Power-assisted manipulator

Abstract

The utility model belongs to the technical field of light hoisting machinery, and particularly discloses a power-assisted manipulator which comprises a supporting stand column and a rotary stand column, the rotary stand column is rotationally connected to the upper portion of the supporting stand column, a U-shaped rack is fixed to the upper portion of the rotary stand column, a power air cylinder is arranged on the side edge of the rotary stand column, and a large arm and a movable rod are arranged on the inner side of the U-shaped rack. A connecting rod is arranged on the large arm, the movable rod is hinged to the U-shaped rack, and a connecting base is connected to the end, away from the U-shaped rack, of the large arm and the movable rod. A small arm is arranged on the side edge of the connecting base, a brake disc and a brake air cylinder are arranged at one end of the small arm, a first supporting rod is arranged at the other end of the small arm, an adjusting mechanism is arranged at the tail end of the first supporting rod, a second supporting rod is arranged below the adjusting mechanism, and a suction cup clamp is installed below the second supporting rod. The small arm and the large arm are connected together through the brake disc and the connecting base, so that small-radius adjustment can be achieved, and the rotary braking action can be achieved through the brake air cylinder and the brake disc.

Description

TECHNICAL FIELD

[0001] The utility model relates to light hoisting machinery technical field, concretely is power -assisted manipulator. BACKGROUND

[0002] Arm beam hoisting machinery refers to the electromechanical device for vertically lifting or vertically lifting and horizontally moving heavy objects, and is a multi-action hoisting machinery for vertically lifting and horizontally carrying heavy objects within a certain range. It is also called a crown block, a crane, and a hoist.

[0003] The gantry crane is a deformation of the bridge crane. In the port, it is mainly used for the loading and unloading of bulk cargo in the outdoor cargo yard. Its metal structure looks like a door-shaped frame, two support legs are installed below the load-bearing main beam, and it can directly walk on the track on the ground. The main beam can have an outwardly extending suspension

[0004] The gantry crane XY track adopts 4-column support, occupies the workshop space, and is easy to collide and interfere with the AGV in the case of short travel. The moving mode is to position the mechanical hand clamp in the X direction after positioning the mechanical hand clamp in the X direction, and then to move the mechanical hand clamp in the Y direction. The moving efficiency is low. TECHNICAL SOLUTION

[0005] The utility model discloses a power -assisted manipulator to solve the problems raised in the above background technology.

[0006] To achieve the above object, the utility model provides the following technical scheme: power -assisted manipulator, including support column and swivel column, the swivel column is rotatably connected on the support column top, can rotate 360 DEG, the swivel column top is fixed with the N type frame, the swivel column side is provided with power cylinder, the N type frame inboard is provided with big arm and movable rod, is provided with connecting rod on the big arm, the output of power cylinder is hinged with connecting rod, the movable rod is hinged with the N type frame, the big arm is connected with the movable rod one end away from the N type frame and has connecting seat. Through the telescopic of power cylinder, the action of pulling the big arm to lift and drop is realized.

[0007] As the utility model is preferred, the connecting seat side is provided with a small arm, one end of the small arm is provided with a brake disc and a brake cylinder, the brake disc is rotatably connected with the connecting seat, the output end of the brake cylinder is connected with a brake pad, the other end of the small arm is provided with a first support rod, the first support rod is provided with an adjusting mechanism at the tail end, the adjusting mechanism is provided with a second support rod below, the second support rod is provided with a suction cup clamp below, and a handrail is arranged on the suction cup clamp. By connecting the small arm and the big arm through the brake disc and the connecting seat, the small radius adjustment can be realized, and the rotary brake action can be realized through the brake cylinder and the brake disc.

[0008] As the utility model is preferred, one side of the handrail is inclined upward by 15 degrees, and a control handle of a control power cylinder and a brake cylinder is arranged on the handrail, so as to conveniently control the lifting and rotation thereof.

[0009] As the utility model is preferred, the adjusting mechanism comprises a hinged seat, a first connecting block is hinged above the hinged seat, a second connecting block is hinged below the hinged seat, the two sides of the first connecting block and the second connecting block are locked and fixed with the hinged seat through screws, the first connecting block can realize left-right angle adjustment, the second connecting block can realize front-rear angle adjustment, and the first connecting block and the second connecting block are locked through screws after adjustment.

[0010] As the utility model is preferred, the first connecting block is connected with the first supporting rod, and the second connecting block is connected with the second supporting rod, so as to realize the connection with the adjusting mechanism.

[0011] As the utility model is preferred, the first supporting rod is rotationally connected with the small arm, so as to realize the rotation of the suction cup clamp itself and facilitate use.

[0012] As the utility model is preferred, a supporting bottom plate is fixed below the supporting column, mounting holes are formed in the supporting bottom plate, and the supporting bottom plate is arranged to be fixed to the device through chemical bolts or expansion bolts.

[0013] Compared with the prior art, the utility model has the beneficial effects that:

[0014] The utility model discloses a suction cup clamp device, which is characterized by the following technical scheme: a supporting column is arranged on a base, a rotary column is arranged on the supporting column, a power cylinder is arranged on the rotary column, a large arm is rotationally connected with the rotary column, a small arm is rotationally connected with the large arm, a first supporting rod is arranged between the large arm and the small arm, a second supporting rod is arranged between the rotary column and the small arm, a suction cup clamp is arranged on the small arm, a handrail is arranged on the large arm, and a control handle is arranged on the handrail. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1 It is a three-dimensional structure schematic view of the utility model;

[0016] Fig. 2 It is a side structure schematic view of the utility model;

[0017] Fig. 3 It is an adjusting mechanism structure schematic view of the utility model.

[0018] In the drawing: 1, supporting column; 101, supporting bottom plate; 2, rotary column; 201, U-shaped frame; 3, power cylinder; 4, large arm; 401, connecting rod; 402, movable rod; 403, connecting seat; 5, small arm; 501, brake disc; 502, brake cylinder; 6, first supporting rod; 7, adjusting mechanism; 701, hinged seat; 702, first connecting block; 703, second connecting; 8, second supporting rod; 9, suction cup clamp; 10, handrail; 11, control handle. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the utility model will be apparently and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all the other embodiments obtained by the ordinary skilled in the art without creative labor belong to the protection scope of the utility model.

[0020] In the description of the utility model, it needs to be explained that the orientation or position relation indicated by the terms "vertical", "upper", "lower", "horizontal" and the like is the orientation or position relation based on the orientation or position relation shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore, it cannot be understood as the limitation to the utility model.

[0021] In the description of the utility model, it also needs to be explained that, unless otherwise explicitly specified and limited, the terms "arrange", "mount", "connect", "connect" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected, it can be mechanically connected, or electrically connected, it can be directly connected, or indirectly connected through an intermediate medium, it can be the communication inside two elements. For the ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0022] Please refer to Figs. 1-3 The utility model provides a technical scheme: power-assisted manipulator, including support column 1 and rotary column 2, rotary column 2 is rotatably connected on support column 1 top, can rotate 360 DEG, the top of rotary column 2 is fixed with the N type frame 201, the side of rotary column 2 is provided with power cylinder 3, the inside of N type frame 201 is provided with big arm 4 and movable rod 402, is provided with connecting rod 401 on big arm 4, the output end of power cylinder 3 is hinged with connecting rod 401, movable rod 402 is hinged with N type frame 201, and big arm 4 is connected with the connecting seat 403 of movable rod 402 far from the one end of N type frame 201. Through the extension of power cylinder 3, the action of pulling big arm 4 to lift and drop is realized.

[0023] Furthermore, a forearm 5 is provided on the side of the connecting seat 403. One end of the forearm 5 is provided with a brake disc 501 and a brake cylinder 502. The brake disc 501 is rotatably connected to the connecting seat 403. The output end of the brake cylinder 502 is connected to a brake pad. The other end of the forearm 5 is provided with a first support rod 6. An adjustment mechanism 7 is provided at the end of the first support rod 6. A second support rod 8 is provided below the adjustment mechanism 7. A suction cup clamp 9 is installed below the second support rod 8. A handle 10 is provided on the suction cup clamp 9. By connecting the forearm 5 and the upper arm 4 together through the brake disc 501 and the connecting seat 403, a small radius adjustment can be achieved, and a rotational braking action can be achieved through the brake cylinder 502 and the brake disc 501.

[0024] Furthermore, one side of the handrail 10 is inclined upward at 15°, and the handrail 10 is provided with a control handle 11 for controlling the power cylinder 3 and the brake cylinder 502, so as to facilitate the control of its lifting and rotation.

[0025] Furthermore, the adjustment mechanism 7 includes a hinge seat 701, with a first connecting block 702 hinged above the hinge seat 701 and a second connecting block 703 hinged below the hinge seat 701. The first connecting block 702 and the second connecting block 703 are respectively locked and fixed to the hinge seat 701 by screws. The first connecting block 702 can realize left and right angle adjustment, and the second connecting block 703 can realize front and back angle adjustment. After adjustment, they are locked by screws.

[0026] Furthermore, the first connecting block 702 is connected to the first support rod 6, and the second connecting block 703 is connected to the second support rod 8, thereby achieving connection with the adjustment mechanism 7.

[0027] Furthermore, the first support rod 6 is rotatably connected to the forearm 5, thereby enabling the suction cup clamp 9 to rotate itself for easy use.

[0028] Furthermore, a support base plate 101 is fixed below the support column 1. The support base plate 101 has mounting holes and a support floor is provided for fixing the device with chemical bolts or expansion bolts.

[0029] In summary, the support base plate 101 of the assisted manipulator is fixed to the concrete surface with chemical bolts. The design of the mounting holes in the support base plate 101 effectively counteracts the overturning moment of the workpiece. The power source of the manipulator is the power cylinder 3, which is mounted on the rotating column 2. The manipulator's Z-direction upward and downward movement is transmitted to the upper arm 4 through the forearm 5 (at this time, the rotary brake cylinder 502 at the joint of the forearm 5 and the upper arm 4 is locked, and there is no relative rotational movement between the forearm 5 and the upper arm 4), and the upper arm 4 transmits the force to the power source cylinder, achieving the effect of power balance. Releasing the rotary brake at the joint of the forearm 5 and the upper arm 4 allows the forearm 5 and the upper arm 4 to rotate relative to each other, thus satisfying the movement and rotation requirements of the workpiece within a small radius and a large radius range. The locking and releasing control button handle 11 of the brake cylinder 502 is mounted on the handrail 10, which facilitates timely switching by the operator during the movement and rotation of the manipulator.

[0030] It is worth noting that the entire device is controlled by a master control button. Since the device matched with the control button is a common device and belongs to existing mature technology, its electrical connection relationship and specific circuit structure will not be described in detail here.

[0031] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A power-assisted robotic arm, characterized in that: It includes a support column (1) and a rotating column (2). The rotating column (2) is rotatably connected above the support column (1). A U-shaped frame (201) is fixed above the rotating column (2). A power cylinder (3) is provided on the side of the rotating column (2). A large arm (4) and a movable rod (402) are provided on the inner side of the U-shaped frame (201). A connecting rod (401) is provided on the large arm (4). The output end of the power cylinder (3) is hinged to the connecting rod (401). The movable rod (402) is hinged to the U-shaped frame (201). A connecting seat (403) is connected to the end of the large arm (4) and the movable rod (402) away from the U-shaped frame (201). A forearm (5) is provided on the side of the connecting seat (403). A brake disc (501) and a brake cylinder (502) are provided at one end of the forearm (5). The brake disc (501) is rotatably connected to the connecting seat (403). A brake pad is connected to the output end of the brake cylinder (502). A first support rod (6) is provided at the other end of the forearm (5). An adjustment mechanism (7) is provided at the end of the first support rod (6). A second support rod (8) is provided below the adjustment mechanism (7). A suction cup clamp (9) is installed below the second support rod (8). A handrail (10) is provided on the suction cup clamp (9).

2. The power-assisted robotic arm according to claim 1, characterized in that: The handrail (10) is tilted upward at 15° on one side, and a control handle (11) for controlling the power cylinder (3) and the brake cylinder (502) is provided on the handrail (10).

3. The power-assisted robotic arm according to claim 1, characterized in that: The adjustment mechanism (7) includes a hinge seat (701), a first connecting block (702) is hinged above the hinge seat (701), and a second connecting block (703) is hinged below the hinge seat (701). The first connecting block (702) and the second connecting block (703) are respectively locked and fixed to the hinge seat (701) by screws.

4. The power-assisted robotic arm according to claim 3, characterized in that: The first connecting block (702) is connected to the first support rod (6), and the second connecting block (703) is connected to the second support rod (8).

5. The power-assisted robotic arm according to claim 1, characterized in that: The first support rod (6) is rotatably connected to the forearm (5).

6. The power-assisted robotic arm according to claim 1, characterized in that: The support column (1) is fixed with a support base plate (101) below it, and the support base plate (101) has mounting holes.

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