Pneumatic locking device for mechanical arm

Abstract

The utility model discloses a pneumatic locking device for a mechanical arm, which relates to the technical field of mechanical arms and comprises a mounting stabilizing chassis, the top end of one side of the mounting stabilizing chassis is rotatably connected with a first rotation adjusting shaft, and the top end of one side of the first rotation adjusting shaft is fixedly connected with a first rotation connecting arm. The rotation angle of a first rotation connecting arm is directly adjusted through rotation of a first rotation adjusting shaft, the inclination angle of a second rotation connecting arm can be directly adjusted through rotation of a second rotation adjusting shaft, and then the rotation angle of a mechanical claw mounting disc is directly adjusted; at the moment, a first starting locking motor directly controls pneumatic locking operation of a telescopic connecting rod in a telescopic connecting rod, and further locking operation is conducted on a second rotating connecting arm through contact between a buckle disc and the second rotating connecting arm and friction between an auxiliary friction strip and the second rotating connecting arm.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a pneumatic locking device for robotic arms. Background Technology

[0002] A robotic arm is a complex system characterized by 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-proof fields, and other areas. As a complex system, a robotic arm exhibits uncertainties such as parameter perturbations, external interference, and unmodeled dynamics. Therefore, the modeling of a robotic arm also contains uncertainties. For different tasks, it is necessary to plan the motion trajectory of the robotic arm's joint space, thereby cascading to form the end effector pose. In existing technologies, during use, when the robotic arm's end effector grasps a heavy object, the object moves downwards under its own gravity, resulting in insufficient gripping force and easy loosening and detachment. Furthermore, in the event of a power outage, the electronic components inside the robotic arm cease operation, and the gripping force of the end effector is insufficient, causing the object to fall out. Therefore, we have designed a pneumatic locking device for a robotic arm. Utility Model Content

[0003] The purpose of this invention is to provide a pneumatic locking device for robotic arms.

[0004] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a pneumatic locking device for a robotic arm, comprising a mounting stable chassis, a first rotation adjustment shaft rotatably connected to one top side of the mounting stable chassis, a first rotation connecting arm fixedly connected to one top side of the first rotation adjustment shaft, a second rotation adjustment shaft rotatably connected to one top side of the first rotation connecting arm, a second rotation connecting arm fixedly connected to one side of the second rotation adjustment shaft, a robotic claw mounting plate fixedly connected to one top side of the second rotation connecting arm, a connecting plate fixedly mounted to one top side of the second rotation adjustment shaft, a first starting locking motor fixedly mounted to one side of the connecting plate, a retractable connecting rod fixedly connected to one top side of the first starting locking motor, a telescopic connecting rod telescopically connected to one top side of the retractable connecting rod, and a locking plate fixedly connected to one top side of the telescopic connecting rod.

[0005] Preferably, a limiting groove is formed inside one side surface of the buckle disc, and an auxiliary friction strip is fixedly installed on the inner wall surface of one side of the limiting groove.

[0006] Preferably, a first starting locking motor is provided at the top of each of the two sides of the second rotating adjustment shaft, the positions of the limiting groove and the second rotating connecting arm correspond one-to-one, the connection relationship between the limiting groove and the second rotating connecting arm is a movable snap-fit, and the number of auxiliary friction strips is several, and the several auxiliary friction strips are evenly distributed on the inner wall of the limiting groove.

[0007] Preferably, a first pneumatic locking device is fixedly installed on the top of one side of the mounting stable chassis, and a second pneumatic locking device is fixedly installed on the top of the side of the mounting stable chassis away from the first pneumatic locking device.

[0008] Preferably, the first pneumatic locking device includes a fixed plate, a rotating auxiliary shaft is rotatably connected to one top surface of the fixed plate, a retractable column is fixedly connected to one top surface of the rotating auxiliary shaft, a telescopic column is interactively installed to one top surface of the retractable column, a fixed connecting plate is fixedly connected to one top surface of the telescopic column, fixed ears are fixedly installed to both top surfaces of the fixed connecting plate, a control connecting plate is fixedly installed to one back side of the fixed plate, and a control connecting line is fixedly connected to one top surface of the control connecting plate.

[0009] Preferably, the first pneumatic locking device and the second pneumatic locking device have the same structure, the connection between the fixed connecting plate and the first rotating connecting arm is an attachment connection, and the connection between the fixed ear and the first rotating connecting arm is a fixed installation.

[0010] Compared with related technologies, the pneumatic locking device for robotic arms provided by this utility model has the following advantages:

[0011] 1. This utility model provides a pneumatic locking device for a robotic arm. The rotation angle of the first rotating connecting arm can be directly adjusted by rotating the first rotation adjustment shaft, and the tilt angle of the second rotating connecting arm can be directly adjusted by rotating the second rotation adjustment shaft, thereby directly adjusting the rotation angle of the robotic gripper mounting plate. When the load becomes loose, the first starting locking motor will directly control the pneumatic locking operation of the telescopic connecting rod inside the retracting connecting rod. The contact between the buckle plate and the second rotating connecting arm, and the friction between the auxiliary friction strip and the second rotating connecting arm, further lock the second rotating connecting arm. At the same time, through the effect of motion interference, the locking operation of the second rotating connecting arm is prevented from the danger of the load falling.

[0012] 2. This utility model provides a pneumatic locking device for a robotic arm. It consists of a first pneumatic locking device and a second pneumatic locking device located at the top ends of both sides of the first rotating connecting arm. These devices are fixedly connected to the first rotating connecting arm via fixed ears. In case of an abnormality, the fixed plate is directly activated via a control connecting plate. Locking is achieved by controlling the position of the telescopic column within the retractable column. For the side support locking of the first rotating connecting arm, the first and second pneumatic locking devices operate on the same principle, achieving support locking at different angles. This improves the stability of the support for the first rotating connecting arm and further enhances the safety of the device. Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0014] Figure 2 This is a schematic diagram of the overall side view of the device of this utility model from below;

[0015] Figure 3 This is a schematic diagram of the snap-on disc structure of this utility model;

[0016] Figure 4 This is a schematic diagram of the pneumatic locking device of this utility model.

[0017] The diagram shows the following components: 1. Mounting stable chassis; 2. First rotation adjustment shaft; 3. First rotation connecting arm; 4. Second rotation adjustment shaft; 5. Second rotation connecting arm; 6. Mechanical claw mounting plate; 7. First starting locking motor; 8. Connecting plate; 9. Retractable connecting rod; 10. Telescopic connecting rod; 11. Snap-on plate; 12. Limiting groove; 13. Auxiliary friction strip; 14. First pneumatic locking device; 15. Second pneumatic locking device; 141. Fixed plate; 142. Rotation auxiliary shaft; 143. Retractable column; 144. Telescopic column; 145. Fixed connecting plate; 146. Fixed ear; 147. Control connecting plate; 148. Control connecting cable. Detailed Implementation

[0018] Example 1:

[0019] Please see Figure 1-4This utility model provides a technical solution: a pneumatic locking device for a robotic arm, comprising a mounting and stabilizing chassis 1, a first rotation adjustment shaft 2 rotatably connected to one top side of the mounting and stabilizing chassis 1, a first rotation connecting arm 3 fixedly connected to one top side of the first rotation adjustment shaft 2, a second rotation adjustment shaft 4 rotatably connected to one top side of the first rotation connecting arm 3, a second rotation connecting arm 5 fixedly connected to one side surface of the second rotation adjustment shaft 4, a robotic gripper mounting plate 6 fixedly connected to one top side of the second rotation connecting arm 5, a connecting plate 8 fixedly mounted to one top side of the second rotation adjustment shaft 4, and a first starting locking motor 7 fixedly mounted to one side surface of the connecting plate 8. A retractable connecting rod 9 is fixedly connected to one side of the top end of the 7. A telescopic connecting rod 10 is telescopically connected to one side of the top end of the retractable connecting rod 9. A snap-fit ​​disc 11 is fixedly connected to one side of the top end of the telescopic connecting rod 10. A limiting groove 12 is opened inside one side surface of the snap-fit ​​disc 11. An auxiliary friction strip 13 is fixedly installed on one side inner wall surface of the limiting groove 12. A first starting locking motor 7 is provided at the top ends of both sides of the second rotating adjustment shaft 4. The positions of the limiting groove 12 and the second rotating connecting arm 5 correspond one-to-one. The connection relationship between the limiting groove 12 and the second rotating connecting arm 5 is a movable snap-fit. There are several auxiliary friction strips 13, which are evenly distributed on the inner wall of the limiting groove 12.

[0020] In the implementation plan, the rotation angle of the first rotating connecting arm 3 is directly adjusted by the rotation of the first rotating adjustment shaft 2, and the tilt angle of the second rotating connecting arm 5 can be directly adjusted by the rotation of the second rotating adjustment shaft 4, thereby directly adjusting the rotation angle of the mechanical claw mounting plate 6. When the weight becomes loose, the first starting locking motor 7 will directly control the pneumatic locking operation of the telescopic connecting rod 10 inside the retracting connecting rod 9. The contact between the buckle plate 11 and the second rotating connecting arm 5, and the friction between the auxiliary friction strip 13 and the second rotating connecting arm 5, further lock the second rotating connecting arm 5. At the same time, through the effect of motion interference, the locking operation of the second rotating connecting arm 5 is prevented from causing the weight to fall.

[0021] Example 2:

[0022] Please see Figure 1-4This utility model provides a technical solution: a pneumatic locking device for a robotic arm, comprising a first pneumatic locking device 14 fixedly installed on the top of one side of a mounting stable chassis 1, and a second pneumatic locking device 15 fixedly installed on the top of the side of the mounting stable chassis 1 away from the first pneumatic locking device 14. The first pneumatic locking device 14 includes a fixed plate 141, a rotating auxiliary shaft 142 rotatably connected to the top surface of one side of the fixed plate 141, a retractable column 143 fixedly connected to the top of one side of the rotating auxiliary shaft 142, and a telescopic column 1 interactively installed on the top of one side of the retractable column 143. 44. A fixed connecting plate 145 is fixedly connected to one top side of the telescopic column 144. Fixed ears 146 are fixedly installed on the top surfaces of both sides of the fixed connecting plate 145. A control connecting plate 147 is fixedly installed on the back side of one side of the fixed plate 141. A control connecting line 148 is fixedly connected to one top side of the control connecting plate 147. The first pneumatic locking device 14 and the second pneumatic locking device 15 have the same structure. The connection relationship between the fixed connecting plate 145 and the first rotating connecting arm 3 is an attachment connection, and the connection relationship between the fixed ears 146 and the first rotating connecting arm 3 is a fixed installation.

[0023] In the implementation scheme, a first pneumatic locking device 14 and a second pneumatic locking device 15 are set at the top ends of both sides of the first rotating connecting arm 3. The first pneumatic locking device 14 and the second pneumatic locking device 15 are fixedly connected to the first rotating connecting arm 3 through the fixing ears 146 on the first pneumatic locking device 14 and the second pneumatic locking device 15. In case of abnormality, the starting of the fixing plate 141 is directly controlled by the control connecting plate 147. The locking operation is achieved by controlling the position of the telescopic column 144 inside the retractable column 143. For the side support locking operation of the first rotating connecting arm 3, the working principle of the first pneumatic locking device 14 and the second pneumatic locking device 15 is the same, and the support locking operation is achieved at different angles, which improves the stability of the support for the first rotating connecting arm 3 and further improves the safety of the device.

[0024] Working principle:

[0025] The rotation angle of the first rotating connecting arm 3 can be directly adjusted by rotating the first rotating adjustment shaft 2, and the tilt angle of the second rotating connecting arm 5 can be directly adjusted by rotating the second rotating adjustment shaft 4, thereby directly adjusting the rotation angle of the mechanical claw mounting plate 6. When the weight becomes loose, the first starting locking motor 7 will directly control the pneumatic locking operation of the telescopic connecting rod 10 inside the retracting connecting rod 9. The contact between the buckle plate 11 and the second rotating connecting arm 5, and the friction between the auxiliary friction strip 13 and the second rotating connecting arm 5, further lock the second rotating connecting arm 5. At the same time, through the effect of motion interference, the locking operation of the second rotating connecting arm 5 is performed to avoid the danger of the weight falling.

[0026] By setting a first pneumatic locking device 14 and a second pneumatic locking device 15 at the top of both sides of the first rotating connecting arm 3, and fixing the first rotating connecting arm 3 with the fixing ears 146 on the first pneumatic locking device 14 and the second pneumatic locking device 15, in case of abnormality, the starting of the fixing plate 141 is directly controlled by the control connecting plate 147, and the locking operation is achieved by controlling the position of the telescopic column 144 inside the retractable column 143. For the side support locking operation of the first rotating connecting arm 3, the working principle of the first pneumatic locking device 14 and the second pneumatic locking device 15 is the same, and the support locking operation is achieved at different angles, which improves the stability of the support for the first rotating connecting arm 3 and further improves the safety of the device.

Claims

1. A pneumatic locking device for a robotic arm, comprising a mounting and stabilizing chassis (1), wherein a first rotation adjustment shaft (2) is rotatably connected to the top of one side of the mounting and stabilizing chassis (1), characterized in that: A first rotating connecting arm (3) is fixedly connected to one side of the top end of the first rotating adjusting shaft (2). A second rotating adjusting shaft (4) is rotatably connected to one side of the top end of the first rotating connecting arm (3). A second rotating connecting arm (5) is fixedly connected to one side of the surface of the second rotating adjusting shaft (4). A mechanical claw mounting plate (6) is fixedly connected to one side of the top end of the second rotating connecting arm (5). A connecting plate (8) is fixedly installed to one side of the top end of the second rotating adjusting shaft (4). A first starting locking motor (7) is fixedly installed to one side of the surface of the connecting plate (8). A retractable connecting rod (9) is fixedly connected to one side of the top end of the first starting locking motor (7). A telescopic connecting rod (10) is telescopically connected to one side of the top end of the retractable connecting rod (9). A snap-on plate (11) is fixedly connected to one side of the top end of the telescopic connecting rod (10).

2. The pneumatic locking device for a robotic arm according to claim 1, characterized in that, A limiting groove (12) is formed inside one side surface of the buckle disc (11), and an auxiliary friction strip (13) is fixedly installed on the inner wall surface of one side of the limiting groove (12).

3. The pneumatic locking device for a robotic arm according to claim 2, characterized in that, The top of both sides of the second rotating adjustment shaft (4) is provided with a first starting locking motor (7). The positions of the limiting groove (12) and the second rotating connecting arm (5) are in one-to-one correspondence. The connection relationship between the limiting groove (12) and the second rotating connecting arm (5) is a movable snap-fit. The number of auxiliary friction strips (13) is several. The several auxiliary friction strips (13) are evenly distributed on the inner wall of the limiting groove (12).

4. The pneumatic locking device for a robotic arm according to claim 1, characterized in that, A first pneumatic locking device (14) is fixedly installed on the top of one side of the mounting stable chassis (1), and a second pneumatic locking device (15) is fixedly installed on the top of the side of the mounting stable chassis (1) away from the first pneumatic locking device (14).

5. A pneumatic locking device for a robotic arm according to claim 4, characterized in that, The first pneumatic locking device (14) includes a fixed plate (141), a rotating auxiliary shaft (142) is rotatably connected to one side of the top surface of the fixed plate (141), a retractable column (143) is fixedly connected to one side of the top surface of the rotating auxiliary shaft (142), a telescopic column (144) is interactively installed to one side of the top surface of the retractable column (143), a fixed connecting plate (145) is fixedly connected to one side of the top surface of the telescopic column (144), fixed ears (146) are fixedly installed on both sides of the top surface of the fixed connecting plate (145), a control connecting plate (147) is fixedly installed on one side of the back of the fixed plate (141), and a control connecting line (148) is fixedly connected to one side of the top surface of the control connecting plate (147).

6. A pneumatic locking device for a robotic arm according to claim 5, characterized in that, The first pneumatic locking device (14) and the second pneumatic locking device (15) have the same structure. The connection between the fixed connecting plate (145) and the first rotating connecting arm (3) is an attached connection, and the connection between the fixed ear (146) and the first rotating connecting arm (3) is a fixed installation.

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