Power-assisted robot arm with automatic balancing function

Abstract

The utility model relates to the technical field of power -assisted mechanical arm discloses a power -assisted mechanical arm with automatic balance function. It aims at solving the technical problem that the operating space of the pipe piece internal assembly area operation platform is limited in the prior art, and the operator needs to hold the pneumatic wrench to adjust the posture and tighten a large number of bolts, which not only consumes more physical strength, but also has certain personal safety risk. The utility model includes bottom guide rail, the sliding type installation stand column on bottom guide rail, the rotary column is rotatably installed on the upper portion of stand column, and the rotary column top installs long connecting rod and short connecting rod. The long connecting rod is installed with the short connecting rod joint, the joint installs the curved arm, the curved arm end installs the articulated support, and the articulated support is fixedly connected with the pneumatic wrench. The cantilever is arranged on the left side of long connecting rod, and the fixed counterweight is installed at the end of cantilever. The utility model mechanism has high flexibility, has seven degrees of freedom position posture adjustment ability, and has large operation space, and can be suitable for operation under narrow space.

Claims

1. A power-assisted robotic arm with automatic balancing function, characterized in that: It includes a bottom guide rail, a column that is slidably mounted on the bottom guide rail, a rotating column that is rotatably mounted on the upper part of the column, and two hinge points that are vertically distributed on the top of the rotating column, on which a long connecting rod and a short connecting rod are respectively mounted, for the long connecting rod and the short connecting rod to rotate around the hinge points; The long connecting rod and the short connecting rod are connected to a joint on the right side via a damping pin. The right side of the joint is connected to a crank arm via a pin. The end of the crank arm is connected to a hinge bracket via a damping ball joint structure. The hinge bracket is fixedly connected to a pneumatic wrench for adjusting the posture of the pneumatic wrench relative to the crank arm. A cantilever is provided on the left side of the long connecting rod, and a fixed counterweight is installed at the end of the cantilever. A movable counterweight is provided on the lower side of the cantilever to balance the load on the right side of the rotating column.

2. The power-assisted robotic arm with automatic balancing function as described in claim 1, characterized in that: The movable counterweight is mounted on the lower side of the cantilever via an electric ball screw. The electric ball screw includes a drive motor, and the screw is mounted on the power output shaft of the drive motor. A screw nut is sleeved on the outside of the screw, and lugs are mounted on both sides of the screw nut. The movable counterweight is mounted below the lugs via a connecting rod for adjusting the torque generated by the movable counterweight.

3. The power-assisted robotic arm with automatic balancing function as described in claim 1, characterized in that: The lug mount is equipped with a lead screw nut via rollers, and the rollers are equipped with pins.

4. The power-assisted robotic arm with automatic balancing function as described in claim 1, characterized in that: The hinge bracket includes a fixed end for connecting a pneumatic wrench, and the fixed end is connected to the end of the crank arm via a damped ball joint.

5. The power-assisted robotic arm with automatic balancing function as described in claim 1, characterized in that: A first angle sensor is installed at the connection between the short connecting rod and the slewing column to monitor the angle α between the short connecting rod and the horizontal plane; a second angle sensor is installed at the connection between the joint and the crank arm to monitor the angle θ of the crank arm's rotation relative to the joint.

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