CN211220699U

CN211220699U - Power-assisted mechanical arm

Info

Publication number: CN211220699U
Application number: CN201922267520.XU
Authority: CN
Inventors: 马英伟; 贺辉; 王威
Original assignee: Suzhou Lairfa Robot Co ltd
Current assignee: Suzhou Lairfa Robot Co ltd
Priority date: 2019-12-17
Filing date: 2019-12-17
Publication date: 2020-08-11
Anticipated expiration: 2029-12-17

Abstract

The utility model provides a power-assisted manipulator, wherein the rocker arm of the power-assisted manipulator can rotate in all directions relative to a stand column, and the motion range of the power-assisted manipulator can be enlarged by matching with the horizontal movement of the stand column, so that an object to be clamped can be accurately and conveniently clamped to a specific position; in addition, the pneumatic clamp matched with the power-assisted manipulator is not influenced by the position change of the manipulator, and can be suitable for mechanical taking in a specific place.

Description

Power-assisted mechanical arm

Technical Field

The utility model relates to the field of machinary, in particular to helping hand manipulator.

Background

The power-assisted mechanical hand is also called a mechanical hand, is novel power-assisted equipment which is used for labor-saving operation in material carrying and installation, can liberate labor hands to a great extent, reduces unnecessary physical expenditure of workers, can be suitable for carrying special articles in special places, and has irreplaceable advantages.

The power-assisted manipulator is composed of a mechanical hoisting assembly and a mechanical clamp, the mechanical hoisting assembly controls the position of the mechanical clamp, and the mechanical clamp is used for clamping an object to be clamped. However, the mechanical lifting assembly of the conventional power-assisted manipulator is usually only capable of adjusting the position by moving up and down and/or left and right, and some places need the power-assisted manipulator to rotate in a three-dimensional space to transfer an object to be clamped to a specific position. In addition, the current mechanical clamp is controlled by a driving motor circuit, so that the clamp angle of the power-assisted manipulator is further limited.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a power-assisted manipulator, wherein the rocker arm of the power-assisted manipulator can rotate in all directions relative to the upright post, and the moving range of the power-assisted manipulator can be enlarged by matching with the horizontal movement of the upright post, so that an object to be clamped can be accurately and conveniently clamped to a specific position; in addition, the pneumatic clamp matched with the power-assisted manipulator is not influenced by the position change of the manipulator, and can be suitable for mechanical taking in a specific place.

This technical scheme provides a helping hand manipulator, includes at least:

the device comprises a vertical column, a movable arm and a pneumatic clamp, wherein the vertical column is arranged vertical to the ground surface;

the pneumatic clamp comprises a pneumatic assembly and a hand grip connected with the pneumatic assembly, wherein the pneumatic assembly comprises a cylinder, a piston and a push rod, one end of the piston is connected with the cylinder, the other end of the piston is connected with the push rod, the hand grip comprises two hand grip rods connected with the push rod and a reset spring, and the two hand grip rods form the hand grip pliers.

In some embodiments, the power-assisted manipulator further comprises a base, the upright is perpendicular to the base, a driving motor is arranged in the base, and the driving motor and the movable arm are connected through a circuit arranged in the upright.

In some embodiments, the drive motor controls the movable arm to rotate 180 degrees clockwise or 180 degrees counterclockwise.

In some embodiments, the movable arm includes an arm rod and two movable blocks disposed at one end of the arm rod, wherein the two movable blocks are disposed at upper and lower sides of one end of the arm rod, the driving circuit is a lifting rope, and the lifting rope is connected to the movable blocks at two sides respectively.

In some embodiments, the movable arm includes an arm bar and a movable block disposed at one end of the arm bar, and the driving motor is connected to a coupling connected to one end of the arm bar.

In some embodiments, the sliding groove is arranged at the side of the sleeve, and the movable arm is vertical to the opposite column.

In some embodiments, the gripper bar comprises a first bar and a second bar, wherein one end of the first bar is movably connected to the push bar through a rotating shaft, the other end of the first bar is movably connected to the second bar through a rotating shaft, and an acute angle smaller than 90 degrees is formed between the first bar and the second bar.

In some embodiments, one end of the return spring is connected to the push rod, and the other end is fixed on the pneumatic clamp.

In some embodiments, the opposed clamping surfaces of the gripper bars are provided with a removable adsorbent material.

Compared with the prior art, the technical scheme has the following characteristics and beneficial effects:

1. the rocking arm of this helping hand manipulator can do 360 degrees rotations to the stand relatively, can make the anchor clamps position of helping hand manipulator arrange in three-dimensional space's arbitrary angular position, enlarges helping hand manipulator's article and presss from both sides and get and the uninstallation scope, can accurately conveniently will wait to press from both sides and get article to specific position.

2. The power-assisted manipulator is provided with a pneumatic clamp, and the pneumatic clamp is controlled by a cylinder to clamp and discharge objects and is not influenced by the moving position of the manipulator.

3. Detachably pastes on this air jig and puts adsorbing material to adsorb special material, for example ironwork's article, guarantee that the article is by firm centre gripping in the transportation.

Drawings

Fig. 1 is a schematic structural diagram of a power manipulator according to an embodiment of the present invention.

Fig. 2 is a partially enlarged schematic view of a power manipulator according to an embodiment of the present invention.

In the figure: 10-base, 20-column, 21-sleeve, 211-sliding chute, 30-movable arm, 31-movable block, 32-arm rod, 40-pneumatic clamp, 41-pneumatic component, 411-cylinder, 412-piston, 413-push rod, 42-gripper, 421-gripper rod, 422-reset spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art all belong to the protection scope of the present invention.

It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, as the terms are used in the description to indicate that the referenced device or element must have the specified orientation, be constructed and operated in the specified orientation, and not for the purposes of limitation.

It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.

As shown in fig. 1 to fig. 2, according to the utility model discloses a structure of helping hand manipulator of an embodiment is demonstrateed, the utility model provides a can be applicable to and will wait to press from both sides the helping hand manipulator that gets the article and shift to the special position, particularly, this helping hand manipulator can press from both sides the article that is located different angles in order to press from both sides at three-dimensional space all-round rotation angle, perhaps unloads the article in different angular position to satisfy the demand of special scene.

The power-assisted manipulator at least comprises a vertical column (20) arranged perpendicular to the ground surface, a movable arm (30) movably connected to the vertical column (20) and a pneumatic clamp (40) connected to one end of the movable arm (30), wherein a sleeve (21) is sleeved on the surface of the vertical column (20), a sliding groove (211) is formed in the surface of the sleeve (21), a movable block (31) is arranged at one end of the movable arm (30), the movable block (31) is arranged in the sliding groove (211) in a sliding mode, and the pneumatic clamp (40) comprises a pneumatic assembly (41) and a gripper (42) connected with the pneumatic assembly (41). In the technical scheme, the movable arm (30) can rotate in all directions relative to the upright post (20) through the cooperation of the movable block (31) and the sliding groove (211), and the pneumatic clamp (40) is controlled by the pneumatic assembly (41) to clamp and unload objects, so that the functional use of the pneumatic clamp (40) is not influenced when the movable arm (30) rotates.

Specifically, this helping hand manipulator includes base (10) in addition, and stand (20) perpendicular to base (10) sets up, and the built-in driving motor of base (10), and driving motor and movable arm (30) are connected through the built-in circuit in stand (20) to drive movable arm (30) and rotate for stand (20), and driving motor control movable arm (30) clockwise rotation 180 degrees or anticlockwise rotation 180 degrees.

In an embodiment of the technical solution, the movable arm (30) includes an arm rod (32) and two movable blocks (31) disposed at one end of the arm rod (32), wherein the two movable blocks (31) are disposed at upper and lower sides of one end of the arm rod (32). The driving circuit is a lifting rope which is respectively connected with the movable blocks (31) at two sides, and the movable arm (30) is controlled to rotate clockwise by 180 degrees or anticlockwise by 180 degrees by the up-and-down pulling of the lifting rope, so that the lifting rope is not wound.

In another embodiment of the technical scheme, the movable arm (30) comprises an arm rod (32) and a movable block (31) arranged at one end of the arm rod (32), the driving motor is connected with a coupling, and the coupling is connected to one end of the arm rod (32) to drive the movable arm (30) to rotate 180 degrees clockwise or 180 degrees anticlockwise.

The sliding groove (211) is arranged on the side of the sleeve (21), and the movable arm (30) is vertical to the upright post (20), so that the movable arm (21) can freely rotate 360 degrees on the horizontal height, and the omnibearing position adjustment is realized.

The pneumatic clamp (40) is arranged at the other end of the movable arm (30) to clamp and discharge the object to be taken. Specifically, the pneumatic clamp (40) comprises a pneumatic assembly (41) and a gripper (42) connected with the pneumatic assembly (41), wherein the pneumatic assembly (41) comprises a cylinder (411), a piston (412) and a push rod (413), one end of the piston (412) is connected with the cylinder (411), the other end of the piston is connected with the push rod (413), the gripper (42) comprises two gripper rods (421) connected with the push rod (413) and a return spring (422), and the two gripper rods (421) form a gripper clamp to clamp an object to be taken.

Specifically, the gripper bar (421) comprises a first bar and a second bar, wherein one end of the first bar is movably connected to the push bar (413) through a rotating shaft, the other end of the first bar is movably connected to the second bar through a rotating shaft, and an acute angle smaller than 90 degrees is formed between the first bar and the second bar, namely a relative folding angle is formed between the first bar and the second bar. When the air cylinder (411) controls the piston (412) to move along the axial direction, the push rod (413) is adjusted to move along the axial direction, so that the included angle between the rods of the gripper rod (421) is changed relatively, and the object is clamped or unloaded.

In addition, one end of the return spring (422) is connected with the push rod (413), and the other end is fixed on the pneumatic clamp (40). When the cylinder (411) does not apply driving force to the piston (412), the return spring (422) is returned, and at this time, the distance between the third rods of the gripper rods (421) is increased to release the object therein.

In some embodiments, the opposite clamping surfaces of the grab bar (421) are provided with a detachable adsorption material, such as an adsorption magnetic strip, so as to adsorb an object made of a special material, such as an iron object, and to enhance the stability of clamping the object.

The working principle is as follows: the movable arm (30) is controlled to rotate 360 degrees in all directions relative to the upright post (20) through the driving motor, and the pneumatic assembly (41) of the pneumatic clamp (40) arranged on the movable arm (30) controls the gripper (42) to clamp or discharge the object.

The present invention is not limited to the above-mentioned preferred embodiments, and any other products in various forms can be obtained by the teaching of the present invention, but any changes in the shape or structure thereof, which have the same or similar technical solutions as the present invention, fall within the protection scope of the present invention.

Claims

1. A power-assisted manipulator is characterized by at least comprising:

the device comprises a vertical post (20) arranged vertical to the ground surface, a movable arm (30) movably connected to the vertical post (20) and a pneumatic clamp (40) connected to one end of the movable arm (30);

wherein sleeve (21) is established to stand (20) surface cover, spout (211) are seted up on sleeve (21) surface, the one end of digging arm (30) is equipped with movable block (31), movable block (31) are arranged in spout (211) slidable, pneumatic anchor clamps (40) include pneumatic subassembly (41) and with the tongs (42) that pneumatic subassembly (41) are connected, wherein pneumatic subassembly (41) include cylinder (411), piston (412) and push rod (413), wherein the one end and cylinder (411) of piston (412) are connected, the other end is connected with push rod (413), tongs (42) include two tongs pole (421) and reset spring (422) of connecting in push rod (413), wherein tongs are constituteed to two tongs poles (421).

2. A power manipulator according to claim 1, further comprising a base (10), wherein the post (20) is disposed perpendicular to the base (10), and a driving motor is built in the base (10), and the driving motor is connected to the movable arm (30) through a wire built in the post (20).

3. The power manipulator according to claim 2, wherein the driving motor controls the movable arm (30) to rotate 180 degrees clockwise or 180 degrees counterclockwise.

4. The power assisted mechanical hand according to claim 3, wherein the movable arm (30) comprises an arm rod (32) and two movable blocks (31) arranged at one end of the arm rod (32), wherein the two movable blocks (31) are respectively arranged at the upper side and the lower side of one end of the arm rod (32), the driving lines are lifting ropes which are respectively connected with the movable blocks (31) at the two sides.

5. The power assisted mechanical hand according to claim 3, wherein the movable arm (30) comprises an arm lever (32) and a movable block (31) disposed at one end of the arm lever (32), and the driving motor is connected to a coupling shaft connected to one end of the arm lever (32).

6. The power manipulator according to claim 1, wherein the slide groove (211) is formed at a side of the sleeve (21), and the movable arm (30) is perpendicular to the column (20).

7. The power-assisted manipulator according to claim 1, wherein the gripper bar (421) comprises a first bar and a second bar, wherein one end of the first bar is movably connected to the push bar (413) through a rotating shaft, the other end of the first bar is movably connected to the second bar through a rotating shaft, and an acute angle smaller than 90 degrees is formed between the first bar and the second bar.

8. The power-assisted manipulator according to claim 1, wherein one end of the return spring (422) is connected to the push rod (413), and the other end is fixed to the pneumatic jig (40).

9. The power manipulator according to claim 1, wherein the gripper bar (421) has a detachable adhesive material on its opposing clamping surfaces.