Suspension type power-assisted manipulator

Abstract

The utility model discloses a suspension type power-assisted manipulator which comprises a sliding seat, a lower hanging arm connected with the sliding seat and a clamp connected with the lower hanging arm, the sliding seat is movably matched on a sky rail, the lower hanging arm comprises a fixed arm fixedly connected with the sliding seat and a movable arm connected with the fixed arm in an inserted mode, and the fixed arm is hinged to the lower hanging arm through an air cylinder. A piston rod of the lower hanging arm cylinder is connected with the movable arm. A worker pushes or pulls the lower hanging arm, so that the sliding seat slides along the sky rail. And the clamp moves to a feeding station to clamp the product. Afterwards, the air cylinder for the lower hanging arm shrinks to drive the movable arm to ascend along the fixed arm, and the clamp and the product ascend. A worker pushes or pulls the drooping arm, so that the sliding seat slides along the sky rail, and the product is translated to a blanking station along with the sliding seat. The air cylinder for the lower hanging arm extends, and the product descends and falls on the discharging station. Compared with an automatic robot, the power-assisted manipulator is simple in structure, low in cost and capable of assisting workers in conveniently carrying heavy objects.

Description

Technical Field

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

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

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

[0004] To solve the above technical problems, the utility model provides the following technical solutions: a suspended power-assisted manipulator, comprising a sliding seat, a drooping arm connected to the sliding seat, and a clamp connected to the drooping arm. The sliding seat is movably matched on the overhead rail, and the drooping arm is located below the sliding seat. The drooping arm comprises a fixed arm fixedly connected to the sliding seat and a movable arm plugged into the fixed arm. The fixed arm and the drooping arm are hinged with a cylinder, and the piston rod of the drooping arm cylinder is connected to the movable arm. Under the drive of the drooping arm cylinder, the movable arm can be raised and lowered relative to the fixed arm; the drooping arm cylinder is installed on the fixed arm through an articulated seat, and the articulated seat is provided with a first clamping plate, which is used in conjunction with a second clamping plate, a threaded connector connects the first clamping plate and the second clamping plate, and the first clamping plate and the second clamping plate are clamped on the fixed arm.

[0005] The worker pushes or pulls the hanging arm, causing the sliding seat to slide along the overhead rail, and the hanging arm and the clamp move horizontally. The clamp moves to the loading station to clamp the product, which is a shaft or cylinder product. After that, the hanging arm is retracted by the cylinder, driving the movable arm to rise along the fixed arm, and the clamp and the product rise. The worker pushes or pulls the hanging arm, causing the sliding seat to slide along the overhead rail, and the product moves horizontally to the unloading station. The hanging arm is extended by the cylinder, and the product descends and falls on the unloading station.

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

[0007] When the maximum length of the drooping arm needs to be adjusted, the worker loosens the threaded connector, adjusts the position of the first and second clamps on the fixed arm, and then tightens the threaded connector to clamp the first and second clamps on the fixed arm. The extension and reset amplitudes of the drooping arm cylinder are fixed. When the position of the drooping arm cylinder is adjusted upward, the length of the movable arm extending from the fixed arm becomes shorter, and the maximum length of the drooping arm becomes shorter; when the position of the drooping arm cylinder is adjusted downward, the length of the movable arm extending from the fixed arm becomes longer, and the maximum length of the drooping arm becomes longer. In this way, the drooping arm and the clamp on it can adapt to different working conditions, for example, the height of the product to be clamped by the clamp becomes higher or lower.

[0008] The cross section of the fixed arm is square, and the cross section of the movable arm is square, and both are hollow. The movable arm rises and falls in the hollow cavity of the fixed arm, and the square hollow cavity guides the movable arm. In addition, the cross section of the fixed arm is square, which is conducive to the first clamping plate and the second clamping plate of the hinge seat being clamped on the fixed arm.

[0009] A connecting part is welded at the bottom end of the movable arm, and a piston rod of the drooping arm cylinder is connected to the connecting part through a first bolt. The cylinder body of the drooping arm cylinder is hinged to the fixed arm, and the hinged connection can absorb the parallel error between the drooping arm cylinder and the drooping arm, so that the drooping arm and the drooping arm cylinder can be normally extended or contracted.

[0010] The bottom end of the movable arm is connected to an extension arm, the extension arm flange at the top end of the extension arm is connected to the connecting portion through a second bolt, a clamp mounting seat is welded on the extension arm, and the clamp is connected to the clamp mounting seat through a third bolt.

[0011] The clamp comprises a frame-shaped bracket fixed on the clamp mounting seat, a clamp cylinder installed in the frame-shaped bracket, and a pair of clamping jaws hinged on the frame-shaped bracket. A connecting block is provided on the piston rod of the clamp cylinder, and the clamping jaws and the connecting block are connected by a connecting rod. The clamp cylinder is actuated to drive the connecting rod, and the connecting rod drives the pair of clamping jaws to open or close. When the pair of clamping jaws are closed, the parts are clamped, and when the pair of clamping jaws are opened, the parts are released.

[0012] The clamping jaws are equipped with anti-skid plates. When the clamping jaws clamp the product, the anti-skid plates are in direct contact with the product, and the anti-skid stripes on the anti-skid plates can prevent the product from sliding relative to the clamping jaws.

[0013] A handle frame is installed on the extension arm, and connecting sheet structures are provided at both ends of the handle frame. The fourth bolt connects a pair of connecting sheet structures, and the pair of connecting sheet structures are clamped on the extension arm. The clamp is located in front of the extension arm and the handle frame is located behind the extension arm. A controller can be installed on the handle frame, and the controller controls the cylinder for the drooping arm and the clamp cylinder. The worker holds the handle frame and can pull or push the drooping arm to move the sliding seat along the ceiling rail.

[0014] The sliding seat includes a sliding seat top plate, arched brackets welded on the left and right sides of the sliding seat top plate, and triangular brackets are hinged at the front and rear ends of each arched bracket. The triangular brackets are provided with rollers, and the rollers are matched in the ceiling rail with a square cross-section. The top flange of the fixed arm is connected to the sliding seat top plate by a fifth bolt. A strip groove is provided on the bottom surface of the ceiling rail, and the strip groove is connected to the inner cavity of the ceiling rail. The roller is installed on the roller frame, and the roller frame is welded on the triangular bracket. The roller frame is matched in the strip groove, the triangular bracket is located below the ceiling rail, and the roller is located in the inner cavity of the ceiling rail, pressing against the bottom surface of the inner cavity of the ceiling rail. In this way, the sliding seat can be movably matched on the ceiling rail. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The utility model is further described below in conjunction with the accompanying drawings:

[0016] Figure 1 This is a schematic diagram of a suspended power-assisted manipulator;

[0017] Figure 2 This is an exploded view of the suspended power-assisted manipulator;

[0018] Figure 3 A schematic diagram of the suspended power-assisted manipulator from another perspective;

[0019] Figure 4 A schematic diagram of the coordination between the suspended power-assisting manipulator and the overhead rail 40;

[0020] Figure 5 is a schematic diagram of the fixture;

[0021] Figure 6 This is a schematic diagram obtained by looking down at the fixture;

[0022] Figure 7 for Figure 6 Bottom view of

[0023] Figure 8 It is a schematic diagram of the sliding seat 10.

[0024] Explanation of symbols in the figure:

[0025] 10. Sliding seat; 11. Sliding seat top plate; 12. Arch bracket; 13. Triangular support; 14. Roller; 15. Roller frame;

[0026] 20. drooping arm; 21. fixed arm; 211. top flange; 22. movable arm; 23. cylinder for drooping arm; 24. hinged seat; 241. first clamping plate; 242. second clamping plate; 25. connecting part; 251. first bolt; 26. extension arm; 261. extension arm flange; 262. fixture mounting seat; 27. handle frame; 271. connecting sheet structure;

[0027] 30. Clamp; 31. Frame bracket; 32. Clamp cylinder; 33. Clamp claw; 34. Connecting block; 35. Connecting rod; 36. Anti-slip plate block; 361. Anti-slip stripes;

[0028] 40. Sky track. DETAILED DESCRIPTION

[0029] like Figures 1 to 4 A suspended power-assisting manipulator comprises a sliding seat 10, a drooping arm 20 connected to the sliding seat, and a clamp 30 connected to the drooping arm. The sliding seat is movably matched on a ceiling rail 40, and the drooping arm is located below the sliding seat. The drooping arm comprises a fixed arm 21 fixedly connected to the sliding seat and a movable arm 22 plugged into the fixed arm. The fixed arm is hinged to a drooping arm cylinder 23, and a piston rod of the drooping arm cylinder is connected to the movable arm. Under the drive of the drooping arm cylinder, the movable arm can be raised and lowered relative to the fixed arm; the drooping arm cylinder 23 is installed on the fixed arm through an articulated seat 24, and the articulated seat is provided with a first clamping plate 241, which is used in conjunction with a second clamping plate 242, and a threaded connector connects the first clamping plate and the second clamping plate, and the first clamping plate and the second clamping plate are clamped on the fixed arm 21.

[0030] The worker pushes or pulls the hanging arm 20, causing the sliding seat 10 to slide along the overhead rail 40, and the hanging arm 20 and the clamp 30 move horizontally accordingly. The clamp moves to the loading station to clamp the product, which is an axle or cylinder product. Afterwards, the hanging arm cylinder 23 contracts, driving the movable arm 22 to rise along the fixed arm 21, and the clamp 30 and the product rise. The worker pushes or pulls the hanging arm 20, causing the sliding seat 10 to slide along the overhead rail 40, and the product moves horizontally to the unloading station accordingly. The hanging arm cylinder 23 extends, and the product descends and falls on the unloading station.

[0031] When the maximum length of the drooping arm 20 needs to be adjusted, the worker loosens the threaded connector, adjusts the position of the first clamping plate 241 and the second clamping plate 242 clamped on the fixed arm 21, and then tightens the threaded connector to clamp the first clamping plate and the second clamping plate on the fixed arm 21. The extension and reset amplitude of the drooping arm cylinder 23 is fixed. When the position of the drooping arm cylinder 23 is adjusted upward, the length of the movable arm 22 extending out of the fixed arm 21 becomes shorter, and the maximum length of the drooping arm 20 becomes shorter; when the position of the drooping arm cylinder 23 is adjusted downward, the length of the movable arm 22 extending out of the fixed arm 21 becomes longer, and the maximum length of the drooping arm 20 becomes longer. In this way, the drooping arm and the clamp 30 thereon can adapt to different working conditions, for example, the height of the product to be clamped by the clamp becomes higher or lower.

[0032] The cross section of the fixed arm 21 is square, and the cross section of the movable arm 22 is square. Both are hollow, and the movable arm 22 rises and falls in the hollow cavity of the fixed arm 21, and the square hollow cavity guides the movable arm 22. In addition, the cross section of the fixed arm 21 is square, which is conducive to the first clamping plate 241 and the second clamping plate 242 of the hinge seat 24 being clamped on the fixed arm 21.

[0033] like Figure 1 A connecting portion 25 is welded to the bottom end of the movable arm 22, and the piston rod of the drooping arm cylinder 23 is connected to the connecting portion through a first bolt 251. The cylinder body of the drooping arm cylinder 23 is hinged to the fixed arm 21, and the hinged connection can absorb the parallel error between the drooping arm cylinder 23 and the drooping arm 20, so that the drooping arm 20 and the drooping arm cylinder 23 can be normally extended or contracted.

[0034] The bottom end of the movable arm 22 is connected to an extension arm 26, an extension arm flange 261 at the top of the extension arm is connected to the connecting portion 25 via a second bolt, a clamp mounting seat 262 is welded on the extension arm, and the clamp 30 is connected to the clamp mounting seat via a third bolt.

[0035] Combination Figures 5 to 7 The clamp 30 includes a frame-shaped bracket 31 fixed on the clamp mounting seat 262, a clamp cylinder 32 installed in the frame-shaped bracket, and a pair of clamping jaws 33 hinged on the frame-shaped bracket. A connecting block 34 is provided on the piston rod of the clamp cylinder, and the clamping jaws and the connecting block are connected by a connecting rod 35. The clamp cylinder 32 is actuated to drive the connecting rod 35, and the connecting rod drives the pair of clamping jaws 33 to open or close. When the pair of clamping jaws 33 are closed, the parts are clamped, and when the pair of clamping jaws 33 are opened, the parts are released.

[0036] The clamping jaws 33 are provided with anti-skid plate blocks 36. When the clamping jaws clamp the product, the anti-skid plate blocks 36 are in direct contact with the product, and the anti-skid stripes 361 on the anti-skid plate blocks can prevent the product from sliding relative to the clamping jaws 33.

[0037] Combination Figure 1 , Figure 3 A handle frame 27 is installed on the extension arm 26, and connecting sheet structures 271 are provided at both ends of the handle frame. The fourth bolt connects a pair of connecting sheet structures, and a pair of connecting sheet structures are clamped on the extension arm 26. The clamp 30 is located in front of the extension arm and the handle frame 27 is located behind the extension arm.

[0038] A controller may be mounted on the handle frame 27 to control the droop arm cylinder 23 and the clamp cylinder 32. A worker holds the handle frame 27 to pull or push the droop arm 20 to displace the slide seat 10 along the ceiling rail 40.

[0039] like Figure 1 , Figure 8 ,as well as Figure 4The sliding seat 10 includes a sliding seat top plate 11, an arch support 12 welded on the left and right sides of the sliding seat top plate, and a triangular support 13 is hinged at the front and rear ends of each arch support. A roller 14 is provided on the triangular support, and the roller is matched in the ceiling rail 40 with a square cross-section. The top flange 211 of the fixed arm 21 is connected to the sliding seat top plate 11 by a fifth bolt. A strip groove is provided on the bottom surface of the ceiling rail 40, and the strip groove is connected to the inner cavity of the ceiling rail. The roller 14 is installed on the roller frame 15, and the roller frame is welded on the triangular support 13. The roller frame 15 is matched in the strip groove, the triangular support is located below the ceiling rail 40, and the roller 14 is located in the inner cavity of the ceiling rail and pressed against the bottom surface of the inner cavity of the ceiling rail. In this way, the sliding seat 10 can be movably matched on the ceiling rail 40.

[0040] The above contents are only preferred implementation modes of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there may be changes in the specific implementation mode and application scope. The content of this specification should not be understood as limiting the present invention.

Claims

1. A suspended power-assisted manipulator, comprising a sliding seat (10), a drooping arm (20) connected to the sliding seat, and a clamp (30) connected to the drooping arm, characterized in that: The sliding seat is movably matched on the ceiling rail (40), the drooping arm is located below the sliding seat, the drooping arm comprises a fixed arm (21) fixedly connected to the sliding seat, and a movable arm (22) plugged into the fixed arm, the fixed arm is hinged with a drooping arm cylinder (23), the piston rod of the drooping arm cylinder is connected to the movable arm, and the movable arm can be lifted and lowered relative to the fixed arm under the drive of the drooping arm cylinder; the drooping arm cylinder (23) is installed on the fixed arm through an articulated seat (24), the articulated seat is provided with a first clamping plate (241), the first clamping plate is used in conjunction with a second clamping plate (242), a threaded connector connects the first clamping plate and the second clamping plate, and the first clamping plate and the second clamping plate are clamped on the fixed arm (21).

2. The suspended power-assisting manipulator according to claim 1, characterized in that: The cross section of the fixed arm (21) is square, and the cross section of the movable arm (22) is square.

3. The suspended power-assisting manipulator according to claim 1, characterized in that: A connecting portion (25) is welded to the bottom end of the movable arm (22), and a piston rod of a hanging arm cylinder (23) is connected to the connecting portion via a first bolt (251).

4. The suspended power-assisting manipulator according to claim 3, characterized in that: The bottom end of the movable arm (22) is connected to an extension arm (26), an extension arm flange (261) at the top end of the extension arm is connected to the connecting portion (25) via a second bolt, a clamp mounting seat (262) is welded on the extension arm, and the clamp (30) is connected to the clamp mounting seat via a third bolt.

5. The suspended power-assisting manipulator according to claim 4, characterized in that: The clamp (30) comprises a frame-shaped bracket (31) fixed on a clamp mounting seat (262), a clamp cylinder (32) installed in the frame-shaped bracket, and a pair of clamping jaws (33) hinged on the frame-shaped bracket. A connecting block (34) is provided on the piston rod of the clamp cylinder, and the clamping jaws and the connecting block are connected by a connecting rod (35).

6. The suspended power-assisting manipulator according to claim 5, characterized in that: An anti-slip plate block (36) is mounted on the clamping jaw (33).

7. The suspended power-assisting manipulator according to claim 4, characterized in that: A handle frame (27) is mounted on the extension arm (26), and connecting sheet structures (271) are provided at both ends of the handle frame. A fourth bolt connects a pair of connecting sheet structures, and the pair of connecting sheet structures are clamped on the extension arm (26). The clamp (30) is located in front of the extension arm and the handle frame (27) is located behind the extension arm.

8. The suspended power-assisting manipulator according to claim 1, characterized in that: The sliding seat (10) comprises a sliding seat top plate (11), arched brackets (12) welded to the left and right sides of the sliding seat top plate, and each arched bracket is hingedly connected to a triangular bracket (13) at the front and rear ends, and a roller (14) is provided on the triangular bracket, and the roller is matched in a ceiling rail (40) with a square cross section.

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