CN218802316U

CN218802316U - Hard arm power-assisted manipulator

Info

Publication number: CN218802316U
Application number: CN202223109233.4U
Authority: CN
Inventors: 程冒挺
Original assignee: Suzhou Brunske Intelligent Equipment Technology Co ltd
Current assignee: Suzhou Brunske Intelligent Equipment Technology Co ltd
Priority date: 2022-11-23
Filing date: 2022-11-23
Publication date: 2023-04-07
Anticipated expiration: 2032-11-23

Abstract

The utility model provides a hard arm helping hand manipulator, include: the power-assisted manipulator comprises a power-assisted manipulator body, wherein the power-assisted manipulator body is provided with a swing arm, the bottom of one end of the swing arm is fixedly provided with a support rod, the bottom end of the support rod is rotatably provided with an installation arm, and the bottom end of the installation arm is fixedly provided with a clamping assembly; the clamping assembly is provided with a supporting frame, two moving blocks are arranged in the supporting frame in a sliding mode, clamping cylinders are arranged at two ends of the supporting frame and respectively drive the two moving blocks to be close to or far away from each other, clamping arms are fixedly arranged at the bottoms of the moving blocks, a supporting plate is fixedly arranged at the lower ends of the clamping arms, and clamping plates are arranged on the inner sides of the supporting plates; the utility model discloses in, can carry tubulose class work piece through centre gripping subassembly cooperation helping hand manipulator main part, the expenditure of using manpower sparingly, wherein splint can laminate with the outside of pipe fitting class work piece, guarantee the stability of centre gripping.

Description

Hard arm power-assisted manipulator

Technical Field

The utility model belongs to the technical field of the helping hand manipulator, concretely relates to hard arm helping hand manipulator.

Background

The power-assisted manipulator is power-assisted equipment which is used for labor-saving operation during material handling and installation. The balance principle of force is skillfully applied, so that an operator can push and pull a heavy object correspondingly to realize balanced moving and positioning in space.

Among the prior art, like the chinese utility model patent document of the grant publication number CN210939260U, disclose a column type hard arm manipulator, including the base, stand a is installed to the intermediate position department at base top, and stand a's top is provided with cylinder gear brake assembly a, and stand B is installed to the intermediate position department at cylinder gear brake assembly a top, and the backup pad is installed to one side at cylinder gear brake assembly a top, and the lift cylinder is installed at the top of backup pad, and pneumatic control case is installed to the one end at cylinder gear brake assembly a top, and the mount pad is installed at stand B's top.

Among the above-mentioned prior art, can carry article inside certain limit, but its transport of the pipe fitting class work piece of being not convenient for to pipe fitting class work piece often need overturn 90 with it in handling, changes at vertical state and horizontal state.

Therefore, a hard arm power-assisted manipulator which can conveniently carry and turn over the pipe fitting needs to be designed to solve the technical problem faced at present.

Disclosure of Invention

Not enough to exist among the prior art, the utility model provides a can conveniently carry and the hard arm helping hand manipulator of upset to the pipe fitting.

The technical scheme of the utility model is that: hard arm helping hand manipulator includes: the power-assisted manipulator comprises a power-assisted manipulator body, wherein the power-assisted manipulator body is provided with a swing arm, the bottom of one end of the swing arm is fixedly provided with a support rod, the bottom end of the support rod is rotatably provided with an installation arm, and the bottom end of the installation arm is fixedly provided with a clamping assembly; the clamping assembly is provided with a supporting frame, two moving blocks are arranged in the supporting frame in a sliding mode, clamping cylinders are arranged at two ends of the supporting frame and respectively drive the two moving blocks to be close to or far away from each other, clamping arms are fixedly arranged at the bottoms of the moving blocks, a supporting plate is fixedly arranged at the lower ends of the clamping arms, and clamping plates are arranged on the inner sides of the supporting plates; the top pin joint of carriage in the lower extreme of installation arm, one side of installation arm is provided with the upset jar, the one end of upset jar with one side of installation arm is articulated mutually, the other end of upset jar with the top of carriage is articulated mutually.

The sliding rail is fixedly arranged on two sides of the bottom of the supporting frame, a sliding block is arranged on the sliding rail in a sliding mode, and the moving block is fixedly connected with the bottom of the sliding block.

The two sides of the mounting arm are symmetrically provided with control handles, and an operation panel is fixedly arranged on each control handle.

The power-assisted manipulator main body is also provided with an upright post, the top end of the upright post is rotatably provided with a rotating shaft, the top end of the rotating shaft is fixedly provided with a main machine head, a parallel supporting arm and a driving arm are hinged to the main machine head, the ends of the supporting arm and the driving arm, which are opposite to the main machine head, are hinged with a swinging machine head, and a lifting cylinder for driving the driving arm to swing up and down is fixedly arranged on the main machine head; and one end of the swinging arm, which is deviated from the supporting rod, is rotatably connected with the swinging machine head.

The clamping cylinder, the overturning cylinder and the lifting cylinder are all air cylinders or hydraulic cylinders.

The inner side of the clamping plate is provided with an arc-shaped groove.

The utility model has the advantages that:

(1) In the utility model, the tubular workpiece can be carried by matching the clamping component with the power-assisted manipulator main body, so that the labor expenditure is saved, the clamping plate can be attached to the outer side of the pipe fitting workpiece, and the clamping stability is ensured;

(2) The piston rod through the overturning cylinder reciprocates, can order about the supporting shoe and carry out 90 reciprocal upsets for the installation arm, when splint centre gripping pipe fitting class work piece, during the action of overturning cylinder, can drive pipe fitting class work piece and overturn, satisfies the production demand.

Drawings

Fig. 1 is a schematic structural view of the hard arm power-assisted manipulator of the present invention.

Fig. 2 is a schematic structural view of the middle clamping assembly of the present invention.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the invention, its application, or uses. The present invention may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments are to be construed as merely illustrative, and not as limitative, unless specifically stated otherwise.

The use of "first," "second," and similar terms in the description herein do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element preceding the word covers the element listed after the word, and does not exclude the possibility that other elements are also covered. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

As shown in fig. 1 and 2, the hard arm assist manipulator includes: the manipulator comprises a power-assisted manipulator body, wherein the power-assisted manipulator body is provided with a swing arm 8, the bottom of one end of the swing arm 8 is fixedly provided with a support rod 9, the bottom end of the support rod 9 is rotatably provided with a mounting arm 11, and the bottom end of the mounting arm 11 is fixedly provided with a clamping assembly; the clamping assembly is provided with a supporting frame 12, two moving blocks 15 are slidably arranged inside the supporting frame 12, clamping cylinders 13 are arranged at two ends of the supporting frame 12, the clamping cylinders 13 drive the two moving blocks 15 to approach or separate from each other respectively, clamping arms 17 are fixedly arranged at the bottoms of the moving blocks 15, a supporting plate 18 is fixedly arranged at the lower ends of the clamping arms 17, and clamping plates 9 are arranged on the inner sides of the supporting plate 18; the top of the supporting frame 12 is pivoted to the lower end of the mounting arm 11, a turning cylinder 14 is arranged on one side of the mounting arm 11, one end of the turning cylinder 14 is hinged to one side of the mounting arm 11, and the other end of the turning cylinder 14 is hinged to the top of the supporting frame 12; in the embodiment, the clamping assembly is matched with the power-assisted mechanical hand main body to carry the pipe workpieces, so that labor expenditure is saved, and the clamping plate 19 can be attached to the outer sides of the pipe workpieces to ensure the clamping stability; the piston rod of the turnover cylinder 14 reciprocates to drive the supporting block 12 to turn over 90 degrees in a reciprocating mode relative to the mounting arm 11, and when the clamping plate 19 clamps pipe fitting workpieces, the turnover cylinder 14 acts to drive the pipe fitting workpieces to turn over, so that production requirements are met.

As a specific embodiment of the sliding connection between the moving block 15 and the supporting frame 12, two sides of the bottom of the supporting frame 12 are fixedly provided with slide rails 21, the slide rails 21 are slidably provided with sliders 20, the moving block 15 is fixedly connected with the bottom of the sliders 20, the moving block 15 is an inverted T-shaped mechanism, and the lower portion of the moving block 15 is fixedly assembled at the bottom of the sliders 20 through bolts, so that the stable sliding connection between the moving block 15 and the supporting frame 12 is realized.

In some embodiments, as shown in fig. 2, the two sides of the mounting arm 11 are symmetrically provided with a control handle 22, the control handle 22 is fixedly provided with an operation panel 16, and the control of the power-assisted manipulator main body is facilitated through the operation panel 16.

In some embodiments, as shown in fig. 1, the power assisted manipulator main body further has an upright column 1, a rotating shaft 2 is rotatably disposed at a top end of the upright column 1, a main machine head 6 is fixedly disposed at a top end of the rotating shaft 2, a parallel supporting arm 3 and a driving arm 4 are hinged to the main machine head 6, a swinging machine head 7 is hinged to an end of the supporting arm and the driving arm opposite to the main machine head 6, and a lifting cylinder 5 for driving the driving arm 4 to swing up and down is fixedly disposed on the main machine head 6; one end of the swing arm 8, which is deviated from the support rod, is rotatably connected with the swing machine head 7; the driving arm 4 is driven to swing through the lifting cylinder 5 and drives the supporting arm 3 to swing synchronously, and the swing arm 8 and the clamping component can be lifted or lowered.

In the above embodiment, the clamping cylinder 13, the turning cylinder 14 and the lifting cylinder 5 are all air cylinders or hydraulic cylinders.

In the above embodiment, the inner side of the clamping plate 19 is provided with the arc-shaped groove, the arc-shaped groove is matched with the outer side of the pipe fitting workpiece, the contact area between the clamping plate and the pipe fitting workpiece can be increased through the arc-shaped groove, and the clamping stability is improved.

Thus far, various embodiments of the present invention have been described in detail. Some details which are well known in the art have not been described in order to avoid obscuring the concepts of the present invention. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the concept of the present invention, several variations and modifications can be made, which all fall within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A hard arm power-assisted manipulator is characterized by comprising:

the manipulator comprises a power-assisted manipulator main body, a clamping assembly and a manipulator body, wherein the power-assisted manipulator main body is provided with a swing arm, the bottom of one end of the swing arm is fixedly provided with a support rod, the bottom end of the support rod is rotatably provided with an installation arm, and the bottom end of the installation arm is fixedly provided with the clamping assembly;

the clamping assembly is provided with a supporting frame, two moving blocks are arranged in the supporting frame in a sliding mode, clamping cylinders are arranged at two ends of the supporting frame and respectively drive the two moving blocks to be close to or far away from each other, clamping arms are fixedly arranged at the bottoms of the moving blocks, a supporting plate is fixedly arranged at the lower ends of the clamping arms, and clamping plates are arranged on the inner sides of the supporting plates;

the top pin joint of carriage in the lower extreme of installation arm, one side of installation arm is provided with the upset jar, the one end of upset jar with one side of installation arm is articulated mutually, the other end of upset jar with the top of carriage is articulated mutually.

2. The hard arm power-assisted manipulator of claim 1, wherein: the sliding rail is fixedly arranged on two sides of the bottom of the supporting frame, a sliding block is arranged on the sliding rail in a sliding mode, and the moving block is fixedly connected with the bottom of the sliding block.

3. The hard arm power-assisted manipulator of claim 1, wherein: the two sides of the mounting arm are symmetrically provided with control handles, and an operation panel is fixedly arranged on each control handle.

4. The hard arm power-assisted manipulator of claim 1, wherein: the power-assisted manipulator main body is also provided with an upright post, the top end of the upright post is rotatably provided with a rotating shaft, the top end of the rotating shaft is fixedly provided with a main machine head, a parallel supporting arm and a driving arm are hinged to the main machine head, the ends of the supporting arm and the driving arm, which are opposite to the main machine head, are hinged with a swinging machine head, and a lifting cylinder for driving the driving arm to swing up and down is fixedly arranged on the main machine head; and one end of the swinging arm, which is deviated from the supporting rod, is rotatably connected with the swinging machine head.

5. The hard arm power-assisted manipulator of claim 4, wherein: the clamping cylinder, the overturning cylinder and the lifting cylinder are all air cylinders or hydraulic cylinders.

6. The hard arm power-assisted manipulator of claim 1, wherein: the inner side of the clamping plate is provided with an arc-shaped groove.