Power-assisted manipulator

Abstract

The utility model discloses a power-assisted manipulator which comprises a stand column, a lifting arm hinged to the stand column, a rotating arm pivoted to the lifting arm, a lower hanging arm pivoted to the rotating arm, a clamp seat hinged to the lower hanging arm and a clamp arranged on the clamp seat, a first air cylinder is arranged between the stand column and the lifting arm, and a second air cylinder is arranged between the lower hanging arm and the clamp seat. The rotating arm can horizontally rotate relative to the stand column, and the drooping arm can horizontally rotate relative to the rotating arm. The lifting arm can ascend and descend relative to the stand column under driving of the first air cylinder. The clamp base can ascend and descend relative to the lower hanging arm under driving of the second air cylinder. In this way, after the clamp clamps the product, the clamp can ascend, then horizontally transfer to the preset station and descend to release the product, and short-distance carrying of the product is achieved. The design is simple in structure and low in cost, but can assist workers in conveniently carrying heavier articles.

Description

Technical Field

[0001] The utility model relates to production auxiliary equipment, in particular to a manipulator. Background Art

[0002] The products are heavy and need to be transported over short distances in the workshop. Manual handling and continuous operation consume physical strength, and workers need to take multiple breaks during working hours, which results in low work efficiency. Although the use of automated robots for handling saves time and effort, the cost of use is high. Utility Model Content

[0003] The technical problem solved by the utility model is that when heavy products are transported over a short distance, manual transport consumes physical strength and has low work efficiency; when robots are used for transport, the cost of using the robots is high.

[0004] In order to solve the above technical problems, the utility model provides the following technical solutions: an assistive manipulator, comprising a column, a lifting arm hinged to the column, a rotating arm pivotally connected to the lifting arm, a drooping arm pivotally connected to the rotating arm, a clamp seat hinged to the drooping arm, and a clamp arranged on the clamp seat, a first cylinder is arranged between the column and the lifting arm, and a second cylinder is arranged between the drooping arm and the clamp seat.

[0005] According to the above technical solution, the rotating arm can rotate horizontally relative to the column, and the hanging arm can rotate horizontally relative to the rotating arm. Driven by the first cylinder, the lifting arm can be raised and lowered relative to the column. Driven by the second cylinder, the clamp seat can be raised and lowered relative to the hanging arm. In this way, after the clamp clamps the product, it can rise, then horizontally transfer to the predetermined position, and then descend to release the product, thereby realizing short-distance transportation of the product.

[0006] Compared with automated robots, the power-assisted manipulator of the utility model has a simple structure and low cost, but can assist workers in conveniently carrying heavier objects.

[0007] The column comprises a column lower portion fixed on the ground, a column upper portion pivotally connected to the column lower portion, and the first cylinder is mounted on the column upper portion. Thus, the power-assisted manipulator of the utility model adds a horizontal rotation joint, which is conducive to improving the amplitude and distance of the power-assisted manipulator to carry objects.

[0008] The upper part of the column is pivotally connected to the lower part of the column through a first pivot structure, the first pivot structure includes a first pivot tube and a first pivot shaft, the first pivot shaft is pivotally connected to the first pivot tube through a first bearing, a flange is provided at the bottom end of the first pivot tube, the flange is connected to the flange of the lower part of the column, and the top of the first pivot shaft is inserted into the upper part of the column. The first pivot tube is in a fixed relationship with the lower part of the column, the first pivot shaft is in a fixed relationship with the upper part of the column, and the first pivot shaft is in a pivotal relationship with the first pivot tube.

[0009] The lifting arm includes a first connecting arm and a second connecting arm arranged in parallel. A connecting portion is welded at one end of the first connecting arm, and a piston rod of the first cylinder is hinged to the connecting portion. The cylinder body of the first cylinder is hinged to the upper part of the column. The first cylinder drives the first connecting arm to rotate up and down, and the first connecting arm drives the second connecting arm to rotate synchronously.

[0010] The rotating arm is pivotally connected to the lifting arm through a second pivot structure, and the second pivot structure includes a pivot seat hinged to the first connecting arm and the second connecting arm, and a second pivot shaft inserted in the pivot seat. A flange is provided at the bottom of the second pivot shaft, and the flange is connected to the flange on the rotating arm. The first connecting arm, the second connecting arm, the pivot seat and the upper part of the column form a stable connecting rod mechanism, which is conducive to improving the carrying capacity of the power-assisted manipulator, and the power-assisted manipulator can stably lift items. Among them, the pivot seat is provided with an axis hole that cooperates with the second pivot shaft.

[0011] The rotating arm is pivoted to the drooping arm through a third pivot structure, the third pivot structure includes a third pivot tube and a third pivot shaft, the third pivot shaft is pivoted in the third pivot tube through a third bearing, a third pivot tube flange is provided at the bottom end of the third pivot tube, the third pivot tube flange is connected to the flange of the drooping arm, a third pivot shaft flange is provided at the top of the third pivot shaft, and the third pivot shaft flange is connected to the flange on the rotating arm. The third pivot tube is fixedly connected to the drooping arm, the third pivot shaft is fixedly connected to the rotating arm, and the third pivot shaft is pivoted to the third pivot tube.

[0012] A control structure is installed on the drooping arm, and a controller is installed on the control structure. A worker stands on the ground, holds the control structure, and operates the controller to control the actions of the first cylinder and the second cylinder to achieve the lifting and lowering of the clamp. The worker holds the control structure and can horizontally drive the first pivot structure, the second pivot structure, and the third pivot structure to achieve the displacement of the clamp. In addition, the lifting and displacement of the object clamped by the clamp is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The utility model is further described below in conjunction with the accompanying drawings:

[0014] Figure 1 A schematic diagram of a power-assisting manipulator;

[0015] Figure 2 A partial cross-sectional view of the power assist manipulator;

[0016] Figure 3 for Figure 2 A schematic diagram of the second hinge structure 31;

[0017] Figure 4 is a cross-sectional view of the third pivot structure 41 .

[0018] Explanation of symbols in the figure:

[0019] 10. column; 11. lower part of column; 12. upper part of column; 13. first pivot structure;

[0020] 20. lifting arm; 21. first connecting arm; 22. second connecting arm; 23. connecting part;

[0021] 30. Rotating arm; 31. Second pivot structure; 32. Pivoting seat; 33. Second pivot axis; 34. Bottom flange of second pivot axis; 35. First flange on rotating arm; 36. Second flange on rotating arm;

[0022] 40. Drop arm; 41. Third pivot structure; 42. Third pivot tube; 43. Third pivot shaft; 44. Third pivot tube flange; 45. Drop arm flange; 46. Third pivot shaft flange;

[0023] 50. Clamp seat;

[0024] 61, first cylinder; 62, second cylinder;

[0025] 70. Control structure; 71. Controller. DETAILED DESCRIPTION

[0026] like Figure 1 The power-assisted manipulator includes a column 10, a lifting arm 20 hinged to the column, a rotating arm 30 pivoted to the lifting arm, a drooping arm 40 pivoted to the rotating arm, a clamp seat 50 hinged to the drooping arm, and a clamp arranged on the clamp seat. A first cylinder 61 is provided between the column and the lifting arm, and a second cylinder 62 is provided between the drooping arm and the clamp seat.

[0027] The rotating arm 30 can rotate horizontally relative to the column 10, and the drooping arm 40 can rotate horizontally relative to the rotating arm 30. Driven by the first cylinder 61, the lifting arm 20 can be raised and lowered relative to the column 10. Driven by the second cylinder 62, the clamp seat 50 can be raised and lowered relative to the drooping arm 40. In this way, after the clamp clamps the product, it can rise, then horizontally transfer to a predetermined position, and then descend to release the product, thereby realizing short-distance transportation of the product.

[0028] The column 10 includes a column lower part 11 fixed on the ground, a column upper part 12 pivotally connected to the column lower part, and a first cylinder 61 is installed on the column upper part. In this way, the power-assisted manipulator of the utility model adds a horizontal rotation joint, which is conducive to improving the amplitude and distance of the power-assisted manipulator to carry objects.

[0029] The upper part 12 of the column is pivoted to the lower part 11 of the column through the first pivot structure 13. The first pivot structure includes a first pivot tube and a first pivot shaft. The first pivot shaft is pivoted in the first pivot tube through a first bearing. The bottom end of the first pivot tube is provided with a flange, which is connected to the flange of the lower part of the column. The top of the first pivot shaft is inserted in the upper part of the column. The first pivot tube is fixed to the lower part 11 of the column, the first pivot shaft is fixed to the upper part 12 of the column, and the first pivot shaft is pivoted to the first pivot tube.

[0030] The lifting arm 20 includes a first connecting arm 21 and a second connecting arm 22 arranged in parallel. A connecting portion 23 is welded to one end of the first connecting arm, and the piston rod of the first cylinder 61 is hinged to the connecting portion. The cylinder body of the first cylinder 61 is hinged to the upper part of the column 12. The first cylinder 61 drives the first connecting arm 21 to rotate up and down, and the first connecting arm drives the second connecting arm 22 to rotate synchronously.

[0031] like Figure 3 The rotating arm 30 is pivotally connected to the lifting arm 20 through a second pivot structure 31. The second pivot structure includes a pivot seat 32 hinged to the first connecting arm 21 and the second connecting arm 22, and a second pivot shaft 33 inserted in the pivot seat. A flange 34 is provided at the bottom of the second pivot shaft, and the flange is connected to the first flange 35 on the rotating arm. The first connecting arm 21, the second connecting arm 22, the pivot seat 32 and the upper part of the column 12 form a stable connecting rod mechanism, which is conducive to improving the carrying capacity of the power-assisted manipulator, and the power-assisted manipulator can stably lift objects. Among them, the pivot seat 32 is provided with an axis hole that cooperates with the second pivot shaft.

[0032] like Figure 4 The rotating arm 30 is pivoted to the drooping arm 40 through a third pivot structure 41. The third pivot structure includes a third pivot tube 42 and a third pivot shaft 43. The third pivot shaft is pivoted in the third pivot tube through a third bearing. A third pivot tube flange 44 is provided at the bottom end of the third pivot tube. The third pivot tube flange is connected to the flange 45 of the drooping arm. A third pivot shaft flange 46 is provided at the top of the third pivot shaft. The third pivot shaft flange is connected to the second flange 36 on the rotating arm. The third pivot tube 42 is fixedly connected to the drooping arm 40, the third pivot shaft 43 is fixedly connected to the rotating arm 30, and the third pivot shaft 43 is pivoted to the third pivot tube 42.

[0033] like Figure 1A control structure 70 is installed on the drooping arm 40, and a controller 71 is installed on the control structure. The worker stands on the ground, holds the control structure 70, and operates the controller 71 to control the actions of the first cylinder 61 and the second cylinder 62 to achieve the lifting and lowering of the clamp. The worker holds the control structure 70 to horizontally drive the first pivot structure 13, the second pivot structure 31, and the third pivot structure 41 to achieve the displacement of the clamp. In addition, the lifting and displacement of the object clamped by the clamp is achieved.

[0034] The above contents are only preferred implementation modes of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there may be changes in the specific implementation mode and application scope. The content of this specification should not be understood as limiting the present invention.

Claims

1. A power-assisted manipulator, comprising a column (10), a lifting arm (20) hinged to the column, a rotating arm (30) pivoted to the lifting arm, a drooping arm (40) pivoted to the rotating arm, a fixture seat (50) hinged to the drooping arm, and a fixture arranged on the fixture seat, characterized in that: A first cylinder (61) is provided between the upright column and the lifting arm, and a second cylinder (62) is provided between the lowering arm and the clamp seat; The column (10) comprises a column lower part (11) fixed on the ground and a column upper part (12) pivotally connected to the column lower part, and the first cylinder (61) is mounted on the column upper part; The upper part (12) of the column is pivotally connected to the lower part (11) of the column through a first pivot structure (13), the first pivot structure includes a first pivot tube and a first pivot shaft, the first pivot shaft is pivotally connected in the first pivot tube through a first bearing, a flange is provided at the bottom end of the first pivot tube, the flange is connected to the flange of the lower part of the column, and the top of the first pivot shaft is inserted in the upper part of the column; The lifting arm (20) comprises a first connecting arm (21) and a second connecting arm (22) which are arranged in parallel, a connecting portion (23) is welded to one end of the first connecting arm, and a piston rod of the first cylinder (61) is hingedly connected to the connecting portion; The rotating arm (30) is pivotally connected to the lifting arm (20) via a second pivot structure (31), the second pivot structure comprising a pivot seat (32) hinged to the first connecting arm (21) and the second connecting arm (22), and a second pivot shaft (33) inserted in the pivot seat, a flange (34) being provided at the bottom of the second pivot shaft, and the flange being connected to a first flange (35) on the rotating arm; The rotating arm (30) is pivotally connected to the drooping arm (40) via a third pivot structure (41). The third pivot structure includes a third pivot tube (42) and a third pivot shaft (43). The third pivot shaft is pivotally connected to the third pivot tube via a third bearing. A third pivot tube flange (44) is provided at the bottom end of the third pivot tube. The third pivot tube flange is connected to the flange (45) of the drooping arm. A third pivot shaft flange (46) is provided at the top of the third pivot shaft. The third pivot shaft flange is connected to the second flange (36) on the rotating arm.

2. The power-assisted manipulator according to claim 1, characterized in that: A control structure (70) is installed on the drooping arm (40), and a controller (71) is installed on the control structure.

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