CN114161395B - Mechanical pneumatic arm type robot with soft body - Google Patents
Mechanical pneumatic arm type robot with soft body Download PDFInfo
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- CN114161395B CN114161395B CN202111680637.6A CN202111680637A CN114161395B CN 114161395 B CN114161395 B CN 114161395B CN 202111680637 A CN202111680637 A CN 202111680637A CN 114161395 B CN114161395 B CN 114161395B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention discloses a soft mechanical pneumatic arm type robot, which comprises a movable vehicle plate, wherein the middle part of the top end of the movable vehicle plate is fixedly connected with an installation square box, the middle part of the top end of the inner side of the installation square box is fixedly connected with an installation top seat, the middle part of the top end of the installation top seat is provided with a driving seat, the top end of the driving seat is rotatably connected with a rotating seat corresponding to the middle part of the top end of the installation square box, and the middle part of the top end of the rotating seat is fixedly provided with a pneumatic mechanical arm. The use stability of the robot is effectively improved.
Description
Technical Field
The invention relates to the technical field of mechanical pneumatic arm robots, in particular to a soft mechanical pneumatic arm robot.
Background
With the continuous development of science and technology, mechanization is continuously deepened, the working efficiency is greatly improved, labor force is liberated, the mechanical arm is one of the most remarkable characteristics of mechanization, the mechanical arm is a mechanical hand which works at high precision and high speed, the production efficiency is improved corresponding to a small-batch production mode, the mechanical arm load balancing device is a mechanism capable of balancing mechanical arm load, and a mechanical pneumatic arm type robot is a novel mechanical arm;
but at present mechanical pneumatic arm formula robot in the use, because the arm movement track at robot top is complicated changeable, simultaneously also can make the gravity that receives of arm tip appear obvious change when the arm snatchs the object of different weight, thereby lead to the robot when snatching the object far away and whole heavier, the focus of robot can take place obvious removal, lead to the base of robot to appear obvious rocking, can cause empting of robot when serious, and if the counter weight of additional increase robot base then lead to the robot to become heavy again, the diversion has increased the cost of transportation of robot, the use convenience of robot has been reduced.
Disclosure of Invention
The invention provides a soft mechanical pneumatic arm type robot, which can effectively solve the problems that in the use process of the mechanical pneumatic arm type robot provided in the background technology, the movement track of a mechanical arm at the top of the robot is complex and changeable, and meanwhile, when the mechanical arm grabs objects with different weights, the gravity borne by the end part of the mechanical arm is obviously changed, so that when the robot grabs objects with long distance and heavy weight, the gravity center of the robot obviously moves, the base of the robot obviously shakes, the robot possibly topples in serious situations, and if the counter weight of the base of the robot is additionally increased, the robot becomes heavy, the transportation cost of the robot is increased in a direction change way, and the use convenience of the robot is reduced.
In order to achieve the purpose, the invention provides the following technical scheme: a soft mechanical pneumatic arm type robot comprises a movable vehicle plate, wherein the middle of the top end of the movable vehicle plate is fixedly connected with an installation square box, the middle of the top end of the inner side of the installation square box is fixedly connected with an installation top seat, the middle of the top end of the installation top seat is provided with a driving seat, the position, corresponding to the middle of the top end of the installation square box, of the top end of the driving seat is rotatably connected with a rotating seat, the middle of the top end of the rotating seat is fixedly provided with a pneumatic mechanical arm, and the end part of the pneumatic mechanical arm is fixedly connected with a mechanical claw;
the top of the inner side of the mounting square box is provided with an inclined gravity balance mechanism, and the gravity center position of the whole robot is adjusted by transferring and converting the clamping weight of the robot mechanical arm and the micro inclined displacement in the operation process, so that the phenomenon that the robot topples due to uneven stress of the clamping weight is prevented;
the gas-liquid circulation constant temperature mechanism is arranged on the outer side edge of the installation square box, heat inside the installation square box is uniformly diffused through continuously circulating airflow, and then the heated airflow is cooled through continuously spraying liquid, so that the temperature inside the installation square box is balanced, and the temperature inside the installation square box is always kept in a proper temperature range;
the top of the outer side of the mounting square box is provided with an auxiliary protection rotating mechanism, and an additional auxiliary platform is erected on the outer side of the mounting square box, so that mechanical claws of different types, which need to be used by a robot, can be placed nearby and are arranged on the periphery of the mounting square box, and the mechanical claws are convenient to replace.
Preferably, the inclined gravity balance mechanism comprises a supporting square plate;
the middle part of the top end of the inner side of the mounting square box is fixedly connected with a supporting square plate, the top end of the supporting square plate is provided with a protective lantern ring corresponding to the position outside the driving seat, the inner side of the protective lantern ring is uniformly provided with supporting elastic blocks along the circumferential direction at equal intervals, the position of the inner side of the protective lantern ring corresponding to one side of the supporting elastic blocks is uniformly provided with elastic liquid bags along the circumferential direction at equal intervals, the bottom of the elastic liquid bag corresponding to the position of the top of the inner side of the mounting square box is connected with a transmission pipe through a liquid guide pipe, the edge part of one end of the inner side of the transmission pipe is fixedly connected with a reset spring, one end of the reset spring corresponding to the position of the inner side of the transmission pipe is fixedly connected with a sliding circular plate, the top end of the mounting square box corresponding to the position of the inner side of the mounting top seat is fixedly connected with a limiting circular frame, and the transmission pipe is buckled at the bottom of the limiting circular frame;
the middle part of the tail end of the transmission pipe is provided with a liquid guide long pipe, the tail end of the liquid guide long pipe is fixedly connected with a pushing transverse pipe corresponding to the edge part of the bottom end inside the installation square box, the middle part of one end inside the pushing transverse pipe is fixedly connected with a limiting column, and the position, corresponding to the end part of the limiting column, of the inside of the pushing transverse pipe is connected with a pushing transverse column in a sliding mode;
the bottom end part of the inner side of the installation square box is fixedly connected with an installation round frame, the outer side of the installation round frame is uniformly and fixedly connected with a fixed bent claw along the circumferential direction, the middle part of the bottom end of the inner side of the installation square box is fixedly connected with a supporting bent ring, the top end of the supporting bent ring is slidably connected with a supporting round bottom, the middle part of the top end of the supporting round bottom is fixedly connected with a movable round box, the outer side of the movable round box is sleeved with a guide arc-shaped ring, and the position of the top part of the installation round frame, which corresponds to the outer side of the guide arc-shaped ring, is movably connected with a driving flat ring;
the bottom end middle part of the movable vehicle plate is fixedly connected with a reset transverse box, two ends of the inner side of the reset transverse box are fixedly connected with extension springs, the end parts of the extension springs correspond to sliding vertical plates fixedly connected with the inner side positions of the reset transverse box, two traction cables are fixedly connected between the sliding vertical plates, and the top ends of the middle parts of the traction cables are fixedly connected with the middle parts of the bottom ends of the supporting round bottoms.
Compared with the prior art, the invention has the beneficial effects that: the invention has scientific and reasonable structure and safe and convenient use:
1. the inclined gravity balance mechanism is arranged, the center of gravity of the base is adjusted in real time in the operation process of the mechanical pneumatic arm type robot through the mutual matching of all components in the inclined gravity balance mechanism, so that when the pneumatic mechanical arm slightly inclines due to long-distance extension or heavy object grabbing, the displacement is amplified through multi-stage rotation, the orientation of the movable round box is reversely adjusted through energy generated when the pneumatic mechanical arm inclines, and then the weight distribution form of the base of the robot is adjusted through rolling concentration of small-particle metal balls in the movable round box, the phenomenon that the air intake robot topples due to the fact that objects which are far in grabbing distance and heavy overall are grabbed in the use process is effectively prevented, and the use stability of the robot is effectively improved;
meanwhile, the motion of the pneumatic mechanical arm is transmitted through hydraulic oil, so that all components in the whole mechanism are more conveniently and rapidly installed, the motion form is transmitted and amplified through a simple structure, real-time change and adjustment of the mechanism can be effectively realized, the control of the robot is effectively optimized, the error rate in the control process is effectively reduced due to the linkage of the mechanical structure in the whole adjustment process, and the use stability of the robot is effectively improved;
through the mode that the inside gravity of initiative adjustment robot base distributes, can effectually save the extra counter weight in the base outside, reduced the volume of robot base, and then make the robot base occupy littleer space in the use, simultaneously because the robot base can also obtain ideal stationarity even keep lower weight to reduce the cost of transportation of robot by a wide margin, improved the use convenience of robot.
2. The gas-liquid circulation constant temperature mechanism is arranged, and through mutual matching among all components in the gas-liquid circulation constant temperature mechanism, heat is rapidly taken away from the outer side of the core component through high-speed flowing air flow, so that local heat accumulation in the inner side of the installation square box is effectively prevented, equipment faults caused by overhigh temperature are effectively prevented, meanwhile, a unique air path is constructed in the installation square box through the air distribution transverse pipe and the air guide vertical box, the heat is rapidly transported to a corner which is far away from the core area of the installation square box, the heat distribution form in the installation square box is rapidly improved, and the influence of residual heat in the installation square box on the core component is reduced;
simultaneously, the hot air discharged on the way is additionally cooled by the continuously circulating cooling liquid, so that the cooling effect inside the mounting square box is further improved, the heat is effectively prevented from gathering inside the mounting square box to cause equipment failure, the service life of the robot is effectively prolonged, and the failure rate of the robot in the use process is reduced.
3. The auxiliary protection rotating mechanism is arranged, through mutual matching among components in the auxiliary protection rotating mechanism, when the mechanical claw needs to be replaced, through double matching of machinery and magnetic force, the flexible wheel is driven to rotate rapidly in the large-range rotating process of the annular frame, in the positioning and fixing process at the end of transposition, the displacement between the annular frame and a target position is eliminated through the magnetic force between the fixed magnetic block and the fixed electromagnetic block, the annular frame in the mechanical claw replacing process is fixed, the motion amplitude of the pneumatic mechanical arm is reduced through driving the active motion of the target mechanical claw, and therefore the replacement convenience of the mechanical claw is effectively improved;
meanwhile, the main body part of the robot is effectively prevented from directly colliding in the transportation and moving processes through the coating of the mounting circular plate on the outer side of the mounting square box, and meanwhile, the circular structure of the mounting circular plate can also perform good discharging when colliding, so that the safety of the robot in the transportation and moving processes is effectively improved.
To sum up, through the cooperation between each inside subassembly of slope gravity balance mechanism, gas-liquid circulation constant temperature mechanism and supplementary protection slewing mechanism, through the change to the robot base form, the effectual influence that reduces the collision to the robot, the produced heat of circular in-process internals of robot has reduced the influence to the robot through air current and the coolant liquid that lasts the circulation, the effectual weight distribution that improves the robot operation in-process through the inner structure that can initiatively adjust weight distribution, and then reduced the influence of pneumatic mechanical arm running state to the robot, thereby the effectual process degree that improves the robot operation, make the robot operation more steady.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
In the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the structure of the rotary base mounting of the present invention;
FIG. 3 is a schematic view of the installation structure of the standpipe of the present invention;
FIG. 4 is a schematic structural view of the slip riser installation of the present invention;
FIG. 5 is a schematic view of the inclined gravity balance mechanism of the present invention;
FIG. 6 is a schematic view of the inside structure of the movable round box of the present invention;
FIG. 7 is a schematic structural view of a gas-liquid circulation thermostatic mechanism according to the present invention;
FIG. 8 is a schematic view of the interior of the cooling corner box of the present invention;
FIG. 9 is a schematic structural view of the auxiliary shield rotating mechanism of the present invention;
reference numbers in the figures: 1. moving the sweep; 2. installing a square box; 3. installing a top seat; 4. a driving seat; 5. rotating the base; 6. a pneumatic mechanical arm; 7. a gripper;
8. a tilting gravity balance mechanism; 801. supporting the square plate; 802. a protective collar; 803. a supporting elastic block; 804. an elastic liquid bladder; 805. a drive tube; 806. a return spring; 807. sliding the circular plate; 808. a limiting round frame; 809. a liquid guide long tube; 810. pushing the transverse pipe; 811. a limiting post; 812. pushing the transverse column; 813. mounting a round frame; 814. fixing the bent claw; 815. supporting the curved ring; 816. a supporting round bottom; 817. a movable round box; 818. guiding the arc-shaped ring; 819. driving the flat ring; 820. resetting the transverse box; 821. an extension spring; 822. sliding the vertical plate; 823. a traction cable;
9. a gas-liquid circulation constant temperature mechanism; 901. a circulating fan; 902. wind guide bent pipes; 903. an annular gas duct; 904. a transverse gas distribution pipe; 905. cooling the corner box; 906. a heat-conducting fin; 907. installing a vertical pipe; 908. a circulation pump; 909. a drainage notch; 910. an air guide vertical box; 911. an air inlet notch; 912. an air guide vertical plate; 913. intercepting a screen plate;
10. an auxiliary protection rotating mechanism; 1001. mounting a circular plate; 1002. an annular frame; 1003. a fixed magnetic block; 1004. mounting a bent frame; 1005. a transposition motor; 1006. driving the soft wheel; 1007. fixing the transverse pipe; 1008. sliding the square tube; 1009. fixing the electromagnetic block; 1010. a separation spring; 1011. and (5) placing the shelf.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Example (b): as shown in fig. 1-9, the present invention provides a technical solution, a soft mechanical pneumatic arm robot, comprising a moving car plate 1, wherein the middle of the top end of the moving car plate 1 is fixedly connected with an installation square box 2, the middle of the top end of the inner side of the installation square box 2 is fixedly connected with an installation top base 3, the middle of the top end of the installation top base 3 is provided with a driving base 4, the position of the top end of the driving base 4 corresponding to the middle of the top end of the installation square box 2 is rotatably connected with a rotating base 5, the middle of the top end of the rotating base 5 is fixedly provided with a pneumatic mechanical arm 6, and the end of the pneumatic mechanical arm 6 is fixedly connected with a mechanical claw 7;
the top of the inner side of the mounting square box 2 is provided with an inclined gravity balance mechanism 8, and the gravity center position of the whole robot is adjusted by transferring and converting the clamping weight of the robot arm and the micro inclined displacement in the operation process, so that the phenomenon that the robot topples due to uneven stress of the clamping weight is prevented;
the gas-liquid circulation constant temperature mechanism 9 is arranged on the outer side edge of the installation square box 2, heat inside the installation square box 2 is uniformly diffused through continuously circulating airflow, and then the heated airflow is cooled through continuously spraying liquid, so that the temperature inside the installation square box 2 is balanced, and the temperature inside the installation square box is always kept in a proper temperature range;
the top of the outer side of the installation square box 2 is provided with an auxiliary protection rotating mechanism 10, and an additional auxiliary platform is erected on the outer side of the installation square box 2, so that mechanical claws 7 of different types required by a robot can be placed on the periphery of the installation square box 2 nearby, and the mechanical claws 7 can be replaced more conveniently;
the inclined gravity balance mechanism 8 comprises a supporting square plate 801, a protective sleeve ring 802, a supporting elastic block 803, an elastic liquid bag 804, a transmission pipe 805, a return spring 806, a sliding circular plate 807, a limiting circular frame 808, a liquid guide pipe 809, a horizontal pushing pipe 810, a limiting column 811, a horizontal pushing column 812, a circular mounting frame 813, a fixed curved claw 814, a supporting curved ring 815, a supporting round bottom 816, a movable round box 817, an arc guiding ring 818, a driving flat ring 819, a horizontal returning box 820, a tension spring 821, a sliding vertical plate 822 and a traction rope 823;
the middle part of the top end of the inner side of the installation square box 2 is fixedly connected with a support square plate 801, the top end of the support square plate 801 is provided with a protection lantern ring 802 corresponding to the outer side position of the driving seat 4, the inner side of the protection lantern ring 802 is evenly provided with support elastic blocks 803 at equal intervals along the circumferential direction, the inner side of the protection lantern ring 802 corresponding to one side position of the support elastic blocks 803 is evenly provided with elastic liquid bags 804 at equal intervals along the circumferential direction, the bottom of the elastic liquid bags 804 corresponding to the top position of the inner side of the installation square box 2 is connected with a transmission pipe 805 through a liquid guide pipe, one end part of the inner side of the transmission pipe 805 is fixedly connected with a reset spring 806, one end of the reset spring 806 corresponding to the inner side position of the transmission pipe 805 is fixedly connected with a sliding circular plate 807, the top end of the installation square box 2 corresponding to the inner side position of the installation top seat 3 is fixedly connected with a limit circular frame 808, the transmission pipe 805 is buckled at the bottom of the limit circular frame 808, the inner side of the support square plate 801 is evenly provided with oblong notches along the circumferential direction, and the liquid guide pipes at the bottom of the elastic liquid sac 804 all penetrate through the long circular notch;
the inner cavity of the transmission tube 805 is stepped, one end of the cavity close to the elastic liquid bag 804 is a large end, the reset spring 806 is positioned inside the small end of the cavity, and the outer side of the sliding circular plate 807 is tightly attached to the inner wall of the large end in a sliding manner;
a liquid guide long pipe 809 is arranged in the middle of the tail end of the transmission pipe 805, the tail end of the liquid guide long pipe 809 is fixedly connected with a push transverse pipe 810 corresponding to the edge part of the bottom end of the inner side of the mounting square box 2, a limit column 811 is fixedly connected in the middle of one end of the inner side of the push transverse pipe 810, and a push transverse column 812 is slidably connected in the position of the inner side of the push transverse pipe 810 corresponding to the end part of the limit column 811;
the bottom end edge part of the inner side of the installation square box 2 is fixedly connected with an installation round frame 813, the outer side of the installation round frame 813 is uniformly and fixedly connected with a fixed bent claw 814 along the circumferential direction, the middle part of the bottom end of the inner side of the installation square box 2 is fixedly connected with a supporting bent ring 815, the top end of the supporting bent ring 815 is slidably connected with a supporting round bottom 816, the middle part of the top end of the supporting round bottom 816 is fixedly connected with a movable round box 817, the outer side of the movable round box 817 is sleeved with a guide arc-shaped ring 818, the position, corresponding to the outer side of the guide arc-shaped ring 818, of the top part of the installation round frame 813 is movably connected with a driving flat ring 819, the outer side of the pushing cross column 812 is tightly and slidably attached to the inner wall of the pushing cross column 810, the outer end face of the pushing cross column 812 is tightly and slidably attached to the outer side of the driving flat ring 819, and the liquid guiding long pipes 809 are all clamped to the top part of the fixed bent claw 814;
an arc surface is arranged at the top end of the supporting curved ring 815, the arc surface at the top end of the supporting curved ring 815 is tightly attached to the arc surface at the bottom end of the supporting round bottom 816, and small-particle metal balls are uniformly filled in the movable round box 817;
the middle of the bottom end of the movable vehicle plate 1 is fixedly connected with a reset transverse box 820, two ends of the inner side of the reset transverse box 820 are fixedly connected with extension springs 821, the positions, corresponding to the inner side of the reset transverse box 820, of the ends of the extension springs 821 are fixedly connected with sliding vertical plates 822, a traction cable 823 is fixedly connected between the two sliding vertical plates 822, the top end of the middle of the traction cable 823 is fixedly connected to the middle of the bottom end of a supporting round bottom 816, the inner side arc surface of a driving flat ring 819 is tightly attached to the outer side arc surface of a guide arc ring 818 in a sliding mode, and the bottom surface of the driving flat ring 819 is tightly attached to the top surface of an installation round frame 813;
the outer side of the sliding vertical plate 822 is tightly attached to the inner wall of the reset transverse box 820, the traction cable 823 penetrates the bottom of the movable vehicle plate 1, the diameter of a through hole in the movable vehicle plate 1 is larger than the diameter of the section of the traction cable 823, the center of gravity of the base is adjusted in real time in the operation process of the mechanical pneumatic arm type robot through the mutual matching of components in the inclined gravity balance mechanism 8, when the pneumatic mechanical arm 6 slightly inclines due to long-distance extension or heavy object grabbing, the displacement is amplified through multi-stage rotation, the orientation of the movable circular box 817 is reversely adjusted through energy generated when the pneumatic mechanical arm 6 inclines, the weight distribution form of the base of the robot is adjusted through rolling concentration of small-particle metal balls in the movable circular box 817, and the toppling caused by grabbing of objects with long distance and heavy overall objects is effectively prevented from occurring in the use process of the air intake robot, the use stability of the robot is effectively improved;
meanwhile, the motion of the pneumatic mechanical arm 6 is transmitted through hydraulic oil, so that all components in the whole mechanism are more convenient to mount, the motion form is transmitted and amplified through a simple structure, the real-time change and adjustment of the mechanism can be effectively realized, the control of the robot is effectively optimized, and the error rate in the control process is effectively reduced and the use stability of the robot is effectively improved because the whole adjustment process is linked through a mechanical structure;
by actively adjusting the gravity distribution in the robot base, the additional counter weight outside the base can be effectively omitted, the size of the robot base is reduced, the base occupies a smaller space in the use process of the robot, and meanwhile, the robot base can obtain ideal stability even if the weight of the robot base is kept low, so that the transportation cost of the robot is greatly reduced, and the use convenience of the robot is improved;
the gas-liquid circulation constant temperature mechanism 9 comprises a circulating fan 901, an air guide bent pipe 902, an annular air guide pipe 903, an air distribution horizontal pipe 904, a cooling angle box 905, a heat guide fin 906, an installation vertical pipe 907, a circulating pump 908, a liquid discharge notch 909, an air guide vertical box 910, an air inlet notch 911, an air guide vertical plate 912 and an interception screen plate 913;
a circulating fan 901 is arranged at one side of the mounting square box 2 corresponding to one corner of the top of the movable car plate 1, the input end of the circulating fan 901 is electrically connected with the output end of an external power supply, the middle part of the bottom end of the circulating fan 901 is fixedly connected with a wind guide bent pipe 902, the tail end of the wind guide bent pipe 902 is fixedly connected with an annular air duct 903 corresponding to the edge part of the bottom end of the movable car plate 1, and the top end of the annular air duct 903 corresponding to the bottom of the four sides in the mounting square box 2 is connected with an air distribution transverse pipe 904 through a pipeline;
the top end of the movable vehicle plate 1 is fixedly connected with cooling corner boxes 905 at four corners corresponding to the installation square box 2, the inner side arc surfaces of the cooling corner boxes 905 are uniformly and fixedly connected with heat conducting fins 906, the middle part of the top end of the inner side of the cooling corner boxes 905 is fixedly connected with an installation vertical pipe 907, the bottom end of the installation vertical pipe 907 is fixedly connected with a circulating pump 908 at a position corresponding to the inner side of the cooling corner boxes 905, the circumferential direction of the edge part of the top end of the installation vertical pipe 907 is uniformly provided with liquid drainage notches 909, the side surface of the gas distribution horizontal pipe 904 is tightly attached to the inner wall of the installation square box 2, the top end of the gas distribution horizontal pipe 904 is uniformly provided with exhaust notches, and one side of the circulating fan 901 is tightly attached to the side surface of the cooling corner boxes 905;
an air guide vertical box 910 is fixedly connected to the position, corresponding to the outer arc-shaped surface of the cooling corner box 905, inside the installation square box 2, an air inlet notch 911 is formed in the middle position of the top end of the inside of the air guide vertical box 910, an air guide vertical plate 912 is fixedly connected to the middle position of the top end of the inside of the air guide vertical box 910, an interception screen plate 913 is embedded and installed at the position of one side of the top end of the air guide vertical box 910 at the top end of the installation square box 2, cooling liquid is contained inside the cooling corner box 905, a circulating pump 908 is immersed at the bottom of the cooling liquid, an arc-shaped through groove is formed in the position, corresponding to the air outlet at the top of the air guide vertical box 910, of the top end of the installation square box 2, through mutual matching among all components inside the gas-liquid circulation constant temperature mechanism 9, heat is rapidly taken away from the outside of a core component through high-speed flowing air flow, so that local heat accumulation inside the installation square box 2 is effectively prevented, and equipment faults caused by overhigh temperature are effectively prevented, meanwhile, a unique air path is constructed in the installation square box 2 through the air distribution transverse pipe 904 and the air guide vertical box 910, and heat is rapidly transported to a corner far away from a core area from the core area of the installation square box 2, so that the heat distribution form in the installation square box 2 is rapidly improved, and the influence of residual heat in the installation square box 2 on a core assembly is reduced;
meanwhile, the hot air discharged in the way is additionally cooled by the continuously circulated cooling liquid, so that the cooling effect inside the mounting square box 2 is further improved, the equipment fault caused by the heat gathering inside the mounting square box 2 is effectively prevented, the service life of the robot is effectively prolonged, and the fault rate of the robot in the use process is reduced;
the auxiliary protection rotating mechanism 10 comprises a mounting circular plate 1001, an annular frame 1002, a fixed magnetic block 1003, a mounting bent frame 1004, a transposition motor 1005, a driving soft wheel 1006, a fixed transverse pipe 1007, a sliding square pipe 1008, a fixed electromagnetic block 1009, a separation spring 1010 and a placing frame 1011;
a mounting circular plate 1001 is fixedly connected to the top of the outer side of the mounting square box 2, an annular frame 1002 is movably sleeved on the edge of the top end of the mounting circular plate 1001, fixed magnetic blocks 1003 are embedded into the top of the side surface of the annular frame 1002 at equal intervals along the circumferential direction, a mounting bent frame 1004 is fixedly connected to the position, corresponding to the position of one side of the mounting square box 2, of the top end of the mounting circular plate 1001, a transposition motor 1005 is fixedly connected to one end of the top of the mounting bent frame 1004, the input end of the transposition motor 1005 is electrically connected with the output end of an external power supply, and a driving soft wheel 1006 is fixedly connected to the bottom end of the output shaft of the transposition motor 1005;
the top end of an installation circular plate 1001 is fixedly provided with a fixed transverse pipe 1007 corresponding to the other three side positions of the installation square box 2, the position of one end inside the fixed transverse pipe 1007 is connected with a sliding square pipe 1008 in a sliding way, one end of the sliding square pipe 1008 is fixedly provided with a fixed electromagnetic block 1009, one end inside the sliding square pipe 1008 is fixedly connected with a separation spring 1010, the edge part at the top end of the annular frame 1002 is uniformly and fixedly connected with a placing frame 1011 along the circumferential direction, the outer side of a driving soft wheel 1006 is tightly attached to the inner side of the annular frame 1002, the outer side of the sliding square pipe 1008 is tightly attached to the inner wall of the fixed transverse pipe 1007, the position of the fixed electromagnetic block 1009 corresponds to the position of the fixed magnetic block 1003, one end of the separation spring 1010 is fixedly connected with the inner wall of the fixed transverse pipe 1007, the outer side part of the installation circular plate 1001 is coated with an anti-collision rubber strip, through the mutual matching of all the components inside the auxiliary protection rotating mechanism 10, when a mechanical claw 7 needs to be replaced, through the double cooperation of machinery and magnetic force, the soft wheel 1006 is driven to rotate rapidly in the large-range rotating process of the annular frame 1002, in the positioning and fixing process at the end of transposition, the displacement between the annular frame 1002 and a target position is eliminated through the magnetic force between the fixed magnetic block 1003 and the fixed electromagnetic block 1009, the annular frame 1002 in the process of replacing the mechanical claw 7 is fixed, the motion amplitude of the pneumatic mechanical arm 6 is reduced through driving the active motion of the target mechanical claw 7, and therefore the replacement convenience of the mechanical claw 7 is effectively improved;
meanwhile, the installation circular plate 1001 coats the outer side of the installation square box 2, the main body part of the robot is effectively prevented from directly colliding in the transportation and moving processes, and meanwhile, the circular structure of the installation circular plate 1001 can also well unload materials when colliding, so that the safety of the robot in the transportation and moving processes is effectively improved.
The working principle and the using process of the invention are as follows: in the practical application process of the invention, in the using process of the mechanical pneumatic arm type robot, the robot is transported to a proper position by moving the vehicle plate 1, the shape change of the pneumatic mechanical arm 6 is controlled by the driving seat 4 and the rotating seat 5, then an object is grabbed by the mechanical claw 7 at the tail end of the pneumatic mechanical arm 6, a slight inclination can be generated due to the weight change of the end part of the pneumatic mechanical arm 6 in the deformation of the pneumatic mechanical arm 6 and the object grabbing process, the rotating seat 5 can press the protection lantern ring 802 at the top of the supporting square plate 801 in the inclination process of the pneumatic mechanical arm 6, when the protection lantern ring 802 is pressed, the whole shape of the protection lantern ring 802 is maintained by the supporting elastic block 803, and the hydraulic oil in the elastic liquid bag 804 is led into one end inside the liquid guide pipe 805 by the liquid guide pipe after being pressed, the hydraulic oil rushing into the inside of the transmission pipe 805 pushes the sliding circular plate 807 to slide towards the other end of the transmission pipe 805 by overcoming the elastic force of the return spring 806, so that the hydraulic oil at the other end of the transmission pipe 805 is guided into the liquid guide long pipe 809, the micro-extrusion form borne by the elastic liquid bag 804 is amplified by the change of the pipe diameter inside the transmission pipe 805, the hydraulic oil enters the inside of the horizontal push pipe 810 through the liquid guide long pipe 809, the horizontal push column 812 is forced to slide towards one end along the horizontal push pipe 810 by the hydraulic oil rushing into the inside of the horizontal push pipe 810, the flat driving ring 819 is pushed to slide along the top of the mounting circular frame 813 by the position change of the horizontal push column 812, and the corresponding side of the arc guiding ring 818 can be pushed upwards when the flat driving ring 819 approaches to the center 818 of the arc ring through the relative displacement between the arc surface inside the flat driving ring 819 and the arc guiding ring 818 in the sliding process, the supporting round bottom 816 and the movable round box 817 are driven to incline along the top end of the supporting curved ring 815 through the guiding arc-shaped ring 818, small-particle metal balls contained in the movable round box 817 are enabled to roll to one side after the movable round box 817 inclines, and therefore weight distribution inside the installation square box 2 is changed, when the pneumatic mechanical arm 6 inclines and extends, the integral gravity center of the installation square box 2 moves in the opposite direction, and therefore balance of the integral weight of the installation robot is achieved;
meanwhile, when the supporting round bottom 816 is inclined and displaced, the sliding vertical plate 822 is pulled to slide along the inner wall of the resetting transverse box 820 through the traction rope 823, and the extension spring 821 is driven to be extended in the sliding process of the sliding vertical plate 822, so that when the pneumatic mechanical arm 6 is restored to the original position, the horizontal position pulled by the supporting round bottom 816 can be pulled through the extension spring 821, and the resetting of the movable round box 817 and the small-particle metal ball inside the movable round box 817 is promoted;
the volume of the base of the robot is reduced through the optimization of the base of the robot, so that the space inside the base of the robot becomes crowded and the temperature inside the base is kept within a proper temperature range, the circulating fan 901 is started in the operation process of the mechanical pneumatic arm type robot, the airflow generated by the circulating fan 901 enters the annular air duct 903 along the air guiding bent pipe 902, the airflow inside the annular air duct 903 enters the air distribution transverse pipe 904 through the pipeline, and enters the installation square box 2 from the bottom of the side surface of the interior of the installation square box 2 through an exhaust notch at the top end of the air distribution horizontal pipe 904, the continuous air flow absorbs and carries away the heat generated by each component in the interior of the installation square box 2, and the sucked air flow enters the inside of the air guide shaft box 910 at the corner through the air inlet slot 911, the hot air flow is guided by the air guide vertical plate 912 and is discharged outwards after passing through the interception mesh plate 913 after flowing through the side surface of the cooling corner box 905;
the cooling liquid is conveyed upwards from the bottom end of the cooling corner box 905 by a circulating pump 908 at the bottom of the cooling corner box 905, and is sprayed into the cooling corner box 905 by passing through a liquid discharge notch 909 after the cooling liquid is conveyed upwards to the highest point along the inside of the installation vertical pipe 907, the heat in the hot air absorbed by the side surface of the cooling corner box 905 is diffused inwards by the heat-conducting fins 906, the heat absorption range of the cooling liquid is effectively increased by the heat-conducting fins 906, the heat-conducting efficiency of the circulating cooling liquid is improved, and the heat in the installation square box 2 can be diffused outwards more quickly;
in the using process of the mechanical pneumatic arm type robot, the type of the mechanical claw 7 needs to be changed sometimes, the annular frame 1002 is installed outside the installation square box 2 through the installation circular plate 1001, a plurality of independent placing points are formed outside the annular frame 1002 through the placing frame 1011, so that a plurality of different mechanical claws 7 are prevented from reaching the outside of the installation square box 2, when the mechanical claw 7 needs to be moved to a target position for changing, the driving soft wheel 1006 is driven to rotate through the transposition motor 1005, the driving soft wheel 1006 drives the annular frame 1002 to rotate, when the placing frame 1011 is at a target position to be moved, the fixed electromagnetic block 1009 is started, the sliding square pipe 1008 is driven to slide along the inner wall of the fixed transverse pipe 1007 by the magnetic force between the fixed magnetic block 1009 and the fixed electromagnetic block 1009 to overcome the elastic force of the separation spring 1010, in the corresponding adsorption process of the fixed magnetic block 1003 and the fixed electromagnetic block 1003, the circular frame 1002 slightly rotates along the mounting circular plate 1001, so that the holding frame 1011 can be more accurately fixed to a target position.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a mechanical pneumatic arm formula robot of software, includes removal sweep (1), its characterized in that: the middle part of the top end of the movable sweep (1) is fixedly connected with an installation square box (2), the middle part of the top end of the inner side of the installation square box (2) is fixedly connected with an installation top seat (3), the middle part of the top end of the installation top seat (3) is provided with a driving seat (4), the position, corresponding to the middle part of the top end of the installation square box (2), of the top end of the driving seat (4) is rotatably connected with a rotating seat (5), the middle part of the top end of the rotating seat (5) is fixedly provided with a pneumatic mechanical arm (6), and the end part of the pneumatic mechanical arm (6) is fixedly connected with a mechanical claw (7);
an inclined gravity balance mechanism (8) is arranged at the top of the inner side of the mounting square box (2), and the gravity center position of the whole robot is adjusted by transferring and converting the clamping weight of the robot arm and the micro inclined displacement in the operation process, so that the phenomenon that the robot topples due to uneven stress of the clamping weight is prevented;
a gas-liquid circulation constant temperature mechanism (9) is arranged on the outer side edge of the installation square box (2), heat inside the installation square box (2) is uniformly diffused through continuously circulating airflow, and then the heated airflow is cooled through continuously spraying liquid, so that the temperature inside the installation square box (2) is balanced, and the temperature inside the installation square box is always kept in a proper temperature range;
the top of the outer side of the mounting square box (2) is provided with an auxiliary protection rotating mechanism (10), and an additional auxiliary platform is erected on the outer side of the mounting square box (2), so that mechanical claws (7) of different types required by a robot can be placed on the periphery of the mounting square box (2) nearby, and the mechanical claws (7) can be replaced more conveniently;
the inclined gravity balance mechanism (8) comprises a supporting square plate (801);
the middle part of the top end of the inner side of the installation square box (2) is fixedly connected with a support square plate (801), the top end of the support square plate (801) is provided with a protection lantern ring (802) corresponding to the outer side position of the driving seat (4), the inner side of the protection lantern ring (802) is uniformly provided with support elastic blocks (803) along the circumferential direction at equal intervals, the position of one side of the inner side of the protection lantern ring (802) corresponding to the support elastic blocks (803) along the circumferential direction at equal intervals is uniformly provided with an elastic liquid bag (804), the bottom of the elastic liquid bag (804) corresponding to the position of the top of the inner side of the installation square box (2) is connected with a liquid guide pipe transmission pipe (805), the edge part of one end of the inner side of the transmission pipe (805) is fixedly connected with a reset spring (806), one end part of one end of the reset spring (806) corresponding to the position of the inner side of the transmission pipe (805) is fixedly connected with a sliding circular plate (807), the top end of the installation square box (2) corresponding to the position of the inner side of the installation top seat (3) is fixedly connected with a limiting circular frame (808), the transmission pipes (805) are fastened at the bottom of the limiting round frame (808);
a liquid guide long pipe (809) is arranged in the middle of the tail end of the transmission pipe (805), the tail end of the liquid guide long pipe (809) is fixedly connected with a transverse pushing pipe (810) corresponding to the edge part of the bottom end of the inner side of the mounting square box (2), a limiting column (811) is fixedly connected in the middle of one end of the inner side of the transverse pushing pipe (810), and a transverse pushing column (812) is slidably connected in the position, corresponding to the end part of the limiting column (811), of the inner side of the transverse pushing pipe (810);
the bottom end part of the inner side of the installation square box (2) is fixedly connected with an installation round frame (813), the outer side of the installation round frame (813) is uniformly and fixedly connected with a fixed bent claw (814) along the circumferential direction, the middle part of the bottom end of the inner side of the installation square box (2) is fixedly connected with a supporting bent ring (815), the top end of the supporting bent ring (815) is slidably connected with a supporting round bottom (816), the middle part of the top end of the supporting round bottom (816) is fixedly connected with a movable round box (817), the outer side of the movable round box (817) is sleeved with a guide arc-shaped ring (818), and the position of the top of the installation round frame (813) corresponding to the outer side of the guide arc-shaped ring (818) is movably connected with a driving flat ring (819);
remove sweep (1) bottom middle part fixedly connected with horizontal box (820) that resets, the equal fixedly connected with extension spring (821) in the inboard both ends of horizontal box (820) that resets, extension spring (821) tip corresponds horizontal box (820) that resets inboard position department fixedly connected with riser (822) that slide, two fixedly connected with haulage cable (823) between the riser (822) that slide, haulage cable (823) middle part top fixed connection supports round bottom (816) bottom middle part.
2. The mechanical pneumatic arm robot as claimed in claim 1, wherein the supporting square plate (801) has a circular slot on its inner side along the circumference, and the liquid guiding tube at the bottom of the elastic liquid bag (804) passes through the circular slot;
the cavity in the transmission pipe (805) is stepped, one end of the cavity close to the elastic liquid sac (804) is a large end, the reset spring (806) is located in the small end of the cavity, and the outer side of the sliding circular plate (807) is tightly attached to the inner wall of the large end in a sliding mode.
3. The robot of claim 2, wherein the outer side of the horizontal pushing column (812) is in tight sliding fit with the inner wall of the horizontal pushing tube (810), the outer end surface of the horizontal pushing column (812) is in tight sliding fit with the outer side of the flat driving ring (819), and the liquid guiding long tubes (809) are all clamped at the tops of the fixed bent claws (814);
the top end of the supporting curved ring (815) is provided with an arc surface, the arc surface at the top end of the supporting curved ring (815) is tightly attached to the arc surface at the bottom end of the supporting round bottom (816), and small-particle metal balls are uniformly filled in the movable round box (817).
4. The soft mechanical pneumatic arm robot of claim 2, wherein the inner circular arc surface of the driving flat ring (819) is in close sliding fit with the outer circular arc surface of the guide arc ring (818), and the bottom surface of the driving flat ring (819) is in close fit with the top surface of the mounting round frame (813);
the outer side of the sliding vertical plate (822) is tightly attached to the inner wall of the reset transverse box (820), the traction cable (823) penetrates through the bottom of the movable sweep (1), and the diameter of the through hole in the movable sweep (1) is larger than the diameter of the section of the traction cable (823).
5. The soft mechanical pneumatic arm robot according to claim 1, wherein the gas-liquid circulation thermostatic mechanism (9) comprises a circulation fan (901);
a circulating fan (901) is arranged at one side of the mounting square box (2) corresponding to one corner of the top of the movable vehicle plate (1), the input end of the circulating fan (901) is electrically connected with the output end of an external power supply, the middle of the bottom end of the circulating fan (901) is fixedly connected with a wind guide bent pipe (902), the tail end of the wind guide bent pipe (902) corresponding to the edge of the bottom end of the movable vehicle plate (1) is fixedly connected with an annular air duct (903), and the top end of the annular air duct (903) corresponding to the bottom of four inner side surfaces of the mounting square box (2) is connected with a transverse air distribution pipe (904) through a pipeline;
the top end of the movable vehicle plate (1) is fixedly connected with cooling corner boxes (905) corresponding to four corners of the installation square box (2), the inner side arc surfaces of the cooling corner boxes (905) are uniformly and fixedly connected with heat conducting fins (906), the middle part of the top end of the inner side of each cooling corner box (905) is fixedly connected with an installation vertical pipe (907), the bottom end of each installation vertical pipe (907) is fixedly connected with a circulating pump (908) corresponding to the inner side position of each cooling corner box (905), and liquid drainage notches (909) are uniformly formed in the circumferential direction of the top end edge part of each installation vertical pipe (907);
the utility model discloses a set up box (2) inside cooling angle box (905) that corresponds is equipped with the air guide and is erected box (910) in the inside fixedly connected with air guide of arc face position department in the outside of (905), the air guide is erected box (910) inboard top middle part position department and has seted up inlet slot opening (911), the air guide is erected box (910) inboard top middle part position department fixedly connected with air guide riser (912), set up box (910) top one side position department embedding is installed and is intercepted otter board (913) is erected in set up box (2) top air guide.
6. The mechanical pneumatic arm robot of claim 5, wherein the lateral surface of the air distribution cross tube (904) is tightly attached to the inner wall of the installation square box (2), the top end of the air distribution cross tube (904) is uniformly provided with exhaust slots, and one side of the circulating fan (901) is tightly attached to the lateral surface of the cooling corner box (905).
7. The mechanical pneumatic arm robot as claimed in claim 5, wherein the cooling angle box (905) contains cooling liquid inside, the circulating pump (908) is immersed in the bottom of the cooling liquid, and an arc-shaped through slot is formed at the top end of the installation square box (2) corresponding to the air outlet at the top of the air guiding vertical box (910).
8. The soft mechanical pneumatic arm robot according to claim 1, wherein the auxiliary protection rotation mechanism (10) comprises a mounting circular plate (1001);
a mounting circular plate (1001) is fixedly connected to the top of the outer side of the mounting square box (2), an annular frame (1002) is movably sleeved on the edge of the top end of the mounting circular plate (1001), fixing magnetic blocks (1003) are embedded into the top of the side surface of the annular frame (1002) at equal intervals along the circumferential direction, a mounting bent frame (1004) is fixedly connected to the position of the top end of the mounting circular plate (1001) corresponding to one side of the mounting square box (2), a transposition motor (1005) is fixedly connected to one end of the top of the mounting bent frame (1004), the input end of the transposition motor (1005) is electrically connected with the output end of an external power supply, and a driving soft wheel (1006) is fixedly connected to the bottom of the output shaft of the transposition motor (1005);
installation plectane (1001) top corresponds installation square case (2) three side position department fixed mounting in addition and violently manages (1007), fixed violently manage (1007) inboard one end position department sliding connection has the side pipe (1008) of sliding, the side pipe (1008) one end fixed mounting that slides has fixed electromagnetism piece (1009), the side pipe (1008) of sliding inside one end fixedly connected with separation spring (1010), the even fixedly connected with rack (1011) of circumferencial direction is followed to annular frame (1002) top limit portion.
9. The mechanical pneumatic arm robot of a software of claim 8, characterized in that, the outside of the driving soft wheel (1006) is closely attached to the inside of the ring frame (1002), the outside of the sliding square tube (1008) is closely attached to the inner wall of the fixed horizontal tube (1007), the position of the fixed electromagnetic block (1009) corresponds to the fixed magnetic block (1003), one end of the separation spring (1010) is fixedly connected to the inner wall of the fixed horizontal tube (1007), and the outer side edge of the installation round plate (1001) is wrapped with the anti-collision rubber strip.
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