm.

[0023] Please see Figure 1 , Figure 2 , Figure 3 and Figure 4A pneumatic locking device for a robotic arm includes a robotic arm body 2 and a mounting frame 1 fixed to one end of the robotic arm body 2. Two movable rods 3 are slidably connected inside the mounting frame 1, and a fixed slide rod 31 is fixedly connected inside the mounting frame 1. The movable rods 3 are slidably connected to the fixed slide rod 31. A clamping claw 4 is installed at one end of each movable rod 3. Under the action of the fixed slide rod 31, the two movable rods 3 are made to slide stably inside the mounting frame 1. By driving the two movable rods 3 to move closer to each other, the object is clamped and fixed under the action of the two clamping claws 4.

[0024] Please refer to it again. Figure 1 , Figure 2 and Figure 4 A sliding rod is fixedly connected to one side of the clamping claw 4, and the sliding rod is slidably connected to the movable rod 3. A connecting sliding rod 41 is fixedly connected to one side of the clamping claw 4, and a connecting sleeve 9 is fixedly connected to one side of the movable rod 3. The connecting sliding rod 41 slides inside the connecting sleeve 9, and a fixing bolt is threaded onto the connecting sleeve 9. A fixing hole adapted to the fixing bolt is opened on the connecting sliding rod 41. The fixing bolt and the fixing hole restrict the sliding of the clamping claw 4 on one side of the movable rod 3, thereby fixing the installation position of the clamping claw 4. By rotating the fixing bolt, one end of the clamping claw 4 can be pulled out from the fixing hole, and the initial position of the clamping claw 4 on one side of the movable rod 3 can be adjusted.

[0025] Please refer to it again. Figure 1 and Figure 2 The mounting bracket 1 has a rotating rod 6 inside, and a connecting gear 61 is fixedly connected to the outer surface of the rotating rod 6. A connecting rack 5 is fixedly connected to the side of the two movable rods 3 that are close to each other. Both connecting racks 5 mesh with the connecting gear 61. The two connecting racks 5 are symmetrically arranged about the connecting gear 61. When one movable rod 3 slides, the connecting gear 61 is driven to rotate through one connecting rack 5, thereby driving the other connecting rack 5 to move, so that the two clamping claws 4 move closer to each other or further away from each other.

[0026] Please refer to it again. Figure 1 and Figure 2 The mounting frame 1 is equipped with a pneumatic mechanism that drives a movable rod 3 to slide. The pneumatic mechanism includes a cylinder 11 fixed to one side of the mounting frame 1. The telescopic end of the cylinder 11 is fixedly connected to a movable rod 3. By activating the cylinder 11, a movable rod 3 is pushed to slide inside the mounting frame 1.

[0027] Please refer to it again. Figure 1 , Figure 2 and Figure 3An outer box 7 is fixedly connected to the mounting bracket 1. One end of the rotating rod 6 extends into the interior of the outer box 7. A ratchet 71 is fixedly connected to the rotating rod 6. A movable insert rod 72 is slidably connected to the outer box 7. A baffle is fixedly connected to the movable insert rod 72. The baffle is connected to the inner wall of the outer box 7 by a spring 73. One end of the movable insert rod 72 is inclined. The ratchet 71, the movable insert rod 72 and the spring 73 form a ratchet mechanism. The rotating rod 6 rotates in one direction. When the two gripping claws 4 approach each other, the movable insert rod 72 is pushed up by the toothed surface of the ratchet 71. Then, it quickly descends and resets due to the rebound of the spring 73. When the two gripping claws 4 move away from each other, the ratchet 71 and the movable insert rod 72 restrict the reverse rotation of the rotating rod 6.

[0028] Please refer to it again. Figure 1 , Figure 2 and Figure 3 An electromagnet 8 is fixedly connected to the mounting bracket 1 to attract one end of the movable plug rod 72. One end of the movable plug rod 72 is embedded with an iron plate. By energizing the electromagnet 8, one end of the movable plug rod 72 is attracted, causing one end of the movable plug rod 72 to be pulled out from between the teeth of the ratchet 71. One end of the rotating rod 6 extends to the outside of the outer box 7. A rotating handle is fixedly connected to one end of the rotating rod 6, which can be manually driven to rotate the rotating rod 6 by rotating the handle.

[0029] Working principle: The mounting frame 1 is installed at one end of the robotic arm body 2. The cylinder 11 is activated to push a movable rod 3 to slide inside the mounting frame 1. Under the action of the rotating rod 6, the connecting gear 61 and the two connecting racks 5, the two movable rods 3 move closer to each other. The two gripping claws 4 clamp and fix the object. When the two gripping claws 4 move closer to each other, the rotating rod 6 is driven to rotate. The toothed surface of the ratchet 71 squeezes the movable insert 72 to rise. Then, it quickly falls back to its original position due to the rebound of the spring 73. The ratchet 71 and the movable insert 72 restrict the reverse rotation of the rotating rod 6, so that the two gripping claws 4 are locked. By energizing the electromagnet 8, the electromagnet 8 generates magnetic force to attract one end of the movable insert 72. The movable insert 72 is pulled out from between the teeth of the ratchet 71. By rotating the fixing bolt, one end is pulled out from the fixing hole. The initial position of the gripping claw 4 on one side of the movable rod 3 can be adjusted, which improves the gripping range of the object.

[0030] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A pneumatic locking device for a robotic arm, comprising a robotic arm body (2) and a mounting bracket (1) fixed to one end of the robotic arm body (2), characterized in that: The mounting frame (1) has two movable rods (3) slidably connected inside. Each movable rod (3) has a clamping claw (4) installed at one end. The mounting frame (1) has a rotating rod (6) rotatably connected inside. The outer surface of the rotating rod (6) is fixedly connected to a connecting gear (61). The two movable rods (3) are fixedly connected to each other on their adjacent sides. The two connecting gears (5) mesh with the connecting gear (61). The mounting frame (1) is provided with a pneumatic mechanism to drive one movable rod (3) to slide. The mounting frame (1) is fixedly connected to an outer box (7). One end of the rotating rod (6) extends into the interior of the outer box (7). A ratchet (71) is fixedly connected to the rotating rod (6). A movable insert rod (72) is slidably connected to the outer box (7). A baffle is fixedly connected to the movable insert rod (72). The baffle is connected to the inner wall of the outer box (7) by a spring (73).

2. The pneumatic locking device for a robotic arm according to claim 1, characterized in that: The pneumatic mechanism includes a cylinder (11) fixed to one side of the mounting bracket (1), and the telescopic end of the cylinder (11) is fixedly connected to a movable rod (3).

3. The pneumatic locking device for a robotic arm according to claim 1, characterized in that: The mounting bracket (1) is internally fixedly connected to a fixed slide rod (31), and the movable rod (3) is slidably connected to the fixed slide rod (31).

4. The pneumatic locking device for a robotic arm according to claim 1, characterized in that: An electromagnet (8) is fixedly connected to the mounting bracket (1) to attract one end of the movable plug (72), and an iron plate is embedded at one end of the movable plug (72).

5. The pneumatic locking device for a robotic arm according to claim 1, characterized in that: A sliding rod is fixedly connected to one side of the clamping claw (4), and the sliding rod is slidably connected to the movable rod (3).

6. The pneumatic locking device for a robotic arm according to claim 1, characterized in that: A connecting slide rod (41) is fixedly connected to one side of the clamping claw (4), and a connecting sleeve (9) is fixedly connected to one side of the movable rod (3). The connecting slide rod (41) slides inside the connecting sleeve (9). A fixing bolt is threaded onto the connecting sleeve (9), and a fixing hole adapted to the fixing bolt is provided on the connecting slide rod (41).

7. The pneumatic locking device for a robotic arm according to claim 1, characterized in that: One end of the rotating rod (6) extends to the outside of the outer box (7), and a rotating handle is fixedly connected to one end of the rotating rod (6).

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