Movable power-assisted manipulator and tray clamp

Abstract

The utility model discloses a mobile power-assisted manipulator and tray fixture, which comprises a working platform, a rotary joint II is rotatably mounted above the working platform, and a stand column is arranged above the rotary joint II; one end of the second supporting arm is rotationally installed above the stand column, and the other end of the second supporting arm is provided with a first rotary joint; the support arm I is rotationally mounted on the rotary joint I, and a tray clamping jaw is arranged at the other end of the support arm I; and a plurality of mounting supports for mounting the trays in a matched manner are arranged above the conveying trolley. The power-assisted mechanical arm has the beneficial effects that an air source is provided in a pneumatic power supply mode, the power-assisted mechanical arm can be controlled in time to move and position, the potential falling risk caused by manual carrying is avoided, meanwhile, the structural design of the conveying trolley and the tray is adopted, the positioning efficiency can be improved, the positioning precision can be mastered, the operation requirement in the maintenance process is further met, and the maintenance cost is reduced. Potential safety hazards are reduced.

Description

Technical Field

[0001] This utility model relates to the field of tank maintenance and installation technology, specifically to a mobile power-assisted manipulator and pallet clamp. Background Technology

[0002] Based on the specific structural design of the armored vehicle, maintenance requires the disassembly and repair of internal turret components. Due to limited space within the turret, current maintenance methods primarily rely on manual labor. Repair personnel must work in pairs, lifting and disassembling components by hand. Throughout the entire process, workers must hold and operate the components, some of which are quite heavy. This increases the risk of slipping and falling, potentially causing damage to the components or even serious injuries. Current repair equipment is not specifically optimized for this type of product, posing significant safety hazards during component installation and failing to meet current operational requirements. Utility Model Content

[0003] The purpose of this utility model is to provide a mobile assisted robotic arm and pallet gripper to solve the aforementioned problems. This addresses the issue that current maintenance equipment is not specifically optimized for this type of product, leading to the risk of detachment for maintenance personnel during operation and significant safety hazards during component installation, thus failing to meet current usage requirements. Among the various technical solutions provided by this utility model, the preferred solution utilizes pneumatic power, enabling timely control of the assisted robotic arm's movement and positioning, avoiding the potential risk of detachment caused by manual handling. Furthermore, the structural design of the conveyor trolley and pallet improves positioning efficiency and accuracy, further meeting the operational needs of maintenance processes and reducing safety hazards. Details are provided below.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] The mobile power-assisted robotic arm and pallet gripper provided by this utility model include:

[0006] The work platform has a rotating joint two mounted on its upper part, and a column is provided above the rotating joint two.

[0007] Support arm two, one end of which is rotatably mounted on the top of the column, the side wall of the column is provided with a lifting adjustment cylinder that drives support arm two to move up and down, and the other end of support arm two is provided with a rotary joint one.

[0008] Support arm one is rotatably mounted on rotary joint one, and the other end of support arm one is provided with a tray gripper;

[0009] A drive unit is located on one side of the work platform, and drive wheels are provided on the bottom surface of the work platform;

[0010] The conveying trolley has multiple mounting brackets on its upper part to cooperate with the installation of the pallet, and a pallet insert block is provided below the mounting brackets.

[0011] Preferably, a plug-in socket is provided at the top center of the mounting bracket, and a positioning protrusion corresponding to the position of the plug-in socket is provided on the tray.

[0012] Preferably, the mounting bracket has symmetrically arranged positioning plates on its sides, positioning holes are provided on the mounting bracket, and positioning posts corresponding to the positions of the positioning holes are provided on the top surface of the conveying trolley.

[0013] Preferably, the side wall of the conveying trolley is provided with guardrail chains.

[0014] Preferably, a control handle is provided on the upper part of the support arm.

[0015] Preferably, an auxiliary handle is provided above the tray gripper.

[0016] Preferably, the end of the conveying trolley is provided with a traction bracket.

[0017] Preferably, the drive unit has an air reel on its side wall.

[0018] Preferably, the bottom of the column is provided with a brake.

[0019] Preferably, the conveying trolley is provided with a firing device tray, a breech tray, a steering gear tray, an elevation and slack motor tray, and an elevation and slack reducer tray in sequence.

[0020] The beneficial effects are:

[0021] Powered by pneumatics, the robotic arm can be controlled in a timely manner to move and position itself, avoiding the potential risk of falling off due to manual handling. At the same time, the structural design of the conveyor trolley and pallet can improve positioning efficiency and control positioning accuracy, further meeting the operational needs of the maintenance process and reducing safety hazards. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1This is a schematic diagram of the usage state of this utility model. Figure 1 ;

[0024] Figure 2 This is a top view of the utility model in use. Figure 1 ;

[0025] Figure 3 This is a top view of the utility model in use. Figure 2 ;

[0026] Figure 4 This is a three-dimensional view of the conveying trolley of this utility model. Figure 1 ;

[0027] Figure 5 This is a three-dimensional structural diagram of the assistive robotic arm of this utility model;

[0028] Figure 6 This is a three-dimensional view of the conveying trolley of this utility model. Figure 2 ;

[0029] Figure 7 This is the utility model Figure 6 Enlarged view of the structure at point A in the image.

[0030] The annotations in the attached figures are explained as follows:

[0031] 1. Power-assisted robotic arm; 2. Turret body; 3. Turret support; 4. Transport trolley; 5. Firing device tray; 6. Guardrail chain; 7. Tail tray; 8. Steering gear tray; 9. Elevation / lowering motor tray; 10. Elevation / lowering gear reducer tray; 11. Traction bracket; 12. Rotary joint II; 13. Working platform; 14. Column; 15. Air winch; 16. Lifting adjustment cylinder; 17. Drive unit; 18. Support arm II; 19. Control handle; 20. Tray gripper; 21. Auxiliary handle; 22. Support arm I; 23. Rotary joint I; 24. Brake; 25. Positioning post; 26. Positioning hole; 27. Positioning plate; 28. Plug-in socket; 29. ​​Mounting bracket; 30. Tray insert block. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0033] See Figures 1-7 As shown, this utility model provides a mobile power-assisted robotic arm and a pallet gripper, including:

[0034] The work platform 13 is a horizontal plate structure that provides an installation position for the rotary joint 12. The bottom of the work platform 13 is equipped with electrically driven wheels that can move to adjust the position of the equipment. The rotary joint 12 is rotatably installed on the top of the work platform 13. A column 14 is located above the rotary joint 12. The rotary joint can rotate in conjunction with the column 14 to adjust the rotation angle of the column 14, thereby enabling multi-angle operation and meeting different operational needs.

[0035] Support arm 2 18 is rotatably mounted on top of column 14 at one end. Support arm 2 18 can move up and down on column 14. By adjusting the angle of support arm 2 18, the support height of support arm 1 22 can be adjusted to meet the needs of material lifting. A lifting adjustment cylinder 16 is provided on the side wall of column 14 to drive support arm 2 18 to move up and down. A rotary joint 1 23 is provided at the other end of support arm 2 18. The lifting adjustment cylinder 16 can provide driving force for the height adjustment of support arm 2 18. The included angle between support arm 1 22 and support arm 2 18 can be fully folded for storage to reduce the floor space.

[0036] Support arm 22 is rotatably mounted on rotary joint 23. A brake 24 is provided at the connection between support arm 22 and support arm 18, which can clamp and position to maintain the stability of the support arm during the conveying process. The other end of support arm 22 is provided with pallet gripper 20. The pallet gripper 20 is a side-insertion positioning structure, which can be fixed and supported by inserting into the pallet insert block 30 below the mounting bracket 29, thereby ensuring the stability of the pallet during the conveying process.

[0037] The drive unit 17 is located on one side of the work platform 13. The bottom surface of the work platform 13 is equipped with drive wheels. The drive unit 17 is equipped with a power supply battery. It works in conjunction with the high-pressure air source in the factory, the pallet gripper 20, the brake 24 and the lifting adjustment cylinder 16 to meet production needs. A handle is provided on one side of the drive unit 17 to assist the movement of the equipment. The handle can be used to control the movement of the equipment-assisted robotic arm 1. The combination of the above components constitutes the assisted robotic arm 1, which can meet the relevant needs in the maintenance process of the armored vehicle.

[0038] The conveyor trolley 4 has multiple mounting brackets 29 on its top surface to accommodate the mounting trays. The mounting brackets 29 are located on the top surface of the conveyor trolley 4 and can be used to install and fix the trays. The number of brackets can be adjusted according to the model of the vehicle being maintained. The top of the conveyor trolley 4 has multiple through holes for fixing the mounting trays. Below the mounting brackets 29, there are tray inserts 30. The tray inserts 30 are side-mounted and can be inserted and fixed with the tray grippers 20. Through the positioning method of the tray inserts 30 and the mounting brackets 29, the conveyor trolley 4 and the power-assisted robot can be positioned and clamped, preventing parts from falling off and being damaged or causing personal injury, thus improving the safety of the operation.

[0039] During operation, the operator identifies the corresponding maintenance component based on the vehicle model to be maintained and transfers the specific maintenance component to the transport trolley 4 for installation and positioning. Then, the auxiliary robotic arm 1 is adjusted to drag the transport trolley 4 to the turret support 3. After confirming the specific position of the transport trolley 4, the operator secures the transport trolley 4 and the work platform 13 to prevent movement during maintenance and improve operational safety. Then, the auxiliary handle 21 is pulled to move the pallet gripper 20 into the corresponding pallet insert 30, thereby lifting the component on the pallet for assisted installation and positioning. During the adjustment process, the position of the pallet gripper 20 is adjusted by controlling the handle 19 and the auxiliary handle 21. Finally, the corresponding component is placed into the corresponding position inside the vehicle for disassembly and assembly. During this process, the drive unit 17 provides power for the equipment operation. Through the cooperation of the air source in the workshop, the lifting adjustment cylinder 16, and the brake 24, the position adjustment of heavier components during vehicle maintenance is realized. Combined with the operator's disassembly and installation, the entire vehicle turret maintenance process is finally completed.

[0040] In another embodiment, a plug-in seat 28 is provided at the top center of the mounting bracket 29, and a positioning protrusion corresponding to the position of the plug-in seat 28 is provided on the tray. When disassembling or assembling the corresponding tray, the plug-in seat 28 and the positioning protrusion can cooperate to achieve quick positioning and reduce the difficulty of disassembly and assembly. At the same time, both the mounting bracket 29 and the tray are provided with preset holes, which can be further fixed by external bolts when the equipment is not in use, thereby preventing the equipment from falling off the conveyor trolley 4.

[0041] In another embodiment, the mounting bracket 29 is symmetrically provided with positioning pieces 27 on its side, and the mounting bracket 29 is provided with positioning holes 26. The top surface of the conveying trolley 4 is provided with positioning posts 25 corresponding to the positions of the positioning holes 26. The top of the positioning piece 27 is provided with a chamfered structure, which can guide the positioning process through the contact between the tray and the positioning piece 27, ensuring the accuracy of lateral positioning, thereby further reducing the positioning difficulty and improving the efficiency of disassembly and assembly.

[0042] In another embodiment, a guardrail chain 6 is provided on the side wall of the conveyor trolley 4. The guardrail chain 6 can be hung up for protection when the equipment moves, so as to avoid damage caused by collision between the parts of the conveyor trolley 4 during the movement.

[0043] In another embodiment, a control handle 19 is provided above the support arm 22. The control handle 19 is located on the end face of the support arm 22. Its purpose is to facilitate personnel to adjust and position the support arm during operation. By pulling the control handle 19, the position of the pallet gripper 20 can be adjusted to improve the movement efficiency.

[0044] In another embodiment, an auxiliary handle 21 is provided above the pallet gripper 20. The auxiliary handle 21 is used to further adjust the position of the pallet gripper 20 so that it can be inserted into the corresponding mounting bracket 29 on the conveyor trolley 4, thereby moving and adjusting the assembled parts.

[0045] In another embodiment, the end of the transport trolley 4 is provided with a traction bracket 11. The design of the traction bracket 11 enables the transport trolley 4 to be towed and its position adjusted by an external mobile device.

[0046] In another embodiment, the drive unit 17 is provided with an air reel 15 on its side wall. The air reel 15 is used in conjunction with a high-pressure air source in the factory to realize the delivery of power air source. In order to avoid the gas delivery pipes from falling on the ground and affecting the operation, the air reel 15 is designed to wind up and position the gas delivery pipes.

[0047] In another embodiment, a brake 24 is provided at the bottom of the column 14. The brake 24 adopts a friction clamping structure for braking and can be used to position the rotation angle of the column 14 to ensure safety during operation.

[0048] In another embodiment, the transport trolley 4 is sequentially equipped with a firing device tray 5, a breech tray 7, a traverse gear tray 8, an elevation gear motor tray 9, and an elevation gear reducer tray 10. By setting various vehicle maintenance-related components on the trays, comprehensive vehicle maintenance can be achieved. At the same time, the corresponding components can be adjusted and replaced in the equipment warehouse according to different vehicle models, further improving the stability of the maintenance operation process.

[0049] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A mobile assisted robotic arm and pallet gripper, characterized in that: include: The work platform (13) is rotatably mounted on the top of the work platform (13), and a column (14) is provided on the top of the rotatable joint (12). Support arm 2 (18) is rotatably mounted above column (14) at one end. The side wall of column (14) is provided with a lifting adjustment cylinder (16) that drives support arm 2 (18) to move up and down. The other end of support arm 2 (18) is provided with a rotary joint 1 (23). Support arm 1 (22) is rotatably mounted on rotary joint 1 (23), and the other end of support arm 1 (22) is provided with tray gripper (20). A drive unit (17) is provided on one side of the work platform (13), and the bottom surface of the work platform (13) is provided with drive wheels; The conveying trolley (4) has multiple mounting brackets (29) above it that cooperate with the mounting tray, and a tray insert (30) is provided below the mounting brackets (29).

2. The mobile power-assisted robotic arm and pallet gripper according to claim 1, characterized in that: A plug-in socket (28) is provided at the top center of the mounting bracket (29), and a positioning protrusion corresponding to the position of the plug-in socket (28) is provided on the tray.

3. The mobile power-assisted robotic arm and pallet gripper according to claim 1, characterized in that: The mounting bracket (29) has symmetrically provided positioning pieces (27) on its side, and a positioning hole (26) is provided on the mounting bracket (29). A positioning post (25) corresponding to the position of the positioning hole (26) is provided on the top surface of the conveying trolley (4).

4. The mobile power-assisted robotic arm and pallet gripper according to claim 1, characterized in that: The side wall of the conveying trolley (4) is provided with guardrail chains (6).

5. The mobile power-assisted robotic arm and pallet gripper according to claim 1, characterized in that: A control handle (19) is provided above the first arm (22).

6. The mobile power-assisted robotic arm and pallet gripper according to claim 1, characterized in that: An auxiliary handle (21) is provided above the pallet gripper (20).

7. The mobile power-assisted robotic arm and pallet gripper according to claim 1, characterized in that: The end of the conveying trolley (4) is provided with a traction bracket (11).

8. The mobile power-assisted robotic arm and pallet gripper according to claim 1, characterized in that: The drive unit (17) has an air reel (15) on its side wall.

9. The mobile power-assisted robotic arm and pallet gripper according to claim 1, characterized in that: The bottom of the column (14) is provided with a brake (24).

10. The mobile power-assisted robotic arm and pallet gripper according to claim 1, characterized in that: The conveying trolley (4) is provided with a firing device tray (5), a breech tray (7), a steering gear tray (8), an elevation and slack motor tray (9), and an elevation and slack reducer tray (10) in sequence.

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