Power-assisted manipulator

Abstract

A power-assisted manipulator comprises a main arm, a cantilever perpendicularly connected with the main arm and a suspension arm arranged at the tail end of the cantilever, a clamping jaw used for clamping materials is arranged at the tail end of the suspension arm, and the power-assisted manipulator is characterized in that a connecting rod mechanism is hinged to the end of the suspension arm, a connecting portion used for being connected with the clamping jaw is arranged at the tail end of the connecting rod mechanism, and the connecting portion is connected with the suspension arm. An auxiliary device capable of applying clamping force to the clamping jaw is arranged at the corresponding position of the connecting rod mechanism. According to the power-assisted manipulator, the auxiliary device is arranged on the connecting rod mechanism, the auxiliary device applies acting force to the connecting rod mechanism, the acting force is transmitted to the clamping jaw arranged at the tail end of the connecting rod mechanism through the connecting rod mechanism and converted into clamping force acting on the clamping jaw, the clamping strength of the clamping jaw is improved, and therefore clamping and carrying of large-mass materials are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of hoisting equipment, in particular to a power-assisted manipulator. Background Art

[0002] The power-assisted manipulator is a novel, labor-saving power-assisted device used for material handling and installation. It cleverly applies the principle of force balance, allowing the operator to push and pull the heavy object accordingly, so that it can be moved and positioned parallel to the space. In the prior art, there is a Chinese utility model patent with patent number CN202320052076.3 (authorization announcement number CN219563096U) that discloses "A Logistics Handling Power-Assisted Manipulator Device". This power-assisted manipulator device uses the cooperation of a mechanical arm and a clamping claw to allow the operator to push and pull the heavy object by hand, so that the heavy object can be correctly placed in any position in the space, which is very labor-saving.

[0003] However, the above-mentioned power-assisted manipulator device is based on the structure of the gripper, which is similar to the limitations of human "hands". Therefore, it is only suitable for the case where the mass of the clamped material is small, and it is not suitable for automobile parts such as Figure 1 The shell shown has two cavities 1' arranged side by side, with a spacer 2' between the two cavities. The width of the spacer 2' is S, and S is relatively large. At the same time, the shell is large in size and heavy in mass. If the above-mentioned power-assisted manipulator device is used for transportation, the following problems will arise: 1. Due to the large mass of the shell, the clamping claw cannot provide sufficient clamping strength to clamp the shell, which easily causes the shell to fall off during transportation; 2. Due to the special structure of the shell, that is, it has two cavities 1' and a spacer 2' with a large width S between the two cavities, it is impossible to extend only one clamping claw into the two cavities 1' to clamp the shell at the same time. Even if it can extend into the two cavities 1', the clamping claw and the cavity 1' are in point contact, and the clamping is not firm. Therefore, the above-mentioned power-assisted manipulator device needs further improvement. Utility Model Content

[0004] The first technical problem to be solved by the present invention is to provide a power-assisted manipulator for preventing materials from falling during the handling process, in response to the above-mentioned existing technical status, and is particularly suitable for materials with larger mass.

[0005] The second technical problem to be solved by the present invention is to provide a power-assisted manipulator capable of improving the clamping force in response to the above-mentioned existing technical status, especially suitable for materials with at least two cavities arranged side by side.

[0006] The technical solution adopted by the present invention to solve the first technical problem mentioned above is: the power-assisted manipulator includes a main arm, a cantilever connected to the main arm vertically, and a hanging arm arranged at the end of the cantilever, and the end of the hanging arm is provided with a clamping claw for clamping materials. It is characterized in that: the end of the hanging arm is hinged with a connecting rod mechanism, the end of the connecting rod mechanism is provided with a connecting part for connecting the clamping claw, and an auxiliary device that can apply clamping force to the clamping claw is provided at the corresponding position of the connecting rod mechanism.

[0007] Furthermore, the linkage mechanism includes a first link hinged to the boom and a second link hinged to the first link, and the auxiliary device is connected to the first link and / or the second link. The first link and the second link form a scissor-like structure, and the auxiliary structure applies force to the scissor-like linkage mechanism to bring the clamping jaws at the ends closer together, thereby increasing the clamping force and gripping strength of the clamping jaws.

[0008] In order to enable the auxiliary device to apply a clamping force to the clamping jaws, the auxiliary device preferably includes a drive source and a transmission member connected to the drive source. The transmission member can extend or retract relative to the drive source by the driving force of the drive source and apply force to the first connecting rod and / or the second connecting rod. The drive source can be a cylinder or a motor.

[0009] To facilitate operation, the second connecting rod is preferably provided with a handle for the operator to grasp. The handle is provided with a first control member for controlling the opening or closing of the auxiliary device. The first control member is connected to the drive source via a first pipeline. When the first control member opens the auxiliary device, the auxiliary device applies a clamping force to the clamping jaws to assist in gripping the material. When the first control member closes the auxiliary device, the clamping force applied by the auxiliary device disappears, facilitating the release of the material.

[0010] In order to prevent the material from falling due to a failure of the driving source, preferably, the first control member is connected to a gas cut-off protection device, which is arranged at the end of the boom, so as to avoid the operator being injured by falling materials.

[0011] To facilitate movement of the gripper within a space after gripping a material, the main arm and cantilever are preferably connected by a first rotation mechanism, enabling relative rotation about a first axis along the length of the main arm. The cantilever and boom are preferably connected by a second rotation mechanism, enabling relative rotation about a second axis parallel to the first axis. The first rotation mechanism enables the gripper to rotate about the first axis with the cantilever length as a radius after gripping the material, thereby enabling movement within this range. The second rotation mechanism enables the gripper to grip the material at any angle within a plane perpendicular to the first axis.

[0012] Furthermore, the cantilever includes a first arm portion and a second arm portion, which are connected by a third rotating mechanism and can rotate relative to each other about a third axis parallel to the first axis. This structure allows the clamped object to be moved to any position within the radius of the cantilever.

[0013] To control the rotation and locking of the first, second, and third rotating mechanisms, the handle is preferably further provided with a second control member connected to the first, second, and third rotating mechanisms via a second pipeline, and capable of controlling the rotation or locking of the first, second, and third rotating mechanisms. In this manner, the first, second, and third rotating mechanisms are locked when the gripper is gripping a material, preventing rotation from interfering with the gripping of the material. Once gripping is complete, the locks are released, facilitating material handling.

[0014] To address the second technical problem, the clamping jaw preferably includes a vertically disposed clamping portion and a horizontally disposed limiting portion. The limiting portion is disposed at one end of the clamping portion and is used to limit the position of the clamped material. The clamping portion and limiting portion have an inverted L-shaped cross-section, wherein the length of the clamping portion is L1, the length of the limiting portion is L2, and L1>L2. The large length ratio of the clamping portion to the limiting portion in this clamping jaw is primarily intended to achieve surface contact between the clamping portion and the clamped material, thereby increasing the contact area between the clamping portion and the material and improving clamping reliability.

[0015] Furthermore, the clamping portion is provided with a protective pad to prevent the jaws from abrading the material surface. The provision of the protective pad not only prevents the jaws from abrading the material surface, but also increases the roughness of the contact surface between the jaws and the material, thereby increasing the friction between the clamping portion and the material and improving the clamping strength of the jaws.

[0016] Compared with the existing technology, the advantages of the present invention are: the power-assisted manipulator is provided with an auxiliary device on the connecting rod mechanism, and the auxiliary device applies a force to the connecting rod mechanism, which is transmitted by the connecting rod mechanism to the clamping claw provided at the end of the connecting rod mechanism and converted into a clamping force acting on the clamping claw, thereby improving the clamping strength of the clamping claw, thereby achieving the clamping and transportation of materials with larger mass. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of materials such as auto parts in the background technology of the present utility model;

[0018] Figure 2 This is a schematic structural diagram of the power-assisted manipulator in an embodiment of the present utility model;

[0019] Figure 3 This is a schematic structural diagram of the connecting rod mechanism and the clamping claw in the embodiment of the present utility model;

[0020] Figure 4 This is a cross-sectional view of the connecting rod mechanism and the clamping claw in the embodiment of the present utility model;

[0021] Figure 5 This is a cross-sectional view of the power-assisted manipulator gripping a material in an embodiment of the present utility model;

[0022] Figure 6 A schematic diagram of the connecting rod mechanism and the clamping claw from another perspective in an embodiment of the present invention;

[0023] Figure 7 This is a schematic diagram of an assistive manipulator gripping materials in an embodiment of the present utility model. DETAILED DESCRIPTION

[0024] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

[0025] like Figure 2-7 As shown, the power-assisted manipulator of this embodiment includes a main arm 1, a cantilever 2 connected perpendicularly to the main arm 1, and a boom 3 disposed at the end of the cantilever 2. The end of the boom 3 is provided with a gripper 4 for gripping materials. A connecting rod 5 is hingedly connected to the end of the boom 3. The end of the connecting rod 5 is provided with a connecting portion 51 for connecting to the gripper 4. An auxiliary device 6 for applying a clamping force to the gripper 4 is provided at a corresponding position of the connecting rod 5.

[0026] like Figure 3 As shown, in this embodiment, the connecting rod mechanism 5 includes a first connecting rod 52 hinged to the boom 3 and a second connecting rod 53 hinged to the first connecting rod 52. One end of the auxiliary device 6 is connected to the first connecting rod 52 and the other end is connected to the second connecting rod 53. The auxiliary device 6 includes a driving source 61 and a transmission member 62 connected to the driving source 61. The transmission member 62 can extend or retract relative to the driving source 61 with the help of the driving force of the driving source 61, and apply force to the first connecting rod 52 and the second connecting rod 53. In this embodiment, the driving source 61 is a cylinder, and the first connecting rod 52 and the second connecting rod 53 form a scissor-type structure. The auxiliary structure applies force to the scissor-type connecting rod mechanism 5, causing the clamping jaws 4 at the ends thereof to move closer together, thereby increasing the clamping force of the clamping jaws 4 and increasing the clamping strength of the clamping jaws 4.

[0027] In order to further increase the clamping strength of the clamping jaws 4, see Figure 4The clamping jaw 4 includes a vertically arranged clamping portion 41 and a horizontally arranged limiting portion 42. The limiting portion 42 is arranged at one end of the clamping portion 41 and is used to limit the clamped position of the material. The cross-section of the clamping portion 41 and the limiting portion 42 is in an inverted "L" shape, wherein the length of the clamping portion 41 is L1, the length of the limiting portion 42 is L2, and L1>L2. The length ratio of the clamping portion to the limiting portion in the clamping jaw is large, and its main consideration is to form a surface contact between the clamping portion and the clamped material, see Figure 5 , increasing the contact area between the clamping portion 41 and the material, and improving the reliability of clamping. In addition, the clamping portion 41 is provided with a protective pad 43 for preventing the clamping jaws 4 from abrading the material surface. The protective pad 43 not only protects the material but also increases the roughness of the contact surface between the clamping jaws 4 and the material, thereby increasing the friction between the clamping portion 41 and the material, further improving the clamping strength of the clamping jaws 4.

[0028] In order to facilitate the movement of materials in space after being clamped, see Figure 2 The main arm 1 and boom 2 are connected by a first rotating mechanism 71 and can rotate relative to each other about a first axis R1 along the length of the main arm 1. The boom 2 and jib 3 are connected by a second rotating mechanism 72 and can rotate relative to each other about a second axis R2 parallel to the first axis R1. The boom 2 includes a first arm portion 21 and a second arm portion 22, which are connected by a third rotating mechanism 73 and can rotate relative to each other about a third axis R3 parallel to the first axis R1. This structure allows the material, after being clamped, to rotate about the first axis R1 with the length of the boom 2 as a radius and move to any position within this radius. Furthermore, due to the provision of the second rotating mechanism 72, the clamping jaw 4 can clamp the material at any angle within a plane perpendicular to the first axis R1.

[0029] In addition, in order to facilitate the operation of the operator, a handle 54 for the operator to hold is provided on the second connecting rod 53. Figure 6 As shown, the handle 54 is equipped with a first control member 55 for controlling the opening or closing of the auxiliary device 6, and a second control member 57 for controlling the rotation or locking of the first, second, and third rotating mechanisms 71, 72, and 73. The first control member 55 is connected to the drive source 61 via a first pipeline, while the second control member 57 is connected to the first, second, and third rotating mechanisms 71, 72, and 73 via a second pipeline. To prevent material from falling due to a malfunction of the drive source 61, the first control member 55 is connected to a gas cutoff protection device 56, which is installed at the end of the boom 3. This gas cutoff protection device 56 can prevent the operator from being injured by falling materials.

[0030] In summary, the power-assisted manipulator of this embodiment is used as follows:

[0031] 1. Open the second control member 57 and move the clamping jaw 4 so that it is above the material to be clamped. Figure 2 As shown;

[0032] 2. Close the second control 57 and move the clamp 4 downward. When the clamp 4 extends into the two cavities of the material to be clamped, open the first control 55. The auxiliary device 6 applies a clamping force to the clamp 4 to clamp the material to be clamped. Figure 7 As shown,

[0033] 3. After clamping the material, open the second control member 57 to move the material to the target position;

[0034] 4. Close the first control member 55 and the material is released from the clamping jaws 4.

Claims

1. A power-assisted manipulator, comprising a main arm (1), a cantilever (2) vertically connected to the main arm (1), and a suspension arm (3) arranged at the end of the cantilever (2), wherein the end of the suspension arm (3) is provided with a clamping claw (4) for clamping a material, characterized in that: The end of the boom (3) is hinged with a connecting rod mechanism (5), the end of the connecting rod mechanism (5) is provided with a connecting portion (51) for connecting to the clamping claw (4), and an auxiliary device (6) capable of applying a clamping force to the clamping claw (4) is provided at a corresponding position of the connecting rod mechanism (5); The link mechanism (5) comprises a first link (52) hinged to the boom (3) and a second link (53) hinged to the first link (52), and the auxiliary device (6) is connected to the first link (52) and / or the second link (53); The auxiliary device (6) includes a driving source (61) and a transmission member (62) connected to the driving source (61). The transmission member (62) can extend or retract relative to the driving source (61) by means of the driving force of the driving source (61) and apply force to the first connecting rod (52) and / or the second connecting rod (53).

2. The power-assisted manipulator according to claim 1, characterized in that: The second connecting rod (53) is provided with a handle (54) for the operator to hold, and the handle (54) is provided with a first control member (55) for controlling the opening or closing of the auxiliary device (6), and the first control member (55) is connected to the driving source (61) via a first pipeline.

3. The power-assisted manipulator according to claim 2, characterized in that: The first control member (55) is connected to a gas cut-off protection device (56), and the gas cut-off protection device (56) is provided at the end of the boom (3).

4. The power-assisted manipulator according to claim 3, characterized in that: The main arm (1) and the cantilever (2) are connected by means of a first rotating mechanism (71) and can rotate relative to each other around a first axis (R1) in the longitudinal direction of the main arm (1); the cantilever (2) and the boom (3) are connected by means of a second rotating mechanism (72) and can rotate relative to each other around a second axis (R2) parallel to the first axis (R1).

5. The power-assisted manipulator according to claim 4, characterized in that: The cantilever (2) comprises a first arm portion (21) and a second arm portion (22); the first arm portion (21) and the second arm portion (22) are connected by means of a third rotating mechanism (73) and can rotate relative to each other around a third axis (R3) parallel to the first axis (R1).

6. The power-assisted manipulator according to claim 5, characterized in that: The handle (54) is also provided with a second control member (57), which is connected to the first rotating mechanism (71), the second rotating mechanism (72) and the third rotating mechanism (73) via a second pipeline and can control the rotation or locking of the first rotating mechanism (71), the second rotating mechanism (72) and the third rotating mechanism (73).

7. The power-assisted manipulator according to any one of claims 1 to 6, characterized in that: The clamping jaw (4) comprises a clamping portion (41) arranged vertically and a limiting portion (42) arranged horizontally. The limiting portion (42) is arranged at one end of the clamping portion (41) and is used to limit the clamped position of the material. The cross-sections of the clamping portion (41) and the limiting portion (42) are in an inverted "L" shape, wherein the length of the clamping portion (41) is L1, the length of the limiting portion (42) is L2, and L1>L2.

8. The power-assisted manipulator according to claim 7, characterized in that: The clamping portion (41) is provided with a protective pad (43) for preventing the clamping jaws (4) from abrading the surface of the material.

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