Lifting mechanical arm

Abstract

The invention discloses a lifting mechanical arm which comprises a supporting arm and a movable arm, the near end of the supporting arm is used for being connected to a stand column, the near end of the movable arm is in pivot joint with the far end of the supporting arm through a vertically-arranged mandrel so that the movable arm can pivot around the supporting arm, and the far end of the movable arm is connected with a long and thin part. A workpiece needing to be lifted is used for being detachably attached to the lower end of the thin and long component; a damping component is arranged between the supporting arm and the movable arm, in the process that the movable arm pivots in the direction of the supporting arm, the damping component provides resistance for preventing the movable arm from rotating to the movable arm, and the resistance provided by the damping component at least partially counteracts the rotating torque enabling the movable arm to rotate. And in the process that the movable arm is pivoted from a flat angle state relative to the supporting arm to a right angle state relative to the supporting arm, the resistance provided by the damping part is gradually increased.

Description

Technical Field

[0001] The invention relates to the technical field of non-standard equipment design, and in particular to a lifting mechanical arm. Background Art

[0002] The prior art has a lifting device with the following structure: Figure 1 As shown, the lifting device includes a column and a mechanical arm which is horizontally placed on the top of the column and the tail end of which is connected to the upper end of the supporting column. The mechanical arm includes two sections, namely, a supporting arm close to the column and connected to the upper end of the column and a movable arm away from the column. The proximal end of the movable arm is connected to the supporting arm through a vertically arranged core shaft, so that the movable arm can pivot horizontally relative to the supporting arm. The distal end of the movable arm is connected with a lifting rope (or a lifting rod), and the workpiece to be lifted can be detachably attached to the bottom of the lifting rope. The lifting rope is held by hand and pushed against the lifting rope to pivot the movable arm, thereby transporting the workpiece to the designated workstation.

[0003] The above-mentioned lifting device in the prior art has the following defects when used:

[0004] Inevitably, due to factors such as assembly clearance and gravity, the robot arm is not actually parallel to the horizontal plane but forms a certain angle, especially the movable arm in the robot arm. When the movable arm is pivoted to form a deflection angle with the robot arm (relative to the flat angle state) for lifting the workpiece, the gravity of the movable arm (if a workpiece is hoisted, the gravity of the workpiece also serves as the gravity of the movable arm) will have a component force in the pivot plane of the movable arm. The component force will produce a torque that causes the movable arm to have a reverse tendency, which results in: the workers need to apply force to the lifting rope to balance the torque to prevent the movable arm from rotating, which is bound to cause the workers to be laborious, and because the lifting rope is a flexible component, it is difficult to apply force. Summary of the invention

[0005] In view of the above problems existing in the prior art, an object of the present invention is to provide a lifting robot arm to solve the problems in the prior art.

[0006] In order to achieve the above object, the present invention adopts the following scheme.

[0007] A lifting mechanical arm comprises: a supporting arm and a movable arm, wherein the proximal end of the supporting arm is used to be connected to a column, the proximal end of the movable arm is pivotally connected to the distal end of the supporting arm through a vertically arranged spindle so that the movable arm can pivot around the supporting arm, and the distal end of the movable arm is connected to a slender component, and a workpiece to be lifted is used to be detachably attached to the lower end of the slender component; wherein:

[0008] A damping component is arranged between the support arm and the movable arm. During the process of the movable arm pivoting toward the support arm, the damping component provides resistance to the movable arm to prevent the movable arm from rotating. The resistance provided by the damping component at least partially offsets the rotational torque causing the movable arm to rotate. Moreover, during the process of the movable arm pivoting from a flat angle state relative to the support arm to a right angle state relative to the support arm, the resistance provided by the damping component gradually increases.

[0009] Preferably, the damping component comprises:

[0010] A connecting member, comprising a first connecting member fixed to the bottom of the support arm and a second connecting member fixed to the bottom of the movable arm;

[0011] A bearing seat, which is fixed to the bottom of the first connecting member, and a bearing is installed in the bearing seat;

[0012] A rotating shaft is arranged vertically, the upper end of the rotating shaft is penetrated by the bearing in the bearing seat, the rotating shaft extends out of the lower part of the bearing seat, and a radial hole is opened on the rotating shaft below the bearing seat;

[0013] A guide shaft, the distal end of which is pivotally connected to the second connecting portion, the guide shaft passes through the radial hole and can slide along the radial hole; wherein:

[0014] The radial dimension of the guide shaft is configured such that the diameter decreases from a preset axial position of the guide shaft toward the proximal end of the guide shaft;

[0015] A friction component is disposed in the radial hole, and the friction component is used to contact the outer peripheral surface of the guide shaft to provide friction force to the guide shaft;

[0016] The preset axial position is located at: when the movable arm pivots to form a right angle with the support arm, the preset axial position slides to the radial hole.

[0017] Preferably, the radial dimension of the guide shaft is further configured such that the diameter decreases from a preset axial position of the guide shaft toward a distal end of the guide shaft.

[0018] Preferably, the friction components include two, and the two friction components are arranged above and below the radial hole respectively; wherein:

[0019] A threaded hole is opened upward from the lower end of the rotating shaft, a screw is screwed into the threaded hole from the bottom of the rotating shaft, a disc spring is arranged in the threaded hole above the screw, and the disc spring is used to apply a pre-tightening force to the friction component located below. The compression degree of the disc spring is adjusted by screwing the screw, thereby adjusting the pre-tightening force on the friction component.

[0020] Preferably, a first screw is screwed into the proximal end of the guide rod, and the diameter of the nut of the first screw is larger than the diameter of the guide rod, so that the nut of the first screw forms a limit platform.

[0021] Preferably, a joint bearing is provided at the distal end of the guide rod, and the joint bearing is penetrated by a second screw and screwed into the second connecting component so that the guide rod is hinged to the second connecting component.

[0022] Preferably, the proximal end of the movable arm is configured with two upper and lower ear plates, the distal end of the support arm extends between the two ear plates, and the core shaft passes through the two ear plates and the distal end of the support arm between the two ear plates.

[0023] Preferably, a retaining ring is installed on the rotating shaft to limit the rotating shaft from escaping from the bearing seat.

[0024] Compared with the prior art, the lifting mechanical arm provided by the present invention has the following advantages:

[0025] The mechanical arm provided by the present invention can keep the movable arm at the angle to which it is rotated by a human hand with only a very small force when the movable arm is rotated to any angle. The mechanical arm is also conducive to manually resetting the movable arm to a state of being at a right angle with the support arm with a very small force.

[0026] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention.

[0027] This summary of various implementations or examples of the technology described in this disclosure is not a comprehensive disclosure of the entire scope or all features of the disclosed technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In the drawings, which are not necessarily drawn to scale, the same reference numerals may describe similar parts in different views. The same reference numerals with letter suffixes or different letter suffixes may represent different instances of similar parts. The accompanying drawings generally illustrate various embodiments by way of example and not limitation, and together with the specification and claims, are used to illustrate the embodiments of the invention. When appropriate, the same reference numerals are used throughout the drawings to refer to the same or similar parts. Such embodiments are illustrative and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method.

[0029] Figure 1 It is a structural schematic diagram of a lifting device in the prior art.

[0030] Figure 2 A three-dimensional structural view of a lifting robot arm provided in an embodiment of the present invention.

[0031] Figure 3 A front view of a lifting robot arm provided in an embodiment of the present invention.

[0032] Figure 4 for Figure 3 An enlarged view of detail A.

[0033] Figure 5 A schematic structural diagram of a guide rod in a lifting robot arm provided in an embodiment of the present invention.

[0034] Figure 6 for Figure 4 A-direction view.

[0035] Reference numerals:

[0036] 10-mechanical arm; 11-support arm; 12-movable arm; 13-core shaft; 20-damping component; 21-guide rod; 211-first screw; 212-spherical bearing; 213-second screw; 22-rotating shaft; 221-radial hole; 23-bearing seat; 231-retaining ring; 24-friction component; 25-screw; 26-disc spring; 271-first connecting component; 272-second connecting component; 30-column; 40-slender component. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0039] In order to keep the following description of the embodiments of the present invention clear and concise, detailed descriptions of well-known functions and well-known components are omitted.

[0040] like Figures 2 to 5 As shown, an embodiment of the present invention discloses a lifting robot arm 10, which comprises: a support arm 11, a movable arm 12 and a damping component 20. The support arm 11 has a proximal end and a distal end, and the movable arm 12 has a proximal end and a distal end. The proximal end of the movable arm 12 is pivotally connected to the distal end of the support arm 11 through a vertically arranged core shaft 13, so that the movable arm 12 can rotate relative to the support arm 11. The proximal end of the support arm 11 is connected to the top of the column 30, and the distal end of the movable arm 12 is connected to a slender component 40 such as a lifting rope or a hanging rod. The tool (not shown) to be lifted is detachably connected to the lower end of the slender component 40, so that the movable arm 12 can be pivoted relative to the support arm 11 by manually applying force to the slender component 40, so that the workpiece is lifted to any position of the projection of the trajectory of the end movement of the movable arm 12 on the ground.

[0041] It should be noted that: due to the inevitable installation gap between the support arm 11 and the column 30, and between the movable arm 12 and the support arm 11, under the action of the gravity of the movable arm 12 (for example, if a workpiece is hoisted at the lower end of the slender component 40, the gravity of the workpiece is included), the robot arm 10 will not be parallel to the horizontal plane, but will form a certain angle with the horizontal plane. This angle leads to the following unfavorable results: if the angle between the movable arm 12 and the support arm 11 is not a straight angle (that is, the straight angle is the angle between the movable arm 12 and the support arm 11 when the movable arm 12 and the support arm 11 are unfolded to form a straight angle), the robot arm 10 will not be parallel to the horizontal plane, but will form a certain angle with the horizontal plane. Straight line) or 0 degree angle (that is, 0 degree angle is when the movable arm 12 and the support arm 11 are folded to form a straight line), that is, the movable arm 12 and the support arm 11 are not in a straight line, then, the gravity of the movable arm 12 has a component force relative to the pivot plane of the movable arm 12, and the component force causes a rotational torque that causes the movable arm 12 to rotate in the direction of forming a straight angle with the support arm 11, and when the movable arm 12 pivots to form a right angle with the support arm 11, the rotational torque is the largest, and the closer to a straight angle or 0 degree angle, the smaller the rotational torque.

[0042] The damping component 20 is disposed between the support arm 11 and the movable arm 12. Figure 6 As shown, the damping component 20 is used to provide resistance to the movable arm 12 to prevent the movable arm 12 from rotating, that is, a damping torque opposite to the rotation torque is generated by the resistance, and as the rotation torque increases, the damping torque also increases, so that the force applied by the human hand to keep the movable arm 12 at the pivoted angle can be reduced.

[0043] The present invention provides a damping component 20 with a specific structure, such as Figure 3 Combined with Figure 4As shown, the damping component 20 includes: a first connecting component 271, a second connecting component 272, a bearing seat 23, a rotating shaft 22, a guide rod 21, a friction component 24, a disc spring 26 and a screw 25. The first connecting component 271 is fixed to the bottom of the support arm 11 and close to the distal end of the support arm 11, and the second connecting component 272 is fixed to the bottom of the movable arm 12 and close to the proximal end of the movable arm 12; the bearing seat 23 is installed at the bottom of the first connecting component 271, the rotating shaft 22 is arranged vertically, and the upper end of the rotating shaft 22 is installed in the bearing seat 23 and cooperates with the bearing in the bearing seat 23, so that the rotating shaft 22 can rotate freely, and a retaining ring 231 is installed on the rotating shaft 22 to limit the rotating shaft 22 from coming out of the bearing seat 23; a radial hole 221 is opened on the rotating shaft 22 located below the bearing seat 23.

[0044] The outer peripheral surface of the guide rod 21 is a cylinder. The guide rod 21 has a proximal end and a distal end. The distal end of the guide rod 21 is installed with a joint bearing 212. The joint bearing 212 is penetrated by a second screw 213. The second screw 213 is screwed into the second connecting part 272 from the lower end of the second connecting part 272, so that the distal end of the guide rod 21 is hinged to the second connecting part 272. The guide rod 21 penetrates the radial hole 221 of the rotating shaft 22 and can slide along the radial hole 221. In this way, when the movable arm 12 pivots, each shaft section of the guide rod 21 passes through the radial hole 221. By reasonably configuring the axial size of the guide rod 21, when the movable arm 12 pivots to a vertical state with the support arm 11, the middle section (i.e., the preset axial position) of the guide rod 21 corresponds to the radial hole 221.

[0045] The friction components 24 include two friction components 24, which are respectively arranged above the radial hole 221 and below the radial hole 221. The radially inward ends of the friction components 24 contact the outer peripheral surface of the guide rod 21 to form friction force with the guide rod 21. The friction force serves as the above-mentioned resistance to form a damping torque.

[0046] The characteristic of the diameter of the guide rod 21 is configured as follows: from the middle section to the two ends (proximal end and distal end), the diameter of the guide rod 21 gradually changes, that is, the guide rod 21 is configured as a structure that is thick in the middle and thin at both ends. In this way, the pressure of the middle section on the friction component 24 is greater than the pressure of the non-middle section on the friction component 24, so that the friction force on the guide rod 21 generated when the middle section is opposite to the friction component 24 is greater than the friction force on the guide rod 21 generated when the non-middle section is opposite to the friction component 24. In this way, it is possible to adapt to the changing characteristics of the rotation torque of the movable arm 12 at different pivot angles. By reasonably configuring the diameter change of the guide rod 21, when the movable arm 12 pivots to any angle, the rotation torque and the damping torque generated by the friction force are basically the same, so that when the movable arm 12 rotates to any angle, the human hand only needs to apply a very small force to keep the movable arm 12 at the angle to which it rotates. In addition, the above configuration of the radial dimension of the guide rod 21 is also conducive to manually resetting the movable arm 12 to a state where it forms a right angle with the support arm 11 using a very small force.

[0047] In some preferred structures, a threaded hole is opened upward at the lower end of the rotating shaft 22, a screw rod 25 is screwed into the threaded hole below the rotating shaft 22, a disc spring 26 is arranged in the threaded hole above the screw rod 25, and the disc spring 26 is used to apply a pre-tightening elastic force to the friction component 24 located below, and the compression degree of the disc spring 26 is adjusted by screwing the screw rod 25, thereby adjusting the pre-tightening elastic force on the friction component 24. By screwing the screw rod 25, the friction force of the friction component 24 on the guide rod 21 as a whole can be adjusted, so that workpieces of different weights can be adapted for lifting.

[0048] In some preferred structures, a first screw 211 is screwed into the proximal end of the guide rod 21, and the diameter of the nut of the first screw 211 is larger than the diameter of the guide rod 21, so that the nut of the first screw 211 constructs a limit platform, which is used to limit the radial disengagement of the guide rod 21 from the rotating shaft 22.

[0049] In some preferred structures, the proximal end of the movable arm 12 is configured with two ear plates arranged upper and lower, the distal end of the support arm 11 extends between the two ear plates, and the core shaft 13 passes through the two ear plates and the distal end of the support arm 11 between the two ear plates. This structure is conducive to reducing the assembly gap, thereby reducing the angle of the movable arm 12 relative to the horizontal plane.

[0050] In addition, although exemplary embodiments have been described in the present invention, the scope includes any and all embodiments based on the present invention with equivalent elements, modifications, omissions, combinations (e.g., various embodiments intersecting schemes), adaptations or changes. The elements in the claims will be interpreted broadly based on the language adopted in the claims, and are not limited to the examples described in this specification or during the implementation of this application, and their examples will be interpreted as non-exclusive. Therefore, this specification and examples are intended to be considered as examples only, and the true scope and spirit are indicated by the following claims and the full scope of their equivalents.

[0051] The above description is intended to be illustrative rather than restrictive. For example, the above examples (or one or more of them) can be used in combination with each other. For example, a person of ordinary skill in the art can use other embodiments when reading the above description. In addition, in the above-mentioned specific embodiments, various features can be grouped together to simplify the present invention. This should not be interpreted as an intention that a disclosed feature that is not required to be protected is necessary for any claim. On the contrary, the subject matter of the present invention may be less than all the features of a specific disclosed embodiment. Thus, the following claims are incorporated into the specific embodiments as examples or embodiments, wherein each claim is independently used as a separate embodiment, and it is considered that these embodiments can be combined with each other in various combinations or arrangements. The scope of the present invention should be determined with reference to the attached claims and the full scope of equivalent forms granted by these claims.

[0052] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. A lifting robot arm, characterized in that: include: A support arm and a movable arm, wherein the proximal end of the support arm is used to be connected to a column, the proximal end of the movable arm is pivotally connected to the distal end of the support arm through a vertically arranged spindle so that the movable arm can pivot around the support arm, and the distal end of the movable arm is connected to a slender component, and the workpiece to be lifted is used to be detachably attached to the lower end of the slender component; wherein: A damping component is arranged between the support arm and the movable arm. During the process of the movable arm pivoting toward the support arm, the damping component provides resistance to the movable arm to prevent the movable arm from rotating. The resistance provided by the damping component at least partially offsets the rotational torque causing the movable arm to rotate. Moreover, during the process of the movable arm pivoting from a flat angle state relative to the support arm to a right angle state relative to the support arm, the resistance provided by the damping component gradually increases.

2. The lifting robot arm according to claim 1, characterized in that: The damping component comprises: A connecting member, comprising a first connecting member fixed to the bottom of the support arm and a second connecting member fixed to the bottom of the movable arm; A bearing seat, which is fixed to the bottom of the first connecting member, and a bearing is installed in the bearing seat; A rotating shaft is arranged vertically, the upper end of the rotating shaft is penetrated by the bearing in the bearing seat, the rotating shaft extends out of the lower part of the bearing seat, and a radial hole is opened on the rotating shaft below the bearing seat; A guide shaft, the distal end of which is pivotally connected to the second connecting portion, the guide shaft passes through the radial hole and can slide along the radial hole; wherein: The radial dimension of the guide shaft is configured such that the diameter decreases from a preset axial position of the guide shaft toward the proximal end of the guide shaft; A friction component is disposed in the radial hole, and the friction component is used to contact the outer peripheral surface of the guide shaft to provide friction force to the guide shaft; The preset axial position is located at: when the movable arm pivots to form a right angle with the support arm, the preset axial position slides to the radial hole.

3. The lifting robot arm according to claim 2, characterized in that: The radial dimension of the guide shaft is also configured such that the diameter decreases from a preset axial position of the guide shaft toward the distal end of the guide shaft.

4. The lifting robot arm according to claim 2, characterized in that: The friction components include two friction components, which are respectively arranged above and below the radial hole; wherein: A threaded hole is opened upward from the lower end of the rotating shaft, a screw is screwed into the threaded hole from the bottom of the rotating shaft, a disc spring is arranged in the threaded hole above the screw, and the disc spring is used to apply a pre-tightening force to the friction component located below. The compression degree of the disc spring is adjusted by screwing the screw, thereby adjusting the pre-tightening force on the friction component.

5. The lifting robot arm according to claim 2, characterized in that: A first screw is screwed into the proximal end of the guide rod, and the diameter of the nut of the first screw is larger than the diameter of the guide rod, so that the nut of the first screw forms a limiting platform.

6. The lifting robot arm according to claim 2, characterized in that: A joint bearing is arranged at the distal end of the guide rod, and the joint bearing is penetrated by a second screw and screwed into the second connecting component so that the guide rod is hinged to the second connecting component.

7. The lifting robot arm according to claim 1, characterized in that: The proximal end of the movable arm is configured with two upper and lower ear plates, the distal end of the support arm extends between the two ear plates, and the core shaft passes through the two ear plates and the distal end of the support arm between the two ear plates.

8. The lifting robot arm according to claim 2, characterized in that: A retaining ring is arranged on the rotating shaft to prevent the rotating shaft from coming out of the bearing seat.

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