CN114193485B - Manipulator and stand type power assisting arm with power assisting function - Google Patents
Manipulator and stand type power assisting arm with power assisting function Download PDFInfo
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- CN114193485B CN114193485B CN202111290030.7A CN202111290030A CN114193485B CN 114193485 B CN114193485 B CN 114193485B CN 202111290030 A CN202111290030 A CN 202111290030A CN 114193485 B CN114193485 B CN 114193485B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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Abstract
Manipulator and stand type helping hand arm with helping hand function, manipulator includes: the device comprises a control frame, a clamping assembly and a power assisting module; the clamping driver is used for driving the clamping opening of the mechanical clamp to open and contract; the force sensing device is in communication connection with the clamping driver and is arranged on the power-assisted mounting plate; the force sensing end of the force sensing device is connected with the control rod; the control rod can be relatively movably arranged on the control frame; the clamping driver is used for adjusting the size of the clamping opening according to the pressure of the force sensing end. The upright post type power assisting arm uses the manipulator. According to the manipulator, assistance is provided for the carrying process of the heavy object according to the held control rod, the problem that the assistance arm is not well controlled due to the fact that the output moment and the speed of the cylinder cannot be accurately adjusted when the existing manipulator is driven by the cylinder is solved, the operation of completing the existing manual operation by mechanical control is achieved, damage to the carrying object is reduced, labor intensity of workers is reduced, work injury is reduced, and production efficiency is effectively improved.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a manipulator with a power assisting function and a column type power assisting arm.
Background
The upright post type auxiliary arm is used for clamping, fixing and carrying heavy objects, and can also be used as a mechanical arm participating in production, so as to assist manual carrying and reduce manual labor to the greatest extent. The existing column type booster arm is generally driven by using a cylinder as power, and is not suitable for the manner of rapidly and efficiently clamping, fixing, carrying heavy objects such as a toilet and the like by the column type mechanical arm. Because the output torque and the speed of the cylinder cannot be accurately adjusted when the existing booster arm is driven by the cylinder, the booster arm is not well controlled; moreover, the braking system of the power-assisted arm is not perfect enough, and the mechanical arm can not be braked in the effective time when an emergency occurs; in addition, the existing pneumatic booster arm is complex in structure, high in cost, unfavorable for production, more troublesome in disassembly and installation after the cylinder is damaged, and high in maintenance cost.
Disclosure of Invention
The invention aims to provide a manipulator with a power assisting function, which can lift a heavy object by controlling the movement of a control rod, and can put down the heavy object in any working range of a power assisting arm, the manipulator can provide power for the carrying process of the heavy object according to the held control rod, and the problem that the power assisting arm is not well controlled due to the fact that the output moment and speed of a cylinder cannot be accurately regulated when the traditional manipulator is driven by the cylinder is solved.
The invention further provides a column type booster arm with a booster function, and the manipulator with the booster function is used.
To achieve the purpose, the invention adopts the following technical scheme:
a manipulator with power assist function, comprising: the device comprises a control frame, a clamping assembly and a power assisting module;
The clamping assembly includes: a mechanical clamp and a clamping driver;
the output end of the clamping driver is connected with the mechanical clamp and used for driving the clamp opening of the mechanical clamp to open and contract;
the assistance module includes: the power assisting mounting plate, the force sensing device and the control rod;
The power-assisted mounting plate is mounted on the control frame; the force sensing device is in communication connection with the clamping driver and is arranged on the power-assisted mounting plate; the force sensing end of the force sensing device is connected with the control rod; the control rod can be relatively movably arranged on the control frame; the clamping driver is used for adjusting the size of the clamping opening according to the pressure of the force sensing end.
Preferably, the method further comprises: a light sensing device;
The optical sensing device is in communication connection with the clamping driver; the light sensing end of the light sensing device is aligned to the control rod and used for detecting whether an object exists on the control rod; if no object exists on the control rod, the optical sensing device drives the clamping driver to be closed; and if an object is arranged on the control rod, the optical sensing device drives the clamping driver to be opened.
Preferably, the power assisting module includes: the connecting shaft and the pin shaft;
one end of the connecting shaft is connected with the pin shaft, and the other end of the connecting shaft is connected with the force sensing end; the control rod is provided with a limit groove; the pin shaft is movably limited in the limiting groove.
More preferably, the power assisting module includes: a knuckle bearing;
The inner spherical surface of the joint bearing is sleeved on the pin shaft, and the outer spherical surface of the joint bearing is connected with the connecting shaft; the control rod is characterized in that the limiting grooves are respectively arranged on two sides of the control rod, two ends of the pin shaft are respectively and movably limited in the limiting grooves, and the knuckle bearing is arranged between the limiting grooves on two sides.
Preferably, the clamping driver is a cylinder;
The clamping assembly further comprises: an air source and an air control valve device;
the air source is communicated with the clamping driver through the air control valve device; the pneumatic control valve device is in communication connection with the force sensing device.
Preferably, the mechanical clip comprises: a clamping frame and a clamping unit;
at least two clamping units are arranged on the clamping frame;
the clamping unit includes: a clamping fixed arm and a clamping movable arm;
One end of the clamping and fixing arm is provided with a first mounting seat, and the other end of the clamping and fixing arm is provided with a second mounting seat; the fixed end of the clamping driver is arranged on the first mounting seat; the two ends of the clamping movable arms are rotatably arranged on the second mounting seat, and the clamping movable arms of the two clamping units form the clamping opening; the output end of the clamping driver is connected to one end of the clamping movable arm and used for driving the clamping movable arm to stretch and retract, so that the clamping movable arm swings with the second mounting seat as an axle center to adjust the size of a clamping opening of the mechanical clamp.
More preferably, the clamping frame comprises: the X-axis adjusting assembly, the Y-axis adjusting assembly, the Z-axis adjusting assembly and the bracket;
The X-axis adjusting assembly is arranged on the clamping frame, and the moving end of the X-axis adjusting assembly is connected with the clamping unit and used for adjusting the position of the clamping unit in the X-axis direction;
The Y-axis adjusting assembly is arranged on the clamping frame, and the moving end of the Y-axis adjusting assembly is connected with the Z-axis adjusting assembly and used for adjusting the position of the Z-axis adjusting assembly in the Y-axis direction;
the moving end of the Z-axis adjusting assembly is connected with the bracket and used for adjusting the position of the bracket in the Z-axis direction; the bracket is arranged between the two clamping units.
Further preferably, the X-axis adjustment assembly comprises: the clamping device comprises a clamping device fixing plate, a clamping device movable plate and a limiting column;
the clamp fixing plate is arranged on the clamping fixing arm; the limiting column connects the clamp fixing plate and the clamp movable plate in an adjustable tightness; a connecting gap is formed between the clamp fixing plate and the clamp movable plate; the clamping frame is arranged in the connecting gap and is pressed by the clamp fixing plate and the clamp movable plate.
Preferably, the Y-axis adjusting assembly includes: a Y-axis fixed shell, a Y-axis movable shell and a Y-axis locking column;
The Y-axis fixing shell is arranged on the clamping frame; the Y-axis movable shell is movably sleeved in the Y-axis fixed shell along the Y-axis, and a plurality of Y-axis movable holes are formed along the movable direction; the Y-axis fixing shell is provided with a Y-axis fixing hole; the Y-axis locking column passes through the Y-axis fixing hole and the Y-axis movable hole, so that the Y-axis movable shell is limited in the Y-axis fixing shell;
The Z-axis adjusting assembly includes: the Z-axis locking device comprises a Z-axis fixed shell, a Z-axis movable shell and a Z-axis locking column;
The Z-axis fixing shell is arranged on the Y-axis adjusting assembly; the Z-axis movable shell is connected with the bracket; the Z-axis movable shell is movably sleeved in the Z-axis fixed shell along the Z axis, and a plurality of Z-axis movable holes are formed along the movable direction; the Z-axis fixing shell is provided with a Z-axis fixing hole; the Z-axis locking column passes through the Z-axis fixing hole and the Z-axis movable hole, so that the Z-axis movable shell is limited in the Z-axis fixing shell.
A column-type power assist arm with power assist function, comprising: the mechanical arm comprises a frame, a transmission arm assembly and the mechanical arm with the power assisting function;
the transmission arm assembly is mounted on the frame and has a plurality of degrees of freedom; the output end of the transmission arm assembly is connected with the manipulator and used for driving the manipulator to move and/or rotate.
The invention has the beneficial effects that:
The utility model provides a manipulator with helping hand function, lift the heavy object through the removal of control stick to can put down the heavy object in the arbitrary working range of helping hand arm, the manipulator can provide the helping hand for the handling of heavy object according to the control stick of gripping, can not accurate adjustment cylinder output moment and speed cause the problem that the helping hand arm is not well controlled when having solved current manipulator and adopting the cylinder drive, realize accomplishing the operation that current manual work was accomplished with mechanical control, reduce the damage to the transport thing, reduce workman's intensity of labour effectively, and reduce the emergence of industrial injury, effectively improve production efficiency.
Drawings
FIG. 1 is a schematic structural diagram of one embodiment of a manipulator.
Fig. 2 is a schematic structural view of one embodiment of the handling frame.
FIG. 3 is a schematic structural diagram of one embodiment of a power module.
FIG. 4 is a schematic structural view of one embodiment of a post-type power assist arm.
Wherein:
the control rack 11, the clamping assembly 12, the power assisting module 13 and the optical sensing device 14;
Mechanical clamp 121, clamp actuator 122, air supply 123, pneumatic valve device 124;
a clamping frame 1211, a clamping unit 1212, a clamping fixed arm 1213, a clamping movable arm 1214, a first mount 1215, a second mount 1216, and a clamping opening 1217;
The power assisting mounting plate 131, the force sensing device 132, the control rod 133, the connecting shaft 134, the pin shaft 135 and the knuckle bearing 136; a stopper groove 1331;
an X-axis adjusting assembly 21, a Y-axis adjusting assembly 22, a Z-axis adjusting assembly 23 and a bracket 24;
a clamp fixing plate 211, a clamp movable plate 212 and a limit column 213;
a Y-axis fixed case 221, a Y-axis movable case 222, and a Y-axis locking column 223;
a Z-axis fixed housing 231, a Z-axis movable housing 232, and a Z-axis locking post 233;
the mechanical arm comprises a mechanical arm 1, a frame 3 and a transmission arm assembly 4;
a control button 15;
a first transmission assembly 41, a second transmission assembly 42, a third transmission assembly 43, a transmission driver 44, a brake assembly 45;
a movable connecting column 411 and a movable connecting seat 412; a movable connection port 413;
An angle adjustment driver 421, a driving adjustment arm 422, and a driven adjustment arm 423;
a third fixing base 431, a third connecting arm 432, and a third movable arm 433;
brake actuator 451, brake disc 452, driving brake 453, and driven brake 454.
Detailed Description
The technical scheme of the scheme is further described through the specific embodiments with reference to the accompanying drawings.
A manipulator with power assist function, comprising: a handling frame 11, a clamping assembly 12 and a booster module 13;
the clamping assembly 12 comprises: a mechanical clamp 121 and a clamp driver 122;
The output end of the clamping driver 122 is connected to the mechanical clamp 121, and is used for driving a clamp opening 1217 of the mechanical clamp 121 to open and contract;
the assist module 13 includes: a booster mounting plate 131, a force sensing device 132, and a control rod 133;
The power-assisted mounting plate 131 is mounted on the control frame 11; the force sensing device 132 is communicatively connected to the clamping driver 122, and the force sensing device 132 is mounted on the power-assisted mounting plate 131; the force sensing end of the force sensing device 132 is connected with the control rod 133; the control rod 133 is relatively movably mounted on the control frame 11; the clamp actuator 122 is configured to adjust the size of the nip 1217 based on the pressure at the force sensing end.
This scheme provides a manipulator with helping hand function, lift the heavy object through the removal of control stick 133 to can put down the heavy object in the arbitrary working range of helping hand arm, the manipulator can provide the helping hand for the handling of heavy object according to the control stick 133 of gripping, can not accurate adjustment cylinder output moment and speed cause the problem that the helping hand arm is not well controlled when having solved current manipulator and adopting the cylinder drive, realizes accomplishing the operation that current manual work was accomplished with mechanical control, reduces the damage to the transport thing, reduces workman's intensity of labour effectively, and reduces the emergence of industrial injury, effectively improves production efficiency.
Specifically, the mechanical clamp 121 may be replaced by a manipulator having a clamping function according to the related art; the output of the grip actuator 122 controls the size of the grip opening 1217 of the mechanical grip 121; when a worker uses the manipulator, the worker can hold the control frame 11 and the control rod 133 by both hands; for example, in fig. 2, a worker holds the manipulation rack 11 with his left hand and the manipulation stick 133 with his right hand; the left hand is responsible for controlling the direction of the clamping opening 1217 of the mechanical clamp 121, and the right hand is responsible for controlling the movement of the control rod 133; when the weight needs to be clamped, when the control rod 133 is held to move upwards (or downwards), the movement of the control rod 133 can apply pressure to the force sensing end of the force sensing device 132, and the force sensing device 132 senses the change of the control rod 133 in moving pressure; the force sensing device 132 is in communication with the clamp driver 122, the force sensing device 132 sending pressure data of the force sensing tip to the clamp driver 122 in real time or intermittently; the clamping driver 122 controls the output condition of the output end of the clamping driver 122 according to the pressure data, so that the size of the clamping opening of the mechanical clamp 121 can be changed according to the moving condition of the control rod 133, the force of the mechanical clamp 121 can be changed according to the actual condition of the weight when a worker carries the weight, the clamping speed and the clamping force of the mechanical clamp 121 can be effectively controlled, and the power assisting arm is enabled to be more matched with the force required by the worker to carry out carrying work, so that the operation of the power assisting arm is realized. Meanwhile, the moving direction of the manipulation stick 133 may be upward or downward, and lateral, or inclined in a direction, etc.;
In addition, the force sensing device 132 is communicatively connected to the clamping driver 122, and in the present application, the communication connection means that communication is formed between connected devices through signal transmission and interaction; the communication connection comprises wired connection and wireless connection; wired connections such as a general data line connection; wireless connections such as general infrared connections, wiFi connections, bluetooth, and the like.
The clamp driver 122 is a well-known mechanism having a clamp opening 1217 that drives the mechanical clamp 121 to change in size, such as a cylinder, motor, or the like. The force sensing device 132 may be replaced by a sensor known for sensing pressure.
Preferably, the method further comprises: a light sensing device 14;
The light sensing device 14 is communicatively coupled to the clamp driver 122; the light sensing end of the light sensing device 14 is aligned to the control rod 133, and is used for detecting whether an object exists in the control rod 133; if no object is on the control rod 133, the optical sensing device 14 drives the clamping driver 122 to be closed; if there is an object on the control stick 133, the optical sensing device 14 drives the clamping driver 122 to open.
In order to further improve the use safety of the manipulator, the optical sensing device 14 is used for identifying the object on the control rod 133; if and only if the light sensing device 14 recognizes that an object is on the control stick 133, the light sensing device 14 drives the clamping driver 122 to be opened, i.e. allows the clamping driver 122 to be put into an operating state; this structure, cooperation control stick 133 self has pressure sensing's function, can realize providing dual guarantee to workman's safety, has solved the workman and has controlled the problem that the manipulator still works after the stick 133 withdraws. Meanwhile, the optical sensing device 14 can enable the manipulator to be quickly switched from the working state to the stopping state, and when the manipulator leaves the control rod 133, the optical sensing device 14 controls the clamping driver 122 to be closed, and the clamping driver 122 stops running.
Preferably, the power assisting module 13 includes: a connecting shaft 134 and a pin 135;
one end of the connecting shaft 134 is connected to the pin shaft 135, and the other end of the connecting shaft 134 is connected to the force sensing end; the control rod 133 is provided with a limit groove 1331; the pin 135 is movably retained in the retaining slot 1331.
As shown in fig. 3, when the control rod 133 moves, the limiting groove 1331 is driven to move, two ends of the limiting groove 1331 can press the pin shaft 135, and pressure in the moving direction of the control rod 133 is applied to the pin shaft 135, so that pressure is applied to the force sensing end through the connecting shaft 134; and under the limiting action of the limiting groove 1331 on the pin shaft 135, the connection stability of the force sensing end and the control rod 133 is higher.
More preferably, the power assisting module 13 includes: a knuckle bearing 136;
the inner spherical surface of the knuckle bearing 136 is sleeved on the pin shaft 135, and the outer spherical surface of the knuckle bearing 136 is connected with the connecting shaft 134; the two sides of the control rod 133 are respectively provided with a limit groove 1331, two ends of the pin shaft 135 are respectively and movably limited in the limit grooves 1331, and the knuckle bearing 136 is arranged between the limit grooves 1331 on two sides.
In this solution, one embodiment may directly connect with the pin shaft 134 and the pin shaft 135, and connect the force sensing end with the control rod 133 through the connection shaft 134 and the pin shaft 135, so that the knuckle bearing 136 may not be required. In one preferred embodiment, as shown in FIG. 3, the connecting shaft 134 is connected to the pin 135 by a knuckle bearing 136; the knuckle bearing 136 is a spherical sliding bearing, the sliding contact surfaces of which are an inner spherical surface and an outer spherical surface, and can rotate and swing at any angle during movement; namely, the control rod 133 can drive the pin shaft 135 to move through the limiting groove 1331, and the pin shaft 135 and the connecting shaft 134 form relative displacement through the relative displacement of the inner spherical surface and the outer spherical surface, so that the motion track of the control rod 133 is swinging motion, and the sliding surface is spherical and can also perform tilting motion (namely aligning motion) within a certain angle range, so that the control rod can still work normally when the concentricity of the supporting shaft and the shaft housing hole is larger. Therefore, the motion track of the control rod 133 is not limited to a single linear motion, and can also perform tilting motion, so that when the control rod 133 is held to move, the pressure applied to each direction (such as radial direction, axial direction, etc.) of the control rod 133 can be concentrated on the connecting shaft 134, so that the pressure sensing of the force sensing end is more accurate, the user can conveniently adjust the angle of the control rod 133 according to the actual needs, and the operability is improved.
Preferably, the clamping driver 122 is a cylinder;
the clamping assembly 12 further comprises: a gas source 123 and a pneumatic valve device 124;
The gas source 123 is in communication with the clamp actuator 122 via the pneumatic valve device 124; the pneumatic valve device 124 is communicatively coupled to the force sensing device 132.
Gas source 123 is a well known mechanism for providing gas to a cylinder and generally includes a gas cylinder and a gas pump; the pneumatic control valve device 124 is in communication connection with the force sensing device 132, the force sensing device 132 detects the pressure applied by the control rod 133 to the force sensing end in real time, the force sensing device 132 feeds back the pressure to the pneumatic control valve device 124, and the pneumatic control valve device 124 controls the output end of the clamping driver 122 to keep the pressure uniform and flexible, so that the real-time pressure control of the control rod 133 is realized.
Preferably, the mechanical clip 121 includes: a holder 1211 and a holding unit 1212;
at least two of the clamping units 1212 are mounted to the clamping frame 1211;
the clamping unit 1212 includes: a clamp fixed arm 1213 and a clamp movable arm 1214;
a first mounting seat 1215 is arranged at one end of the clamping and fixing arm 1213, and a second mounting seat 1216 is arranged at the other end of the clamping and fixing arm 1213; the fixed end of the clamping driver 122 is mounted on the first mounting seat 1215; the two ends of the clamping movable arms 1214 are rotatably mounted on the second mounting seat 1216, and the clamping movable arms 1214 of the two clamping units 1212 form the clamping opening 1217; the output end of the clamping driver 122 is connected to one end of the clamping movable arm 1214, and is used for driving the clamping movable arm 1214 to stretch and retract, so that the clamping movable arm 1214 swings around the second mounting seat 1216 as an axis, and the size of the clamping opening 1217 of the mechanical clamp 121 is adjusted.
As shown in fig. 1, one end of the clamping movable arm 1214 is a driving end, and the driving end is connected by an output end of the clamping driver 122; the other end of the clamping movable arm 1214 is a swinging end; any position between the driving end and the swinging end is rotatably connected with the second mounting seat 1216; thus, when the output end of the clamping driver 122 is driven to extend, the driving end swings to the outside of the clamping opening 1217, and the swinging end swings to the inside of the clamping opening 1217, so that the clamping opening 1217 formed by the two clamping units 1212 is contracted; similarly, when the output end of the clamp driver 122 is driven to contract, the driving end swings inward of the clamp 1217, and the swinging end swings outward of the clamp 1217, so that the clamp 1217 formed by the two clamp units 1212 is enlarged. By adopting the clamp structure, the movable track of the two clamping movable arms 1214 can be controlled accurately through the control rod 133, so that the manipulator can provide assistance for the carrying process of the weight according to the held control rod 133.
The clamping driver 122 is a known mechanism for driving a linear motion, for example, in one embodiment, the clamping driver 122 includes: the motor and the screw rod are connected with the output end of the motor, the motor drives the screw rod to rotate, and a nut seat arranged on the screw rod moves on the screw rod; the nut seat is connected with the driving end, so that the driving end can be driven to linearly move to drive the clamping movable arm 1214 to swing. In one embodiment, the clamping driver 122 includes a cylinder and a solenoid valve, the solenoid valve controlling the output end of the cylinder to be positioned at different positions, the output end of the cylinder being connected to the driving end.
More preferably, the holder 1211 includes: an X-axis adjustment assembly 21, a Y-axis adjustment assembly 22, a Z-axis adjustment assembly 23, and a bracket 24;
the X-axis adjusting assembly 21 is mounted on the clamping frame 1211, and a moving end of the X-axis adjusting assembly 21 is connected to the clamping unit 1212, for adjusting a position of the clamping unit 1212 in the X-axis direction;
The Y-axis adjusting assembly 22 is mounted on the clamping frame 1211, and a moving end of the Y-axis adjusting assembly 22 is connected to the Z-axis adjusting assembly 23, so as to adjust a position of the Z-axis adjusting assembly 23 in the Y-axis direction;
The moving end of the Z-axis adjusting assembly 23 is connected with the bracket 24 and is used for adjusting the position of the bracket 24 in the Z-axis direction; the bracket 24 is disposed between the two clamping units 1212.
As shown in fig. 1, the X-axis adjusting assembly 21 is used for adjusting the position of the clamping unit 1212 in the X-axis, and may further adjust the position of the clamping unit 1212 in the X-axis, and thus adjust the size of the clamping opening 1217 in the initial state, and the manipulator may adjust according to the actual size of the weight, so as to adjust the clamping opening 1217 to the minimum size for clamping the weight. The Y-axis adjusting component 22 is used for adjusting the position of the Z-axis adjusting component 23 in the Y axis, and the Z-axis adjusting component 23 is used for adjusting the position of the bracket 24 in the Z axis; under the combined action of the Y-axis adjusting assembly 22 and the Z-axis adjusting assembly 23, the bracket 24 can be adjusted at any position of the Y-axis and the Z-axis, so as to support the weight in different orientations between the two clamping units 1212, thereby assisting the manipulator in supporting the weight.
The X-axis adjusting assembly 21, the Y-axis adjusting assembly 22 and the Z-axis adjusting assembly 23 are known to have mechanisms for adjusting linear movement or curved movement; for example, in one embodiment, the X-axis adjusting assembly 21, the Y-axis adjusting assembly 22, and the Z-axis adjusting assembly 23 are clamps, the movement of the clamping unit 1212 in the X-axis is adjusted by the clamps, and the positions of the brackets 24 in the Y-axis and the Z-axis are adjusted by the clamps; for example, in one embodiment, the X-axis adjustment assembly 21, the Y-axis adjustment assembly 22, and the Z-axis adjustment assembly 23 include a moving block and a moving track; the movement of the adjustment clamp unit 1212 in the X-axis and the position of the adjustment bracket 24 in the Y-axis and Z-axis are achieved by the movable block being mounted to the movement track.
More preferably, the X-axis adjustment assembly 21 includes: a clamp fixing plate 211, a clamp movable plate 212 and a limit column 213;
The clamp fixing plate 211 is mounted to the clamp fixing arm 1213; the limiting column 213 connects the clamp fixing plate 211 and the clamp movable plate 212 in an adjustable and elastic manner; a connection gap is formed between the clamp fixing plate 211 and the clamp moving plate 212; the clamping frame 1211 is disposed in the connection gap and is pressed by the clamp fixing plate 211 and the clamp moving plate 212.
A connection gap is formed between the clamp fixing plate 211 and the clamp movable plate 212; the clamping frame 1211 is sleeved in the connecting gap; before the clamp fixing plate 211 and the clamp movable plate 212 are tightly pressed against the clamping frame 1211 by the limiting columns 213, the clamp fixing plate 211 and the clamp movable plate 212 are loosened, so that the clamping frame 1211 can freely pass through a connecting gap, the clamping unit 1212 can be adjusted at any position on the X axis, and finally the clamp fixing plate 211 and the clamp movable plate 212 are tightly locked by the limiting columns 213, so that the clamp fixing plate 211 and the clamp movable plate 212 are tightly pressed against the clamping frame 1211, the position adjustment of the clamping unit 1212 on the X axis is realized, and the size of a clamping opening 1217 between the two clamping units 1212 is controlled.
The stopper post 213 is a well-known mechanism having a locking function, such as a bolt, or a combination of a bolt and a nut.
More preferably, the Y-axis adjustment assembly 22 includes: a Y-axis fixed case 221, a Y-axis movable case 222, and a Y-axis locking post 223;
The Y-axis fixing case 221 is mounted to the holder 1211; the Y-axis movable housing 222 is movably sleeved in the Y-axis fixed housing 221 along the Y-axis, and is provided with a plurality of Y-axis movable holes along the moving direction; the Y-axis fixing case 221 is provided with a Y-axis fixing hole; the Y-axis locking post 223 passes through the Y-axis fixing hole and the Y-axis moving hole such that the Y-axis moving case 222 is defined in the Y-axis fixing case 221.
The Y-axis fixing case 221 is fixed to the holder 1211; the Y-axis movable housing 222 moves in the Y-axis fixed housing 221, and the moving direction is toward the Y-axis direction, so as to adjust the position of the Z-axis adjusting assembly 23 in the Y-axis, and further adjust the position of the bracket 24 in the Y-axis. After the position between the Y-axis movable housing 222 and the Y-axis fixed housing 221 is adjusted, the Y-axis locking column 223 can be extended into the Y-axis fixed hole and the Y-axis movable hole, so that the Y-axis movable housing 222 is limited to the Y-axis fixed housing 221, and the position of the Y-axis movable housing 222 and the Y-axis fixed housing 221 are adjusted and fixed.
The Y-axis locking column 223 is a column structure, as shown in fig. 1, the Y-axis locking column 223 sequentially extends into the Y-axis fixing hole and the Y-axis moving hole from top to bottom, so as to limit the positions of the Y-axis moving shell 222 and the Y-axis fixing shell 221; preferably, the Y-axis locking post 223 may be selected as a screw, which is locked by a nut after passing through the Y-axis fixed housing 221 and the Y-axis movable housing 222.
More preferably, the Z-axis adjustment assembly 23 includes: a Z-axis fixed housing 231, a Z-axis movable housing 232, and a Z-axis locking post 233;
The Z-axis fixing housing 231 is mounted to the Y-axis adjusting assembly 22; the Z-axis movable housing 232 is connected to the bracket 24; the Z-axis movable shell 232 is movably sleeved in the Z-axis fixed shell 231 along the Z-axis, and is provided with a plurality of Z-axis movable holes along the moving direction; the Z-axis fixing housing 231 is provided with a Z-axis fixing hole; the Z-axis locking post 233 passes through the Z-axis fixing hole and the Z-axis moving hole, so that the Z-axis moving housing 232 is limited in the Z-axis fixing housing 231.
Referring to fig. 1, a z-axis fixing housing 231 is fixed to the Y-axis adjusting assembly 22; the Z-axis movable housing 232 is movable in the Z-axis fixed housing 231, and the movable direction is oriented in the Z-axis direction, so as to adjust the position of the bracket 24 in the Z-axis. After the position between the Z-axis movable shell 232 and the Z-axis fixed shell 231 is adjusted, the Z-axis locking post 233 can be extended into the Z-axis fixed hole and the Z-axis movable hole, so that the Z-axis movable shell 232 is limited to the Z-axis fixed shell 231, and the position adjustment of the Z-axis movable shell 232 and the Z-axis fixed shell 231 is achieved.
The Z-axis locking column 233 is a column structure, as shown in fig. 1, the Z-axis locking column 233 extends into the Z-axis fixing hole and the Z-axis moving hole from left to right in sequence, so as to limit the positions of the Z-axis moving shell 232 and the Z-axis fixing shell 231; preferably, the Z-axis locking post 233 may be selected as a screw, which is locked by a nut after passing through the Z-axis fixed housing 231 and the Z-axis movable housing 232.
The control rack 11 is connected to the clamping rack 1211 through a control connection rod 125, so that the control rack 11 is synchronously and movably connected with the clamping rack 1211. The control rack 11 is connected to the clamping rack 1211 through a control connecting rod, when a worker holds the control rack 11, the worker can directly drive the clamping rack 1211 to move synchronously through the position and the direction of the control rack 11, for example, when the control rack 11 is rotated, the clamping rack 1211 is driven to rotate, so that the positions of the worker and the heavy object are closer, and the worker can grasp the position of the heavy object more easily.
The bracket 24 is provided with a bracket arm 241, the bracket arm 241 is parallel to the clamping and fixing arm 1213, and two adjacent bracket arms 241 are arranged at intervals to form a U-shaped opening. The bracket 24 has a U-shaped structure and forms a U-shaped opening between the bracket arms 241 and 241, which can be spaced between the bracket arms 241 and 241 so that the bracket 24 can increase the span of contact with the weight to improve stability when lifting the weight.
A column-type power assist arm with power assist function, comprising: the mechanical arm comprises a frame, a transmission arm assembly 4 and the mechanical arm with the power assisting function;
The transmission arm assembly 4 is mounted on the frame, and the transmission arm assembly 4 has a plurality of degrees of freedom; the output end of the transmission arm assembly 4 is connected with the manipulator and used for driving the manipulator to move and/or rotate;
The drive arm assembly is a well known drive mechanism that can drive the clamp mechanism to move in the X, Y and Z directions or to rotate about axes parallel to the X, Y and Z axes.
One example is described below:
The transmission arm assembly 4 includes: a first transmission assembly 41, a second transmission assembly 42 and a third transmission assembly 43; the first transmission assembly 41 includes: a movable connecting column 411 and a movable connecting seat 412;
the lower end of the movable connecting column 411 is rotatably connected to the frame 3, and the upper end of the movable connecting column 411 is connected to the movable connecting seat 412; the movable connecting seat 412 is provided with a movable connecting port 413;
The second transmission assembly 42 includes: an angle adjustment driver 421 and an active adjustment arm 422;
the angle adjusting driver 421 is mounted on the movable connecting column 411; the output end of the angle adjusting driver 421 is rotatably connected to the first end of the active adjusting arm 422, the second end of the active adjusting arm 422 is connected to the third transmission component 43, and a position between two ends of the active adjusting arm 422 is rotatably mounted on the movable connection port 413; the third transmission assembly 43 is connected to the manipulator;
The angle adjusting driver 421 is configured to drive the active adjusting arm 422 to swing around the rotating shaft of the movable connecting seat 412.
The angle adjustment driver 421 is configured to drive the first end of the active adjustment arm 422 to stretch out and draw back, as shown in fig. 4, when the output end of the angle adjustment driver 421 drives the first end of the active adjustment arm 422 to extend from bottom to top, the active adjustment arm 422 and the rotating shaft of the movable connecting seat 412 rotate as axes, so as to drive the second end of the active adjustment arm 422 to swing from top to bottom, thereby realizing the effect of controlling the third transmission assembly 43 to move downward; the third transmission assembly 43 is connected to the manipulator, so that the manipulator can be driven to descend by the angle adjustment driver 421, and the position of the manipulator can be lowered.
The lower end of the movable connecting column 411 is rotatably connected to the frame 3, and the movable connecting column 411 can be manually rotated to drive the movable connecting column 411 to rotate relatively, so as to drive the manipulator to rotate.
Preferably, the second transmission assembly 42 further includes: a driven adjustment arm 423;
A second end of the active adjustment arm 422 is rotatably connected to the third transmission assembly 43; the first end of the driven adjusting arm 423 is rotatably mounted on the movable connection port, and the second end of the driven adjusting arm 423 is rotatably connected to the third transmission assembly 43.
The driven adjusting arm 423 may further assist the driving adjusting arm 422 to swing, and two ends of the driven adjusting arm 423 are rotatably connected, so that the driving adjusting arm 422 can perform adaptive angle adjustment when driven to swing, and stability of the driving adjusting arm 422 is improved.
Preferably, the third transmission assembly 43 includes: a third fixing base 431, a third connecting arm 432, and a third movable arm 433;
the third fixing seat 431 is connected to the second end of the active adjusting arm 422; the first end of the third connecting arm 432 is rotatably connected to the third fixing seat 431, the second end of the third connecting arm 432 is rotatably connected to the first end of the third movable arm 433, and the second end of the third movable arm 433 is connected to the manipulator.
One end of the third connecting arm 432 is respectively and rotatably connected with the third fixing seat 431 and the third movable arm 433, so that the manipulator is driven to adjust a plurality of angles, the adjusting angle range of the manipulator is improved, and then the manipulator can clamp weights at different positions.
Preferably, the transmission arm assembly 4 comprises: at least one transmission driver 44;
The fixed end of the transmission driver 44 is mounted on one of the movable connecting column 411 and the frame 3, and the output end of the transmission driver 44 is connected to the other one of the movable connecting column 411 and the frame 3 and forms relative rotation;
And/or the fixed end of the transmission driver 44 is mounted on one of the movable connecting column 411 and the movable connecting seat 412, and the output end of the transmission driver 44 is connected to the other one of the movable connecting column 411 and the movable connecting seat 412 to form relative rotation;
And/or the fixed end of the transmission driver 44 is mounted on one of the third fixing seat 431 and the first end of the third connecting arm 432, the output end of the transmission driver 44 is connected to the other one of the third fixing seat 431 and the first end of the third connecting arm 432, and the relative rotation is formed between the third fixing seat 431 and the first end of the third connecting arm 432;
And/or the fixed end of the transmission driver 44 is mounted on one of the second end of the third connecting arm 432 and the third movable arm 433, and the output end of the transmission driver 44 is connected to the other one of the second end of the third connecting arm 432 and the third movable arm 433 to form relative rotation.
The transmission driver 44 of this scheme is used for driving the different degrees of freedom between first drive assembly 41, second drive assembly 42 and the third drive assembly 43 and rotates to drive the rotation between the different mechanisms, realize the multi-angle rotation of manipulator, improved the angular adjustment flexibility of manipulator. In this embodiment, the transmission driver 44 may be provided according to the actual situation, and in the embodiment in which the transmission driver 44 is not provided, the above-mentioned mechanism of mutual rotation connection may be manually adjusted to the rotation state of each other.
The transmission drive 44 is well known having a mechanism for driving rotation, such as a motor, or a combination of a motor and a speed reducer.
Preferably, the transmission arm assembly 4 comprises: a brake assembly 45;
The brake assembly 45 includes: brake actuator 451, brake disc 452, driving brake 453, and driven brake 454;
The brake actuator 451 is mounted on one of the articulation column 411 and the frame 3, and the brake disc 452 is connected to the other;
And/or the brake actuator 451 is mounted to one of the articulation column 411 and the articulation seat 412, the brake disc 452 being connected to the other;
And/or the brake actuator 451 is mounted to one of the third fixing seat 431 and the first end of the third connecting arm 432, and the brake disc 452 is connected to the other;
and/or the brake actuator 451 is mounted to one of the second end of the third connecting arm 432 and the third movable arm 433, the brake disc 452 being connected to the other of the two;
the driving brake head 453 and the driven brake head 454 are respectively positioned on opposite sides of the brake disc 452; the output end of the brake driver 451 is connected to the active brake head 453, for driving the active brake head 453 to move, so that the active brake head 453 presses the brake disc 452 against the passive brake head 454.
The output end of the brake driver 451 is telescopic, and when the brake driver is extended, the active brake head 453 can be driven to press the brake disc 452, as shown in the figure, the active brake head 453 is arranged on the upper surface of the brake disc 452, the passive brake head 454 is arranged on the lower surface of the brake disc 452, the brake disc 452 is pressed by acting force between the active brake head 453 and the passive brake head 454, and two mechanisms which can be rotatably connected are braked by friction force. The brake actuator 451 is a well known actuator having a linear or curved drive, such as a cylinder, the output of which drives the active brake head 453 in telescoping motion.
Preferably, the manipulator further comprises: a control button 15;
The control button 15 is communicatively connected to the brake actuator 451 for adjusting the on-off state of the output of the brake actuator 451; the control button 15 is provided on the control rack 11.
The control button 15 is used to control the active state of the brake actuator 451 so that a worker can perform a braking operation in time when the manipulator works, improving the convenience of the manipulator braking.
The technical principle of the present solution is described above in connection with the specific embodiments. The description is only intended to explain the principles of the present solution and should not be construed in any way as limiting the scope of the present solution. Based on the explanations herein, other embodiments of the present solution will be apparent to those skilled in the art without undue burden, and such modifications will fall within the scope of the present solution.
Claims (7)
1. Manipulator with helping hand function, its characterized in that includes: the device comprises a control frame, a clamping assembly and a power assisting module;
The clamping assembly includes: a mechanical clamp and a clamping driver;
the output end of the clamping driver is connected with the mechanical clamp and used for driving the clamp opening of the mechanical clamp to open and contract;
the assistance module includes: the device comprises a power-assisted mounting plate, a force sensing device, a control rod, a connecting shaft, a pin shaft and a joint bearing;
The power-assisted mounting plate is mounted on the control frame; the force sensing device is in communication connection with the clamping driver and is arranged on the power-assisted mounting plate; the force sensing end of the force sensing device is connected with the control rod; the control rod can be relatively movably arranged on the control frame; the clamping driver is used for adjusting the size of the clamping opening according to the pressure of the force sensing end;
The inner spherical surface of the joint bearing is sleeved on the pin shaft, and the outer spherical surface of the joint bearing is connected with the connecting shaft; limiting grooves are respectively formed in two sides of the control rod, two ends of the pin shaft are respectively and movably limited in the limiting grooves, and the knuckle bearing is arranged between the limiting grooves in two sides;
One end of the connecting shaft is connected with the pin shaft, and the other end of the connecting shaft is connected with the force sensing end; the control rod is provided with a limit groove; the pin shaft is movably limited in the limiting groove;
the clamping driver is an air cylinder; the clamping assembly further comprises: an air source and an air control valve device;
The air source is communicated with the clamping driver through the air control valve device; the pneumatic control valve device is in communication connection with the force sensing device; the force sensing device detects the pressure applied by the control rod to the force sensing end in real time, the force sensing device feeds the pressure back to the pneumatic control valve device, the pneumatic control valve device controls the output end of the clamping driver to keep the pressure uniformly telescopic, and the pressure of the control rod is used for controlling the speed and the force of the clamping speed of the mechanical clamp in real time.
2. The manipulator with power assisting function according to claim 1, further comprising: a light sensing device;
The optical sensing device is in communication connection with the clamping driver; the light sensing end of the light sensing device is aligned to the control rod and used for detecting whether an object exists on the control rod; if no object exists on the control rod, the optical sensing device drives the clamping driver to be closed; and if an object is arranged on the control rod, the optical sensing device drives the clamping driver to be opened.
3. The manipulator with assist function according to claim 1, wherein the mechanical clamp comprises: a clamping frame and a clamping unit;
at least two clamping units are arranged on the clamping frame;
the clamping unit includes: a clamping fixed arm and a clamping movable arm;
One end of the clamping and fixing arm is provided with a first mounting seat, and the other end of the clamping and fixing arm is provided with a second mounting seat; the fixed end of the clamping driver is arranged on the first mounting seat; the two ends of the clamping movable arms are rotatably arranged on the second mounting seat, and the clamping movable arms of the two clamping units form the clamping opening; the output end of the clamping driver is connected to one end of the clamping movable arm and used for driving the clamping movable arm to stretch and retract, so that the clamping movable arm swings with the second mounting seat as an axle center to adjust the size of a clamping opening of the mechanical clamp.
4. The manipulator with power assist function according to claim 3, wherein the clamping frame comprises: the X-axis adjusting assembly, the Y-axis adjusting assembly, the Z-axis adjusting assembly and the bracket;
The X-axis adjusting assembly is arranged on the clamping frame, and the moving end of the X-axis adjusting assembly is connected with the clamping unit and used for adjusting the position of the clamping unit in the X-axis direction;
The Y-axis adjusting assembly is arranged on the clamping frame, and the moving end of the Y-axis adjusting assembly is connected with the Z-axis adjusting assembly and used for adjusting the position of the Z-axis adjusting assembly in the Y-axis direction;
the moving end of the Z-axis adjusting assembly is connected with the bracket and used for adjusting the position of the bracket in the Z-axis direction; the bracket is arranged between the two clamping units.
5. The manipulator with assist force function of claim 4, wherein the X-axis adjustment assembly comprises: the clamping device comprises a clamping device fixing plate, a clamping device movable plate and a limiting column;
the clamp fixing plate is arranged on the clamping fixing arm; the limiting column connects the clamp fixing plate and the clamp movable plate in an adjustable tightness; a connecting gap is formed between the clamp fixing plate and the clamp movable plate; the clamping frame is arranged in the connecting gap and is pressed by the clamp fixing plate and the clamp movable plate.
6. The manipulator with assist force of claim 4, wherein the Y-axis adjustment assembly comprises: a Y-axis fixed shell, a Y-axis movable shell and a Y-axis locking column;
The Y-axis fixing shell is arranged on the clamping frame; the Y-axis movable shell is movably sleeved in the Y-axis fixed shell along the Y-axis, and a plurality of Y-axis movable holes are formed along the movable direction; the Y-axis fixing shell is provided with a Y-axis fixing hole; the Y-axis locking column passes through the Y-axis fixing hole and the Y-axis movable hole, so that the Y-axis movable shell is limited in the Y-axis fixing shell;
The Z-axis adjusting assembly includes: the Z-axis locking device comprises a Z-axis fixed shell, a Z-axis movable shell and a Z-axis locking column;
The Z-axis fixing shell is arranged on the Y-axis adjusting assembly; the Z-axis movable shell is connected with the bracket; the Z-axis movable shell is movably sleeved in the Z-axis fixed shell along the Z axis, and a plurality of Z-axis movable holes are formed along the movable direction; the Z-axis fixing shell is provided with a Z-axis fixing hole; the Z-axis locking column passes through the Z-axis fixing hole and the Z-axis movable hole, so that the Z-axis movable shell is limited in the Z-axis fixing shell.
7. A stand-column type booster arm with booster function, comprising: a frame, a transmission arm assembly and the manipulator with a power assisting function as claimed in any one of claims 1-6;
the transmission arm assembly is mounted on the frame and has a plurality of degrees of freedom; the output end of the transmission arm assembly is connected with the manipulator and used for driving the manipulator to move and/or rotate.
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| CN202111290030.7A CN114193485B (en) | 2021-11-02 | 2021-11-02 | Manipulator and stand type power assisting arm with power assisting function |
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| CN202111290030.7A CN114193485B (en) | 2021-11-02 | 2021-11-02 | Manipulator and stand type power assisting arm with power assisting function |
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| CN114193485B true CN114193485B (en) | 2024-08-20 |
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