Lifting mechanical arm

Abstract

The utility model discloses a hoisting mechanical arm which comprises a supporting arm and a movable arm, the near end of the supporting arm is used for being connected to a stand column, the near end of the movable arm is in pivot joint with the far end of the supporting arm through a vertically-arranged mandrel so that the movable arm can pivot around the supporting arm, and the far end of the movable arm is connected with a long and thin part. A workpiece needing to be lifted is used for being detachably attached to the lower end of the thin and long component; a damping component is arranged between the supporting arm and the movable arm, in the process that the movable arm pivots in the direction of the supporting arm, the damping component provides resistance for preventing the movable arm from rotating to the movable arm, and the resistance provided by the damping component at least partially counteracts the rotating torque enabling the movable arm to rotate. And in the process that the movable arm is pivoted from a flat angle state relative to the supporting arm to a right angle state relative to the supporting arm, the resistance provided by the damping part is gradually increased.

Description

Technical Field

[0001] This utility model relates to the field of non-standard equipment design technology, and in particular to a hoisting robotic arm. Background Technology

[0002] The existing technology includes hoisting devices with the following structures: such as Figure 1 As shown, the hoisting device includes a column and a mechanical arm horizontally placed on top of the column and connected to the upper end of the supporting column at its tail. The mechanical arm includes two sections: a support arm close to the column and connected to the upper end of the column, and a movable arm away from the column. The proximal end of the movable arm is connected to the support arm via a vertically arranged spindle, which allows the movable arm to pivot horizontally relative to the support arm. The distal end of the movable arm is connected to a hoisting rope (or hoisting rod). The workpiece to be hoisted can be detachably attached to the lower part of the hoisting rope. The movable arm is pivoted by a person holding the hoisting rope and pushing against it, thereby transporting the workpiece to the designated work position.

[0003] The aforementioned hoisting device in the prior art has the following drawbacks during use:

[0004] Inevitably, due to factors such as assembly gaps and gravity, the robotic arm is not actually parallel to the horizontal plane and forms a certain angle. This is especially true for the movable arm in the robotic arm. When the movable arm pivots to form a deflection angle (relative to a flat angle) with the robotic arm to lift a workpiece, the weight of the movable arm (if a workpiece is being lifted, the weight of the workpiece is also considered the weight of the movable arm) will have a component force in the pivot plane of the movable arm. This component force will generate a torque that causes the movable arm to have a tendency to reverse. This means that the worker needs to apply force to the lifting rope to balance the torque and prevent the movable arm from rotating. This will inevitably cause the worker to exert a lot of effort, and because the lifting rope is a flexible component, it is difficult to apply force. Utility Model Content

[0005] In view of the above-mentioned problems existing in the prior art, the purpose of this utility model is to provide a hoisting robotic arm to solve the problems in the prior art.

[0006] To achieve the above objectives, the present invention adopts the following solution.

[0007] A hoisting robotic arm includes: a support arm and a movable arm. The proximal end of the support arm is connected to a column. The proximal end of the movable arm is pivotally connected to the distal end of the support arm via a vertically arranged spindle, allowing the movable arm to pivot about the support arm. The distal end of the movable arm is connected to an elongated component, and the workpiece to be hoisted is detachably attached to the lower end of the elongated component. Wherein:

[0008] A damping component is arranged between the support arm and the movable arm, and provides a resistance to the movable arm during pivoting of the movable arm towards the support arm, the resistance provided by the damping component at least partially counteracts the pivoting torque that causes the movable arm to pivot, and the resistance provided by the damping component gradually increases during pivoting of the movable arm from a flat angle state relative to the support arm to a right angle state relative to the support arm.

[0009] Preferably, the damping component comprises:

[0010] A connecting component comprises a first connecting part fixed to the bottom of the support arm and a second connecting part fixed to the bottom of the movable arm;

[0011] A bearing seat is fixed to the bottom of the first connecting part, and a bearing is installed in the bearing seat;

[0012] A rotating shaft is arranged vertically, an upper end of the rotating shaft penetrates the bearing in the bearing seat, the rotating shaft extends out of the lower part of the bearing seat, and a radial hole is formed in the rotating shaft below the bearing seat;

[0013] A guide shaft is pivotally connected to the second connecting part at a distal end, the guide shaft penetrates the radial hole and can slide along the radial hole; wherein:

[0014] The radial dimension of the guide shaft is configured to decrease from a preset axial position of the guide shaft to the diameter of the proximal end of the guide shaft;

[0015] A friction component is arranged in the radial hole, and the friction component is used to contact the outer surface of the guide shaft to provide a friction force to the guide shaft;

[0016] The preset axial position is located at the radial hole when the movable arm is pivoted to form a right angle with the support arm.

[0017] Preferably, the radial dimension of the guide shaft is also configured to decrease from the preset axial position of the guide shaft to the diameter of the distal end of the guide shaft.

[0018] Preferably, the friction component comprises two, and the two friction components are arranged above and below the radial hole, respectively; wherein:

[0019] A threaded hole is formed upward from the lower end of the rotating shaft, a screw rod is screwed into the threaded hole from the lower end of the rotating shaft, a disc spring is arranged in the threaded hole above the screw rod, the disc spring is used to apply a pre-tightening elastic force to the friction component below, and the degree of compression of the disc spring is adjusted by screwing the screw rod, so as to adjust the pre-tightening elastic force of the friction component.

[0020] Preferably, a first screw is screwed into the proximal end of the guide rod, and the diameter of the screw nut of the first screw is larger than the diameter of the guide rod, so that the screw nut of the first screw constitutes a limiting platform.

[0021] Preferably, a joint bearing is arranged at the distal end of the guide rod, and a second screw is screwed through the joint bearing and the second connecting component, so that the guide rod is hinged with the second connecting component.

[0022] Preferably, the proximal end of the movable arm is provided with two ear plates arranged in upper and lower positions, the distal end of the support arm extends into the space between the two ear plates, and the mandrel is screwed through the two ear plates and the distal end of the support arm between the two ear plates.

[0023] Preferably, a retaining ring is arranged on the rotating shaft to limit the rotating shaft from being pulled out of the bearing seat.

[0024] Compared with the prior art, the hoisting mechanical arm provided by the utility model has the advantages of:

[0025] The mechanical arm can keep the movable arm at the angle rotated to by exerting a small force by hand when the movable arm is rotated to any angle. The mechanical arm is also beneficial to resetting the movable arm to the state of being parallel to the support arm by exerting a small force by hand.

[0026] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, rather than limiting the utility model.

[0027] The foregoing summary of various implementations or examples of the technology described in this utility model is not a comprehensive disclosure of the entire scope or all features of the disclosed technology. BRIEF DESCRIPTION OF DRAWINGS

[0028] In the drawings which are not necessarily drawn to scale, like numerals can describe similar components throughout the several views. Like numerals having different letter suffixes can represent different instances of similar components. The drawings illustrate generally, by way of example, various embodiments of the utility model and are not intended to limit the utility model in any way. The same or similar reference numerals in all figures can represent similar parts. Such embodiments are illustrative, rather than restrictive, of the present utility model or method.

[0029] Figure 1 It is a structural schematic view of the hoisting device in the prior art.

[0030] Figure 2The utility model provides a stereo structure view of hoisting mechanical arm provided by the embodiment of the utility model.

[0031] Figure 3 The utility model provides a front view of hoisting mechanical arm provided by the embodiment of the utility model.

[0032] Figure 4 For Figure 3 The enlarged view of partial A.

[0033] Figure 5 The utility model provides a structure schematic view of guide rod in hoisting mechanical arm provided by the embodiment of the utility model.

[0034] Figure 6 For Figure 4 The A view of.

[0035] Reference signs:

[0036] 10 - mechanical arm, 11 - support arm, 12 - movable arm, 13 - mandrel, 20 - damping part, 21 - guide rod, 211 - first screw, 212 - joint bearing, 213 - second screw, 22 - rotating shaft, 221 - radial hole, 23 - bearing seat, 231 - check ring, 24 - friction part, 25 - screw rod, 26 - disc spring, 271 - first connecting part, 272 - second connecting part, 30 - stand, 40 - slender part. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical scheme and advantage of the utility model embodiment more clear, the technical scheme of the utility model embodiment will be clearly and completely described below in combination with the drawings of the utility model embodiment. Obviously, the described embodiment is a part of the embodiment of the utility model, not all the embodiment. Based on the described embodiment of the utility model, all other embodiments obtained by the ordinary skill in the art without creative labor belong to the scope of the utility model protection.

[0038] Unless otherwise defined, technical terms or scientific terms used in the present application shall have the ordinary meaning as understood by a person of ordinary skill in the art to which the present application pertains. The terms "first", "second", and similar terms used in the present application do not denote any order, quantity, or importance, but are merely used to distinguish different components. The terms "include", "comprise", and similar terms are intended to encompass the elements or components listed after the terms as well as equivalents thereof, and do not exclude other elements or components. The terms "connected" or "coupled" and similar terms are not limited to physical or mechanical connections or couplings, but can include electrical connections or couplings, whether direct or indirect. The terms "upper", "lower", "left", "right", and the like are used only to indicate relative positional relationships, and can change when the absolute positions of the described objects change.

[0039] In order to keep the following description of the embodiments of the present application clear and concise, detailed descriptions of known functions and known components are omitted.

[0040] As shown in Figures 2 to 5 An embodiment of the present application discloses a hoisting mechanical arm 10, which comprises a support arm 11, a movable arm 12, and a damping component 20. The support arm 11 has a proximal end and a distal end, and the movable arm 12 has a proximal end and a distal end. The proximal end of the movable arm 12 is pivotally connected to the distal end of the support arm 11 through a vertically arranged mandrel 13, so that the movable arm 12 can rotate relative to the support arm 11. The proximal end of the support arm 11 is connected to the top of a stand 30, and the distal end of the movable arm 12 is connected to an elongated component 40 such as a sling or a boom. A tool (not shown) to be hoisted is detachably connected to the lower end of the elongated component 40. Thus, by manually applying force to the elongated component 40, the movable arm 12 can be pivoted relative to the support arm 11, so that the tool can be hoisted to any position on the projection of the trajectory of the end of the movable arm 12 on the ground.

[0041] It should be noted that: because of the inevitable installation gap between the support arm 11 and the column 30, and the movable arm 12 and the support arm 11, under the action of the gravity of the movable arm 12 (for example, the lower end of the elongated part 40 hoists a workpiece, including the gravity of the workpiece), the mechanical arm 10 will not be parallel to the horizontal plane, and will form a certain angle with the horizontal plane, which will cause the following adverse results: if the angle between the movable arm 12 and the support arm 11 is not a straight angle (that is, the straight angle is that the movable arm 12 and the support arm 11 are unfolded to form a straight line) or 0 degree angle (that is, the 0 degree angle is that the movable arm 12 and the support arm 11 are folded to form a straight line), that is, the movable arm 12 and the support arm 11 are not on a straight line, then the gravity of the movable arm 12 has a component force relative to the pivoting plane of the movable arm 12, which causes a rotation torque that makes the movable arm 12 rotate towards the direction of forming a straight angle with the support arm 11, and when the movable arm 12 is pivoted to a right angle with the support arm 11, the rotation torque is maximum, and the closer to the straight angle or 0 degree angle, the smaller the rotation torque.

[0042] The damping part 20 is arranged between the support arm 11 and the movable arm 12, as shown in Figure 6 The damping part 20 is used to provide resistance to the rotation of the movable arm 12, that is, to generate a damping torque opposite to the rotation torque by the resistance, and as the rotation torque increases, the damping torque also increases, so that the force applied by hand to keep the movable arm 12 at the pivoted angle can be reduced.

[0043] The utility model provides a specific structure's damping part 20, as Figure 3 And combine Figure 4 As shown, the damping part 20 comprises: a first connecting part 271, a second connecting part 272, a bearing seat 23, a rotating shaft 22, a guide rod 21, a friction part 24, a disc spring 26 and a screw rod 25. The first connecting part 271 is fixed to the bottom of the support arm 11 and close to the distal end of the support arm 11, and the second connecting part 272 is fixed to the bottom of the movable arm 12 and close to the proximal end of the movable arm 12; the bearing seat 23 is installed at the bottom of the first connecting part 271, the rotating shaft 22 is vertically arranged, the upper end of the rotating shaft 22 is installed in the bearing seat 23 and cooperates with the bearing in the bearing seat 23, so that the rotating shaft 22 can rotate freely, and the retaining ring 231 is installed on the rotating shaft 22 to limit the rotating shaft 22 from being pulled out of the bearing seat 23; the radial hole 221 is formed on the rotating shaft 22 below the bearing seat 23.

[0044] The outer circumferential surface of the guide rod 21 is a cylindrical surface, the guide rod 21 has a proximal end and a distal end, the distal end of the guide rod 21 is provided with a joint bearing 212, the joint bearing 212 is provided with a second screw 213, the second screw 213 is screwed into the second connecting component 272 from the lower end of the second connecting component 272, so that the distal end of the guide rod 21 is hinged to the second connecting component 272, and the guide rod 21 passes through the radial hole 221 of the rotating shaft 22 and can slide along the radial hole 221. In this way, when the movable arm 12 is pivoted, each shaft segment of the guide rod 21 passes through the radial hole 221, and the axial size of the guide rod 21 is reasonably arranged, so that when the movable arm 12 is pivoted to a vertical state with the support arm 11, the middle segment of the guide rod 21 (i.e. the preset axial position) corresponds to the radial hole 221.

[0045] The friction component 24 includes two, and the two friction components 24 are respectively arranged above and below the radial hole 221, the radially inward end of the friction component 24 is in contact with the outer circumferential surface of the guide rod 21 to form a friction force between the guide rod 21 and the friction component 24, and the friction force forms a damping torque as the above-mentioned resistance.

[0046] The diameter of the guide rod 21 is characterized in that: from the middle segment to both ends (proximal end and distal end), the diameter of the guide rod 21 gradually changes, that is, the guide rod 21 is configured in a structure of thick in the middle and thin at both ends. In this way, the pressure of the middle segment on the friction component 24 is greater than the pressure of the non-middle segment on the friction component 24, so that the friction force on the guide rod 21 generated when the middle segment is opposite to the friction component 24 is greater than the friction force on the guide rod 21 generated when the non-middle segment is opposite to the friction component 24. Thus, it can conform to the change characteristics of the rotation torque of the movable arm 12 at different pivot angles. By reasonably arranging the diameter change amount of the guide rod 21, the rotation torque is basically the same as the damping torque generated by the friction force when the movable arm 12 is pivoted to any angle, so that when the movable arm 12 is rotated to any angle, the hand only needs to exert a very small force to keep the movable arm 12 at the angle rotated to. In addition, the radial size of the guide rod 21 is configured as described above, which is also beneficial to manually resetting the movable arm 12 to a state of being perpendicular to the support arm 11 with a very small force.

[0047] In some preferred structures, a threaded hole is formed upward from the lower end of the rotating shaft 22, a screw rod 25 is screwed into the threaded hole from the lower end of the rotating shaft 22, a disc spring 26 is arranged in the threaded hole above the screw rod 25, and the disc spring 26 is used to apply a pre-tightening elastic force to the friction component 24 below. By screwing the screw rod 25, the compression degree of the disc spring 26 can be adjusted, so as to adjust the pre-tightening elastic force of the friction component 24. By screwing the screw rod 25, the friction force of the friction component 24 on the entire guide rod 21 can be adjusted, so as to adapt to hoisting workpieces of different weights.

[0048] In some preferred structures, the proximal end of the guide rod 21 is screwed with a first screw 211, the diameter of the screw cap of the first screw 211 is larger than the diameter of the guide rod 21, so that the screw cap of the first screw 211 is configured to limit the position platform, which is used to limit the radial escape of the guide rod 21 from the rotating shaft 22.

[0049] In some preferred structures, the proximal end of the movable arm 12 is configured with two ear plates arranged in upper and lower positions, the distal end of the support arm 11 is inserted between the two ear plates, and the mandrel 13 is threaded through the two ear plates and the distal end of the support arm 11 between the two ear plates, which is conducive to reducing the assembly gap, thereby reducing the included angle of the movable arm 12 relative to the horizontal plane.

[0050] In addition, although exemplary embodiments have been described in the present application, the scope of the present application includes any and all embodiments having equivalent elements, modifications, omissions, combinations (for example, cross-embodiments of various embodiments), adaptations, or alterations based on the present application. The elements in the claims are to be construed broadly based on the language adopted by the claims, and are not limited to the examples described in the specification or during the implementation of the application, and the examples are to be construed as non-exclusive. Therefore, the specification and examples are intended to be considered only as examples, and the true scope and spirit are indicated by the following claims and the full scope of their equivalents.

[0051] The above description is intended to be illustrative and not restrictive. For example, the above-described examples (or one or more aspects thereof) can be used in combination with each other. Other embodiments can be used as well by those having ordinary skill in the art upon the reading and understanding of the above description. In addition, in the above detailed description, various features can be grouped together in one or more embodiments to simplify the present application. This should not be interpreted as an intent to require one or more claimed features for any claim. On the contrary, the subject matter of the present application can be less than all of the features of a particular disclosed embodiment. Thus, the following claims, as examples or embodiments, are incorporated into the detailed description, wherein each claim is independently a separate embodiment and it is contemplated that the embodiments can be combined with each other in various combinations or permutations. The scope of the present application should be determined with reference to the appended claims and the full scope of equivalents to which such claims are entitled.

[0052] The above embodiments are only exemplary embodiments of the present application, and are not intended to limit the present application, and the protection scope of the present application is defined by the claims. Those skilled in the art can make various modifications or equivalent replacements to the present application within the spirit and protection scope of the present application, and such modifications or equivalent replacements are also regarded as falling within the protection scope of the present application.

Claims

1. A hoist arm, characterized in that, The application relates to a lifting device comprising: a support arm, a proximal end of which is used for being connected to a stand; and a movable arm, a proximal end of which is pivotally connected to a distal end of the support arm through a vertically arranged mandrel so that the movable arm can pivot around the support arm, and a distal end of the movable arm is connected with an elongated member, a workpiece to be hoisted being detachably attached to a lower end of the elongated member; wherein: a damping member is arranged between the support arm and the movable arm, the damping member providing a resistance to the movable arm during pivoting of the movable arm towards the support arm, the resistance provided by the damping member at least partially counteracts a turning moment that causes the movable arm to turn back, and the resistance provided by the damping member gradually increases during pivoting of the movable arm from a flat angle state relative to the support arm to a right angle state relative to the support arm.

2. The hoist arm of claim 1, wherein, The damping member comprises: a connecting member, which comprises a first connecting part fixed to a bottom of the support arm and a second connecting part fixed to a bottom of the movable arm; a bearing seat fixed to a bottom of the first connecting part, a bearing being arranged in the bearing seat; a rotating shaft, which is vertically arranged, an upper end of the rotating shaft penetrating the bearing in the bearing seat, the rotating shaft extending out of a lower part of the bearing seat, and a radial hole being arranged in the rotating shaft below the bearing seat; a guide shaft, a distal end of which is pivotally connected to the second connecting part, the guide shaft penetrating the radial hole and being capable of sliding along the radial hole; wherein: a radial dimension of the guide shaft is configured to decrease from a preset axial position of the guide shaft to a diameter of a proximal end of the guide shaft; a friction member is arranged in the radial hole, the friction member being used for contacting an outer circumferential surface of the guide shaft to provide a friction force to the guide shaft; the preset axial position is located at a position where the movable arm is pivoted to form a right angle with the support arm.

3. The hoist arm of claim 2, wherein, The radial dimension of the guide shaft is also configured to decrease from the preset axial position of the guide shaft to a diameter of a distal end of the guide shaft.

4. The hoist arm of claim 2, wherein, The friction member comprises two, the two friction members being arranged above and below the radial hole respectively; wherein: a threaded hole is arranged in the rotating shaft from a lower end of the rotating shaft upwards, a screw rod is screwed into the threaded hole from the lower end of the rotating shaft, a disc spring is arranged in the threaded hole above the screw rod, the disc spring being used for applying a pre-tightening elastic force to the friction member below, and the pre-tightening elastic force to the friction member is adjusted by screwing the screw rod to adjust a compression degree of the disc spring.

5. The hoist arm of claim 2, wherein, A first screw is screwed into the proximal end of the guide shaft, a diameter of a nut of the first screw is larger than a diameter of the guide shaft, so that the nut of the first screw is configured as a limiting table.

6. The hoist arm of claim 2, wherein, A joint bearing is arranged at a distal end of the guide shaft, a second screw is screwed through the joint bearing and into the second connecting part, so that the guide shaft is hinged to the second connecting part.

7. The hoist arm of claim 1, wherein, The proximal end of the movable arm is provided with two upper and lower arranged ear plates, the distal end of the supporting arm extends into the space between the two ear plates, and the mandrel extends through the two ear plates and the distal end of the supporting arm between the two ear plates.

8. The hoist arm of claim 2, wherein, A stop ring is arranged on the rotating shaft to limit the rotating shaft from being pulled out of the bearing seat.

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