CN115107077A

CN115107077A - Intelligent carrying manipulator with multiple limiting functions

Info

Publication number: CN115107077A
Application number: CN202210848060.3A
Authority: CN
Inventors: 何斌
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-07-19
Filing date: 2022-07-19
Publication date: 2022-09-27

Abstract

The invention relates to the technical field of intelligent manufacturing, in particular to an intelligent carrying manipulator with multiple limiting functions, which comprises a preset support, clamping jaws, hydraulic cylinder limiting units and liquid injection and extraction units, wherein the two clamping jaws are symmetrically arranged on the preset support, the hydraulic cylinders are arranged on the preset support, at least two limiting units are arranged on the clamping jaws uniformly along the extending direction of the clamping jaws, each limiting unit comprises a driving cavity, a piston part and an executing part, the piston part is arranged in the driving cavity in a sliding manner, the driving cavity is divided into a first cavity and a second cavity by the piston part, one end of the executing part is fixedly connected with the piston part, the other end of the piston part penetrates through the second cavity and extends to the clamping side of the clamping jaws, the liquid injection and extraction units are arranged on the clamping jaws and are communicated with one of the first cavities, after the symmetrical clamping jaws clamp an object, the liquid injection and extraction units can be started to enable a plurality of the executing parts to synchronously abut against the surface of the object, thereby can carry out spacing operation many times to the object.

Description

Intelligent carrying manipulator with multiple limiting functions

Technical Field

The invention relates to the technical field of intelligent manufacturing, in particular to an intelligent carrying manipulator with a repeated limiting function.

Background

The manipulator is an automatic operating device for grabbing and carrying objects or operating tools according to a fixed program. It can replace the heavy labor of people to realize the mechanization and automation of production, and can be operated under harmful environment to protect the personal safety, thus being widely applied to the departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like. The manipulator for carrying the existing intelligent can only clamp the edge end of the object through the clamping jaws which are symmetrically distributed, and can only simply limit the object with a regular shape, if the object with a non-uniform shape is encountered, the manipulator can not carry out secondary limiting operation on the lower end of the object, so that the phenomenon that the manipulator falls off easily in the transferring process is caused, and certain use defects exist.

Chinese patent CN202010226756.3 stable form intelligent manufacturing mechanical arm with secondary limit function, including base, butt joint piece, storage tank and nested piece, the upper end bearing of base is connected with the butt joint piece, and the nested supporting seat of installing in the upper end of base to the supporting seat is connected with the butt joint piece, first hydraulic stem is installed to the up end bolt of base, and the output fixedly connected with installation piece of first hydraulic stem to the outer end of installation piece rotates and is connected with the movable block, the outer end bearing of supporting seat is connected with predetermines the support, and the nested first pivot of installing in upper end of supporting seat. This stable form intelligent manufacturing arm with secondary limit function moves in opposite directions along with the stopper that the hydraulic stem drove 2 sets of symmetric distributions, and the stay cord that is connected with its axle head will pass through the gear engagement structure in step, drives its terminal installation sucking disc and outwards moves from the activity in step to carry out secondary limit work to the lower extreme of centre gripping article.

This arm only can carry out the secondary spacing to the object, can't carry on spacingly many times to inhomogeneous object very much, and through stay cord traction gear engagement structure to drive installation sucking disc carries out the spacing mode of secondary, and the structure is unstable, can't restrict and carry heavier object.

Disclosure of Invention

Therefore, it is necessary to provide an intelligent carrying manipulator with a multiple-limiting function for solving the problems in the prior art.

In order to solve the problems of the prior art, the invention adopts the technical scheme that:

an intelligent carrying manipulator with multiple limiting functions comprises a preset support, clamping jaws, at least two hydraulic cylinder limiting units and liquid injection and extraction units, wherein the two clamping jaws are symmetrically arranged on the preset support, the hydraulic cylinders are arranged on the preset support and used for driving the clamping jaws to perform clamping action, the limiting units are uniformly arranged on the clamping jaws along the extending direction of the clamping jaws, each limiting unit comprises a driving cavity, a piston part and an executing part, the piston parts are arranged in the driving cavities in a sliding manner, the driving cavities are divided into a first cavity and a second cavity by the piston parts, one end of each executing part is fixedly connected with the piston parts, the other ends of the piston parts penetrate through the second cavities and extend to the clamping sides of the clamping jaws, when the pressure intensity of the first cavity and the pressure intensity of the second cavity are changed, the executing parts slide along the direction vertical to the clamping sides of the clamping jaws, the liquid injection and extraction units are arranged on the clamping jaws, and the liquid injection and extraction units are communicated with one of the first cavities, the liquid injection and extraction unit is used for injecting or extracting liquid into the first cavity.

Preferably, the limiting unit further comprises a fixed cylinder, the driving cavity is an internal cavity of the fixed cylinder, the fixed cylinder is fixedly arranged on the clamping jaw, the axis of the fixed cylinder is perpendicular to the clamping side of the clamping jaw, the piston part is coaxially arranged in the executing part in a sliding manner, the executing part is fixedly arranged at one end of the piston part, the executing part extends along the sliding direction of the driving cavity and penetrates through one end of the fixed cylinder, and the other end of the fixed cylinder is provided with a liquid inlet which is communicated with the liquid injection and extraction unit.

Preferably, one end of the fixed cylinder is also provided with an air pressure port communicated with the second cavity.

Preferably, the piston further comprises a sealing ring, the sealing ring is coaxially sleeved on the outer circumferential surface of the piston part, and the sealing ring is in interference fit with the inner wall of the fixed cylinder.

Preferably, the execution part is a sliding rod, the sliding rod is coaxially arranged in the fixed cylinder, one end of the sliding rod is coaxially and fixedly connected with the piston part, and the other end of the sliding rod coaxially penetrates through the fixed cylinder and extends to the clamping side of the clamping jaw.

Preferably, still include the butt plate, the butt plate sets up the centre gripping side at the clamping jaw, and the opposite side of butt plate is connected with the outer end of slide bar.

Preferably, still include elastic connection spare, elastic connection spare includes bulb universal joint, butt ring and spring, and the outer end of slide bar is passed through the bulb universal joint and is connected with the inboard rotation of butt plate, and the butt ring is coaxial to be set up on the slide bar, and the spring housing is established on the bulb universal joint, and the both ends of spring butt respectively at the opposite side of butt ring and butt plate.

Preferably, the abutting ring is coaxially provided with a support ring towards one end of the abutting plate, and the outer diameter of the support ring is equal to the diameter of the spring.

Preferably, the liquid injection and suction unit comprises a liquid storage cylinder, a piston piece, a total flow pipeline and a linear push rod, the liquid storage cylinder is arranged on the clamping jaw, the piston piece is arranged in the liquid storage cylinder in a sliding mode, the piston piece divides the inner cavity of the liquid storage cylinder into a third cavity and a second cavity, liquid is injected into the third cavity and is communicated with the total flow pipeline, and branch pipe orifices communicated with the plurality of first cavities are uniformly arranged on the total flow pipeline; the straight line push rod is coaxially arranged at one end of the liquid storage cylinder, and the end part of the output shaft of the straight line push rod penetrates through the fourth cavity and is fixedly connected with the piston piece.

Preferably, the liquid injection and extraction unit further comprises a pressure sensor, and a detection end of the pressure sensor is arranged in the total flow pipeline.

This application compares in prior art's beneficial effect and is:

1. according to the clamping device, the plurality of limiting units are uniformly arranged on the clamping side of the clamping jaw, and after the object is clamped by the symmetrical clamping jaw, the liquid injection and extraction unit is started, so that the plurality of executing parts can be abutted against the surface of the object synchronously, and the object can be limited for multiple times;

2. the piston part can stably slide in the inner cavity of the fixed cylinder;

3. by arranging the air pressure port, the piston part can slide more stably in the fixed cylinder, so that an object can be stably limited and clamped;

4. according to the sealing device, the sealing ring is coaxially sleeved on the outer circumferential surface of the piston part, so that when the piston part slides in the fixed cylinder, the first cavity and the second cavity are always kept in a sealing state, and further, liquid in the second cavity can be effectively prevented from entering the second cavity through the gap between the piston part and the circumferential surface of the fixed cylinder, and therefore the stability of the device can be improved;

5. the abutting plates are arranged at the outer ends of the sliding rods, so that the abutting areas of the sliding rods can be increased, the abutting plates on the two clamping jaws are matched with each other, and objects in different shapes are limited and clamped for multiple times;

6. according to the clamping device, the outer end of the sliding rod is elastically connected with the abutting plate through the elastic connecting piece, so that the abutting plate can be abutted on the surface of an object in a self-adaptive and stable manner, and the clamping jaw can clamp the object stably;

7. the liquid storage cylinder, the piston piece, the total flow pipeline and the linear push rod can stably inject or extract liquid into or out of the first cavity, so that the execution part can stably abut against an object;

8. according to the device, the pipeline pressure in the total flow pipeline can be monitored in real time through the pressure sensor, so that the output displacement of the linear push rod can be controlled conveniently, and the abutting force of the execution part on an object can be detected through the pressure sensor, so that the clamping is adapted;

9. this application can form the steady gliding drive chamber of piston portion through a fixed section of thick bamboo, and the coaxial slip setting of piston portion is in a fixed section of thick bamboo for the inside of a fixed section of thick bamboo is divided into the first cavity and the second cavity with a fixed section of thick bamboo intercommunication, makes the piston portion slide in a fixed section of thick bamboo, thereby makes the piston portion can guide the execution portion butt on the surface of object, thereby carries out a lot of spacingly to the object.

Drawings

Fig. 1 is a front view of a robot hand of the embodiment;

FIG. 2 is a perspective view of a robot of an embodiment;

FIG. 3 is a top view of a robot of an embodiment;

FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;

FIG. 5 is a perspective sectional view taken along line A-A of FIG. 3;

FIG. 6 is a partial enlarged view at C of FIG. 4;

FIG. 7 is a perspective view of a piston portion of the embodiment

FIG. 8 is a perspective view of the liquid injection and extraction unit of the embodiment;

FIG. 9 is a partial side view of an embodiment of a pumping unit;

fig. 10 is a sectional view taken in the direction D-D of fig. 9.

The reference numbers in the figures are:

1-presetting a support; 2-a clamping jaw; 3-a hydraulic cylinder; 4 a-a drive chamber; 4 b-a piston portion; 4b 1-ring groove; 4 c-an execution part; 4 d-a fixed cylinder; 4d 1-liquid inlet; 4d 2-air pressure port; 4 e-sealing ring; 5-liquid injection and extraction unit; 5 a-a liquid storage cylinder; 5 b-a piston member; 5 c-total flow line; 5c 1-Branch pipe orifice; 5 d-linear push rod; 5 e-a pressure sensor; 6-abutting the board; 7 a-ball joint universal joint; 7 b-a docking ring; 7b 1-loopers; 7 c-spring.

Detailed Description

For further understanding of the features and technical means of the present invention, as well as the specific objects and functions attained by the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description.

As shown in fig. 1, 2 and 5:

an intelligent carrying manipulator with multiple limiting functions comprises a preset support 1, clamping jaws 2, hydraulic cylinders 3, limiting units and liquid injection and extraction units 5, wherein the two clamping jaws 2 are symmetrically arranged on the preset support 1, the hydraulic cylinders 3 are arranged on the preset support 1 and used for driving the clamping jaws 2 to perform clamping actions, and the intelligent carrying manipulator is characterized in that the limiting units are at least two, the limiting units are uniformly arranged on the clamping jaws 2 along the extending direction of the clamping jaws 2, each limiting unit comprises a driving cavity 4a, a piston part 4b and an executing part 4c, the piston part 4b is arranged in the driving cavity 4a in a sliding manner, the driving cavity 4a is divided into a first cavity and a second cavity by the piston part 4b, one end of the executing part 4c is fixedly connected with the piston part 4b, the other end of the piston part 4b penetrates through the second cavity and extends to the clamping side of the clamping jaws 2, and when the pressure intensity of the first cavity and the second cavity changes, the executing part 4c slides along the direction vertical to the clamping side of the clamping jaws 2, annotate and take out liquid unit 5 and set up on clamping jaw 2, and annotate and take out liquid unit 5 and one of them first cavity intercommunication, annotate and take out liquid unit 5 and be used for to first cavity injection or take out liquid.

Based on the above embodiment, "the limiting units are uniformly arranged on the clamping jaw 2 along the extending direction of the clamping jaw 2" can be understood that the clamping jaw 2 is a clamping structure with one side radian, and the limiting units are arranged on the clamping jaw 2 along the radian extending line;

the preset support 1 is provided with symmetrically distributed articulated shafts, the articulated joints of the two clamping jaws 2 are respectively and rotationally connected with the symmetrically arranged articulated shafts, the clamping jaws 2 are provided with rotating parts, the rotating parts are provided with sliding grooves, sliding extends along the radial direction of the articulated joints, the hydraulic cylinder 3 is fixedly arranged on the preset support 1, the end part of an output shaft of the hydraulic cylinder is provided with a driving shaft, the driving shaft extends along the radial direction of the output shaft and is in sliding fit with the sliding grooves, and when the output shaft of the hydraulic cylinder 3 slides, the driving shaft slides on the sliding grooves so as to drive the two clamping jaws 2 to perform clamping action;

when clamping an object, firstly, starting the hydraulic cylinder 3 to enable the symmetrically arranged clamping jaws 2 to clamp the object, so as to perform first clamping and limiting operation;

when an irregular object needs to be clamped, the liquid injection and extraction unit 5 is started to inject liquid into a first cavity, the piston part 4b is arranged in the driving cavity 4a in a sliding mode, so that the pressure intensity in the first cavity is larger than that of the second cavity, namely, the piston part 4b moves vertically in the driving cavity 4a towards the clamping side direction of the clamping jaw 2, and the execution part 4c is fixedly arranged at one end, facing the clamping side, of the piston part 4b, so that the outer end of the execution part 4c abuts against the surface of the object in the direction perpendicular to the clamping side, and therefore the object is limited for the second time; because the first cavities of the limiting units are communicated with each other, the outer ends of the executing parts 4c can be sequentially abutted against the surface of the object, and the object can be limited for multiple times;

because the first cavities are communicated with one another, the internal pressures of all the first cavities are consistent, and the abutting forces of all the execution parts 4c to the object are the same, so that the object can be effectively limited, and the damage to the surface of the object caused by the overpressure of the single execution part 4c is prevented;

when an object is required to be put down, the output shaft of the hydraulic cylinder 3 is directly reset, the distance between the clamping sides of the clamping jaws 2 is increased, the object can be separated from the clamping jaws 2, the liquid injected into the first cavity is pumped out by the liquid injection and pumping unit 5 which is started for the next clamping, the pressure of the first cavity is smaller than that of the second cavity, the piston part 4b can move towards the direction far away from the clamping sides of the clamping jaws 2, the sliding piston part 4b can drive the execution part 4c to reset, and the next object can be clamped for multiple times in a limiting manner.

Further, in order to solve the problem of how the stopper unit is provided with the driving chamber 4a for the piston portion 4b to stably slide, as shown in fig. 6:

the limiting unit further comprises a fixing cylinder 4d, the driving cavity 4a is an inner cavity of the fixing cylinder 4d, the fixing cylinder 4d is fixedly arranged on the clamping jaw 2, the axis of the fixing cylinder 4d is perpendicular to the clamping side of the clamping jaw 2, the piston part 4b is coaxially arranged in the executing part 4c in a sliding mode, the executing part 4c is fixedly arranged at one end of the piston part 4b, the executing part 4c extends in the sliding direction of the driving cavity 4a and penetrates through one end of the fixing cylinder 4d, a liquid inlet 4d1 is formed in the other end of the fixing cylinder 4d, and the liquid inlet 4d1 is communicated with the liquid injection and extraction unit 5.

Based on the above embodiment, the fixed cylinder 4d can form the driving cavity 4a in which the piston part 4b slides stably, the piston part 4b is coaxially and slidably disposed in the fixed cylinder 4d, so that the inside of the fixed cylinder 4d is divided into the first cavity and the second cavity communicated with the fixed cylinder 4d, the actuator part 4c penetrates through the fixed cylinder 4d and slides in the second cavity, when the total flow pipeline 5c injects liquid into the first cavity through the liquid inlet 4d1, the pressure in the first cavity is increased, in order to maintain the pressure balance between the first cavity and the second cavity, the piston part 4b slides in the fixed cylinder 4d, so that the piston part 4b can guide the actuator part 4c to abut against the surface of the object, thereby limiting the object for multiple times;

when the actuator 4c needs to be reset, the liquid injection and extraction unit 5 extracts the liquid in the first cavity through the liquid inlet 4d1, and in order to maintain the pressure balance between the first cavity and the second cavity, the piston part 4b slides in the fixed cylinder 4d along the direction close to the liquid inlet 4d1, so that the piston part 4b guides the actuator 4c to reset, so as to perform multiple limiting clamping on the next object.

Further, in the present application, when the piston portion 4b slides in the fixed cylinder 4d and still has the second cavity compressed, the second cavity pressure is increased, which is inconvenient for injecting or extracting the liquid into or from the first cavity, and in order to solve the problem, as shown in fig. 6:

one end of the fixed cylinder 4d is also provided with an air pressure port 4d2 communicated with the second cavity.

Based on the above embodiment, the air pressure port 4d2 communicated with the second cavity is formed at one end of the fixed cylinder 4d, so that when liquid is injected into or extracted from the first cavity, the pressure in the second cavity is always kept balanced with the outside, and therefore when the second cavity is sealed relative to the outside, the pressure of the second cavity is increased due to compression, and then liquid is not conveniently injected into or extracted from the first cavity, and the piston part 4b can slide more stably in the fixed cylinder 4d by forming the air pressure port 4d2, so that the object can be stably clamped in a limited manner.

Further, the sliding of the piston portion 4b in the fixed cylinder 4d still has the defect that the liquid in the first cavity is easy to enter the second cavity through the gap, and in order to solve this problem, as shown in fig. 6:

04 further comprises a sealing ring 4e, the sealing ring 4e is coaxially sleeved on the outer circumferential surface of the piston part 4b, and the sealing ring 4e is in interference fit with the inner wall of the fixed cylinder 4 d.

Based on the above embodiment, the sealing ring 4e is coaxially sleeved on the outer circumferential surface of the piston part 4b, and the sealing ring 4e is in interference fit with the inner circumferential surface of the fixed cylinder 4d, so that when the piston part 4b slides in the fixed cylinder 4d, the first cavity and the second cavity are always kept in a sealing state, and then the liquid in the second cavity can be effectively prevented from entering the second cavity through the gap between the piston part 4b and the circumferential surface of the fixed cylinder 4d, and the stability of the device can be improved.

As some optional embodiments of the present application, the circumferential surface of the piston portion 4b is further coaxially disposed with the annular groove 4b1, the sealing ring 4e is coaxially disposed on the annular groove 4b1, when the sealing ring 4e is disposed on the piston portion 4b, the circumferential surface of the piston portion 4b is smooth, so that when the piston portion 4b slides in the fixing cylinder 4d, the sealing ring 4e is easily separated from the piston portion 4b, and the annular groove 4b1 is coaxially disposed on the circumferential surface of the piston portion 4b, so that the two sides of the sealing ring 4e are limited by the two ends of the piston portion 4b, and the sealing ring 4e can be prevented from being separated from the piston portion 4b, so that the sliding process of the piston portion 4b is more stable.

Further, in order to solve the problem of how the plunger portion 4b abuts the wire-feeding performing portion 4c on the surface of the object, as shown in fig. 6:

the executing part 4c is a sliding rod coaxially arranged in the fixed cylinder 4d, one end of the sliding rod is coaxially and fixedly connected with the piston part 4b, and the other end of the sliding rod coaxially penetrates through the fixed cylinder 4d and extends to the clamping side of the clamping jaw 2.

Based on the above embodiment, when the piston portion 4b slides in the fixed cylinder 4d, because the fixed cylinder 4d is a sliding rod, and one end of the fixed cylinder 4d is fixedly connected with the piston portion 4b, the sliding piston portion 4b can guide the fixed cylinder 4d to move axially, the outer end of the fixed cylinder 4d extends to the clamping side of the clamping jaws 2 along the axial direction, and after the two clamping jaws 2 clamp an object, the piston portions 4b on the two clamping jaws 2 can guide the fixed cylinder 4d to perform limiting clamping on the object, so as to perform multiple times of limiting clamping on the object with different shapes.

Further, the sliding rod provided by the present application still has the defect of small abutting area and inconvenient clamping when abutting on the surface of the object, in order to solve the problem, as shown in fig. 6:

still include butt plate 6, butt plate 6 sets up in the centre gripping side of clamping jaw 2, and the opposite side of butt plate 6 is connected with the outer end of slide bar.

Based on above-mentioned embodiment, when the slide bar slided in fixed section of thick bamboo 4d, the slide bar can drive 6 butt of butt plate on the surface of object, for the direct butt of slide bar on the object surface, through set up butt plate 6 in the outer end of slide bar, can increase the butt area of slide bar to butt plate 6 on two clamping jaws 2 mutually supports, carries out spacing centre gripping many times to the object of different shapes.

Furthermore, the 07 provided by the present application, which directly abuts against the surface of the object, still has the defect that the attachment cannot be performed according to the angle of the surface of the object, and in order to solve this problem, as shown in fig. 6:

still include elastic connection spare, elastic connection spare includes bulb universal joint 7a, butt circle 7b and spring 7c, and the outer end of slide bar is passed through bulb universal joint 7a and is connected with the inboard rotation of butt board 6, and the coaxial setting of butt circle 7b is on the slide bar, and spring 7c cover is established on bulb universal joint 7a, and the both ends of spring 7c butt respectively at the opposite side of butt circle 7b and butt board 6.

Based on the above embodiment, since the spring 7c is an elastic structure, when the spring 7c is stressed in the radial direction, the spring 7c is bent, and when the external force is removed, the spring 7c is elastically restored, the spring 7c is sleeved on the ball joint 7a, and the two ends of the ball joint 7a are respectively abutted against the opposite sides of the abutting ring 7b and the abutting plate 6, and the abutting plate 6 is connected with the outer end of the sliding rod through the ball joint 7a, i.e. the abutting plate 6 can rotate in any direction relative to the sliding rod, and due to the restraining force of the spring 7c, when the abutting plate 6 is not acted by the external force, the sliding rod and the side surface of the abutting plate 6 are always kept in the vertical state, and when the sliding rod drives the abutting plate 6 to abut against the surface of the object, the abutting plate 6 can be attached to the surface of the object in different angles in a self-adapting manner by overcoming the elastic force of the spring 7c, so that the abutting plates 6 can be flexibly attached and mutually matched to clamp objects, thereby improving the clamping applicability of the manipulator.

As some optional embodiments of the present application, in order to adjust the elastic force of the spring 7c in the normal state, the abutting ring 7b is screwed with the sliding rod coaxially, the abutting ring 7b is rotated relative to the sliding rod, the distance between the abutting ring 7b and the abutting plate 6 can be adjusted, and because the two ends of the spring 7c abut against the opposite sides of the abutting ring 7b and the abutting plate 6 respectively, the elastic force is adjusted by adjusting the length of the spring 7c, and the force to be overcome by the rotation of the abutting plate 6 relative to the sliding rod can be adjusted, so as to improve the applicability of the clamping.

Further, the spring 7c provided by the present application still has a defect of non-coaxial when being sleeved on the sliding rod, and in order to solve this problem, as shown in fig. 6:

the abutment ring 7b is provided coaxially with a stay 7b1 towards one end of the abutment plate 6, the stay 7b1 having an outer diameter equal to the diameter of the spring 7 c.

Based on the above embodiment, the supporting ring 7b1 is coaxially arranged at one end of the abutting ring 7b facing the abutting plate 6, so that one end of the spring 7c can be coaxially sleeved on the supporting ring 7b1, and the elastic force required to be overcome by the abutting plate 6 is always uniform when the abutting plate rotates relative to the sliding rod.

Further, in order to solve the problem of how to inject and extract the liquid into and from the first cavity by the liquid injection and extraction unit 5, as shown in fig. 8 and 10:

the liquid injection and extraction unit 5 comprises a liquid storage cylinder 5a, a piston piece 5b, a total flow pipeline 5c and a linear push rod 5d, wherein the liquid storage cylinder 5a is arranged on the clamping jaw 2, the piston piece 5b is arranged in the liquid storage cylinder 5a in a sliding manner, the piston piece 5b divides the inner cavity of the liquid storage cylinder 5a into a third cavity and a second cavity, liquid is injected into the third cavity and communicated with the total flow pipeline 5c, and branch pipe orifices 5c1 communicated with the plurality of first cavities are uniformly arranged on the total flow pipeline 5 c; the linear push rod 5d is coaxially arranged at one end of the liquid storage cylinder 5a, and the end part of the output shaft of the linear push rod 5d penetrates through the fourth cavity and is fixedly connected with the piston piece 5 b.

Based on the above embodiment, when liquid needs to be injected into the first cavities to enable the multiple executing parts 4c to perform limit abutment on the object for multiple times, the linear push rod 5d is started to extend the output shaft thereof relative to the liquid storage cylinder 5a, so that the output shaft drives the piston piece 5b to slide in the liquid storage cylinder 5a, thereby reducing the volume of the third cavity, and the third cavity is injected with liquid, so that the liquid passes through the total flow pipeline 5c and is uniformly injected into each first cavity through the branch pipe orifice 5c1, thereby increasing the capacity of the first cavity, enabling the piston part 4b to slide in the driving cavity 4a, and enabling the piston part 4b to guide the executing parts 4c to abut on the surface of the object;

when the liquid in the first cavity needs to be pumped into the liquid storage cylinder 5a, the linear push rod 5d is started to reset the output shaft thereof, i.e. the output shaft drives the piston piece 5b to slide in the liquid storage cylinder 5a, so as to increase the capacity of the third cavity, and then the liquid in each first cavity can be pumped out through the total flow pipeline 5c and the branch pipe orifice 5c1, so as to reset the execution part 4 c.

Further, the linear push rod 5d provided in the present application pushes the piston member 5b to slide in the reservoir 5a, which still has the defect that the pressure in the total flow line 5c cannot be determined, as shown in fig. 8 and 10:

the liquid injection and extraction unit 5 further includes a pressure sensor 5e, and a detection end of the pressure sensor 5e is disposed in the total flow line 5 c.

Based on the above embodiment, the pressure sensor 5e is electrically connected to the controller, the pressure sensor 5e can monitor the line pressure in the total flow line 5c in real time, so as to control the output displacement of the linear push rod 5d, and the pressure sensor 5e can detect the abutting force of the actuator 4c against the object, thereby adapting to the clamping.

This application is through evenly arranging a plurality of spacing units in the centre gripping side of clamping jaw 2 to behind the 2 centre gripping objects of clamping jaw of symmetry, start annotate the drawing liquid unit 5 and can make the synchronous butt of a plurality of execution portions 4c on the surface of object, thereby can carry out spacing operation many times to the object.

The above examples, which are intended to represent only one or more embodiments of the present invention, are described in greater detail and with greater particularity, and are not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An intelligent carrying manipulator with multiple limiting functions comprises a preset support (1), clamping jaws (2) and hydraulic cylinders (3), wherein the two clamping jaws (2) are symmetrically arranged on the preset support (1), and the hydraulic cylinders (3) are arranged on the preset support (1) and used for driving the clamping jaws (2) to perform clamping actions, the intelligent carrying manipulator is characterized by further comprising at least two limiting units and liquid injection and extraction units (5), the limiting units are uniformly arranged on the clamping jaws (2) along the extending direction of the clamping jaws (2), each limiting unit comprises a driving cavity (4 a), a piston part (4 b) and an execution part (4 c), the piston part (4 b) is arranged in the driving cavity (4 a) in a sliding manner, the driving cavity (4 a) is divided into a first cavity and a second cavity by the piston part (4 b), one end of the execution part (4 c) is fixedly connected with the piston part (4 b), the other end of the piston part (4 b) penetrates through the second cavity and extends to the clamping side of the clamping jaw (2), when the pressure of the first cavity and the pressure of the second cavity are changed, the execution part (4 c) slides in the direction perpendicular to the clamping side of the clamping jaw (2), the liquid injection and extraction unit (5) is arranged on the clamping jaw (2), the liquid injection and extraction unit (5) is communicated with one of the first cavities, and the liquid injection and extraction unit (5) is used for injecting or extracting liquid into or from the first cavity.

2. The intelligent carrying manipulator with the multiple limiting function as claimed in claim 1, wherein the limiting unit further comprises a fixed cylinder (4 d), the driving cavity (4 a) is an internal cavity of the fixed cylinder (4 d), the fixed cylinder (4 d) is fixedly arranged on the clamping jaw (2), an axis of the fixed cylinder (4 d) is perpendicular to a clamping side of the clamping jaw (2), the piston portion (4 b) is coaxially and slidably arranged in the executing portion (4 c), the executing portion (4 c) is fixedly arranged at one end of the piston portion (4 b), the executing portion (4 c) extends along a sliding direction of the driving cavity (4 a) and penetrates through one end of the fixed cylinder (4 d), a liquid inlet (4 d 1) is arranged at the other end of the fixed cylinder (4 d), and the liquid inlet (4 d 1) is communicated with the liquid injection and extraction unit (5).

3. The intelligent carrying manipulator with the multi-limiting function as claimed in claim 2, wherein one end of the fixed cylinder (4 d) is further provided with an air pressure port (4 d 2) communicated with the second cavity.

4. The intelligent carrying manipulator with the multi-limiting function as claimed in claim 2, wherein the 04 further comprises a sealing ring (4 e), the sealing ring (4 e) is coaxially sleeved on the outer circumferential surface of the piston portion (4 b), and the sealing ring (4 e) is in interference fit with the inner wall of the fixed cylinder (4 d).

5. The intelligent carrying manipulator with the multi-limiting function as claimed in claim 2, wherein the executing part (4 c) is a sliding rod, the sliding rod is coaxially arranged in the fixed cylinder (4 d), one end of the sliding rod is coaxially and fixedly connected with the piston part (4 b), and the other end of the sliding rod coaxially penetrates through the fixed cylinder (4 d) and extends to the clamping side of the clamping jaw (2).

6. The intelligent carrying manipulator with the multi-limiting function is characterized by further comprising an abutting plate (6), wherein the abutting plate (6) is arranged on the clamping side of the clamping jaw (2), and the other side of the abutting plate (6) is connected with the outer end of the sliding rod.

7. The intelligent carrying manipulator with the multi-limiting function is characterized by further comprising an elastic connecting piece, wherein the elastic connecting piece comprises a ball joint universal joint (7 a), a butting ring (7 b) and a spring (7 c), the outer end of a sliding rod is rotatably connected with the inner side of the butting plate (6) through the ball joint universal joint (7 a), the butting ring (7 b) is coaxially arranged on the sliding rod, the spring (7 c) is sleeved on the ball joint universal joint (7 a), and two ends of the spring (7 c) are respectively butted against the opposite sides of the butting ring (7 b) and the butting plate (6).

8. The intelligent carrying manipulator with the multi-limiting function is characterized in that one end, facing the abutting plate (6), of the abutting ring (7 b) is coaxially provided with a supporting ring (7 b 1), and the outer diameter of the supporting ring (7 b 1) is equal to the diameter of the spring (7 c).

9. The intelligent carrying manipulator with the multiple limiting function is characterized in that the liquid injection and extraction unit (5) comprises a liquid storage cylinder (5 a), a piston piece (5 b), a total flow pipeline (5 c) and a linear push rod (5 d), wherein the liquid storage cylinder (5 a) is arranged on the clamping jaw (2), the piston piece (5 b) is arranged in the liquid storage cylinder (5 a) in a sliding mode, the piston piece (5 b) divides an inner cavity of the liquid storage cylinder (5 a) into a third cavity and a second cavity, liquid is injected into the third cavity and communicated with the total flow pipeline (5 c), and branch pipe orifices (5 c 1) communicated with the plurality of first cavities are uniformly arranged on the total flow pipeline (5 c); the linear push rod (5 d) is coaxially arranged at one end of the liquid storage cylinder (5 a), and the end part of the output shaft of the linear push rod (5 d) penetrates through the fourth cavity and is fixedly connected with the piston piece (5 b).

10. The intelligent carrying manipulator with the multi-limiting function as claimed in claim 9, wherein the liquid injection and extraction unit (5) further comprises a pressure sensor (5 e), and a detection end of the pressure sensor (5 e) is arranged in the total flow pipeline (5 c).