Hard-arm power-assisted manipulator

Abstract

The utility model relates to the technical field of manipulators, in particular to a hard-arm power-assisted manipulator. Comprising a main stand column, the top end of the main stand column is rotatably connected with a driven stand column, the top end of the main stand column is sleeved with a first supporting plate, and the first supporting plate is provided with a first motor; the output end of the first motor is provided with a driving gear; one side of the driving gear is provided with a driven gear; a hinge seat is arranged on the second supporting plate, a first telescopic rod is hinged to the hinge seat, an upper main arm is hinged to the movable end of the first telescopic rod, an upper supporting arm is rotationally connected to the fixed frame, a second motor is hinged to one end of the upper main arm and one end of the upper supporting arm, a right-angle rod is arranged at the output end of the second motor, and a clamping jaw assembly is arranged at the bottom end of the right-angle rod. Spherical workpieces can be clamped and fixed through the clamping jaw assembly, so that stable carrying can be carried out, meanwhile, accurate positioning in a three-dimensional space can be achieved, and carrying work is more efficient and accurate.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a hard-arm power-assisted manipulator. Background Art

[0002] The power manipulator is a kind of power-assisting equipment used for labor-saving operation during material handling and installation. It cleverly applies the principle of force balance, allowing the operator to push and pull the heavy object accordingly, so that it can be balanced and moved in space.

[0003] The rigid-arm assisted manipulator in the prior art can carry objects within a certain range, but is not convenient for carrying spherical workpieces, resulting in a narrow range of use and low work efficiency. Utility Model Content

[0004] The technical problem to be solved by the utility model is that the rigid-arm power-assisted manipulator in the prior art is difficult to carry spherical workpieces, resulting in poor practicability.

[0005] In order to solve the above technical problems, the technical solution adopted by the utility model is: a hard-arm power-assisted manipulator, comprising a main column, the top of the main column is rotatably connected to a driven column, the top of the main column is fixedly sleeved with a first support plate, the first support plate is fixedly connected to a first motor, the output end of the first motor is provided with a driving gear, one side of the driving gear is provided with a driven gear meshing with it, and the driven gear fixed sleeve is arranged on the outside of the driven column, the outside of the driven column is fixedly sleeved with a second support plate, the top of the driven column is fixedly connected to a fixed frame, the second support plate is fixedly connected to a hinge seat, a first telescopic rod is hinged on the hinge seat, the movable end of the first telescopic rod is hinged to an upper main arm through a connecting seat 1, and the upper main arm is rotatably connected to the fixed frame through a rotating shaft 1, the fixed frame is rotatably connected to an upper support arm through a rotating shaft 2, the upper main arm and one end of the upper support arm are hinged to a second motor through a mounting seat, the output end of the second motor is provided with a right-angle rod, and the bottom end of the right-angle rod is provided with a clamping claw assembly.

[0006] As a further improvement of the utility model, the bottom end of the main column is fixedly connected to a base, and the top end of the main column is rotatably connected to the driven column through a bearing.

[0007] As a further improvement of the present invention, the first support plate is fixedly connected to the main column via a reinforcing plate; the second support plate is fixedly connected to the fixed frame via a plurality of uprights.

[0008] As a further improvement of the present invention, the articulated seat and the first telescopic rod are hinged by bolt one, the first telescopic rod and the connecting seat one are hinged by bolt two, and the upper main arm and the upper support arm are both hinged to the mounting seat by bolt three.

[0009] As a further improvement of the present invention, the clamping jaw assembly includes a top plate fixedly connected to the right-angle rod, a fixed plate is provided under the top plate, the top plate and the fixed plate are fixedly connected by a plurality of fixed rods, a second telescopic rod is fixedly connected to the bottom of the top plate, a movable axis of the second telescopic rod passes through the fixed plate and is fixedly connected to a movable block, a plurality of connecting seats two are fixedly connected to the outer side of the movable block, a plurality of connecting blocks are fixedly connected to the outer side of the fixed plate, a connecting rod one and a connecting rod two are hinged on the plurality of connecting blocks, a clamping jaw is hinged at one end of the connecting rod one and the connecting rod two, and the connecting seat two is connected to the connecting rod one through a connecting rod three.

[0010] As a further improvement of the utility model, the connecting rod 1 and the connecting rod 2 are both hinged to the connecting block through bolt 4, the connecting rod 1 and the connecting rod 2 are both rotatably connected to the clamping claw through bolt 5, the connecting rod 3 is hinged to the connecting seat 2 through bolt 6, and the connecting rod 3 is hinged to the connecting rod 1 through bolt 7.

[0011] As a further improvement of the present invention, the lower part of the clamping jaw is an arc-shaped structure and is provided with anti-slip serrations.

[0012] The beneficial effects of the utility model are as follows: the utility model can clamp and fix spherical workpieces through the clamping claw assembly, so that stable transportation can be carried out. At the same time, the utility model can achieve precise positioning in three-dimensional space through the driving of the first motor, the first telescopic rod, the second motor, and the second telescopic rod, making the transportation work more efficient and accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the overall structure of a hard-arm power-assisted manipulator of the utility model. Figure 1 ;

[0014] Figure 2 This is a schematic diagram of the overall structure of a hard-arm power-assisted manipulator of the utility model. Figure 2 ;

[0015] Figure 3 This is a schematic diagram of the overall structure of a hard-arm power-assisted manipulator of the utility model. Figure 3 ;

[0016] Figure 4 It is a partial structural sectional view of a hard-arm power-assisted manipulator of the utility model.

[0017] As shown in the figure: 1. main column; 2. driven column; 3. first support plate; 4. first motor; 5. driving gear; 6. driven gear; 7. second support plate; 8. fixed frame; 9. hinged seat; 10. first telescopic rod; 11. connecting seat one; 12. upper main arm; 13. rotating shaft one; 14. rotating shaft two; 15. upper support arm; 16. mounting seat; 17. second motor; 18. right-angle rod; 19. clamping jaw assembly; 19.1. top plate; 19.2. fixed plate; 19.3. fixed rod; 19.4. second telescopic rod; 19.5. movable block; 19.6. connecting seat two; 19.7. connecting block; 19.8. connecting rod one; 19.9. connecting rod two; 19.10. clamping jaw; 19.11. connecting rod three; 20. base; 21. bearing member; 22. reinforcing plate; 23. pole. DETAILED DESCRIPTION

[0018] The directional terms such as up, down, left, right, front, back, front, back, top, bottom, etc. mentioned or may be mentioned in this specification are defined relative to their structure and are relative concepts. Therefore, they may change accordingly according to their different locations and different usage states; therefore, these or other directional terms should not be interpreted as restrictive terms.

[0019] The singular forms "a", "said" and "the" used in this specification are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0020] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and implementation methods. It should be understood that the implementation methods described herein are only used to explain this application and are not used to limit this application.

[0021] The utility model provides the following Figure 1 , Figure 2 , Figure 3 , Figure 4A hard-arm power-assist manipulator is shown, comprising a main column 1, the bottom end of the main column 1 is fixedly connected to a base 20 for easy installation, the top end of the main column 1 is rotatably connected to a driven column 2 through a bearing member 21, a first support plate 3 is fixedly sleeved on the top end of the main column 1, the first support plate 3 and the main column 1 are fixedly connected via a reinforcing plate 22, thereby improving the stability of the first support plate 3, a first motor 4 is fixedly connected to the first support plate 3, a driving gear 5 is provided at the output end of the first motor 4, a driven gear 6 meshing with the driving gear 5 is provided on one side of the driving gear 5, and the driven gear 6 is fixedly sleeved on the outside of the driven column 2, a second support plate 7 is fixedly sleeved on the outside of the driven column 2, a fixed frame 8 is fixedly connected to the top end of the driven column 2, the second support plate 7 and the fixed frame 8 are fixedly connected via a plurality of vertical rods 23, thereby improving the stability of the connection between the second support plate 7 and the fixed frame 8, The second supporting plate 7 is fixedly connected with an articulated seat 9, and a first telescopic rod 10 is articulated on the articulated seat 9 by bolt 1. The movable end of the first telescopic rod 10 is articulated with an upper main arm 12 by a connecting seat 11, and the upper main arm 12 is rotatably connected to the fixed frame 8 by a rotating shaft 13. The first telescopic rod 10 and the connecting seat 11 are articulated by bolt 2, and an upper support arm 15 is rotatably connected to the fixed frame 8 by a rotating shaft 2 14. The upper main arm 12 and one end of the upper support arm 15 are articulated with a second motor 17 by a mounting seat 16, and the upper main arm 12 and the upper support arm 15 are both articulated with the mounting seat 16 by bolt 3. A right-angle rod 18 is provided at the output end of the second motor 17, and a clamping claw assembly 19 is provided at the bottom end of the right-angle rod 18. By driving the first motor 4, the first telescopic rod 10 and the second motor 17, precise positioning in three-dimensional space is achieved, making the handling work more efficient and accurate.

[0022] The clamping jaw assembly 19 includes a top plate 19.1 fixedly connected to the right-angle rod 18, a fixed plate 19.2 is provided below the top plate 19.1, the top plate 19.1 and the fixed plate 19.2 are fixedly connected via a plurality of fixed rods 19.3, a second telescopic rod 19.4 is fixedly connected to the bottom of the top plate 19.1, a movable shaft of the second telescopic rod 19.4 passes through the fixed plate 19.2 and is fixedly connected to a movable block 19.5, a plurality of connecting seats 19.6 are fixedly connected to the outer side of the movable block 19.5, a plurality of connecting seats 19.6 are fixedly connected to the outer side of the fixed plate 19.2, a plurality of connecting blocks 19.7 are fixedly connected to the plurality of connecting blocks 19.7, a connecting rod 19.8 and a connecting rod 2 19.9 are hinged to the connecting rods, and the connecting rods 19.9 are hinged to the connecting rods. One end of the first connecting rod 19.8 and the second connecting rod 19.9 is hinged with a clamping claw 19.10, the second connecting rod 19.6 is connected to the first connecting rod 19.8 through the third connecting rod 19.11, the first connecting rod 19.8 and the second connecting rod 19.9 are both hinged to the connecting block 19.7 through the fourth bolt, the first connecting rod 19.8 and the second connecting rod 19.9 are both rotatably connected to the clamping claw 19.10 through the fifth bolt, the third connecting rod 19.11 is hinged to the second connecting rod 19.6 through the sixth bolt, the third connecting rod 19.11 is hinged to the first connecting rod 19.8 through the seventh bolt, the lower part of the clamping claw 19.10 is an arc structure and is provided with anti-slip serrations, so that the spherical workpiece can be stably clamped by the clamping claw assembly 19.

[0023] Working principle: In the specific implementation of the utility model, by controlling the start of the first motor 4, the driving gear 5 is driven to rotate, and the driving gear 5 rotates through the driven gear 6 meshing therewith to drive the driven column 2 to rotate; the angle of the upper main arm 12 and the upper support arm 15 can be adjusted by telescoping the movable axis of the first telescopic rod 10, so that the angle of the manipulator can be adjusted, and by controlling the start of the second motor 17 to drive the right-angle rod 18 to rotate, thereby driving the manipulator to rotate, precise positioning in three-dimensional space can be achieved, making the handling work more efficient and accurate.

[0024] At the same time, the movable axis of the second telescopic rod 19.4 is controlled to be extended and retracted, and the connecting seat 2 19.6 is driven to move through the movable block 19.5. At this time, the connecting seat 2 19.6 moves through the connecting rod 3 19.11 to drive the connecting rod 1 19.8 and the connecting rod 2 19.9 to rotate around the bolt 4, thereby rotating the clamping jaw 19.10 and opening and closing the clamping jaw 19.10, so as to achieve stable clamping of spherical workpieces.

[0025] The above implementation modes are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned implementation modes, a person skilled in the art should understand that the technical solutions described in the aforementioned implementation modes can still be modified, or some of the technical features can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the implementation modes of the present invention.

Claims

1. A rigid arm power-assisted manipulator, comprising a main column (1), characterized in that: The top of the main column (1) is rotatably connected to a driven column (2); the top of the main column (1) is fixedly sleeved with a first support plate (3); the first support plate (3) is fixedly connected to a first motor (4); an output end of the first motor (4) is provided with a driving gear (5); one side of the driving gear (5) is provided with a driven gear (6) meshing with the driving gear; and the driven gear (6) is fixedly sleeved on the outside of the driven column (2); a second support plate (7) is fixedly sleeved on the outside of the driven column (2); the top of the driven column (2) is fixedly connected to a fixed frame (8); the second support plate (7) is fixedly connected to a hinged A base (9) is provided, wherein a first telescopic rod (10) is hingedly connected to the hinged base (9), a movable end of the first telescopic rod (10) is hingedly connected to an upper main arm (12) via a connecting base (11), and the upper main arm (12) is rotatably connected to a fixed frame (8) via a rotating shaft (13), an upper support arm (15) is rotatably connected to the fixed frame (8) via a rotating shaft (14), one end of the upper main arm (12) and the upper support arm (15) are hingedly connected to a second motor (17) via a mounting base (16), a right-angle rod (18) is provided at the output end of the second motor (17), and a clamping claw assembly (19) is provided at the bottom end of the right-angle rod (18).

2. A hard-arm power-assisted manipulator according to claim 1, characterized in that: The bottom end of the main column (1) is fixedly connected to a base (20), and the top end of the main column (1) is rotatably connected to the driven column (2) via a bearing member (21).

3. A hard-arm power-assisted manipulator according to claim 1, characterized in that: The first support plate (3) is fixedly connected to the main column (1) via a reinforcing plate (22); and the second support plate (7) is fixedly connected to the fixed frame (8) via a plurality of upright poles (23).

4. The hard-arm power-assisted manipulator according to claim 1, characterized in that: The hinge seat (9) and the first telescopic rod (10) are hinged by bolt 1, the first telescopic rod (10) and the connecting seat 1 (11) are hinged by bolt 2, and the upper main arm (12) and the upper support arm (15) are hinged by bolt 3 to the mounting seat (16).

5. The hard-arm power-assisted manipulator according to claim 1, characterized in that: The clamping jaw assembly (19) comprises a top plate (19.1) fixedly connected to the right-angle rod (18), a fixed plate (19.2) is provided below the top plate (19.1), the top plate (19.1) and the fixed plate (19.2) are fixedly connected via a plurality of fixed rods (19.3), a second telescopic rod (19.4) is fixedly connected to the bottom of the top plate (19.1), a movable shaft of the second telescopic rod (19.4) passes through the fixed plate (19.2) and is fixedly connected to a movable block (19.5), The movable block (19.5) is fixedly connected to a plurality of connecting seats (19.6) on the outside, the fixed plate (19.2) is fixedly connected to a plurality of connecting blocks (19.7) on the outside, the plurality of connecting blocks (19.7) are hingedly connected to connecting rod one (19.8) and connecting rod two (19.9), one end of the connecting rod one (19.8) and connecting rod two (19.9) is hingedly connected to a clamping claw (19.10), and the connecting seat two (19.6) is connected to connecting rod one (19.8) via connecting rod three (19.11).

6. A hard-arm power-assisted manipulator according to claim 5, characterized in that: The connecting rod 1 (19.8) and the connecting rod 2 (19.9) are both hinged to the connecting block (19.7) through bolt 4, the connecting rod 1 (19.8) and the connecting rod 2 (19.9) are both rotatably connected to the clamping claw (19.10) through bolt 5, the connecting rod 3 (19.11) is hinged to the connecting seat 2 (19.6) through bolt 6, and the connecting rod 3 (19.11) is hinged to the connecting rod 1 (19.8) through bolt 7.

7. The hard-arm power-assisted manipulator according to claim 5, characterized in that: The lower part of the clamping jaw (19.10) is an arc-shaped structure and is provided with anti-slip serrations.

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