Control support of power-assisted manipulator

Abstract

The utility model discloses a control bracket of a power-assisted manipulator, which is arranged on a lower hanging arm of the power-assisted manipulator and comprises a frame-shaped frame and a connecting piece, one side of the connecting piece is connected with the lower hanging arm, the other side of the connecting piece is hinged with the frame-shaped frame, a controller is arranged on the frame-shaped frame, the connecting piece is of a rectangular structure, and the connecting piece extends towards the rear part of the lower hanging arm. An air cylinder installed on the lower hanging arm penetrates through the connecting piece. When the product descends, the lifting arm rotates downwards, the distance between the drooping arm and the stand column is increased, and enough space is provided for upward rotation of the frame-shaped frame relative to the connecting piece. When the product ascends, the lifting arm rotates upwards, the distance between the drooping arm and the stand column is shortened, the length of the frame-shaped frame in the horizontal direction is shortened, and the frame-shaped frame cannot interfere with the stand column. Thus, no matter whether the product descends or ascends, the space between the drooping arm and the stand column can contain the long frame-shaped frame, and conditions are provided for design of the long frame-shaped frame.

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 robot handling saves time and effort, the cost of use is high. The power manipulator has a simple structure and low cost, but it can assist workers in conveniently carrying heavier items.

[0003] The power-assisted manipulator includes a column, a lifting arm hinged to the column, a rotating arm pivoted to the lifting arm, a drooping arm pivoted to the rotating arm, a fixture seat hinged to the drooping arm, and a fixture arranged on the fixture seat. A cylinder is arranged between the column and the lifting arm, and between the drooping arm and the fixture seat. The rotating arm can rotate horizontally relative to the column, and the drooping arm can rotate horizontally relative to the rotating arm. Driven by the cylinder, the lifting arm can be raised and lowered relative to the column, and the fixture seat can be raised and lowered relative to the drooping arm. In this way, the fixture can rise after clamping the product. A control bracket is installed on the drooping arm. The worker holds the control bracket and applies force to the drooping arm, so that the drooping arm rotates horizontally relative to the rotating arm, the rotating arm rotates horizontally relative to the lifting arm, and the rotating arm rotates horizontally relative to the column. The product on the fixture is transferred to a predetermined workstation, and then lowered to release the product, so as to realize short-distance transportation of the product.

[0004] The control bracket is equipped with a controller for controlling the movement of the cylinder and the clamp. In this way, the worker can control the lifting and translation of the product through the control bracket. However, when clamping long-axis / long-tube products, the power manipulator needs to lift the product to get it off the ground. In this way, the control bracket installed on the drooping arm is lifted accordingly, which makes it inconvenient for the worker to hold the control bracket, or the worker's arm is tired from lifting, or even the control bracket is out of the worker's grip. Utility Model Content

[0005] The technical problem solved by the utility model is as follows: when clamping long-axis / long-cylinder products, the power-assisted manipulator needs to lift the product, and the control bracket is lifted accordingly, which makes it inconvenient for workers to hold the control bracket, or the workers become tired from lifting their arms, or even the control bracket slips out of the workers' grip.

[0006] In order to solve the above technical problems, the utility model provides the following technical solutions: a control bracket of the power-assist manipulator is installed on the drooping arm of the power-assist manipulator, including a frame and a connecting piece, one side of the connecting piece is connected to the drooping arm, and the other side of the connecting piece is connected to the frame, and the controller is installed on the frame, the connecting piece is a rectangular structure, and the connecting piece extends to the rear of the drooping arm, the clamp of the power-assist manipulator is located in front of the drooping arm, and the cylinder installed on the drooping arm passes through the connecting piece; the frame and the connecting piece are hinged.

[0007] When the product is lowered, the lifting arm rotates downward, and the distance between the drooping arm and the column increases. As the product is lowered, the frame needs to rotate upward relative to the connecting piece, otherwise, the bottom of the frame may contact the ground due to the long length of the frame. As the distance between the drooping arm and the column increases, sufficient space is provided for the frame to rotate upward relative to the connecting piece.

[0008] When the product rises, the lifting arm rotates upward, and the distance between the drooping arm and the column becomes smaller. As the product rises, the connecting piece rises, and the frame needs to rotate downward relative to the connecting piece. The worker holds the lower part of the frame and operates the power manipulator. As the frame rotates downward relative to the connecting piece, the horizontal length of the frame becomes shorter, and the frame will not interfere with the column. In this way, whether the product is descending or rising, the space between the drooping arm and the column can accommodate a longer frame. The longer frame can meet the requirement of lifting the product clamped by the fixture to a higher height.

[0009] When the product is at a lower height, workers can directly hold the connector to drive the corresponding parts of the power-assisted manipulator to rotate horizontally. The rectangular structure design of the connector provides convenience for workers to hold it, and workers can hold the side rod of the connector.

[0010] The connecting piece is provided with a notch, and connecting pieces are welded on both sides of the notch. The distance between the two connecting pieces is equal to the width of the hanging arm. The connecting piece is matched with a threaded connecting piece, and the threaded connecting piece clamps the two connecting pieces on the hanging arm. The connecting piece is provided with a hole position matched with the threaded connecting piece, and the threaded connecting piece is matched in the hole position, and the threaded connecting piece is used in conjunction with a nut.

[0011] The connecting piece is welded with a connecting block, which is fixedly connected to the first short side rod on one side of the frame, and hinge blocks are installed at both ends of the first short side rod, each hinge block is fixedly connected to a long side rod, and the second short side rod on the other side of the frame is fixedly connected to the two long side rods, and the controller is installed on the long side rod, close to the second short side rod. The hinge block can rotate relative to the first short side rod, and the frame is hinged to the connecting piece through the movable connection between the first short side rod and the hinge block.

[0012] The hinge block is provided with a short side rod connection hole and a long side rod connection hole, the short side rod connection hole is equipped with a first notch, the long side rod connection hole is equipped with a second notch, a first fastening bolt hole is provided beside the short side rod connection hole, and a second fastening bolt hole is provided beside the long side rod connection hole. The first fastening bolt is matched in the first fastening bolt hole, and the degree of tightening of the first fastening bolt is proportional to the degree of tightness of the frame relative to the connecting member, that is, the tighter the first fastening bolt is tightened, the tighter the frame rotates relative to the connecting member; the looser the first fastening bolt is tightened, the looser the frame rotates relative to the connecting member. In actual operation, the degree to which the worker tightens the first fastening bolt is based on the standard that after the worker releases the frame, the frame will not automatically rotate relative to the connecting member, but the worker needs to apply a force to the frame to make the frame rotate relative to the connecting member. The second fastening bolt is matched in the second fastening bolt hole, and the worker tightens the second fastening bolt to make the long side rod and the hinge block fit tightly, and the long side rod is not allowed to rotate relative to the hinge block.

[0013] The second short side rod is fixedly connected to the long side rod through a right-angle connector, which is composed of a left half and a right half, and the left half and the right half are connected through a threaded fastener, which is located between the first connection hole and the second connection hole, and the first connection hole is perpendicular to the second connection hole. Tighten the threaded fastener, the left half and the right half are tightly together, the first connection hole clamps the long side rod, and the second connection hole clamps the second short side rod, so that the second short side rod is fixedly connected to the long side rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The utility model is further described below in conjunction with the accompanying drawings:

[0015] Figure 1 is a schematic diagram of the control bracket;

[0016] Figure 2 is a schematic diagram of the hinge block 12;

[0017] Figure 3 is a schematic diagram of a right-angle connector 15;

[0018] Figure 4 for Figure 3 Exploded diagram of

[0019] Figure 5 It is a schematic diagram of the control bracket 70 used in the power-assisted manipulator.

[0020] Explanation of symbols in the figure:

[0021] 10. Frame; 11. First short side bar; 12. Articulated block; 121. Short side bar connecting hole; 122. Long side bar connecting hole; 123. First notch; 124. Second notch; 125. First fastening bolt hole; 126. Second fastening bolt hole; 13. Long side bar; 14. Second short side bar; 15. Right-angle connector; 151. Left half; 152. Right half; 153. First connecting hole; 154. Second connecting hole;

[0022] 20. Connector; 21. Notch; 22. Connector; 221. Hole for matching with threaded connector; 23. Connector block;

[0023] 30. Controller;

[0024] 70. Control bracket; 71. Drop arm; 72. Clamp; 73. Cylinder; 74. Lifting arm; 75. Column; 76. Clamp seat. DETAILED DESCRIPTION

[0025] like Figure 1 , Figure 5 The control bracket of the power-assist manipulator is installed on the drooping arm 71 of the power-assist manipulator, and includes a frame 10 and a connecting piece 20. One side of the connecting piece is connected to the drooping arm, and the other side of the connecting piece is connected to the frame. The controller 30 is installed on the frame. The connecting piece is a rectangular structure, and the connecting piece extends to the rear of the drooping arm. The clamp 72 of the power-assist manipulator is located in front of the drooping arm. The cylinder 73 installed on the drooping arm passes through the connecting piece. The clamp 72 is installed on the clamp seat 76, and the clamp seat is hinged on the drooping arm 71. The clamp seat 76 is hinged to the cylinder 73; the frame 10 is hinged to the connecting piece 20.

[0026] refer to Figure 5 When the product is lowered, the lifting arm 74 rotates downward, and the distance between the hanging arm 71 and the column 75 increases. As the product is lowered, the frame 10 needs to rotate upward relative to the connecting member 20, otherwise, the bottom of the frame may contact the ground due to the long length of the frame. As the distance between the hanging arm 71 and the column 75 increases, sufficient space is provided for the frame 10 to rotate upward relative to the connecting member 20.

[0027] When the product rises, the lifting arm 74 rotates upward, and the distance between the drooping arm 71 and the column 75 becomes smaller. As the product rises, the connecting member 20 rises, and the frame 10 needs to rotate downward relative to the connecting member 20. The worker holds the lower part of the frame 10 and operates the power-assisting manipulator. As the frame 10 rotates downward relative to the connecting member 20, the length of the frame in the horizontal direction becomes shorter, and the frame 10 will not interfere with the column 75. In this way, whether the product is descending or rising, the space between the drooping arm 71 and the column 75 can accommodate the longer frame 10. The longer frame can meet the requirement of lifting the product clamped by the clamp 72 to a higher height.

[0028] When the product is at a lower height, the worker can directly hold the connecting piece 20 to drive the corresponding part of the power-assisted manipulator to rotate horizontally. The rectangular structure design of the connecting piece 20 provides convenience for the worker to hold it, and the worker can hold the side rod of the connecting piece.

[0029] like Figure 1 The connecting piece 20 is provided with a notch 21, and connecting pieces 22 are welded on both sides of the notch. The distance between the two connecting pieces is equal to the width of the hanging arm 71. The connecting piece is matched with a threaded connecting piece, and the threaded connecting piece clamps the two connecting pieces on the hanging arm. The connecting piece 22 is provided with a hole 221 matched with the threaded connecting piece, and the threaded connecting piece is matched in the hole, and the threaded connecting piece is used in conjunction with a nut.

[0030] The connecting member 20 is welded with a connecting block 23, which is fixedly connected to the first short side rod 11 on one side of the frame 10. Both ends of the first short side rod are equipped with hinge blocks 12, each hinge block is fixedly connected to a long side rod 13, and the second short side rod 14 on the other side of the frame is fixedly connected to the two long side rods. The controller 30 is installed on the long side rod and is close to the second short side rod. The hinge block 12 can rotate relative to the first short side rod 11, and the frame 10 is hinged to the connecting member 20 through the movable connection between the first short side rod 11 and the hinge block 12.

[0031] like Figure 2 The hinge block 12 is provided with a short side rod connecting hole 121 and a long side rod connecting hole 122. The short side rod connecting hole is equipped with a first notch 123, and the long side rod connecting hole is equipped with a second notch 124. A first fastening bolt hole 125 is provided next to the short side rod connecting hole, and a second fastening bolt hole 126 is provided next to the long side rod connecting hole.

[0032] The first fastening bolt is fitted in the first fastening bolt hole 125, and the degree of tightening of the first fastening bolt is proportional to the degree of tightness of the frame 10 rotating relative to the connecting member 20, that is, the tighter the first fastening bolt is tightened, the tighter the frame 10 rotates relative to the connecting member 20; the looser the first fastening bolt is tightened, the looser the frame rotates relative to the connecting member. In actual operation, the degree to which the worker tightens the first fastening bolt is based on the standard that after the worker releases the frame 10, the frame will not automatically rotate relative to the connecting member 20, but the worker needs to apply a force to the frame 10 to make the frame rotate relative to the connecting member 20. The second fastening bolt is fitted in the second fastening bolt hole 126. The worker tightens the second fastening bolt to make the long side rod 13 fit tightly with the hinge block 12, and the long side rod 13 is not allowed to rotate relative to the hinge block 12.

[0033] like Figure 3 , Figure 4 The second short side bar 14 is fixedly connected to the long side bar 13 through a right-angle connector 15. The right-angle connector is composed of a left half 151 and a right half 152. The left half and the right half are connected by a threaded fastener. The threaded fastener is located between the first connection hole 153 and the second connection hole 154. The first connection hole is perpendicular to the second connection hole. Tighten the threaded fastener, the left half 151 and the right half 152 are tightly together, the first connection hole 153 clamps the long side bar 13, and the second connection hole 154 clamps the second short side bar 14, so that the second short side bar and the long side bar 13 are fixedly connected.

[0034] 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 control bracket of a power-assisting manipulator, mounted on a drooping arm (71) of the power-assisting manipulator, comprising a frame (10) and a connecting member (20), one side of the connecting member being connected to the drooping arm, and the other side of the connecting member being connected to the frame, a controller (30) being mounted on the frame, and characterized in that: The connecting piece is a rectangular structure, and the connecting piece extends to the rear of the drooping arm. The clamp (72) of the assisting manipulator is located in front of the drooping arm, and the cylinder (73) installed on the drooping arm passes through the connecting piece. The frame is hinged to the connecting piece.

2. The control bracket of the power-assist manipulator according to claim 1, characterized in that: The connecting piece (20) is provided with a notch (21), and connecting pieces (22) are welded on both sides of the notch. The distance between the two connecting pieces is equal to the width of the drooping arm (71). The connecting piece is matched with a threaded connecting piece, and the threaded connecting piece clamps the two connecting pieces on the drooping arm.

3. The control bracket of the power-assist manipulator according to claim 1, characterized in that: The connecting piece (20) is welded with a connecting block (23), which is fixedly connected to a first short side rod (11) on one side of the frame (10), hinge blocks (12) are installed at both ends of the first short side rod, each hinge block is fixedly connected to a long side rod (13), and a second short side rod (14) on the other side of the frame is fixedly connected to the two long side rods, and the controller (30) is installed on the long side rod and close to the second short side rod.

4. The control bracket of the power-assist manipulator according to claim 3, characterized in that: The hinge block (12) is provided with a short side rod connection hole (121) and a long side rod connection hole (122); the short side rod connection hole is provided with a first notch (123); the long side rod connection hole is provided with a second notch (124); a first fastening bolt hole (125) is provided beside the short side rod connection hole; and a second fastening bolt hole (126) is provided beside the long side rod connection hole.

5. The control bracket of the power-assist manipulator according to claim 3, characterized in that: The second short side rod (14) is fixedly connected to the long side rod (13) via a right-angle connector (15); the right-angle connector is composed of a left half (151) and a right half (152); the left half and the right half are connected via a threaded fastener; the threaded fastener is located between a first connecting hole (153) and a second connecting hole (154); the first connecting hole is perpendicular to the second connecting hole.

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