Rotating device for assisting manipulator

Abstract

The utility model relates to a rotating device for a power-assisted manipulator, which is used for being arranged at the joint of two arm parts of the power-assisted manipulator, comprises a first rotating piece and a second rotating piece which relatively rotate around a common axis, and is characterized by further comprising a limiting mechanism, the limiting mechanism comprises a driven piece arranged on the first rotating piece and provided with a convex part and at least one limiting piece provided with a limiting channel for the convex part to move, the lengths of the limiting channels of the limiting pieces are different, and when the first rotating piece and the second rotating piece rotate relatively, the convex part moves from a starting position to an ending position along the limiting channel; the mechanical limiting mechanism has the advantages that the working angle between the two arm portions of the power-assisted manipulator is adjusted through the mechanical limiting mechanism, the mechanical limiting mechanism is relatively reliable, extra wire rods are not needed, and the mechanical limiting mechanism is simple in structure, convenient to use and high in practicability. And the structure is compact and concise.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a rotating device for controlling the rotating angle of a power-assisted manipulator. Background Art

[0002] A power-assisted manipulator is an auxiliary equipment that can assist workers in grasping and moving objects, and is therefore widely used in industrial production processes. The structure of the currently commonly used power-assisted manipulator can refer to, for example, the power-assisted manipulator provided in the Chinese invention patent with patent number CN202010789562.4 (publication number CN111890381B) "A column-type power-assisted manipulator for moving heavy castings".

[0003] The power manipulator usually includes a main arm, a cantilever rotatably connected to the main arm, and a suspension arm rotatably connected to the cantilever. The main arm and the cantilever or the cantilever and the suspension arm are often connected by a rotating device. The traditional rotating device can refer to a rotating device provided in the Chinese utility model patent "A Rotating Mechanism of Power Manipulator" with patent number CN202123235273.9 (publication number CN217372413U). In actual use, it is usually necessary to limit the rotation angle of the power manipulator, for example, a rotating device is set between the main arm and the cantilever, so that it rotates back and forth within a limited rotation angle to reciprocate and transport objects between two stations; or a rotating device is set between the cantilever and the suspension arm, so that the clamp on the suspension arm can rotate around the cantilever at a limited rotation angle to facilitate grasping and transplanting objects. Therefore, it is sometimes necessary to adjust the limited rotation angle according to the needs of the site, and the above-mentioned traditional rotating device is usually difficult to adjust the rotation angle, which leads to certain inconveniences in the actual use of the power manipulator.

[0004] Therefore, in order to improve the above situation, a rotating device is provided in the prior art, for example, in the Chinese utility model patent "A Servo Rotary Joint" with patent number CN202022042257.7 (publication number CN212527800U). This type of rotating device uses an angle measurement component composed of sensors to control the rotation angle of the power-assisted manipulator, so it can flexibly rotate to the set angle, but it still has certain defects in actual use. First, the sensor may be disturbed by various factors and affect the accuracy of the measurement. For example, the encoder may be disturbed by mechanical vibration, and the limit switch may be disturbed by the external environment, which makes the reliability of this type of rotating device relatively weak. Once the angle measurement component fails and causes the rotation angle of the power-assisted manipulator to exceed the limit value, it may cause the object to be damaged by bumping into other objects, or even accidentally injure the operator; second, the outside of the power-assisted manipulator itself has a large amount of wires for connecting the drive device. If a sensor is used to detect the rotation angle, the wires surrounding the outside of the manipulator will be further increased, so the wires may be confused and entangled. Therefore, it is necessary to further improve the rotating device. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide a rotating device which can adjust the rotation angle between the two arms of the power-assisting manipulator and is relatively reliable and requires less wire materials in view of the above-mentioned existing technical status.

[0006] The technical solution adopted by the utility model to solve the above technical problems is as follows: the rotating device for the power-assisting manipulator is used to be arranged at the joint where the two arms of the power-assisting manipulator are connected end to end, and includes a first rotating member connected to the end of one arm and a second rotating member connected to the end of the other arm, both of which rotate relatively around a common axis;

[0007] It is characterized in that the rotating device also includes a limiting mechanism, and the limiting mechanism includes:

[0008] A driven member, disposed on the first rotating member, comprising a convex portion partially protruding outward in the radial direction;

[0009] The limiting member includes at least one, which is arranged on the second rotating member and is provided with a limiting channel for the convex part to move. The limiting channels on each limiting member have different lengths. When the first rotating member and the second rotating member are in a state of relative rotation, the convex part can move from a starting position to an end position along the limiting channel, and at the same time, the first rotating member and the second rotating member are restricted from continuing to rotate relative to each other in the same direction.

[0010] Each of the limiting members can be selectively selected to the limiting mechanism to adjust the relative rotation angle between the first rotating member and the second rotating member, thereby changing the working angle between the two arms.

[0011] In order to change the length of the limiting channel more conveniently, preferably, the limiting mechanism includes only one limiting member, and the limiting member is provided with an adjusting member capable of adjusting the length of the limiting channel. With such a design, the length of the limiting channel can be changed more conveniently even with only one limiting member.

[0012] In order to achieve that the protrusion of the driven member can move along the limiting channel when the first rotating member and the second rotating member rotate relative to each other, preferably, the first rotating member includes a rotating shaft forming the axis, the driven member is sleeved on the outside of the rotating shaft, and a threaded transmission part is provided on the outside of the rotating shaft, and correspondingly, the driven member includes a driven part adapted to the transmission part. In fact, the convex portion of the driven member can be moved along the limiting channel by arranging the driven member to be directly fixedly connected to the rotating shaft, or by arranging the transmission part and the driven part to be a worm and a worm wheel respectively. However, the structure in which the driven member is directly fixedly connected to the rotating shaft will result in too small a rotatable angle of the rotating shaft; and arranging the transmission part and the driven part to be a worm and a worm wheel respectively will result in only being able to adopt the form of fixing the second rotating member and rotating the first rotating member relative to the second rotating member; therefore, arranging the transmission part and the driven part to be a spiral transmission can, on the one hand, maximize the rotatable angle of the rotating shaft, for example, in conjunction with the limiting channel extending along the axial direction, change the convex portion from rotating to moving along the axial direction, and the convex portion only moves a distance of the pitch once for every 360° rotation of the rotating shaft, and on the other hand, when any one of the first rotating member and the second rotating member is fixed, the other member can rotate around the axis.

[0013] Further design, in order to prevent the follower from being affected by uneven force and affecting normal operation, preferably, at least two protrusions are evenly distributed on the follower along the circumference of the axis, and correspondingly, the limiter is provided with limit channels corresponding to each of the protrusions. Such a design prevents the follower from tilting or getting stuck due to uneven force; in addition, the protrusion can be designed as a detachable structure as needed, for example, when the limit channel is set as a hollow structure, the protrusion can be installed on the follower through the limit channel.

[0014] In order to realize that the adjusting member can adjust the length of the limiting channel, preferably, the limiting channel is a hollow part that penetrates the limiting member and extends along the axial direction, and the adjusting member includes a limiting part that can be inserted into the hollow part and can limit the convex part. Correspondingly, the adjusting member also includes an adjusting part for moving along the axial direction on the limiting member. The limiting channel is set as a structure extending along the axial direction in order to cooperate with the threaded transmission part and the driven part so that the first rotating member and the second rotating member can rotate at a larger angle relative to each other; and the limiting channel is set as a hollow part, on the one hand, it is convenient to insert the limiting part into the hollow part from the outside, and the limiting part can limit the convex part by, for example, contacting with the convex part, that is, the limiting channel is formed between the side of the limiting part facing the convex part and the periphery of the hollow part, so that the length of the limiting channel can be adjusted by moving the adjusting member along the axial direction on the limiting member, and on the other hand, it is also convenient to set the convex part as a detachable structure and install it on the driven part through the hollow part.

[0015] In order to enable the adjusting member to move along the axis direction on the limiting member, preferably, the adjusting member is sleeved on the outside of the limiting member and has a notch portion, and the adjusting member is a locking portion located on both sides of the notch portion. When the locking portion is in a locked state, the adjusting member is fixed on the limiting member, and when the locking portion is in a released state, the adjusting member can move along the axis direction on the limiting member. The notch portion enables the adjusting member to be locked and loosened outside the limiting member to a certain extent, and when the adjusting member is loosened relative to the limiting member, it can move along the axis direction under the action of an external force. Therefore, it is only necessary to set locking portions on both sides of the notch portion to switch the locking and loosening states of the adjusting member. The locking portion can adopt a commonly used locking structure such as a locking bolt, a cam locking mechanism, etc.

[0016] Further design, in order to facilitate the operator to adjust the working angle between the two arms according to the length of the limiting channel, preferably, a scale portion is provided on the outside of the hollow portion, and the scale portion can display the working angle between the two arms corresponding to the current position of the limiting portion.

[0017] In order to reduce the wear between the first rotating member and the second rotating member during rotation, preferably, the second rotating member is sleeved on the outside of the rotating shaft and includes a first end located on one side of the transmission part, and a first rolling bearing is installed between the first end and the rotating shaft. Correspondingly, the second rotating member also includes a second end located on the other side of the transmission part, and a second rolling bearing is installed between the second end and the rotating shaft, and the first end and the second end are connected by the limit member.

[0018] In order to prevent the convex portion from causing damage to the periphery of the limiting channel due to a large impact when the convex portion moves from the starting position to the ending position along the limiting channel, preferably, a first elastic member for buffering the convex portion is provided between the first rolling bearing and the follower, and similarly, a second elastic member is provided between the second rolling bearing and the follower. When the convex portion approaches the starting position and contacts the first elastic member, the first elastic member will always give the convex portion a force that makes the convex portion have a tendency to move away from the first rolling bearing, and similarly, when the convex portion approaches the ending position and contacts the second elastic member, the second elastic member will always give the convex portion a force that makes the convex portion have a tendency to move away from the second rolling bearing.

[0019] Compared with the prior art, the advantages of the utility model are: the rotating device includes a first rotating member, a second rotating member and a limiting mechanism, the limiting mechanism includes a limiting member with a limiting channel and a driven member with a convex portion, when the first rotating member and the second rotating member are in a state of relative rotation, the convex portion can move from a starting position to an end position along the limiting channel and limit the first rotating member and the second rotating member, and the limiting members with limiting channels of different lengths can be selectively selected to the limiting mechanism to adjust the relative rotation angle between the first rotating member and the second rotating member. The mechanical limiting mechanism is used to adjust the working angle between the two arms of the power-assisting manipulator, which is relatively reliable and does not require the use of additional wires, and is relatively compact and simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the installation of the rotating device in Example 1 of the utility model;

[0021] Figure 2 This is a schematic diagram of the structure of the rotating device in Example 1 of the utility model;

[0022] Figure 3 This is a schematic structural diagram of the first rotating member, the driven member, the first rolling bearing, the second rolling bearing, the first elastic member and the second elastic member in Embodiment 1 of the present utility model;

[0023] Figure 4 This is a schematic diagram of the explosion structure of the rotating device in Example 1 of the utility model;

[0024] Figure 5 This is a schematic diagram of the structure of the follower in Embodiment 1 of the present utility model;

[0025] Figure 6 This is a schematic diagram of the structure of the second rotating member and the limiting member in Embodiment 1 of the utility model;

[0026] Figure 7 This is a schematic diagram of the structure of the adjusting member in Embodiment 1 of the utility model;

[0027] Figure 8 This is a schematic diagram of a state in which the limiting portion is aligned with the first scale and the convex portion is located at the starting position in Example 1 of the utility model;

[0028] Fig. 9 This is a schematic diagram of a state in which the limiting portion is aligned with the first scale and the convex portion is located at the end position in Example 1 of the utility model;

[0029] Fig.10 This is a schematic diagram of a state in which the limiting portion is aligned with the second scale and the convex portion is located at the starting position in Example 1 of the utility model;

[0030] Fig.11 This is a schematic diagram of a state in which the limiting portion is aligned with the second scale and the convex portion is located at the end position in Example 1 of the utility model;

[0031] Fig.12 This is a schematic diagram of the installation of the rotating device in Example 2 of the utility model. DETAILED DESCRIPTION

[0032] The present invention is further described in detail below in conjunction with specific embodiments.

[0033] Example 1

[0034] like Figures 1 to 7 The preferred embodiment of the utility model is shown in FIG. Figure 1The rotating device for the power-assist manipulator in this embodiment is used to be arranged at the joint where the two arms of the power-assist manipulator are connected end to end, and includes a first rotating member 11 connected to the end of one arm and a second rotating member 12 connected to the end of the other arm, both of which rotate relative to each other around a common axis A. The rotating device also includes a limiting mechanism 2, the limiting mechanism 2 includes a follower 21 arranged on the first rotating member 11, and the follower 21 includes a convex portion 211 that partially protrudes radially outward; the limiting mechanism 2 also includes at least one limiting member 22 arranged on the second rotating member 12, the limiting member 22 is provided with a limiting channel 221 for the convex portion 211 to move, and the limiting channels 221 on each limiting member 22 have different lengths. When the first rotating member 11 and the second rotating member 12 are in a state of relative rotation, the convex portion 211 can move from the starting position to the end position along the limiting channel 221, and at the same time limit the first rotating member 11 and the second rotating member 12 to continue to rotate relative to each other in the same direction. Each limit member 22 can be selectively selected to the limit mechanism 2 to adjust the relative rotation angle between the first rotating member 11 and the second rotating member 12, thereby changing the working angle between the two arms. The rotating device in this embodiment is installed between the arm 1a and the clamping claw 1b of the power manipulator, and the arm 1a is in a relatively fixed state, so the second rotating member 12 connected to the arm 1a is actually also in a relatively fixed state. The rotating device can control the working angle of the clamping claw 1b relative to the arm 1a, and the working angle in actual work is usually between 0° and 720°.

[0035] Considering the convenience of specific operation, the limiting mechanism 2 in this embodiment includes only one limiting member 22, on which an adjusting member 23 capable of adjusting the length of the limiting channel 221 is arranged, and the total length of the limiting channel 221 of the limiting member 22 in this embodiment can support the first rotating member 11 to rotate 360° relative to the second rotating member 12. In order to realize that when the first rotating member 11 and the second rotating member 12 rotate relative to each other, the convex portion 211 of the driven member 21 can move along the limiting channel 221, as shown in FIG. Figure 3As shown, the first rotating member 11 includes a rotating shaft 111 forming an axis A, and the driven member 21 is sleeved on the outside of the rotating shaft 111. The rotating shaft 111 is provided with a threaded transmission part 112 on the outside. Correspondingly, the driven member 21 includes a driven part 212 adapted to the transmission part 112. In order to cooperate with the transmission part 112, the driven part 212 and the convex part 211, the limiting channel 221 in this embodiment extends along the axis A direction. Under the cooperation of the limiting channel 221, and because the transmission part 112 and the driven part 212 are spirally driven, the convex part 211 only moves once along the axis A direction in the limiting channel 221 by a distance of the pitch every time the rotating shaft 111 rotates 360 degrees. In order to prevent the follower 21 from being affected by uneven force and affecting normal operation, at least two protrusions 211 are evenly distributed on the follower 21 along the circumference of the axis A. Correspondingly, the limiter 22 is provided with limit channels 221 corresponding to each of the protrusions 211. This design prevents the follower 21 from tilting or getting stuck due to uneven force. Figure 5 As shown, the follower 21 in this embodiment has two detachable protrusions 211 , and correspondingly, the limiting member 22 is provided with two limiting channels 221 .

[0036] Furthermore, in order to enable the adjusting member 23 to adjust the length of the limiting channel 221, the limiting channel 221 is a hollow portion H that passes through the limiting member 22 and extends along the axis A direction, and the adjusting member 23 includes a limiting portion 231 that can be inserted into the hollow portion H and can limit the protrusion 211. Correspondingly, the adjusting member 23 also includes an adjusting portion 232 for moving on the limiting member 22 along the axis A direction. The limiting channel 221 is set as the hollow part H. On the one hand, it is convenient to insert the limiting part 231 into the hollow part H from the outside, and the limiting part 231 can limit the convex part 211 by, for example, interfering with the convex part 211, that is, the limiting channel 221 is formed between the side of the limiting part 231 facing the convex part 211 and the periphery of the hollow part H. Therefore, the length of the limiting channel 221 can be adjusted by moving the adjusting member 23 on the limiting member 231 along the axis A direction; on the other hand, it is also convenient to set the convex part 211 as a detachable structure and install it on the driven member 21 through the hollow part H. In order to realize that the adjusting member 23 can move along the axis A direction on the limiting member 22, refer to Figure 7The adjusting member 23 in this embodiment is sleeved on the outside of the limiting member 22 and has a notch 233. The adjusting member 233 is a locking portion L located on both sides of the notch 233. When the locking portion L is in a locked state, the adjusting member 23 is fixed on the limiting member 22. When the locking portion L is in a released state, the adjusting member 23 can move along the axis A on the limiting member 22. The notch 233 allows the adjusting member 23 to be locked and loosened outside the limiting member 22 to a certain extent. When the adjusting member 23 is loosened relative to the limiting member 22, it can move along the axis A under the action of an external force. Therefore, it is only necessary to set the locking portions L on both sides of the notch 233 to switch the locking and loosening states of the adjusting member 23. The locking portion L in this embodiment adopts a locking bolt structure. Further design, in order to facilitate the operator to adjust the working angle between the two arms according to the length of the limiting channel 221, a scale portion 222 is also provided on the outside of the hollow portion H, and the scale portion 222 can display the working angle between the two arms corresponding to the current position of the limiting portion 231.

[0037] In addition, in order to reduce the wear between the first rotating member 11 and the second rotating member 12 during relative rotation, the second rotating member 12 in this embodiment is sleeved on the outside of the rotating shaft 111 and includes a first end 121 located on one side of the transmission part 112, and a first rolling bearing 31 is installed between the first end 121 and the rotating shaft 111. Correspondingly, the second rotating member 12 also includes a second end 122 located on the other side of the transmission part 112, and a second rolling bearing 32 is installed between the second end 122 and the rotating shaft 111. The first end 121 and the second end 122 are connected by a stopper 22. Figure 6 As shown, the stopper 22 in this embodiment is designed as a whole with the first end 121, and the stopper 22 is connected to the second end 122 by a thread. In order to prevent the convex portion 211 from damaging the periphery of the limiting channel 221 due to a large impact when the convex portion 211 moves from the starting position to the ending position along the limiting channel 221, a first elastic member 33 for buffering the convex portion 211 is provided between the first rolling bearing 31 and the follower 21, and similarly, a second elastic member 34 is provided between the second rolling bearing 32 and the follower 21. When the convex portion 211 approaches the starting position and contacts the first elastic member 33, the first elastic member 33 will always give the convex portion 211 a force that makes the convex portion 211 have a tendency to move away from the first rolling bearing 31. Similarly, when the convex portion 211 approaches the ending position and contacts the second elastic member 34, the second elastic member 34 will always give the convex portion 211 a force that makes the convex portion 211 have a tendency to move away from the second rolling bearing 32, thereby buffering the convex portion 211.

[0038] The specific use process of the rotating device provided in this embodiment is as follows:

[0039] like Figure 8As shown, at this time, the limit portion 22 is aligned with the first scale and the convex portion 211 is at the starting position. It can be seen that the middle of the clamping jaw 1b has a depression, while the back of the middle of the clamping jaw 1b does not have the depression. The working angle corresponding to the first scale is 180°, and the first rotating member 11 can rotate relative to the second rotating member 12 around the axis A toward the direction R; see Fig. 9 At this time, the clamping jaw 1b has rotated 180° toward the direction R. At this time, there is no depression in the middle of the clamping jaw 1b at the same viewing angle. The dotted line in the figure is Figure 8 The position of the convex portion 211, the convex portion 211 has moved from the starting position to the ending position and is restrained by the limiting portion 231, but the clamping jaw 1b can rotate in the direction opposite to the direction R to return the convex portion 211 from the ending position to the starting position; Fig.10 As shown, align the limit portion 231 with the second scale, and the dotted line in the figure is Fig. 9 The position of the middle adjustment member 23, and the working angle corresponding to the second scale is 90 degrees; see Fig.10 Obviously, at this time, the clamping jaw 1b has rotated 90° in the direction R, and the protrusion 211 has also moved from the starting position to the ending position and is limited by the limiting portion 231, while the clamping jaw 1b can be rotated in the direction opposite to the direction R to make the protrusion 211 return from the ending position to the starting position.

[0040] Example 2

[0041] like Fig.12 As shown, the structure is basically consistent with that of Example 1, except that the main arm 1c and the cantilever 1d in this embodiment are also connected by a rotating device, and the first rotating member 11 in this embodiment is connected to the main arm 1c and is in a relatively fixed state, while the second rotating member 12 is connected to the cantilever 1d and can rotate around the axis A relative to the first rotating member 11, thereby being able to control the working angle of the cantilever 1d relative to the main arm 1c.

Claims

1. A rotating device for a power-assisting manipulator, arranged at a joint where two arms of the power-assisting manipulator are connected end to end, comprising a first rotating member (11) connected to the end of one arm and a second rotating member (12) connected to the end of the other arm, both of which rotate relative to each other around a common axis (A); It is characterized in that The rotating device further comprises a limiting mechanism (2), wherein the limiting mechanism (2) comprises: A driven member (21) is arranged on the first rotating member (11) and comprises a convex portion (211) partially protruding outward in the radial direction; The limiting member (22) comprises at least one, which is arranged on the second rotating member (12) and is provided with a limiting channel (221) for the convex portion (211) to move. The limiting channels (221) on the respective limiting members (22) have different lengths. When the first rotating member (11) and the second rotating member (12) are in a state of relative rotation, the convex portion (211) can move from a starting position to an end position along the limiting channel (221), and at the same time, the first rotating member (11) and the second rotating member (12) are restricted from continuing to rotate relative to each other in the same direction. Each of the limiting members (22) can be selectively selected to the limiting mechanism (2) to adjust the relative rotation angle between the first rotating member (11) and the second rotating member (12), thereby changing the working angle between the two arms.

2. The rotating device according to claim 1, characterized in that: The limiting mechanism (2) comprises only one limiting member (22), and the limiting member (22) is provided with an adjusting member (23) capable of adjusting the length of the limiting channel (221).

3. The rotating device according to claim 2, characterized in that: The first rotating member (11) includes a rotating shaft (111) forming the axis (A); the driven member (21) is sleeved on the outside of the rotating shaft (111); a threaded transmission portion (112) is provided on the outside of the rotating shaft (111); correspondingly, the driven member (21) includes a driven portion (212) adapted to the transmission portion (112).

4. The rotating device according to claim 3, characterized in that: At least two protrusions (211) are evenly distributed on the follower (21) along the circumferential direction of the axis (A), and correspondingly, the limiting member (22) is provided with limiting channels (221) respectively corresponding to each of the protrusions (211).

5. The rotating device according to claim 4, characterized in that: The limiting passage (221) is a hollow portion (H) that passes through the limiting member (22) and extends along the axis (A) direction. The adjusting member (23) includes a limiting portion (231) that can be inserted into the hollow portion (H) and can limit the convex portion (211). Correspondingly, the adjusting member (23) also includes an adjusting portion (232) that is used to move on the limiting member (22) along the axis (A) direction.

6. The rotating device according to claim 5, characterized in that: The adjusting member (23) is sleeved on the outside of the limiting member (22) and has a notch portion (233); the adjusting portion (232) is a locking portion (L) located on both sides of the notch portion (233); when the locking portion (L) is in a locked state, the adjusting member (23) is fixed on the limiting member (22); when the locking portion (L) is in a released state, the adjusting member (23) can move on the limiting member (22) along the direction of the axis (A).

7. The rotating device according to claim 5, characterized in that: A scale portion (222) is provided on the outside of the hollow portion (H), and the scale portion (222) can display the working angle between the two arms corresponding to the current position of the limiting portion (231).

8. The rotating device according to any one of claims 3 to 7, characterized in that: The second rotating member (12) is sleeved on the outside of the rotating shaft (111) and includes a first end portion (121) located on one side of the transmission portion (112), a first rolling bearing (31) is installed between the first end portion (121) and the rotating shaft (111), and correspondingly, the second rotating member (12) also includes a second end portion (122) located on the other side of the transmission portion (112), a second rolling bearing (32) is installed between the second end portion (122) and the rotating shaft (111), and the first end portion (121) and the second end portion (122) are connected via the limiting member (22).

9. The rotating device according to claim 8, characterized in that: A first elastic member (33) for buffering the convex portion (211) is provided between the first rolling bearing (31) and the driven member (21), and similarly, a second elastic member (34) is provided between the second rolling bearing (32) and the driven member (21).

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