CN214136050U - Telescopic arm lifting type power-assisted manipulator - Google Patents
Telescopic arm lifting type power-assisted manipulator Download PDFInfo
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- CN214136050U CN214136050U CN202120087752.1U CN202120087752U CN214136050U CN 214136050 U CN214136050 U CN 214136050U CN 202120087752 U CN202120087752 U CN 202120087752U CN 214136050 U CN214136050 U CN 214136050U
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Abstract
The utility model discloses a telescopic arm lifting type power-assisted manipulator, which comprises a stand column, a lifting guide component, a lifting driving component, a telescopic arm component and a control component; the lifting guide assembly comprises a lifting guide rail and a sliding assembly; the lifting driving assembly comprises a rack, a gear and a driving mechanism; the telescopic arm assembly comprises a large arm, a small arm telescopic guide sleeve, a small arm and a clamp connecting flange; the control assembly comprises a weighing sensor and a control box. When the device is used specifically, on one hand, rigid guide movement is realized in the vertical direction, and the driving force can be adjusted in a self-adaptive manner according to the weight of materials and the manual operation force; on the other hand, manual easy pushing and positioning on a horizontal plane are realized through a low-damping rotating joint and a low-damping telescopic joint in the horizontal direction; therefore, the effects of man-machine cooperation and four-two-dialing jacks are achieved, energy is saved, and the overall intelligent level is improved.
Description
Technical Field
The utility model relates to a robotic arm technical field, concretely relates to flexible arm over-and-under type helping hand manipulator.
Background
As the manufacturing industry continues to move toward automation and intelligence, market clients increasingly place demands on the market: in the occasions of carrying various materials, such as engineering machinery assembly, rail transit equipment assembly, machining and the like, with various types, specifications and various types, a man-machine cooperation type product between automatic robot carrying and manual carrying is needed, so that the characteristics of strong robot carrying capacity, high precision and good rigidity (namely robot output) are achieved, and the advantage of flexible manual operation (manual positioning) is combined; therefore, the working efficiency of the material handling operation process is improved, the labor intensity is reduced, and the labor health of workers is protected.
Chinese patent application No. 201922234268.2 discloses a rack and pinion liftable formula joint robotic arm, and it has adopted motor drive, the driven mode of rack and pinion to realize the lift of articulated arm, has the compliance in the horizontal direction, has great rigidity in the vertical direction, is applicable to the assembly operation, is particularly suitable for the grafting assembly of small dimension part. Although the mechanical arm has certain advantages, the following disadvantages still exist: 1. the damping at the joint is large, the joint needs to be driven to rotate by a corresponding driving mechanism, only the horizontal rotation design is realized, and the axial telescopic function cannot be realized, so that the convenience of application is restricted to a certain extent; 2. in the lifting process, the self-adaptive adjustment of the driving force cannot be realized according to the weight of the materials and the manual operation force.
SUMMERY OF THE UTILITY MODEL
In view of the above, the present invention provides a telescopic arm lifting power-assisted manipulator, which on one hand realizes rigid guiding motion in the vertical direction, and the driving force can be adaptively adjusted according to the weight of the material and the manual operation force; on the other hand, manual easy pushing and positioning on a horizontal plane are realized through a low-damping rotating joint and a low-damping telescopic joint in the horizontal direction; therefore, the effects of man-machine cooperation and four-two-dialing jacks are achieved, energy is saved, and the overall intelligent level is improved.
The utility model discloses an above-mentioned problem is solved to following technical means: a telescopic arm lifting type power-assisted manipulator comprises a stand column, a lifting guide assembly, a lifting driving assembly, a telescopic arm assembly and a control assembly; the lifting guide assembly comprises a lifting guide rail fixed on the side wall of one side of the upright post and a sliding assembly in sliding fit with the lifting guide rail; the lifting driving assembly comprises a rack fixed on the same side wall of the upright post as the lifting guide rail, a gear in meshing transmission with the rack and a driving mechanism for driving the gear to rotate, and the driving mechanism is arranged on the sliding assembly; the telescopic arm assembly comprises a large arm, a small arm telescopic guide sleeve, a small arm and a clamp connecting flange, one end of the large arm is horizontally matched with the sliding assembly in a rotating mode, the other end of the large arm is fixedly connected with the small arm telescopic guide sleeve, one end of the small arm is matched with the small arm telescopic guide sleeve in an axial sliding mode, and the other end of the small arm is fixedly connected with the clamp connecting flange; the control assembly comprises a weighing sensor and a control box, and the control box is electrically connected with the weighing sensor and the driving mechanism respectively.
Further, the sliding assembly comprises a lifting slide block in sliding fit with the lifting guide rail, a lifting slide plate fixedly connected with the lifting slide block, and a large-arm rotary lower support and a large-arm rotary upper support which are fixedly arranged on the lifting slide plate; and the output shaft end of the driving mechanism penetrates through the lifting sliding plate and is in running fit with the lifting sliding plate.
Furthermore, a large arm rotating shaft is arranged between the large arm rotating lower support and the large arm rotating upper support, and one end of the large arm is horizontally and rotatably matched with the large arm rotating shaft.
Further, the weighing sensor is installed on the lifting sliding plate through a weighing sensor support, and a cantilever extending to the upper side of the weighing sensor is arranged on the driving mechanism.
Further, the driving mechanism comprises a motor and a speed reducer which are in transmission connection, the gear is installed at the output shaft end of the speed reducer, and the output shaft end of the speed reducer penetrates through the lifting sliding plate and is in running fit with the lifting sliding plate.
Furthermore, the output shaft end of the speed reducer is in running fit with the lifting sliding plate through a bearing support.
The utility model has the advantages that:
the application discloses a telescopic arm lifting type power-assisted manipulator which comprises a stand column, a lifting guide assembly, a lifting driving assembly, a telescopic arm assembly and a control assembly; the lifting guide assembly comprises a lifting guide rail fixed on the side wall of one side of the upright post and a sliding assembly in sliding fit with the lifting guide rail; the lifting driving assembly comprises a rack fixed on the same side wall of the upright post as the lifting guide rail, a gear in meshing transmission with the rack and a driving mechanism for driving the gear to rotate, and the driving mechanism is arranged on the sliding assembly; the telescopic arm assembly comprises a large arm, a small arm telescopic guide sleeve, a small arm and a clamp connecting flange, one end of the large arm is horizontally matched with the sliding assembly in a rotating mode, the other end of the large arm is fixedly connected with the small arm telescopic guide sleeve, one end of the small arm is matched with the small arm telescopic guide sleeve in an axial sliding mode, and the other end of the small arm is fixedly connected with the clamp connecting flange; the control assembly comprises a weighing sensor and a control box, and the control box is electrically connected with the weighing sensor and the driving mechanism respectively. By adopting the telescopic arm lifting type power-assisted manipulator, on one hand, rigid guide movement is realized in the vertical direction, and the driving force can be adaptively adjusted according to the weight of materials and the manual operation force; on the other hand, manual easy pushing and positioning on a horizontal plane are realized through a low-damping rotating joint and a low-damping telescopic joint in the horizontal direction; therefore, the effects of man-machine cooperation and four-two-dialing jacks are achieved, energy is saved, and the overall intelligent level is improved.
In addition, the known articulated robot can only realize automatic operation through programming control, the operation mode is only suitable for frequently repeating the same operation and cannot be used in occasions (such as mechanical assembly, logistics loading and unloading vehicles and the like) where various uncertain materials need to be transported at the same station, and the robot assistance and manual positioning are realized in the application, and the occasions (such as mechanical assembly, logistics loading and unloading vehicles and the like) where various uncertain materials need to be transported at the same station can be used.
Drawings
The invention is further described with reference to the following figures and examples.
Fig. 1 is a schematic perspective view of the present invention;
FIG. 2 is a front view of the present invention;
fig. 3 is a top view of the present invention;
fig. 4 is a right side view of the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 to 4, the telescopic arm lifting power-assisted manipulator of the present embodiment includes a column 1, a lifting guide assembly, a lifting driving assembly, a telescopic arm assembly and a control assembly.
The upright post 1 and the lifting guide assembly are bearing and lifting guide base structures of the whole power-assisted manipulator and provide linear motion guide in the vertical direction for the whole manipulator. The floor type vertical installation can be adopted, and the inverted hanging installation can also be adopted. The bottom of the upright post is welded with a steel mounting flange.
The lift direction subassembly includes lifting guide 2, lifting slide 3, lifting slide 4, big arm gyration undersetting 16 and big arm gyration undersetting 18, lifting guide 2 fixed mounting is in one side lateral wall of stand 1, lifting slide 3's front and lifting guide 2 sliding fit can set up a set of lifting guide 2 and lifting slide 3 according to the difference of load rank, perhaps multiunit lifting guide 2 and lifting slide 3, in this embodiment, are provided with two sets of lifting guide 2 and lifting slide 3 at the stand lateral wall side by side. The front surface of the lifting sliding plate 4 is fixedly connected with the back surface of the lifting sliding block 3, and the back surface of the lifting sliding plate 4 is symmetrically provided with a large-arm rotary lower support 16 and a large-arm rotary upper support 18.
The lifting driving assembly is a driving part for lifting movement of the whole manipulator and comprises a rack 9, a gear 19, a speed reducer 10 and a motor 11, wherein the rack 9 and the lifting guide rails are fixedly arranged on the same side wall of the upright post and positioned between the two lifting guide rails; the gear 19 is arranged at the output shaft end of the speed reducer and is meshed with the rack 9; the output shaft end of the speed reducer 10 penetrates through the lifting sliding plate 4 and is in running fit with the lifting sliding plate 4 through a support with a bearing; and the output shaft end of the motor 11 is in transmission connection with the input shaft end of the speed reducer 10.
The telescopic arm assembly comprises a big arm rotating shaft 17, a big arm 12, a small arm telescopic guide sleeve 13, a small arm 14 and a fixture connecting flange 15, wherein the big arm rotating shaft 17 is installed between a big arm rotating lower support 16 and a big arm rotating upper support 18, one end of the big arm 12 horizontally and flexibly rotates around the big arm rotating shaft 17, the other end of the big arm 12 is fixedly connected with the small arm telescopic guide sleeve 13, one end of the small arm 14 is in axial sliding fit with the small arm telescopic guide sleeve 13, and the fixture connecting flange 15 is installed at the other end of the small arm and used for installing various different types of fixture. After the big arm revolving shaft, the big arm, the small arm telescopic guide sleeve and the small arm are connected into a whole, a mechanical structure which can flexibly rotate with low damping and can freely stretch is formed: the telescopic arm assembly comprises a rotary joint and a telescopic joint, so that the telescopic arm assembly is called as a telescopic arm assembly, and provides support in a horizontal plane, a low-damping rotating joint and a low-damping telescopic joint for the whole machine, so that the front end of the telescopic arm assembly can flexibly and reliably extend into various complex working scenes and narrow working spaces. The telescopic arm assembly is therefore a key actuator for handling workpieces in the present machine.
The control assembly comprises a weighing sensor support 5, a weighing sensor 6 and a control box 8, the weighing sensor 6 is installed on the lifting sliding plate 4 through the weighing sensor support 5, a cantilever 7 extending to the upper portion of the weighing sensor is arranged on the driving mechanism, and the control box 8 is electrically connected with the weighing sensor 6 and the motor 11 respectively. The control box is a hardware system formed by assembling general motion control components, and a corresponding motion control algorithm program and a corresponding process function control program are installed and operated in the control box.
Description of the principles
The working principle of the manipulator is illustrated by taking the vertical installation on the ground as an example
When the manipulator is used for carrying, vertical force is transmitted to the lifting sliding plate 4 through the clamp connecting flange 15, the small arm 14, the small arm telescopic guide sleeve 13, the large arm 12, the large arm rotating shaft 17, the large arm rotating lower support 16 and the large arm rotating upper support 18, and when the lifting sliding plate 4 is stressed, vertical downward movement trend is generated due to the interaction guidance of the lifting guide rail 2 and the lifting sliding block 3, and the force is transmitted to a gear 19 meshed with the lifting guide rail through a rack 9 fixed on the upright column 1; when the gear 19 is stressed, a rotating motion trend is generated, and then torque is transmitted to the speed reducer 10, the cantilever 7, the weighing sensor 6, the weighing sensor support 5 and the lifting sliding plate 4 in sequence. Therefore, when the parts are stressed (at the moment, the motor is in a braking or working enabling state), a complete closed loop stress state which can be stably and automatically maintained is formed. In the horizontal direction, self-supporting is realized through a low-damping rotating joint and a low-damping telescopic joint, and the operator can flexibly and randomly move to a required position in the horizontal plane.
When the weighing sensor 6 is under the action of the moment transmitted by the cantilever 7, an electric signal is generated and sent to the control box 8; the control box is used for filtering the received signal, storing the signal in a memory of the control element as a reference value, converting the signal into a corresponding control signal and sending the control signal to a control module of the motor, so as to generate a driving force which is equal to gravity and opposite to the gravity; the driving force is transmitted to the gear after being reduced and amplified by the speed reducer; so that the gear is in a force balance state under the action of gravity and a driving force.
After the balance state is reached, the control box continuously and circularly detects the signal feedback (after amplification and filtration) of the weighing sensor and reads the signal into the system memory while keeping the constant output of the driving force, and performs data processing to form a new control signal and outputs the new control signal to the control module of the motor. The specific implementation mode is as follows: subtracting the reference value of the stable data registered in the memory from the data of each refreshed sensor, and when the difference value does not exceed a preset threshold value (no matter positive or negative), keeping constant torque output and matching the rotating speed of the motor to be zero; when the difference is larger than the threshold value and the difference is positive, outputting a positive inching signal to a control module of the motor to enable the motor to rotate forwards, and interpolating a value according to a speed preset in the control system; when the difference is larger than the threshold value and the difference is negative, a reverse inching signal is output to a control module of the motor, the motor is enabled to rotate reversely, and the rotating speed is interpolated according to a speed interpolation value preset in the control box. In fact, after the disturbance is eliminated through effective filtering processing, the size and the direction of the difference value are that the operation force (uplifting or pressing down the workpiece) applied to the workpiece manually is carried out during the carrying work, the control box converts the manual operation force into a signal for controlling the rotation direction and the rotation speed of the motor through detecting the signal feedback of the weighing sensor, the strict amplification of the manual operation force is realized, and the power-assisted function of 'four-two stirring jacks' is realized.
The control box is also provided with a data transmission interface for manual direct input or external data import control signals, or data such as the workpiece weight reference value in the register and the like are output to other recording facilities of a user.
Finally, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the present invention can be modified or replaced by other means without departing from the spirit and scope of the present invention, which should be construed as limited only by the appended claims.
Claims (6)
1. The utility model provides a flexible arm over-and-under type helping hand manipulator which characterized in that: comprises a vertical column (1), a lifting guide component, a lifting driving component, a telescopic arm component and a control component; the lifting guide assembly comprises a lifting guide rail (2) fixed on the side wall of one side of the upright post and a sliding assembly in sliding fit with the lifting guide rail; the lifting driving assembly comprises a rack (9) fixed on the same side wall of the upright post as the lifting guide rail, a gear (19) in meshing transmission with the rack and a driving mechanism for driving the gear to rotate, and the driving mechanism is arranged on the sliding assembly; the telescopic arm assembly comprises a large arm (12), a small arm telescopic guide sleeve (13), a small arm (14) and a clamp connecting flange (15), one end of the large arm is horizontally matched with the sliding assembly in a rotating mode, the other end of the large arm is fixedly connected with the small arm telescopic guide sleeve, one end of the small arm is axially matched with the small arm telescopic guide sleeve in a sliding mode, and the other end of the small arm is fixedly connected with the clamp connecting flange; the control assembly comprises a weighing sensor (6) and a control box (8), and the control box is electrically connected with the weighing sensor and the driving mechanism respectively.
2. The telescopic arm lifting power-assisted manipulator of claim 1, wherein: the sliding assembly comprises a lifting slide block (3) in sliding fit with the lifting guide rail (2), a lifting slide plate (4) fixedly connected with the lifting slide block, a large-arm rotary lower support (16) and a large-arm rotary upper support (18) which are fixedly arranged on the lifting slide plate; and the output shaft end of the driving mechanism penetrates through the lifting sliding plate and is in running fit with the lifting sliding plate.
3. The telescopic arm lifting power-assisted manipulator of claim 2, wherein: a big arm rotating shaft (17) is arranged between the big arm rotating lower support and the big arm rotating upper support, and one end of the big arm is horizontally and rotatably matched with the big arm rotating shaft.
4. The telescopic arm lifting power-assisted manipulator of claim 3, wherein: the weighing sensor (6) is installed on the lifting sliding plate (4) through a weighing sensor support (5), and a cantilever (7) extending to the upper side of the weighing sensor is arranged on the driving mechanism.
5. The telescopic arm elevating power-assisted manipulator of any one of claims 2 to 4, wherein: the driving mechanism comprises a motor (11) and a speed reducer (10) which are in transmission connection, the gear is installed at the output shaft end of the speed reducer, and the output shaft end of the speed reducer penetrates through the lifting sliding plate and is in running fit with the lifting sliding plate.
6. The telescopic arm elevating power-assisted manipulator of claim 5, wherein: the output shaft end of the speed reducer (10) is in running fit with the lifting sliding plate through a bearing support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202120087752.1U CN214136050U (en) | 2021-01-13 | 2021-01-13 | Telescopic arm lifting type power-assisted manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120087752.1U CN214136050U (en) | 2021-01-13 | 2021-01-13 | Telescopic arm lifting type power-assisted manipulator |
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| CN214136050U true CN214136050U (en) | 2021-09-07 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114851225A (en) * | 2022-06-15 | 2022-08-05 | 法睿兰达科技(武汉)有限公司 | IGV-based manipulator of heavy-load charging robot |
| CN117125629A (en) * | 2023-10-26 | 2023-11-28 | 山西速鑫物流有限公司 | Logistics transportation loading lifting device |
-
2021
- 2021-01-13 CN CN202120087752.1U patent/CN214136050U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114851225A (en) * | 2022-06-15 | 2022-08-05 | 法睿兰达科技(武汉)有限公司 | IGV-based manipulator of heavy-load charging robot |
| CN114851225B (en) * | 2022-06-15 | 2023-07-21 | 法睿兰达科技(武汉)有限公司 | Manipulator of heavy-load charging robot based on IGV |
| CN117125629A (en) * | 2023-10-26 | 2023-11-28 | 山西速鑫物流有限公司 | Logistics transportation loading lifting device |
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