Telescopic folding positioning force arm

Abstract

A telescopic folding positioning force arm comprises a bottom plate used for being fixed to an on-site profile or tool. A first rotary joint module; the cross arm module can horizontally rotate around the first rotary joint module; the second rotary joint module can rotate in the horizontal direction relative to the cross arm structure; the third rotary joint module is rotationally connected to the second joint fixing and supporting seat in the vertical direction; the clamping module comprises two folding arm connecting plates arranged in a mirror image mode, the two folding arm connecting plates are hinged to the tail ends of the two folding arm telescopic rods respectively, the structure is compact and reasonable, operation is convenient, through the arrangement of the telescopic cross arm and the folding arms, compared with a traditional folding force arm, the stretching space radius of the force arm can be adjusted at will, and the clamping device can adapt to the working conditions more widely. And on the original basis of the telescopic force arm, the occupied space after the force arm is stored is further optimized, the adjustment inconvenience is increased, the maintenance cost of the mechanical spring is low, the reliability is high, and a mature load balancing mode is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of telescopic arms, in particular to a telescopic folding positioning force arm. Background Art

[0002] A folding force arm is known from CN117226883A. The known folding force arm can achieve positioning adjustment in three directions of X, Y, and Z. However, the production line working space sizes vary, and the working area that a single model of this type of force arm can meet is limited, and it may not be able to meet the structural size limit requirements of different-sized space stations. Therefore, customers need to customize the length and size of the force arm. This may lead to too long a stocking cycle, affecting production efficiency, and is not conducive to the diverse compatibility operations at the production site. This problem is not disclosed in this invention. A folding force arm is known from CN117226883A. Carbon fiber material is used as the folding arm to achieve product lightweight. By using two movable joints, the storage space during static operation is minimized to the greatest extent, and "zero gravity" is achieved by using cylinder balance. However, compared with the reach range of the adjustable force arm of the traditional folding force arm, the maximum reach radius of a single model of the above folding force arm cannot be changed. This is not conducive to the diverse operations at the production site: such as interference in the operation space, compatible interchange of large and small operation stations, and lack of certain human-machine interactivity.

[0003] In the above-mentioned prior art, to solve the problem of compatible diverse operations on-site, it is necessary to involve various models of force arm sizes, which may lead to a relatively long stocking cycle and affect production and purchase costs.

[0004] Therefore, we propose a telescopic folding positioning force arm. Content of the Utility Model

[0005] The applicant of the present invention aims at the shortcomings in the above-mentioned existing production technology, and provides a telescopic folding positioning force arm, thereby reducing the inconvenience of adjustment to a certain extent, having lower requirements for customers, being able to further increase the applicable range, and having lower maintenance costs and higher reliability for mechanical springs, which is a mature load balancing method.

[0006] The technical solution adopted by the utility model is as follows:

[0007] A telescopic folding positioning force arm, comprising:

[0008] A bottom plate for fixing to on-site profiles or tooling;

[0009] A first rotary joint module formed by tightly connecting a fixed bottom plate and a first joint fixed support seat;

[0010] Two cross-arm modules, which are parallelly connected to the upper and lower ends of the first rotary joint module and can rotate horizontally around the first rotary joint module. The cross-arm modules include telescopic cross-arm structures;

[0011] The second rotary joint module, which is connected to the other ends of two cross-arm structures, includes a second joint fixed support base that can rotate horizontally relative to the cross-arm structures;

[0012] The third rotary joint module, which is rotatably connected to the second joint fixed support base in the vertical direction, includes a fixed connection plate, and two parallel folding arm telescopic rods are connected to the fixed connection plate. A slidable spring clamp is connected to the upper folding arm telescopic rod, and the spring clamp is rotatably connected to the fixed mounting plate through a balance spring;

[0013] The clamping module includes two mirror-image folding arm connection plates, and the two folding arm connection plates are respectively hinged to the ends of the two folding arm telescopic rods.

[0014] Further, the upper and lower cross-arms are composed of a left cross-arm connection end cover, a cross-arm telescopic rod, and a right cross-arm connection end cover.

[0015] Further, the fixed mounting plate includes mirror-image folding arm left and right connection plates, and hinges are provided on the two connection plates to respectively connect the folding arm telescopic rods.

[0016] Further, the connection position of the balance spring and the fixed mounting plate is located between the two folding arm telescopic rods.

[0017] Further, a positioning module is further included for recording and feedbacking the rotation positions of each joint and the telescopic lengths of the cross-arm and folding arms.

[0018] Further, the positioning module includes rotational positioning and telescopic positioning. Among them, rotational positioning includes a first joint rotary encoder, a second joint rotary encoder, and a third joint rotary encoder. Telescopic positioning includes a cross-arm telescopic displacement sensor and a folding arm telescopic displacement sensor; the first joint rotary encoder and the second joint rotary encoder are connected to the left and right connection end covers of the same cross-arm, and the third joint rotary encoder is connected to the connection node between one of the folding arm telescopic rods and the fixed mounting plate;

[0019] The number of cross-arm telescopic displacement sensors is two and they are respectively connected to the two connection end covers of the cross-arm. The number of folding arm telescopic displacement sensors is two and they are respectively connected to the connection nodes at both ends of the other folding arm telescopic rod.

[0020] Further, the cross-arm telescopic rod is made of carbon fiber material.

[0021] Further, the folding arm connection plate is connected to the clamp through a clamping fixed block.

[0022] The beneficial effects of the present utility model are as follows:

[0023] The utility model has a compact and reasonable structure and is convenient to operate. By setting a telescopic cross arm and a folding arm, compared with the traditional folding force arm, the extension space radius of the force arm can be adjusted arbitrarily, and it has a wider range of applicable working conditions. Moreover, on the basis of the original telescopic force arm, the occupied space after the force arm is stored is further optimized. In addition, the force arm abandons the cylinder balance method, which increases the inconvenience of adjustment to a certain extent, but has lower requirements for customers, can further increase the applicable range, and the mechanical spring has lower maintenance costs and higher reliability, which is a mature load balancing method. The force arm is modularly designed with high integration. The design retains the positioning module interface, and the positioning module can effectively prevent errors and can be customized according to customer needs. The modular design is also beneficial to assembly and later maintenance. Brief Description of the Drawings

[0024] Figure 1 It is a schematic structural diagram of the utility model.

[0025] Wherein: 1. First rotary joint module; 11. Force arm fixed bottom plate; 12. First joint fixed support seat; 2. Cross arm module; 21. Upper cross arm left connection end cover; 22. Upper cross arm telescopic rod; 23. Upper cross arm right connection end cover; 24. Lower cross arm left connection end cover; 25. Lower cross arm telescopic rod; 26. Lower cross arm right connection end cover; 3. Second rotary joint module; 31. Second joint fixed support seat; 32. Folding arm left connecting plate; 33. Folding arm right connecting plate; 4. Third rotary joint module; 41. Balance spring; 42. Upper folding arm telescopic rod; 43. Lower folding arm telescopic rod; 44. Spring clamp; 45. Folding arm front end left connecting plate; 46. Folding arm front end right connecting plate; 5. Clamping module; 51. Clamping fixed block; 52. Clamp; 6. Positioning module; 61. First joint rotary encoder; 62. Second joint rotary encoder; 63. Third joint rotary encoder; 64. Cross arm telescopic displacement sensor; 65. Folding arm telescopic displacement sensor. Detailed Embodiments

[0026] The following combines the drawings to illustrate the detailed embodiments of the utility model.

[0027] The purpose of the utility model is to provide a multifunctional telescopic folding positioning force arm, which can retain the advantages of the above folding force arm, further optimize the number of product models, realize a single force arm compatible with more production working conditions, and improve production efficiency and convenience.

[0028] Embodiment 1

[0029] As Figure 1 shown, the utility model provides a telescopic folding positioning force arm, which mainly includes a force arm fixed bottom plate 11, a first rotary joint module, a cross arm module 2, a second rotary joint module 3, a third rotary joint module 4, a clamping module 5 and a positioning module.

[0030] The force arm fixing base plate 11 is used to fix with on-site profiles or tooling to ensure the stability of the entire force arm. The force arm fixing base plate 11 is fixedly connected to the first joint fixing support seat 12 to form the first rotating joint module. The number of cross arm modules 2 is two and they are connected in parallel at the upper and lower ends of the first rotating joint module and can rotate horizontally around the first rotating joint module. The cross arm module 2 includes a telescopic cross arm structure, which is specifically composed of an upper cross arm and a lower cross arm. The upper cross arm is composed of an upper cross arm left connecting end cover 21, an upper cross arm telescopic rod 22 and an upper cross arm right connecting end cover 23, and the lower cross arm is composed of a lower cross arm left connecting end cover 24, a lower cross arm telescopic rod 25 and a lower cross arm right connecting end cover 26. This design enables the cross arm module 2 to expand and contract within a certain range, so as to adapt to different working requirements.

[0031] The second rotating joint module 3 is connected to the other ends of the two cross arm structures and includes a second joint fixing support seat 31, which can rotate in the horizontal direction relative to the cross arm structure. This design increases the flexibility of the force arm, enabling it to make large-scale adjustments in the horizontal direction.

[0032] The third rotating joint module 4 is rotationally connected to the second joint fixing support seat 31 in the vertical direction. Its structure includes a fixed connecting plate, and two parallel folding arm telescopic rods are connected to the fixed connecting plate. A slidable spring clamp 44 is connected to the folding arm telescopic rod at the upper end, and the spring clamp 44 is rotationally connected to the fixed mounting plate through a balance spring 41. This design enables the folding arm to make flexible adjustments in the vertical direction and achieves the "zero gravity" effect of the tool through the balance spring 41, thereby balancing different loads.

[0033] The clamping module 5 includes two mirror-image folding arm connecting plates, and the two folding arm connecting plates are respectively hinged to the ends of the two folding arm telescopic rods. This design enables the clamping module 5 to flexibly adapt to tools of different shapes and sizes, improving the versatility of the force arm.

[0034] This embodiment also adds a positioning module. The positioning module is used to record and feedback the rotation positions of each joint and the expansion and contraction lengths of the cross arm and folding arm. Specifically, the positioning module includes two parts: rotation positioning and expansion and contraction positioning. The rotation positioning is realized by the first joint rotation encoder 61, the second joint rotation encoder 62 and the third joint rotation encoder 63, and these encoders can accurately record the rotation angles of each joint. The expansion and contraction positioning is realized by the cross arm expansion and contraction displacement sensor 64 and the folding arm expansion and contraction displacement sensor 65, and these sensors can accurately measure the expansion and contraction lengths of the cross arm and folding arm.

[0035] Through the positioning module, the operator can accurately know the current position and status of the lever arm, so as to perform precise tightening operations. At the same time, the positioning module can also be used for error prevention during operations. When the operator makes a misoperation or omits an operation, the positioning module will promptly issue an alarm to remind the operator to make corrections.

[0036] Generally speaking, the telescopic folding positioning lever arm of the present utility model has the advantages of compact structure, flexibility, strong adaptability, etc. Through modular design, the assembly and maintenance of the lever arm are made more convenient and fast. At the same time, the addition of the positioning module further improves the accuracy and reliability of the lever arm, making the tightening operation more efficient and accurate.

[0037] The specific implementation method is as follows:

[0038] Figure 1 The folding lever arm shown is used at the tightening site of automated production to reduce the harm caused to the operator by the tightening reaction force, and at the same time improve the tightening alignment accuracy and error prevention at the site.

[0039] Combined Figure 1 As can be seen, the folding lever arm mainly includes a first rotary joint module 1, a cross arm module 2, a second rotary joint module 3, a third rotary joint module 4, a clamping module 5 and a positioning module 6. The folding lever arm is connected to an external profile or tooling plate through a lever arm fixing base plate 11 to fix the entire lever arm. The cross arm module 2 is connected to a first joint fixed support seat 12 and can rotate around it. The cross arm module 2 consists of an upper cross arm and a lower cross arm. The upper cross arm includes an upper cross arm left connection end cover 21, an upper cross arm telescopic rod 22 and an upper cross arm right connection end cover 23, and the three are bonded by epoxy glue, and pins are added at the connection to increase its connection strength. The lower cross arm includes a lower cross arm left connection end cover 24, a lower cross arm telescopic rod 25 and a lower cross arm right connection end cover 26, and is also connected by epoxy glue and pins. Among them, the upper and lower cross arm telescopic rods 22, 25 are made of carbon fiber telescopic rods, which can achieve product lightweight while ensuring its structural strength.

[0040] The other end of the cross arm module 2 is connected to the second rotary joint module 3. The second rotary joint module 3 is jointly composed of a second joint fixed support seat 31, folding arm left and right connecting plates 32, 33. Hinge structures are respectively provided on its upper, middle and lower parts for connecting the upper folding arm telescopic rod 42, the balance spring 41 and the lower folding arm telescopic rod 43 of the third rotary joint module 4. A spring clamp 44 is provided on the upper folding arm telescopic rod to fix the spring. The spring clamp can slide on the first rod of the upper folding arm telescopic rod 42 to adjust the compression amount of the spring to balance different loads. The upper and lower folding arm telescopic rods 42, 43 can rotate up and down around the folding arm left and right connecting plates 32, 33. The other end is connected to the folding arm front left and right connecting plates 45, 46, and threaded holes are provided thereon to connect the clamping fixed block 51, and the clamping fixed block 51 is used to connect the front clamp 52.

[0041] The above components constitute the basic building blocks of the lever arm. To meet the increasing demands of customers and improve the accuracy of tightening alignment and prevent errors during operation, positioning module installation interfaces are provided at corresponding positions on the lever arm. The first joint rotary encoder 61 is fixed on the left connecting end cover 21 of the upper cross arm to record the position changes of the first joint rotation; the second joint rotary encoder 62 is fixed on the right connecting end cover 23 of the upper cross arm to record the position changes of the folding arm rotating around the cross arm; similarly, at the hinge connection between the upper ends of the left and right connecting plates 32 and 33 of the folding arm and the upper folding arm telescopic rod 42, there is a fixed interface for the third joint rotary encoder to record the position changes of the folding arm rotating up and down. In addition, except for the three rotating joints, the cross arm and folding arm of the lever arm have telescopic functions to adjust the reach radius of the lever arm. Therefore, cross arm telescopic displacement sensors 64 and folding arm telescopic displacement sensors 65 are respectively provided on the left and right connecting end covers of the lower cross arm and the front, rear, and right connecting plates of the folding arm. By setting the above position positioning modules, it is possible to determine any position during the tightening operation, effectively preventing the situation of incorrect or missed tightening of screws by the operator, and optimizing the operation efficiency and the yield rate.

[0042] The working process of the telescopic folding positioning lever arm with the above structure will be introduced below.

[0043] After selecting a suitable fixed position, the entire lever arm is fixed through the lever arm fixing base plate 11. Then, select a suitable clamp 52 according to the tools used on-site. Before fixing the tool with the clamp, weigh the tool to be used and record it. After completing the above operations, fix the tightening tool and adjust the position of the hoop 44 of the balance spring 41. Hold the tool and move it up and down around the hinge at the left and right connecting plates 32 and 33 of the folding arm until the weight of the selected tool can be balanced, achieving the "zero gravity" effect. After adjustment, hold the tool and freely adjust the position of the tool according to the tightening working conditions. That is, the tool can move up and down around the third rotary joint module 4 and can rotate around the first / second rotary joints 1 / 2, enabling tightening operations at any position within the reach radius of the lever arm. Among them, the second joint fixed support base 31 rotates around the cross arm, which can achieve the effect of folding arm storage. Under the condition that the lever arm is telescopic, the occupied space of the folding arm is further optimized.

[0044] In summary, by setting a telescopic cross arm and folding arm, compared with traditional folding lever arms, the reach radius of the lever arm can be adjusted arbitrarily, and it has a wider range of applicable working conditions. Moreover, the telescopic lever arm further optimizes the occupied space after the lever arm is stored. In addition, although the lever arm abandons the cylinder balance method, which increases the inconvenience of adjustment to a certain extent, it has lower requirements for customers, can further increase the applicable range, and the mechanical spring has lower maintenance costs and higher reliability, which is a mature load balancing method. This lever arm has a modular design, high integration, and retains the positioning module interface in the design. The positioning module can effectively prevent errors and can be customized according to customer needs. The modular design is also beneficial for assembly and later maintenance.

[0045] The advantages of the present utility model compared with the prior art are as follows: The lever arm in the existing well-known patents cannot achieve human-machine interaction with an arbitrary reach radius, and lever arms of different lengths have limited compatibility with the operating space. However, the present utility model realizes that the operator can adjust the lever arm size according to the on-site environment through a new telescopic lever arm, thus achieving multiple uses of one lever arm. This not only reduces the inventory cost at the production end but also improves the compatibility of the lever arm, which is conducive to improving production efficiency. In addition, the structural module of the present utility model has a high degree of integration, which is convenient for processing and assembly. This is also conducive to later maintenance. Moreover, the balance structure of the present utility model uses a mechanical spring instead of a cylinder, which has lower requirements for customers, does not require an air source, and has a better cost performance.

[0046] The above description is an explanation of the present utility model, not a limitation thereof. For the scope defined by the present utility model, please refer to the claims. Any form of modification can be made within the protection scope of the present utility model.

Claims

1. A telescopic folding positioning arm, characterized in that: include: A bottom plate (11) is used for fixing to the on-site profile or tooling; A first rotating joint module is composed of a fixed base plate (11) and a first joint fixed support seat (12) which are tightly connected; Two cross arm modules (2) are connected in parallel to the upper and lower ends of the first rotary joint module and are capable of horizontally rotating around the first rotary joint module. The cross arm module (2) comprises a retractable cross arm structure; A second rotating joint module (3), which is connected to the other end of the two cross arm structures, comprises a second joint fixing support seat (31), which can realize horizontal rotation relative to the cross arm structure; A third rotating joint module (4) is rotatably connected to the second joint fixed support seat (31) in a vertical direction, and its structure comprises a fixed connection plate, and two folding arm telescopic rods arranged in parallel are connected to the fixed connection plate, and a slidable spring clamp (44) is connected to the folding arm telescopic rod at the upper end, and the spring clamp (44) is rotatably connected to the fixed installation plate through a balance spring (41); The clamping module (5) comprises two folding arm connecting plates arranged in mirror images, and the two folding arm connecting plates are respectively hinged at the ends of the two folding arm telescopic rods.

2. A telescopic folding positioning arm according to claim 1, characterized in that: The cross arm module (2) comprises a cross arm left connecting end cover, a cross arm telescopic rod and a cross arm right connecting end cover.

3. A telescopic folding positioning arm according to claim 1, characterized in that: The fixed installation plate comprises a folding arm left connecting plate (32) and a folding arm right connecting plate (33) which are arranged in a mirror image, and hinges are provided on the two connecting plates, which are respectively connected to the folding arm telescopic rods.

4. A telescopic folding positioning arm as claimed in claim 3, characterized in that: The connection position between the balance spring (41) and the fixed mounting plate is located between the two folding arm telescopic rods.

5. The telescopic folding positioning arm according to claim 1, characterized in that: It also includes a positioning module for recording and feeding back the rotational position of each joint and the telescopic length of the cross arm and the folding arm.

6. A telescopic folding positioning arm as claimed in claim 5, characterized in that: The positioning module includes rotation positioning and telescopic positioning, wherein the rotation positioning includes a first joint rotation encoder (61), a second joint rotation encoder (62) and a third joint rotation encoder (63), and the telescopic positioning includes a cross arm telescopic displacement sensor (64) and a folding arm telescopic displacement sensor (65); the first joint rotation encoder (61) and the second joint rotation encoder (62) are connected to the left connecting end cover and the right connecting end cover of the same cross arm, and the third joint rotation encoder (63) is connected to the connection node between one of the folding arm telescopic rods and the fixed mounting plate.

7. A telescopic folding positioning arm according to claim 6, characterized in that: The cross arm telescopic displacement sensors (64) are two in number and are respectively connected to the two connecting end caps of the cross arm, and the folding arm telescopic displacement sensors (65) are two in number and are respectively connected to the connecting nodes at both ends of the other folding arm telescopic rod.

8. A telescopic folding positioning arm as claimed in claim 2, characterized in that: The cross arm telescopic rod (25) is made of carbon fiber material.

9. The telescopic folding positioning arm according to claim 1, characterized in that: The folding arm connecting plate is connected to the clamp (52) via the clamp fixing block (51).

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