An automated power-assisted manipulator for material movement

Abstract

This invention relates to the field of intelligent manufacturing equipment industry, specifically to an automated power-assisted manipulator for material handling. It includes a column, a rotating column, a cantilever body, and a braking mechanism. The rotating column is rotatably mounted on the column, and the cantilever body is mounted on the rotating column. The braking mechanism includes a first braking component and a second braking component. The first braking component includes a fixed housing and a brake block. The fixed housing is mounted on the rotating column, and the brake block is movably mounted on the fixed housing. The second braking component includes a brake disc, which is rotatable relative to the column and is located above the brake block. This automated power-assisted manipulator for material handling, by incorporating a braking mechanism that allows the brake disc to rotate relative to the brake block, changes the contact position between the brake block and the brake disc during the next braking action. This improves the uniformity of brake disc wear, extends the brake disc's service life, and makes braking more stable.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing equipment industry, specifically to an automated assistive robot for material handling. Background Technology

[0002] As an important material handling auxiliary device in the intelligent manufacturing equipment industry, the column-type rigid arm-assisted robot uses compressed air as a power source and relies on a rigid robotic arm in conjunction with a balancing mechanism to easily lift, accurately move, and place heavy objects. It can significantly reduce the labor intensity of manual handling, improve material transfer efficiency and operation accuracy, and is widely used in industrial scenarios such as parts assembly, finished product handling, and material loading and unloading, effectively adapting to the automation operation needs of the modern intelligent manufacturing equipment industry.

[0003] The main structure of a column-type rigid-arm assisted manipulator includes a column fixed to the ground, a large arm connected to the column, a small arm hinged to the large arm, and a gripping arm mounted on the small arm. Through the cooperation of the column, large arm, small arm, and gripping arm, material transfer is achieved. During material transfer, for example, after the lifted material is moved to one location, each rotating joint needs to be temporarily fixed. Currently, friction braking devices are commonly used in the industry to achieve temporary locking and positioning of the rotating joints of assisted manipulators. For example, Chinese patent application CN121848363A discloses a braking device for the rotating joints of a fixed assisted manipulator. This device uses a combination of a first braking module and a second braking module on the rotating joints of the fixed assisted manipulator, utilizing a brake disc and two brake blocks to brake the moving parts. However, in actual use, the rotation range or movement distance of the robotic arm is usually fixed. That is, the material is transferred from one fixed point to another. The robotic arm reciprocates between the two fixed points, and the braking and locking angles and strokes are basically the same each time. This causes the contact position between the brake disc and the two brake blocks to always be consistent, and the braking timing is relatively fixed. This long-term, high-frequency, fixed-point friction braking will cause concentrated wear in local areas of the brake disc, resulting in uneven wear. Over time, this will lead to insufficient braking force, brake slippage, or even brake failure, posing certain safety hazards. Summary of the Invention

[0004] This invention provides an automated power-assisted manipulator for material handling, which solves the problem that the brake disc of the existing manipulator brake device, when braked in a fixed position, will cause concentrated wear in a local area of ​​the brake disc, resulting in uneven wear and affecting the normal operation of the brake.

[0005] The present invention provides an automated assistive manipulator for material handling, comprising a column, a rotating column, a cantilever body, and a braking mechanism. The column is vertically arranged, the rotating column is coaxial with the column and rotatably mounted on the column, the cantilever body is mounted on the rotating column and can rotate with the rotating column, and the braking mechanism includes a first braking component and a second braking component. The first braking component includes a fixed shell and a brake block. The fixed shell is mounted on the rotating column, and the brake block is mounted on the fixed shell and can move up and down. The second braking component includes a brake disc, which is coaxial with the column and can rotate relative to the column, and the brake block is eccentrically arranged relative to the brake disc and located below the brake disc. The braking mechanism has a first state and a second state. In the first state, there is a gap between the brake block and the brake disc, allowing the rotating column to rotate relative to the column, and the brake disc can rotate synchronously with the rotating column. In the second state, the brake block abuts against the brake disc, restricting the rotation of the rotating column relative to the column. Initially, the braking mechanism is in the first state, and the upward movement of the brake block relative to the fixed shell can switch the braking mechanism from the first state to the second state. The brake block first moves downward relative to the fixed shell, and then moves upward relative to the fixed shell, which can switch the braking mechanism from the second state to the first state. The downward movement of the brake block relative to the fixed shell can cause the brake disc to rotate relative to the brake block.

[0006] Furthermore, multiple adjusting posts are evenly distributed in the circumferential direction of the brake disc, and the adjusting posts can extend and retract in the radial direction of the brake disc; an adjusting plate is connected to the brake block via a mounting plate, the adjusting plate is vertically set and can move up and down relative to the fixed shell, the mounting plate is set perpendicular to the adjusting plate and fixed to the adjusting plate, the brake block is located at the upper end of the mounting plate and can move synchronously with the adjusting plate, the adjusting plate has multiple synchronizing slots and multiple adjusting slots, the multiple synchronizing slots and multiple adjusting slots are arranged sequentially and alternately along the tangent direction of the brake disc on the adjusting plate; in the initial state, an adjusting post is inserted in each synchronizing slot, the adjusting plate drives the brake block to move up and down relative to the brake disc, so that the adjusting post can move out of its synchronizing slot and into the adjusting slot adjacent to the synchronizing slot.

[0007] Furthermore, the synchronization groove is a vertically arranged straight groove, and the adjustment groove is inclined relative to the vertical direction. The adjustment groove includes a deep groove section and a shallow groove section. The depth of the deep groove section is greater than the depth of the shallow groove section, and the depth of the shallow groove section is equal to the depth of the synchronization groove. The shallow groove section is connected to the upper end of the synchronization groove, and the deep groove section is connected to the lower end of the synchronization groove.

[0008] Furthermore, the second brake component also includes a fixed disc, which is coaxial with the brake disc and fixedly mounted on the column. The fixed disc is located above the brake disc, and a first elastic element is provided between the two. The first elastic element is vertically mounted, allowing the brake disc to move up and down relative to the column. A limit ring is also coaxially mounted and fixedly mounted on the column, located below the brake disc. The first elastic element always has the tendency to push the brake disc downward to abut against the limit ring. In the initial state, the brake disc abuts against the limit ring under the action of the first elastic element.

[0009] Furthermore, the fixed disc is provided with a first end face tooth, and the brake disc is provided with a second end face tooth. The first end face tooth and the second end face tooth are arranged opposite each other in the vertical direction, and the first end face tooth can mesh with the second end face tooth.

[0010] Furthermore, a mating disc is provided on the fixed disc, and a rotating ring is rotatably provided on the mating disc, with the first elastic element disposed between the rotating ring and the brake disc.

[0011] Furthermore, a driving component is provided inside the fixed housing, which is used to drive the adjustment plate to move up and down.

[0012] Furthermore, the driving component includes a limiting cylinder and a driving cylinder. The limiting cylinder and the driving cylinder are arranged back to back in the vertical direction inside the fixed housing and are both slidably engaged with the fixed housing. The limiting cylinder is located above the driving cylinder. The output end of the limiting cylinder is provided with a pressure block. In the initial state, the pressure block presses against the inner top wall of the fixed housing. The adjusting plate is installed on the driving cylinder through the positioning plate. The output end of the driving cylinder passes through the positioning plate and is connected to a top block. The top block presses against the fixed plate.

[0013] Furthermore, the fixed shell and the cantilever body are located on the same side.

[0014] Furthermore, the cantilever body includes a lifting arm, a slewing arm, a clamping arm, and a lifting cylinder. The lifting arm is mounted on a rotating column, and the slewing arm is mounted on the end of the lifting arm away from the rotating column and can rotate relative to the lifting arm on a horizontal plane. The lifting cylinder is mounted on the rotating column and is used to drive the lifting arm to lift the slewing arm. The clamping arm is rotatably mounted on the end of the slewing arm away from the lifting arm, and the clamping arm is provided with grippers.

[0015] The beneficial effects of this invention are as follows: An automated power-assisted manipulator for material handling allows the braking mechanism to switch between a first and second state by moving the brake block up and down relative to a fixed housing, enabling the manipulator to switch between action and braking. When resetting and continuing cyclical operation after braking, the brake disc can rotate relative to the brake block during the downward movement of the brake block, changing the relative position between the brake disc and the brake block. This changes the contact position between the brake block and the brake disc during the next braking cycle. Furthermore, the rotation and displacement of the brake disc relative to the brake block occurs during each braking reset, without being limited by the manipulator's rotation range or movement distance, thus providing greater flexibility in repositioning. Ultimately, this achieves uniform wear of the brake disc throughout its circumference, improving the uniformity of brake disc wear, extending the brake disc's service life, and making braking more stable. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of an embodiment of an automated assistive robot for material handling according to the present invention; Figure 2 This is a front view of the overall structure of an embodiment of an automated assistive robot for material handling according to the present invention; Figure 3 This is a schematic diagram of a partial structure of an embodiment of an automated assistive robot for material handling according to the present invention; Figure 4 for Figure 3 A cross-sectional view of the structure shown; Figure 5 for Figure 4 Enlarged view of point A in the middle; Figure 6 This is a schematic diagram of the structure of the first brake component in an embodiment of an automated power-assisted manipulator for material handling according to the present invention; Figure 7 for Figure 6 A schematic diagram of the structure shown from another perspective; Figure 8 for Figure 7 Enlarged view of point B in the middle; Figure 9 for Figure 6 A split diagram of the structure shown; Figure 10This is a schematic diagram of the structure of the second brake component in an embodiment of an automated power-assisted manipulator for material handling according to the present invention; Figure 11 for Figure 10 A schematic diagram of the structure shown from another perspective; Figure 12 This is a schematic diagram of the braking mechanism in the first state of an embodiment of an automated power-assisted manipulator for material handling according to the present invention. Figure 13 This is a schematic diagram of the braking mechanism in the second state of an embodiment of an automated power-assisted manipulator for material handling according to the present invention. Figure 14 This is a schematic diagram of the braking mechanism of an embodiment of the automated power-assisted manipulator for material handling according to the present invention, when switching from a second state to a first state.

[0018] In the diagram: 100, column; 200, rotating column; 201, bearing; 300, first brake component; 310, fixed housing; 320, brake block; 330, mounting plate; 340, adjusting plate; 341, synchronizing groove; 342, adjusting groove; 343, deep groove section; 344, shallow groove section; 350, limit cylinder; 351, pressure block; 360, drive cylinder; 361, top block; 362, roller; 370, positioning plate; 400, first... Two brake components; 410, brake disc; 411, adjusting column; 412, second end face tooth; 413, second chip removal hole; 420, fixed plate; 421, first elastic element; 422, first end face tooth; 423, mating plate; 424, rotating ring; 425, first chip removal hole; 430, limiting ring; 500, lifting arm; 600, rotating arm; 700, clamping arm; 710, gripper; 720, operating panel; 800, lifting cylinder. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] An embodiment of the present invention is an automated power-assisted robot for material handling, such as... Figures 1 to 14 As shown.

[0021] An automated power-assisted manipulator for material handling includes a column 100, a rotating column 200, a cantilever body, and a braking mechanism. The column 100 is vertically arranged. The rotating column 200 is coaxial with the column 100 and rotatably mounted on the column 100 via a bearing 201. The cantilever body is mounted on the rotating column 200 and can rotate with the rotating column 200. The cantilever body is used to grip materials. The braking mechanism includes a first brake component 300 and a second brake component 400. The first brake component 300 is disposed on the rotating column 200 and includes a fixed housing 310 and a brake block 320. The fixed housing 310 is fixedly mounted on the rotating column 200, and the brake block 320 is movably mounted on the fixed housing 310. The second brake component 400 is disposed on the column 100. The second brake component 400 includes a brake disc 410, which is coaxial with the column 100 and can rotate relative to the column 100. The brake block 320 is eccentrically disposed relative to the brake disc 410 and located below the brake disc 410. The surfaces of the brake disc 410 and the brake block 320 that are opposite each other in the vertical direction are friction surfaces.

[0022] The braking mechanism has a first state and a second state. In the first state, there is a gap between the brake block 320 and the brake disc 410, allowing the rotating column 200 to rotate relative to the column 100, and the brake disc 410 can rotate synchronously with the rotating column 200. In the second state, the brake block 320 abuts against the brake disc 410, restricting the rotation of the rotating column 200 relative to the column 100. Initially, the braking mechanism is in the first state, and the upward movement of the brake block 320 relative to the fixed housing 310 can switch the braking mechanism from the first state to the second state. The brake block 320 first moves downward relative to the fixed housing 310, and then moves upward relative to the fixed housing 310, which can switch the braking mechanism from the second state to the first state. The downward movement of the brake block 320 relative to the fixed housing 310 can cause the brake disc 410 to rotate relative to the brake block 320.

[0023] The cantilever body is existing technology. Specifically, the cantilever body includes a lifting arm 500, a rotating arm 600, a clamping arm 700, and a lifting cylinder 800. The lifting arm 500 is mounted on a rotating column 200. The rotating arm 600 is mounted on the end of the lifting arm 500 away from the rotating column 200 via a rotating bearing and can rotate relative to the lifting arm 500 on a horizontal plane. The lifting cylinder 800 is mounted on the rotating column 200 and is used to drive the lifting arm 500 to lift the rotating arm 600. The clamping arm 700 is rotatably mounted on the end of the rotating arm 600 away from the lifting arm 500 via a rotating bearing. The clamping arm 700 is equipped with grippers 710 for gripping materials. The clamping arm 700 is equipped with an operation panel 720, which integrates switches to control the entire robot's movement status, facilitating the adjustment of the robot's position.

[0024] It should be noted that, in addition to being located between the column 100 and the rotating column 200, the braking mechanism in this embodiment can also be located between the lifting arm 500 and the rotating arm 600, or between the rotating arm 600 and the clamping arm 700. That is, the braking mechanism can be located at any rotating joint, thereby increasing the range of applications of the braking mechanism.

[0025] In this embodiment, by setting up a column 100, a rotating column 200, a cantilever body, and a braking mechanism in coordination, the braking mechanism is in a first state during the process of clamping materials and transferring them from one position to another. At this time, a gap is left between the brake block 320 and the brake disc 410, allowing the rotating column 200 to rotate relative to the column 100. The rotation of the rotating column 200 will drive the first braking component 300 (fixed housing 310 and brake block 320) and the cantilever body to rotate, transferring the materials. At this time, the brake disc 410 can rotate synchronously with the rotating column 200, that is, the brake disc 410 and the brake block 320 are relatively stationary.

[0026] When braking is required after the material is transferred to a location, the brake block 320 moves upward relative to the fixed shell 310, causing the braking mechanism to switch from the first state to the second state. At this time, the brake block 320 abuts against the brake disc 410, and the relative rotation of the column 100 and the rotating column 200 is restricted by frictional resistance, so as to achieve rapid braking and locking of the rotating joint and fix the working posture of the cantilever body.

[0027] When resetting and continuing the cycle after braking, the brake block 320 is first moved downward relative to the fixed housing 310, away from the brake disc 410. Then, the brake block 320 is moved upward relative to the fixed housing 310, switching the braking mechanism from the second state to the first state. During the downward movement of the brake block 320, the brake disc 410 can rotate relative to the brake block 320, changing the relative position between the brake disc 410 and the brake block 320. This changes the contact position between the brake block 320 and the brake disc 410 during the next braking. The rotation and displacement of the brake disc 410 relative to the brake block 320 occur during each braking reset, without being limited by the rotation range and movement distance of the manipulator. This makes the repositioning more flexible and ultimately achieves uniform wear of the brake disc 410 throughout its circumference, improving the uniformity of wear, extending the service life of the brake disc 410, and making the braking more stable.

[0028] In a further embodiment, a plurality of adjusting posts 411 are evenly distributed in the circumferential direction of the brake disc 410. Each adjusting post 411 is a spring-loaded telescopic post, allowing it to extend and retract in the radial direction of the brake disc 410. An adjusting plate 340 is connected to the brake block 320 via a mounting plate 330. The adjusting plate 340 is vertically positioned and can move up and down relative to the fixed housing 310. The mounting plate 330 is perpendicular to and fixedly connected to the adjusting plate 340. The brake block 320 is located at the upper end of the mounting plate 330. The adjusting plate 340 has a plurality of synchronizing grooves 341 and a plurality of adjusting grooves 342, which are sequentially and alternately distributed along the tangential direction of the brake disc 410. Specifically, there are two synchronizing grooves 341 and two adjusting grooves 342. In the initial state, each synchronization slot 341 is equipped with an adjustment column 411. The adjustment plate 340 drives the brake block 320 to move up and down relative to the brake disc 410, which can move the adjustment column 411 out of its synchronization slot 341 and into the adjustment slot 342 adjacent to the synchronization slot 341.

[0029] The synchronization groove 341 is a vertically arranged straight groove, and the adjustment groove 342 is inclined relative to the vertical direction. The adjustment groove 342 includes a deep groove section 343 and a shallow groove section 344. The depth of the deep groove section 343 is greater than the depth of the shallow groove section 344. The depth of the shallow groove section 344 is equal to the depth of the synchronization groove 341. The shallow groove section 344 is connected to the upper end of the synchronization groove 341, and the deep groove section 343 is connected to the lower end of the synchronization groove 341.

[0030] See Figure 12 As shown, the braking mechanism is in the first state at this time. There is a gap between the brake block 320 and the brake disc 410, which allows the rotating column 200 to rotate relative to the column 100. The adjusting column 411 is in the synchronization groove 341. Therefore, when the rotating column 200 rotates relative to the column 100, it will drive the first brake component 300 (fixed shell 310, mounting plate 330, adjusting plate 340 and brake block 320) to rotate synchronously. The rotation of the adjusting plate 340 will drive the brake disc 410 to rotate synchronously through the cooperation of the synchronization groove 341 and the adjusting column 411, so that the brake disc 410 and the brake block 320 are relatively stationary.

[0031] When braking is required after the material has been transferred to a location, the adjusting plate 340 is moved upward relative to the fixed housing 310. This movement of the adjusting plate 340 causes the mounting plate 330 and the brake block 320 to move, switching the braking mechanism from a first state to a second state. (See [reference]). Figure 13As shown, at this time, the brake block 320 abuts against the brake disc 410, and the relative rotation of the column 100 and the rotating column 200 is restricted by frictional resistance, so as to realize the rapid braking and locking of the rotating joint. Furthermore, the upward movement of the adjusting plate 340, the mounting plate 330 and the brake block 320 relative to the brake disc 410 will cause the adjusting column 411 to move from the synchronization groove 341 into the deep groove section 343 of the adjusting groove 342.

[0032] When resetting and resuming operation after braking, the adjusting plate 340 is first moved downward relative to the fixed housing 310. This movement of the adjusting plate 340 will cause the mounting plate 330 and brake block 320 to move away from the brake disc 410. During this downward movement of the adjusting plate 340, mounting plate 330, and brake block 320 relative to the brake disc 410, a significant ramp transition exists between the deep groove section 343 and the synchronization groove 341, hindering the movement of the adjusting column 411. Therefore, the movement of the adjusting plate 340 will cause the adjusting column 411 to move obliquely upward along the deep groove section 343, instead of returning to the synchronization groove 341. Finally, the adjusting column 411 will move from the deep groove section 343 into the shallow groove section 344. (See also...) Figure 14 As shown, the adjusting column 411 drives the entire brake disc 410 to rotate relative to the brake block 320, changing the relative position between the brake disc 410 and the brake block 320. This changes the contact position between the brake block 320 and the brake disc 410 during the next braking action, improving the uniformity of brake disc 410 wear. Finally, the adjusting plate 340 moves upward relative to the fixed housing 310, causing the adjusting column 411 to return from the shallow groove section 344 to the synchronous groove 341, and the braking mechanism switches from the second state back to the first state.

[0033] In a further embodiment, the second brake component 400 further includes a fixing disc 420, which is coaxial with the brake disc 410 and fixedly mounted on the column 100. The fixing disc 420 is located above the brake disc 410, and a first elastic element 421 is disposed between them. The first elastic element 421 is vertically arranged, allowing the brake disc 410 to move up and down relative to the column 100. A limit ring 430 is also coaxially mounted and fixedly mounted on the column 100. The limit ring 430 is located below the brake disc 410. The first elastic element 421 is a spring, and it always tends to push the brake disc 410 downward to abut against the limit ring 430. In the initial state, the brake disc 410 abuts against the limit ring 430 under the action of the first elastic element 421.

[0034] Specifically, the brake disc 410 includes a disc body and a flange. The disc body is annular and located above the brake block 320. The flange is coaxial with the disc body and fixedly located at the lower end of the disc body. The flange is used to abut against the limiting ring 430.

[0035] Furthermore, the fixed disc 420 is provided with a first end face tooth 422, and the brake disc 410 is provided with a second end face tooth 412. The first end face tooth 422 and the second end face tooth 412 are arranged opposite each other in the vertical direction, and the first end face tooth 422 can mesh with the second end face tooth 412.

[0036] The fixed disk 420 is bolted to a mating disk 423, and a rotating ring 424 is rotatably mounted on the mating disk 423. A first elastic element 421 is disposed between the rotating ring 424 and the brake disk 410. When the brake disk 410 rotates relative to the fixed disk 420, the brake disk 410, the first elastic element 421 and the rotating ring 424 will rotate synchronously.

[0037] Furthermore, the end face of the fixed disc 420 is evenly distributed with multiple first chip removal holes 425, and the end face of the brake disc 410 is evenly distributed with multiple second chip removal holes 413. Chips are removed by providing the first chip removal holes 425 and the second chip removal holes 413.

[0038] In a further embodiment, a driving component is provided inside the fixed housing 310, which is used to drive the adjusting plate 340 to move up and down. The driving component is a hydraulic telescopic cylinder or a pneumatic cylinder.

[0039] See Figure 12 As shown, when the braking mechanism is in the first state, there is a gap between the brake block 320 and the brake disc 410, allowing the rotating column 200 to rotate relative to the column 100, and the adjusting column 411 is in the synchronization groove 341. The brake disc 410 is located below the fixed disc 420 and does not engage with the fixed disc 420.

[0040] When braking is required after the material has been transferred to a location, the adjusting plate 340 is moved upward relative to the fixed housing 310 by the driving component, so that the braking mechanism switches from the first state to the second state. See [link to relevant documentation]. Figure 13 As shown, the movement of the adjusting plate 340 will cause the mounting plate 330 and the brake block 320 to move. The upward movement of the adjusting plate 340 will cause the adjusting column 411 to move from the synchronization groove 341 into the deep groove section 343 of the adjusting groove 342, and cause the brake block 320 to abut against the brake disc 410. As the adjusting plate 340 continues to move upward, the adjusting plate 340 will drive the brake disc 410 to move upward through the brake block 320 until it abuts against the fixed disc 420. At this time, the first end face tooth 422 and the second end face tooth 412 mesh. The meshing of the first end face tooth 422 and the second end face tooth 412, as well as the cooperation of the brake disc 410 and the brake block 320, work together to brake and reduce the wear of the brake disc 410.

[0041] When resetting is required after braking, the adjusting plate 340 is driven downward relative to the fixed housing 310 by the driving component. The movement of the adjusting plate 340 will drive the mounting plate 330 and the brake block 320 to move. The brake block 320 will maintain contact with the brake disc 410, causing the brake disc 410 to move downward relative to the fixed disc 420 and reset under the action of the first elastic member 421. This causes the first end face teeth 422 and the second end face teeth 412 to separate until the convex edge of the brake disc 410 abuts against the limiting ring 430 again. Afterward, as the adjusting plate 340 continues to move downward, the adjusting column 411 will move from the deep groove section 343 to the shallow groove section 344, see [reference]. Figure 14 As shown, the adjusting column 411 drives the entire brake disc 410 to rotate relative to the brake block 320, changing the relative position between the brake disc 410 and the brake block 320. This changes the contact position between the brake block 320 and the brake disc 410 during the next braking action, improving the uniformity of brake disc 410 wear. Finally, the adjusting plate 340 moves upward relative to the fixed housing 310, causing the adjusting column 411 to return from the shallow groove section 344 to the synchronous groove 341, and the braking mechanism switches from the second state back to the first state.

[0042] Alternatively, the driving component includes a limiting cylinder 350 and a driving cylinder 360. The limiting cylinder 350 and the driving cylinder 360 are arranged back-to-back in the vertical direction within the fixed housing 310 and are both slidably engaged with the fixed housing 310. The limiting cylinder 350 is located above the driving cylinder 360 and is fixedly connected to the driving cylinder 360. A pressure block 351 is provided at the output end of the limiting cylinder 350. In the initial state, the pressure block 351 presses against the inner top wall of the fixed housing 310. The adjusting plate 340 is mounted on the driving cylinder 360 through the positioning plate 370. The output end of the driving cylinder 360 passes through the positioning plate 370 and is connected to a top block 361. The top block 361 presses against the fixed plate 420.

[0043] Furthermore, a roller 362 is provided at the end of the top block 361 facing the fixed disk 420, and the roller 362 rotates with the top block 361.

[0044] In this embodiment, by setting up a drive cylinder 360 and a limit cylinder 350, the adjustment plate 340 can be moved up and down by extending and retracting the drive cylinder 360 and the limit cylinder 350. Specifically, in the initial state, the pressure block 351 presses against the inner top wall of the fixed shell 310, and the top block 361 presses against the fixed disc 420. When braking is required, the limit cylinder 350 retracts the pressure block 351, and the drive cylinder 360 extends the top block 361 further. Since the top block 361 on the drive cylinder 360 abuts against the fixed disc 420, the extension of the top block 361 by the drive cylinder 360 will cause the drive cylinder 360 to move upward relative to the fixed shell 310. The movement of the drive cylinder 360 causes the limit cylinder 350, the adjustment plate 340, the mounting plate 330, the positioning plate 370, and the brake block 320 to move upward synchronously, so that the brake block 320 can abut against the brake disc 410 for braking. When the cycle needs to be reset after braking, the pressure block 351 is extended by the limit cylinder 350 and the top block 361 is retracted by the drive cylinder 360. At this time, the extension of the limit cylinder 350 will cause it to move downward relative to the fixed shell 310. The movement of the limit cylinder 350 will cause the drive cylinder 360, the adjusting plate 340, the mounting plate 330, the positioning plate 370 and the brake block 320 to move downward synchronously, so that the brake block 320 is disengaged from the brake disc 410 and braking is no longer required.

[0045] In another possible embodiment, the fixed housing 310 is located on the same side as the cantilever body.

[0046] By setting the fixed housing 310 on the same side as the cantilever body, that is, by circumferentially arranging the entire first brake component 300 in the same orientation as the cantilever body, and by pressing the top block 361 of the drive cylinder 360 against the fixed plate 420, the drive cylinder 360 generates a unidirectional thrust on the fixed plate 420, and the direction of this thrust is opposite to the direction of the off-center load, and the magnitude of the force can be adjusted according to the degree of off-center load, the torque of the drive cylinder 360 on the fixed plate 420 is balanced with the off-center load torque, thereby reducing the off-center wear borne by the bearing 201 between the column 100 and the rotating column 200 and extending the service life of the bearing 201.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automated power-assisted manipulator for material handling, characterized in that: It includes a column, a rotating column, a cantilever body, and a braking mechanism. The column is vertically arranged, the rotating column is coaxial with the column and rotatably mounted on the column, the cantilever body is mounted on the rotating column and can rotate with the rotating column, and the braking mechanism includes a first braking component and a second braking component. The first braking component includes a fixed shell and a brake block. The fixed shell is mounted on the rotating column, and the brake block is mounted on the fixed shell and can move up and down. The second braking component includes a brake disc, which is coaxial with the column and can rotate relative to the column. A brake block is eccentrically positioned relative to the brake disc and located below it. The braking mechanism has a first state and a second state. In the first state, there is a gap between the brake block and the brake disc, allowing the rotating column to rotate relative to the column, and the brake disc can rotate synchronously with the rotating column. In the second state, the brake block abuts against the brake disc, restricting the rotation of the rotating column relative to the column. Initially, the braking mechanism is in the first state, and the upward movement of the brake block relative to the fixed housing can switch the braking mechanism from the first state to the second state. The brake block first moves downward relative to the fixed housing and then moves upward relative to the fixed housing, which can switch the braking mechanism from the second state to the first state. The downward movement of the brake block relative to the fixed housing can cause the brake disc to rotate relative to the brake block.

2. The automated assistive robot for material handling according to claim 1, characterized in that: Multiple adjusting posts are evenly distributed in the circumferential direction of the brake disc, and the adjusting posts can extend and retract in the radial direction of the brake disc. An adjusting plate is connected to the brake block through a mounting plate. The adjusting plate is vertically set and can move up and down relative to the fixed shell. The mounting plate is set perpendicular to the adjusting plate and fixed to the adjusting plate. The brake block is located at the upper end of the mounting plate and can move synchronously with the adjusting plate. Multiple synchronizing slots and multiple adjusting slots are opened on the adjusting plate. The multiple synchronizing slots and multiple adjusting slots are arranged sequentially and alternately along the tangent direction of the brake disc on the adjusting plate. In the initial state, an adjusting post is inserted in each synchronizing slot. The adjusting plate drives the brake block to move up and down relative to the brake disc, which can move the adjusting post out of its synchronizing slot and into the adjusting slot adjacent to the synchronizing slot.

3. The automated assistive robot for material handling according to claim 2, characterized in that: The synchronizing groove is a vertically arranged straight groove, while the adjusting groove is inclined relative to the vertical direction. The adjusting groove includes a deep groove section and a shallow groove section. The depth of the deep groove section is greater than the depth of the shallow groove section, and the depth of the shallow groove section is equal to the depth of the synchronizing groove. The shallow groove section is connected to the upper end of the synchronizing groove, and the deep groove section is connected to the lower end of the synchronizing groove.

4. An automated assistive robot for material handling according to claim 1, characterized in that: The second brake component also includes a fixed disc, which is coaxial with the brake disc and fixedly mounted on the column. The fixed disc is located above the brake disc and a first elastic element is provided between the two. The first elastic element is vertically mounted, and the brake disc can move up and down relative to the column. A limit ring is also coaxially mounted and fixedly mounted on the column. The limit ring is located below the brake disc. The first elastic element always has the tendency to push the brake disc downward to abut against the limit ring. In the initial state, the brake disc abuts against the limit ring under the action of the first elastic element.

5. An automated assistive robot for material handling according to claim 4, characterized in that: The fixed disc is provided with a first end face tooth, and the brake disc is provided with a second end face tooth. The first end face tooth and the second end face tooth are arranged opposite each other in the vertical direction, and the first end face tooth can mesh with the second end face tooth.

6. An automated assistive robot for material handling according to claim 4, characterized in that: A mating disc is provided on the fixed disc, and a rotating ring is rotatably provided on the mating disc. The first elastic element is provided between the rotating ring and the brake disc.

7. An automated assistive robot for material handling according to claim 2, characterized in that: A driving component is installed inside the fixed housing, which is used to drive the adjustment plate to move up and down.

8. An automated assistive robot for material handling according to claim 7, characterized in that: The driving component includes a limiting cylinder and a driving cylinder. The limiting cylinder and the driving cylinder are arranged back to back in the vertical direction inside the fixed housing and are both slidably engaged with the fixed housing. The limiting cylinder is located above the driving cylinder. The output end of the limiting cylinder is provided with a pressure block. In the initial state, the pressure block presses against the inner top wall of the fixed housing. The adjusting plate is installed on the driving cylinder through the positioning plate. The output end of the driving cylinder passes through the positioning plate and is connected to a top block. The top block presses against the fixed plate.

9. An automated assistive robot for material handling according to claim 8, characterized in that: The fixed shell and the cantilever body are located on the same side.

10. An automated assistive robot for material handling according to claim 1, characterized in that: The cantilever body includes a lifting arm, a slewing arm, a clamping arm, and a lifting cylinder. The lifting arm is mounted on a rotating column, and the slewing arm is mounted on the end of the lifting arm away from the rotating column and can rotate relative to the lifting arm on a horizontal plane. The lifting cylinder is mounted on the rotating column and is used to drive the lifting arm to lift the slewing arm. The clamping arm is rotatably mounted on the end of the slewing arm away from the lifting arm and is equipped with grippers.

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