CN218398179U

CN218398179U - Balance controller of power-assisted mechanical arm

Info

Publication number: CN218398179U
Application number: CN202222355949.6U
Authority: CN
Inventors: 张忠伟
Original assignee: Areke Intelligent Equipment Jiangsu Co ltd
Current assignee: Areke Intelligent Equipment Jiangsu Co ltd
Priority date: 2022-09-06
Filing date: 2022-09-06
Publication date: 2023-01-31
Anticipated expiration: 2032-09-06

Abstract

The utility model discloses a helping hand manipulator balance controller, including supporting seat, balanced subassembly and stabilizing component, the supporting seat includes the first swinging boom of upper end to and the digging arm of first swinging boom upper end installation, balanced subassembly includes digging arm rear end welded extension frame, and extends frame upper end movable mounting's balancing piece, balanced subassembly still includes balancing piece internally mounted's screw rod seat. Helping hand manipulator balance controller, the balancing piece of extension frame upper end, can be in the lift adjustment of extension frame front end digging arm, synchronous removes the regulation to the balancing piece of extension frame upper end, and then in order to keep the balance of helping hand manipulator both sides, avoid both sides because of the atress inequality, and cause the problem that helping hand manipulator damaged, balancing piece bottom and inboard installation's bottom gyro wheel and lateral part gyro wheel, can reduce the balancing piece when removing and extend the frictional resistance between the frame, and then keep light and smooth in the balancing piece removes.

Description

Balance controller of power-assisted mechanical arm

Technical Field

The utility model relates to a helping hand manipulator technical field, in particular to helping hand manipulator balance controller.

Background

A power-assisted mechanical hand is a novel power-assisted device which is used for labor-saving operation during material carrying and installation, skillfully applies the force balance principle to ensure that an operator pushes and pulls a heavy object correspondingly to realize balanced moving and positioning in a space, the heavy object forms a floating state during lifting or descending, the zero operating force is ensured by an air path to be influenced by the weight of a workpiece, skilled inching operation is not needed, and the operator can correctly put the heavy object at any position in the space by pushing and pulling the heavy object by hands.

Current helping hand manipulator, when the object of centre gripping is heavier, the uneven problem of atress can take place for helping hand manipulator both sides, and then carries out work under the uneven condition of long-time atress, can make helping hand manipulator's part take place to warp, and then lead to the risk of damage, for this reason, we propose helping hand manipulator balance controller.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main aim at provides helping hand manipulator balance controller, can effectively solve the problem in the background art.

In order to achieve the above purpose, the utility model adopts the technical proposal that:

helping hand manipulator balance control ware, including supporting seat, balanced subassembly and stabilizing component, the supporting seat includes the first swinging boom of upper end to and the digging arm of first swinging boom upper end installation, balanced subassembly includes that the digging arm rear end welded extends the frame to and extend the balancing piece of a frame upper end movable mounting, balanced subassembly still includes balancing piece internally mounted's screw seat, and screw seat internally mounted movable mounting's ball screw.

Preferably, the balance assembly further comprises a stepping motor installed at the rear end of the extension frame and used for driving the ball screw, and a fixing frame installed between two sides of the stepping motor and the extension frame.

Preferably, the balance assembly further comprises round holes symmetrically formed in the two sides of the balance block in a penetrating mode.

Preferably, the balancing assembly further comprises fixing platforms arranged on two sides of the extending frame, and a round rod arranged in the center of each fixing platform and located inside the round hole.

Preferably, the balance assembly further comprises a spring sleeved at the upper end of the fixed table at two sides of the balance block.

Preferably, the stabilizing assembly comprises two groups of bottom rollers arranged at the bottom of the balance block.

Preferably, the stabilizing assembly further comprises four sets of side rollers, wherein two sides of the balance weight are attached to the extending frame and arranged.

Preferably, the supporting seat further comprises a second rotating arm installed at the bottom of the movable arm and a manipulator clamp installed at the lower end of the second rotating arm, an air cylinder is further installed between the first rotating arm and the extending frame, and a control box is further installed at the front end of the first rotating arm.

Compared with the prior art, the utility model discloses following beneficial effect has:

1. the balance controller of the power-assisted manipulator can synchronously move and adjust the balance blocks at the upper end of the extension frame in the lifting adjustment of the movable arm at the front end of the extension frame so as to keep the balance of the two sides of the power-assisted manipulator and avoid the problem that the power-assisted manipulator is damaged due to uneven stress of the two sides;

2. the power-assisted manipulator balance controller, the bottom roller and the side roller which are arranged at the bottom and the inner side of the balance block can reduce the friction resistance between the balance block and the extension frame when the balance block moves, and further keep the balance block to move lightly and smoothly.

Drawings

Fig. 1 is a schematic view of the overall structure of the balance controller of the power-assisted manipulator of the present invention;

fig. 2 is a partial top view of the balance controller of the power manipulator of the present invention;

fig. 3 is a side sectional view of the balance weight of the balance controller of the power-assisted mechanical hand of the present invention.

Reference numerals:

100. a supporting seat; 110. a first rotating arm; 120. a movable arm; 130. a second rotating arm; 140. a manipulator clamp; 150. a cylinder; 160. a control box;

200. a balancing component; 210. an extension frame; 220. a counterbalance; 230. a screw rod seat; 240. a ball screw; 250. a stepping motor; 251. a fixed mount; 260. a circular hole; 270. a fixed table; 280. a round bar; 290. a spring;

300. a stabilizing assembly; 310. a bottom roller; 320. and side rollers.

Detailed Description

In order to make the utility model realize, the technical means, the creation characteristics, the achievement purpose and the efficacy are easy to understand and understand, the utility model is further explained by combining the specific implementation mode.

The first embodiment is as follows:

as shown in fig. 1-3, the present embodiment provides a balance controller for a power-assisted robot, including a support base 100, a balance assembly 200 and a stabilizing assembly 300, where the support base 100 includes a first rotating arm 110 at an upper end, and a moving arm 120 installed at the upper end of the first rotating arm 110, the support base 100 further includes a second rotating arm 130 installed at the bottom of the moving arm 120, and a robot clamp 140 installed at a lower end of the second rotating arm 130, an air cylinder 150 is further installed between the first rotating arm 110 and the extending frame 210, a control box 160 is further installed at a front end of the first rotating arm 110, the balance assembly 200 includes an extending frame 210 welded at a rear end of the moving arm 120, and a balance weight 220 movably installed at an upper end of the extending frame 210, the balance assembly 200 further includes a screw seat 230 installed inside the balance weight 220, and a ball screw 240 movably installed inside the screw seat 230, the balance assembly 200 further includes a stepping motor 250 installed at a rear end of the extending frame 210, and a fixing frame 251 installed between two sides of the stepping motor 250 and the extending frame 210, the balance assembly 200 further includes a circular hole 280 in which the spring mount 270 is installed on the center of the fixing frame 270, and the balance assembly 200 is a circular hole 280 in which the fixing frame 270, and the balance assembly 270 is installed on which the balance assembly 220, and the balance assembly 200.

Specifically, the balancing piece 220 of the upper end of the extension frame 210 can be adjusted in the lifting of the movable arm 120 at the front end of the extension frame 210 through the driving of the rear stepping motor 250, the balancing piece 220 of the upper end of the extension frame 210 is synchronously moved and adjusted, and then the balancing of two sides of the power-assisted manipulator is kept, so that the problem that the power-assisted manipulator is damaged due to uneven stress on two sides is avoided, the round rod 280 and the spring 290 connected with two sides of the balancing piece 220 can keep the stability of the balancing piece 220 in the back-and-forth movement.

Example two:

based on the first embodiment, as shown in fig. 3, the stabilizing assembly 300 includes two sets of bottom rollers 310 arranged at the bottom of the balance weight 220, and the stabilizing assembly 300 further includes four sets of side rollers 320 arranged at two sides of the balance weight 220 and attached to the extending frame 210.

Specifically, the bottom roller 310 and the side roller 320 mounted at the bottom and the inner side of the balance weight 220 can roll when the balance weight 220 moves along the extension frame 210, so as to reduce the frictional resistance between the balance weight 220 and the extension frame 210 when the balance weight 220 moves, thereby keeping the balance weight 220 light and smooth in movement.

The utility model discloses a theory of operation and use flow:

the air cylinder 150 is lifted to press the movable arm 120 downwards, so that when the manipulator clamp 140 at the bottom of the front end of the movable arm 120 clamps an object, the stepping motor 250 at the tail end of the extension frame 210 at the rear end of the movable arm 120 is started, and the ball screw 240 is driven to rotate forwards, so that the balance weight 220 at the upper end of the ball screw 240 moves backwards along the round rods 280 at the two sides under the rolling action of the bottom and inner side bottom rollers 310 and the side rollers 320, further, the balance at the two sides of the assistant manipulator is kept when the manipulator clamp 140 is pressed downwards, the air cylinder 150 is lowered to move the movable arm 120 upwards, so that when the manipulator clamp 140 at the bottom of the front end of the movable arm 120 clamps the object after clamping, the stepping motor 250 drives the ball screw 240 to rotate backwards, so that the ball screw 240 drives the balance weight 220 at the upper end to move forwards along the round rods 280 at the two sides under the rolling action of the bottom and inner side rollers 310 and the side rollers 320, and the balance at the two sides of the assistant manipulator is kept when the object is lifted.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the claims and their equivalents.

Claims

1. Helping hand manipulator balance control ware, including supporting seat (100), balanced subassembly (200) and stable subassembly (300), supporting seat (100) are including first swinging boom (110) of upper end to and swinging boom (120) of first swinging boom (110) upper end installation, its characterized in that, balanced subassembly (200) are including swinging boom (120) rear end welded extension frame (210) to and extend frame (210) upper end movable mounting's balancing piece (220), balanced subassembly (200) still include balancing piece (220) internally mounted's screw seat (230) to and screw seat (230) internally mounted's ball screw (240).

2. The balance controller of the power-assisted manipulator according to claim 1, wherein the balance assembly (200) further comprises a stepping motor (250) installed at a rear end of the extension frame (210) to drive the ball screw (240), and a fixing frame (251) installed between both sides of the stepping motor (250) and the extension frame (210).

3. The balance controller of the power-assisted manipulator according to claim 1, wherein the balance assembly (200) further comprises round holes (260) symmetrically formed through two sides of the balance block (220).

4. The balance controller of the power-assisted manipulator according to claim 1, wherein the balance assembly (200) further comprises fixing platforms (270) installed at both sides of the extension frame (210), and a round bar (280) installed at the center of the fixing platforms (270) and located inside the round hole (260).

5. The balance controller of the power-assisted manipulator according to claim 1, wherein the balance assembly (200) further comprises a spring (290) sleeved on the upper end of the fixing platform (270) at two sides of the balance block (220).

6. The balance controller of power assisted manipulator according to claim 1, wherein the stabilizing assembly (300) comprises two sets of bottom rollers (310) arranged at the bottom of the balance weight (220).

7. The balance controller of the power-assisted manipulator of claim 1, wherein the stabilizing assembly (300) further comprises four sets of side rollers (320) arranged on two sides of the balance weight (220) and attached to the extension frame (210).

8. The balance controller of the power-assisted manipulator according to claim 1, wherein the support base (100) further comprises a second rotating arm (130) mounted at the bottom of the movable arm (120), and a manipulator clamp (140) mounted at the lower end of the second rotating arm (130), an air cylinder (150) is further mounted between the first rotating arm (110) and the extension frame (210), and a control box (160) is further mounted at the front end of the first rotating arm (110).