Power-assisted manipulator

Abstract

The utility model relates to a power-assisted manipulator which comprises at least two arm parts which are connected through a rotating mechanism so as to relatively rotate around the axis of the rotating mechanism, and further comprises a driving mechanism used for driving the arm parts to rotate, and the driving mechanism is connected with a driving source through a pipeline. The rotating mechanism is characterized in that a containing space used for containing a pipeline is formed in each arm part, an opening allowing the pipeline to penetrate through is formed in the joint of each arm part, correspondingly, a hollow part allowing the pipeline to penetrate through is formed in the rotating mechanism along the axis, and the openings are connected with the hollow part so that the containing spaces can be communicated with one another. The power-assisted manipulator has the advantages that the containing spaces for containing the pipelines are formed in the arm parts of the power-assisted manipulator, and the containing spaces are communicated with one another through the hollow part of the rotating mechanism, so that the pipelines can be arranged in the containing spaces of the arm parts; and the pipeline is prevented from being exposed outside each arm part or even wound on each arm part.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a power-assisted manipulator that is convenient for arranging pipelines. Background Art

[0002] A power manipulator is a power-assist device used to assist workers in carrying and installing materials, so that workers can complete the above operations with less effort. Therefore, in recent years, it has gradually been widely used in industrial production, logistics and transportation and other fields. The specific structure of the currently commonly used power manipulator can refer to, for example, the power manipulator provided by the Chinese utility model patent "A Logistics Handling Power Manipulator Device" with patent number CN202320052076.3 (publication number CN219563096U).

[0003] Specifically, the structure of the traditional power-assisted manipulator is as follows: Figure 1 As shown, it usually includes a main arm 1' that plays a supporting role, a cantilever 2' perpendicular to the main arm 1' is connected above the main arm 1', a suspension arm 3' perpendicular to the cantilever 2' is connected to the end of the suspension arm 2', and a clamp 4' for clamping materials is arranged at the end of the suspension arm 3'. Each arm is usually connected in rotation, and one of the arms is driven to rotate relative to the other arm by a driving device such as a cylinder or a motor. In addition, a driving device such as a cylinder or a motor is also required to drive the clamp to clamp materials. In order to make the arms rotationally connected, a rotating mechanism 5' is usually provided between the two arms. In order to monitor and control the working angle between the two arms, the existing power-assisted manipulator is usually also provided with a rotating mechanism between the two arms, such as the rotating mechanism provided in the Chinese utility model patent "Horizontal Rotation Stable Manipulator Structure" with patent number CN201720958472.7 (publication number CN207027507U), which adopts a rotation angle sensor to monitor and control the rotation angle of the rotating mechanism.

[0004] The above technical status leads to certain defects in the actual use of the existing power-assisted manipulator: First, the cylinder, motor and other driving devices and their control systems will be accompanied by a large number of pipelines, cables and other pipelines, which are exposed and entangled on the outside of each arm. When the two arms rotate relative to each other, the pipelines are easy to be further entangled with each other, which will limit the rotation between the arms. In addition, the rotating pipelines are easy to collide with the surrounding equipment and cause scratches or wear, which may affect the normal use of the power-assisted manipulator in serious cases. Second, the rotating mechanism uses sensors to monitor and control the working angle, which will further increase the overall number of pipelines of the power-assisted manipulator, thereby increasing the possibility of the above defects. Therefore, it is necessary to further improve the power-assisted manipulator. Utility Model Content

[0005] The first technical problem to be solved by the utility model is to provide a power-assisted manipulator capable of preventing pipelines from being exposed and entangled on the outside of each arm in response to the above-mentioned existing technical status.

[0006] The second technical problem to be solved by the present invention is to provide a power-assisted manipulator capable of reducing the number of rotating mechanism pipelines in view of the above-mentioned existing technical status.

[0007] The technical solution adopted by the utility model to solve the first technical problem is: the power-assisted manipulator includes at least two arms, each of which is connected by a rotating mechanism to rotate relative to each other around the axis of the rotating mechanism, and the power-assisted manipulator also includes a driving mechanism for driving each of the arms to rotate, and the driving mechanism is connected to a driving source through a pipeline;

[0008] It is characterized in that: a accommodating space for accommodating the pipeline is opened inside each of the arms, and an opening for the pipeline to pass through is opened at the joint of each of the arms. Correspondingly, the rotating mechanism is opened along the axis line with a hollow part for the pipeline to pass through, and the opening is connected to the hollow part so that the accommodating spaces are interconnected.

[0009] In order to realize that the rotating mechanism can allow the pipeline to pass through, preferably, the rotating mechanism includes a first connecting piece connected to the end of one of the arms and a second connecting piece connected to the end of the other arm, the first connecting piece and the second connecting piece can rotate relative to each other around the axis, and the second connecting piece is provided with a matching portion for at least partial insertion of the first connecting piece, the matching portion passes through the second connecting piece, and correspondingly, the first connecting piece is provided with the hollow portion. The matching portion is set as a structure that passes through the second connecting piece in order to cooperate with the hollow portion to meet the condition for allowing the pipeline to pass through; and the first connecting piece and the second connecting piece are provided so that the rotating mechanism can be installed between the two arms so that it can rotate relative to each other.

[0010] Further design, in order to realize the rotation function of the rotating mechanism, preferably, the first connecting member is provided with a rotating shaft, the matching portion is an axial hole adapted to the rotating shaft, the axial hole and the rotating shaft together form the axis, the end face of the rotating shaft is partially recessed and passes through the first connecting member along the axis to form the hollow portion. Through the rotating shaft and the axial hole, the first connecting member and the second connecting member can rotate relative to each other, and the hollow portion is opened on the rotating shaft and passes through the first connecting member for the pipeline to pass through.

[0011] In order to solve the second technical problem, preferably, a first limiter is provided on the rotating shaft, and correspondingly, a second limiter is fixedly connected to the second connecting member, and when the first connecting member and the second connecting member rotate relative to each other to a working angle, the first limiter conflicts with the second limiter to limit the first connecting member and the second connecting member. By using a mechanical limiter to limit the working angle between the two arms, the use of pipelines can be reduced compared to the commonly used sensor-type limiter.

[0012] Furthermore, in order to realize the limiting function of the rotating mechanism, preferably, the first limiting member partially protrudes along the radial direction to form a convex portion, and the second limiting member is provided with a limiting channel that at least partially accommodates the convex portion, and when the first connecting member and the second connecting member rotate relative to each other, the convex portion can move from the first position to the second position in the limiting channel for limiting. The first limiting member can be set as a structure that is, for example, fixedly connected to the rotating shaft, or a structure that is threadedly connected to the rotating shaft, and its purpose is that when the rotating shaft rotates, the convex portion on the first limiting member can move along the limiting channel, and when the convex portion conflicts with the outer edge of the limiting channel, it can react to the rotating shaft, thereby limiting the working angle of the rotating shaft.

[0013] In order to facilitate the pipeline connection between the drive mechanism and the drive source, preferably, each of the arm parts includes a main arm for supporting the other arm parts, and also includes a cantilever with one end connected to the main arm, and the two ends of the cantilever are provided with a first outlet for the pipeline to pass through. Such a design is based on the consideration that the rotating mechanism is often installed, for example, between the main arm and the cantilever so that the cantilever can rotate relative to the main arm, or installed between the cantilever and the boom so that the boom can rotate relative to the cantilever. According to actual conditions, the power manipulator may include two cantilevers, and a rotating mechanism can also be set between the two cantilevers. It can be seen that the end of the cantilever is often equipped with a rotating mechanism, and correspondingly, a driving mechanism for driving the arm to rotate is also provided. Therefore, the first outlet is provided at both ends of the cantilever. While avoiding the exposure of the pipeline to the outside as much as possible, it can also facilitate the pipeline connection between the drive mechanism and the drive source.

[0014] Further design, in order to realize the clamping function of the power manipulator and facilitate the connection of the clamping mechanism and the driving source with pipelines, each of the arm parts also includes a suspension arm with one end connected to the cantilever and arranged downward, the lower end of the suspension arm is connected to the clamping mechanism, the clamping mechanism is connected to the driving source through the pipeline, and correspondingly, the suspension arm is provided with a second outlet for the pipeline to pass through near the clamping mechanism. Since the clamping mechanism is connected to the driving source through the pipeline, the second outlet is provided near the clamping mechanism of the suspension arm to facilitate the connection of the clamping mechanism and the driving source with pipelines while avoiding the exposure of the pipeline to the outside as much as possible.

[0015] Compared with the prior art, the advantages of the utility model are:

[0016] 1. By opening a storage space for accommodating pipelines inside each arm of the power-assisted manipulator, and connecting each storage space to each other through the hollow part of the rotating mechanism, the pipeline can be arranged inside the storage space of each arm, thereby avoiding the pipeline being exposed to the outside of each arm or even entangled on each arm, and reducing the situation of the pipeline being scratched by foreign objects.

[0017] 2. The rotating mechanism includes a first limiter and a second limiter, and the function of limiting the working angle of the rotating mechanism is achieved through the interference between the two. Compared with the sensor-type limiter, the use of this mechanical limiter can reduce the number of pipelines used in the power-assisting manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the power-assisting manipulator in the background technology;

[0019] Figure 2 This is a schematic diagram of the structure of the power-assisting manipulator in the embodiment of the utility model;

[0020] Figure 3 This is a schematic diagram of the structure of the first cantilever in the embodiment of the utility model;

[0021] Figure 4 This is a schematic diagram of the structure of the boom in the embodiment of the utility model;

[0022] Figure 5 This is a schematic diagram of the structure of the rotating mechanism in the embodiment of the utility model;

[0023] Figure 6 This is a schematic diagram of the exploded structure of the rotating mechanism in the embodiment of the utility model;

[0024] Figure 7 This is a schematic diagram of the structure of the first connecting member in the embodiment of the utility model;

[0025] Figure 8 This is a schematic diagram of the structure of the second connecting member and the second limiting member in an embodiment of the utility model;

[0026] Fig. 9 It is a schematic diagram of the state of the power assist manipulator when the second cantilever is at the first working position in the embodiment of the utility model;

[0027] Fig.10 This is a schematic diagram of the state of the power assist manipulator when the second cantilever is at the second working position in the embodiment of the utility model;

[0028] Fig.11 It is a schematic diagram of the state of the power assist manipulator when the convex part is in the first position in the embodiment of the utility model;

[0029] Fig.12 It is a schematic diagram of the state of the power assist manipulator when the convex portion is in the second position in the embodiment of the utility model. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below in conjunction with specific embodiments.

[0031] like Figures 2 to 8 As shown in FIG. , it is a preferred embodiment of the present utility model. Figure 2 As shown, the power-assisted manipulator in this embodiment includes at least two arms, and each arm is connected by a rotating mechanism 2 so as to rotate relative to each other around the axis A of the rotating mechanism 2. The power-assisted manipulator also includes a driving mechanism for driving each arm to rotate, and the driving mechanism is connected to a driving source through a pipeline. Each arm in this embodiment is provided with a accommodating space 11 for accommodating the pipeline inside, and an opening 12 for the pipeline to pass through is provided at the joint of each arm. Correspondingly, the rotating mechanism 2 is provided with a hollow portion 21 for the pipeline to pass through along the axis A, and the opening 12 is connected to the hollow portion 21 so that each accommodating space 11 is interconnected, so that the pipeline can be arranged inside the accommodating space 11 of each arm, avoiding the pipeline being exposed to the outside of each arm or even entangled on each arm. Each arm in this embodiment includes a main arm 13 for supporting other arms, and also includes a cantilever 14 with one end connected to the main arm 13. In this embodiment, two cantilevers 14 are provided, which are a first cantilever 14' connected to the main arm 13, a second cantilever 14" is connected to the end of the first cantilever 14', and a suspension arm 15 arranged downward is connected to the end of the second cantilever 14".

[0032] In order to enable the rotating mechanism 2 to allow the pipeline to pass through, the rotating mechanism 2 in this embodiment includes a first connecting member 22 connected to the end of one arm and a second connecting member 23 connected to the end of the other arm. The first connecting member 22 and the second connecting member 23 can rotate relative to each other around the axis A. A matching portion 231 is provided on the second connecting member 23 for at least partial insertion of the first connecting member 22. The matching portion 231 passes through the second connecting member 23. Correspondingly, a hollow portion 21 is provided on the first connecting member 22. Figures 5 to 8As shown, in this embodiment, a rotating shaft 221 is provided on the first connecting member 22, and the matching portion 231 is an axial hole H adapted to the rotating shaft 221. The axial hole H and the rotating shaft 221 together form an axis A. The end surface of the rotating shaft 221 is partially recessed and penetrates the first connecting member 22 along the axis A to form a hollow portion 21, so that the pipeline can pass through. In addition, a first limiter 24 is provided on the rotating shaft 221, and correspondingly, a second limiter 25 is fixedly connected to the second connecting member 23. When the first connecting member 22 and the second connecting member 23 rotate relative to the working angle, the first limiter 24 and the second limiter 25 conflict with each other to limit the first connecting member 22 and the second connecting member 23. By using a mechanical limit to limit the working angle between the two arms, the use of pipelines can be reduced compared to the commonly used sensor-type limit. Specifically, the first limiting member 24 in this embodiment is partially protruded radially to form a convex portion 241, and the second limiting member 25 is provided with a limiting channel 251 for accommodating at least part of the convex portion 241. When the first connecting member 22 and the second connecting member 23 rotate relative to each other, the convex portion 241 can move from the first position to the second position in the limiting channel 251 for limiting.

[0033] In addition, considering that the end of the cantilever 14 is often equipped with a rotating mechanism 2, correspondingly, a driving mechanism for driving the arm portion to rotate is also provided. Therefore, the two ends of the cantilever 14 in this embodiment are provided with a first outlet portion 141 for the pipeline to pass through. Taking the first cantilever 14' as an example, it can be seen that Figure 3 The structure shown. A first outlet portion 141 is provided at both ends of the cantilever 14, which can avoid the pipeline from being exposed to the outside as much as possible, and can also facilitate the pipeline to connect the driving mechanism and the driving source. In order to realize the clamping function of the power-assisted manipulator, the lower end of the suspension arm 15 in this embodiment is connected to a clamping mechanism 3, and the clamping mechanism 3 is connected to the driving source through a pipeline. Correspondingly, the suspension arm 15 is provided with a second outlet portion 151 for the pipeline to pass through near the clamping mechanism 3. Since the clamping mechanism 3 is connected to the driving source through a pipeline, the second outlet portion 151 is provided near the clamping mechanism 3 of the suspension arm 15, which can avoid the pipeline from being exposed to the outside as much as possible, and can also facilitate the pipeline to connect the clamping mechanism 3 and the driving source.

[0034] The specific use process of the power-assisted manipulator provided in this embodiment is as follows:

[0035] See also Fig. 9 At this time, the second cantilever 14" is in the first position, and through the rotating mechanism 2, when the other arms are relatively fixed, the second cantilever 14" can rotate relative to the first cantilever 14' around the axis A of the rotating mechanism 2; Fig.10 As shown, compared to Fig. 9In the state shown, the second cantilever 14 ″ has rotated 45° around the axis A of the rotating mechanism 2 toward the first cantilever 14 ′ to rotate to the second working position. Fig.11 At this time, the protrusion 241 of the first limiting member 24 is in the first position of the limiting channel 251, that is, the top of the limiting channel 251; Fig.12 As shown, compared to Fig.11 In the state shown, the boom 15 has rotated 180° around the axis A of the rotating mechanism 2. At this time, the protrusion 241 of the first limiting member 24 is at the second position of the limiting channel 251, that is, the bottom of the limiting channel 251. Since the protrusion 241 conflicts with the bottom periphery of the limiting channel 251, the boom 15 is restricted from continuing to rotate relative to the second cantilever 14″.

Claims

1. A power-assisted manipulator, comprising at least two arms, each of which is connected via a rotating mechanism (2) so as to rotate relative to the other arm about an axis (A) of the rotating mechanism (2), the power-assisted manipulator further comprising a driving mechanism for driving each of the arms to rotate, the driving mechanism being connected to a driving source via a pipeline; Features: Each of the arms is provided with a receiving space (11) for receiving the pipeline, and an opening (12) for the pipeline to pass through is provided at the joint of each of the arms. Correspondingly, the rotating mechanism (2) is provided with a hollow portion (21) along the axis (A) for the pipeline to pass through, and the opening (12) is connected to the hollow portion (21) so that the receiving spaces (11) are interconnected.

2. The power-assisted manipulator according to claim 1, characterized in that: The rotating mechanism (2) comprises a first connecting member (22) connected to the end of one of the arm parts and a second connecting member (23) connected to the end of the other arm part, the first connecting member (22) and the second connecting member (23) are capable of relatively rotating around the axis (A), the second connecting member (23) is provided with a matching portion (231) for at least partial insertion of the first connecting member (22), the matching portion (231) passes through the second connecting member (23), and correspondingly, the first connecting member (22) is provided with the hollow portion (21).

3. The power-assisted manipulator according to claim 2, characterized in that: The first connecting member (22) is provided with a rotating shaft (221); the matching portion (231) is an axial hole (H) adapted to the rotating shaft (221); the axial hole (H) and the rotating shaft (221) together form the axis (A); the end surface of the rotating shaft (221) is partially recessed and passes through the first connecting member (22) along the axis (A) to form the hollow portion (21).

4. The power-assisted manipulator according to claim 3, characterized in that: The rotating shaft (221) is provided with a first limiting member (24), and correspondingly, the second connecting member (23) is fixedly connected with a second limiting member (25), and when the first connecting member (22) and the second connecting member (23) are relatively rotated to a working angle, the first limiting member (24) and the second limiting member (25) are in conflict with each other to limit the first connecting member (22) and the second connecting member (23).

5. The power-assisted manipulator according to claim 4, characterized in that: The first limiting member (24) is partially radially protruding to form a convex portion (241), and the second limiting member (25) is provided with a limiting channel (251) for accommodating at least a portion of the convex portion (241). When the first connecting member (22) and the second connecting member (23) rotate relative to each other, the convex portion (241) can move from a first position to a second position in the limiting channel (251) for limiting.

6. The power-assisted manipulator according to any one of claims 1 to 5, characterized in that: Each of the arm parts comprises a main arm (13) for supporting the other arm parts, and also comprises a cantilever (14) with one end connected to the main arm (13), and both ends of the cantilever (14) are provided with a first outlet portion (141) for the pipeline to pass through.

7. The power-assisted manipulator according to claim 6, characterized in that: Each of the arm parts also includes a suspension arm (15) having one end connected to the cantilever (14) and arranged downwardly, the lower end of the suspension arm (15) is connected to a clamping mechanism (3), and the clamping mechanism (3) is connected to the driving source through the pipeline. Correspondingly, the suspension arm (15) is provided with a second outlet portion (151) for the pipeline to pass through, adjacent to the clamping mechanism (3).

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