Hard-arm manipulator

Abstract

The utility model discloses a hard-arm manipulator, and relates to the technical field of hard-arm manipulators. In the hard-arm manipulator, a mechanical arm is provided with a plurality of movable joints, and the movable joints are arranged at intervals in the horizontal direction; the multiple stop devices are arranged on the mechanical arm corresponding to the multiple movable joints, and each movable joint is correspondingly provided with one stop device. The lifting assembly is arranged on the mechanical arm; the fixing device is arranged on the lifting assembly and used for fixing a workpiece; the manual control assembly is arranged on the lifting assembly and used for controlling the multiple stop devices and the lifting assembly. The lifting assembly can drive the fixing device and the manual control assembly to ascend or descend together. The movable joint can relatively rotate in the horizontal direction, so that the mechanical arm allows the fixing device to move in the horizontal direction; the stop devices can lock or unlock the corresponding movable joints so as to stop or allow relative rotation of the movable joints. According to the invention, the assembly precision of the workpiece can be improved.

Description

Technical Field

[0001] This application relates to the technical field of hard-arm manipulators, and more particularly to a hard-arm manipulator. Background Art

[0002] As a mechanized lifting tool, a manipulator is commonly used in the production and processing of products to lift workpieces, move the workpieces to the installation position, and assist in fixing the workpieces for subsequent installation.

[0003] After the traditional manipulator moves the workpiece to the installation position, the manipulator is prone to displacement, resulting in difficulty in accurately aligning the workpiece with the installation position and reducing the assembly accuracy.

[0004] Therefore, how to improve the assembly accuracy of workpieces during the production and processing process remains a technical problem that needs to be urgently solved by those skilled in the art. Summary of the Utility Model

[0005] In view of this, to solve the above technical problems, this application provides a hard-arm manipulator, which includes:

[0006] A robotic arm having a plurality of movable joints, the plurality of movable joints being spaced apart in the horizontal direction;

[0007] A plurality of stopping devices corresponding to the plurality of movable joints and provided on the robotic arm, each movable joint being correspondingly provided with a stopping device;

[0008] A lifting assembly provided on the robotic arm;

[0009] A fixing device provided on the lifting assembly, the fixing device being used to fix the workpiece;

[0010] And a manual control assembly provided on the lifting assembly for controlling the plurality of stopping devices and the lifting assembly;

[0011] Wherein, the lifting assembly can drive the fixing device and the manual control assembly to rise or fall together; the movable joints can rotate relative to each other in the horizontal direction, so that the robotic arm allows the fixing device to move in the horizontal direction; the stopping device can lock or unlock the corresponding movable joint to prevent or allow the relative rotation of the movable joint.

[0012] Beneficial effects: Different from the prior art, the present application improves the assembly accuracy of workpieces at least from the following two aspects. First, when the stop device unlocks the corresponding movable joint, relative rotation of the movable joint is allowed, so that the robotic arm allows the fixing device to move horizontally, and thus the position of the workpiece shifted to the installation position can be manually fine-tuned horizontally. Second, when the stop device locks the corresponding movable joint, relative rotation of the movable joint is blocked, so that the robotic arm fixes the position of the fixing device horizontally, and thus the position of the workpiece shifted to the installation position can be fixed horizontally. Description of the Drawings

[0013] Figure 1 is a schematic structural diagram of the hard-arm robotic hand of the present application;

[0014] Figure 2 is Figure 1 an enlarged schematic diagram of area A in

[0015] Figure 3 is Figure 1 an enlarged schematic diagram of area B in

[0016] Figure 4 is Figure 3 an enlarged schematic diagram of area C in

[0017] Figure 5 is Figure 3 an enlarged schematic diagram of area D in

[0018] Figure 6 is a schematic diagram of the cooperation relationship between the second adapter of the first movable joint between the first connecting arm and the next connecting arm and the first stop device in the hard-arm robotic hand of the present application;

[0019] Figure 7 is a schematic diagram of the cooperation relationship between the second adapter of the first movable joint between two connecting arms other than the first connecting arm and the last connecting arm and the first stop device in the hard-arm robotic hand of the present application;

[0020] Figure 8 is a schematic diagram of the cooperation relationship between the second movable joint between the last connecting arm and the previous connecting arm and the second stop device in the hard-arm robotic hand of the present application;

[0021] Figure 9 is a schematic structural diagram of a perspective of the last connecting arm in the hard-arm robotic hand of the present application;

[0022] Figure 10 is a schematic structural diagram of another perspective of the last connecting arm in the hard-arm robotic hand of the present application.

[0023] Description of the Reference Numerals:

[0024] Hard-arm manipulator 10; robotic arm 100; stop device 200; first stop device 200a; second stop device 200b; lifting assembly 300; fixing device 400; manual control assembly 500; handheld rack 600; control box 700; flipping mechanism 800; mounting bracket 900; second air pipe 1000; spiral air pipe 1100; vertical direction H; first avoidance hole 101;

[0025] Moving joint 110; first moving joint 110a; rotation stop disc 11a; connecting shaft 12a; rotating sleeve 13a; roller bearing 14a; second moving joint 110b; slewing bearing 11b; first adapter 111; second adapter 112; connecting arm 120; supporting vertical arm 120a; guiding vertical arm 120b; avoidance channel 123; second avoidance hole 1231; strip-shaped gap 1232; third avoidance hole 1233; guiding groove 124; lifting frame 310; pulling mechanism 320; wire winder 321; pulling rope 322; fixed pulley 323; speed change handle 510; switch handle 520; driving cylinder 810; lever 820; mounting plate 830. Specific embodiments

[0026] To enable those skilled in the art to better understand the technical solutions of the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the scope of protection of the present application.

[0027] The following three points need to be explained in advance:

[0028] First point: In the following text, the horizontal direction refers to the direction perpendicular to the vertical direction. The horizontal reverse direction can be any direction in a plane parallel to the horizontal plane, and the vertical direction can be the straight line direction formed by the ray including the direction of gravity and the ray in the anti-gravity direction.

[0029] Second point: The rotation along the horizontal direction mentioned in the following text means that it can rotate around an axis extending in the vertical direction so as to have speed and displacement in a plane perpendicular to the axis extending in the vertical direction.

[0030] Third point: The flipping along the vertical direction mentioned in the following text means that it can rotate around an axis extending in the horizontal direction so as to have speed and displacement in a plane perpendicular to the axis extending in the horizontal direction.

[0031] Please refer to Figures 1 - 5, the hard-arm manipulator 10 of the present application includes a robotic arm 100, a stopping device 200, a lifting assembly 300, a fixing device 400, and a manual control assembly 500.

[0032] The robotic arm 100 has a plurality of movable joints 110, and the plurality of movable joints 110 are arranged at intervals in the horizontal direction. A plurality of stopping devices 200 are arranged on the robotic arm 100 corresponding to the plurality of movable joints 110, and each movable joint 110 is correspondingly provided with a stopping device 200. The lifting assembly 300 is arranged on the robotic arm 100. The fixing device 400 is arranged on the lifting assembly 300, and the fixing device 400 is used for fixing a workpiece. The manual control assembly 500 is arranged on the lifting assembly 300 and is used for controlling the plurality of stopping devices 200 and the lifting assembly 300.

[0033] Among them, the lifting assembly 300 can drive the fixing device 400 and the manual control assembly 500 to rise or fall together. The movable joint 110 can rotate relatively in the horizontal direction, so that the robotic arm 100 allows the fixing device 400 to move in the horizontal direction. The stopping device 200 can lock or unlock the corresponding movable joint 110 to prevent or allow the relative rotation of the movable joint 110.

[0034] In the above manner, the present application improves the assembly accuracy of the workpiece at least from the following two aspects. First, when the stopping device 200 unlocks the corresponding movable joint 110, the relative rotation of the movable joint 110 is allowed, so that the robotic arm 100 allows the fixing device 400 to move in the horizontal direction, and thus the position of the workpiece shifted to the installation position can be manually fine-tuned in the horizontal direction. Second, when the stopping device 200 locks the corresponding movable joint 110, the relative rotation of the movable joint 110 is prevented, so that the robotic arm 100 fixes the position of the fixing device 400 in the horizontal direction, and thus the position of the workpiece shifted to the installation position can be fixed in the horizontal direction.

[0035] Further, referring to Figures 1 - 5 As shown, the stopping device 200 is a pneumatically controlled device, and the hard-arm manipulator 10 includes a hand-held frame 600 and a control box 700.

[0036] The hand-held frame 600 is arranged on the lifting assembly 300 and is used for a human hand to hold, so that the human body can manually drive the fixing device 400 to move in the horizontal direction. The control box 700 is arranged on the robotic arm 100, is connected to the plurality of stopping devices 200 through a first air pipe, and is electrically connected to the lifting assembly 300. Among them, the manual control assembly 500 is arranged on the hand-held frame 600 and is electrically connected to the control box 700, and is used for sensing the operation of the human hand to generate corresponding control instructions to control the plurality of stopping devices 200 and the lifting assembly 300. The lifting assembly 300 can drive the fixing device 400, the hand-held frame 600, and the manual control assembly 500 to rise or fall together.

[0037] Through the above method, the position of the workpiece in the horizontal direction can be adjusted through the following steps S11 to S12, so that the position of the workpiece in the horizontal direction can be fixed in time when the workpiece is aligned with the installation position. Step S11: The human hand holds the handheld frame 600 to drive the fixing device 400 to move in the horizontal direction to adjust the position of the workpiece in the horizontal direction, and at the same time, some fingers are placed on the hand control component 500, so that the hand control component 500 can sense the human hand operation in time. Step S12: When it is observed and confirmed that the workpiece is aligned with the installation position, the hand operation of the fingers placed on the hand control component 500 is timely input to the hand control component 500 to control the stop device 200 to lock the corresponding movable joint 110 to prevent the workpiece from moving in the horizontal direction. It should be noted that the hand operation includes but is not limited to pressing, rotating, sliding or toggling the controls on the hand control component 500.

[0038] Furthermore, if Figures 1 - 5 As shown, the robot arm 100 includes a plurality of connecting arms 120. The plurality of connecting arms 120 are connected in sequence, and the connecting arms 120 at the subsequent positions are connected to the connecting arms 120 at the previous positions via a movable joint 110.

[0039] The movable joint 110 forms a rotation connection between the subsequent connecting arm 120 and the previous connecting arm 120 in the horizontal direction, so that the robot arm 100 can support the lifting assembly 300 in the vertical direction H and allow the fixing device 400 to move in the horizontal direction.

[0040] In the above manner, the position of the fixing device 400 in the vertical direction H is independent of the robot arm 100 , thereby ensuring that when the fixing device 400 is manually driven to move in the horizontal direction by a human body, the robot arm 100 will not affect the position of the workpiece fixed by the fixing device 400 in the vertical direction H.

[0041] Optionally, combined Figures 1 - 5 See also Figures 6 - 8 As shown, the movable joint 110 includes a first transfer body 111 and a second transfer body 112. Two adjacent connecting arms 120 of the movable joint 110 are respectively connected to the first transfer body 111 and the second transfer body 112. The first transfer body 111 and the second transfer body 112 form a rotation connection along the horizontal direction.

[0042] In each movable joint 110, the first adapter 111 is relatively fixed to one of the two connecting arms 120 adjacent to the movable joint 110, and the second adapter 112 is relatively fixed to the other of the two connecting arms 120 adjacent to the movable joint 110; the stopping device 200 is relatively fixed to the first adapter 111, and the stopping device 200 can lock or unlock the second adapter 112 to lock or unlock the movable joint 110.

[0043] Optionally, in combination with Figures 1 - 5 Refer to Figures 6 - 8 As shown, except for the movable joint 110 between the connecting arm 120 at the last position and the connecting arm 120 at the previous position, the remaining movable joints 110 are all the first movable joints 110a. The second adapter 112 of the first movable joint 110a includes a non-rotating brake disc 11a and a connecting shaft 12a, and the first adapter 111 of the first movable joint 110a includes a rotating sleeve 13a.

[0044] Among them, the non-rotating brake disc 11a is fixed to the connecting shaft 12a, and the connecting shaft 12a and the rotating sleeve 13a are connected by a roller bearing 14a so as to be relatively rotatable in the horizontal direction. The stopping device 200 corresponding to the first movable joint 110a is the first stopping device 200a, and the first stopping device 200a can lock or unlock the non-rotating brake disc 11a to lock or unlock the second adapter 112 of the first movable joint 110a.

[0045] It should be noted that the connecting shaft 12a and the rotating sleeve 13a can be connected by the roller bearings 14a arranged in pairs on the connecting shaft 12a. By way of example and not limitation, the roller bearing 14a can be a tapered roller bearing 14a, but is not limited thereto. In other examples, the roller bearing 14a can also be a cylindrical roller bearing 14a or other types of roller bearings 14a.

[0046] Optionally, the first stopping device 200a locking or unlocking the non-rotating brake disc 11a includes any one or a combination of more than one of the following first example and third example.

[0047] First example, the first stopping device 200a includes a chuck. The first stopping device 200a drives the chuck to clamp the non-rotating brake disc 11a to lock the non-rotating brake disc 11a, and the first stopping device 200a drives the chuck to loosen the non-rotating brake disc 11a to unlock the non-rotating brake disc 11a.

[0048] Second example, the first stopping device 200a includes a retractable clamping post, and the non-rotating brake disc 11a is provided with a clamping hole. The first stopping device 200a drives the clamping post to extend and insert into the clamping hole in the non-rotating brake disc 11a to lock the non-rotating brake disc 11a, and the first stopping device 200a drives the clamping post to retract and withdraw from the clamping hole in the non-rotating brake disc 11a to unlock the non-rotating brake disc 11a.

[0049] Third example, the first stopping device 200a includes a retractable pressing block. The first stopping device 200a drives the pressing block to press the non-rotating brake disc 11a to lock the non-rotating brake disc 11a, and the first stopping device 200a drives the pressing block to disengage from the non-rotating brake disc 11a to unlock the non-rotating brake disc 11a.

[0050] As Figures 1 - 5As shown, optionally, the connecting arm 120 at the end is formed into a guiding vertical arm 120b. The guiding vertical arm 120b extends along the vertical direction H. The lifting assembly 300 includes a lifting frame 310 and a pulling mechanism 320.

[0051] The lifting frame 310 is slidably arranged on the guiding vertical arm 120b along the vertical direction H. The manual control assembly 500 and the fixing device 400 are arranged on the lifting frame 310. The pulling mechanism 320 is arranged on one of the connecting arms 120 and is connected to the lifting frame 310. The pulling mechanism 320 is electrically connected to the control box 700 and is used to drive the lifting frame 310 to rise or fall.

[0052] In the above way, since the guiding vertical arm 120b extends along the vertical direction H, and the lifting frame 310 is slidably arranged on the guiding vertical arm 120b along the vertical direction H, it is beneficial to the stable rise or fall of the lifting frame 310 in the vertical direction H.

[0053] Optionally, as Figures 1 - 5 shown, the connecting arm 120 at the first position is formed into a supporting vertical arm 120a. The supporting vertical arm 120a extends along the vertical direction H, and the top of the supporting vertical arm 120a is connected to the connecting arm 120 at the next position through a movable joint 110. The top of the guiding vertical arm 120b is connected to the connecting arm 120 at the previous position through a movable joint 110.

[0054] Wherein, the pulling mechanism 320 includes a wire winding device 321 and a pulling rope 322. The wire winding device 321 is arranged on the connecting arm 120 at the previous position of the guiding vertical arm 120b. One end of the pulling rope 322 is connected to the wire winding device 321, and the other end extends downward to connect the lifting frame 310. The wire winding device 321 is electrically connected to the control box 700 and can wind or unwind the pulling rope 322, so that the pulling rope 322 drives the lifting frame 310 to rise or fall.

[0055] In the above way, there are at least the following two improvements.

[0056] First, the speed of the wire winding device 321 for winding or unwinding the pulling rope 322 can be proportional to the speed of the lifting frame 310 rising or falling. In this way, when the speed of the wire winding device 321 for winding or unwinding the pulling rope remains unchanged, it is convenient for the staff to estimate the rising or falling distance of the workpiece according to the length of time, so as to facilitate the staff to control the lifting assembly 300 through the manual control assembly 500 to finely adjust the position of the workpiece in the vertical direction H, thereby improving the assembly accuracy of the workpiece.

[0057] In a second aspect, since the winder 321 is provided on the connecting arm 120 which is in the position before the guiding vertical arm 120b, the weights of the lifting frame 310, the fixing device 400, the manual control assembly 500, the handheld frame 600 and the workpiece are mainly borne by the connecting arm 120 in the position before the guiding vertical arm 120b, thereby reducing the weight that the movable joint 110 between the guiding vertical arm 120b and the connecting arm 120 in the previous position needs to bear.

[0058] Optionally, in combination with Figures 1 - 5 Referring to Figure 8 As shown, the movable joint 110 between the guiding vertical arm 120b and the connecting arm 120 in the previous position is the second movable joint 110b, and the second movable joint 110b includes a turntable bearing 11b. The first adapter 111 of the second movable joint 110b is the inner ring of the turntable bearing 11b, and the second adapter 112 of the second movable joint 110b is the outer ring of the turntable bearing 11b.

[0059] Among them, the stopping device 200 corresponding to the second movable joint 110b is the second stopping device 200b, and the second stopping device 200b locking or unlocking the second adapter 112 of the turntable bearing 11b includes, but is not limited to, any one or more combinations of the following first example and the third example.

[0060] In the first example, the second stopping device 200b includes a retractable clamping post, and a clamping hole is provided on the outer side wall of the second adapter 112 of the turntable bearing 11b. The second stopping device 200b drives the clamping post to extend and insert into the clamping hole of the second adapter 112 of the turntable bearing 11b to lock the second adapter 112 of the turntable bearing 11b, and the second stopping device 200b drives the clamping post to retract and withdraw from the clamping hole of the second adapter 112 of the turntable bearing 11b to unlock the second adapter 112 of the turntable bearing 11b.

[0061] In the second example, the second stopping device 200b includes a retractable pressing block. The second stopping device 200b drives the pressing block to press against the second adapter 112 of the turntable bearing 11b to lock the second adapter 112 of the turntable bearing 11b, and the second stopping device 200b drives the pressing block to disengage from the second adapter 112 of the turntable bearing 11b to unlock the second adapter 112 of the turntable bearing 11b.

[0062] Optionally, in combination with Figures 1 - 5 Referring to Figures 8 - 10 As shown, a first avoidance hole 101 is provided at one end of the connecting arm 120 in the position before the guiding vertical arm 120b, which is connected to the first adapter 111 of the turntable bearing 11b. The guiding vertical arm 120b is provided with an avoidance channel 123 and a guiding groove 124. The avoidance channel 123 penetrates the guiding vertical arm 120b along the vertical direction H, and the guiding groove 124 is located on both sides of the avoidance channel 123.

[0063] Among them, the pulling mechanism 320 includes a fixed pulley 323, and the fixed pulley 323 is arranged on the connecting arm 120 in front of the guiding vertical arm 120b corresponding to the first avoidance hole 101. The lifting frame 310 slides relative to the guiding vertical arm 120b along the vertical direction H by slidingly cooperating with the guiding groove 124. The pulling rope 322 is guided by the fixed pulley 323 and then sequentially passes through the first avoidance hole 101 and the avoidance channel 123 to be connected with the lifting frame 310.

[0064] In the above way, the pulling rope 322 is arranged in the avoidance channel 123, which can avoid or reduce the accidental touch of the human body on the pulling rope 322.

[0065] Optionally, as Figures 1 - 5 shown, the manual control component 500 includes a speed change handle 510 and a switch handle 520, and both the speed change handle 510 and the switch handle 520 are electrically connected to the control box 700. The speed change handle 510 is used to control the speed of the winding device 321 for winding or releasing the pulling rope 322. The switch handle 520 is used to control the locking or unlocking of the corresponding movable joint 110 by the stopping device 200.

[0066] Optionally, the fixing device 400 may include one or more components of the following first example to fourth example.

[0067] First example, the fixing device 400 includes a jaw assembly, and the jaw assembly is used to clamp the workpiece to fix the workpiece. Second example, the fixing device 400 includes a suction and transfer assembly, and the suction and transfer assembly is used to suck the workpiece to fix the workpiece, and the suction includes at least one of electromagnetic adsorption and negative pressure adsorption. Third example, the fixing device 400 includes a clamping assembly, and the clamping assembly is used to cooperate with the workpiece by clamping to fix the workpiece, and the clamping includes inserting into holes, grooves or gaps in the workpiece. Fourth example, the fixing device 400 includes a threaded connection structure, and the threaded connection structure is used to threadedly connect with the workpiece to fix the workpiece. Optionally, the workpiece may be a component in a high-voltage power distribution cabinet. For example, the workpiece includes but is not limited to an instrument transformer.

[0068] Optionally, as Figures 1 - 5 shown, the rigid arm manipulator 10 includes a flipping mechanism 800, which is arranged on the lifting frame 310, and the fixing device 400 is arranged on the flipping mechanism 800. The flipping mechanism 800 is used to drive the fixing device 400 to flip along the vertical direction H. Among them, the flipping mechanism 800 is a pneumatically controlled mechanism, and the control box 700 is connected to the flipping mechanism 800 through a second air pipe 1000. The switch handle 520 can be used to control the flipping mechanism 800.

[0069] In the above way, the fixing device 400 can be flipped along the vertical direction H to adjust the spatial position of the fixing device 400 so that the workpiece is aligned with the installation position.

[0070] Optionally, in combination with Figures 8 - 10 Refer to Figures 1 - 4 As shown, the flipping mechanism 800 includes a driving cylinder 810, a lever 820, and a mounting plate 830.

[0071] One end of the driving cylinder 810 is rotatably connected to the lifting frame 310, and the switch handle 520 can be used to control the driving cylinder 810. The middle of the lever 820 is hinged to the lifting frame 310. It should be noted that the middle of the lever 820 refers to the part between the two ends of the lever 820, and does not necessarily refer to the exact center of the lever 820. The other end of the driving cylinder 810 is rotatably connected to one end of the lever 820. The mounting plate 830 is disposed at the other end of the lever 820, and the fixing device 400 is mounted on the mounting plate 830.

[0072] Wherein, the driving cylinder 810 can extend or contract to drive the lever 820 to rotate and flip the mounting plate 830. The control box 700 is connected to the driving cylinder 810 through the second air pipe 1000 sequentially passing through the first avoidance hole 101 and the avoidance channel 123. The part of the second air pipe 1000 located in the avoidance channel 123 is formed into a spiral air pipe 1100, and the spiral air pipe 1100 can contract when the lifting frame 310 rises and can extend when the lifting frame 310 descends.

[0073] In the above manner, the spiral air pipe 1100 can adaptively shorten or extend when the lifting frame 310 rises or falls, so that the spiral air pipe 1100 can be constrained in the avoidance channel 123 as much as possible, making it difficult for the spiral air pipe 1100 to be squeezed out of the avoidance channel 123 when the lifting frame 310 rises. Thus, there are at least the following two beneficial effects.

[0074] First, the driving cylinder 810 and the mounting plate 830 are respectively arranged at different ends of the lever 820. In this way, the limitation of the space occupied by the driving cylinder 810 on the flipping angle of the mounting plate 830 can be reduced, so that the mounting plate 830 can achieve a larger flipping angle. It should be noted that the mounting plate 830 can flip 30 degrees, 45 degrees, 90 degrees, or 150 degrees in the vertical direction H, but is not limited thereto. In actual use, the mounting plate 830 can be driven to flip as needed so that the part of the workpiece for cooperating with the mounting position is aligned with the mounting position.

[0075] Second, the spiral air pipe 1100 can be constrained in the avoidance channel 123 as much as possible, which can avoid or reduce predetermined situations. The predetermined situations include, but are not limited to, the part of the second air pipe 1000 located in the avoidance channel 123 being disengaged from the avoidance channel 123 during the rising and falling of the lifting frame 310, thereby affecting the safety of the staff.

[0076] Optionally, in combination with Figures 8 - 10Refer to Figures 1 - 4 As shown, the avoidance passage 123 includes a second avoidance hole 1231, a strip-shaped gap 1232, and a third avoidance hole 1233 that are sequentially connected. The pull rope 322 sequentially passes through the second avoidance hole 1231, the strip-shaped gap 1232, and the third avoidance hole 1233 and is connected to the lifting frame 310. The second air pipe 1000 sequentially passes through the second avoidance hole 1231, the strip-shaped gap 1232, and the third avoidance hole 1233 and is connected to the driving cylinder 810.

[0077] By way of example and not limitation, as Figures 1 - 5 shown, the number of connecting arms 120 of the robotic arm 100 may be four. The support vertical arms 120a and the guiding vertical arms 120b extend along the vertical direction H, and the two connecting arms 120 located between the support vertical arm 120a and the guiding vertical arm 120b extend along the horizontal direction, but are not limited thereto. Further, except for the support vertical arm 120a, the other three connecting arms 120 may all be cantilever arms. Optionally, the control box 700 is fixed below the connecting arm 120 at the next position of the support vertical arm 120a through the mounting bracket 900, and the bottom of the mounting bracket 900 is pivotally connected to the support vertical arm 120a in a horizontally rotatable manner.

[0078] The above are only the embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the specification and drawings of the present application, or directly or indirectly applied to other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A hard-arm manipulator, characterized in that, The hard-arm manipulator includes: A robotic arm having a plurality of movable joints, and the plurality of movable joints are arranged at intervals in the horizontal direction; A plurality of stop devices, which are arranged on the robotic arm corresponding to the plurality of movable joints, and each of the movable joints is correspondingly provided with a stop device; A lifting assembly arranged on the robotic arm; A fixing device arranged on the lifting assembly, and the fixing device is used for fixing a workpiece; And a manual control assembly arranged on the lifting assembly for controlling the plurality of stop devices and the lifting assembly; Wherein, the lifting assembly can drive the fixing device and the manual control assembly to rise or fall together; the movable joints can rotate relative to each other in the horizontal direction so that the robotic arm allows the fixing device to move in the horizontal direction; the stop device can lock or unlock the corresponding movable joint to prevent or allow the relative rotation of the movable joint.

2. The hard-arm manipulator according to claim 1, wherein The stop device is a pneumatically controlled device, and the hard-arm manipulator includes: A hand-held bracket arranged on the lifting assembly for a human hand to hold, so that the human body can manually drive the fixing device to move in the horizontal direction; A control box arranged on the robotic arm, which is connected to the plurality of stop devices through a first air pipe and electrically connected to the lifting assembly; Wherein, the manual control assembly is arranged on the hand-held bracket and is electrically connected to the control box for sensing the operation of the human hand to generate corresponding control instructions to control the plurality of stop devices and the lifting assembly; the lifting assembly can drive the fixing device, the hand-held bracket and the manual control assembly to rise or fall together.

3. The hard-arm manipulator according to claim 2, characterized in that, The robotic arm includes a plurality of connecting arms; the plurality of connecting arms are sequentially connected, and the subsequent connecting arm and the previous connecting arm are connected through the movable joint; Wherein, the movable joint forms a rotational connection in the horizontal direction between the subsequent connecting arm and the previous connecting arm, so that the robotic arm can support the lifting assembly in the vertical direction and allow the fixing device to move in the horizontal direction.

4. The hard-arm manipulator according to claim 3, wherein The movable joint includes a first adapter body and a second adapter body, and the two connecting arms adjacent to the movable joint are respectively connected to the first adapter body and the second adapter body; the first adapter body and the second adapter body form a rotational connection in the horizontal direction; Wherein, in each movable joint, the first adapter body is relatively fixed to one of the two connecting arms adjacent to the movable joint, and the second adapter body is relatively fixed to the other of the two connecting arms adjacent to the movable joint; the stop device is relatively fixed to the first adapter body, and the stop device can lock or unlock the second adapter body to lock or unlock the movable joint.

5. The hard-arm manipulator according to claim 4, characterized in that, Except for the movable joint between the last connecting arm and the previous connecting arm, the rest of the movable joints are all first movable joints. The second adapter body of the first movable joint includes a non-rotating brake disc and a connecting shaft, and the first adapter body of the first movable joint includes a rotating sleeve; Wherein, the anti-rotation brake disc is fixed to the connecting shaft, and the connecting shaft and the rotating sleeve are connected by a roller bearing to be relatively rotatable along the horizontal direction; the anti-stop device corresponding to the first movable joint is a first anti-stop device, and the first anti-stop device can lock or unlock the anti-rotation brake disc to lock or unlock the second adapter body of the first movable joint.

6. The hard-arm manipulator according to claim 5, wherein, The last connecting arm is formed into a guiding vertical arm; the guiding vertical arm extends along the vertical direction, and the lifting assembly includes: a lifting frame slidably arranged along the vertical direction on the guiding vertical arm, and the manual control assembly and the fixing device are arranged on the lifting frame; and a pulling mechanism arranged on one of the connecting arms and connected to the lifting frame; the pulling mechanism is electrically connected to the control box and is used to drive the lifting frame to rise or fall.

7. The hard-arm manipulator according to claim 6, wherein the first connecting arm is formed into a supporting vertical arm, the supporting vertical arm extends along the vertical direction, and the top of the supporting vertical arm is connected to the next connecting arm through the movable joint; the top of the guiding vertical arm is connected to the previous connecting arm through the movable joint; wherein, the pulling mechanism includes a wire winder and a pulling rope; the wire winder is arranged on the connecting arm previous to the guiding vertical arm; one end of the pulling rope is connected to the wire winder, and the other end extends downward to connect the lifting frame; the wire winder is electrically connected to the control box and can wind or unwind the pulling rope so that the pulling rope drives the lifting frame to rise or fall.

8. The hard-arm manipulator according to claim 7, wherein the movable joint between the guiding vertical arm and the previous connecting arm is a second movable joint, and the second movable joint includes a turntable bearing; the first adapter body of the second movable joint is the inner ring of the turntable bearing, and the second adapter body of the second movable joint is the outer ring of the turntable bearing; one end of the connecting arm previous to the guiding vertical arm, which is connected to the first adapter body of the turntable bearing, is provided with a first avoidance hole, and the guiding vertical arm is provided with an avoidance channel and a guiding groove; the avoidance channel penetrates through the guiding vertical arm along the vertical direction, and the guiding groove is located on both sides of the avoidance channel; wherein, the pulling mechanism includes a fixed pulley, and the fixed pulley is arranged on the connecting arm previous to the guiding vertical arm corresponding to the first avoidance hole; the lifting frame slides relative to the guiding vertical arm along the vertical direction by slidingly cooperating with the guiding groove; the pulling rope passes through the fixed pulley for guiding and then sequentially passes through the first avoidance hole and the avoidance channel to be connected to the lifting frame.

9. The hard-arm manipulator according to claim 8, wherein The hard-arm manipulator includes a flipping mechanism arranged on the lifting frame, and the fixing device is arranged on the flipping mechanism, and the flipping mechanism is used to drive the fixing device to flip along the vertical direction; wherein, the flipping mechanism is a pneumatically controlled mechanism, and the control box is connected to the flipping mechanism through a second air pipe.

10. The hard-arm manipulator according to claim 9, wherein, The flipping mechanism includes: a driving cylinder, one end of the driving cylinder is rotatably connected to the lifting frame; A lever, the middle part of the lever is hinged to the lifting frame, and the other end of the driving cylinder is rotatably connected to one end of the lever; And a mounting plate, which is arranged at the other end of the lever, and the fixing device is mounted on the mounting plate; Wherein, the driving cylinder can extend or contract to drive the lever to rotate so that the mounting plate flips; the control box is connected to the driving cylinder through the second air pipe in sequence through the first avoidance hole and the avoidance channel; the part of the second air pipe located in the avoidance channel is formed into a spiral air pipe, and the spiral air pipe can contract when the lifting frame rises and can extend when the lifting frame descends.

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