Internal supporting type mechanical arm

Abstract

The utility model discloses an inner supporting type mechanical arm, and relates to the field of mechanical arms, the inner supporting type mechanical arm comprises a shell, a piston is mounted in the shell, an inclined surface is formed in the upper part of the piston, a first cavity and a second cavity are formed in the lower part and the middle part of the inner side of the shell, a first spring is mounted in the first cavity, and a second spring is mounted in the second cavity; a sheath is arranged on the outer side of the piston, a toothless expansion claw is movably installed on the upper portion of the sheath, a limiting sleeve is installed on the lower portion of the sheath, and a sensor induction magnet is installed on the lower portion of the piston. Whether a toothless expansion claw enters an article or not is detected through a sensor, after entering, an air source is connected through a clamping air hole, the toothless expansion claw enters a first cavity through an air inlet source channel, a piston is pushed to move downwards, the upper portion of the piston moves downwards through an inclined face, and the toothless expansion claw is pushed to move outwards and be attached to the inner wall of the article; and then the objects are moved, so that the thin-wall cylindrical objects can be conveniently grabbed.

Description

Technical Field

[0001] This application relates to the field of robotic arms, and more particularly to internally supported robotic arms. Background Technology

[0002] A robotic arm is an automated device that mimics certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. Its key feature is that it can be programmed to perform various pre-defined tasks. In terms of structure and performance, it combines the advantages of both humans and machines. The robotic arm was the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to achieve mechanization and automation of production. It can operate in hazardous environments to protect human safety, and therefore is widely used in machinery manufacturing, metallurgy, electronics, light industry, and nuclear energy sectors.

[0003] Currently, when robotic arms grasp thin-walled, fragile cylinders, the smooth outer wall of the cylinder can cause the object to detach from the arm during grasping and moving, resulting in damage to the object and hindering the overall grasping effect. Therefore, a high-performance internal support robotic arm is needed to grasp thin-walled, fragile cylindrical objects. Utility Model Content

[0004] To address the issue that a robotic arm may detach from an object during grasping and moving, causing damage to the object, this application provides an internally supported robotic arm.

[0005] The internally supported robotic arm provided in this application adopts the following technical solution:

[0006] The device includes an outer casing, inside which a piston is installed. The upper part of the piston has an inclined surface. The lower and middle parts of the inner side of the outer casing have a first cavity and a second cavity. The first cavity has a first spring installed inside, and the second cavity has a second spring installed inside. The outer side of the piston is provided with a protective sleeve. The upper part of the protective sleeve is movably mounted with a toothless expansion claw. The lower part of the protective sleeve is mounted with a limit sleeve. The lower part of the piston is equipped with a sensor sensing magnet.

[0007] By adopting the above technical solution, the air source is connected through the clamping air hole and enters the interior of the first cavity through the air source channel, pushing the piston to move downward. The upper part of the piston moves downward through the inclined surface, pushing the toothless expansion claw to move outward and fit against the inner wall of the object. Through the input of the air source, the two are made to fit tightly.

[0008] Preferably, the upper end of the first spring is connected to the inner side of the housing, and the lower end is connected to the lower inner side of the piston. The lower part of the piston is located inside the first cavity and can move inside the first cavity.

[0009] By adopting the above technical solution, the air moves downward under the force of the first spring in the normal state, and when the air source enters from the clamping air hole, it is pressurized and completely clamped.

[0010] Preferably, the lower end of the second spring is connected to the lower inner part of the second cavity, and the upper end of the second spring is connected to the bottom of the limiting sleeve.

[0011] By adopting the above technical solution, the toothless expansion claw moves downward under the force of the second spring in the normal state. When the air source enters from the clamping air hole, it is pressurized and clamped completely, and the toothless expansion claw generates a downward force other than the lateral force.

[0012] Preferably, the outer shell has a release air source channel on the side of the first cavity, a cleaning hole channel on the side of the second cavity, and an air inlet channel at the top of the first cavity.

[0013] By adopting the above technical solution, the air source is connected through the clamping air hole, and the air enters the interior of the first cavity through the air source channel, pushing the piston to move downward.

[0014] Preferably, there is a gap between the upper part of the piston and the inner side of the outer shell, and the gap, the second cavity, and the cleaning hole channel are connected.

[0015] By adopting the above technical solution, after the air enters the cleaning hole channel, the gas will flow along the gap and be ejected at the toothless expansion claw, which is used to clean the iron filings that may be stuck in the expansion claw during the cleaning process, affecting its opening and closing.

[0016] Preferably, the outer casing has a cleaning vent, a clamping vent, and a releasing vent. The cleaning vent is connected to the cleaning vent channel, the releasing vent is connected to the releasing air source channel, and the air source channel is connected to the clamping vent.

[0017] By adopting the above technical solution, the release vent injects air into the interior of the shell through the release air source channel, at which point the toothless claw retracts.

[0018] Preferably, the housing is further provided with mounting holes, and the side of the housing is provided with sensor mounting slots.

[0019] By adopting the above technical solution, the whole unit is installed, and the sensor is installed inside the sensor mounting slot on the side of the outer shell. The sensor detects whether the toothless claw has entered the inside of the object.

[0020] In summary, this application includes at least one of the following beneficial technical effects:

[0021] 1. This application uses a sensor to detect whether the toothless claw has entered the interior of the item. After entering, it connects to the air source through the clamping air hole and enters the interior of the first cavity through the air source channel, pushing the piston to move downward. The upper part of the piston moves downward through the inclined surface, pushing the toothless claw to move outward and fit against the inner wall of the item. Through the input of the air source, the two are made to fit tightly, and then the item is moved, which facilitates the gripping of thin-walled cylindrical items.

[0022] 2. This application injects a cleaning air source through a cleaning vent. The cleaning air source enters the interior of the second cavity and the gap through the cleaning vent channel. After the cleaning vent channel is filled with air, the gas will flow along the gap and be sprayed out at the toothless expansion claw. This is used to clean iron filings that may be stuck in the expansion claw during the cleaning process, thereby improving the overall practicality. Attached Figure Description

[0023] Figure 1 This is a schematic cross-sectional view of the internal support manipulator according to an embodiment of this application.

[0024] Figure 2 This is a schematic diagram illustrating the overall external structure of the embodiments of this application;

[0025] Figure 3 This is a schematic diagram illustrating the overall external side structure of the embodiments of this application;

[0026] Reference numerals: 1. Outer shell; 2. Piston; 3. Angled surface; 4. First cavity; 5. First spring; 6. Second cavity; 7. Second spring; 8. Release air source channel; 9. Sheath; 10. Toothless expansion claw; 11. Limiting sleeve; 12. Air inlet channel; 13. Cleaning hole channel; 14. Gap; 15. Sensor sensing magnet; 16. Mounting hole; 17. Sensor mounting slot; 18. Cleaning air hole; 19. Clamping air hole; 20. Release air hole. Detailed Implementation

[0027] The following is in conjunction with the appendix Figures 1-3 This application will be described in further detail.

[0028] This application discloses an internally supported manipulator, including a housing 1. A piston 2 is installed inside the housing 1. An inclined surface 3 is formed on the upper part of the piston 2. When the piston 2 moves, its upper part cooperates with the inclined surface 3, allowing the inclined surface 3 to push the toothless expanding claw 10 to expand. A first cavity 4 and a second cavity 6 are formed on the lower and middle inner sides of the housing 1. Airflow enters the first cavity 4 through the air intake channel 12, which can push the piston 2 to move. A first spring 5 is installed inside the first cavity 4, and a second spring 7 is installed inside the second cavity 6. The first spring 5 and the second spring 7 can facilitate the return of the piston 2. The piston 2 is provided with a protective sleeve 9 on its outer side. A toothless expansion claw 10 is movably installed on the upper part of the protective sleeve 9. A limit sleeve 11 is installed on the lower part of the protective sleeve 9. A sensor sensing magnet 15 is installed on the lower part of the piston 2. The sensor detects whether the toothless expansion claw 10 has entered the inside of the item. After entering, it is connected to the air source through the clamping air hole 19 and enters the inside of the first cavity 4 through the air source channel 12, pushing the piston 2 to move downward. The upper part of the piston 2 moves downward through the inclined surface 3, pushing the toothless expansion claw 10 to move outward and fit against the inner wall of the item. Through the input of the air source, the two are made to fit tightly, and then the item is moved.

[0029] Please refer to Figure 1 The upper end of the first spring 5 is connected to the inner side of the outer shell 1, and the lower end is connected to the lower inner side of the piston 2. The lower part of the piston 2 is located inside the first cavity 4 and can move inside the first cavity 4. The lower end of the second spring 7 is connected to the lower inner side of the second cavity 6, and the upper end of the second spring 7 is connected to the bottom of the limiting sleeve 11. Under normal conditions, it moves downward under the force of the first spring 5 and the second spring 7. When the air source enters from the clamping air hole 19, it is pressurized, completely clamped, and causes the toothless expansion claw 10 to generate a downward pulling force other than the lateral force.

[0030] Please refer to Figure 1 and Figure 3 The outer shell 1 has a release air source channel 8 on the side of the first cavity 4 and a cleaning hole channel 13 on the side of the second cavity 6. The upper part of the first cavity 4 has an air inlet channel 12. There is a gap 14 between the upper part of the piston 2 and the inner side of the outer shell 1. The gap 14 is connected to the second cavity 6 and the cleaning hole channel 13. The outer shell 1 has a cleaning air hole 18, a clamping air hole 19 and a release air hole 20. The cleaning air hole 18 is connected to the cleaning hole channel 13, the release air hole 20 is connected to the release air source channel 8, and the air inlet channel 12 is connected to the clamping air hole 19. The air source is connected through the clamping air hole 19 and enters the interior of the first cavity 4 through the air inlet channel 12, pushing the piston 2 to move downward. The upper part of the piston 2 moves downward through the inclined surface 3, pushing the toothless expansion claw 10 to move outward and fit against the inner wall of the object. Through the input of the air source, the two fit tightly.

[0031] Please refer to Figure 2 and Figure 3 The outer casing 1 is also provided with mounting holes 16 and sensor mounting slots 17 are provided on the side of the outer casing 1. The whole is installed through the mounting holes 16 and the sensor is installed inside the sensor mounting slots 17 on the side of the outer casing 1. The sensor detects whether the toothless claw 10 has entered the inside of the item.

[0032] The implementation principle of the internal support manipulator in this embodiment is as follows: In the fully relaxed state, the release air hole 20 injects air into the interior of the outer shell 1 through the release air source channel 8. At this time, the toothless claw 10 retracts. In use, the entire assembly is installed through the mounting hole 16, and a sensor is installed inside the sensor mounting slot 17 on the side of the outer shell 1. The sensor detects whether the toothless claw 10 has entered the object. After entering, the air source is connected through the clamping air hole 19, and the air enters the interior of the first cavity 4 through the air source channel 12, pushing... The piston 2 moves downward, and the upper part of the piston 2 moves down through the inclined surface 3, pushing the toothless expansion claw 10 to move outward and fit against the inner wall of the object. By inputting the air source, the two are made to fit tightly, and then the object can be moved. The cleaning air source can be injected through the cleaning air hole 18. The cleaning air source enters the interior of the second cavity 6 and the gap 14 through the cleaning hole channel 13. After the air enters the cleaning hole channel 13, the gas will flow along the gap 14 and be sprayed out at the toothless expansion claw 10 to clean iron filings that may get stuck during the processing and affect the opening and closing of the expansion claw.

[0033] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An in-pulling manipulator, characterized by: The device includes a housing (1), inside which a piston (2) is installed. The upper part of the piston (2) has an inclined surface (3). The lower and middle parts of the inner side of the housing (1) have a first cavity (4) and a second cavity (6). The first cavity (4) has a first spring (5) installed inside, and the second cavity (6) has a second spring (7) installed inside. The outer side of the piston (2) is provided with a protective sleeve (9). The upper part of the protective sleeve (9) is movably equipped with a toothless expansion claw (10). The lower part of the protective sleeve (9) is equipped with a limit sleeve (11). The lower part of the piston (2) is equipped with a sensor sensing magnet (15).

2. The in-line mechanical hand of claim 1, wherein: The upper end of the first spring (5) is connected to the inner side of the outer shell (1), and the lower end is connected to the lower inner side of the piston (2). The lower part of the piston (2) is located inside the first cavity (4) and can move inside the first cavity (4).

3. The in-line mechanical hand of claim 2, wherein: The lower end of the second spring (7) is connected to the lower inner part of the second cavity (6), and the upper end of the second spring (7) is connected to the bottom of the limiting sleeve (11).

4. The in-line mechanical hand of claim 3, wherein: The outer shell (1) has a release air source channel (8) on the side of the first cavity (4), a cleaning hole channel (13) on the side of the second cavity (6), and an air inlet channel (12) on the upper part of the first cavity (4).

5. The in-line mechanical hand of claim 4, wherein: There is a gap (14) between the upper part of the piston (2) and the inner side of the outer shell (1), and the gap (14) is connected to the second cavity (6) and the cleaning hole channel (13).

6. The in-line handler according to claim 5, wherein: The outer shell (1) is provided with a cleaning vent (18), a clamping vent (19) and a release vent (20). The cleaning vent (18) is connected to the cleaning hole channel (13), the release vent (20) is connected to the release air source channel (8), and the air inlet channel (12) is connected to the clamping vent (19).

7. The in-line handler of claim 6, wherein: The outer casing (1) is also provided with mounting holes (16), and the side of the outer casing (1) is provided with sensor mounting grooves (17).

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