CN216403749U - Boosting arm capable of intelligently sensing and controlling lifting - Google Patents
Boosting arm capable of intelligently sensing and controlling lifting Download PDFInfo
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- CN216403749U CN216403749U CN202122581633.4U CN202122581633U CN216403749U CN 216403749 U CN216403749 U CN 216403749U CN 202122581633 U CN202122581633 U CN 202122581633U CN 216403749 U CN216403749 U CN 216403749U
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Abstract
The utility model discloses a power-assisted arm capable of lifting under intelligent force sensing control, which comprises a power-assisted arm body, wherein the power-assisted arm body is lifted under the control of a motor, a force sensor and a controller are arranged at the front end of the power-assisted arm body, the controller comprises an information receiving and processing module, a threshold setting module and a motor control module, and the force sensor transmits detected information to the information receiving and processing module in real time; the threshold setting module is used for presetting a threshold of force; the information receiving and processing module compares the received information with a threshold value, and when the information is in the threshold value range, along with the increase or decrease of the received information, the information which accelerates or decelerates in the direction of the force is sent to the motor control module; when the received information is larger than or smaller than the threshold value, no action instruction is sent to the motor control module; and the motor control module controls the motor to act according to the received information. The lifting and the speed of the power assisting arm can be adjusted through hand-holding operation, so that the working efficiency of the power assisting arm is improved, and the automation degree is high.
Description
Technical Field
The utility model relates to the field of carrying equipment, in particular to a power-assisted arm capable of controlling lifting through intelligent force sensing.
Background
The existing material moving assisting arms have lifting functions, but can only lift or fall at a constant speed, cannot be adjusted in real time according to requirements, and are not high in working efficiency.
SUMMERY OF THE UTILITY MODEL
The utility model provides a power-assisted arm capable of intelligently sensing and controlling lifting, aiming at solving the problem of low working efficiency of the conventional power-assisted arm, which comprises a power-assisted arm body 1, wherein the power-assisted arm body 1 is arranged on a lifting rail 3 through a sliding seat 2, the end part of the lifting rail 3 is provided with a motor 4, the motor 4 is connected with a speed reducer 5, an output shaft of the speed reducer 5 is provided with a chain wheel 6, a chain 7 is wound on the chain wheel 6, the sliding seat 2 is fixed at one end of the chain 7, a force sensor 8 and a control box 9 are arranged at the handrail position of the hoisting operation at the front end of the power-assisted arm body 1, a controller is arranged in the control box 9 and comprises an information receiving and processing module, a threshold setting module and a motor control module,
the force sensor is used for detecting the pressure applied to the force sensor and the direction of the upward/downward force applied to the force sensor in real time and transmitting the detected information to the information receiving and processing module;
the threshold setting module is used for presetting a threshold of force, and since the sensor has certain weight and can be pressed to send out information when being accidentally touched or collided, but the assistance arm does not need to move under the condition, the threshold range is set according to the actual use environment and condition;
the information receiving and processing module is used for receiving the information sent by the force sensor, comparing the received information with a threshold value, and sending information accelerated in the direction of the force to the motor control module along with the increase of the received information when the received information is within the threshold value range for the first time; sending a message to the motor control module to decelerate in the direction of the force as the received message becomes smaller; when the received information is larger than or smaller than the threshold value, no action instruction is sent to the motor control module, and the motor is kept in a stop state;
the motor control module is used for receiving the information sent by the information receiving and processing module, and controlling the motor to rotate forwards or backwards and the rotating speed of the motor to be accelerated or decelerated according to the received information.
Preferably, the motor 4 is arranged at the top end of the lifting track 3, and the chain can naturally fall down at the moment, so that the sliding seat can be lifted conveniently.
Preferably, the speed reducer 5 is a double-shaft output speed reducer, each output shaft is provided with a chain wheel 6, one ends of the two chains 7 are respectively fixed on the sliding seat 2, and the sliding seat is more stable when lifted by the two chains.
Preferably, a plurality of clamping grooves 61 which are the same as the single chain link structure of the chain 7 in size are formed in the circumferential surface of the chain wheel 6 in a surrounding mode, one chain link is correspondingly clamped into one clamping groove, and the chain can be firmly clamped on the chain wheel after a plurality of chain links are clamped in the clamping grooves in sequence. The chain wheel is covered with a chain guide 10, the chain is threaded into the chain guide and then wound on the chain wheel, a round hole slightly larger than the chain wheel is arranged in the chain guide, the chain wheel is positioned in the chain guide, and the wall of the round hole limits the chain link in the clamping groove. And because speed reducer and motor all have from the function of stopping, when the motor stops not changeing, under the effect of chain ware is led, the chain inlay card can not remove in the draw-in groove, can guarantee that the slide can not drop, and the security is high.
Preferably, a longitudinal sliding groove 31 is respectively formed in each of two sides of the lifting rail 3, walking wheels 21 are respectively arranged on each of two sides of the back face of the sliding seat 2, the walking wheels 21 on the two sides are respectively located in the sliding grooves 31 on the corresponding side, and the walking wheels roll along the sliding grooves in the sliding grooves when the sliding seat is lifted, so that the sliding seat is lifted more smoothly.
The utility model has the beneficial effects that:
according to the utility model, the force sensor is additionally arranged at the position of the handrail in the hoisting operation, the force sensor is held by a hand to apply upward/downward force to the sensor, so that the motor rotates forwards/backwards and the rotating speed is accelerated/slowed down, the lifting and descending speed of the power assisting arm can be adjusted according to the requirement through the hand holding operation, the working efficiency of the power assisting arm is improved, and the automation degree is high.
Drawings
The utility model will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is an enlarged view of portion A of FIG. 1;
FIG. 3 is an enlarged view of detail B of FIG. 1;
FIG. 4 is an enlarged view of detail C of FIG. 1;
FIG. 5 is an enlarged view of detail D of FIG. 1;
FIG. 6 is a schematic view of the internal structure of the chain guide;
fig. 7 is a schematic diagram of the present invention.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "provided", "connected", and the like are to be construed broadly, such as "connected", which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The power-assisted arm with intelligent force sensing control lifting shown in figures 1-3 and 7 comprises a power-assisted arm body 1, the power assisting arm body 1 is arranged on a lifting track 3 through a sliding seat 2, a motor 4 is arranged at the top of the lifting track 3, the motor 4 is connected with a speed reducer 5, the speed reducer 5 is provided with double output shafts, each output shaft is provided with a chain wheel 6, a chain 7 is wound on each chain wheel 6, the sliding seat 2 is fixed at one end of each chain 7, a force sensor 8 and a control box 9 are arranged at the armrest position of the hoisting operation at the front end of the power-assisted arm body 1, a controller is arranged in the control box 9, the controller comprises an information receiving and processing module, a threshold setting module and a motor control module, wherein the force sensor is used for detecting the pressure applied to the force sensor and the direction of the upward/downward force applied to the force sensor in real time and transmitting the detected information to the information receiving and processing module;
the threshold setting module is used for presetting a threshold of force, and since the sensor has certain weight and can be pressed to send out information when being accidentally touched or collided, but the assistance arm does not need to move under the condition, the threshold range is set according to the actual use environment and condition;
the information receiving and processing module is used for receiving the information sent by the force sensor, comparing the received information with a threshold value, and sending information accelerated in the direction of the force to the motor control module along with the increase of the received information when the received information is within the threshold value range for the first time; sending a message to the motor control module to decelerate in the direction of the force as the received message becomes smaller; when the received information is larger than or smaller than the threshold value, no action instruction is sent to the motor control module, and the motor is kept in a stop state;
the motor control module is used for receiving the information sent by the information receiving and processing module, and controlling the motor to rotate forwards or backwards and the rotating speed of the motor to be accelerated or decelerated according to the received information.
When the hand-held sensor applies force upwards, in the threshold range, the larger the force is, the faster the motor rotating speed is, the faster the sliding seat rises, and the lower the force is, the slower the speed is; when the hand-held sensor applies force downwards, the motor rotates reversely, the larger the force is, the faster the motor rotates, the faster the sliding seat descends, and the lower the force is, the slower the speed is.
Can be specifically according to formula
And converting the stress and the rotating speed. Wherein, UConveying applianceFor sensor voltage, U, converted by the force sensor in accordance with the force received in real timeFirst stageIs the sensor voltage, S, converted in the initial unstressed state of the sensortIs the motor speed.
As shown in fig. 4 and 5, a longitudinal sliding groove 31 is respectively formed on two sides of the lifting rail 3, walking wheels 21 are respectively arranged on two sides of the back surface of the sliding base 2, the walking wheels 21 on two sides are respectively located in the sliding grooves 31 on the corresponding side, and the walking wheels roll along the sliding grooves in the sliding grooves when the sliding base is lifted, so that the sliding base is lifted more smoothly.
As shown in fig. 6, a plurality of slots 61 having the same size as the single chain link of the chain 7 are formed around the circumference of the sprocket 6, one chain link is correspondingly inserted into one slot, and a plurality of chains are sequentially inserted into the slots so that the chains can be firmly clamped on the sprocket. The chain wheel is covered with a chain guide 10, the chain is threaded into the chain guide and then wound on the chain wheel, a round hole slightly larger than the chain wheel is arranged in the chain guide, the chain wheel is positioned in the chain guide, and the wall of the round hole limits the chain link in the clamping groove. And because speed reducer and motor all have from the function of stopping, when the motor stops not changeing, under the effect of chain ware is led, the chain inlay card can not remove in the draw-in groove, can guarantee that the slide can not drop, and the security is high.
In light of the above, it is clear that many changes and modifications can be made by the workers in the field without departing from the spirit and scope of the utility model. 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 helping hand arm that intelligence force sensing control goes up and down, includes helping hand arm body (1), helping hand arm body (1) is installed in lift track (3) through slide (2), and the tip of lift track (3) is equipped with motor (4), and motor (4) are connected with speed reducer (5), and the output shaft of speed reducer (5) is equipped with sprocket (6), and around there being a chain (7) on sprocket (6), and slide (2) are fixed in the one end of chain (7), characterized by: the front end of the power-assisted arm body (1) is provided with a force sensor (8) and a control box (9), the control box (9) is internally provided with a controller, the controller comprises an information receiving and processing module, a threshold setting module and a motor control module,
the force sensor is used for detecting the pressure and the direction of the applied force in real time and transmitting the detected information to the information receiving and processing module;
the threshold setting module is used for presetting a threshold of force;
the information receiving and processing module is used for receiving the information sent by the force sensor, comparing the received information with a threshold value, and sending information accelerated in the direction of the force to the motor control module along with the increase of the received information when the received information is within the threshold value range for the first time; sending a message to the motor control module to decelerate in the direction of the force as the received message becomes smaller; when the received information is larger than or smaller than the threshold value, no action instruction is sent to the motor control module;
the motor control module is used for receiving the information sent by the information receiving and processing module, and controlling the motor to rotate forwards or backwards and the rotating speed of the motor to be accelerated or decelerated according to the received information.
2. The intelligent force sensing controlled lifting power-assisted arm as claimed in claim 1, wherein: the motor (4) is arranged at the top end of the lifting track (3).
3. The intelligent force sensing controlled lifting power-assisted arm as claimed in claim 1, wherein: the speed reducer (5) is a double-shaft output speed reducer, each output shaft is provided with a chain wheel (6), and one end of each chain (7) is fixed on the sliding seat (2).
4. The intelligent force sensing controlled lifting power-assisted arm as claimed in claim 1, wherein: a circle of the circumferential surface of the chain wheel (6) is provided with a plurality of clamping grooves which are the same as the single chain link structure of the chain (7) in size.
5. The intelligent force sensing controlled lifting power-assisted arm as claimed in claim 1, wherein: a longitudinal sliding groove (31) is formed in each of two sides of the lifting rail (3), walking wheels (21) are arranged on each of two sides of the back face of the sliding seat (2), and the walking wheels (21) on the two sides are located in the sliding grooves (31) on the corresponding side respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122581633.4U CN216403749U (en) | 2021-10-26 | 2021-10-26 | Boosting arm capable of intelligently sensing and controlling lifting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122581633.4U CN216403749U (en) | 2021-10-26 | 2021-10-26 | Boosting arm capable of intelligently sensing and controlling lifting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216403749U true CN216403749U (en) | 2022-04-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122581633.4U Active CN216403749U (en) | 2021-10-26 | 2021-10-26 | Boosting arm capable of intelligently sensing and controlling lifting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216403749U (en) |
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2021
- 2021-10-26 CN CN202122581633.4U patent/CN216403749U/en active Active
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