Common torque arm flexible assembly power assisting device

Abstract

A flexible assembly power assisting device sharing a torque arm belongs to the technical field of mechanical assembly and is a pneumatic power assisting device applied to precise assembly of multi-station small products, and the flexible assembly power assisting device comprises a support, the torque arm, a clamping jaw, a pneumatic control box and a lifting linear rail assembly. The air cylinder acting is combined with the lever principle, balance and transplanting of materials are achieved, and meanwhile precise assembly of workpieces is achieved through manual pushing and pulling. The problems that in the precise assembling process of small products, the weight is large, and manual operation of to-be-assembled parts with the size between the size of single-hand grabbing and the size of double-hand lifting is very difficult in a narrow assembling space are solved.

Description

Technical Field

[0001] The invention relates to a common torque arm smart assembly assisting device, belonging to the technical field of mechanical assembly. Background Art

[0002] At present, pneumatic or electric power assist devices have been widely used in industrial scenarios such as the transportation and assembly of large components. They are used to bear the weight of the components and enable humans to move and adjust the position of the goods along the required path to complete the transportation or assembly actions.

[0003] However, the pneumatic or electric power assist devices on the market are all used for large components. The device itself is heavy, has a long arm span, and is large in size. In addition, the mechanical configuration of the power assist device makes it inconvenient to operate and move it manually, which is not conducive to the precision assembly of small products.

[0004] In the precision assembly of some small products, manual assembly is still required due to the complexity of the assembly process. However, for components to be assembled that are heavy and whose size is between that of being grasped with one hand and lifted with both hands, manual operation is extremely difficult, especially in cases where the assembly space is small. The assembler is required to be able to safely grasp the components to be assembled with one hand and have sufficient strength in one hand to complete the actions of grasping and performing precision assembly at the same time, making such an assembly process a critical process that requires key quality and safety control.

[0005] At the same time, for the precision assembly process of small products that require assembly line operation, adjacent workstations are usually required to be compact to ensure the smooth connection between the front and rear processes of the manual assembly line. Therefore, it is necessary to realize that one host can support multiple workstations to perform power-assisted operations at the same time, which is also a function that the existing power-assisted devices on the market cannot achieve. Summary of the invention

[0006] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and provide a common torque arm smart assembly assisting device, which uses compressed air as a power source, maintains the posture of a suspended workpiece, utilizes the cylinder work combined with the lever principle to achieve material balance and transplantation, and simultaneously achieves precise assembly of the workpiece by manual pushing and pulling.

[0007] The technical solution of the present invention is:

[0008] A common torque arm smart assembly assisting device, comprising: a support, a torque arm, a clamping claw, an air control box and a lifting rail assembly;

[0009] The support comprises a counterweight base, a main column, a pushing handle and a multi-torque arm connection assembly;

[0010] The main column is installed on the counterweight base, and a lifting rail assembly is installed on the upper end of the main column; a push handle and an air control box are installed in the middle of the main column; the main column is provided with multiple sets of arm height locking holes for the lifting rail assembly;

[0011] The lifting rail assembly includes a lifting transmission screw group, a limit block, a slide rail and a slider; a slider is provided on the slide rail, and a multi-torque arm connector is fixedly connected to the slider, which is driven by the lifting transmission screw group to move up and down along the slide rail, and the limit block realizes the upper and lower limit;

[0012] The torque arm includes a horizontal slewing arm slewing brake, a lifting arm horizontal slewing brake, a horizontal slewing arm, a lifting arm limiter, a lifting arm, a pneumatic controller, a lifting handle, a mechanical swing joint and a mechanical infinite rotation joint;

[0013] One end of the horizontal slewing arm slewing brake is installed on the multi-torque arm connecting assembly, and the other end is connected to the lifting arm horizontal slewing brake through the horizontal slewing arm;

[0014] The lifting arm is a parallelogram structure, one end of which is installed on the lifting arm horizontal rotation brake, and the lifting position of the lifting arm is limited by the lifting arm limiter;

[0015] One end of the pneumatic controller is connected to the lifting arm, and the other end is connected to the lifting handle, the mechanical swing joint and the mechanical infinite rotation joint in sequence; the mechanical infinite rotation joint is connected to the clamping claw;

[0016] The pneumatic controller is set on the torque arm. The lifting arm is a parallelogram structure. The lifting arm is pushed by the lifting arm balance cylinder in the lifting arm to achieve the lifting and lowering of the front end load; the air control box is connected to the lifting arm balance cylinder to control its air intake to achieve the hovering of the lifting arm at the working position; there is a pneumatic switch on the pneumatic controller to realize the expansion and closing of the gripper, thereby realizing the grabbing of the front end load.

[0017] Furthermore, the counterweight base includes a chassis, a counterweight and casters; wherein the chassis is connected to the main column, the counterweight is used to adjust the center of gravity position of the entire power-assisting device to improve the stability of the power-assisting device during movement and operation, the number of casters is greater than or equal to, and it has a lifting function to fine-tune the height of the power-assisting device, while realizing the omnidirectional movement of the power-assisting device and position locking during operation; the upper and lower positions and inclination angles of the pushing handle are adjustable to adapt to the use of different operators.

[0018] Further, the multi-torque arm connection assembly includes a first torque arm connection member, a second torque arm connection member and a column connection member;

[0019] A torque arm connecting groove is provided on the column connecting member, and the first torque arm connecting member and the second torque arm connecting member are connected to the torque arm connecting groove of the column connecting member, so that the upper and lower positions of the torque arm can be manually adjusted; the column connecting member is connected to the slider to realize the simultaneous lifting and lowering of the torque arm.

[0020] Furthermore, the horizontal slewing arm comprises a lifting arm slewing shaft, a horizontal slewing arm slewing shaft and a main arm;

[0021] The horizontal slewing arm slewing brake comprises a first counterclockwise limit block, a first slewing brake handle assembly, a first clockwise limit block, and a horizontal slewing arm brake disc;

[0022] The lifting arm horizontal slewing brake comprises a second counterclockwise limit block, a second slewing brake handle assembly, a second clockwise limit block, and a lifting arm horizontal slewing brake disc;

[0023] The lifting arm rotating shaft, the horizontal rotating arm rotating shaft and the main arm are connected by interference fit or mechanical fixing, and there is no relative movement between the lifting arm rotating shaft, the horizontal rotating arm rotating shaft and the main arm;

[0024] The horizontal slewing arm slewing brake is characterized in that the horizontal slewing arm brake disc and the second torque arm connecting member are respectively connected to the horizontal slewing arm rotating shaft through bearings; the first slewing brake handle assembly is installed on the second torque arm connecting member, and the handle is rotated to drive the lower locking block to press the horizontal slewing arm brake disc, thereby realizing the locking and release of the horizontal slewing arm; the first counterclockwise limit block and the first clockwise limit block are fixed at different positions in the horizontal slewing arm brake disc, thereby realizing different limit angles;

[0025] The horizontal slewing brake disc of the lifting arm horizontal slewing brake and the first torque arm connecting piece are respectively connected to the lifting arm slewing shaft through bearings; the second slewing brake handle assembly is installed on the first torque arm connecting piece, and the handle is rotated to drive the lower locking block to press the horizontal slewing brake disc of the lifting arm, thereby realizing the locking and release of the horizontal slewing brake of the lifting arm; the second counterclockwise limit block and the second clockwise limit block are fixed at different positions in the horizontal slewing brake disc of the lifting arm, thereby realizing different limit angles.

[0026] Further, the lifting arm includes a lifting arm horizontal slewing arm connecting piece, a lifting arm upper connecting rod, a lifting arm balancing cylinder, a lifting arm lower connecting rod, a lifting arm cylinder connecting rod connecting piece, and a lifting arm rear connecting rod;

[0027] One end of the lifting arm cylinder connecting rod connecting piece is a fixed connecting piece, and the other end is a bearing. The lifting arm horizontal slewing arm connecting piece, the lifting arm upper connecting rod, the lifting arm rear connecting rod and the lifting arm lower connecting rod are sequentially connected through the lifting arm cylinder connecting rod connecting piece to form a deformable parallelogram structure;

[0028] The two ends of the lifting arm balancing cylinder are respectively connected to the lifting arm horizontal rotary arm connecting piece and the lifting arm rear connecting rod. The lifting arm balancing cylinder works to push the lifting arm rear connecting rod to lift and lower the front end load. The parallelogram motion characteristics ensure that the front end load always maintains a constant horizontal angle during the lifting movement of the lifting arm.

[0029] Further, the mechanical swing joint comprises a mechanical swing upper joint and a mechanical swing lower joint connected together, and the mechanical swing upper joint is connected to the lifting handle through a bolt or a pin;

[0030] The mechanical infinite rotation joint comprises a mechanical infinite rotation upper joint and a mechanical infinite rotation lower joint, the mechanical infinite rotation upper joint is connected to the mechanical swing lower joint, and the mechanical infinite rotation lower joint is connected to the clamping claw through a screw.

[0031] Furthermore, the mechanical infinite rotation joint realizes the infinite rotation function through ventilation of the first pneumatic connector and the second pneumatic connector.

[0032] Further, the clamping jaws include a first stroke adjustment screw, a second stroke adjustment screw, a clamping cylinder, a workpiece positioning block, a workpiece positioning protection pad, a clamping plate, and a clamping plate workpiece protection pad;

[0033] One end of the clamping cylinder is connected to the mechanical infinite rotation joint, and the first stroke adjustment screw and the second stroke adjustment screw are respectively located on both sides of the clamping cylinder for manually adjusting the movement stroke of the clamping cylinder;

[0034] The workpiece positioning block is installed at the rear side of the clamping cylinder and is used to position the workpiece front, back, left, right, up and down. The left and right positioning positions are adjusted by mounting screws. A workpiece positioning protection pad is installed on the workpiece positioning block to protect the clamped workpiece.

[0035] The clamping plates are installed on both sides of the clamping cylinder and are used for clamping the workpiece. Clamping plate workpiece protection pads are installed on the clamping plates to protect the clamped workpiece.

[0036] Furthermore, the workpiece positioning protection pad and the clamping plate workpiece protection pad of the contact part between the clamping jaw and the workpiece are both made of copper or polymer elastomer spraying process to avoid damaging the workpiece surface.

[0037] Furthermore, the air control box adjustment process is specifically as follows:

[0038] No-load adjustment: Set the pneumatic controller to the no-load state. When the gripper does not grab the workpiece, adjust the precision pressure reducing valve in the air control box to adjust the no-load balance pressure until the gripper's upward and downward pushing force reaches the lightest floating state. In this way, the system always maintains dynamic balance and realizes equipment suspension through real-time control of the air intake and exhaust of the lifting arm balance cylinder.

[0039] Load adjustment: Set the pneumatic controller to the load state, the gripper grabs the workpiece, and adjusts the precision pressure reducing valve in the air control box to adjust the load balance pressure until the up and down pushing force of the gripper reaches the lightest floating state; thereby, through real-time control of the air intake and exhaust of the lifting arm balance cylinder, the system always maintains dynamic balance and realizes equipment suspension.

[0040] The beneficial effects of the present invention compared with the prior art are:

[0041] (1) The present invention can meet the production line station layout requirements for precision assembly of small products, and support two stations to perform power-assisted operations simultaneously through one host;

[0042] (2) The present invention can realize the assisted suspension of heavy parts to be assembled during the precision assembly of small products, so that the assembler can perform the 6-DOF posture adjustment, alignment, and coordination required for the precision assembly of the parts to be assembled without bearing any weight on his hands;

[0043] (3) The present invention has a pneumatically controlled safe hovering function that can adapt to different weights after grabbing objects, so that assembly workers can more conveniently obtain assistance during the assembly process. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a schematic structural diagram of the common torque arm smart assembly assisting device of the present invention;

[0045] Figure 2 This is the schematic diagram of equipment lifting;

[0046] Figure 3 It is the control logic schematic diagram;

[0047] Figure 4 This is a schematic diagram of the counterweight base;

[0048] Figure 5 It is a schematic diagram of a multi-torque arm connector and a lifting rail assembly;

[0049] Figure 6 It is a schematic diagram of the horizontal slewing arm slewing brake, the lifting arm horizontal slewing brake and the horizontal slewing arm;

[0050] Figure 7 It is a schematic diagram of the lifting arm limit and lifting arm;

[0051] Figure 8 It is a schematic diagram of a mechanical swing joint and a mechanical infinite rotation joint;

[0052] Fig. 9 Schematic diagram of the clamp. DETAILED DESCRIPTION

[0053] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

[0054] The present invention designs a common torque arm assist device, which belongs to the machinery manufacturing industry. Its purpose is to use compressed air as the power source, through the nearly suspended workpiece posture maintenance function, using the cylinder workmanship combined with the lever principle to achieve material balance and transplantation, and at the same time achieve precise assembly of the workpiece by manual pushing and pulling. This device can meet the simultaneous handling of more than two workpieces.

[0055] like Figure 1 As shown, the present invention proposes a common torque arm smart assembly assisting device, which is characterized by comprising: a support, a torque arm, a clamping claw, an air control box 3 and a lifting rail assembly 6;

[0056] The support comprises a counterweight base 1, a main column 2, a pushing handle 4 and a multi-torque arm connection assembly 5;

[0057] The main column 2 is installed on the counterweight base 1, and a lifting rail assembly 6 is installed on the upper end of the main column 2; a pushing handle 4 and an air control box 3 are installed in the middle of the main column 2; the main column 2 provides a plurality of arm height locking holes for the lifting rail assembly 6;

[0058] like Figure 5 As shown, the lifting rail assembly 6 includes a lifting transmission screw group 6-1, a limit block 6-2, a slide rail 6-3 and a slider 6-4; a slider 6-4 is provided on the slide rail 6-3, and the multi-torque arm connector 5 is fixedly connected to the slider 6-4, which is driven by the lifting transmission screw group 6-1 to move up and down along the slide rail 6-3, and the limit block 6-2 realizes the upper and lower limits;

[0059] The torque arm includes a horizontal slewing arm slewing brake 7, a lifting arm horizontal slewing brake 8, a horizontal slewing arm 9, a lifting arm limit 10, a lifting arm 11, a pneumatic controller 12, a lifting handle 13, a mechanical swing joint 14 and a mechanical infinite rotation joint 15;

[0060] One end of the horizontal slewing arm slewing brake 7 is installed on the multi-torque arm connecting assembly 5, and the other end is connected to the lifting arm horizontal slewing brake 8 through the horizontal slewing arm 9;

[0061] The lifting arm 11 is a parallelogram structure, one end of which is mounted on the lifting arm horizontal slewing brake 8, and the lifting position of the lifting arm 11 is limited by the lifting arm limit 10;

[0062] One end of the pneumatic controller 12 is connected to the lifting arm 11, and the other end is connected to the lifting handle 13, the mechanical swing joint 14 and the mechanical infinite rotation joint 15 in sequence; the mechanical infinite rotation joint 15 is connected to the clamping claw 16;

[0063] The pneumatic controller 12 is arranged on the torque arm. The lifting arm 11 is a parallelogram structure. The lifting arm 11 is pushed by the lifting arm balance cylinder 11-3 in the lifting arm 11 to achieve the lifting and lowering of the front-end load. The pneumatic control box 3 is connected to the lifting arm balance cylinder 11-3 to control its air intake to achieve the hovering of the working position of the lifting arm 11. There is a pneumatic switch on the pneumatic controller 12 to realize the expansion and closing of the clamp 16, thereby realizing the grabbing of the front-end load.

[0064] The device of the present invention realizes the principle of equipment lifting. Mechanically, the lifting arm balance cylinder 11-3 works to push the lifting arm 11 to achieve the lifting of the front load, and the parallelogram motion characteristics ensure that the front load always maintains a constant horizontal angle during the lifting movement of the lifting arm 11. Figure 2 shown.

[0065] In control logic, such as Figure 3 As shown in the figure, with the pilot-operated precision pressure reducing valve as the core component, the external operating force refers to the operator dragging the fixture up and down to change the movement trend of the equipment, resulting in a pressure difference between the air pressure at both ends of the main cylinder piston. The dynamic judgment of the precision valve dynamically controls the cylinder intake / exhaust to maintain the preset pressure value, realizing the dynamic suspension of the load and the zero-gravity push-pull effect.

[0066] like Figure 4 As shown, the counterweight base 1 includes a chassis 1-1, a counterweight 1-2 and casters 1-3; wherein the chassis 1-1 is connected to the main column 2, the counterweight 1-2 is used to adjust the center of gravity position of the entire power-assisting device to improve the stability of the power-assisting device during movement and operation, the number of casters 1-3 is greater than or equal to 3, and has a lifting function, which is used to fine-tune the height of the power-assisting device, and at the same time can realize the omnidirectional movement of the power-assisting device and the position locking during operation; the pushing handle 4 is adjustable in up and down position and inclination angle to adapt to the use of different operators.

[0067] like Figure 5 As shown, the multi-torque arm connection assembly 5 includes a first torque arm connection member 5-1, a second torque arm connection member 5-2 and a column connection member 5-3; a torque arm connection groove is provided on the column connection member 5-3, and the first torque arm connection member 5-1 and the second torque arm connection member 5-2 are connected to the torque arm connection groove of the column connection member 5-3, so that the upper and lower positions of the torque arm can be manually adjusted; the column connection member 5-3 is connected to the slider 6-4 to realize the simultaneous lifting and lowering of the torque arm.

[0068] like Figure 6 As shown, the horizontal swivel arm 9 includes a lifting arm swivel shaft 9-1, a horizontal swivel arm swivel shaft 9-2 and a main arm 9-3;

[0069] The horizontal slewing arm slewing brake 7 comprises a first counterclockwise limit block 7-1, a first slewing brake handle assembly 7-2, a first clockwise limit block 7-3, and a horizontal slewing arm brake disc 7-4;

[0070] The lifting arm horizontal rotation brake 8 includes a second counterclockwise limit block 8-1, a second rotation brake handle assembly 8-2, a second clockwise limit block 8-3, and a lifting arm horizontal rotation brake disc 8-4;

[0071] The lifting arm rotating shaft 9-1, the horizontal rotating arm rotating shaft 9-2 and the main arm 9-3 are all connected by interference fit or mechanical fixing, and there is no relative movement between the lifting arm rotating shaft 9-1, the horizontal rotating arm rotating shaft 9-2 and the main arm 9-3.

[0072] The horizontal slewing arm brake disc 7-4 in the horizontal slewing arm slewing brake 7 is connected to the second torque arm connector 5-2 through the horizontal slewing arm shaft 9-2; the first slewing brake handle assembly 7-2 is installed on the second torque arm connector 5-2, and the handle is rotated to drive the lower locking block to press the horizontal slewing arm brake disc 7-4, thereby realizing the locking and release of the horizontal slewing arm; the first counterclockwise limit block 7-1 and the first clockwise limit block 7-3 are fixed at different positions in the horizontal slewing arm brake disc 7-4, thereby realizing different limit angles;

[0073] The lifting arm horizontal slewing brake disc 8-4 of the lifting arm horizontal slewing brake 8 is connected to the first torque arm connecting piece 5-1 through the lifting arm slewing shaft 9-1; the second slewing brake handle assembly 8-2 is installed on the first torque arm connecting piece 5-1, and the handle is rotated to drive the lower locking block to press the lifting arm horizontal slewing brake disc 8-4, thereby realizing the locking and release of the lifting arm horizontal slewing brake; the second counterclockwise limit block 8-1 and the second clockwise limit block 8-3 are fixed at different positions in the lifting arm horizontal slewing brake disc 8-4, thereby realizing different limit angles.

[0074] like Figure 7 As shown, the lifting arm 11 includes a lifting arm horizontal swivel arm connecting piece 11-1, a lifting arm upper connecting rod 11-2, a lifting arm balancing cylinder 11-3, a lifting arm lower connecting rod 11-4, a lifting arm cylinder connecting rod connecting piece 11-5, and a lifting arm rear connecting rod 11-6;

[0075] One end of the lifting arm cylinder connecting rod connector 11-5 is a fixed connecting plate, and the other end is a bearing. The lifting arm horizontal swivel arm connector 11-1, the lifting arm upper connecting rod 11-2, the lifting arm rear connecting rod 11-6 and the lifting arm lower connecting rod 11-4 are connected in sequence through the lifting arm cylinder connecting rod connector 11-5 to form a deformable parallelogram structure; for example, one end of the lifting arm cylinder connecting rod connector 11-5 is connected to the lifting arm upper connecting rod 11-2 by a screw, and the other end is connected to the lifting arm rear connecting rod 11-6 by a bearing, and the rotation connection relationship of other nodes of the parallelogram is similar.

[0076] The two ends of the lifting arm balancing cylinder 11-3 are respectively connected to the lifting arm horizontal rotating arm connecting piece 11-1 and the lifting arm rear connecting rod 11-6. The lifting arm balancing cylinder 11-3 works to push the lifting arm rear connecting rod 11-6 to lift and lower the front end load. The parallelogram motion characteristics ensure that the front end load always maintains a constant horizontal angle during the lifting movement of the lifting arm 11.

[0077] like Figure 8 As shown, the mechanical swing joint 14 mainly includes a mechanical swing upper joint 14 - 1 and a mechanical swing lower joint 14 - 2 , which are connected to the lifting handle 13 via bolts or pins.

[0078] The mechanical infinite rotation joint 15 mainly includes a mechanical infinite rotation upper joint 15 - 1 and a mechanical infinite rotation lower joint 15 - 3 , which are connected to the clamping claw 16 via screws.

[0079] The mechanical infinite rotation joint 15 is ventilated through the pneumatic connectors 15 - 2 and 15 - 4 to achieve the infinite rotation function.

[0080] like Fig. 9 As shown, the clamping jaw 16 includes a first stroke adjustment screw 16-1, a second stroke adjustment screw 16-4, a clamping cylinder 16-2, a workpiece positioning block 16-3, a workpiece positioning protection pad 16-5, a clamping plate 16-6, and a clamping plate workpiece protection pad 16-7;

[0081] One end of the clamping cylinder 16-2 is connected to the mechanical infinite rotation joint 15, and the first stroke adjustment screw 16-1 and the second stroke adjustment screw 16-4 are respectively located on both sides of the clamping cylinder 16-2, and are used to manually adjust the movement stroke of the clamping cylinder 16-2;

[0082] The workpiece positioning block 16-3 is installed at the rear side of the clamping cylinder 16-2, and is used to position the workpiece front, back, left, right, up and down. The left and right positioning positions are adjusted by mounting screws. A workpiece positioning protection pad 16-5 is installed on the workpiece positioning block 16-3 to protect the clamped workpiece.

[0083] The clamping plates 16-6 are installed on both sides of the clamping cylinder 16-2 for clamping the workpiece, and a clamping plate workpiece protection pad 16-7 is installed on the clamping plate 16-6 to protect the clamped workpiece.

[0084] The workpiece positioning protection pad 16-5 and the clamping plate workpiece protection pad 16-7 of the contact part between the clamping jaw 16 and the workpiece are all made of copper or polymer elastomer spraying process to avoid damaging the workpiece surface.

[0085] The working process of the device of the present invention is:

[0086] 1. The worker pushes the handle 4 and uses the common torque arm to flexibly assemble the power assist device and move it to the workbench

[0087] 2. Turn on the gas source switch

[0088] 3. Adjust the multi-torque arm connection assembly 5 to adjust the up and down position of the torque arm

[0089] 4. Set the limits of different torque arm horizontal slewing arm slewing brake 7 and lifting arm horizontal slewing brake 8 respectively to prevent collision with other objects on the workbench.

[0090] 5. Adjust the lifting arm limit 10 limit of different torque arms to adjust the upper limit position of the lifting arm

[0091] 6. Adjust the air supply in the air control box 3 when it is unloaded to adjust the self-balancing state of different torque arms when they are unloaded. It is better to move or lift the torque arm to hover at any position.

[0092] 7. Rotate the different torque arm jaws 16 to align the workpieces to be clamped. They can be clamped simultaneously or individually.

[0093] 8. Manually move the clamp 16 to the top of the workpiece and slowly fit it to the workpiece

[0094] 9. Press the pneumatic switch 12 of the pneumatic controller to hold the workpiece.

[0095] 10. Adjust the air supply in the air control box 3 when loaded to adjust the self-balancing state of the torque arm under different loads. It is best to move or lift the torque arm to hover at any position.

[0096] 11. Move to the workpiece installation position

[0097] 12. Press the pneumatic switch 12 of the pneumatic controller to place the workpiece

[0098] The device of the present invention includes the following adjustment process:

[0099] 1. Adjustment process of the multi-torque arm connection assembly 5: adjust the limit through the screw hole, and the position between the upper and lower parts of the torque arm refers to the clamping position height of the clamped workpiece.

[0100] 2. Limit adjustment of the horizontal slewing arm slewing brake 7: adjust the installation positions of the first counterclockwise limit block 7-1 and the first clockwise limit block 7-3 on the horizontal slewing arm brake disc 7-4 to adjust the rotation range of the horizontal slewing arm slewing brake 7, and the first slewing brake handle assembly 7-2 moves between the first counterclockwise limit block 7-1 and the first clockwise limit block 7-3;

[0101] 3. Limit adjustment of the lifting arm horizontal slewing brake 8: adjust the installation positions of the second counterclockwise limit block 8-1 and the second clockwise limit block 8-3 on the lifting arm horizontal slewing brake disc 8-4 to adjust the rotation range of the lifting arm horizontal slewing brake 8, and the second slewing brake handle assembly 8-2 moves between the counterclockwise limit block 8-1 and the clockwise limit block 8-3;

[0102] 4. Lifting arm limit 10 adjustment process: adjust the screw position to adjust the limit block position;

[0103] 5. Adjustment process of air control box 3:

[0104] No-load adjustment: Set the pneumatic controller 12 to the no-load state. When the gripper 16 does not grab the workpiece, slowly turn the round cap knob on the top of the precision pressure reducing valve in the air control box 3 to adjust the no-load balance pressure until the up and down pushing force of the clamp 16 reaches the lightest floating state. As the core pneumatic component of the lifting control, the precision pressure reducing valve can sensitively sense any changes in the pressure difference at both ends of the cylinder caused by the imbalance of force caused by the lifting direction of the small push-pull action on the tool end. Therefore, through the real-time control of the air intake and exhaust of the main cylinder, the system can always maintain dynamic balance and realize equipment suspension.

[0105] Load adjustment: Set the pneumatic controller 12 to the load state, the gripper 16 grabs the workpiece, and slowly turn the round cap knob on the top of the precision pressure reducing valve in the air control box 3 to adjust the load balance pressure until the up and down pushing force of the fixture 16 reaches the lightest floating state. As the core pneumatic component of the lifting control, the precision pressure reducing valve can sensitively sense any changes in the pressure difference at both ends of the cylinder caused by the imbalance of force caused by the lifting direction of the small push-pull action on the tool end. Therefore, through the real-time control of the intake and exhaust of the main cylinder, the system can always maintain dynamic balance and realize the suspension of the equipment.

[0106] Adjustment of the clamping jaw 16: The left and right positions and the up and down positions of the workpiece positioning block 16-3 are adjusted by screws. After adjustment, when the workpiece positioning block 16-3 just clamps the workpiece, the clamping plate 16-6 just clamps the workpiece clamping position.

[0107] Parts of the present invention that are not described in detail belong to common knowledge among those skilled in the art.

Claims

1. A common torque arm smart assembly assisting device, characterized in that include: Support, torque arm, clamping claw, air control box (3) and lifting rail assembly (6); The support comprises a counterweight base (1), a main column (2), a pushing handle (4) and a multi-torque arm connection assembly (5); The main column (2) is mounted on the counterweight base (1), and a lifting rail assembly (6) is mounted on the upper end of the main column (2); a pushing handle (4) and an air control box (3) are mounted in the middle of the main column (2); and a plurality of arm height locking holes are provided on the main column (2) for the lifting rail assembly (6); The lifting rail assembly (6) comprises a lifting transmission lead screw assembly (6-1), a limit block (6-2), a slide rail (6-3) and a slider (6-4); a slider (6-4) is arranged on the slide rail (6-3), a multi-torque arm connector (5) is fixedly connected to the slider (6-4), and is driven by the lifting transmission lead screw assembly (6-1) to move up and down along the slide rail (6-3), and the limit block (6-2) realizes the upper and lower limit; The torque arm comprises a horizontal slewing arm slewing brake (7), a lifting arm horizontal slewing brake (8), a horizontal slewing arm (9), a lifting arm limiter (10), a lifting arm (11), a pneumatic controller (12), a lifting handle (13), a mechanical swing joint (14) and a mechanical infinite rotation joint (15); One end of the horizontal slewing arm slewing brake (7) is installed on the multi-torque arm connecting assembly (5), and the other end is connected to the lifting arm horizontal slewing brake (8) through the horizontal slewing arm (9); The lifting arm (11) is a parallelogram structure, one end of which is mounted on the lifting arm horizontal rotation brake (8), and the lifting position of the lifting arm (11) is limited by the lifting arm limiter (10); One end of the pneumatic controller (12) is connected to the lifting arm (11), and the other end is connected to the lifting handle (13), the mechanical swing joint (14) and the mechanical infinite rotation joint (15) in sequence; the mechanical infinite rotation joint (15) is connected to the clamping claw (16); The pneumatic controller (12) is arranged on the torque arm, and the lifting arm (11) is a parallelogram structure. The lifting arm (11) is pushed by the lifting arm balancing cylinder (11-3) in the lifting arm (11) to achieve lifting of the front end load; the pneumatic control box (3) is connected to the lifting arm balancing cylinder (11-3) to control its air intake to achieve the working position hovering of the lifting arm (11); the pneumatic controller (12) is provided with a pneumatic switch for realizing the expansion and closing of the clamping claw (16), thereby realizing the grasping of the front end load.

2. A common torque arm smart assembly assisting device according to claim 1, characterized in that: The counterweight base (1) comprises a chassis (1-1), a counterweight (1-2) and casters (1-3); wherein the chassis (1-1) is connected to the main column (2); the counterweight (1-2) is used to adjust the center of gravity of the entire power-assisting device to improve the stability of the power-assisting device during movement and operation; the number of casters (1-3) is greater than or equal to 3 and has a lifting function, which is used to fine-tune the height of the power-assisting device and can also realize the omnidirectional movement of the power-assisting device and position locking during operation; the pushing handle (4) is adjustable in up and down position and inclination angle to adapt to use by different operators.

3. A common torque arm smart assembly assisting device according to claim 1, characterized in that: The multi-torque arm connection assembly (5) comprises a first torque arm connection member (5-1), a second torque arm connection member (5-2) and a column connection member (5-3); A torque arm connection groove is provided on the column connection member (5-3); the first torque arm connection member (5-1) and the second torque arm connection member (5-2) are connected to the torque arm connection groove of the column connection member (5-3), so that the upper and lower positions of the torque arm can be manually adjusted; the column connection member (5-3) is connected to the slider (6-4), so that the torque arm can be raised and lowered simultaneously.

4. A common torque arm smart assembly assisting device according to claim 3, characterized in that: The horizontal slewing arm (9) comprises a lifting arm slewing shaft (9-1), a horizontal slewing arm slewing shaft (9-2) and a main arm (9-3); The horizontal slewing arm slewing brake (7) comprises a first counterclockwise limit block (7-1), a first slewing brake handle assembly (7-2), a first clockwise limit block (7-3), and a horizontal slewing arm brake disc (7-4); The lifting arm horizontal slewing brake (8) comprises a second counterclockwise limit block (8-1), a second slewing brake handle assembly (8-2), a second clockwise limit block (8-3), and a lifting arm horizontal slewing brake disc (8-4); The lifting arm rotating shaft (9-1), the horizontal rotating arm rotating shaft (9-2) and the main arm (9-3) are all connected by interference fit or mechanical fixing, and there is no relative movement between the lifting arm rotating shaft (9-1), the horizontal rotating arm rotating shaft (9-2) and the main arm (9-3); The horizontal slewing arm brake disc (7-4) and the second torque arm connecting member (5-2) in the horizontal slewing arm slewing brake (7) are respectively connected to the horizontal slewing arm rotating shaft (9-2) through bearings; the first slewing brake handle assembly (7-2) is installed on the second torque arm connecting member (5-2), and the handle is rotated to drive the lower locking block to press the horizontal slewing arm brake disc (7-4), thereby realizing the locking and release of the horizontal slewing arm; the first counterclockwise limit block (7-1) and the first clockwise limit block (7-3) are fixed at different positions in the horizontal slewing arm brake disc (7-4), thereby realizing different limit angles; The lifting arm horizontal slewing brake disc (8-4) of the lifting arm horizontal slewing brake (8) is connected to the lifting arm slewing shaft (9-1) through bearings respectively with the first torque arm connecting member (5-1); the second slewing brake handle assembly (8-2) is installed on the first torque arm connecting member (5-1), and the handle is rotated to drive the lower locking block to press the lifting arm horizontal slewing brake disc (8-4), thereby realizing the locking and release of the lifting arm horizontal slewing brake; the second counterclockwise limit block (8-1) and the second clockwise limit block (8-3) are fixed at different positions in the lifting arm horizontal slewing brake disc (8-4), thereby realizing different limit angles.

5. The common torque arm smart assembly assisting device according to claim 1, characterized in that: The lifting arm (11) comprises a lifting arm horizontal slewing arm connecting piece (11-1), a lifting arm upper connecting rod (11-2), a lifting arm balancing cylinder (11-3), a lifting arm lower connecting rod (11-4), a lifting arm cylinder connecting rod connecting piece (11-5), and a lifting arm rear connecting rod (11-6); One end of the lifting arm cylinder connecting rod connecting piece (11-5) is a fixed connecting piece, and the other end is a bearing. The lifting arm horizontal slewing arm connecting piece (11-1), the lifting arm upper connecting rod (11-2), the lifting arm rear connecting rod (11-6) and the lifting arm lower connecting rod (11-4) are sequentially connected through the lifting arm cylinder connecting rod connecting piece (11-5) to form a deformable parallelogram structure. The two ends of the lifting arm balancing cylinder (11-3) are respectively connected to the lifting arm horizontal slewing arm connecting piece (11-1) and the lifting arm rear connecting rod (11-6). The lifting arm balancing cylinder (11-3) performs work to push the lifting arm rear connecting rod (11-6) to move up and down to achieve the lifting and lowering of the front end load. The parallelogram motion characteristics ensure that the front end load always maintains a constant horizontal angle during the lifting and lowering movement of the lifting arm (11).

6. The common torque arm smart assembly assisting device according to claim 1, characterized in that: The mechanical swing joint (14) comprises a mechanical swing upper joint (14-1) and a mechanical swing lower joint (14-2) connected together, and the mechanical swing upper joint (14-1) is connected to the lifting handle (13) via a bolt or a pin; The mechanical infinite rotation joint (15) comprises a mechanical infinite rotation upper joint (15-1) and a mechanical infinite rotation lower joint (15-3), wherein the mechanical infinite rotation upper joint (15-1) is connected to the mechanical swing lower joint (14-2), and the mechanical infinite rotation lower joint (15-3) is connected to the clamping claw (16) via a screw.

7. A common torque arm smart assembly assisting device according to claim 6, characterized in that: The mechanical infinite rotation joint (15) is ventilated via the first pneumatic connector (15-2) and the second pneumatic connector (15-4) to achieve an infinite rotation function.

8. The common torque arm smart assembly assisting device according to claim 6, characterized in that: The clamping jaw (16) comprises a first stroke adjustment screw (16-1), a second stroke adjustment screw (16-4), a clamping cylinder (16-2), a workpiece positioning block (16-3), a workpiece positioning protection pad (16-5), a clamping plate (16-6), and a clamping plate workpiece protection pad (16-7); One end of the clamping cylinder (16-2) is connected to the mechanical infinite rotation joint (15), and the first stroke adjustment screw (16-1) and the second stroke adjustment screw (16-4) are respectively located on both sides of the clamping cylinder (16-2) and are used to manually adjust the movement stroke of the clamping cylinder (16-2); The workpiece positioning block (16-3) is installed on the rear side of the clamping cylinder (16-2) and is used to position the workpiece in the front, back, left, right, up and down directions. The left and right positioning positions are adjusted by mounting screws. A workpiece positioning protection pad (16-5) is installed on the workpiece positioning block (16-3) to protect the clamped workpiece. The clamping plates (16-6) are installed on both sides of the clamping cylinder (16-2) and are used to clamp the workpiece. A clamping plate workpiece protection pad (16-7) is installed on the clamping plates (16-6) to protect the clamped workpiece.

9. A common torque arm smart assembly assisting device according to claim 8, characterized in that: The workpiece positioning protection pad (16-5) and the clamping plate workpiece protection pad (16-7) of the part where the clamping jaw (16) contacts the workpiece are both made of copper or polymer elastomer spraying technology to avoid damaging the workpiece surface.

10. The common torque arm smart assembly assisting device according to claim 5, characterized in that: The specific adjustment process of the air control box (3) is as follows: No-load adjustment: The pneumatic controller (12) is set to a no-load state. When the gripper (16) does not grasp a workpiece, the precision pressure reducing valve in the air control box (3) is adjusted to adjust the no-load balance pressure until the upward and downward pushing force of the gripper (16) reaches the lightest floating state; thereby, the system is always kept in dynamic balance through real-time control of the air intake and exhaust of the lifting arm balance cylinder (11-3), thereby achieving equipment suspension; Load adjustment: The pneumatic controller (12) is set to the load state, the clamp (16) grabs the workpiece, and the precision pressure reducing valve in the air control box (3) is adjusted to adjust the load balance pressure until the upward and downward pushing force of the clamp (16) reaches the lightest floating state; thereby, through the real-time control of the air intake and exhaust of the lifting arm balance cylinder (11-3), the system always maintains dynamic balance and realizes equipment suspension.

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