CN116533221A

CN116533221A - Wearable mechanical arm for industrial assembly line

Info

Publication number: CN116533221A
Application number: CN202310832279.9A
Authority: CN
Inventors: 沈洪锐; 佟向坤
Original assignee: Neusoft Institute Guangdong
Current assignee: Neusoft Institute Guangdong
Priority date: 2023-07-07
Filing date: 2023-07-07
Publication date: 2023-08-04
Anticipated expiration: 2043-07-07
Also published as: CN116533221B

Abstract

The application relates to the technical field of manipulators, in particular to a wearable mechanical arm for an industrial assembly line. The wearable mechanical arm includes: the mechanical arm power-assisted framework is used for providing power for the arm; the mechanical arm fixing clamp is fixed on the mechanical arm power-assisted framework and used for clamping the arm; the mechanical arm fixing clamp comprises a switching device and a plurality of clamping parts, wherein the switching device is used for replacing one clamping part from the plurality of clamping parts to clamp an arm independently according to a preset time interval, and the clamping position of each clamping part is positioned at different positions of the arm; the preset time interval at least can enable blood circulation of the arm positions corresponding to clamping of the loosened clamping part to be relieved after rotation. The application provides a wearing formula arm for industrial assembly line can improve workman's comfort level that uses wearing formula arm.

Description

Wearable mechanical arm for industrial assembly line

Technical Field

The application relates to the technical field of manipulators, in particular to a wearable mechanical arm for an industrial assembly line.

Background

In industrial production nowadays, wearable mechanical arms are widely used in many fields, especially in production lines, to provide assistance to help workers perform repetitive work. However, in the existing wearable mechanical arm technology, there are some problems, which cause the worker to feel uncomfortable during the use process, and limit the application of the wearable mechanical arm on an industrial assembly line.

Disclosure of Invention

In order to solve the technical problems described above or at least partially solve the technical problems described above, the present application provides a wearable mechanical arm for an industrial assembly line, which can improve the comfort of a worker using the wearable mechanical arm.

The application provides a wearing formula arm for industrial assembly line, wearing formula arm includes:

the mechanical arm power-assisted framework is used for providing power for the arm;

the mechanical arm fixing clamp is fixed on the mechanical arm power-assisted framework and used for clamping the arm;

the mechanical arm fixing clamp comprises a switching device and a plurality of clamping parts, wherein the switching device is used for replacing one clamping part from the plurality of clamping parts to clamp an arm independently according to a preset time interval, and the clamping position of each clamping part is positioned at different positions of the arm;

the preset time interval at least can enable blood circulation of the arm positions corresponding to clamping of the loosened clamping part to be relieved after rotation.

Optionally, the mechanical arm fixing clamp further includes a plurality of vibration bumps, where the plurality of vibration bumps are disposed on a surface where the clamping portion contacts the arm, so as to apply vibration to a position where the arm is clamped, so as to alleviate blood circulation at the clamped arm position.

Optionally, the vibration bump includes: the device comprises a vibration motor, a lug, a conductive rod, a first spring, a hinged adjusting block, an elastic sponge and a sliding base;

the vibration motor is fixed on the clamping part to apply vibration to one end of the conductive rod, a bump is fixed to the other end of the conductive rod, a first spring is sleeved on the conductive rod, and the conductive rod is in sliding connection with the clamping part;

the lug is hinged with the sliding base through a hinge adjusting block, and the sliding base is arranged on the clamping part in a sliding manner;

the elastic sponge is arranged on one side, close to the arm, of the hinged adjusting block, so that after the protruding block is extruded by the arm to move a distance towards the clamping part, the elastic sponge can be contacted with the arm.

Optionally, the mechanical arm fixing clamp further comprises an interlocking mechanism, wherein the interlocking mechanism is used for preventing other clamping parts from being opened when one of the clamping parts is loosened.

Optionally, the mechanical arm fixing clamp further comprises a clamping part base, and the clamping part is hinged to the clamping part base;

the interlocking mechanism comprises a locking base, a locking rod, a second spring, a first transmission rod and a second transmission rod, wherein the locking base is fixed on the base of the clamping part, the locking rod is arranged on the clamping part in a sliding manner, and the second spring drives the locking rod to be clamped into the locking base;

one end of the first transmission rod is hinged to the other clamping part, the other end of the first transmission rod is hinged to one end of the second transmission rod, and after the other clamping part is closed, the other end of the second transmission rod is driven by the first transmission rod to push the locking rod to move out of the locking base.

Optionally, the mechanical arm fixing clamp further includes a switching timing mechanism, where the switching timing mechanism is configured to identify whether the wearable mechanical arm is working, and if the wearable mechanical arm is working, the switching device is prevented from switching the clamping portion.

Optionally, the switching timing selecting mechanism includes:

the brake cable comprises a fingerstall, a brake cable, a first matching block, a second matching block, a linkage rod and a clamping block;

the clamping part is fixed with a locking gear meshed with the clamping block;

the wearable mechanical arm further comprises a flexible glove;

the fingerstall is arranged on a third knuckle at the finger position of the glove, one end of the brake cable is fixed on the fingerstall, and the other end of the brake cable is fixed with the first matching block;

when the finger is bent, the fingerstall drives the brake cable to pull the first matching block, and the first matching block pushes the second matching block to move so as to drive the linkage rod to enable the clamping block to be meshed with the locking gear to lock the clamping part.

Compared with the prior art, the technical scheme provided by the application has the following advantages:

the application provides a wearing formula arm for industrial assembly line, arm fixation clamp have two clamping parts be used for the different positions of centre gripping arm respectively, and auto-change over device can be every interval time that presets the different clamping part of interval time rotation in order to carry out the centre gripping to the arm. In the preset interval time, the blood circulation which is difficult to circulate at the last clamped arm position can be relieved, and sweat and moisture accumulated at the clamped arm position can be dispersed through alternating clamping positions. Thereby relieving the skin itch of workers caused by unsmooth blood and qi. Therefore the wearing formula arm for industrial assembly line that this application provided can improve workman and use wearing formula arm's comfort level.

Drawings

Fig. 1 is one of schematic structural diagrams of a wearable mechanical arm for an industrial assembly line according to an embodiment of the present application;

FIG. 2 is a second schematic diagram of a wearable mechanical arm for an industrial assembly line according to an embodiment of the present disclosure;

FIG. 3 is an enlarged view of FIG. 2 at A;

fig. 4 is one of schematic structural diagrams of a portion of a wearable mechanical arm for an industrial assembly line according to an embodiment of the present disclosure;

FIG. 5 is an enlarged view of the portion B of FIG. 4 when the vibration bump is not being stressed;

FIG. 6 is a schematic view of a portion of the clamping portion when the vibration bump is stressed;

fig. 7 is a schematic structural diagram of a clamping portion according to an embodiment of the present disclosure;

FIG. 8 is a cross-sectional view of the cross-section of FIG. 7 provided in an embodiment of the present application;

FIG. 9 is a second schematic diagram of a portion of a wearable mechanical arm for an industrial assembly line according to an embodiment of the present disclosure;

FIG. 10 is an enlarged view of the portion C of FIG. 9 when the clamp is open;

FIG. 11 is an enlarged view of portion C of FIG. 9 with the clamping portions closed;

FIG. 12 is a third schematic view of a portion of a wearable mechanical arm for an industrial assembly line according to an embodiment of the present disclosure;

FIG. 13 is a cross-sectional view of FIG. 12 when the wearable mechanical arm is not in use, as provided in an embodiment of the present application;

fig. 14 is an enlarged view of D shown in fig. 13;

fig. 15 is a cross-sectional view in the cross-sectional direction shown in fig. 12 when the wearable mechanical arm is in operation according to an embodiment of the present application;

fig. 16 is an enlarged view at E shown in fig. 15.

1, a mechanical arm power-assisted framework;

2. a mechanical arm fixing clamp; 21. a switching device; 22. a clamping part; 221. a locking gear;

23. vibrating the protruding block; 231. a vibration motor; 232. a bump; 233. a conductive rod; 234. a first spring; 235. a hinged adjusting block; 236. an elastic sponge; 237. a slide base;

24. an interlock mechanism; 241. a lock base; 242. a locking lever; 243. a lock lever accommodating base; 244. a first transmission rod; 245. a second transmission rod;

25. a clamping part base;

26. a switching timing selection mechanism; 261. a finger stall; 262. a brake cable; 263. a first mating block; 264. a second mating block; 265. a linkage rod; 266. a clamping block;

3. a glove.

Detailed Description

The technical solutions in the present application will be described below with reference to the accompanying drawings.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the application. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

The existing wearable mechanical arm needs to be tightly fixed with the arm of a worker. Especially, if the mechanical arm cannot be sufficiently fixed on the arm, the coordination between the mechanical arm and the arm may be reduced, and even may happen, and under the condition that a worker is not in possession, the mechanical arm collides with the head of the worker, so that serious potential safety hazards are caused.

Therefore, a wearable mechanical arm used on an industrial assembly line requires a worker to fix the mechanical arm before entering the assembly line, and can be taken down after leaving the assembly line.

Such an operation causes the skin to be in contact with the fixed portion of the robot arm for a long time, resulting in poor blood circulation and difficult sweat scattering at the clamped arm position, thereby easily causing itching. For workers working on a production line for a long time, the itching can cause strong discomfort, thereby affecting the working efficiency of the workers.

To this end, an embodiment of the present application provides a wearable mechanical arm for an industrial assembly line, as shown in fig. 1 and fig. 2, including:

the mechanical arm power-assisted framework 1, the mechanical arm power-assisted framework 1 is used for providing power for an arm.

The mechanical arm fixing clamp 2 is fixed on the mechanical arm power-assisted framework 1 and used for clamping arms.

The mechanical arm fixing clamp 2 comprises a switching device 21 and a plurality of clamping parts 22, wherein the switching device 21 clamps an arm separately by replacing one clamping part 22 from the plurality of clamping parts 22 at preset time intervals, and the clamping position of each clamping part 22 is positioned at different positions of the arm;

the predetermined time interval is at least such that after rotation, the blood circulation of the arm position corresponding to the clamping of the released clamping part 22 is relieved.

Referring to fig. 3, in particular, the switching device 21 includes an electric telescopic cylinder and a control device, and each clamping portion 22 is provided with the electric telescopic cylinder to control opening or closing of the clamping portion 22. In this embodiment, the control device is an MCU, and the MCU controls the electric telescopic cylinder of each clamping portion 22 according to a preset time interval, so as to complete the rotation of the clamping portions 22. In this embodiment, the preset time interval is configured as 15 minutes, and the preset time interval may be configured as other values, but it should be ensured that the blood circulation of the clamping part 22 corresponding to the clamped arm position is improved after the clamping part 22 is released and the arm is clamped again by the clamping part 22.

For example, in the present embodiment, the mechanical arm fixing clamp 2 has two clamping portions 22, and when one of the clamping portions 22 clamps one arm position individually for 15 minutes, the other clamping portion 22 clamps the other arm position individually.

Therefore, the wearable mechanical arm for the industrial assembly line provided by the embodiment of the application can clamp the arm independently through the clamping parts 22 which clamp different arm positions alternately, so that the itching caused by long-term clamping of the arm positions is relieved.

Referring to fig. 4-8, the mechanical arm fixing clamp 2 provided in the embodiment of the present application further includes a plurality of vibration bumps 23, where the plurality of vibration bumps 23 are disposed on a surface where the clamping portion 22 contacts with the arm, so as to apply vibration to a clamped position of the arm, so as to alleviate blood circulation at the clamped position of the arm.

Specifically, the vibration bump 23 includes: a vibration motor 231, a bump 232, a conductive rod 233, a first spring 234, a hinge adjustment block 235, an elastic sponge 236, and a slide base 237;

the vibration motor 231 is fixed on the clamping part 22 to apply vibration to one end of the conductive rod 233, the other end of the conductive rod 233 is fixed with a bump 232, the conductive rod 233 is sleeved with a first spring 234, and the conductive rod 233 is slidably connected with the clamping part 22;

the lug 232 is hinged with the sliding base 237 through the hinge adjusting block 235, and the sliding base 237 is slidably arranged on the clamping part 22;

the hinge adjustment block 235 is provided with an elastic sponge 236 at one side close to the arm, so that after the protrusion 232 is pressed by the arm to move a distance towards the clamping part 22, the hinge adjustment block 235 rotates towards the arm direction, so that the elastic sponge 236 can be contacted with the arm.

Because different people have different postures, arms of some people are more in fat, arms are softer, arms of some people are less in fat, and arms of some people are harder. Meanwhile, the muscle distribution is also different for the arm, which causes different degrees of softness at different positions of the arm. While a gentle shaking force is applied to the harder arm portion to ensure the comfort of the worker.

The vibration lug 23 that this application embodiment provided, when meetting harder arm part, because lug 232 is difficult to make the skin of arm take place deformation, the arm can make lug 232 compression first spring 234 to clamping part 22 orientation remove, articulated regulating block 235 can rotate to the arm orientation simultaneously, thereby drive the elastic sponge 236 on the articulated regulating block 235 and contact with the arm, thereby improve the whole area of contact of vibration lug 23 and arm part, reduce the pressure face and then with first spring 234 and vibration motor 231 to the dynamics that the arm was applyed and share, reach the technological effect of applying lighter vibration power. And some of the vibration force is absorbed when applied to the arm through the elastic sponge 236, thereby achieving the technical effect of applying a lighter vibration force.

When the arm portion is soft, the bump 232 is easy to deform the skin of the arm, so that the distance of the bump 232 compressing the first spring 234 is reduced by the arm under the same clamping path, thereby reducing the area of the hinge adjusting block 235 newly contacting the arm portion, or only applying a vibration force to the arm by the smaller contact area of the bump 232, thereby achieving the technical effect of applying a stronger vibration force.

Therefore, the specific structure of the vibration bump 23 provided in the embodiment of the present application can adapt to arms with different softness.

Referring to fig. 9-11, the mechanical arm fixing clamp 2 provided in the embodiment of the present application further includes an interlocking mechanism 24, where the interlocking mechanism 24 is used to prevent the other clamping portions 22 from being opened when one of the clamping portions 22 is released.

Specifically, the mechanical arm fixing clamp 2 further includes a clamping portion 22 base, and the clamping portion 22 is hinged to the clamping portion base 25;

the interlocking mechanism 24 comprises a locking base 241, a locking rod 242, a second spring, a first transmission rod 244 and a second transmission rod 245, wherein the locking base 241 is fixed on the clamping portion base 25, the locking rod 242 is slidably arranged on the clamping portion 22, and the second spring drives the locking rod 242 to be clamped into the locking base 241.

Specifically, the clamping portion 22 is fixed with a locking lever accommodating base 243, the locking lever 242 is slidably disposed in the locking lever accommodating base 243, and a second spring is disposed in the locking lever accommodating base 243 to push the locking lever 242 out of the locking lever accommodating base 243, so that the locking lever 242 is locked into the locking base 241. The second spring is not shown due to being shielded by the locking lever receiving base 243.

One end of the first transmission rod 244 is hinged to the other clamping portion 22, the other end of the first transmission rod 244 is hinged to one end of the second transmission rod 245, and after the other clamping portion 22 is closed, the other end of the second transmission rod 245 is driven by the first transmission rod 244 to push the locking rod 242 to move out of the locking base 241.

For example, in the present embodiment, the holding portion 22 in the closing state is locked by the force of the second spring to the lock lever 242, and the lock lever 242 is caught in the lock base 241, and the holding portion 22 and the holding portion base 25 are not rotatable about the holding portion base 25. When the switching device 21 starts to rotate, the other clamping portion 22 is controlled to be closed, and at this time, the other clamping portion 22 rotates to drive the first transmission rod 244 hinged on the other clamping portion 22 to increase the length in the horizontal direction, the first transmission rod 244 pushes the second transmission rod 245 to contact the locking rod 242, and as the other clamping portion 22 continues to be closed, the second transmission rod 245 slowly moves the locking rod 242 out of the locking base 241 completely, and finally the locking of the clamping portion 22 and the clamping portion base 25 in the closing process is completed.

And the interlocking mechanism 24 provided in this embodiment only needs to adjust the length of the second transmission rod 245 or the locking rod 242, so that the locking rod 242 can be completely removed from the locking base 241 after the other clamping portion 22 is completely closed. With this arrangement, in the present embodiment, after one of the clamping portions 22 is completely closed, the other clamping portion 22 can be opened. Through mechanical device's restriction, can ensure that the switching of clamping part 22 can not makeing mistakes, avoid the clamping part 22 to switch the back and lead to the unstable problem of centre gripping, improved the security of wearing formula arm.

Referring to fig. 12-16, the mechanical arm fixing clamp 2 provided in the embodiment of the present application further includes a switching timing selecting mechanism 26, where the switching timing selecting mechanism 26 is configured to identify whether the wearable mechanical arm is working, and if the wearable mechanical arm is working, then the switching device 21 is prevented from switching the clamping portion 22.

Specifically, the switching timing selecting mechanism 26 includes:

fingerstall 261, brake cable 262, first cooperation block 263, second cooperation block 264, linkage 265 and clamping block 266;

the clamping part 22 is fixed with a locking gear 221 meshed with a clamping block 266;

the wearable mechanical arm also comprises a flexible glove 3;

the fingerstall 261 is arranged on a third knuckle of the finger position of the glove 3, one end of the brake cable 262 is fixed on the fingerstall 261, and the other end of the brake cable 262 is fixed with the first matching block 263;

when the finger is bent, the fingerstall 261 drives the brake cable 262 to pull the first matching block 263, and the first matching block 263 pushes the second matching block 264 to move, so that the linkage rod 265 is driven to enable the clamping block 266 to be meshed with the locking gear 221 to lock the clamping part 22.

Because the wearing formula arm is in the use of transport, the finger always can be crooked in order to grasp the object of being carried, and the switching opportunity selection mechanism 26 that this application embodiment provided is through utilizing this rule to whether the wearing formula arm is carrying is discerned to can avoid the switching of clamping part 22 to appear in the handling, the security of wearing formula arm that improves.

It will be appreciated by those skilled in the art that the present embodiment should also include a power supply and a bus system connecting the various components, including a control bus, a data bus, and a power bus, and that the selection and routing of appropriate buses should be a matter of routine skill in the art. This conventional technical means is not shown in the drawings in order to facilitate highlighting the inventive contribution of the present application.

It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. In addition, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Moreover, in the description of the embodiments of the present application, "/" means or, unless otherwise indicated, for example, a/B may represent a or B; "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. Also, in the description of the embodiments of the present application, "plurality" means two or more than two.

The foregoing is merely a specific embodiment of the application to enable one skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A wearing formula arm for industrial assembly line, a serial communication port, wearing formula arm includes:

2. The wearable mechanical arm for an industrial pipeline according to claim 1, wherein the mechanical arm fixing jig further comprises a plurality of vibration bumps provided on a face of the clamping portion contacting the arm to apply vibration to a clamped position of the arm to alleviate blood circulation of the clamped arm position.

3. The wearable robotic arm for an industrial pipeline of claim 2, wherein the vibration bump comprises: the device comprises a vibration motor, a lug, a conductive rod, a first spring, a hinged adjusting block, an elastic sponge and a sliding base;

4. The wearable mechanical arm for an industrial pipeline according to claim 2, further comprising an interlocking mechanism for disabling other clamping portions from opening when one of the clamping portions is released.

5. The wearable mechanical arm for an industrial pipeline according to claim 4, wherein the mechanical arm fixing jig further comprises a clamping portion base, the clamping portion being hinged on the clamping portion base;

6. The wearable mechanical arm for an industrial pipeline according to claim 2, wherein the mechanical arm fixing clamp further comprises a switching timing mechanism, the switching timing mechanism is used for identifying whether the wearable mechanical arm is working, and if the wearable mechanical arm is working, switching of the clamping part by the switching device is prevented.

7. The wearable mechanical arm for an industrial pipeline according to claim 6, wherein the switching timing selection mechanism includes:

the clamping part is fixed with a locking gear meshed with the clamping block;

the wearable mechanical arm further comprises a flexible glove;