CN210525098U - Power-assisted manipulator - Google Patents

Abstract

The utility model belongs to the technical field of power-assisted manipulators, in particular to a power-assisted manipulator, which comprises a mounting seat, a swing arm component and a clamping component, wherein the swing arm component comprises a swing arm, a lifting piece and a lower pressing piece; the swing arm is provided with a fulcrum for supporting the swing arm to rotate, the lower pressing piece is arranged on one side of the fulcrum, and the lifting piece is arranged on the other side of the fulcrum; the clamping assembly includes a clamp member having a clamping cavity and a locking member for locking a tool positioned in the clamping cavity. The utility model discloses can reduce rocking of swing arm, promote swing arm stability in use, press from both sides tight simple structure and convenient, easy the maintenance, it is with low costs.

Description

Power-assisted manipulator

Technical Field

The utility model relates to a manipulator technical field, concretely relates to helping hand manipulator.

Background

A power-assisted mechanical arm is also called a power-assisted mechanical arm, and is power-assisted equipment which is used for labor-saving operation during material carrying and installation. The power-assisted mechanical arm applies a force balance principle, so that an operator can correspondingly push and pull the heavy object to balance and move the heavy object in a space. The weight forms a floating state when being lifted or descended, an operator can place the weight at a designated position in the space by pushing and pulling the weight with hands, and the operator does not need to overcome the gravity of the weight to do work when pushing and pulling the weight, thereby saving labor.

The invention discloses a Chinese patent application with a gripper, which is published by the prior application number CN 208914150 UA, and the prior application is a power-assisted mechanical arm with a gripper, which comprises a fixed seat, wherein a rotating seat is rotatably arranged on the fixed seat, and the power-assisted mechanical arm is characterized in that: the top of the rotary seat is fixedly provided with an installation frame, the installation frame is hinged with a main arm and a secondary arm, the ends of the main arm and the secondary arm, which are far away from the installation frame, are hinged with a movable frame together, and the movable frame, the main arm, the secondary arm and the installation frame form a parallelogram structure; a lifting cylinder is hinged between the end part, deviating from the movable frame, of the main arm and the rotary seat, when the lifting cylinder stretches out and draws back, the lifting cylinder drives the main arm to rotate and changes the height of the movable frame, and a clamping assembly used for placing a heavy object is arranged on the movable frame. The main arm of the power-assisted mechanical arm can rotate in the vertical direction, the clamping assembly has a large movable range in the vertical direction, and a heavy object can be conveniently carried to a position with large gradient difference; the disc brake assembly is reasonable in structure, good in brake effect and high in reliability.

However, in the process of up-and-down swinging of the main arm of the power-assisted mechanical arm, the main arm is lifted only by one cylinder, and when a heavy object is clamped, the driving force of the cylinder is large, so that the load of the cylinder is too large, the work of the cylinder is not facilitated, and meanwhile, the main arm is easy to shake due to large stress; moreover, the clamping structure is complex, automatic clamping is adopted, the cost is high, the maintenance is inconvenient, and improvement is needed.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a power-assisted manipulator to improve the stability in use of manipulator, reduce the atress environment of swing arm, the whole security of lifting machinery hand use presss from both sides tight simple structure and convenience, is convenient for maintain low cost.

In order to solve the technical problem, the utility model provides a power-assisted manipulator, which comprises a mounting seat, a swing arm component and a clamping component, wherein the swing arm component comprises a swing arm, a lifting piece and a lower pressing piece;

the swing arm is provided with a fulcrum for supporting the swing arm to rotate, the lower pressing piece is arranged on one side of the fulcrum, and the lifting piece is arranged on the other side of the fulcrum;

the clamping assembly includes a clamp member having a clamping cavity and a locking member for locking a tool positioned in the clamping cavity.

The lifting piece comprises a lifting frame, an auxiliary arm and a power piece for driving the lifting frame to lift;

the swing arm is hinged with the lifting frame;

the auxiliary arm is arranged in parallel to the swing arm and is hinged with the lifting frame.

Wherein, the mounting seat is provided with a mounting plate;

the auxiliary arm is hinged with the mounting plate;

the main arm is hinged with the mounting plate, and the hinged point is superposed with the fulcrum;

the hinge point of the auxiliary arm and the mounting plate is a hinge point I, the hinge point of the auxiliary arm and the lifting frame is a hinge point II, the hinge point of the main arm and the lifting frame is a hinge point III, and the hinge point I, the hinge point II, the hinge point III and the fulcrum are four endpoints of a parallelogram.

The lifting frame comprises a first vertical plate and a second vertical plate which are arranged at intervals;

a first connecting shaft is arranged between the first vertical plate and the second vertical plate, and the first vertical plate, the second vertical plate and the first connecting shaft form an H-shaped structure;

a second connecting shaft positioned between the first vertical plate and the second vertical plate is arranged above the connecting shaft;

and the power part is rotationally connected with the second connecting shaft through a joint bearing.

Wherein the clamping member comprises a first clamping plate and a second clamping plate;

the first clamping plate and the second clamping plate are hinged.

The beneficial effects of the utility model are that, the utility model discloses a manipulator assisted by force when pushing down swing arm one end, one end rises in addition, has reduced the atress of swing arm, improves swing arm stability in use and security, locks the installation cavity through manual operation simultaneously for clamping component simple structure, easy maintenance reduces the subassembly of equipment, reduction in production cost.

Drawings

The present invention will be further explained with reference to the drawings and examples.

Fig. 1 is a perspective view of the power-assisted manipulator of the present invention;

FIG. 2 is an assembled perspective view of the swing arm assembly and the clamp assembly.

Fig. 3 is a perspective view of the clamping assembly.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.

Examples

As shown in fig. 1 and 2, the embodiment 1 provides a power-assisted manipulator, which includes a mounting base 1, a swing arm assembly 20 and a clamping assembly 30; the swing arm assembly 20 comprises a swing arm 21, a lifting member 22 and a pressing member 23;

the swing arm 21 is provided with a fulcrum 4 for supporting the swing arm 21 to rotate, the pressing piece 23 is arranged on one side of the fulcrum 4, and the lifting piece 22 is arranged on the other side of the fulcrum. Specifically, when one end of the swing arm 21 connected with the clamping assembly 30 needs to be lifted, the pressing piece 23 presses the end of the swing arm 21, the swing arm 21 rotates around the fulcrum 4, in the pressing process, the lifting piece 22 drives the swing arm to lift, so that the support of the swing arm 21 is lifted, and the stability of the swing arm in the working process is improved, otherwise, when one end of the swing arm 21 connected with the clamping assembly 30 is lifted, the rotating direction of the swing arm 21 is opposite to the pressing rotating direction of the swing arm 21, and other actions are all in the opposite direction.

In this embodiment, the pivot 4 is a hinge point, which is convenient for the swing arm to rotate around the pivot, so as to complete the up-and-down swing of the swing arm; the lower pressing member 23 is a pneumatic cylinder.

The clamping assembly 30 comprises a clamping piece 32 with a clamping cavity 31 and a locking piece 5 for locking a tool in the clamping cavity 31, and is simple to install and convenient to replace.

As an alternative embodiment of the lifting member.

Referring to fig. 2, the lifting member 22 includes a lifting frame 221, a sub-arm 222, and a power member 223 for driving the lifting frame 22 to ascend and descend; the swing arm 21 is hinged with the lifting frame 221; the sub-arm 222 is disposed parallel to the swing arm 21 and is hingedly connected to the lifting frame 221. Specifically, the swing arm 21 and the auxiliary arm 222 penetrate through the lifting frame 221 and then are connected with the clamping assembly 30, so that the installation compactness of the manipulator is improved, and the space is not occupied.

The lifting piece 22 and the pressing piece 23 on the other side of the fulcrum 4 of the embodiment are opposite in moving direction all the time, so that a moving support is formed, the moving support is carried out along with the ascending or descending of the swing arm 21, and the stability of the swing arm in the moving process is further ensured.

In this embodiment, the mounting base 1 is provided with a mounting plate 6; the auxiliary arm 222 is hinged with the mounting plate 6; the main arm 21 is hinged with the mounting plate 6 and the hinged point is superposed with the fulcrum 4; the hinge point of the auxiliary arm 222 and the mounting plate 6 is a hinge point I, the hinge point of the auxiliary arm 222 and the lifting frame 221 is a hinge point II, the hinge point of the main arm 21 and the lifting frame is a hinge point III, and the hinge point I, the hinge point II, the hinge point III and the fulcrum 4 are four end points of a parallelogram. The swing arm 21 and the auxiliary arm 222 are ensured not to be blocked in the process of rotating around the pivot 4.

As an alternative embodiment of the lifting frame.

As shown in fig. 2, the lifting frame 221 includes a first riser 2211 and a second riser 2212 arranged at intervals; be provided with first connecting axle 7 between first riser 2211 and the second riser 2212, first riser 2211, second riser 2212 and first connecting axle 7 constitute H type structure, and the hoisting frame of H type structure has structural strength and is good, non-deformable's advantage, has guaranteed that the swing arm 21 is not disturbed with the fly jib 222 motion in-process.

A second connecting shaft 8 positioned between the first vertical plate 2211 and the second vertical plate 2212 is arranged above the connecting shaft 7; the power part 223 is rotatably connected with the second connecting shaft 8 through a joint bearing, and the phenomenon that the locking of each motion hinge point does not occur in the lifting process is guaranteed.

As an alternative embodiment of the clamping element.

Referring to fig. 3, clamping member 31 includes a first clamping plate 311 and a second clamping plate 312; the first clamping plate 311 and the second clamping plate 312 are hinged. In particular, the first clamping plate 311 and the second clamping plate 312 are hinged to facilitate the taking of tools in the clamping cavity 32. The locking piece is locked by the bolt, so that the locking piece is convenient to detach.

Each pin joint in this embodiment can select for use pivot and axle sleeve cooperation to articulate, is prior art.

In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims (5)

1. The utility model provides a power-assisted manipulator, includes mount pad, swing arm subassembly and clamping assembly, its characterized in that:

the swing arm assembly comprises a swing arm, a lifting piece and a pressing piece;

the swing arm is provided with a fulcrum for supporting the swing arm to rotate, the lower pressing piece is arranged on one side of the fulcrum, and the lifting piece is arranged on the other side of the fulcrum;

the clamping assembly includes a clamp member having a clamping cavity and a locking member for locking a tool positioned in the clamping cavity.

2. The power manipulator according to claim 1, characterized in that:

the lifting piece comprises a lifting frame, an auxiliary arm and a power piece for driving the lifting frame to lift;

the swing arm is hinged with the lifting frame;

the auxiliary arm is arranged in parallel to the swing arm and is hinged with the lifting frame.

3. The power manipulator according to claim 2, characterized in that:

the mounting seat is provided with a mounting plate;

the auxiliary arm is hinged with the mounting plate;

the swing arm is hinged with the mounting plate, and the hinged point is superposed with the fulcrum;

the hinge point of the auxiliary arm and the mounting plate is a hinge point I, the hinge point of the auxiliary arm and the lifting frame is a hinge point II, the hinge point of the swing arm and the lifting frame is a hinge point III, and the hinge point I, the hinge point II, the hinge point III and the fulcrum are four end points of a parallelogram.

4. The power manipulator according to claim 2, characterized in that:

the lifting frame comprises a first vertical plate and a second vertical plate which are arranged at intervals;

a first connecting shaft is arranged between the first vertical plate and the second vertical plate, and the first vertical plate, the second vertical plate and the first connecting shaft form an H-shaped structure;

a second connecting shaft positioned between the first vertical plate and the second vertical plate is arranged above the connecting shaft;

and the power part is rotationally connected with the second connecting shaft through a joint bearing.

5. The power manipulator according to claim 1, characterized in that:

the clamping piece comprises a first clamping plate and a second clamping plate;

the first clamping plate and the second clamping plate are hinged.

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