Movable power-assisted manipulator

Abstract

The utility model belongs to the technical field of manipulators, and discloses a movable power-assisted manipulator which comprises a supporting rod rotationally connected with a swing arm. The width adjusting assembly is fixedly installed at the end, away from the supporting rod, of the swing rod, sliding rails are arranged on the two sides of the sliding seat in the width direction, sliding plates are slidably installed on the two sides of the sliding rails in the length direction, and the driving air cylinders correspond to the sliding plates one to one and are fixedly installed on the sliding seat and staggered from the central axis of the sliding seat. The driving air cylinder is configured to be used for driving the two sliding plates to be close to or away from each other; the electric appliance controller is installed on the supporting rod, electrically connected with the width adjusting assembly and configured to be used for controlling the driving air cylinder to drive the two sliding blocks to be close to or away from each other; wherein the two sliding blocks are both fixedly connected with clamping arms, and the driving air cylinder drives the two sliding blocks to be close to or away from each other so as to adjust the distance between the two clamping arms; the adjusting range of the whole width adjusting assembly is wider, and the carrying requirements of objects of different sizes can be met.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a mobile power-assisted robotic arm. Background Technology

[0002] A power-assisted robotic arm is a labor-saving device used for material handling and installation. It cleverly applies the principle of force balance, allowing the operator to push and pull heavy objects to move and position them in a balanced manner within a space. While existing technologies can handle items within a certain range, they are not suitable for battery stacks, which are formed by stacking multiple individual batteries using a large press. In actual assembly, due to the large size and weight of the battery stack's end plates (even larger and heavier in large battery stacks), a wider gripping range is required. However, existing robotic arms typically have limited gripping stroke, and when dealing with these large and heavy battery stacks, they often need to be gripped in batches, resulting in low efficiency and cumbersome operation.

[0003] Therefore, a mobile assistive robotic arm is proposed to solve the above problems. Utility Model Content

[0004] The main purpose of this invention is to provide a mobile assisted robotic arm, which aims to solve the problem that existing robotic arms have limited gripping stroke and can only grip large and heavy objects in batches, thus reducing efficiency.

[0005] To achieve the aforementioned objectives, this utility model proposes a mobile power-assisted robotic arm, comprising:

[0006] The support rod is rotatably connected to a swing arm;

[0007] A width adjustment assembly is fixedly installed at the end of the swing arm away from the support rod. The width adjustment assembly includes a sliding seat and a drive cylinder. The sliding seat has slide rails on both sides in the width direction and slide plates are slidably installed on both sides in the length direction of the slide rails. The drive cylinder corresponds to each slide plate. The drive cylinder is fixedly installed on the sliding seat and is designed to be offset from the central axis of the sliding seat. The drive cylinder is configured to drive the two slide plates to move closer or further apart from each other.

[0008] An electrical controller, mounted on the support rod and electrically connected to the width adjustment assembly, is configured to control the drive cylinder to drive the two sliding plates closer to or further apart from each other.

[0009] Each of the two sliding plates is fixedly connected to a clamping arm. The driving cylinder drives the two sliding plates to move closer or further apart to adjust the distance between the two clamping arms.

[0010] Furthermore, the swing arm includes a lifting arm, which is hinged to the support rod. The support rod is provided with a lifting drive component, the output end of which is connected to the lifting arm and is used to drive the end of the lifting arm near the support rod to perform reciprocating motion in the vertical direction.

[0011] Furthermore, the swing arm includes a rotating arm, the two ends of which are rotatably connected to the lifting arm and the width adjustment assembly, respectively.

[0012] Furthermore, the swing arm includes a handheld arm, one end of which is rotatably connected to the rotating arm, and the other end of which is fixedly connected to the width adjustment assembly.

[0013] Furthermore, a handheld lever is fixedly mounted on the handheld arm, located on the side near the width adjustment component, and is configured to facilitate operator control of the robotic arm.

[0014] Furthermore, the sliding seat is provided with a fixed seat, the other end of which is connected to the hand arm, and the fixed seat is configured for mounting and positioning the drive cylinder.

[0015] Furthermore, the handheld lever is L-shaped.

[0016] Furthermore, the support rod includes a first support arm and a second support arm, the first support arm and the second support arm being rotatably connected, and the second support arm being hinged to the swing arm.

[0017] Furthermore, a movable disk is provided at the end of the first support arm away from the second support arm, and the lower end face of the movable disk is provided with movable wheels, which are configured to move and change the position of the assistive robot.

[0018] Furthermore, the movable disk is equipped with a handle, which is configured to facilitate the operator in pushing the power-assisted robotic arm.

[0019] Beneficial effects:

[0020] This utility model discloses a mobile power-assisted manipulator, comprising: a support rod rotatably connected to a swing arm; a width adjustment assembly fixedly installed at the end of the swing arm away from the support rod, the width adjustment assembly including a sliding seat and a drive cylinder, the sliding seat having slide rails on both sides in the width direction, and sliding plates slidably installed on both sides in the length direction of the slide rails, the drive cylinder corresponding to each sliding plate, the drive cylinder being fixedly installed on the sliding seat and offset from the central axis of the sliding seat, the drive cylinder being configured to drive the two sliding plates closer to or further apart; and an electrical controller installed on the support rod and electrically connected to the width adjustment assembly, configured to control the drive cylinders to drive the two sliding plates closer to or further apart; wherein, both sliding plates are fixed. The device is equipped with clamping arms, and a drive cylinder drives two sliding plates to move closer or further apart to adjust the distance between the two clamping arms. This design effectively increases the stroke of the sliding plates, allowing for the handling of larger objects. The entire width adjustment assembly has a wider adjustment range and a more compact and stable structure, adapting to the handling needs of objects of different sizes. Furthermore, the application of an electrical controller makes the entire system more automated and convenient, improving efficiency and operational safety. In addition, this structural design ensures a more even distribution of force from the drive cylinder, avoiding mechanical imbalance problems that may occur when driven by a single cylinder, thereby improving the stability and service life of the equipment. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of a mobile power-assisted robotic arm according to an embodiment of this utility model;

[0022] Figure 2 This is a partial structural schematic diagram of a mobile power-assisted robotic arm according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the width adjustment component of a mobile power-assisted robotic arm according to an embodiment of the present invention;

[0024] Figure 4 This is a front view of a mobile power-assisted robotic arm according to an embodiment of the present invention;

[0025] Figure 5 This is a rear view of a mobile power-assisted robotic arm according to an embodiment of the present invention;

[0026] in:

[0027] 100. Support rod; 110. First support arm; 120. Second support arm;

[0028] 200. Swing arm; 210. Lifting arm; 220. Rotating arm; 230. Handheld arm;

[0029] 300. Width adjustment assembly; 310. Sliding seat; 320. Drive cylinder; 330. Slide rail; 340. Sliding plate;

[0030] 400. Clamping arm;

[0031] 500. Lifting drive component; 510. Pneumatic solenoid valve; 520. Stroke cylinder; 530. Air tank;

[0032] 600. Handheld stick;

[0033] 700. Moving tray; 710. Casters; 720. Handrail;

[0034] 800. Electrical controller;

[0035] 900. Fixed base;

[0036] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0037] It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0038] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly and specifically defined.

[0039] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0040] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0041] Reference Figures 1 to 5 This utility model discloses a mobile power-assisted robotic arm, comprising:

[0042] Support rod 100, hinged with swing arm 200;

[0043] A width adjustment component 300 is fixedly installed at the end of the swing arm 200 away from the support rod 100. The width adjustment component 300 includes a sliding seat 310 and a drive cylinder 320. The sliding seat 310 is provided with slide rails 330 on both sides in the width direction. Sliding plates 340 are slidably installed on both sides in the length direction of the slide rails 330. The drive cylinder 320 corresponds one-to-one with the sliding plates 340. The drive cylinder 320 is fixedly installed on the sliding seat 310 and is designed to be offset from the central axis of the sliding seat 310. The drive cylinder 320 is configured to drive the two sliding plates 340 to move closer or further apart from each other.

[0044] An electrical controller 800 is mounted on the support rod 100 and electrically connected to the width adjustment assembly 300. It is configured to control the drive cylinder 320 to drive the two sliding plates 340 to move closer or further apart from each other.

[0045] Each of the two sliding plates 340 is fixedly connected to a clamping arm 400. The driving cylinder 320 drives the two sliding plates 340 to move closer or further apart from each other to adjust the distance between the two clamping arms 400.

[0046] The mobile assisted manipulator includes a support rod 100 and a swing arm 200. A width adjustment component 300 is installed on the end of the swing arm 200 away from the support rod 100, including a sliding base 310 and a drive cylinder 320. The sliding base 310 is a cuboid, and its width is greater than the size of the maximum end plate. The drive cylinder 320 also ensures the maximum and minimum travel distance of the gripping arm 400, and coordinates with the sliding plate 340 for size adjustment when replacing different models of fuel cell stack end plates. The sliding base 310 has slide rails 330 on both sides, and sliding plates 340 are slidably installed on both sides of the slide rails 330 along their length. The drive cylinder 320 corresponds one-to-one with the sliding plate 340. In this embodiment, the drive cylinder 320 is fixedly installed on the sliding base 310, and its installation position is offset from the central axis of the sliding base 310. This design can expand the range of motion of the sliding plate 340. This allows for adjustment of the opening and closing distance of the gripping arms 400, accommodating objects of more sizes. The movement of the control cylinder is achieved through an electrical controller 800, located on the support rod 100 and electrically connected to the drive cylinder 320. The controller 800 can precisely adjust the movement of the cylinder, causing the sliding plates 340 to move closer or further apart as needed, thereby changing the opening and closing degree of the gripping arms 400 and thus meeting the gripping requirements of different objects. The two sliding plates 340 are respectively fixedly connected to the gripping arms 400. The cylinder drives the two sliding plates 340 to move closer or further apart, changing the distance between the gripping arms 400 through this action, thereby achieving the purpose of gripping objects of different sizes. In this embodiment, the movement of the sliding plates 340 is controlled by the drive cylinder 320, which can realize the automatic adjustment of the distance between the two gripping arms 400, adapting to the gripping of objects of different sizes and improving the applicability of the robot.

[0047] Based on the above embodiments, the swing arm 200 includes a lifting arm 210, which is hinged to the support rod 100. The support rod 100 is provided with a lifting drive 500, and the output end of the lifting drive 500 is connected to the lifting arm 210 to drive the end of the lifting arm 210 near the support rod 100 to perform reciprocating motion in the vertical direction.

[0048] The swing arm 200 includes a rotating arm 220, the two ends of which are rotatably connected to the lifting arm 210 and the width adjustment assembly 300 respectively via brakes;

[0049] The swing arm 200 includes a hand arm 230, one end of which is rotatably connected to the rotating arm 220 via a brake, and the other end of which is fixedly connected to the width adjustment assembly 300.

[0050] The sliding seat 310 is provided with a fixed seat 900, and the other end of the fixed seat 900 is connected to the hand arm 230. The fixed seat 900 is configured for the installation and positioning of the drive cylinder 320.

[0051] In this embodiment, the lifting arm 210 is connected to the support rod 100 via a hinge, forming a structure capable of reciprocating motion in the vertical direction. The lifting drive unit 500 consists of a pneumatic solenoid valve 510, a stroke cylinder 520, and an air tank 530. The pneumatic solenoid valve 510 controls the flow of air, the stroke cylinder 520 drives the lifting arm 210 to move vertically, and the air tank 530 provides the necessary air supply for the pneumatic system. This design allows the robotic arm to be precisely adjusted within different height ranges to adapt to object gripping tasks of different heights; the rotating arm 220... Both ends are rotatably connected to the lifting arm 210 and the width adjustment assembly 300 via turntables and brakes. The rotation of the rotating arm 220 allows the robot to make precise adjustments in the horizontal plane. The function of the brake is to ensure that the rotating arm 220 remains stable in a specific position and prevent unnecessary rotation due to external interference. The design of the rotating arm 220 allows the robot to adjust the gripping position in the horizontal direction to adapt to the operation requirements in complex environments. In addition, one end of the hand arm 230 is connected to the rotating arm 220 via a brake, which can achieve 360-degree rotation, while the other end is fixedly connected to the fixed base 900. The handheld arm 230 ensures that the robotic arm can accurately move objects and transport them to the target position, while ensuring the stability of the objects during the gripping process. The design of the brake further improves the control precision of the handheld arm 230, avoiding the object's deviation or instability during the transport process. In this solution, the lifting drive component 500 controls the vertical movement of the lifting arm 210 through a pneumatic system. The rotating arm 220 and the handheld arm 230 are precisely controlled to ensure stable transport of objects. The automatic adjustment function of the width adjustment component 300 can automatically adjust the spacing of the gripping arms 400 according to the size of different objects, ensuring that the robotic arm can easily grip objects of different sizes. The operator can easily perform the gripping, transporting and placing of objects with simple operations.

[0052] Furthermore, a hand lever 600 is fixedly mounted on the hand arm 230, located on the side near the width adjustment component 300, and is configured to facilitate operator control of the robotic arm;

[0053] The handheld lever 600 is L-shaped.

[0054] In this embodiment, the design of the mobile assisted manipulator further enhances maneuverability and stability. By fixing a hand lever 600 to the hand arm 230, a more convenient control method is provided for the operator. The hand lever 600 is located on the side of the hand arm 230 near the width adjustment component 300 and has an L-shaped design. The L-shaped hand lever 600 design ensures that the operator's arm can naturally adjust its angle when clamping and carrying, thereby reducing fatigue during operation and improving comfort and stability. This design is particularly suitable for use in confined spaces or complex environments, and can significantly improve operating accuracy. At the same time, the fixing of the hand lever 600... The robot's mounting position, close to the width adjustment component 300, allows the operator to directly and precisely fine-tune the robot's gripper when adjusting the opening and closing degree of the gripping arm 400. This ensures stability and accuracy in gripping, especially when handling objects with complex shapes or large sizes. This design enables the robot to better adapt to different object gripping and handling tasks in various working environments, significantly improving work efficiency and reducing operator workload, particularly in high-precision, high-frequency tasks. In addition, the handgrip 600 is equipped with an electrical controller 800, which is responsible for gripping and releasing actions. It also features an emergency stop button to brake the device and stop all operations in an emergency.

[0055] Furthermore, the support rod 100 includes a first support arm 110 and a second support arm 120, the first support arm 110 and the second support arm 120 are rotatably connected, and the second support arm 120 is hinged to the swing arm 200.

[0056] The first support arm 110 is provided with a movable disk 700 at one end away from the second support arm 120. The lower end face of the movable disk 700 is provided with movable wheels 710, which are configured to move and change the position of the assistive robot.

[0057] The movable disk 700 is equipped with a handle 720, which is configured to facilitate the operator to push the power-assisted robotic arm.

[0058] The support rod 100 includes a first support arm 110 and a second support arm 120, wherein the first support arm 110 and the second support arm 120 are rotatably connected by a turntable and a brake, forming an adjustable angle structure. The second support arm 120 is hinged to a swing arm 200, allowing the swing arm 200 to rotate and swing 360 degrees during operation, thereby achieving more flexible clamping and object handling operations. In this design, a movable disk 700 is installed at the end of the first support arm 110 away from the second support arm 120. Multiple casters 710 are arranged on the lower end face array, enabling the robotic arm to move smoothly on the ground. The design of the moving disk 700 allows the robotic arm to be easily moved between different work areas. The operator can easily adjust the position of the robotic arm by simply pushing the moving disk 700 to meet the positioning requirements under different work needs. In addition, the moving disk 700 is also equipped with a handle 720. This handle 720 is designed to provide the operator with a handle that is easy to operate and push, allowing the operator to push the robotic arm to the target position. The handle 720 makes pushing and pulling movements easier and more comfortable, reducing the operator's labor intensity.

[0059] In actual operation, the sliding plate 340 is adjusted to a distance greater than 20mm from the end plate width by two drive cylinders 320 and slide rail 330, and then stops. In this embodiment, the vanadium redox flow battery end plate gripping device operates by the operator using the hand lever 600 to rotate and pull the second support arm 120 to the upper end of the end plate. Then, the lifting arm 210 is pulled to the upper end of the workpiece by coordinating the solenoid valve, stroke cylinder 520, and air tank 530. At this point, the operator checks whether the two gripping arms 400 are aligned with the workpiece. After alignment, the operator uses the electrical controller 800 to press down the clamping button. The button is pressed to drive the cylinder 320 to retract and clamp the clamping arm 400. The operator confirms that the clamping is secure. After confirming that the end plate is clamped, the operator controls the hand lever 600 to move the end plate to the upper end of the production line using the second support arm 120. The operator then uses the hand arm 230 to rotate the end plate to the appropriate position on the production line fixture. The lifting arm 210 is then used to pull the workpiece onto the assembly line fixture by coordinating the solenoid valve, the stroke cylinder 520, and the air tank 530. After confirming that the workpiece is in the correct position, the operator operates the electrical controller 800 again to open the cylinder 320, causing the two clamping arms 400 to open and place the workpiece.

[0060] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural or procedural transformations made based on the content of the present utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present utility model.

Claims

1. A mobile power-assisted robotic arm, characterized in that, include: A support rod (100) is rotatably connected to a swing arm (200); A width adjustment assembly (300) is fixedly installed at one end of the swing arm (200) away from the support rod (100). The width adjustment assembly (300) includes a sliding seat (310) and a drive cylinder (320). The sliding seat (310) has slide rails (330) on both sides in the width direction and slide plates (340) on both sides in the length direction of the slide rails (330). The drive cylinder (320) corresponds one-to-one with the slide plates (340). The drive cylinder (320) is fixedly installed on the sliding seat (310) and is designed to be offset from the central axis of the sliding seat (310). The drive cylinder (320) is configured to drive the two slide plates (340) to move closer to or further away from each other. An electrical controller (800), mounted on the support rod (100) and electrically connected to the width adjustment assembly (300), is configured to control the drive cylinder (320) to drive the two sliding plates (340) to move closer to or further apart from each other; Each of the two sliding plates (340) is fixedly connected to a clamping arm (400), and the driving cylinder (320) drives the two sliding plates (340) to move closer or further apart from each other to adjust the distance between the two clamping arms (400).

2. The mobile power-assisted robotic arm according to claim 1, characterized in that, The swing arm (200) includes a lifting arm (210), which is hinged to the support rod (100). The support rod (100) is provided with a lifting drive (500), the output end of which is connected to the lifting arm (210) and is used to drive the lifting arm (210) to reciprocate vertically at one end near the support rod (100).

3. The mobile power-assisted robotic arm according to claim 2, characterized in that, The swing arm (200) includes a rotating arm (220), the two ends of which are rotatably connected to the lifting arm (210) and the width adjustment assembly (300).

4. The mobile power-assisted manipulator according to claim 3, characterized in that, The swing arm (200) includes a hand arm (230), one end of which is rotatably connected to the rotating arm (220), and the other end of which is fixedly connected to the width adjustment assembly (300).

5. The mobile power-assisted manipulator according to claim 4, characterized in that, A hand lever (600) is fixedly mounted on the hand arm (230), located on the side near the width adjustment component (300), and is configured to facilitate operator control of the robotic arm.

6. The mobile power-assisted manipulator according to claim 4, characterized in that, The sliding seat (310) is provided with a fixed seat (900), the other end of which is connected to the hand arm (230). The fixed seat (900) is configured for mounting and positioning the drive cylinder (320).

7. The mobile power-assisted robotic arm according to claim 5, characterized in that, The handheld lever (600) is L-shaped.

8. The mobile power-assisted robotic arm according to claim 1, characterized in that, The support rod (100) includes a first support arm (110) and a second support arm (120), the first support arm (110) and the second support arm (120) being rotatably connected, and the second support arm (120) being hinged to the swing arm (200).

9. The mobile power-assisted manipulator according to claim 8, characterized in that, The first support arm (110) has a movable disk (700) at one end away from the second support arm (120), and the lower end face of the movable disk (700) is provided with movable wheels (710), which are configured to move and change the position of the assistive robot.

10. The mobile power-assisted manipulator according to claim 9, characterized in that, The movable disk (700) is provided with a handle (720) and is configured to facilitate the operator to push the power-assisted robotic arm.

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