Power-assisted manipulator

Abstract

The invention discloses a power-assisted manipulator and belongs to the field of mechanical engineering. The problems that the carrying speed and strength of manipulators cannot be controlled manually, and workpieces with high mass and different sizes are difficult to dismount and mount are solved. The power-assisted manipulator comprises an arm provided with a first locking part, an adapter partwhich is hinged to the arm through an X-direction hinge shaft so that the arm can rotate around the X-direction hinge shaft, a locking mechanism detachably fixed to the adapter part, a connecting partwhich is hinged to the adapter part through a Z-direction hinge shaft so that the adapter and the arm which are connected fixedly can rotate around the Z-direction hinge shaft simultaneously, and a lifting driving mechanism which is connected with the connecting part and used for driving the connecting part, the adapter part and the arm to move in the Z direction, wherein the arm rotate around the X-direction hinge shaft to attach to the adapter part, the locking mechanism is locked with the first locking part so that the arm and the adapter part can be fixedly connected. The manipulator is simple in structure, convenient to operate and powerful in function, and the effect of carrying weights like light objects is achieved.

Description

technical field

[0001] The invention relates to the field of industrially produced tools in mechanical engineering, in particular to a power-assisted manipulator. Background technique

[0002] In the traditional way of handling, if you encounter a workpiece that is difficult to move, several people are required to carry it at the same time. If the distance is relatively long, it will take a long time. These things will bring a certain amount of waste of manpower and material resources to us, and will eventually increase the cost even more. Manipulators have been widely used as handling tools in industrial production. Most manipulators are special-purpose tools, which are basically only working devices for one or several functions, and they work according to a fixed program. Most of the general-purpose manipulators are fairly intelligent devices, which generally require relatively high-level intelligent software and control systems to work, and their disadvantages are high ...

Examples

Embodiment Construction

[0069] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0070] figure 1 , 17 and 18 show a kind of power-assisted manipulator, which is located in the X-Y-Z three-dimensional coordinate system (Z represents the direction of gravity, and the XY plane simulates a horizontal plane), including an arm 100, a kinematic connection mechanism 200, a lifting drive mechanism 300, a force-sensing handle 400 and a control system, The motion connection mechanism 200 is respectively connected to the arm 100 and the lifting drive mechanism 300. The lifting drive mechanism 300 drives the arm 100 to move up and down along Z through the motion connection mechanism 200. The sensing handle 400 is fixed on the arm 100. When the handle 410 is applied When an upward force is exerted, the arm 100 automatically moves upwards, and vice versa, it moves downwards, thereby achieving the effect of overcoming the effect of gravi...

technical field

[0001] The invention relates to the field of industrially produced tools in mechanical engineering, in particular to a power-assisted manipulator. Background technique

[0002] In the traditional way of handling, if you encounter a workpiece that is difficult to move, several people are required to carry it at the same time. If the distance is relatively long, it will take a long time. These things will bring a certain amount of waste of manpower and material resources to us, and will eventually increase the cost even more. Manipulators have been widely used as handling tools in industrial production. Most manipulators are special-purpose tools, which are basically only working devices for one or several functions, and they work according to a fixed program. Most of the general-purpose manipulators are fairly intelligent devices, which generally require relatively high-level intelligent software and control systems to work, and their disadvantages are high ...

Examples

Embodiment Construction

[0069] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0070] figure 1 , 17 and 18 show a kind of power-assisted manipulator, which is located in the X-Y-Z three-dimensional coordinate system (Z represents the direction of gravity, and the XY plane simulates a horizontal plane), including an arm 100, a kinematic connection mechanism 200, a lifting drive mechanism 300, a force-sensing handle 400 and a control system, The motion connection mechanism 200 is respectively connected to the arm 100 and the lifting drive mechanism 300. The lifting drive mechanism 300 drives the arm 100 to move up and down along Z through the motion connection mechanism 200. The sensing handle 400 is fixed on the arm 100. When the handle 410 is applied When an upward force is exerted, the arm 100 automatically moves upwards, and vice versa, it moves downwards, thereby achieving the effect of overcoming the effect of gravi...

Images