A pneumatic-assisted robotic arm for auxiliary handling

Abstract

This utility model belongs to the field of robotic arm technology and discloses a pneumatically assisted robotic arm for auxiliary handling, including a rotating column, a parallel arm, a balancing cylinder, an end arm, and a clamp. The rotating column is vertically fixed to the ground. One end of the parallel arm is hinged to the top of the rotating column, and the other end is connected to a rotating base. The balancing cylinder is connected between the rotating column and the parallel arm to control the pitch angle of the parallel arm. One end of the end arm is mounted on the rotating base, and the other end is rotatably connected to the clamp via a rotating shaft. The clamp includes a lifting rod, a handrail, a crossbeam, a gripper fixing rod, a cylinder support, an adjusting cylinder, a positioning cylinder, and a gear and rack rotating mechanism. This utility model, by setting up a rotating column, a parallel arm, a balancing cylinder, an end arm, and a clamp, enables the robotic arm to have high stability and perform operations such as levitation, rising, falling, and rotation, greatly improving the efficiency of bogie maintenance.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, specifically relating to a pneumatically assisted robotic arm for auxiliary handling. Background Technology

[0002] The bogie is a crucial component of urban rail vehicles, directly bearing the weight of the car body and ensuring smooth passage through curves. It also directly determines the vehicle's stability and ride comfort. Therefore, bogie maintenance is paramount. Due to their significant weight, bogie components require external assistance during maintenance. Traditional methods like overhead cranes, forklifts, or manual labor are inefficient, inconvenient, and risk damaging the components. Robotic arms, widely used in material handling, assembly, and packaging, significantly improve production efficiency and quality. Therefore, introducing assisted robotic arms for bogie lifting during maintenance can greatly enhance efficiency.

[0003] However, there are many types of existing robotic arms, most of which can only perform transfer within a certain range. When the bogie is being repaired, it needs to be able to move up and down, flip over, and transfer within a certain range. Existing robotic arms cannot meet these requirements, so improvements to the robotic arms are needed. Utility Model Content

[0004] The purpose of this utility model is to solve the problems in the background technology and provide a pneumatically assisted manipulator for material handling. This pneumatically assisted manipulator has good energy-saving effect and flexibility, and can also realize operations such as vertical movement, flipping, and transfer within a certain range.

[0005] The objective of this utility model is achieved through the following technical solution: A pneumatically assisted manipulator for material handling includes a rotating column, a parallel arm, a balancing cylinder, an end arm, and a clamp. The rotating column is vertically fixed to the ground. One end of the parallel arm is hinged to the top of the rotating column, and the other end is connected to a rotating base. The balancing cylinder is connected between the rotating column and the parallel arm to control the pitch angle of the parallel arm. One end of the end arm is mounted on the rotating base, and the other end is rotatably connected to the clamp via a rotating shaft. The clamp includes a boom, a handle, a crossbeam, a gripper fixing rod, a cylinder support, an adjusting cylinder, a positioning cylinder, and a gear and rack rotating mechanism. The boom is fixedly connected to the bottom end of the rotating shaft. The handle is mounted on the upper part of the boom. The crossbeam is horizontally mounted at the bottom of the boom, and its middle part is connected to the bottom end of the boom. The gripper... There are two sets of fixing rods. The two sets of clamping fixing rods are symmetrically and slidably installed at both ends of the crossbeam along the column. Clamping blocks for clamping workpieces are installed on the clamping fixing rods. The clamping blocks on the two sets of clamping fixing rods are arranged opposite each other. The clamping blocks can rotate on the clamping fixing rods through a gear and rack rotation mechanism, and the clamping blocks on the two sets of clamping fixing rods rotate on the same axis. The cylinder support is installed in the middle of the crossbeam between the two sets of clamping fixing rods. Adjustment cylinders that drive the clamping fixing rods to move closer or further apart along the crossbeam are respectively installed on both sides of the cylinder support. A positioning cylinder is installed at the end of the cylinder support away from the crossbeam. The piston rod of the positioning cylinder extends and retracts parallel to the direction of the clamping fixing rod. A prepositioning plate is installed at the end of the piston rod of the positioning cylinder. The prepositioning plate and the clamping blocks on the clamping fixing rods are triangularly distributed.

[0006] The handrail and the gripper fixing rod are located on both sides of the boom, and the handrail is equipped with an operating handle to control the rotation of the robotic arm.

[0007] Pneumatic brakes are installed on the rotating column, rotating base, and rotating shaft. The pneumatic brakes are normally closed brakes.

[0008] The gear and rack rotation mechanism includes a gear fixed on the clamping block, a tilting cylinder installed inside the clamping jaw fixing rod, a rack that meshes with the gear connected to the piston rod of the tilting cylinder, and a guide rail that limits the rack on the clamping jaw fixing rod. The working direction of the tilting cylinder, the length direction of the rack, and the direction of the guide rail are parallel.

[0009] Both the clamping block and the prepositioning plate are equipped with limiting blocks that are adapted to the workpiece contour.

[0010] The beneficial effects of the pneumatic-assisted robotic arm for auxiliary handling provided by this utility model are: (1) By setting up a rotating column, parallel arm, balance cylinder, end arm and clamp, the robotic arm has high stability and can perform operations such as suspension, rising, falling and rotating, which greatly improves the efficiency of bogie maintenance. (2) In addition, the operating handle is installed on the inside of the handrail, so that the staff can operate the robotic arm at the same time while holding the handrail to adjust the position, which greatly improves the convenience. (3) By setting up pneumatic brakes, the robot arm can be prevented from moving accidentally, thus improving the safety factor; (4) This scheme uses gas as the main power source, which has significant advantages in terms of energy consumption, adaptability, safety, flexibility and maintenance cost. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a structural schematic diagram of an embodiment of the present utility model.

[0013] Figure 2 This is a schematic diagram of the structure of the clamp according to an embodiment of the present utility model. Figure 1 .

[0014] Figure 3 This is a schematic diagram of the structure of the clamp according to an embodiment of the present utility model. Figure 2 .

[0015] Figure 4 This is a schematic diagram of the handrail structure according to an embodiment of the present utility model.

[0016] Figure 5 This is a schematic diagram of the gripper fixing rod according to an embodiment of the present invention.

[0017] Figure 6 The clamping fixture of this utility model is in use. Figure 1 .

[0018] Figure 7 The clamping fixture of this utility model is in use. Figure 2 .

[0019] The diagram shows the following components: 1. Rotating column; 2. Parallel arm; 3. Balancing cylinder; 4. Rotating seat; 5. Terminal arm; 51. Rotating shaft; 6. Clamp; 601. Lifting rod; 602. Handrail; 603. Operating handle; 604. Crossbeam; 605. Gripper fixing rod; 606. Clamping block; 607. Limiting block; 608. Cylinder support; 609. Adjusting cylinder; 610. Positioning cylinder; 611. Pre-positioning plate; 612. Gear and rack transmission mechanism; 613. Gear; 614. Tilting cylinder; 615. Rack; 616. Guide rail; 7. Pneumatic brake. Detailed Implementation

[0020] like Figures 1-7As shown, the pneumatically assisted manipulator provided in this embodiment includes a rotating column 1, a parallel arm 2, a balancing cylinder 3, an end arm 5, and a clamp 6. The rotating column 1 is vertically fixed to the ground, with its lower part fixed to the ground and its upper part able to rotate around the lower part. A brake pad is also provided at the lower part, which assists the pneumatic brake 7 in limiting the rotation of the rotating column 1. The pneumatic brake 7 is a normally closed brake to prevent the rotating column 1 from rotating freely. One end of the parallel arm 2 is hinged to the top of the rotating column 1, and the other end is connected to a rotating seat 4. The parallel arm 2 consists of two parallel support rods, which, together with the column and the rotating seat 4, form a parallelogram to maintain the horizontal state of the rotating seat 4. The balancing cylinder 3... Connected between the rotating column 1 and the parallel arm 2, it is used to control the pitch angle of the parallel arm 2. The balancing cylinder 3 is installed on the upper part of the rotating column 1 and rotates synchronously with the rotating column 1. One end of the terminal arm 5 is installed on the rotating seat 4, and the other end is rotatably connected to the clamp 6 through the rotating shaft 51. The rotating shaft 51 allows the clamp 6 to rotate freely horizontally. Brake pads and a pneumatic brake 7 are installed on the rotating seat 4 and the rotating shaft 51. The pneumatic brake 7 is a normally closed brake used to lock the position of the clamp 6 and prevent the clamp 6 from sliding. The clamp 6 includes a lifting rod 601, a handrail 602, a crossbeam 604, a gripper fixing rod 605, a cylinder support 608, an adjusting cylinder 609, a positioning cylinder 610, and a gear 613 and rack 615 rotating mechanism. The lifting rod The bottom end of the rotating shaft 51 is fixedly connected to the handle 601. The handle 602 is installed on the upper part of the boom 601. The crossbeam 604 is horizontally installed at the bottom of the boom 601, and the middle part of the crossbeam 604 is connected to the bottom end of the boom 601. There are two sets of gripper fixing rods 605. The two sets of gripper fixing rods 605 are symmetrically and slidably installed at both ends of the crossbeam 604 along the column. The handle 602 and the gripper fixing rods 605 are located on both sides of the boom 601, which allows sufficient distance between the operator and the workpiece. On the one hand, it is convenient to observe the whole situation. On the other hand, in case of a safety accident, it allows the operator reaction time. The handle 602 is equipped with an operating handle 603 to control the rotation of the robotic arm. The gripper fixing rods 605 are equipped with grippers for holding the workpiece. The clamping blocks 606 on the two sets of clamping jaw fixing rods 605 are arranged opposite each other. The clamping blocks 606 can rotate on the clamping jaw fixing rods 605 through a gear 613 and rack 615 rotation mechanism, and the clamping blocks 606 on the two sets of clamping jaw fixing rods 605 rotate coaxially. The gear 613 and rack 615 rotation mechanism includes a gear 613 fixed on the clamping block 606 and a tilting cylinder 614 installed inside the clamping jaw fixing rods 605. The piston rod of the tilting cylinder 614 is connected to a rack 615 that meshes with the gear 613. A guide rail 616 is installed on the clamping jaw fixing rods 605 to limit the movement of the rack 615. The working direction of the tilting cylinder 614, the length direction of the rack 615, and the direction of the guide rail 616 are parallel.The cylinder support 608 is installed in the middle of the crossbeam 604 between the two sets of gripper fixing rods 605. Adjustment cylinders 609 are installed on both sides of the cylinder support 608 to move the gripper fixing rods 605 closer together or further apart along the crossbeam 604. After the two clamping blocks 606 clamp the workpiece under the action of the adjustment cylinders 609, the rack 615 is moved by the tilting cylinder 614. The rack 615 cooperates with the gear 613 to rotate the workpiece 180°. The end of the cylinder support 608 away from the crossbeam 604 is equipped with... The system is equipped with a positioning cylinder 610. The piston rod of the positioning cylinder 610 extends and retracts parallel to the direction of the gripper fixing rod 605. A pre-positioning plate 611 is installed at the end of the piston rod of the positioning cylinder 610. The pre-positioning plate 611 and the clamping blocks 606 on the gripper fixing rod 605 are triangularly distributed. After the workpiece is flipped, the pre-positioning plate 611 positions the workpiece to prevent it from shaking and improves stability. To further adapt to the workpiece, both the clamping blocks 606 and the pre-positioning plate 611 are equipped with limiting blocks 607 that are adapted to the contour of the workpiece.

[0021] This solution primarily uses compressed air as a power source, enabling it to move freely in three-dimensional space. It is essentially an extension of the hand, exhibiting exceptional flexibility compared to electric and hydraulic robotic arms.

[0022] The method of using this utility model is as follows: (1) Start-up preparation: check the air supply pressure and clear the movement path of the robotic arm.

[0023] (2) Load gripping: The operator holds the handle 602, unlocks and starts the brake through the operating handle 603, and moves the clamp 6 to the workpiece position. Then, the operator uses the operating handle 603 to retract the adjusting cylinder 609, which drives the clamping blocks 606 on the clamping claw fixing rod 605 to move closer together and clamp the workpiece. Then, the operator controls the positioning cylinder 610 to extend, and the positioning cylinder 610 drives the positioning plate to contact the workpiece, forming a three-point fixation, which is used to improve the stability of the workpiece during movement.

[0024] (3) Handling and assembly: Then press the up button, the balance cylinder 3 works, and the lever is used to share the weight of the workpiece, so that the operator can easily move the workpiece to the corresponding position by holding the handle 602. The balance cylinder 3 compensates for the load of the workpiece, which makes it easier for the operator to move. If the workpiece needs to be flipped, the operator first controls the positioning cylinder 610 to retract through the operating handle 603, so that the prepositioning plate 611 is separated from the workpiece. Then the flipping cylinder 614 works. The flipping cylinder 614 drives the gear 613 to rotate through the rack 615, so that the workpiece rotates 180° on the two clamping blocks 606 brackets. Finally, the assembly is carried out.

[0025] With the pneumatic brake 7 in place, the workpiece will not shift even if the operator releases their hands, ensuring flexibility and making assembly more convenient.

[0026] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications and substitutions based on the technical solutions and inventive concepts provided by the present invention should be covered within the scope of protection of the present invention.

Claims

1. A pneumatic power-assisted manipulator arm for assisting in carrying, characterized by: The device includes a rotating column (1), a parallel arm (2), a balancing cylinder (3), a terminal arm (5), and a clamp (6). The rotating column (1) is vertically fixed to the ground. One end of the parallel arm (2) is hinged to the top of the rotating column (1), and the other end is connected to a rotating seat (4). The balancing cylinder (3) is connected between the rotating column (1) and the parallel arm (2) to control the pitch angle of the parallel arm (2). One end of the terminal arm (5) is mounted on the rotating seat (4), and the other end is rotatably connected to the clamp (6) through a rotating shaft (51). The clamp (6) includes a lifting rod. (601), handrail (602), crossbeam (604), gripper fixing rod (605), cylinder support (608), adjusting cylinder (609), positioning cylinder (610), and gear (613) rack (615) rotating mechanism. The boom (601) is fixedly connected to the bottom end of the rotating shaft (51). The handrail (602) is installed on the upper part of the boom (601). The crossbeam (604) is horizontally installed at the bottom of the boom (601), and the middle part of the crossbeam (604) is connected to the bottom end of the boom (601). There are two sets of gripper fixing rods (605). The clamping jaw fixing rods (605) are symmetrically and slidably installed at both ends of the crossbeam (604) along the column. Clamping blocks (606) for clamping workpieces are installed on the clamping jaw fixing rods (605). The clamping blocks (606) on the two sets of clamping jaw fixing rods (605) are arranged opposite to each other. The clamping blocks (606) can rotate on the clamping jaw fixing rods (605) through a gear (613) and rack (615) rotation mechanism, and the clamping blocks (606) on the two sets of clamping jaw fixing rods (605) rotate coaxially. The cylinder support (608) is installed on the crossbeam between the two sets of clamping jaw fixing rods (605). In the middle of 604, on both sides of the cylinder support (608), there are adjustment cylinders (609) that drive the gripper fixing rod (605) to move closer or further away from each other along the crossbeam (604). A positioning cylinder (610) is installed at the end of the cylinder support (608) away from the crossbeam (604). The piston rod of the positioning cylinder (610) extends and retracts in the direction parallel to the gripper fixing rod (605). A prepositioning plate (611) is installed at the end of the piston rod of the positioning cylinder (610). The prepositioning plate (611) and the clamping block (606) on the gripper fixing rod (605) are triangularly distributed.

2. The pneumatic assist robotic arm for assisting in carrying according to claim 1, characterized in that: The handrail (602) and the gripper fixing rod (605) are located on both sides of the boom (601), and the handrail (602) is equipped with an operating handle (603) for controlling the rotation of the robotic arm.

3. The pneumatic assist robotic arm for assisting in carrying according to claim 1, wherein: Pneumatic brakes (7) are installed on the rotating column (1), rotating seat (4) and rotating shaft (51). The pneumatic brakes (7) are normally closed brakes.

4. The pneumatic assist robotic arm for assisting in carrying according to claim 1, wherein: The gear (613) and rack (615) rotating mechanism includes a gear (613) fixed on a clamping block (606), a tilting cylinder (614) installed inside a gripper fixing rod (605), a rack (615) connected to the piston rod of the tilting cylinder (614) and meshing with the gear (613), and a guide rail (616) installed on the gripper fixing rod (605) to limit the rack (615). The working direction of the tilting cylinder (614), the length direction of the rack (615) and the direction of the guide rail (616) are parallel.

5. The pneumatic assist robotic arm for assisting in carrying according to claim 1, wherein: Both the clamping block (606) and the prepositioning plate (611) are equipped with limiting blocks (607) that are adapted to the contour of the workpiece.

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