Top-mounted power-assisted manipulator

Abstract

The utility model discloses a top-mounted power-assisted manipulator which comprises a first support frame, a rotation driving mechanism and a mechanical clamping mechanism, the lower end of the interior of the first supporting frame is rotationally connected with a first rotating supporting seat through a rotating bearing, the lower end of the first rotating supporting seat is fixedly connected with a mounting seat, the lower surface of the mounting seat is fixedly connected with a fixing column, the lower end of the fixing column is fixedly connected with a rotating supporting frame, and the middle end of the interior of the rotating supporting frame is rotationally connected with a push rod through a pin shaft; a connecting rod is rotationally connected to the lower end in the rotary supporting frame through a pin shaft, a connecting frame is rotationally connected to the front end of the push rod through a pin shaft, and the middle end in the connecting frame is rotationally connected with the front end of the connecting rod through a pin shaft; the rotation driving mechanism is arranged on the lower surface of the connecting frame, equipment can be installed on the top through the power-assisted manipulator installed on the top, the working space is saved, meanwhile, cargo carrying is not hindered, meanwhile, the grabbing mechanism is simple, mechanism faults are not prone to occurring, and maintenance is convenient.

Description

Technical Field

[0001] The utility model relates to the technical field of cargo handling, in particular to a top-mounted power-assisting manipulator. Background Art

[0002] Cargo handling refers to activities carried out within the same place with the main goal of changing the storage status and spatial position of materials. Heavier cargo requires the use of power manipulators for handling.

[0003] Some traditional power-assisted manipulators use the principle of balance to enable operators to push and pull heavy objects accordingly, so that they can be moved and positioned in a balanced manner in space;

[0004] The existing power-assisted manipulators have the following problems. For example, they are generally installed on the ground, occupying the working area and easily hindering transportation. At the same time, the mechanical clamping mechanism is relatively complex and prone to failure in a complex working environment. For this reason, we propose a top-mounted power-assisted manipulator. Utility Model Content

[0005] The technical problem to be solved by the utility model is to overcome the existing defects and provide a top-mounted power-assisted manipulator with a simple grasping structure, which is not prone to failure and is easy to maintain. At the same time, it can be installed on the top of the working area to save the use space of the working area, and can effectively solve the problems in the background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a top-mounted power-assisted manipulator, comprising a first support frame, a rotation drive mechanism and a mechanical clamping mechanism;

[0007] The first support frame: the lower end of its interior is rotatably connected to the first rotating support seat through a rotating bearing, the lower end of the first rotating support seat is fixedly connected to the mounting seat, the lower surface of the mounting seat is fixedly connected to the fixing column, the lower end of the fixing column is fixedly connected to the rotating support frame, the inner middle end of the rotating support frame is rotatably connected to the push rod through a pin shaft, the inner lower end of the rotating support frame is rotatably connected to the connecting rod through a pin shaft, the front end of the push rod is rotatably connected to the connecting frame through a pin shaft, and the inner middle end of the connecting frame is rotatably connected to the front end of the connecting rod through a pin shaft;

[0008] Rotation drive mechanism: It is arranged on the lower surface of the connecting frame, the middle part of the front end of the rotation drive mechanism is fixedly connected with a support plate, the front end of the lower surface of the support plate is fixedly connected with a pillar, and the lower end of the pillar is fixedly connected with a mounting frame;

[0009] Mechanical clamping mechanism: It is respectively arranged on the front and rear sides of the mounting frame, and the equipment can be installed on the top, saving working space without hindering the handling of goods. At the same time, the grabbing mechanism is simple, not prone to mechanical failure, and easy to maintain.

[0010] Furthermore, the rotation drive mechanism includes a second rotation support seat and a rotating shaft. The second rotation support seat is fixedly connected to the front end of the lower surface of the connecting frame. The internal rotation of the second rotation support seat is connected to the rotating shaft. The middle end of the outer surface of the rotating shaft is fixedly connected to the rear end of the support plate and can rotate in a small range.

[0011] Furthermore, the rotation drive mechanism also includes gear 1, a rotating motor and gear 2, wherein gear 1 is fixedly connected to the lower end of the outer surface of the rotating shaft, the rotating motor is fixedly connected to the rear end of the lower surface of the connecting frame, the lower end of the output shaft of the rotating motor is fixedly connected to gear 2, gear 2 is meshingly connected to gear 1, and the input end of the rotating motor is electrically connected to the output end of the external controller to provide power for small-range rotation.

[0012] Furthermore, the mechanical clamping mechanism includes an installation connecting frame, a second rotating connecting frame, a clamping claw and a rotating support plate. The front and rear sides of the installation connecting frame are fixedly connected to the installation connecting frame, the opposite ends of the lower surface of the installation connecting frame are fixedly connected to the rotating support plate, the interior of the rotating support plate is rotatably connected to a left-right symmetrical second rotating connecting frame, and the front and rear ends of the outer surface of the second rotating connecting frame are fixedly connected to clamping claws, so that grasping can be carried out with a simple structure.

[0013] Furthermore, the mechanical clamping mechanism also includes cylinder 2, a rack, an avoidance port and a gear, the avoidance ports are all opened on the bottom wall of the mounting connecting frame, the top wall of the mounting connecting frame is fixedly connected with cylinder 2, the lower end of the telescopic end of cylinder 2 is fixedly connected with a rack, the racks pass through the avoidance port on the same side, the middle end of the second rotating connecting frame is fixedly connected with a gear, the gears are meshed with the rack on the same side, and the air inlet end of cylinder 2 is connected to an external air compressor to provide power for clamping.

[0014] Furthermore, a second support frame is fixedly connected to the rear side of the upper end of the outer surface of the fixed column, and the rear end of the second support frame is rotatably connected to the rotating frame via a pin shaft, and the lower surface of the rotating bracket is fixedly connected to a cylinder 1, and the rear end of the push rod is rotatably connected to the first rotating connecting frame via a pin shaft, and the lower end of the telescopic end of the cylinder 1 is fixedly connected to the upper surface of the first rotating connecting frame to provide power for height adjustment.

[0015] Furthermore, a motor is fixedly connected to the top wall of the first support frame, the lower end of the output shaft of the motor is fixedly connected to the upper surface of the first rotating support seat, and the input end of the motor is electrically connected to the output end of the external controller to provide power for rotation.

[0016] Furthermore, a fixed mounting plate is installed on the top of the first support frame, a plug-in frame is fixedly connected to the lower surface of the fixed mounting plate, a plug-in frame is fixedly connected to the upper surface of the first support frame, the upper end of the plug-in frame is plugged into the interior of the plug-in frame, the interior of the plug-in frame is connected to the outer surface of the plug-in frame by locking bolts, and bolt connection ports are provided at the four corners of the upper surface of the fixed mounting plate to facilitate disassembly and maintenance.

[0017] Compared with the prior art, the beneficial effects of the present invention are: the top-mounted power-assisted manipulator has the following advantages:

[0018] 1. By supplying air to the interior of cylinder 2 through an external air compressor, the telescopic end of cylinder 2 moves downward, the telescopic end of cylinder 2 moves downward to drive the rack to move downward, the rack moves downward to drive the gear to rotate, the rotation of the gear drives the second rotating connecting frame to rotate, the rotation of the second rotating connecting frame drives the clamping claw to rotate with the second rotating connecting frame as the center, so as to grasp the object, thereby quickly clamping, the structure is relatively simple, easy to maintain, and adaptable to complex working environments.

[0019] 2. The equipment is inserted into the interior of the plug-in rack through the plug-in rack, and then locked by the locking bolt, and then installed to the top of the working area through the first support rack, which is convenient for disassembly and installation, while not occupying the usable area of ​​the ground in the working area and not hindering the handling of goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the utility model;

[0021] Figure 2 This is a schematic diagram of a partial cross-sectional structure of the utility model when viewed from above;

[0022] Figure 3 This is a schematic diagram of the partial structure of the mechanical clamping mechanism of the utility model;

[0023] Figure 4 It is a schematic diagram of the enlarged structure of point A of the utility model.

[0024] In the figure: 1 first support frame, 2 rotating bearing, 3 first rotating support seat, 4 mounting seat, 5 fixed column, 6 rotating support frame, 7 push rod, 8 connecting rod, 9 connecting frame, 10 rotating drive mechanism, 101 second rotating support seat, 102 rotating shaft, 103 gear one, 104 rotating motor, 105 gear two, 11 second support frame, 12 rotating bracket, 13 cylinder one, 14 first rotating connecting frame, 15 supporting plate, 16 pillar, 17 mounting frame, 18 mechanical clamping mechanism, 181 mounting connecting frame, 182 cylinder two, 183 rack, 184 avoidance, 185 second rotating connecting frame, 186 gear, 187 clamping claw, 188 rotating support plate, 19 motor, 20 plug-in frame, 21 bolt connection port, 22 fixed mounting plate, 23 plug-in frame, 24 locking bolt. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] See also Figure 1-4 , This embodiment provides a technical solution: a top-mounted power-assisted manipulator, comprising a first support frame 1, a rotation drive mechanism 10 and a mechanical clamping mechanism 18;

[0027] The first support frame 1: the lower end of its inner part is rotatably connected with the first rotating support seat 3 through the rotating bearing 2, the lower end of the first rotating support seat 3 is fixedly connected with the mounting seat 4, the lower surface of the mounting seat 4 is fixedly connected with the fixing column 5, the lower end of the fixing column 5 is fixedly connected with the rotating support frame 6, the inner middle end of the rotating support frame 6 is rotatably connected with the push rod 7 through the pin shaft, the inner lower end of the rotating support frame 6 is rotatably connected with the connecting rod 8 through the pin shaft, the front end of the push rod 7 is rotatably connected with the connecting frame 9 through the pin shaft, the inner middle end of the connecting frame 9 is rotatably connected with the front end of the connecting rod 8 through the pin shaft, the upper end rear side of the outer surface of the fixing column 5 is fixedly connected with the second support frame 11, the rear end of the second support frame 11 is rotatably connected with the rotating bracket 12 through the pin shaft, the lower surface of the rotating bracket 12 is fixedly connected with the cylinder 13, the rear end of the push rod 7 is rotatably connected with the first rotating connecting frame 14 through the pin shaft, the lower end of the telescopic end of the cylinder 13 is connected to the first rotating connecting frame 14 The upper surface of the first support frame 1 is fixedly connected, the top wall of the first support frame 1 is fixedly connected with a motor 19, the lower end of the output shaft of the motor 19 is fixedly connected to the upper surface of the first rotating support seat 3, the input end of the motor 19 is electrically connected to the output end of the external controller, and a fixed mounting plate 22 is installed above the first support frame 1, and a plug-in frame 23 is fixedly connected to the lower surface of the fixed mounting plate 22. The upper surface of the first support frame 1 is fixedly connected with a plug-in frame 20, and the upper end of the plug-in frame 20 is plugged into the inside of the plug-in frame 23, and the inside of the plug-in frame 23 is connected to the outer surface of the plug-in frame 20 through a locking bolt 24. Bolt connection ports 21 are provided at the four corners of the upper surface of the fixed mounting plate 22. The equipment is inserted into the inside of the plug-in frame 23 through the plug-in frame 23, and then locked by the locking bolt 24, and then installed to the top of the working area through the first support frame 1, which is convenient for disassembly and installation, and does not occupy the usable area of ​​the ground in the working area, nor does it hinder the handling of goods.

[0028] Rotation drive mechanism 10: It is arranged on the lower surface of the connecting frame 9, the front middle part of the rotation drive mechanism 10 is fixedly connected with a support plate 15, the front end of the lower surface of the support plate 15 is fixedly connected with a pillar 16, and the lower end of the pillar 16 is fixedly connected with a mounting frame 17, the rotation drive mechanism 10 includes a second rotation support seat 101 and a rotating shaft 102, the second rotation support seat 101 is fixedly connected to the front end of the lower surface of the connecting frame 9, the internal rotation connection of the second rotation support seat 101 is connected with the rotating shaft 102, the middle end of the outer surface of the rotating shaft 102 is fixedly connected with the rear end of the supporting plate 15, the rotation drive mechanism 10 also includes a gear 103, a rotating motor 104 and a gear 2 105, the gear 103 is fixedly connected to the lower end of the outer surface of the rotating shaft 102, the rotating motor 104 is fixedly connected to the rear end of the lower surface of the connecting frame 9, the lower end of the output shaft of the rotating motor 104 is fixedly connected with the gear 2 105, the gear 2 105 is meshed with the gear 103, and the input end of the rotating motor 104 is electrically connected to the output end of the external controller;

[0029] Mechanical clamping mechanism 18: It is respectively arranged on the front and rear sides of the mounting frame 17, and the mechanical clamping mechanism 18 includes a mounting connection frame 181, a second rotating connection frame 185, a clamping claw 187 and a rotating support plate 188. The front and rear sides of the mounting frame 17 are fixedly connected with the mounting connection frame 181, and the opposite ends of the lower surface of the mounting connection frame 181 are fixedly connected with the rotating support plate 188. The interior of the rotating support plate 188 is rotatably connected with the left-right symmetrical second rotating connection frame 185, and the front and rear ends of the outer surface of the second rotating connection frame 185 are fixedly connected with the clamping claw 187. The mechanical clamping mechanism 18 also includes a cylinder 182, a rack 183, an avoidance opening 184 and a gear 186. The avoidance opening 184 is opened on the bottom wall of the mounting connection frame 181, and the top wall of the mounting connection frame 181 is fixedly connected with the cylinder 182. The telescopic end of the cylinder 182 The lower ends are fixedly connected with racks 183, and the racks 183 pass through the avoidance opening 184 on the same side. The middle ends of the second rotating connecting frame 185 are fixedly connected with gears 186, and the gears 186 are meshingly connected with the racks 183 on the same side. The air inlet end of the cylinder 182 is connected to the external air compressor, and air is supplied to the interior of the cylinder 182 through the external air compressor. The telescopic end of the cylinder 182 moves downward, and the telescopic end of the cylinder 182 moves downward to drive the rack 183 to move downward, and the rack 183 moves downward to drive the gear 186 to rotate. The rotation of the gear 186 drives the second rotating connecting frame 185 to rotate, and the rotation of the second rotating connecting frame 185 drives the clamping claw 187 to rotate with the second rotating connecting frame 185 as the center of the circle, thereby grasping the object, thereby enabling rapid clamping. The structure is relatively simple, easy to maintain, and adaptable to complex working environments.

[0030] The working principle of a top-mounted power-assisted manipulator provided by the utility model is as follows: when the power-assisted manipulator is working, the staff causes the external air compressor to supply air to the inside of the cylinder 13, and the telescopic end of the cylinder 13 moves downward, and the telescopic end of the cylinder 13 moves downward to push the first rotating connecting frame 14, and the first rotating connecting frame 14 and the rotating bracket 12 are both forced to rotate and avoid, so that the push rod 7 and the connecting rod 8 rotate with the connection point with the connecting frame 9 as the center of the circle, thereby driving the second rotating support seat 101 downward, and the second rotating support seat 101 drives the rotating shaft 102 downward, and the rotating shaft 102 drives downward. The support plate 15 is moved downward, the support plate 15 drives the pillar 16 downward, the pillar 16 drives the mounting frame 17 downward, so that the clamping claw 187 is located above the object to be grasped, and then the staff uses the external air compressor to supply air to the inside of the second cylinder 182, the telescopic end of the second cylinder 182 moves downward, the telescopic end of the second cylinder 182 moves downward and drives the rack 183 to move downward, the rack 183 moves downward and drives the gear 186 to rotate, the gear 186 rotates and drives the second rotating connecting frame 185 to rotate, the second rotating connecting frame 185 rotates and drives the clamping claw 187 to rotate with the second rotating connecting frame 185 as a circle The center of the gear 104 rotates to grasp the object, so that the object can be clamped quickly. The structure is relatively simple, easy to maintain, and adaptable to complex working environments. When rotation is required, the staff can control the rotation motor 104 to start through an external controller. The rotation motor 104 starts to drive the gear 2 105 to rotate, the gear 2 105 rotates to drive the gear 1 103 to rotate, the gear 1 103 rotates to drive the shaft 102 to rotate, the shaft 102 rotates to drive the support plate 15 to rotate, the support plate 15 rotates to drive the pillar 16 to rotate, the pillar 16 rotates to drive the mounting frame 17 to rotate, and when a large range of rotation is required, the staff The motor 19 is started by controlling the external controller, and the motor 19 starts to drive the first rotating support seat 3 to rotate, and the rotation of the first rotating support seat 3 drives the mounting seat 4 to rotate, and the rotation of the mounting seat 4 drives the fixed column 5 to rotate, and the rotation of the fixed column 5 drives the rotating support frame 6 to rotate, and the rotation of the rotating support frame 6 drives the connecting rod 8 and the push rod 7 to rotate, thereby performing a large range of rotation. The equipment is inserted into the interior of the plug-in frame 23 through the plug-in frame 23, and then locked by the locking bolt 24, and then installed to the top of the working area through the first support frame 1, which is easy to disassemble and install. At the same time, it does not occupy the usable area of ​​the ground in the working area and does not hinder the handling of goods.

[0031] It is worth noting that the motor 19 disclosed in the above embodiment can be selected from YS6314, and the rotating motor 104 can be selected from NMRV050.

[0032] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A top-mounted power-assisted manipulator, characterized in that: It comprises a first support frame (1), a rotation drive mechanism (10) and a mechanical clamping mechanism (18); A first support frame (1): the lower end of the first support frame (1) is rotatably connected to a first rotating support seat (3) via a rotating bearing (2); the lower end of the first rotating support seat (3) is fixedly connected to a mounting seat (4); the lower surface of the mounting seat (4) is fixedly connected to a fixing column (5); the lower end of the fixing column (5) is fixedly connected to a rotating support frame (6); the middle end of the rotating support frame (6) is rotatably connected to a push rod (7) via a pin shaft; the lower end of the rotating support frame (6) is rotatably connected to a connecting rod (8) via a pin shaft; the front end of the push rod (7) is rotatably connected to a connecting frame (9) via a pin shaft; the middle end of the connecting frame (9) is rotatably connected to the front end of the connecting rod (8) via a pin shaft; A rotation drive mechanism (10): the rotation drive mechanism (10) is arranged on the lower surface of the connecting frame (9); a support plate (15) is fixedly connected to the middle of the front end of the rotation drive mechanism (10); a support column (16) is fixedly connected to the front end of the lower surface of the support plate (15); and a mounting frame (17) is fixedly connected to the lower end of the support column (16); Mechanical clamping mechanism (18): It is respectively arranged on the front and rear sides of the mounting frame (17).

2. A top-mounted power-assisted manipulator according to claim 1, characterized in that: The rotation drive mechanism (10) comprises a second rotation support seat (101) and a rotation shaft (102); the second rotation support seat (101) is fixedly connected to the front end of the lower surface of the connecting frame (9); the interior of the second rotation support seat (101) is rotationally connected to the rotation shaft (102); the middle end of the outer surface of the rotation shaft (102) is fixedly connected to the interior of the rear end of the support plate (15).

3. A top-mounted power-assisted manipulator according to claim 2, characterized in that: The rotary drive mechanism (10) further comprises a gear 1 (103), a rotary motor (104) and a gear 2 (105); the gear 1 (103) is fixedly connected to the lower end of the outer surface of the rotating shaft (102); the rotary motor (104) is fixedly connected to the rear end of the lower surface of the connecting frame (9); the lower end of the output shaft of the rotary motor (104) is fixedly connected to the gear 2 (105); the gear 2 (105) is meshingly connected to the gear 1 (103); and the input end of the rotary motor (104) is electrically connected to the output end of the external controller.

4. A top-mounted power-assisted manipulator according to claim 1, characterized in that: The mechanical clamping mechanism (18) comprises a mounting connection frame (181), a second rotating connection frame (185), a clamping claw (187) and a rotating support plate (188); the front and rear side surfaces of the mounting frame (17) are fixedly connected to the mounting connection frame (181); the opposite ends of the lower surface of the mounting connection frame (181) are fixedly connected to the rotating support plate (188); the interior of the rotating support plate (188) is rotatably connected to a left-right symmetrical second rotating connection frame (185); and the front and rear ends of the outer surface of the second rotating connection frame (185) are fixedly connected to the clamping claws (187).

5. A top-mounted power-assisted manipulator according to claim 4, characterized in that: The mechanical clamping mechanism (18) further comprises a second cylinder (182), a rack (183), an escape opening (184) and a gear (186); the escape opening (184) is provided on the bottom wall of the mounting connection frame (181); the top wall of the mounting connection frame (181) is fixedly connected to the second cylinder (182); the lower end of the telescopic end of the second cylinder (182) is fixedly connected to the rack (183); the rack (183) passes through the escape opening (184) on the same side; the middle end of the second rotating connection frame (185) is fixedly connected to the gear (186); the gear (186) is meshedly connected to the rack (183) on the same side; the air inlet end of the second cylinder (182) is connected to an external air compressor.

6. A top-mounted power-assisted manipulator according to claim 1, characterized in that: The rear side of the upper end of the outer surface of the fixed column (5) is fixedly connected to a second support frame (11); the rear end of the second support frame (11) is rotatably connected to a rotating frame (12) via a pin shaft; the lower surface of the rotating frame (12) is fixedly connected to a cylinder 1 (13); the rear end of the push rod (7) is rotatably connected to a first rotating connecting frame (14) via a pin shaft; the lower end of the telescopic end of the cylinder 1 (13) is fixedly connected to the upper surface of the first rotating connecting frame (14).

7. A top-mounted power-assisted manipulator according to claim 1, characterized in that: A motor (19) is fixedly connected to the top wall of the first support frame (1), the lower end of the output shaft of the motor (19) is fixedly connected to the upper surface of the first rotating support seat (3), and the input end of the motor (19) is electrically connected to the output end of the external controller.

8. A top-mounted power-assisted manipulator according to claim 1, characterized in that: A fixed mounting plate (22) is mounted on the upper side of the first support frame (1); a plug-in frame (23) is fixedly connected to the lower surface of the fixed mounting plate (22); a plug-in frame (20) is fixedly connected to the upper surface of the first support frame (1); the upper end of the plug-in frame (20) is plugged into the interior of the plug-in frame (23); the interior of the plug-in frame (23) is connected to the outer surface of the plug-in frame (20) via locking bolts (24); and bolt connection openings (21) are provided at the four corners of the upper surface of the fixed mounting plate (22).

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