A common torque arm smart assembly assisting device

Abstract

A shared torque arm dexterous assembly assist device, belonging to the field of mechanical assembly technology, is a pneumatic assist device applied to the precision assembly of small products in multiple workstations. The invention includes: a support, a torque arm, grippers, a pneumatic control box, and a lifting guide assembly. Powered by compressed air, it maintains the posture of the suspended workpiece and utilizes the lever principle combined with cylinder work to achieve material balance and transfer. Simultaneously, manual pushing and pulling enables precise assembly of the workpiece. This invention solves the problem of extremely difficult manual operation of heavy parts with dimensions between one-handed grasping and two-handed lifting in confined assembly spaces during the precision assembly of small products.

Description

Technical Field

[0001] This invention relates to a flexible assembly assist device with a shared torque arm, belonging to the field of mechanical assembly technology. Background Art

[0002] Currently, pneumatic or electric power-assisted devices are widely used in industrial scenarios such as handling and assembling large components to support the weight of the components and enable workers to move and adjust the position of the goods according to the required path to complete the handling or assembly actions.

[0003] However, pneumatic or electric power-assisted devices on the market are all used for large components. The devices themselves are heavy, have long reach and large size, and the mechanical configuration of the power-assisted devices makes manual operation and movement inconvenient, 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 that are heavy and between the size of one-handed gripping and two-handed lifting, manual operation is extremely difficult, especially in the case of narrow assembly space. The assembly worker is required to be able to safely grip the component with one hand and have enough strength to perform the action of gripping and precision assembly at the same time. This makes such assembly process a key process that requires key quality and safety control.

[0005] Meanwhile, for precision assembly processes of small products requiring continuous flow, adjacent workstations typically need to be compact to ensure smooth transitions between processes on a manual assembly line. Therefore, a single main unit is required to support simultaneous assisted operation at multiple workstations, a function currently unavailable in commercially available assisted systems. 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 shared torque arm dexterous assembly assist device. It uses compressed air as a power source, maintains the attitude of the suspended workpiece, and uses the cylinder to work in combination with the lever principle to achieve the balance and transfer of materials. At the same time, the workpiece is precisely assembled by manual pushing and pulling.

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

[0008] A shared torque arm dexterous assembly assist device includes: a support, a torque arm, a gripper, a pneumatic control box, and a lifting rail assembly.

[0009] The support includes a counterweight base, a main column, a push handle, and a multi-torsion arm connection assembly.

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

[0011] The lifting rail assembly includes a lifting transmission screw assembly, a limit block, a slide rail, and a slider; the slider is provided on the slide rail, and a multi-torsion arm connector is fixedly connected to the slider. It is driven to move up and down along the slide rail by the lifting transmission screw assembly, and the limit block realizes the up and down 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 limit switch, 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-torsion arm connection assembly, and the other end is connected to the lifting arm horizontal slewing brake through the horizontal slewing arm.

[0014] The lifting arm has a parallelogram structure, with one end installed on the horizontal rotation brake of the lifting arm. The lifting position of the lifting arm is limited by the lifting arm limit.

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

[0016] The pneumatic controller is mounted on the torque arm, which has a parallelogram structure. The lifting arm is driven by the lifting arm balance cylinder to lift the front load. The pneumatic control box is connected to the lifting arm balance cylinder to control its air intake and keep the lifting arm in a suspended position. The pneumatic controller has a pneumatic switch to open and close the gripper, thereby enabling the gripping of the front 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 of the entire power-assist device, improving the stability of the power-assist device during movement and operation, the number of casters is greater than or equal to 1, and it has a lifting function for fine-tuning the height of the power-assist device, while also enabling omnidirectional movement of the power-assist device and position locking during operation; the push handle has adjustable up and down position and tilt angle to adapt to different operators.

[0018] Furthermore, the multi-torsion arm connection assembly includes a first torque arm connector, a second torque arm connector, and a column connector;

[0019] The column connector is provided with a torque arm connecting groove. The first torque arm connector and the second torque arm connector are connected to the torque arm connecting groove of the column connector, which can realize manual adjustment of the up and down position of the torque arm. The column connector is connected to the slider to realize the simultaneous raising and lowering of the torque arm.

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

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

[0022] The horizontal rotation brake of the lifting arm includes a second counterclockwise limiting block, a second rotation brake handle assembly, a second clockwise limiting block, and a horizontal rotation brake disc of the lifting arm.

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

[0024] In the horizontal slewing arm slewing brake, the horizontal slewing arm brake disc and the second torque arm connector are respectively connected to the horizontal slewing arm shaft through bearings; the first slewing brake handle assembly is installed on the second torque arm connector, and the rotation of the handle drives the lower locking block to press the horizontal slewing arm brake disc, thereby realizing the locking and unlocking of the horizontal slewing arm; the first counterclockwise limit block and the first clockwise limit block are fixed in different positions in the horizontal slewing arm brake disc, thereby realizing different limit angles;

[0025] The horizontal slewing brake disc of the lifting arm and the first torque arm connector are respectively connected to the lifting arm slewing shaft through bearings; the second slewing brake handle assembly is installed on the first torque arm connector, and the lower locking block is pressed against the horizontal slewing brake disc by rotating the handle, thereby realizing the locking and unlocking of the horizontal slewing brake of the lifting arm; the second counterclockwise limit block and the second clockwise limit block are fixed in different positions in the horizontal slewing brake disc of the lifting arm, thereby realizing different limit angles.

[0026] Furthermore, the lifting arm includes a lifting arm horizontal slewing arm connector, a lifting arm upper connecting rod, a lifting arm balance cylinder, a lifting arm lower connecting rod, a lifting arm cylinder connecting rod connector, and a lifting arm rear connecting rod.

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

[0028] The lifting arm balance cylinder is connected to the lifting arm horizontal slewing arm connector and the lifting arm rear link at both ends. The lifting arm balance cylinder performs work to push the lifting arm rear link to lift and lower, thereby lifting and lowering the front load. The parallelogram motion characteristics ensure that the front load always maintains a constant horizontal angle during the lifting arm's lifting and lowering motion.

[0029] Furthermore, the mechanical swing joint includes an upper mechanical swing joint and a lower mechanical swing joint connected together, with the upper mechanical swing joint connected to the lifting handle by bolts or pins.

[0030] The mechanical infinite rotation joint includes an upper mechanical infinite rotation joint and a lower mechanical infinite rotation joint. The upper mechanical infinite rotation joint is connected to the lower mechanical swing joint, and the lower mechanical infinite rotation joint is connected to the gripper by screws.

[0031] Furthermore, the mechanical infinite rotation joint achieves its infinite rotation function through airflow via a first pneumatic connector and a second pneumatic connector.

[0032] Furthermore, the gripper includes a first stroke adjusting screw, a second stroke adjusting screw, a clamping cylinder, a workpiece positioning block, a workpiece positioning protective pad, a clamping plate, and a clamping plate workpiece protective pad.

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

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

[0035] The clamping plates are installed on both sides of the clamping cylinder for clamping the workpiece. The clamping plates are equipped with workpiece protection pads to protect the clamped workpiece.

[0036] Furthermore, the workpiece positioning protective pads and the workpiece protective pads of the clamping plates in contact with the workpiece are all made of copper or high-molecular elastomers using a spraying process to avoid damaging the workpiece surface.

[0037] Furthermore, the specific adjustment process of the pneumatic control box is as follows:

[0038] No-load adjustment: Set the pneumatic controller to no-load state. When the gripper is not gripping a workpiece, adjust the precision pressure reducing valve in the pneumatic control box to adjust the no-load balance pressure until the gripper's up and down pushing force reaches the lightest floating state. Thus, by controlling the air intake and exhaust of the lifting arm balance cylinder in real time, the system always maintains dynamic balance and achieves equipment suspension.

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

[0040] The beneficial effects of this invention compared to the prior art are:

[0041] (1) The present invention can meet the production line layout requirements of precision assembly of small products, and can support two workstations to perform assisted operation at the same time through one host.

[0042] (2) The present invention can help suspend the heavy parts to be assembled during the precision assembly of small products, so that the assembly workers can perform the 6-DOF pose adjustment, alignment and coordination actions required for the precision assembly of the parts without their hands bearing weight.

[0043] (3) The present invention has a pneumatic safety hovering function that can adapt to different weights after grabbing the item, which makes it easier for assembly workers to get assistance during the assembly process. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the structure of the shared torsion arm clever assembly assist device of the present invention;

[0045] Figure 2 This is a schematic diagram of the equipment's lifting mechanism.

[0046] Figure 3 This is a schematic diagram of the control logic.

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

[0048] Figure 5 Schematic diagram of multi-torsion arm connector and lifting rail assembly;

[0049] Figure 6 A schematic diagram of the horizontal slewing arm's slewing brake, the lifting arm's horizontal slewing brake, and the horizontal slewing arm itself.

[0050] Figure 7 Diagram showing the lifting arm limit and lifting arm;

[0051] Figure 8 Schematic diagrams of mechanical swing joints and mechanical infinite rotation joints;

[0052] Figure 9 This is a schematic diagram of the gripper. Detailed Implementation

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

[0054] This invention designs a shared torque arm assist device, belonging to the machinery manufacturing industry. Its purpose is to use compressed air as a power source to maintain the workpiece's posture through near-suspended operation. Utilizing a combination of cylinder operation and lever principles, it achieves material balance and transfer, while manual pushing and pulling enables precise assembly of the workpiece. This equipment can simultaneously handle two or more workpieces.

[0055] like Figure 1 As shown, the present invention proposes a shared torque arm dexterous assembly assist device, characterized in that it includes: a support, a torque arm, a gripper, a pneumatic control box 3, and a lifting rail assembly 6.

[0056] The support includes a counterweight base 1, a main column 2, a push handle 4, and a multi-torsion arm connecting assembly 5;

[0057] The main column 2 is mounted on the counterweight base 1, and the upper end of the main column 2 is equipped with a lifting rail assembly 6; the middle part of the main column 2 is equipped with a push handle 4 and a pneumatic control box 3; the main column 2 provides multiple sets 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 assembly 6-1, a limiting block 6-2, a slide rail 6-3, and a slider 6-4; the slider 6-4 is provided on the slide rail 6-3, and the multi-torsion arm connector 5 is fixedly connected to the slider 6-4. It is driven to move up and down along the slide rail 6-3 by the lifting transmission screw assembly 6-1, and the upper and lower limits are realized by the limiting block 6-2.

[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-torsion 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 has a parallelogram structure, with one end installed on the horizontal rotation brake 8 of the lifting arm. 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 in sequence to the lifting handle 13, the mechanical swing joint 14 and the mechanical infinite rotation joint 15; the mechanical infinite rotation joint 15 is connected to the gripper 16.

[0063] The pneumatic controller 12 is mounted on the torque arm. The lifting arm 11 has a parallelogram structure. The lifting arm 11 is driven by the lifting arm balance cylinder 11-3 to lift the front load. The pneumatic control box 3 is connected to the lifting arm balance cylinder 11-3 to control its air intake, thus allowing the lifting arm 11 to hover in its working position. The pneumatic controller 12 has a pneumatic switch for opening and closing the gripper 16, thereby enabling the gripping of the front load.

[0064] The principle behind the device's lifting mechanism is that, mechanically, the lifting arm's balance cylinder 11-3 drives the lifting arm 11 to lift the front load. Furthermore, the parallelogram motion characteristics ensure that the front load maintains a constant horizontal angle throughout the lifting arm 11's movement. Figure 2 As shown.

[0065] In terms of control logic, such as Figure 3 As shown, the system revolves around a pilot-operated precision pressure reducing valve as its core component. An externally applied operating force, whereby the operator pulls the clamps up and down, alters the equipment's movement, creating a pressure difference across the piston of the main cylinder. The precision valve dynamically judges and controls the cylinder's intake / exhaust to maintain a preset pressure value, achieving dynamic load levitation and zero-gravity push-pull effects.

[0066] like Figure 4 As shown, the counterweight base 1 includes a chassis 1-1, a counterweight 1-2, and casters 1-3; 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 assist device, improving the stability of the power assist device during movement and operation, the number of casters 1-3 is greater than or equal to 3, and it has a lifting function, which is used to fine adjust the height of the power assist device, and at the same time can realize the omnidirectional movement of the power assist device and the position locking during operation; the push handle 4 is adjustable in height and tilt angle to adapt to different operators.

[0067] like Figure 5 As shown, the multi-torsion arm connection assembly 5 includes a first torque arm connector 5-1, a second torque arm connector 5-2, and a column connector 5-3; the column connector 5-3 is provided with a torque arm connecting groove, and the first torque arm connector 5-1 and the second torque arm connector 5-2 are connected to the torque arm connecting groove of the column connector 5-3, which can realize manual adjustment of the up and down position of the torque arm; the column connector 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 slewing arm 9 includes a lifting arm slewing shaft 9-1, a horizontal slewing arm slewing shaft 9-2, and a main arm 9-3;

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

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

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

[0072] In the horizontal slewing arm slewing brake 7, the horizontal slewing arm brake disc 7-4 and the second torque arm connector 5-2 are connected via 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 rotation drives the lower locking block to press the horizontal slewing arm brake disc 7-4, thereby realizing the locking and unlocking of the horizontal slewing arm; the first counterclockwise limiting block 7-1 and the first clockwise limiting block 7-3 are fixed in different positions in the horizontal slewing arm brake disc 7-4, thereby realizing different limiting angles;

[0073] The horizontal slewing brake disc 8-4 of the lifting arm is connected to the first torque arm connector 5-1 via the lifting arm slewing shaft 9-1; the second slewing brake handle assembly 8-2 is installed on the first torque arm connector 5-1, and the lower locking block is pressed against the horizontal slewing brake disc 8-4 by rotating the handle, thereby realizing the locking and unlocking of the horizontal slewing brake of the lifting arm; the second counterclockwise limiting block 8-1 and the second clockwise limiting block 8-3 are fixed in different positions in the horizontal slewing brake disc 8-4 of the lifting arm, thereby realizing different limiting angles.

[0074] like Figure 7 As shown, the lifting arm 11 includes a lifting arm horizontal slewing arm connector 11-1, a lifting arm upper connecting rod 11-2, a lifting arm balance cylinder 11-3, a lifting arm lower connecting rod 11-4, a lifting arm cylinder connecting rod connector 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 piece, and the other end is a bearing. The lifting arm horizontal slewing 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 sequentially connected 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. The rotational connection relationship of other nodes of the parallelogram is similar.

[0076] The lifting arm balance cylinder 11-3 is connected to the lifting arm horizontal slewing arm connector 11-1 and the lifting arm rear connecting rod 11-6 at both ends. The lifting arm balance cylinder 11-3 pushes the lifting arm rear connecting rod 11-6 to lift and lower, thereby realizing the lifting and lowering of the front load. The parallelogram motion characteristics ensure that the front load always maintains a constant horizontal angle during the lifting and lowering motion of the lifting arm 11.

[0077] like Figure 8 As shown, the mechanical swing joint 14 mainly includes an upper mechanical swing joint 14-1 and a lower mechanical swing joint 14-2, which are connected to the lifting handle 13 by 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 gripper 16 by screws.

[0079] The mechanical infinitely rotating joint 15 achieves its infinite rotation function through air supply via pneumatic connectors 15-2 and 15-4.

[0080] like Figure 9 As shown, the gripper 16 includes a first stroke adjusting screw 16-1, a second stroke adjusting screw 16-4, a clamping cylinder 16-2, a workpiece positioning block 16-3, a workpiece positioning protective pad block 16-5, a clamping plate 16-6, and a clamping plate workpiece protective pad block 16-7.

[0081] One end of the clamping cylinder 16-2 is connected to the mechanical infinite rotation joint 15. The first stroke adjustment screw 16-1 and the second stroke adjustment screw 16-4 are 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 on the rear side of the clamping cylinder 16-2 and is used to position the workpiece in front, behind, left, right, up and down. The left and right positioning positions are adjusted by the mounting screws. The workpiece positioning protective 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. The clamping plate workpiece protection pads 16-7 are installed on the clamping plates 16-6 to protect the clamped workpiece.

[0084] The workpiece positioning protective pad 16-5 and the workpiece protective pad 16-7 of the clamping plate in contact with the workpiece are both made of copper or high-molecular elastomer through spraying process to avoid damage to the workpiece surface.

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

[0086] 1. The worker manually pushes the lever 4-way shared torque arm to move the assembly assist device to the workbench.

[0087] 2. Turn on the gas supply switch

[0088] 3. Adjust the multi-torsion arm connecting assembly 5 to adjust the vertical position of the torque arm.

[0089] 4. Set the limit switches for the horizontal slewing arm (7) and the lifting arm (8) with different torque arms to prevent collisions with other objects on the worktable.

[0090] 5. Adjust the limit switches 10 of the lifting arm with 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 unloaded to adjust the self-balancing state of different torque arms when unloaded. It is advisable to move or raise the torque arm to a position where it can be suspended at any point.

[0092] 7. Rotate the different torque arm jaws 16 to align with the workpieces to be gripped; they can grip simultaneously or grip individually.

[0093] 8. Manually move the gripper 16 above the workpiece and slowly bring it into contact with the workpiece.

[0094] 9. Press the pneumatic switch on pneumatic controller 12 to clamp the workpiece.

[0095] 10. Adjust the air supply in the pneumatic control box 3 under load to regulate the self-balancing state of the torque arm under different loads. It is advisable to move or raise the torque arm to any position for it to hover.

[0096] 11. Move to the workpiece mounting position

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

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

[0099] 1. Adjustment process of multi-torsion arm connecting assembly 5: Adjust the limit through the screw hole, and refer to the clamping position height of the workpiece when the upper and lower positions of the torque arm are referenced.

[0100] 2. Adjustment of the limit of the horizontal slewing arm slewing brake 7: Adjust the installation position 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. 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 horizontal slewing brake 8 of lifting arm: Adjust the installation position of the second counterclockwise limit block 8-1 and the second clockwise limit block 8-3 on the horizontal slewing brake disc 8-4 of the lifting arm to adjust the rotation range of the horizontal slewing brake 8 of the lifting arm. 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. Adjustment process of lifting arm limit 10: Adjust the position of the adjusting screw to adjust the position of the limit block;

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

[0104] No-load adjustment: Set the pneumatic controller 12 to the no-load state. When the gripper 16 is not gripping a workpiece, slowly rotate the round cap knob on top of the precision pressure reducing valve inside the pneumatic control box 3 to adjust the no-load balance pressure until the vertical pushing force of the gripper 16 reaches the lightest floating state. As the core pneumatic component of the lifting control, the precision pressure reducing valve can sensitively detect any slight push-pull action on the tool end, any force imbalance caused by the lifting direction, resulting in changes in the pressure difference across the cylinder. Thus, through real-time control of the main cylinder's air intake and exhaust, the system always maintains dynamic balance, achieving equipment levitation.

[0105] Load Adjustment: Set the pneumatic controller 12 to the load state, gripper 16 grasps the workpiece, and slowly rotate the round cap knob on top of the precision pressure reducing valve inside the pneumatic control box 3 to adjust the load balance pressure until the vertical pushing force of the gripper 16 reaches the lightest floating state. As the core pneumatic component of the lifting control, the precision pressure reducing valve sensitively senses any slight push-pull action on the tool end, any imbalance in force caused by the lifting direction, resulting in changes in the pressure difference across the cylinder. Thus, through real-time control of the main cylinder's intake and exhaust, the system maintains dynamic balance, achieving equipment levitation.

[0106] Gripper 16 adjustment: Adjust the left and right position and the up and down position of the workpiece positioning block 16-3 by screws. After adjustment, when the workpiece positioning block 16-3 is just holding the workpiece, the clamping plate 16-6 is just holding the workpiece in the clamping position.

[0107] The parts of this invention not described in detail are common knowledge to those skilled in the art.

Claims

1. A flexible assembly assist device with a shared torsion arm, characterized in that... include: Support, torque arm, gripper, pneumatic control box (3) and lifting rail assembly (6); The support includes a counterweight base (1), a main column (2), a push handle (4), and a multi-torsion arm connection assembly (5); The main column (2) is installed on the counterweight base (1), and the upper end of the main column (2) is equipped with a lifting rail assembly (6); the middle part of the main column (2) is equipped with a push handle (4) and a pneumatic control box (3); the main column (2) provides multiple sets of arm height locking holes for the lifting rail assembly (6); The lifting rail assembly (6) includes a lifting transmission screw assembly (6-1), a limiting block (6-2), a slide rail (6-3), and a slider (6-4); the slider (6-4) is provided on the slide rail (6-3), and the multi-torsion arm connecting assembly (5) is fixedly connected to the slider (6-4). It is driven to move up and down along the slide rail (6-3) by the lifting transmission screw assembly (6-1), and the upper and lower limits are realized by the limiting block (6-2); 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). One end of the horizontal slewing arm slewing brake (7) is installed on the multi-torsion 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) has a parallelogram structure, with one end installed on the horizontal rotation brake (8) of the lifting arm. The lifting position of the lifting arm (11) is limited by the lifting arm limit (10). One end of the pneumatic controller (12) is connected to the lifting arm (11), and the other end is connected in sequence to the lifting handle (13), the mechanical swing joint (14) and the mechanical infinite rotation joint (15); the mechanical infinite rotation joint (15) is connected to the gripper (16); The pneumatic controller (12) is mounted on the torque arm. The lifting arm (11) is a parallelogram structure. The lifting arm (11) is driven by the lifting arm balance cylinder (11-3) in the lifting arm (11) to lift the front load. The pneumatic control box (3) is connected to the lifting arm balance cylinder (11-3) to control its air intake and achieve the working position of the lifting arm (11) being suspended. The pneumatic controller (12) has a pneumatic switch for opening and closing the gripper (16) to achieve the gripping of the front load.

2. The shared torque arm dexterous assembly assist device according to claim 1, characterized in that: The counterweight base (1) includes a chassis (1-1), a counterweight (1-2), and casters (1-3); 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-assist device, and improve the stability of the power-assist device during movement and operation, the number of casters (1-3) is greater than or equal to 3, and it has a lifting function to finely adjust the height of the power-assist device, and at the same time realize the omnidirectional movement of the power-assist device and the position locking during operation; the push handle (4) has adjustable up and down position and tilt angle to adapt to different operators.

3. The shared torque arm dexterous assembly assist device according to claim 1, characterized in that: The multi-torsion arm connection assembly (5) includes a first torque arm connector (5-1), a second torque arm connector (5-2), and a column connector (5-3); The column connector (5-3) is provided with a torque arm connecting groove. The first torque arm connector (5-1) and the second torque arm connector (5-2) are connected to the torque arm connecting groove of the column connector (5-3), which can realize the manual adjustment of the up and down position of the torque arm. The column connector (5-3) is connected to the slider (6-4) to realize the simultaneous lifting and lowering of the torque arm.

4. The shared torsion arm dexterous assembly assist device according to claim 3, characterized in that: The horizontal slewing arm (9) includes 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) includes a first counterclockwise limiting block (7-1), a first slewing brake handle assembly (7-2), a first clockwise limiting block (7-3), and a horizontal slewing arm brake disc (7-4); The lifting arm horizontal rotation brake (8) includes a second counterclockwise limiting block (8-1), a second rotation brake handle assembly (8-2), a second clockwise limiting block (8-3), and a lifting arm horizontal rotation brake disc (8-4); The lifting arm slewing shaft (9-1), the horizontal slewing arm slewing shaft (9-2), and the main arm (9-3) are all connected by interference fit or mechanical fastening. There is no relative movement between the lifting arm slewing shaft (9-1), the horizontal slewing arm slewing shaft (9-2), and the main arm (9-3). In the horizontal slewing arm slewing brake (7), the horizontal slewing arm brake disc (7-4) and the second torque arm connector (5-2) are respectively connected to the horizontal slewing arm shaft (9-2) through bearings; the first slewing brake handle assembly (7-2) is installed on the second torque arm connector (5-2), and the handle rotation drives the lower locking block to press the horizontal slewing arm brake disc (7-4), thereby realizing the locking and unlocking of the horizontal slewing arm; the first counterclockwise limiting block (7-1) and the first clockwise limiting block (7-3) are fixed in different positions in the horizontal slewing arm brake disc (7-4), thereby realizing different limiting angles; The lifting arm horizontal rotation brake disc (8-4) and the first torque arm connector (5-1) of the lifting arm horizontal rotation brake (8) are respectively connected to the lifting arm rotation shaft (9-1) through bearings; the second rotation brake handle assembly (8-2) is installed on the first torque arm connector (5-1), and the lower locking block is pressed against the lifting arm horizontal rotation brake disc (8-4) by rotating the handle, thereby realizing the locking and unlocking of the lifting arm horizontal rotation brake; the second counterclockwise limit block (8-1) and the second clockwise limit block (8-3) are fixed in different positions in the lifting arm horizontal rotation brake disc (8-4), thereby realizing different limit angles.

5. The shared torque arm dexterous assembly assist device according to claim 1, characterized in that: The lifting arm (11) includes a horizontal slewing arm connector (11-1), an upper lifting arm connecting rod (11-2), a lifting arm balance cylinder (11-3), a lower lifting arm connecting rod (11-4), a lifting arm cylinder connecting rod connector (11-5), and a rear lifting arm connecting rod (11-6). One end of the lifting arm cylinder connecting rod connector (11-5) is a fixed connecting piece, and the other end is a bearing. The lifting arm horizontal slewing 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. The lifting arm balance cylinder (11-3) is connected to the lifting arm horizontal slewing arm connector (11-1) and the lifting arm rear connecting rod (11-6) at both ends respectively. The lifting arm balance cylinder (11-3) performs work to push the lifting arm rear connecting rod (11-6) to lift and lower, thereby realizing the lifting and lowering of the front load. The parallelogram motion characteristics ensure that the front load always maintains a constant horizontal angle during the lifting and lowering motion of the lifting arm (11).

6. The shared torque arm dexterous assembly assist device according to claim 1, characterized in that: The mechanical swing joint (14) includes a mechanical swing upper joint (14-1) and a mechanical swing lower joint (14-2) connected together. The mechanical swing upper joint (14-1) is connected to the lifting handle (13) by bolts or pins. The mechanical infinite rotation joint (15) includes a mechanical infinite rotation upper joint (15-1) and a mechanical infinite rotation lower joint (15-3). 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 gripper (16) by screws.

7. The shared torsion arm dexterous assembly assist device according to claim 6, characterized in that: The mechanical infinite rotation joint (15) achieves infinite rotation through air supply via the first pneumatic connector (15-2) and the second pneumatic connector (15-4).

8. The shared torsion arm dexterous assembly assist device according to claim 6, characterized in that: The gripper (16) includes a first stroke adjusting screw (16-1), a second stroke adjusting screw (16-4), a clamping cylinder (16-2), a workpiece positioning block (16-3), a workpiece positioning protective pad (16-5), a clamping plate (16-6), and a clamping plate workpiece protective pad (16-7). One end of the clamping cylinder (16-2) is connected to the mechanical infinite rotation joint (15). The first stroke adjustment screw (16-1) and the second stroke adjustment screw (16-4) are located on both sides of the clamping cylinder (16-2) respectively, 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 front, behind, left, right, up and down. The left and right positioning positions are adjusted by the mounting screws. The workpiece positioning protective 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) for clamping the workpiece. The clamping plates (16-6) are equipped with workpiece protection pads (16-7) to protect the clamped workpiece.

9. A shared torsion arm dexterous assembly assist device according to claim 8, characterized in that: The workpiece positioning protective pad (16-5) and the workpiece protective pad (16-7) of the clamp (16) in contact with the workpiece are both made of copper or high-molecular elastomer spraying process to avoid damage to the workpiece surface.

10. A shared torsion arm dexterous assembly assist device according to claim 5, characterized in that: The specific adjustment process of the pneumatic control box (3) is as follows: No-load adjustment: Set the pneumatic controller (12) to no-load state. When the gripper (16) is not gripping the workpiece, adjust the precision pressure reducing valve in the pneumatic control box (3) to adjust the no-load balance pressure until the gripper (16) reaches the lightest floating state in the up and down pushing force. Thus, by controlling the air intake and exhaust of the lifting arm balance cylinder (11-3) in real time, the system always maintains dynamic balance and realizes the suspension of the equipment. Load adjustment: Set the pneumatic controller (12) to the load state, the gripper (16) grabs the workpiece, adjust the precision pressure reducing valve in the pneumatic control box (3) to adjust the load balance pressure until the gripper (16) pushes up and down to the lightest floating state; thereby, by 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 the equipment suspension.

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