Assistance arm device

Abstract

The utility model relates to the technical field of positioning auxiliary assembly, in particular to a power assisting arm device. Comprising a base, a guide rod is rotationally mounted on the base, a guide block is arranged on the guide rod and connected with the guide rod through a first linear bearing, a connecting plate perpendicular to the guide rod is mounted on the guide block, and first mounting plates parallel to each other are arranged at the two ends, away from the end of the guide block, of the connecting plate; a connecting shaft is rotationally connected between the first mounting plates; according to the utility model, the connecting shaft, the rotating mechanism, the guide rod, the guide block and other structures are matched for use, so that a workpiece can be manually positioned, taken and placed; the first position rotating coding displacement sensor and the second position rotating coding displacement sensor are used for monitoring the rotating angle of X and the rotating angle of Y respectively, the stay wire type coding displacement sensor is used for monitoring the displacement in the Z direction, the placing position of a workpiece can be monitored in real time, and the fool-proof and mistake-proof effects are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of positioning auxiliary assembly, in particular to a booster arm device. Background Art

[0002] New energy vehicles are developing rapidly. As the three core technologies of new energy vehicles, power supply, electronic control and motor are constantly being broken through. The increasing demand for new energy vehicles has prompted the rapid development of new energy vehicle automated production lines, and the demand for automated production lines for power supply, electronic control and motor has risen sharply. In addition, production lines that are compatible with multiple products are favored by major new energy vehicle manufacturers. Some workstations are not easy to automate or the cost of automation is too high. For example, the currently used power-assisting arm device places the workpiece from one position to another, but some manual operation positions need to improve the accuracy of manual assembly. For example, when placing the workpiece from A to B through the manual power-assisting arm device, due to the characteristics of the industry, the workers need to do a lot of repetitive labor, which can easily lead to the wrong placement of the workpiece when they are tired. The existing power-assisting arm device does not detect the position of the workpiece after placement, and it cannot confirm whether the workpiece is placed at B. Therefore, a power-assisting arm device that can monitor the placement position of the workpiece in real time is needed. Utility Model Content

[0003] The utility model aims at the deficiencies of the prior art and provides a power-assisting arm device which can realize the positioning, picking and placing of workpieces and can monitor the position information in real time.

[0004] To achieve the above technical objectives, the utility model proposes the following technical solutions: a power-assisting arm device, including a base, a guide rod rotatably mounted on the base, a guide block provided on the guide rod, the guide block and the guide rod are connected by a first linear bearing, a connecting plate perpendicular to the guide rod is installed on the guide block, and first mounting plates parallel to each other are provided at both ends of the connecting plate away from the end of the guide block, a connecting shaft is rotatably connected between the first mounting plates, one end of the connecting shaft passes through the first mounting plate and is connected to a first position rotational encoding displacement sensor, a clamping mechanism is connected to the connecting shaft via a connecting rod, a second mounting plate is provided on the end of the guide rod away from the base, a third mounting plate is connected above the second mounting plate via a rotating mechanism, a second position rotational encoding displacement sensor is provided on the top of the third mounting plate, the protruding end of the second position rotational encoding displacement sensor is connected to the rotating mechanism, a pull-wire type encoding displacement sensor is installed on one side of the second mounting plate, and the outlet end of the pull-wire type encoding displacement sensor is connected to the guide block.

[0005] Furthermore, a fixed block is provided on one side of the guide block, a fixed plate is provided on the end of the guide rod close to the base, a fixed rod is installed on the fixed plate, one end of the fixed rod passes through the fixed block and is connected to the second mounting plate, and the fixed rod and the fixed block are connected through a second linear bearing.

[0006] Furthermore, limit blocks are provided on the guide rod and at both ends of the guide block.

[0007] Furthermore, the connecting shaft and the connecting plate are hinged via a hinge.

[0008] Furthermore, both sides of the second mounting plate are provided with a labor-saving balancer, and the outlet ends of the labor-saving balancer are connected to the guide block.

[0009] Furthermore, the rotating mechanism includes a rolling bearing and a turntable, a circular groove with an opening facing downward is opened on the third mounting plate, a mounting hole is opened on the top of the groove, the rolling bearing and the turntable are respectively arranged in the groove and the mounting hole, the inner ring of the rolling bearing is connected to the second mounting plate, and the outer ring of the rolling bearing is connected to the third mounting plate, and the upper and lower ends of the turntable are fixed with drive shafts, the drive shaft at the lower end of the turntable is connected to the guide rod in the rolling bearing, and the other drive shaft is connected to the protruding end of the second position rotation encoding displacement sensor.

[0010] Compared with the prior art, the beneficial effects of the utility model are as follows: the overall mechanism design layout of the utility model is simple and compact, and the installation, debugging and maintenance operations are more convenient. Through the coordinated use of structures such as the connecting shaft, the rotating mechanism, the guide rod and the guide block, the manual positioning and placement of the workpiece can be realized; the rotation angles in the X and Y directions are monitored respectively by the first position rotary encoding displacement sensor and the second position rotary encoding displacement sensor, and the displacement in the Z direction is monitored by the pull-wire encoding displacement sensor. The position of the workpiece can be monitored in real time to confirm whether the workpiece is accurately placed in the specified position, thereby playing a role in preventing mistakes and errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0012] Figure 2 It is a schematic diagram of the cross-sectional structure of the utility model;

[0013] Figure 3 The utility model Figure 2 A magnified view of the structure in the middle.

[0014] In the figure, 1, base; 2, guide rod; 3, guide block; 4, first linear bearing; 5, connecting plate; 6, first mounting plate; 7, connecting shaft; 8, first position rotary coding displacement sensor; 9, connecting rod; 10, clamping mechanism; 11, second mounting plate; 12, rotating mechanism; 13, third mounting plate; 14, second position rotary coding displacement sensor; 15, pull-wire type coding displacement sensor; 16, fixing block; 17, fixing plate; 18, fixing rod; 19, second linear bearing; 20, limit block; 21, hinge; 22, labor-saving balancer; 23, rolling bearing; 24, turntable; 25, groove; 26, mounting hole. DETAILED DESCRIPTION

[0015] The following are specific embodiments of the present invention, and the technical solution of the present invention is further described in conjunction with the accompanying drawings, but the present invention is not limited to these embodiments.

[0016] like Figure 1-3 As shown, the utility model provides a booster arm device, including a base 1, a guide rod 2 is rotatably mounted on the base 1, a guide block 3 is arranged on the guide rod 2, the guide block 3 is connected to the guide rod 2 by a first linear bearing 4, so that the guide block 3 can only make a linear motion along the guide rod 2, a connecting plate 5 perpendicular to the guide rod 2 is mounted on the guide block 3 by a bolt, and the disassembly is convenient, and the connecting plate 5 can be installed on the left or right side of the guide block 2 according to the needs, and both ends of the connecting plate 5 away from the end of the guide block 3 are provided with first mounting plates 6 parallel to each other, and a connecting shaft 7 is rotatably connected between the first mounting plates 6, one end of the connecting shaft 7 passes through the first mounting plate 6 and is connected to a first position rotation encoding displacement sensor 8, and the first position rotation encoding displacement The protruding end of the sensor 8 is connected to the connecting shaft 7, and a clamping mechanism 10 is connected to the connecting shaft 7 through a connecting rod 9. The clamping mechanism 10 includes a left clamping plate and a right clamping plate of an arc-shaped structure. A second mounting plate 11 is provided on the end of the guide rod 2 away from the base 1. The second mounting plate 11 is relatively fixed to the guide rod 2. A third mounting plate 13 is connected to the top of the second mounting plate 11 through a rotating mechanism 12. A second position rotary encoding displacement sensor 14 is provided on the top of the third mounting plate 13. The protruding end of the second position rotary encoding displacement sensor 14 is connected to the rotating mechanism 12. A pull-wire type encoding displacement sensor 15 is installed on one side of the second mounting plate 11, and the outlet end of the pull-wire type encoding displacement sensor 15 is connected to the guide block 3.

[0017] like Figure 1 and 2As shown, the clamping mechanism 10 drives the connecting shaft 7 to rotate, and the first position rotary encoding displacement sensor 8 can monitor the rotation angle of the connecting shaft 7. The connecting shaft 7 is set to the X direction, and the rotation angle of the connecting shaft 7 is the rotation angle of the clamping mechanism 10 in the X direction; the clamping mechanism 10, the guide block 3, and the guide rod 2 rotate between the third mounting plate 13 and the base 1, and the connecting plate 5 is set to the Y direction, and the rotation angle of the connecting plate 5 is the rotation angle of the clamping mechanism 10 in the Y direction. Since the guide rod 2 is connected to the protruding end of the second position rotary encoding displacement sensor 14 through the rotating mechanism 12, when the guide rod 2 rotates, the second position rotary encoding displacement sensor 14 can monitor the clamping mechanism 1 0 in the Y direction; the guide block 3 is displaced on the guide rod 2, and the direction of the guide rod 2 is set to the Z direction. The pull-wire type coding displacement sensor 15 detects the displacement of the guide block 3. Since the clamping mechanism 10 is indirectly connected to the guide block 3, the pull-wire type coding displacement sensor 15 can monitor the displacement of the clamping mechanism 10 in the Z direction. The power source for the rotation of the workpiece in the X and Y directions and the Z direction is provided manually, so that the manual positioning and placement operation of the object is realized; in this embodiment, a PLC controller and a warning light are also included, and the output ends of the first position rotation coding displacement sensor 8, the second position rotation coding displacement sensor 14 and the pull-wire type coding displacement sensor 15 are respectively connected to the PLC controller 11 and the warning light 12. The input end of the C controller is electrically connected, and the output end of the PLC controller is electrically connected to the input end of the warning light. During specific operation, the operating device is clamped on the clamping mechanism 10 and manually driven. The operating device can rotate in the X and Y directions and move in the Z direction. The workpiece placement position range is input to the PLC controller. When the workpiece is placed, a trigger signal is generated. The rotation angles of X and Y are monitored respectively by the first position rotary encoding displacement sensor 8 and the second position rotary encoding displacement sensor 14. The displacement in the Z direction is monitored by the pull-wire encoding displacement sensor 15. The monitored position signal is transmitted to the PLC controller. The PLC controller determines the position according to the received signal and the set position. The information is compared. If it exceeds the set position range, the warning light alarms to remind the worker that the position is wrong. Then the workpiece position is manually adjusted until it is adjusted to the set position range. The warning light stops alarming to ensure the position of the workpiece. The utility model can monitor the position of the workpiece in real time, realize manual positioning and placement of the product, and play a role in preventing stupidity and errors. In the utility model, the connection method between the components is mostly detachable connection, which has the characteristics of convenient installation, debugging and maintenance. For example, the first position rotary encoding displacement sensor 8, the second position rotary encoding displacement sensor 14, the pull-wire encoding displacement sensor 15 and the connecting plate 5 are all fixed by bolts.

[0018] A fixing block 16 is fixedly connected to one side of the guide block 3, and a fixing plate 17 is fixedly connected to one end of the guide rod 2 close to the base 1. The fixing plate 17 can rotate with the guide rod 2. A fixing rod 18 is installed on the fixing plate 17. One end of the fixing rod 18 passes through the fixing block 16 and is connected to the second mounting plate 11. The fixing rod 18 is connected to the fixing block 16 through a second linear bearing 19.

[0019] like Figure 1 As shown, the fixed block 16 is on the fixed rod 18 and moves up and down under the action of the second linear bearing 19, thereby stabilizing the stability of the guide block 3 when it is displaced in the Z direction.

[0020] Limit blocks 20 are provided on the guide rod 2 and at both ends of the guide block 3 .

[0021] like Figure 1 As shown, the limit block 20 is detachably mounted on the guide rod 2 by bolts to adjust the maximum displacement of the guide block 3, and the limit block 20 above the guide block 3 limits the maximum upward distance of the guide block 3, and the limit block 20 below the guide block 3 limits the maximum downward distance of the guide block 3.

[0022] The outer surface of the connecting shaft 7 is hinged to the connecting plate 5 via a hinge 21 .

[0023] like Figure 1 As shown, the hinge 21 can improve the stability of the connecting shaft 7 during rotation.

[0024] Both sides of the second mounting plate 11 are detachably mounted with a labor-saving balancer 22 , and the outgoing wire ends of the labor-saving balancer 22 are connected to the guide block 3 .

[0025] like Figure 1 As shown, when the operating device clamped by the clamping mechanism 10 is heavier, when the clamping mechanism 10 is displaced in the Z direction, the gravity of the load is reduced or offset by the force-saving balancer 22, so that the operator feels light when moving the operating device of the clamping mechanism 10, thereby reducing labor intensity, and at the same time preventing tool damage or operating errors caused by excessive or uneven loads, thereby improving work efficiency and safety.

[0026] The rotating mechanism 12 includes a rolling bearing 23 and a turntable 24. A circular groove 25 with an opening facing downward is opened on the third mounting plate 13. A mounting hole 26 is arranged on the top of the groove 25. The inner diameter of the groove 25 is larger than the inner diameter of the mounting hole 26. The rolling bearing 23 and the turntable 24 are respectively arranged in the groove 25 and the mounting hole 26. The rolling bearing 23 protrudes in the groove 25. The side of the inner ring of the rolling bearing 23 protruding from the groove 25 is connected to the second mounting plate 11 by bolts, and the outer ring of the rolling bearing 23 is connected to the third mounting plate 13 by bolts. The upper and lower ends of the turntable 24 are fixed with drive shafts. The drive shaft at the lower end of the turntable 24 is connected to the guide rod 2 in the rolling bearing 23. The guide rod 2 is interference fit in the rolling bearing 23, and the other drive shaft is connected to the protruding end of the second position rotary encoding displacement sensor 14.

[0027] like Figure 3 As shown, the outer ring of the rolling bearing 23 is fixed to the third mounting plate 13 by bolts, and the inner ring of the rolling bearing 23 is fixed to the second mounting plate 11 by bolts, so that the turntable 24 can stably rotate in the mounting hole 26, and the guide rod 2 and the second mounting plate 11 can stably rotate and move at an angle under the action of the rolling bearing 23 through the turntable 24. The rotating mechanism 12 not only plays a rotating role, but also plays a role in stabilizing the operating equipment on the clamping mechanism 10. During operation, the guide rod 2 rotates a certain angle, and the second position rotation encoding displacement sensor 14 generates a rotational displacement through the drive shaft 25 and the turntable 24, so as to detect the rotation angle of the guide rod 2.

[0028] Principle of use: When manually performing screw locking operation through the power-assisting arm device, first fix the base 1 on the equipment, and clamp the manual screw gun through the clamping mechanism 10, manually drive the manual screw gun, and the manual screw gun places the screw from A to B. Specifically, the position range information of B is input on the PLC controller, and the manual screw gun is manually driven to drive the screw to rotate in the X and Y directions and move in the Z direction. When the screw is placed, the trigger signal is started, the first position rotary encoding displacement sensor 8 monitors the rotation angle of the manual screw gun in the X direction, the second position rotary encoding displacement sensor 14 monitors the rotation angle of the manual screw gun in the Y direction, and the pull-wire encoding displacement sensor 15 can monitor the displacement of the manual screw gun in the Z direction, and transmits the detected actual screw placement position information to the PLC controller. The PLC controller compares the received signal information with the set position information (position range information at B). If it exceeds the set position range, the warning light alarms, and then the position of the manual screw gun is manually adjusted until it is adjusted to the set position range, and the warning light stops alarming to ensure the position of the workpiece, that is, to ensure that the screw is transferred to B.

[0029] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A booster arm device, comprising a base (1), characterized in that: A guide rod (2) is rotatably mounted on the base (1), a guide block (3) is provided on the guide rod (2), the guide block (3) and the guide rod (2) are connected via a first linear bearing (4), a connecting plate (5) perpendicular to the guide rod (2) is installed on the guide block (3), both ends of the connecting plate (5) away from the end of the guide block (3) are provided with mutually parallel first mounting plates (6), a connecting shaft (7) is rotatably connected between the first mounting plates (6), one end of the connecting shaft (7) passes through the first mounting plate (6) and is connected to a first position rotary encoding displacement sensor (8), and the connecting shaft (7) is connected to a first position rotary encoding displacement sensor (8) via a connecting rod (9). A clamping mechanism (10) is connected, a second mounting plate (11) is provided at one end of the guide rod (2) away from the base (1), a third mounting plate (13) is connected to the top of the second mounting plate (11) via a rotating mechanism (12), a second position rotary encoding displacement sensor (14) is provided on the top of the third mounting plate (13), the extended end of the second position rotary encoding displacement sensor (14) is connected to the rotating mechanism (12), a wire-drawing type encoding displacement sensor (15) is installed on one side of the second mounting plate (11), and the outlet end of the wire-drawing type encoding displacement sensor (15) is connected to the guide block (3).

2. A booster arm device according to claim 1, characterized in that: A fixing block (16) is provided on one side of the guide block (3); a fixing plate (17) is provided on one end of the guide rod (2) close to the base (1); a fixing rod (18) is mounted on the fixing plate (17); one end of the fixing rod (18) passes through the fixing block (16) and is connected to the second mounting plate (11); the fixing rod (18) and the fixing block (16) are connected via a second linear bearing (19).

3. The booster arm device according to claim 1, characterized in that: Limit blocks (20) are provided on the guide rod (2) and at both ends of the guide block (3).

4. The booster arm device according to claim 1, characterized in that: The connecting shaft (7) and the connecting plate (5) are hingedly connected via a hinge (21).

5. The booster arm device according to claim 1, characterized in that: Both sides of the second mounting plate (11) are provided with a labor-saving balancer (22), and the outlet ends of the labor-saving balancer (22) are connected to the guide block (3).

6. The booster arm device according to claim 1, characterized in that: The rotating mechanism (12) comprises a rolling bearing (23) and a rotating disk (24); a circular groove (25) with an opening facing downward is formed on the third mounting plate (13); a mounting hole (26) is formed at the top of the groove (25); the rolling bearing (23) and the rotating disk (24) are respectively arranged in the groove (25) and the mounting hole (26); an inner ring of the rolling bearing (23) is connected to the second mounting plate (11); an outer ring of the rolling bearing (23) is connected to the third mounting plate (13); driving shafts are fixedly connected to the upper and lower ends of the rotating disk (24); a driving shaft at the lower end of the rotating disk (24) is connected to the guide rod (2) in the rolling bearing (23); and another driving shaft is connected to the protruding end of the second position rotary encoding displacement sensor (14).

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