Lifting power-assisted mechanical arm device of special equipment

Abstract

The utility model discloses a lifting power-assisted mechanical arm device of special equipment. The lifting power-assisted mechanical arm device comprises a guide rail bottom plate A, a rotating mechanism is arranged at the top of the guide rail bottom plate A, a swing mechanism is arranged on one side of the guide rail bottom plate A, a moving mechanism is arranged on one side of the swing mechanism, and a lifting mechanism is arranged on one side of the moving mechanism. The lifting mechanism comprises a reinforcing block, a vertical shaft, a lifting arm A, a mounting shaft, a lifting arm B, a bearing block, a supporting ring and a side plate, and a driving mechanism is arranged at the bottom of the side plate; an adjusting mechanism is arranged on the outer side of the side plate; the nitrogen spring needs to be customized according to the overall weight of the special equipment and the lifting power-assisted mechanical arm device, the equipment can be stopped at any position in the using process, the flexibility of equipment lifting operation is improved, the equipment is flexibly lifted through cooperation of the lifting mechanism, the driving mechanism and the adjusting mechanism, and the working efficiency is improved. And use control over the power-assisted mechanical arm is facilitated, and the practicability of the device during use is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of power-assisted mechanical arms, in particular to a lifting power-assisted mechanical arm device of special equipment. Background Art

[0002] Power-assisted manipulators are also called power-assisted manipulators or labor-saving manipulators. They are power-assisted devices used for labor-saving operations during material handling and assembly. Power-assisted manipulators apply the principle of force balance, allowing operators to push and pull the transported objects or operating handles with a relatively small force, so that objects can be balanced and moved in space. When heavy objects are lifted or lowered, they form a floating state, and the heavy objects can be placed in a specified position in the space. When pushing and pulling heavy objects or operating handles, the operator does not need to overcome the gravity of the heavy objects to do work, which is more labor-saving.

[0003] Compared with the prior art, there are problems: the existing power-assisted robotic arms have poor flexibility when used, and cannot be customized to the weight of the transported equipment. The lifting height of the equipment and the starting force of the lifting operation cannot be adjusted, resulting in poor flexibility in the lifting operation of the equipment, and lifting is laborious. It is inconvenient to use and control the power-assisted robotic arms, and the practicability of the device is poor. For this reason, we propose a lifting power-assisted robotic arm device for special equipment to solve the above problems. Utility Model Content

[0004] The utility model aims to overcome the deficiencies of the prior art and provide a lifting power-assisted mechanical arm device for special equipment.

[0005] The utility model solves the technical problem through the following technical solution: comprising a guide rail bottom plate A, a rotating mechanism is arranged on the top of the guide rail bottom plate A, a swing mechanism is arranged on one side of the guide rail bottom plate A, a moving mechanism is arranged on one side of the swing mechanism, and a lifting mechanism is arranged on one side of the moving mechanism;

[0006] The lifting mechanism includes a reinforcing block, which is arranged on one side of the moving mechanism. A vertical shaft is fixed to the inner wall of the reinforcing block by bolts. A lifting arm A is rotatably connected to the outer side of the vertical shaft. A mounting shaft is fixed to one end of the lifting arm A. A lifting arm B is rotatably connected to the side of the vertical shaft close to the lifting arm A. A load-bearing block is fixed to the outer side of the mounting shaft. A support ring is rotatably connected to the bottom of the load-bearing block. A side plate is rotatably connected to one end of the lifting arm B. A driving mechanism is arranged at the bottom of the side plate.

[0007] The driving mechanism comprises a mounting sleeve, which is fixed to the bottom of the side plate by bolts, a nitrogen spring is fixed to the inner wall of the mounting sleeve by bolts, a lifting block is fixed to the top of the nitrogen spring, and an adjustment mechanism is arranged on the outer side of the side plate.

[0008] As a further solution of the utility model: the rotating mechanism includes a mounting seat A, which is fixed to the top of the guide rail base plate A by bolts, a spring block A is fixed to the top of the mounting seat A, the inner wall of the mounting seat A is rotatably connected to a rotating shaft, one end of the rotating shaft is fixed with a connecting block, the outer side of the guide rail base plate A is fixed with a mounting seat B by bolts, and the bottom of the mounting seat B is fixed with a spring block B.

[0009] As a further solution of the utility model: the swing mechanism includes a mounting track A, which is fixed to one side of the guide rail base plate A by bolts, a slide seat A is slidably connected to the outer side of the mounting track A, a rotating shaft seat A is provided on one side of the slide seat A, a swing arm is fixed to the inner wall of the rotating shaft seat A, and a rotating shaft seat B is provided on the outer side of the swing arm.

[0010] As a further solution of the utility model: the moving mechanism includes a slide B, which is fixed to one side of the rotating shaft seat B by bolts, one side of the slide B is slidably connected to a mounting track B, and one side of the mounting track B is fixed to a guide rail base plate B by bolts.

[0011] As a further solution of the present invention: a pair of buffers are fixed to the side walls of the guide rail base plate B by bolts.

[0012] As a further solution of the utility model: a protective cover is fixed on the top of the side plate.

[0013] As a further solution of the utility model: the adjustment mechanism includes a support seat, the support seat is fixed to the outer side of the side plate by bolts, a driving motor is fixed to the top of the support seat by bolts, a threaded adjustment rod is fixed to the output end of the driving motor, a sliding seat is arranged on the outer side of the threaded adjustment rod, and the sliding seat is connected to the lifting block by bolts.

[0014] As a further solution of the utility model: the side wall of the sliding seat is slidably connected to a limiting slide rail, and the limiting slide rail is fixedly connected to the supporting seat.

[0015] In summary, due to the adoption of the above technical solution, the beneficial effects of the utility model are:

[0016] 1. The nitrogen spring needs to be customized according to the overall weight of the special equipment and the lifting and assisting mechanical arm device. Through the principle of leverage, the size of the nitrogen spring support force can be accurately calculated, and by adjusting the nitrogen spring reduction ratio, the equipment can be docked at any position during the use of the project, which improves the flexibility of the equipment lifting operation;

[0017] 2. The lifting mechanism and the driving mechanism are used to assist in the transportation of the equipment. The position of the lifting block is adjusted by the adjusting mechanism, the expansion and contraction amount of the nitrogen spring can be adjusted, and then the lifting height of the lifting mechanism can be adjusted. The starting force for lifting the equipment can also be adjusted. The equipment of a certain weight can be assisted in the transportation in a targeted manner, making the lifting operation of the equipment easier, facilitating the use and control of the power-assisted mechanical arm, and improving the practicality of the device when in use;

[0018] 3. By setting up a rotating mechanism, when the equipment is assisted to be carried, the guide rail base plate A and the mounting seat A rotate as a whole on the rotating shaft, and the spring block A abuts against the spring block B, so that the lifting mechanism can be rotated at a small angle in the vertical direction. The strong mechanical spring with high elasticity and short stroke is adopted, so that the device always maintains a horizontal state in the non-working state and the overall motion state, preventing up and down shaking;

[0019] 4. By setting a swing mechanism to swing the lifting mechanism, the moving distance of the device for assisting transportation is increased on the basis of increasing reliability to meet the needs of operations in different environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of an axonometric structure provided according to an embodiment of the utility model is shown;

[0021] Figure 2 The figure shows an axonometric cross-sectional structure schematic diagram provided according to an embodiment of the utility model;

[0022] Figure 3 The utility model provides a Figure 2 A schematic diagram of the enlarged structure of the middle A part;

[0023] Figure 4 A schematic diagram of the structure of the swing mechanism provided according to an embodiment of the utility model is shown;

[0024] Figure 5 A schematic diagram of the structure of a moving mechanism provided according to an embodiment of the utility model is shown;

[0025] Figure 6 A schematic diagram of the structure of a lifting mechanism provided according to an embodiment of the utility model is shown;

[0026] Figure 7 A partial structural schematic diagram of an adjustment mechanism provided according to an embodiment of the utility model is shown.

[0027] Legend:

[0028] 100 guide rail base plate A, 210 mounting seat A, 211 spring block A, 220 rotating shaft, 221 connecting block, 230 mounting seat B, 231 spring block B, 310 mounting rail A, 320 slide seat A, 330 rotating shaft seat A, 340 swing arm, 341 rotating shaft seat B, 410 slide seat B, 420 mounting rail B, 430 guide rail base plate B, 431 buffer, 510 reinforcement block, 520 vertical shaft, 530 lifting arm A, 531 mounting shaft, 540 lifting arm B, 550 load-bearing block, 551 support ring, 560 side plate, 561 protective cover, 610 mounting sleeve, 620 nitrogen spring, 630 lifting block, 710 support seat, 720 drive motor, 721 threaded adjustment rod, 730 sliding seat, 731 limit slide rail. DETAILED DESCRIPTION

[0029] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0030] In the description of the present invention, "plurality" means two or more than two, unless otherwise clearly and specifically defined.

[0031] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "set / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] See also Figure 1-7 The utility model provides a technical solution: including a guide rail bottom plate A100, a rotating mechanism is arranged on the top of the guide rail bottom plate A100, a swing mechanism is arranged on one side of the guide rail bottom plate A100, a moving mechanism is arranged on one side of the swing mechanism, and a lifting mechanism is arranged on one side of the moving mechanism;

[0033] The lifting mechanism includes a reinforcing block 510, a vertical shaft 520, a lifting arm A530, a mounting shaft 531, a lifting arm B540, a load-bearing block 550, a supporting ring 551 and a side plate 560, and a driving mechanism is provided at the bottom of the side plate 560;

[0034] The driving mechanism includes a mounting sleeve 610, a nitrogen spring 620 and a lifting block 630, and an adjusting mechanism is arranged on the outer side of the side plate 560; the nitrogen spring 620 needs to be customized according to the overall weight of the special equipment and the lifting power-assisting mechanical arm device. Through the lever principle, the supporting force of the nitrogen spring 620 can be accurately calculated, and by adjusting the reduction ratio of the nitrogen spring 620, the equipment can be docked at any position during the use of the project, thereby improving the flexibility of the equipment lifting operation. The equipment is assisted in transportation by the cooperation of the lifting mechanism and the driving mechanism, and the position of the lifting block 630 is adjusted by the adjusting mechanism, so that the expansion and contraction amount of the nitrogen spring 620 can be adjusted, and then the lifting height of the lifting mechanism can be adjusted, and the starting force for lifting the equipment can also be adjusted, so that equipment of a certain weight can be assisted in transportation in a targeted manner, making the lifting operation of the equipment easier, facilitating the use and control of the power-assisting mechanical arm, and improving the practicality of the device when in use.

[0035] Specifically, the rotating mechanism includes a mounting seat A210, which is fixed to the top of the guide rail base plate A100 by bolts, a spring block A211 is fixed to the top of the mounting seat A210, the inner wall of the mounting seat A210 is rotatably connected to a rotating shaft 220, one end of the rotating shaft 220 is fixed with a connecting block 221, the outer side of the guide rail base plate A100 is fixed with a mounting seat B230 by bolts, and the bottom of the mounting seat B230 is fixed with a spring block B231; by providing a rotating mechanism, when the equipment is assisted in moving, the guide rail base plate A100 and the mounting seat A210 rotate as a whole on the rotating shaft 220, and the spring block A211 abuts against the spring block B231, so that the lifting mechanism can be rotated at a small angle in the vertical direction, and a strong mechanical spring with high elasticity and short stroke is adopted, so that the device always maintains a horizontal state in the non-working state and the overall motion state, preventing up and down shaking.

[0036] Specifically, the swing mechanism includes a mounting rail A310, which is fixed to one side of the guide rail base plate A100 by bolts, and a slide seat A320 is slidably connected to the outer side of the mounting rail A310, and a rotating shaft seat A330 is provided on one side of the slide seat A320, and a swing arm 340 is fixed to the inner wall of the rotating shaft seat A330, and a rotating shaft seat B341 is provided on the outer side of the swing arm 340; by providing a swing mechanism to swing the lifting mechanism, the moving distance of the device for assisting transportation is increased on the basis of increasing reliability to meet the operation in different environments.

[0037] Specifically, the moving mechanism includes a slide B410, which is fixed to one side of the rotating shaft seat B341 by bolts, and one side of the slide B410 is slidably connected to a mounting rail B420, and one side of the mounting rail B420 is fixed to a guide rail base plate B430 by bolts; by providing a moving mechanism, the slide B410 slides on the mounting rail B420, thereby enabling the guide rail base plate B430 and the lifting mechanism to move laterally, thereby realizing two-stage lateral movement of the lifting mechanism, thereby ensuring the range of the assisted handling operation.

[0038] Specifically, a pair of buffers 431 are fixed to the side walls of the guide rail base plate B430 by bolts; the buffers 431 are provided to limit and buffer the movement of the slide B410, thereby ensuring the stability of the moving operation.

[0039] Specifically, a protective cover 561 is fixed to the top of the side plate 560; the protective cover 561 is provided to seal the operating space of the lifting mechanism, the driving mechanism and the adjusting mechanism to prevent external dust and debris from affecting the assisted transport operation.

[0040] Specifically, the adjustment mechanism includes a support seat 710, which is fixed to the outer side of the side plate 560 by bolts, and a driving motor 720 is fixed to the top of the support seat 710 by bolts, and a threaded adjustment rod 721 is fixed to the output end of the driving motor 720, and a sliding seat 730 is provided on the outer side of the threaded adjustment rod 721, and the sliding seat 730 is connected to the lifting block 630 by bolts; by providing an adjustment mechanism to drive the lifting block 630 to move, the expansion and contraction amount of the nitrogen spring 620 can be adjusted, and then the lifting height of the lifting mechanism can be adjusted, and the starting force for lifting the equipment can also be adjusted, and the equipment of a certain weight can be specifically assisted in carrying, making the lifting operation of the equipment easier.

[0041] Specifically, the side wall of the sliding seat 730 is slidably connected to the limiting slide rail 731, and the limiting slide rail 731 is fixedly connected to the support seat 710; by setting the limiting slide rail 731, the up and down movement of the sliding seat 730 is limited, thereby ensuring the accuracy of the adjustment operation.

[0042] Working principle: When in use, when the equipment is assisted in moving, the guide rail base plate A100 and the mounting seat A210 rotate as a whole on the rotating shaft 220, and the spring block A211 abuts against the spring block B231, so that the lifting mechanism can be rotated at a small angle in the vertical direction. A strong mechanical spring with high elasticity and short stroke is used to keep the device in a horizontal state at all times in the non-working state and the overall motion state, preventing up and down shaking. The slide A320 moves laterally on the mounting rail A310, and the swing arm 340 rotates on the slide A320 through the rotating shaft seat A330. The moving mechanism rotates on the swing arm 340 through the rotating shaft seat B341 to realize the swing operation of the lifting mechanism. On the basis of increasing reliability, the moving distance of the device for assisted moving is increased to meet the operation in different environments. The slide B410 slides on the mounting rail B420, so that the guide rail base plate B430 and the lifting mechanism can move laterally, realizing the two-stage lateral movement of the lifting mechanism. The nitrogen spring 620 needs to be customized according to the overall weight of the special equipment and the lifting assist mechanical arm device. Through the lever principle, the size of the supporting force of the nitrogen spring 620 can be accurately calculated, and by adjusting the reduction ratio of the nitrogen spring 620, the equipment can be docked at any position during the use project. When assisting the transportation of the equipment, the side plate 560 is moved downward in parallel as a whole through the lifting arm A530 and the lifting arm B540. The lifting arm A530 drives the load-bearing block 550 and the support ring 551 to rotate through the installation shaft 531. The support ring 551 rests on the lifting block 630. The threaded adjustment rod 721 is driven by the driving motor 720 to rotate. The rotation of the threaded adjustment rod 721 drives the sliding seat 730 to move up and down, and then drives the lifting block 630 to move. The telescopic amount of the nitrogen spring 620 can be adjusted, and then the lifting height of the lifting mechanism can be adjusted. The starting force for lifting the equipment can also be adjusted, and equipment of a certain weight can be specifically assisted in transportation.

[0043] Although the present invention discloses embodiments and drawings, those skilled in the art will appreciate that various substitutions, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A lifting and assisting mechanical arm device for special equipment, characterized in that: It comprises a guide rail bottom plate A (100), wherein a rotating mechanism is arranged at the top of the guide rail bottom plate A (100), a swing mechanism is arranged at one side of the guide rail bottom plate A (100), a moving mechanism is arranged at one side of the swing mechanism, and a lifting mechanism is arranged at one side of the moving mechanism; The lifting mechanism comprises a reinforcing block (510), wherein the reinforcing block (510) is arranged at one side of the moving mechanism, a vertical shaft (520) is fixed to the inner wall of the reinforcing block (510) by bolts, a lifting arm A (530) is rotatably connected to the outer side of the vertical shaft (520), one end of the lifting arm A (530) is fixed with a mounting shaft (531), a lifting arm B (540) is rotatably connected to the side of the vertical shaft (520) close to the lifting arm A (530), a bearing block (550) is fixed to the outer side of the mounting shaft (531), a supporting ring (551) is rotatably connected to the bottom of the bearing block (550), one end of the lifting arm B (540) is rotatably connected to a side plate (560), and a driving mechanism is arranged at the bottom of the side plate (560); The driving mechanism comprises a mounting sleeve (610), wherein the mounting sleeve (610) is fixed to the bottom of the side plate (560) by means of bolts, a nitrogen spring (620) is fixed to the inner wall of the mounting sleeve (610) by means of bolts, a lifting block (630) is fixed to the top of the nitrogen spring (620), and an adjustment mechanism is arranged on the outer side of the side plate (560).

2. A lifting and assisting mechanical arm device for special equipment according to claim 1, characterized in that: The rotating mechanism comprises a mounting seat A (210), wherein the mounting seat A (210) is fixed to the top of a guide rail base plate A (100) by bolts, a spring block A (211) is fixed to the top of the mounting seat A (210), a rotating shaft (220) is rotatably connected to the inner wall of the mounting seat A (210), a connecting block (221) is fixed to one end of the rotating shaft (220), a mounting seat B (230) is fixed to the outer side of the guide rail base plate A (100) by bolts, and a spring block B (231) is fixed to the bottom of the mounting seat B (230).

3. The lifting and assisting mechanical arm device of a special equipment according to claim 1, characterized in that: The swing mechanism comprises a mounting track A (310), wherein the mounting track A (310) is fixed to one side of a guide rail base plate A (100) by bolts, a slide seat A (320) is slidably connected to the outer side of the mounting track A (310), a rotating shaft seat A (330) is arranged on one side of the slide seat A (320), a swing arm (340) is fixed to the inner wall of the rotating shaft seat A (330), and a rotating shaft seat B (341) is arranged on the outer side of the swing arm (340).

4. The lifting and assisting mechanical arm device for special equipment according to claim 3, characterized in that: The moving mechanism includes a slide B (410), which is fixed to one side of the rotating shaft seat B (341) by bolts, one side of the slide B (410) is slidably connected to a mounting track B (420), and one side of the mounting track B (420) is fixed to a guide rail base plate B (430) by bolts.

5. The lifting and assisting mechanical arm device for special equipment according to claim 4, characterized in that: A pair of buffers (431) are fixed to the side walls of the guide rail bottom plate B (430) by bolts.

6. The lifting and assisting mechanical arm device for special equipment according to claim 1, characterized in that: A protective cover (561) is fixed to the top of the side plate (560).

7. The lifting and assisting mechanical arm device for special equipment according to claim 1, characterized in that: The adjustment mechanism comprises a support seat (710), wherein the support seat (710) is fixed to the outer side of the side plate (560) by bolts, a driving motor (720) is fixed to the top of the support seat (710) by bolts, a threaded adjustment rod (721) is fixed to the output end of the driving motor (720), a sliding seat (730) is arranged on the outer side of the threaded adjustment rod (721), and the sliding seat (730) is connected to the lifting block (630) by bolts.

8. The lifting and assisting mechanical arm device for special equipment according to claim 7, characterized in that: The side wall of the sliding seat (730) is slidably connected to a limiting sliding rail (731), and the limiting sliding rail (731) is fixedly connected to the supporting seat (710).

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