阅读说明：本技术 一种管状结构件的操作机械手臂 (Operation robotic arm of tubular structure spare ) 是由 吴西子 赵思程 于 2020-05-12 设计创作，主要内容包括：本发明公开了一种管状结构件的操作机械手臂,包括用于伸入管型件管腔的中空触手,内设于中空触手中的调节杆和吸气管,与调节杆相连的至少一对伸缩臂,以及安装于伸缩臂的吸盘；所述调节杆的顶端延伸出中空触手用于调节；所述吸气管与吸盘相连,用于为吸盘提供吸力；所述中空触手的轴向杆壁上开设有用于伸缩臂扩张出的相对应的导向槽,所述伸缩臂通过调节杆作用可扩张穿行过导向槽延伸至管型件的管腔、并使得吸盘接触到管型件的管壁而吸住管型件的管壁。有益效果：其结构新颖、装卸方便、操作简单、自动化程度高、实用性强,安全性高,具有推广和商用价值。(The invention discloses an operating mechanical arm of a tubular structural member, which comprises a hollow tentacle, an adjusting rod, an air suction pipe, at least one pair of telescopic arms and a sucker, wherein the hollow tentacle is used for extending into a tube cavity of the tubular structural member; a hollow tentacle is extended from the top end of the adjusting rod for adjustment; the air suction pipe is connected with the sucker and used for providing suction force for the sucker; the axial rod wall of the hollow tentacle is provided with corresponding guide grooves for expanding the telescopic arms, and the telescopic arms can expand to penetrate through the guide grooves to extend to the tube cavity of the tubular part under the action of the adjusting rods and enable the suction cups to contact with the tube wall of the tubular part to suck the tube wall of the tubular part. Has the advantages that: the automatic loading and unloading device is novel in structure, convenient to load and unload, simple to operate, high in automation degree, strong in practicability and high in safety, and has popularization and commercial values.)

1. An operation robotic arm of tubular structure spare characterized by: the device comprises a hollow tentacle used for extending into a tube cavity of a tubular part, an adjusting rod and an air suction pipe which are arranged in the hollow tentacle, at least one pair of telescopic arms connected with the adjusting rod, and a sucker arranged on the telescopic arms;

a hollow tentacle is extended from the top end of the adjusting rod for adjustment; the air suction pipe is connected with the sucker and used for providing suction force for the sucker; the axial rod wall of the hollow tentacle is provided with corresponding guide grooves for expanding the telescopic arms, and the telescopic arms can expand to penetrate through the guide grooves to extend to the tube cavity of the tubular part under the action of the adjusting rods and enable the suckers to contact with the tube wall of the tubular part to suck the tube wall of the tubular part;

the telescopic arm comprises an upper branch arm and a lower branch arm, one end of the upper branch arm is fixedly connected with the adjusting rod, one end of the lower branch arm is fixed in the hollow tentacle, the other end of the upper branch arm is hinged with the other end of the lower branch arm, and the sucker is installed at the hinged position of the upper branch arm and the lower branch arm;

the adjusting rods are positioned on the central axis of the hollow tentacle, and each pair of telescopic arms are symmetrically distributed by taking the axis of the adjusting rod as the center;

a clamping hand for fixing the air suction pipe is arranged in the hollow tentacle;

the clamping hand is arranged on the adjusting rod;

the clamping hand is arranged on the inner side rod wall of the hollow tentacle;

the sucker comprises a base plate, wherein the top end of the base plate is provided with an inner frame and a placing part, the placing part is positioned in the inner frame, and one side of the base plate is provided with an air inlet leakage blocking hole;

a sealing ring groove is arranged in the placing part, a plurality of runner grooves are arranged in the sealing ring groove, and the runner grooves are arranged in a crisscross manner;

an air outlet hole is formed in the center of the runner groove;

the runner groove is respectively communicated with the air inlet leakage blocking hole and the air outlet hole; the substrate is of a rectangular structure; the inner frame and the placing part are respectively of a rectangular structure; the two sides of the base plate are provided with symmetrically arranged pressure plate grooves, and the air inlet leakage blocking holes are positioned between the pressure plate grooves; one side of the substrate, which is far away from the placing part, is provided with symmetrically arranged T-shaped grooves; the top end of the base plate is provided with a plurality of threaded holes, and the threaded holes penetrate through the base plate; and bolt fixing holes are formed between every two adjacent threaded holes and penetrate through the base plate.

Technical Field

The invention relates to the technical field of mechanical manufacturing, in particular to an operating mechanical arm for a tubular structural member.

Background

Industrial robots were developed rapidly in the 20 th century, 60 s, and in the 20 th century, 90 s, and are the first robotics to be industrialized. The method is a high and new technology formed by integrating multiple disciplines such as computers, control theory, mechanics, information and sensing technology, artificial intelligence, bionics and the like, and is a field which is very active in modern research and increasingly wide in application. The manual labor-saving production line is suitable for large-scale production in the manufacturing industry, solves the problems of monotonous and repeated manual labor and improves the production quality, and replaces manual operation. In China, the real use of industrial robots is nearly 20 years now, the transition from testing and introduction to autonomous development is basically realized, and the development of industries such as manufacturing industry and exploration industry in China is promoted.

The manipulator is a novel device developed in the mechanical and automatic production process. In the modern production process, the mechanical arm is widely applied to an automatic production line, the development and production of a robot become a new technology rapidly started in a high-technology neighborhood, and the development of the mechanical arm is promoted, so that the mechanical arm can be organically combined with mechanization and automation better.

At present, the tactile operation arms of robots in the market are mostly divided into two structures, one is a parallel mechanism, and the other is a series structure. The parallel structure has the advantages of high precision and high rigidity. The disadvantage is a limited range of motion. The tandem structure has an advantage of a large movement range and has a disadvantage in that neither accuracy nor rigidity is high enough. The limitation of the motion range, the precision and the rigidity can influence the force feedback truth of the touch simulation.

Disclosure of Invention

The invention mainly aims to overcome the defects in the prior art and provide the operating mechanical arm for the tubular structural member, which has the advantages of novel structure, convenience in assembly and disassembly, simplicity in operation, high automation degree, strong practicability, high safety and popularization and commercial values.

In order to achieve the purpose, the invention adopts the technical scheme that:

an operation mechanical arm of a tubular structural part comprises a hollow tentacle used for extending into a tube cavity of the tubular structural part, an adjusting rod and an air suction pipe which are arranged in the hollow tentacle, at least one pair of telescopic arms connected with the adjusting rod, and suckers arranged on the telescopic arms.

The top end of the adjusting rod extends out of the hollow tentacle for adjustment; the air suction pipe is connected with the sucker and used for providing suction force for the sucker; the axial rod wall of the hollow tentacle is provided with corresponding guide grooves for expanding the telescopic arms, and the telescopic arms can expand to penetrate through the guide grooves to extend to the tube cavity of the tubular part under the action of the adjusting rods and enable the suction cups to contact with the tube wall of the tubular part to suck the tube wall of the tubular part.

The invention is further configured to: the telescopic arm comprises an upper branch arm and a lower branch arm, one end of the upper branch arm is fixedly connected with the adjusting rod, one end of the lower branch arm is fixed in the hollow tentacle, the other end of the upper branch arm is hinged with the other end of the lower branch arm, and the sucker is installed at the hinged position of the upper branch arm and the lower branch arm.

The adjusting rod is positioned on the central axis of the hollow tentacle, and each pair of telescopic arms are symmetrically distributed by taking the axis of the adjusting rod as the center.

Preferably, a clamping hand for fixing the air suction pipe is arranged in the hollow tentacle.

Optionally, the clamping arm may be mounted on the adjustment lever.

Alternatively, the gripper can also be mounted on the inner side wall of the hollow tentacle.

Specifically, the sucker comprises a base plate, wherein the top end of the base plate is provided with an inner frame and a placing part, the placing part is positioned in the inner frame, and one side of the base plate is provided with an air inlet leakage blocking hole, wherein the air inlet leakage blocking hole is formed in the base plate;

a sealing ring groove is arranged in the placing part, a plurality of runner grooves are arranged in the sealing ring groove, and the runner grooves are arranged in a crisscross manner;

an air outlet hole is formed in the center of the runner groove;

the runner groove is respectively communicated with the air inlet leakage blocking hole and the air outlet hole; the substrate is of a rectangular structure; the inner frame and the placing part are respectively of a rectangular structure; the two sides of the base plate are provided with symmetrically arranged pressure plate grooves, and the air inlet leakage blocking holes are positioned between the pressure plate grooves; one side of the substrate, which is far away from the placing part, is provided with symmetrically arranged T-shaped grooves; the top end of the base plate is provided with a plurality of threaded holes, and the threaded holes penetrate through the base plate; and bolt fixing holes are formed between every two adjacent threaded holes and penetrate through the base plate.

Compared with the prior art, the invention has the beneficial effects that:

through the arrangement of the hollow tentacle, the adjusting rod, the air suction pipe, the telescopic arm and the sucker, wherein the sucker is arranged on the telescopic arm, a corresponding guide groove used for expanding the telescopic arm is formed in the axial rod wall of the hollow tentacle, the telescopic arm can expand to penetrate through the tube cavity of the guide groove and extend to the tube part through the action of the adjusting rod during operation, the sucker is made to contact with the tube wall of the tube part to suck the tube wall of the tube part, the operation mode of clamping from the outer surface of a product is cancelled, the sucker sucking mode of inserting the sucker from the cavity of the product and adjusting and extending out through the adjusting rod is adopted, the size of the initial state of the operating arm is small, the occupied space is small, the size of the operating end can be flexibly changed through the adjustment control of the adjusting rod during use, the operation is suitable for products with different tube cavity sizes, strong universality and the like.

The foregoing is only an overview of the technical solutions of the present invention, and in order to more clearly understand the technical solutions of the present invention, the present invention is further described below with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic structural diagram of an operation robot arm for a tubular structural member according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The parts not described in the present invention are all the prior art or standard products, and are not described again.

In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation. And therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, or indirectly connected through an intermediate medium, and communicate between two elements. The specific meaning of the above terms in the present invention can be specifically understood by those of ordinary skill in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.