Power-assisted manipulator with dual-purpose base
By designing a dual-purpose base power manipulator, the cylinder drive and movable base are used to solve the problem of manual handling and high cost of automated robots, and efficient and low-cost short-distance handling is achieved.
Patent Information
- Application Number
- CN202421491230.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-27
- Publication Date
- 2025-06-17
- Estimated Expiration
- 2034-06-27
AI Technical Summary
When handling heavier products at short distances, manual handling consumes physical energy and is not efficient, while automated robot handling is expensive.
A dual-purpose base power-assisted manipulator is designed, including columns, lifting arms, rotating arms, drooping arms and fixture seats. The lifting and horizontal transfer of fixtures are achieved through cylinder drive, and combined with a movable base, it is convenient for adjusting position in the workshop.
It realizes short-distance handling of heavier products, reduces labor intensity and cost, has a simple structure, low cost, and is easy to adjust the position in the workshop.
Smart Images
Figure CN222986929U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to production auxiliary equipment, in particular to a manipulator. Background Art
[0002] For short-distance product handling in the workshop, the products are heavy. Manual handling requires continuous operation and consumes physical strength. Workers need to take multiple breaks during working hours, resulting in low work efficiency. Using automated robots for handling, although time-saving and labor-saving, incurs high usage costs. Content of the Utility Model
[0003] The technical problem solved by the utility model: For short-distance handling of heavy products, manual handling consumes physical strength and has low work efficiency; using robots for handling incurs high robot usage costs.
[0004] To solve the above technical problem, the utility model provides the following technical solution: A power-assisted manipulator with a dual-purpose base, including a column, a lifting arm hinged to the column, a rotating arm pivotally connected to the lifting arm, a drooping arm pivotally connected to the rotating arm, a fixture seat hinged to the drooping arm, and a fixture provided on the fixture seat. A first cylinder is provided between the column and the lifting arm, and a second cylinder is provided between the drooping arm and the fixture seat; the bottom of the column is fixed on the base, rollers are provided at the bottom of the base, several transverse arms extend horizontally from the base, screws are screwed on the transverse arms, a handwheel is fixed at the top of the screw, and a pressing plate is fixed at the bottom of the screw.
[0005] According to the above technical solution, 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 first cylinder, the lifting arm can move up and down relative to the column. Driven by the second cylinder, the fixture seat can move up and down relative to the drooping arm. In this way, after the fixture holds the product, it can rise, then horizontally transfer to a predetermined station, and then descend to release the product, realizing short-distance handling of the product.
[0006] When it is necessary to move the power-assisted manipulator, the worker rotates the handwheel, the screw rotates and rises, the pressing plate leaves the ground, and the worker pushes the base. With the assistance of the rollers, the power-assisted manipulator moves. After reaching the predetermined position, the worker rotates the handwheel, the screw rotates and descends, the pressing plate touches the ground, the rollers leave the ground, and the position of the base is fixed.
[0007] Compared with automated robots, the power-assisted manipulator of the utility model has a simple structure and low cost, but can assist workers in conveniently handling heavy items. Moreover, the base of the power-assisted manipulator can be moved and fixed, facilitating the adjustment of the position of the power-assisted manipulator in the workshop.
[0008] The column includes a lower part of the column and an upper part of the column pivotally connected to the lower part of the column, and the first cylinder is installed on the upper part of the column. In this way, the power-assisted manipulator of the utility model adds a horizontal rotation joint, which is beneficial to improving the amplitude and distance of the power-assisted manipulator for handling items.
[0009] The upper part of the column is pivotally connected to the lower part of the column through a first pivotal connection structure. The first pivotal connection structure includes a first pivotal connection cylinder and a first pivotal connection shaft. The first pivotal connection shaft is pivotally connected to the first pivotal connection cylinder through a first bearing. A flange is provided at the bottom end of the first pivotal connection cylinder, and this flange is connected to the flange of the lower part of the column. The top of the first pivotal connection shaft is inserted into the upper part of the column. The first pivotal connection cylinder and the lower part of the column are in a fixed relationship, the first pivotal connection shaft and the upper part of the column are in a fixed relationship, and the first pivotal connection shaft and the first pivotal connection cylinder are in a pivotal connection relationship.
[0010] A first brake disc is welded on the first pivotal connection cylinder, and a first electric push rod is installed on the upper part of the column. A brake pad capable of abutting against the first brake disc is provided on the first electric push rod. When the first electric push rod operates, the brake pad abuts against the first brake disc, and the rotation of the upper part of the column relative to the lower part of the column can be braked.
[0011] The lifting arm includes a first connecting arm and a second connecting arm arranged in parallel. A connecting portion is welded at one end of the first connecting arm, and the piston rod of the first air cylinder is hinged to the connecting portion. The relationship between the cylinder body of the first air cylinder and the upper part of the column is a hinged relationship. The first air cylinder drives the first connecting arm to rotate up and down, and the first connecting arm drives the second connecting arm to rotate synchronously.
[0012] The rotating arm is pivotally connected to the lifting arm through a second pivotal connection structure. The second pivotal connection structure includes a pivotal connection seat hinged to the first connecting arm and the second connecting arm, and a second pivotal connection shaft inserted into the pivotal connection seat. A flange is provided at the bottom of the second pivotal connection shaft, and this flange is connected to the flange on the rotating arm. The first connecting arm, the second connecting arm, the pivotal connection seat and the upper part of the column form a stable linkage mechanism, which is beneficial to improving the bearing capacity of the assisting manipulator, and the assisting manipulator can stably lift items. Among them, the pivotal connection seat is provided with a shaft hole for cooperating with the second pivotal connection shaft.
[0013] A second brake disc is welded on the bottom flange of the second pivotal connection shaft, and a second electric push rod is installed on the pivotal connection seat. A brake pad capable of abutting against the second brake disc is provided on the second electric push rod. When the second electric push rod operates, the brake pad abuts against the second brake disc, and the rotation of the rotating arm relative to the lifting arm can be braked.
[0014] The rotating arm is pivotally connected to the drooping arm through a third pivotal connection structure. The third pivotal connection structure includes a third pivotal connection cylinder and a third pivotal connection shaft. The third pivotal connection shaft is pivotally connected to the third pivotal connection cylinder through a third bearing. A third pivotal connection cylinder flange is provided at the bottom end of the third pivotal connection cylinder, and the third pivotal connection cylinder flange is connected to the flange of the drooping arm. A third pivotal connection shaft flange is provided at the top of the third pivotal connection shaft, and the third pivotal connection shaft flange is connected to the flange on the rotating arm. Among them, the third pivotal connection cylinder is fixedly connected to the drooping arm, the third pivotal connection shaft is fixedly connected to the rotating arm, and the third pivotal connection shaft and the third pivotal connection cylinder are pivotally connected.
[0015] A control structure is installed on the drooping arm, and a controller is installed on the control structure. A worker stands on the ground, holds the control structure, and operates the controller to control the actions of the first cylinder and the second cylinder, thereby realizing the lifting of the fixture. When the worker holds the control structure, the first pivoting structure, the second pivoting structure, and the third pivoting structure can be horizontally driven to realize the displacement of the fixture. Furthermore, the lifting and displacement of the item clamped by the fixture are realized.
[0016] The fixture includes a frame-shaped bracket fixed on the fixture base, a jaw cylinder installed in the frame-shaped bracket, and a pair of jaws hinged on the frame-shaped bracket. A connecting block is provided on the piston rod of the jaw cylinder, and the jaws are connected to the connecting block through a connecting rod. When the jaw cylinder acts, it drives the connecting rod, and the connecting rod drives the pair of jaws to open or close. When the pair of jaws close, they clamp the part, and when the pair of jaws open, they release the part. Brief Description of the Drawings
[0017] The following further describes the present utility model with reference to the drawings:
[0018] Figure 1 It is a schematic diagram of the power-assisted manipulator;
[0019] Figure 2 It is a schematic diagram of the fixture of the power-assisted manipulator clamping a part;
[0020] Figure 3 It is a partial cross-sectional view of the power-assisted manipulator;
[0021] Figure 4 It is Figure 3 a schematic diagram of the second pivoting structure 31 in
[0022] Figure 5 It is a cross-sectional view of the third pivoting structure 41;
[0023] Figure 6 It is a schematic diagram of the fixture 70;
[0024] Figure 7 It is Figure 6 a schematic diagram obtained by looking down at the fixture in
[0025] Figure 8 It is Figure 7 the bottom view of
[0026] Symbol Explanation in the Figures:
[0027] 10, column; 11, lower part of the column; 12, upper part of the column; 13, first pivoting structure; 14, first brake disc; 15, first electric push rod;
[0028] 20, lifting arm; 21, first connecting arm; 22, second connecting arm; 23, connecting part;
[0029] 30. Rotating arm; 31. Second pivoting structure; 32. Pivoting seat; 33. Second pivot shaft; 34. Bottom flange of the second pivot shaft; 35. First flange on the rotating arm; 36. Second flange on the rotating arm; 37. Second brake disc; 38. Second electric push rod;
[0030] 40. Drooping arm; 41. Third pivoting structure; 42. Third pivoting cylinder; 43. Third pivot shaft; 44. Flange of the third pivoting cylinder; 45. Flange of the drooping arm; 46. Flange of the third pivot shaft;
[0031] 50. Fixture seat;
[0032] 61. First cylinder; 62. Second cylinder;
[0033] 70. Fixture; 71. Frame-shaped bracket; 72. Jaw cylinder; 73. Jaws; 74. Connecting block; 75. Link;
[0034] 80. Base; 81. Rollers; 82. Lateral arm; 83. Screw; 84. Handwheel; 85. Pressure plate; 86. Connecting plate; 87. Pushing handle;
[0035] 90. Parts. Detailed implementation manner
[0036] Such as Figure 1 , a power-assisted manipulator with a dual-purpose base, including a column 10, a lifting arm 20 hinged to the column, a rotating arm 30 pivotally connected to the lifting arm, a drooping arm 40 pivotally connected to the rotating arm, a fixture seat 50 hinged to the drooping arm, and a fixture provided on the fixture seat. A first cylinder 61 is provided between the column and the lifting arm, and a second cylinder 62 is provided between the drooping arm and the fixture seat.
[0037] The rotating arm 30 can rotate horizontally relative to the column 10, and the drooping arm 40 can rotate horizontally relative to the rotating arm 30. Driven by the first cylinder 61, the lifting arm 20 can move up and down relative to the column 10. Driven by the second cylinder 62, the fixture seat 50 can move up and down relative to the drooping arm 40. Thus, after the fixture clamps the product, it can rise, then horizontally transfer to a predetermined station, and then descend to release the product, realizing the short-distance handling of the product.
[0038] The column 10 includes a lower part 11 of the column and an upper part 12 of the column pivotally connected to the lower part of the column. The first cylinder 61 is installed on the upper part of the column. Thus, the power-assisted manipulator of the present utility model adds a horizontal rotation joint, which is beneficial to improving the amplitude and distance of the power-assisted manipulator for handling items.
[0039] The upper part 12 of the column is pivotally connected to the lower part 11 of the column through the first pivotal connection structure 13. The first pivotal connection structure includes a first pivotal connection cylinder and a first pivotal connection shaft. The first pivotal connection shaft is pivotally connected in the first pivotal connection cylinder through a first bearing. A flange is provided at the bottom end of the first pivotal connection cylinder, and this flange is connected to the flange of the lower part of the column. The top of the first pivotal connection shaft is inserted into the upper part of the column. The first pivotal connection cylinder and the lower part 11 of the column are in a fixed relationship, the first pivotal connection shaft and the upper part 12 of the column are in a fixed relationship, and the first pivotal connection shaft and the first pivotal connection cylinder are in a pivotal connection relationship.
[0040] As Figure 2 , a first brake disc 14 is welded on the first pivotal connection cylinder, and a first electric push rod 15 is installed on the upper part 12 of the column. A brake pad capable of abutting against the first brake disc is provided on the first electric push rod. When the first electric push rod 15 acts, the brake pad abuts against the first brake disc 14, and the rotation of the upper part 12 of the column relative to the lower part 11 of the column can be braked.
[0041] As Figure 1 , the lifting arm 20 includes a first connecting arm 21 and a second connecting arm 22 arranged in parallel. A connecting portion 23 is welded to one end of the first connecting arm, and the piston rod of the first cylinder 61 is hinged to the connecting portion. The relationship between the cylinder body of the first cylinder 61 and the upper part 12 of the column is a hinged relationship. The first cylinder 61 drives the first connecting arm 21 to rotate up and down, and the first connecting arm drives the second connecting arm 22 to rotate synchronously.
[0042] As Figure 4 , the rotating arm 30 is pivotally connected to the lifting arm 20 through the second pivotal connection structure 31. The second pivotal connection structure includes a pivotal connection seat 32 hinged to the first connecting arm 21 and the second connecting arm 22, and a second pivotal connection shaft 33 inserted into the pivotal connection seat. The bottom flange 34 of the second pivotal connection shaft is connected to the first flange 35 on the rotating arm. The first connecting arm 21, the second connecting arm 22, the pivotal connection seat 32 and the upper part 12 of the column form a stable linkage mechanism, which is beneficial to improving the load-bearing capacity of the assisting manipulator, and the assisting manipulator can stably lift objects. Among them, the pivotal connection seat 32 is provided with a shaft hole for cooperating with the second pivotal connection shaft.
[0043] As Figure 2 , a second brake disc 37 is welded on the bottom flange 34 of the second pivotal connection shaft, and a second electric push rod 38 is installed on the pivotal connection seat 32. A brake pad capable of abutting against the second brake disc is provided on the second electric push rod. When the second electric push rod 38 acts, the brake pad abuts against the second brake disc 37, and the rotation of the rotating arm 30 relative to the lifting arm 20 can be braked.
[0044] As Figure 5, the rotating arm 30 is pivotally connected to the drooping arm 40 through a third pivoting structure 41. The third pivoting structure includes a third pivoting cylinder 42 and a third pivoting shaft 43. The third pivoting shaft is pivotally connected in the third pivoting cylinder through a third bearing. A third pivoting cylinder flange 44 is provided at the bottom end of the third pivoting cylinder. The third pivoting cylinder flange is connected to the flange 45 of the drooping arm. A third pivoting shaft flange 46 is provided at the top of the third pivoting shaft. The third pivoting shaft flange is connected to the second flange 36 on the rotating arm. Among them, the third pivoting cylinder 42 is fixedly connected to the drooping arm 40, the third pivoting shaft 43 is fixedly connected to the rotating arm 30, and the third pivoting shaft 43 is pivotally connected to the third pivoting cylinder 42.
[0045] As Figures 6 to 8 , the fixture 70 includes a frame-shaped bracket 71 fixed on the fixture base 50, a jaw cylinder 72 installed in the frame-shaped bracket, and a pair of jaws 73 hinged on the frame-shaped bracket. A connecting block 74 is provided on the piston rod of the jaw cylinder. The jaws are connected to the connecting block through a connecting rod 75. When the jaw cylinder 72 acts, it drives the connecting rod 75, and the connecting rod drives the pair of jaws 73 to open or close. When the pair of jaws close, they clamp the part. When the pair of jaws open, they release the part 90.
[0046] As an option, a high-pressure air pump mounting bracket is provided on the upper part 12 of the column. The high-pressure air pump is mounted on the high-pressure air pump mounting bracket. The high-pressure air pump supplies air to the first cylinder, the second cylinder, and the jaw cylinder. The high-pressure air pump is equipped with a solenoid valve. The solenoid valve can control the on-off of the gas pipeline between the high-pressure air pump and the first cylinder, the on-off of the gas pipeline between the high-pressure air pump and the second cylinder, and the on-off of the gas pipeline between the high-pressure air pump and the jaw cylinder. The controller of the solenoid valve and the controllers of the first electric push rod and the second electric push rod are integrated on a control panel. Workers can hold the control panel to control the first cylinder, the second cylinder, the jaw cylinder, the first electric push rod, and the second electric push rod.
[0047] Workers stand on the ground and hold the control panel to control the actions of the first cylinder 61 and the second cylinder 62 to realize the lifting of the fixture. The actions of the first pivoting structure 13, the second pivoting structure 31, and the third pivoting structure 41 are manually controlled by workers acting on the drooping arm 40, thereby realizing the displacement of the fixture. In this way, the lifting and displacement of the item clamped by the fixture are realized.
[0048] The bottom of the column is fixed on the base 80. The bottom of the base is provided with rollers 81. The base extends laterally with several lateral arms 82. Screws 83 are screwed on the lateral arms. A handwheel 84 is fixed at the top end of the screw, and a pressure plate 85 is fixed at the bottom end of the screw.
[0049] A connecting plate 86 is welded to the bottom of the column 10, and the connecting plate is installed on the inner bottom of the base 80 through a threaded connector. The inner end of the transverse arm 82 is welded to the connecting plate, and a clearance hole for the transverse arm to pass through is provided on the side wall of the base; a cover plate (not shown in the drawings) is welded to the base, and a push handle 87 is welded to the cover plate.
[0050] When the power manipulator needs to be moved, the worker turns the hand wheel 84, the screw 83 rotates and rises, the pressure plate 85 leaves the ground, and the worker pushes the base 80, and the power manipulator moves with the assistance of the roller 81. After reaching the predetermined position, the worker turns the hand wheel 84, the screw 83 rotates and descends, the pressure plate 85 touches the ground, the roller 81 leaves the ground, and the position of the base 80 is fixed.
[0051] 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 power-assisted manipulator with a dual-purpose base, comprising a column (10), a lifting arm (20) hinged to the column, a rotating arm (30) pivoted to the lifting arm, a drooping arm (40) pivoted to the rotating arm, a fixture seat (50) hinged to the drooping arm, and a fixture (70) arranged on the fixture seat, a first cylinder (61) is arranged between the column and the lifting arm, and a second cylinder (62) is arranged between the drooping arm and the fixture seat; characterized in that: The bottom of the column is fixed on the base (80), the bottom of the base is provided with a roller (81), the base extends laterally with a plurality of transverse arms (82), the transverse arms are screwed with screw rods (83), the top of the screw rods are fixed with a hand wheel (84), and the bottom of the screw rods is fixed with a pressure plate (85).
2. The power-assisted manipulator with a dual-purpose base as claimed in claim 1, characterized in that: A connecting plate (86) is welded to the bottom of the column (10), and the connecting plate is installed on the inner bottom of the base (80) through a threaded connector. The inner end of the transverse arm (82) is welded to the connecting plate, and a clearance hole for the transverse arm to pass through is provided on the side wall of the base; a cover plate is welded to the base, and a push handle (87) is welded on the cover plate.
3. The power-assisted manipulator with a dual-purpose base as claimed in claim 1, characterized in that: The column (10) comprises a column lower part (11) and a column upper part (12) pivotally connected to the column lower part, and the first cylinder (61) is mounted on the column upper part.
4. The power-assisted manipulator with a dual-purpose base as claimed in claim 3, characterized in that: The upper part (12) of the column is pivotally connected to the lower part (11) of the column through a first pivot structure (13). The first pivot structure includes a first pivot tube and a first pivot shaft. The first pivot shaft is pivotally connected in the first pivot tube through a first bearing. The bottom flange of the first pivot tube is connected to the flange of the lower part of the column. The top of the first pivot shaft is inserted into the upper part of the column.
5. The power-assisted manipulator with a dual-purpose base as claimed in claim 4, characterized in that: A first brake disc (14) is welded on the first pivot tube, a first electric push rod (15) is installed on the upper part of the column (12), and a brake pad capable of abutting against the first brake disc is provided on the first electric push rod.
6. The power-assisted manipulator with a dual-purpose base as claimed in claim 1, characterized in that: The lifting arm (20) comprises a first connecting arm (21) and a second connecting arm (22) which are arranged in parallel, a connecting portion (23) is welded to one end of the first connecting arm, and a piston rod of the first cylinder (61) is hinged to the connecting portion.
7. The power-assisted manipulator with a dual-purpose base as claimed in claim 6, characterized in that: The rotating arm (30) is pivotally connected to the lifting arm (20) via a second pivot structure (31), the second pivot structure comprising a pivot seat (32) hinged to the first connecting arm (21) and the second connecting arm (22), a second pivot shaft (33) inserted in the pivot seat, and a bottom flange (34) of the second pivot shaft connected to the first flange (35) on the rotating arm.
8. The power-assisted manipulator with a dual-purpose base as claimed in claim 7, characterized in that: A second brake disc (37) is welded on the bottom flange (34) of the second pivot shaft, a second electric push rod (38) is installed on the pivot seat (32), and a brake pad capable of abutting against the second brake disc is provided on the second electric push rod.
9. The power-assisted manipulator with a dual-purpose base as claimed in claim 1, characterized in that: The rotating arm (30) is pivotally connected to the drooping arm (40) via a third pivot structure (41). The third pivot structure includes a third pivot tube (42) and a third pivot shaft (43). The third pivot shaft is pivotally connected to the third pivot tube via a third bearing. A third pivot tube flange (44) is provided at the bottom end of the third pivot tube. The third pivot tube flange is connected to the flange (45) of the drooping arm. A third pivot shaft flange (46) is provided at the top of the third pivot shaft. The third pivot shaft flange is connected to the second flange (36) on the rotating arm.
10. The power-assisted manipulator with a dual-purpose base as claimed in claim 1, characterized in that: The clamp (70) comprises a frame-shaped bracket (71) fixed on the clamp seat (50), a clamping claw cylinder (72) installed in the frame-shaped bracket, and a pair of clamping claws (73) hinged on the frame-shaped bracket. A connecting block (74) is provided on the piston rod of the clamping claw cylinder, and the clamping claws and the connecting block are connected by a connecting rod (75).