Pneumatic power-assisted mechanical arm

Abstract

The utility model discloses a pneumatic power-assisted mechanical arm which comprises a base. A mechanical arm lower stand column is fixed to the base, a mechanical arm upper stand column is installed on the mechanical arm lower stand column, and the mechanical arm upper stand column and the mechanical arm lower stand column rotate relatively. A first pneumatic diaphragm brake is mounted at the connecting part; the balance cylinder is arranged on the outer side of the mechanical arm upper stand column in parallel, and the output end of the balance cylinder is hinged to the four-connecting-rod mechanism; the four-connecting-rod mechanism is hinged to the top of the mechanical arm stand column, a rotary joint is arranged at the end of the four-connecting-rod mechanism, and the rotary joint and the cross arm assembly rotate relatively. A second pneumatic diaphragm brake is mounted at the connecting part of the rotary joint and the cross arm assembly; the cross arm assembly and the tail end clamp assembly rotate relatively; a third pneumatic diaphragm brake is mounted at the connecting part of the cross arm assembly and the tail end clamp assembly; three jaws are installed on the tail end clamp assembly and used for clamping a workpiece.

Description

Technical Field

[0001] The utility model belongs to the field of mechanical engineering, in particular to a pneumatic power-assisted mechanical arm. Background Art

[0002] Most of the manual loading and unloading processes for large workpieces require mechanical assistance, which is solved by using slings or robots in the industry. Assisted robotic arms are often used in automobile assembly lines. They have full floating effects and reliable stability. However, most of the assisted robotic arms in the industry use electrical control, which is costly and has high requirements for the workshop site.

[0003] For loading and unloading of heavier workpieces, some can be handled by hoists. For workpieces inside machine tools or in some working conditions that cannot be met by ordinary hoists, hard-arm power-assisted manipulators can be used for loading and unloading of workpieces. However, existing hard-arm power-assisted manipulators cannot be directly used for loading and unloading of machine tools. Existing hard-arm power-assisted manipulators are mostly fixed, fixed in front of the machine tool, affecting the operator's operating space, and because they cannot be moved, they cannot meet the common needs of multiple machine tools. At the same time, the end fixture assembly lacks clamping fixtures for such disc parts.

[0004] In summary, the rigid-arm power-assisted mechanical arm in the prior art is fixed in front of the machine tool, which affects the operating space of the operator and cannot be moved, and cannot meet the common needs of multiple machine tools. Utility Model Content

[0005] In order to solve the problems existing in the prior art, the utility model provides a pneumatic power-assisted robotic arm, which is used to solve the problem that the rigid-arm power-assisted robotic arm in the background technology is fixed in front of the machine tool, affecting the operator's operating space, cannot be moved, and cannot meet the common needs of multiple machine tools.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A pneumatic power-assisted mechanical arm comprises a balancing cylinder, a four-bar linkage and a base;

[0008] A lower column of the mechanical arm is fixed on the base, an upper column of the mechanical arm is installed on the lower column of the mechanical arm, and the upper column of the mechanical arm rotates relative to the lower column of the mechanical arm; a first pneumatic diaphragm brake is installed at the connection part of the lower column of the mechanical arm and the upper column of the mechanical arm, which is used to limit the relative rotation of the lower column of the mechanical arm and the upper column of the mechanical arm;

[0009] The balancing cylinder is arranged in parallel on the outer side of the upper column of the mechanical arm, and the output end of the balancing cylinder is hinged to the four-bar linkage;

[0010] The four-bar linkage is hinged to the top of the upper column of the mechanical arm, and a swivel joint is provided at the end of the four-bar linkage, and the swivel joint rotates relative to the cross arm assembly; a second pneumatic diaphragm brake is installed at the connection portion between the swivel joint and the cross arm assembly, which is used to limit the relative rotation of the swivel joint and the cross arm assembly;

[0011] The cross arm assembly and the end clamp assembly rotate relative to each other; a third pneumatic diaphragm brake is installed at the connection portion between the cross arm assembly and the end clamp assembly, and the third pneumatic diaphragm brake is used to limit the relative rotation between the cross arm assembly and the end clamp assembly; three jaws are installed on the end clamp assembly, and the three jaws are used to clamp the workpiece.

[0012] Preferably, a connecting operating handle is installed on the end clamp assembly, and a first manual valve, a second manual valve and a brake control valve are provided on the operating handle; the first manual valve is used to control the load / no-load switching of the entire robotic arm, and the second manual valve is used to control the clamping / relaxation of the end clamp assembly; the brake control valve is used to control the clamping of the first pneumatic diaphragm brake, the second pneumatic diaphragm brake and the third pneumatic diaphragm brake.

[0013] Preferably, a boss extends from the side of the upper column of the robotic arm, and one end of the balancing cylinder is hinged to the boss.

[0014] Preferably, the flange of the upper column of the robotic arm is installed in a slot in the first pneumatic diaphragm brake. After the first pneumatic diaphragm brake is clamped through pneumatic control, the slot clamps the flange of the upper column of the robotic arm, thereby limiting the relative rotation of the lower column of the robotic arm and the upper column of the robotic arm.

[0015] Preferably, the flange of the cross arm assembly is installed in a slot of the second pneumatic diaphragm brake. After the second pneumatic diaphragm brake is clamped by pneumatic control, the slot clamps the flange of the cross arm assembly, thereby limiting the relative rotation between the swivel joint and the cross arm assembly.

[0016] Preferably, the flange of the end clamp assembly is installed in the slot of the third pneumatic diaphragm brake. After the third pneumatic diaphragm brake is clamped by pneumatic control, the slot clamps the flange of the end clamp assembly, thereby limiting the relative rotation of the cross arm assembly and the end clamp assembly.

[0017] Preferably, the end clamp assembly and the cross arm assembly are rotationally connected via a bearing.

[0018] Preferably, the cross arm assembly is rotationally connected to the swivel joint via a bearing.

[0019] Preferably, a moving device is provided at the bottom of the base, and the moving device is a universal wheel.

[0020] Preferably, a handle is installed on the side of the base.

[0021] Compared with the prior art, the utility model has the following beneficial technical effects:

[0022] The utility model provides a pneumatic power-assisted mechanical arm. The power-assisted mechanical arm adopts full pneumatic control to realize the mechanical arm power-assisted loading and unloading, and uses the ordinary quadrilateral structure to ensure the stability of force. The full pneumatic control can not only reduce the cost, but also is convenient for use and promotion in workshops. The air pressure can be adjusted to achieve balance for workpieces of different weights, and it has strong versatility. The end clamp component adopts a pneumatic three-jaw to tighten the inner hole of the workpiece. For workpieces with different inner holes, the three-jaw can be replaced. The brake component of the joint part adopts a pneumatic diaphragm brake, which is easy to operate and has reliable braking. It is convenient to adjust the position of the pneumatic power-assisted mechanical arm to avoid interfering with the operator's operating space, and can meet the application needs of multiple machine tools at the same time. The pneumatic control realizes the functions of "self-locking" and "interlocking", eliminating the safety hazards that may be caused by manual misoperation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the structure of a pneumatic power-assisted mechanical arm in the utility model;

[0024] Figure 2 This is a pneumatic control principle diagram of a pneumatic power-assisted mechanical arm in the utility model;

[0025] In the accompanying drawings: 1, the lower column of the robot arm, 2 the first pneumatic diaphragm brake, 3 the upper column of the robot arm, 4 the air circuit control box; 5 the balance cylinder; 6 the four-bar linkage; 7 the slewing joint; 8 the second pneumatic diaphragm brake; 9 the front end clamp; 10 the third pneumatic diaphragm brake; 11 the first manual valve; 12 the second manual valve; 13 the brake control valve; 14 the operating handle; 15 the end clamp assembly; 16 the three-claw; 17 the workpiece; 18 the base. DETAILED DESCRIPTION

[0026] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0027] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0028] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0029] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] In the present utility model, unless otherwise clearly stipulated and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0031] The embodiments of the present utility model are described in detail below with reference to the accompanying drawings.

[0032] Example

[0033] like Figure 1As shown, a pneumatic power-assisted robotic arm of the utility model includes a robotic arm lower column 1, a first pneumatic diaphragm brake 2, a robotic arm upper column 3; an air circuit control box 4, a balancing cylinder 5, a four-bar linkage 6, a slewing joint 7, a second pneumatic diaphragm brake 8, a front end clamp 9, a third pneumatic diaphragm brake 10, a first manual valve 11, a second manual valve 12, a brake control valve 13, an operating handle 14, a pneumatic chuck, three claws 16, a workpiece 17 and a base 18.

[0034] A lower column 1 of the robot arm is fixed on the base 18, a first pneumatic diaphragm brake 2 is fixed on the lower column 1 of the robot arm, an upper column 3 of the robot arm is inserted into a bearing hole of the lower column 1 of the robot arm, and can rotate relatively, a flange of the upper column 3 of the robot arm is placed in a slot in the first pneumatic diaphragm brake 3, after the first pneumatic diaphragm brake 3 is clamped by pneumatic control, the slot clamps the flange of the upper column 3 of the robot arm, thereby limiting the relative rotation between the lower column 1 of the robot arm and the upper column 3 of the robot arm, a balancing cylinder 5 is arranged in parallel on the outer side of the upper column 3 of the robot arm, and an output end of the balancing cylinder 5 is hinged to a four-bar linkage 6,

[0035] The four-bar linkage 6 is hinged to the top of the upper column 3 of the robotic arm, and a swivel joint 7 is provided at the end of the four-bar linkage 6. A second pneumatic diaphragm brake 8 is provided on the swivel joint 7. The cross arm assembly 9 is connected to the swivel joint 7 through a bearing, and the flange of the cross arm assembly is placed in the slot of the second pneumatic diaphragm brake 8. After the second pneumatic diaphragm brake 8 is clamped by pneumatic control, the slot clamps the flange of the cross arm assembly, thereby limiting the relative rotation between the swivel joint 7 and the cross arm assembly 9.

[0036] A third pneumatic diaphragm brake 10 is installed on the cross arm assembly 9, and the end clamp assembly 15 is connected to the cross arm assembly 9 through a bearing. The flange of the end clamp assembly 15 is placed in the slot of the third pneumatic diaphragm brake 10. After the third pneumatic diaphragm brake 10 is clamped by pneumatic control, the slot clamps the flange of the end clamp assembly 15, thereby limiting the relative rotation of the cross arm assembly 9 and the end clamp assembly 15.

[0037] At the same time, an operating handle 14 is installed on the end clamp assembly 15, and a first manual valve 11, a second manual valve 12 and a brake control valve 13 are arranged on the operating handle 14; the first manual valve 11 is used to control the load / no-load switching of the entire robotic arm, and the second manual valve 12 is used to control the clamping / relaxation of the end clamp assembly 15.

[0038] The brake control valve 13 is used to control the clamping of the first pneumatic diaphragm brake 2 , the second pneumatic diaphragm brake 8 , and the third diaphragm brake 10 .

[0039] The end clamp assembly 15 is equipped with three jaws 16 for clamping a workpiece 17 .

[0040] Preferably, in this embodiment, a moving device is provided at the bottom of the base 18, and the moving device is a universal wheel.

[0041] Preferably, in this embodiment, a handle is installed on the side of the base 18.

[0042] Preferably in this embodiment, a boss is extended from the side of the upper column 3 of the robot arm, and one end of the balancing cylinder 5 is hinged to the boss.

[0043] The mechanical arm of the utility model adopts a rigid arm structure as a whole, adopts a parallelogram mechanism to realize the "up and down" and "rotation" movements, then uses a balancing cylinder to achieve a balancing effect, uses a pneumatic three-claw clamp to clamp the workpiece, and then uses a diaphragm brake to realize the locking and loosening of the rotating joint.

[0044] The robot arm is placed on a base 18 and supported by a column. The upper end of the balancing cylinder is hinged to the parallelogram connecting rod assembly. The balancing cylinder balances the load carried by the right-angle swivel joint through the connecting rod mechanism and the lever principle. The parallelogram mechanism ensures the "horizontal" or "vertical" effect of the front-end clamp during the up and down movement of the robot arm; then it is connected to the front-end clamp through the right-angle swivel joint, and the built-in bearing realizes the rotation of the front-end clamp. The diaphragm brake realizes the locking and relaxation of the swivel joint through pneumatic control; the front-end clamp includes an operating handle, a pneumatic chuck, a three-jaw, etc. The operating handle is equipped with a manual valve that requires manual operation and control to control the movement of the robot arm, including no-load / load switching and the tightening / loosening of the pneumatic three-jaw.

[0045] The present invention provides a practical pneumatic power-assisted mechanical arm, which adopts a hard-arm power-assisted arm + base, which not only saves effort and reduces labor intensity, but is also convenient and easy to move; it is fully pneumatically controlled, low in cost, and the power source is easy to clean, and has self-locking and interlocking functions, and a high safety factor; the front-end clamp mechanism is simple, versatile, multi-variety compatible, and fast production change, the structure is simple, maintenance is convenient, the operation is simple, and the practical operation requirements are low; the application of the pilot one-way speed regulating valve ensures that when the air is suddenly cut off, the balancing cylinder and the pneumatic three-jaw chuck will not be suddenly cut off, thereby avoiding safety accidents; the braking is reliable, the pneumatic diaphragm brake has large friction, is easy to install, and is accurate in control.

[0046] like Figure 2 As shown, the pneumatic circuit connection loading and unloading action sequence of a pneumatic power-assisted mechanical arm in the embodiment of the utility model is as follows:

[0047] The air source is ventilated, and the first manual valve 11 on the operating handle is turned to no-load, and then the pressure reducing valve corresponding to the no-load pressure in the load switching module is adjusted to an appropriate pressure drop to balance the deadweight of the robotic arm and the front-end fixture, and then the robotic arm can be seen suspended in the air.

[0048] Then, manually hold the operating handle to move the robotic arm to the workpiece, turn the control valve on the operating handle to the tightening position, and after the pneumatic chuck tightens the workpiece, turn the first manual valve 11 to the load position, and then adjust the pressure reducing valve corresponding to the load pressure in the load switching module. After adjusting to the appropriate pressure, you can see the workpiece and the robotic arm suspended in the air, and the first calibration is completed.

[0049] The workpiece is manually placed on the machine tool, the first manual valve 11 is turned to the no-load position, and the second manual valve 12 is turned to the release position. The robot arm is moved away to a safe place, and the diaphragm brake is controlled to lock the slewing joint.

[0050] The unloading process is the same as the above-mentioned loading step, and the entire unloading and unloading process is now completed.

[0051] When the second manual valve 12 is in the clamping position, the air circuit is self-locking, and the first manual valve 11 fails when it is turned to the no-load position. Similarly, when the second manual valve 12 is in the loosening position, the first manual valve 11 fails when it is turned to the load position.

[0052] After the first calibration, set the load pressure for the workpiece of that weight. When switching to workpieces of different weights in the future, you need to recalibrate the load pressure for switching.

[0053] When the upper column 3 , the cross arm assembly 9 and the end clamp assembly 15 of the robot arm rotate relatively, the clamping of the first pneumatic diaphragm brake 2 , the second pneumatic diaphragm brake 8 and the third pneumatic diaphragm brake 10 is controlled by the brake control valve 13 .

[0054] The air source processing module is used to provide air source to the pneumatic power-assisted robotic arm.

[0055] The above shows and describes the basic principles and main features of the utility model and the advantages of the utility model. For those skilled in the art, it is obvious that the utility model is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic features of the utility model. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the utility model is defined by the attached claims rather than the above description, and it is intended to include all changes within the meaning and scope of the equivalent elements of the claims. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0056] In addition, it should be understood that although this specification is described in accordance with the implementation methods, not every implementation method contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should take the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art. The above content is only to illustrate the technical idea of ​​the utility model, and cannot be used to limit the protection scope of the utility model. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the utility model shall fall within the protection scope of the claims of the utility model.

Claims

1. A pneumatic power-assisted robotic arm, characterized in that: It comprises a balancing cylinder (5), a four-bar linkage (6) and a base (18); A lower column (1) of the robot arm is fixed on the base (18), an upper column (3) of the robot arm is mounted on the lower column (1), and the upper column (3) of the robot arm rotates relative to the lower column (1) of the robot arm; a first pneumatic diaphragm brake (2) is mounted at the connection between the lower column (1) of the robot arm and the upper column (3) of the robot arm, and is used to limit the relative rotation between the lower column (1) of the robot arm and the upper column (3); The balancing cylinder (5) is arranged in parallel on the outer side of the upper column (3) of the mechanical arm, and the output end of the balancing cylinder (5) is hinged to the four-bar linkage (6); The four-bar linkage (6) is hingedly connected to the top of the upper column (3) of the mechanical arm; a swivel joint (7) is provided at the end of the four-bar linkage (6); the swivel joint (7) and the cross arm assembly (9) rotate relative to each other; a second pneumatic diaphragm brake (8) is installed at the connection portion between the swivel joint (7) and the cross arm assembly (9) for limiting the relative rotation between the swivel joint (7) and the cross arm assembly (9); The cross arm assembly (9) and the end clamp assembly (15) rotate relative to each other; a third pneumatic diaphragm brake (10) is installed at the connection portion between the cross arm assembly (9) and the end clamp assembly (15), and the third pneumatic diaphragm brake (10) is used to limit the relative rotation between the cross arm assembly (9) and the end clamp assembly (15); three claws (16) are installed on the end clamp assembly (15), and the three claws (16) are used to clamp a workpiece (17).

2. A pneumatic power-assisted mechanical arm according to claim 1, characterized in that: The end clamp assembly (15) is provided with a connecting operating handle (14), and the operating handle (14) is provided with a first manual valve (11), a second manual valve (12) and a brake control valve (13); the first manual valve (11) is used to control the load / no-load switching of the entire robot arm, and the second manual valve (12) is used to control the clamping / relaxation of the end clamp assembly (15); the brake control valve (13) is used to control the clamping of the first pneumatic diaphragm brake (2), the second pneumatic diaphragm brake (8), and the third pneumatic diaphragm brake (10).

3. A pneumatic power-assisted mechanical arm according to claim 1, characterized in that: A boss extends from the side of the upper column (3) of the mechanical arm, and one end of the balancing cylinder (5) is hinged to the boss.

4. The pneumatically assisted mechanical arm according to claim 1, characterized in that: The flange of the upper column (3) of the robot arm is installed in a slot in the first pneumatic diaphragm brake (2); after the first pneumatic diaphragm brake (2) is clamped by pneumatic control, the slot clamps the flange of the upper column (3) of the robot arm, thereby limiting the relative rotation of the lower column (1) of the robot arm and the upper column (3) of the robot arm.

5. The pneumatically assisted mechanical arm according to claim 1, characterized in that: The flange of the cross arm assembly (9) is installed in the clamping groove of the second pneumatic diaphragm brake (8). After the second pneumatic diaphragm brake (8) is clamped by pneumatic control, the clamping groove clamps the flange of the cross arm assembly (9), thereby limiting the relative rotation between the slewing joint (7) and the cross arm assembly (9).

6. The pneumatically assisted mechanical arm according to claim 1, characterized in that: The flange of the end clamp assembly (15) is installed in the slot of the third pneumatic diaphragm brake (10). After the third pneumatic diaphragm brake (10) is clamped by pneumatic control, the slot clamps the flange of the end clamp assembly (15), thereby limiting the relative rotation of the cross arm assembly (9) and the end clamp assembly (15).

7. The pneumatically assisted mechanical arm according to claim 1, characterized in that: The end clamp assembly (15) and the cross arm assembly (9) are rotatably connected via a bearing.

8. The pneumatically assisted mechanical arm according to claim 1, characterized in that: The cross arm assembly (9) is rotatably connected to the swivel joint (7) via a bearing.

9. The pneumatically assisted mechanical arm according to claim 1, characterized in that: A moving device is provided at the bottom of the base (18), and the moving device is a universal wheel.

10. The pneumatically assisted mechanical arm according to claim 1, characterized in that: A handle is installed on the side of the base (18).

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