Hard arm type mechanical power-assisted hand

Abstract

The utility model discloses a hard arm type mechanical power-assisted hand which comprises a fixed base, a first rotating joint is installed on the surface of the upper end of the fixed base, a driving air cylinder is installed on one side of the first rotating joint, the output end of the driving air cylinder is connected with a main double-connecting-rod through a piston rod, and a second rotating joint is installed at the front end of the main double-connecting-rod. The upper end of the second rotating joint is connected with a third rotating joint through an auxiliary connecting rod, a linear guide rail is installed at the upper end of the third rotating joint, and the surface of the linear guide rail is connected with a clamp body through a sliding block. A standard air cylinder is used, vertical movement is controlled through a precise pressure regulating valve, so that the weight of a load is balanced, pneumatic brakes are arranged on three rotary joints and a lifting arm of the device, lifting limit positions of upper and lower limiting regulating rods can be set according to site requirements of customers, and a clamping mechanism is driven by a pneumatic motor. Shaft workpieces of 3-6 inches can be clamped, and the maximum clamping weight reaches 200 jin.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of mechanical hand, concretely to a hard arm type mechanical power hand. BACKGROUND

[0002] The hard arm type power assisting mechanical hand is a kind of mechanical arm system, it uses rigid bar and joint connection to realize movement, the mechanical hand is usually composed of multiple joints, each joint has its own motor and drive system, for controlling its movement. Hard arm type power assisting mechanical hand is usually applied in the case where torque is generated, such as in the workpiece gravity center far from arm suspension point, or the workpiece needs to be turned over or inclined.

[0003] The Chinese patent document with the authorization announcement number CN208496979U relates to a hard arm type power assisting mechanical hand in the field of mechanical hand, which comprises a mounting device, a control device, a rotating device, a balancing device, a limiting device and a clamp. The rotating device is arranged on the mounting device, the balancing device is fixedly connected with the rotating device, the limiting device is arranged on the rotating device, and the clamp is connected with the rotating device. The utility model controls the different actions of the clamp through the operation handle to realize the clamping, loosening, turning over and other actions of the workpiece. The lever balance generated by the balancing cylinder in the balancing device and the cantilever load achieves the effort of labor-saving suspension, thereby realizing the labor-saving carrying of the workpiece. The four-bar linkage mechanism is adopted to ensure that the cantilever is always in a horizontal state during the up-down movement.

[0004] The mechanical power hand in the prior art is usually suspended and hung high, and the clamping mechanism is placed in a lower position. It is not easy to use in a narrow space, causing the problem of inconvenient use. Therefore, a new hard arm type mechanical power hand needs to be developed to solve the above technical problems. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a hard arm type mechanical power hand to solve the problem of inconvenient use of the mechanical power hand in the prior art, which is usually suspended and hung high, and the clamping mechanism is placed in a lower position.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a hard arm type mechanical power hand, comprising a fixed base, a first rotary joint is installed on the upper end surface of the fixed base, a drive cylinder is installed on one side of the first rotary joint, a main double connecting rod is connected to the output end of the drive cylinder through a piston rod, a second rotary joint is installed on the front end of the main double connecting rod, a third rotary joint is connected to the upper end of the second rotary joint through a secondary connecting rod, a linear guide rail is installed on the upper end of the third rotary joint, and a clamp body is connected to the surface of the linear guide rail through a sliding block.

[0007] Preferably, the other side of the first rotary joint is provided with a first pneumatic brake.

[0008] Preferably, the connecting part of the main double connecting rod and the first rotary joint is provided with an adjusting block.

[0009] Preferably, one side of the second rotary joint is provided with a second pneumatic brake.

[0010] Preferably, one side of the third rotary joint is provided with a third pneumatic brake.

[0011] Preferably, the upper part of the linear guide rail is provided with a servo motor, and the output end of the servo motor is connected with a trapezoidal screw through a rotating shaft.

[0012] Preferably, the clamp body vertically slides along the surface of the trapezoidal screw through a screw sliding block.

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

[0014] The utility model discloses a standard cylinder is used, and the up and down movement is controlled through the precision pressure regulating valve, so that load balance weight is realized, the equipment is provided with the pneumatic brake at 3 rotary joints and lifting arm parts, and the up and down limit adjusting rod can set the lifting limit position according to the requirement of the customer on the spot, the clamping mechanism uses the pneumatic motor drive, can clamping 3 to 6 inch shaft workpieces, and the maximum clamping weight reaches two hundred jin, so that when the workpiece is carried, can reduce to one worker operation, avoids the work injury and lumbar muscle strain of the operation worker because of carrying heavy objects, does not need to be electrified, only needs compressed air control, has the advantages of convenient operation control, high automation degree. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1 It is the overall front view of the utility model;

[0016] Fig. 2 It is the structure schematic diagram after angle adjustment of the utility model.

[0017] In the drawing: 1, drive cylinder;2, fixed base;3, first pneumatic brake;4, first rotary joint;5, adjusting block;6, main double connecting rod;7, second rotary joint;8, second pneumatic brake;9, auxiliary connecting rod;10, linear guide rail;11, servo motor;12, trapezoidal screw;13, clamp body;14, third pneumatic brake;15, third rotary joint. PREFERRED EMBODIMENT

[0018] The technical scheme in the embodiments of the utility model will be clearly and completely described in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only a part of the embodiments of the utility model, not all the embodiments.

[0019] Please refer to Figs. 1-2 The utility model provides an embodiment: a kind of hard arm type mechanical power-assisted hand, including fixed base 2, the upper end surface of fixed base 2 is equipped with first rotary joint 4, one side of first rotary joint 4 is equipped with drive cylinder 1, the output end of drive cylinder 1 is connected with main double connecting rod 6 by piston rod 16, the front end of main double connecting rod 6 is equipped with second rotary joint 7, the upper end of second rotary joint 7 is connected with third rotary joint 15 by auxiliary connecting rod 9, the upper end of third rotary joint 15 is equipped with linear guide rail 10, the surface of linear guide rail 10 is connected with clamp body 13 by slider.

[0020] Further, the other side of first rotary joint 4 is equipped with first pneumatic brake 3, for carrying out pneumatic brake limit control to first rotary joint 4.

[0021] Further, adjusting block 5 is installed at the connection of main double connecting rod 6 and first rotary joint 4, for being used for controlling angle adjustment of main double connecting rod 6.

[0022] Further, second pneumatic brake 8 is installed at one side of second rotary joint 7, for carrying out pneumatic brake limit control to second rotary joint 7.

[0023] Further, third pneumatic brake 14 is installed at one side of third rotary joint 15, for carrying out pneumatic brake limit control to third rotary joint 15.

[0024] Further, servo motor 11 is installed above linear guide rail 10, the output end of servo motor 11 is connected with trapezoidal screw 12 by rotating shaft, by opening servo motor 11 for driving control clamp body 13 is adjusted vertically along the surface of trapezoidal screw 12 by screw block, and then the installation operation height of clamp body 13 can be quickly adjusted and controlled.

[0025] Working principle: in use, the upper end surface of the fixed base 2 is provided with the first rotary joint 4, one side of the first rotary joint 4 is provided with the driving cylinder 1, the output end of the driving cylinder 1 is connected with the main double connecting rod 6 through the piston rod 16, by arranging the first rotary joint 4, the first rotary joint 4 is independently controlled by the servo motor, which can be used for first horizontal angle rotation adjustment, the piston rod 16 can drive and control the main double connecting rod 6 by starting the driving cylinder 1, the connecting part of the main double connecting rod 6 and the first rotary joint 4 is provided with the adjusting block 5, so that the angle adjustment of the main double connecting rod 6 is facilitated, the front end of the main double connecting rod 6 is provided with the second rotary joint 7, the second rotary joint 7 is independently controlled by the servo motor, which can be used for second horizontal angle rotation adjustment, the upper end of the second rotary joint 7 is connected with the third rotary joint 15 through the auxiliary connecting rod 9, the third rotary joint 15 is independently controlled by the servo motor, which can be used for third horizontal angle rotation adjustment, the upper end of the third rotary joint 15 is provided with the linear guide rail 10, the surface of the linear guide rail 10 is connected with the clamp body 13 through the sliding block, the upper side of the linear guide rail 10 is provided with the servo motor 11, the output end of the servo motor 11 is connected with the trapezoidal screw 12 through the rotating shaft, the clamp body 13 is driven and controlled to slide vertically along the surface of the trapezoidal screw 12 through the screw block by starting the servo motor 11, so that the installation operation height of the clamp body 13 can be quickly adjusted and controlled, the equipment is provided with pneumatic brakes at the three rotary joints and lifting arm parts, the upper and lower limit adjusting rods can set the lifting limit position according to the needs of the customer on site, the pneumatic motor is used for the clamp body 13, which can clamp 3 to 6 inch shaft workpieces, the maximum clamping weight reaches two hundred kilograms, so that when the workpiece is carried, one worker can be reduced, the work injury and lumbar strain of the front-line operator due to carrying heavy objects can be avoided, the equipment does not need to be powered, only compressed air control is needed, which has the advantages of convenient operation control and high automation degree.

[0026] It should be noted that, in the present document, the terms such as first and second, etc. are merely used to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0027] The standard parts used in the present application file can be purchased from the market, the specific connection mode of each part is connected by using the conventional means such as bolt, rivet, welding and the like in the prior art, and the mechanical, parts and equipment adopt the conventional type in the prior art, plus the circuit connection adopts the conventional connection mode in the prior art, which will not be described in detail here.

[0028] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, substitutions and modifications can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A rigid-arm mechanical assistive hand, comprising a fixed base (2), characterized in that, The upper surface of the fixed base (2) is equipped with a first rotary joint (4), and a drive cylinder (1) is installed on one side of the first rotary joint (4). The output end of the drive cylinder (1) is connected to a main double connecting rod (6) through a piston rod (16). The front end of the main double connecting rod (6) is equipped with a second rotary joint (7). The upper end of the second rotary joint (7) is connected to a third rotary joint (15) through a secondary connecting rod (9). The upper end of the third rotary joint (15) is equipped with a linear guide rail (10). The surface of the linear guide rail (10) is connected to a clamp body (13) through a slider.

2. The rigid-arm mechanical assistive hand according to claim 1, characterized in that: A first pneumatic brake (3) is installed on the other side of the first rotary joint (4).

3. The rigid-arm mechanical assistive hand according to claim 1, characterized in that: An adjusting block (5) is installed at the connection between the main double connecting rod (6) and the first rotary joint (4).

4. A rigid-arm mechanical assistive hand according to claim 1, characterized in that: A second pneumatic brake (8) is installed on one side of the second rotary joint (7).

5. A rigid-arm mechanical assistive hand according to claim 1, characterized in that: A third pneumatic brake (14) is installed on one side of the third rotary joint (15).

6. A rigid-arm mechanical assistive hand according to claim 1, characterized in that: A servo motor (11) is mounted above the linear guide (10), and the output end of the servo motor (11) is connected to a trapezoidal lead screw (12) via a rotating shaft.

7. A rigid-arm mechanical assistive hand according to claim 6, characterized in that: The fixture body (13) is adjusted vertically along the surface of the trapezoidal screw (12) by a lead screw slider.

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