CN108406747B

CN108406747B - Power-assisted mechanical arm

Info

Publication number: CN108406747B
Application number: CN201810240803.2A
Authority: CN
Inventors: 张学成; 于立娟; 姜冬梅; 郭新旭
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2018-03-22
Filing date: 2018-03-22
Publication date: 2021-02-05
Anticipated expiration: 2038-03-22
Also published as: CN108406747A

Abstract

The invention relates to a power-assisted manipulator, belonging to the field of mechanical engineering and solving the problems that the carrying speed and the force of the manipulator cannot be controlled manually, and workpieces with large mass and unequal volume are difficult to load and unload, wherein the power-assisted manipulator comprises: the arm is provided with a first locking piece; the adapter is hinged with the arm through an X-direction hinged shaft, so that the arm rotates around the X-direction hinged shaft; the locking mechanism is detachably fixed on the adapter; when the arm rotates around the X-direction hinge shaft to be tightly attached to the adapter, the locking mechanism is locked with the first locking piece, so that the arm is fixedly connected with the adapter; the connecting piece is hinged with the adapter piece through a Z-direction hinge shaft, so that the adapter piece and the arm which are fixedly connected rotate around the Z-direction hinge shaft simultaneously; and the lifting driving mechanism is connected with the connecting piece and is used for driving the connecting piece, the adapter piece and the arm to move along the Z direction. The device has simple structure, convenient operation and strong function, and has the effect of lifting weight if light when carrying heavy objects.

Description

Power-assisted mechanical arm

Technical Field

The invention relates to the field of tools for industrial production in mechanical engineering, in particular to a power-assisted manipulator.

Background

In the conventional conveying mode, if workpieces which are difficult to convey are encountered, several persons are required to convey the workpieces at the same time, and a long time is required to be spent if the distance is long. These matters bring about waste of manpower and material resources for us, and finally increase the cost more. The robot has been widely used as a carrying tool in industrial production. Most manipulators are specialized tools, essentially only work devices that perform a certain function or functions, and which operate in accordance with a fixed program. The general manipulator is mostly a device with quite intelligence, generally needs quite high-level intelligent software and a control system to work, and has the defects of high cost and low reliability. Even the higher intelligence is not to the extent of human. In industrial production, loading and unloading of workpieces with larger mass are often encountered, and special placement positions, such as too high, too low, too deep, too far and the like, are also encountered. If the professional manipulators are adopted, the resources and the cost are greatly wasted; if all adopt general intelligent manipulator, can't satisfy specific needs.

The power-assisted manipulator is a novel power-assisted tool which is used for labor-saving operation during material carrying and installation. The operator can correctly place the heavy object at any position in the space by operating the handle with hands. Because the manipulator has the characteristics of simplicity, intuition, convenience in operation, safety, high efficiency and the like, the power-assisted manipulator is widely applied to the occasions of material transfer, high-frequency carrying, positioning, component assembly and the like in the modern industry. The function of the power-assisted manipulator is remarkable from the receiving of raw materials and materials to the material flowing process such as processing, production, storage and distribution. The corresponding material transferring method and means are correctly used, and the method and the device greatly improve the health and safety of operators on the heavy object transferring and carrying site in various industries, further improve the reasonability of operation, save labor force, improve the production efficiency, guarantee of product quality and the like.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a power-assisted manipulator, wherein an arm comprises a large joint arm, a small joint arm and a clamping assembly which are hinged, the arm moving in a plane is connected with a lifting driving mechanism through a motion connecting mechanism, a force sensing handle is arranged on the arm to sense the Z-direction force exerted on the arm, and the aim of lifting if the weight is light is achieved by controlling the lifting driving mechanism to move.

The large joint arm of the oblique beam structure is provided with a cavity part, and the cavity part can accommodate the small joint arm and the clamping assembly, so that the occupied space of the manipulator is reduced, and the manipulator is convenient to accommodate.

The technical scheme adopted by the invention for solving the technical problem is as follows:

a power assist manipulator, comprising:

the arm, including big joint arm, little joint arm and centre gripping subassembly, the both ends of little joint arm respectively through the hinge with the one end of centre gripping subassembly, big joint arm is articulated: wherein the large joint arm is provided with a first locking piece;

the adaptor is hinged with the other end of the large joint arm through an X-direction hinged shaft, so that the large joint arm rotates around the X-direction hinged shaft;

the locking mechanism is fixed on the adapter; when the large joint arm rotates around the X-direction hinge shaft to be tightly attached to the adapter, the locking mechanism is locked with the first locking piece, so that the large joint arm is fixedly connected with the adapter;

the connecting piece is hinged with the adaptor through a Z-direction hinge shaft, so that the adaptor and the arm which are fixedly connected rotate around the Z-direction hinge shaft simultaneously;

the lifting driving mechanism is connected with the connecting piece and is used for driving the connecting piece, the adapter piece and the arm to move along the Z direction;

the force sensing handle is fixed on the arm and used for detecting the magnitude and the direction of the Z-direction force exerted on the force sensing handle;

a control system electrically connected to the force sensing handle and the lift drive mechanism;

when Z to the power response handle applys Z to power, power response handle detects the size, the direction of Z to power, control system receives power response handle's signal, and control lift actuating mechanism removes, the direction of removal is the same with Z to power, the speed of removal with the size of Z to power is positive correlation.

Preferably, the large joint arm is an oblique beam component, and a hollow part for accommodating the small joint arm and the clamping component is arranged on the large joint arm;

the small joint arm is provided with a first bolt hole, and the large joint arm is provided with a second bolt hole; when the small joint arm and the clamping assembly are accommodated in the hollow part, the first pin hole and the second pin hole are coaxial; and

and the pins are inserted into the first pin holes and the second pin holes which are coaxial and used for locking the large joint arm and the small joint arm.

Preferably, the locking mechanism includes:

the stud is in threaded connection with the adapter;

the cam is sleeved on the stud and rotates around the stud;

wherein, the radial direction of the cam is provided with a spiral curved surface, and the first locking piece is a slotted hole;

when the arm rotates around the X-direction hinge shaft to be tightly attached to the adapter, the cam is positioned right above the slotted hole, the cam rotates around the stud, and the spiral curved surface locks the slotted hole;

when the spiral curved surface slides out of the slotted hole, the large joint arm, the small joint arm and the clamping assembly rotate around the X-direction articulated shaft until being parallel to the Z direction.

Preferably, the helical curved surface has a lead angle of not more than 3 degrees.

Preferably, the clamping assembly comprises:

the shell is of an axisymmetric structure and is hinged to the small joint arm through a hinge;

the clamping petals are symmetrical along the symmetry axis of the shell and hinged in the shell through a first hinge, and the clamping petals do rotary motion relative to the shell around the first hinge;

the pair of linear guide rails are symmetrically fixed on the clamping flaps along the symmetry axis;

a pair of first sliders which are symmetrical along the symmetry axis and are slidably connected to the linear guide rail, the first sliders sliding along the linear guide rail;

the sliding block connecting block is provided with a central through hole and is symmetrical along the symmetry axis; the pair of first sliding blocks are respectively hinged to two sides of the sliding block connecting block through second hinges;

the first lead screw is superposed with the symmetry axis and fixed in the shell through a bearing;

the first nut is rotationally connected with the first lead screw, fixed in the central through hole and used for converting the rotary motion of the first lead screw into the linear motion of the sliding block connecting block;

the servo motor is connected with the first lead screw through a first synchronous belt mechanism and is used for driving the first lead screw to rotate;

the center distance between the two second hinges is larger than that between the two first hinges, and the connecting line of the two second hinges is parallel to that of the two first hinges.

Preferably, a groove is fixed on the inner surface of the housing, and the end of the force sensing handle remote from the handle is fixed in the groove.

Preferably, the elevation driving mechanism includes:

the nut of the screw-nut pair is fixedly connected with the connecting piece and is used for converting the rotary motion of the screw into the linear motion of the connecting piece;

the slide block of the guide rail slide block mechanism is fixedly connected with the connecting piece and used for guiding the connecting piece to linearly move along the guide rail;

wherein the guide rail and the lead screw are parallel to the Z direction;

the servo motor is in transmission with the lead screw through a synchronous belt mechanism and is used for driving the lead screw to rotate;

a support parallel to the Z-direction; wherein the cross section of the support frame is U-shaped, and rib plates are additionally arranged around the support frame;

the guide rail is fixed on the support frame through a filler strip, the lead screw is fixed on the support frame through a bearing, and the bottom surface of the support frame is fixed on the ground or supported on the ground through a pulley.

Preferably, the clamping flap is provided with a positioning spigot for installing and replacing different tools.

Preferably, the inner side of the clip flap is inlaid with a frictional resistance member.

Preferably, the small joint arm is provided with a through slot hole.

The invention has the beneficial effects that: 1. the power-assisted manipulator only expands the force application capability of hands, controls the state and the position by depending on the intelligence of people, and does not need extremely complicated artificial intelligence. 2. The device is particularly suitable for the occasions where the size, the shape, the weight, the mounting position and the posture of the workpiece are changed frequently, so that the working position of the workpiece on the machine equipment is changed, including the loading and unloading process, and the device is simple, convenient, time-saving and labor-saving. 3. The force application size of the hand is automatically sensed, and the moving speed of the workpiece is automatically increased or decreased according to the force application size. 4. According to the needs, the support of manipulator can move the position in three-dimensional space to expand application range.

Drawings

Fig. 1 is an overall configuration diagram of a booster robot according to the present invention.

Fig. 2 is an overall configuration diagram of the booster robot of the present invention.

Fig. 3 is an overall structural view of the clamping assembly of the present invention.

Figure 4 is a front cross-sectional view of the clamping assembly of the present invention.

Figure 5 is a side cross-sectional view of the clamping assembly of the present invention.

Fig. 6 is an overall configuration diagram of the small joint arm of the present invention.

Figure 7 is a front view of the small articulated arm of the invention.

Fig. 8 is an overall structural view of the large joint arm of the present invention.

Figure 9 is a partial cross-sectional view of the large joint arm of the present invention.

Fig. 10 is a schematic view of the connection between the adaptor and the connector in the kinematic coupling mechanism of the present invention.

FIG. 11 is a cross-sectional view of an adapter and a connector of the kinematic coupling of the present invention.

Fig. 12 is an overall structural view of a locking mechanism in the kinematic coupling mechanism of the present invention.

FIG. 13 is a cross-sectional view of the locking mechanism of the kinematic coupling of the present invention.

Fig. 14 is an overall configuration diagram of the elevation drive mechanism of the present invention.

Fig. 15 is a sectional view of the lift drive mechanism of the present invention.

FIG. 16 is a cross-sectional view of the force sensing handle of the present invention.

Figure 17 is a cross-sectional view of the booster robot of the present invention.

Fig. 18 is a partially enlarged view of fig. 17.

Fig. 19 is a view showing a storage state of a small joint arm of the power manipulator of the present invention.

FIG. 20 is a vertical cross sectional view of an arm of the power manipulator of the present invention.

FIG. 21 is a block diagram of the slot of the force sensing handle of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

Fig. 1, 17 and 18 show a power-assisted manipulator, which is located in an X-Y-Z three-dimensional coordinate system (Z represents a gravity direction, and an XY plane simulates a horizontal plane), and includes an arm 100, a motion connection mechanism 200, a lifting driving mechanism 300, a force-sensing handle 400 and a control system, wherein the motion connection mechanism 200 is respectively connected to the arm 100 and the lifting driving mechanism 300, the lifting driving mechanism 300 drives the arm 100 to move up and down along a Z direction through the motion connection mechanism 200, the force-sensing handle 400 is fixed on the arm 100, when an upward acting force is applied to the handle 410, the arm 100 automatically moves up along with the arm, and vice versa, so as to achieve an effect of overcoming the action of gravity.

The arm 100 is provided with a first locking member; as shown in FIG. 2, the arm 100 includes a clamp assembly 110, a facet joint arm 120, a macro joint arm 130, a facet joint hinge 140, and a macro joint hinge 150. As shown in fig. 3, the clamping assembly 110 is used for clamping a workpiece and has a connection hole 117. As shown in fig. 6-7, the small joint arm 120 is a flat beam member, and a first circular hole 121 and a second circular hole 122 are formed at two ends of the flat beam member. As shown in fig. 8-9, the large joint arm 130 is a sloping beam member, one end of the sloping beam member is provided with a third round hole 131, the central axis of the third round hole is parallel to the Z direction, the other end of the sloping beam member is provided with a fourth round hole 132, the central axis of the fourth round hole 132 is perpendicular to the Z direction, and a rectangular groove 133 is formed at the upper part of the fourth round hole 132. Further, the connecting hole 117, the facet joint hinge 140 and the first circular hole 121 form a hinge mounting pair, so that the clamping assembly 110 rotates around the facet joint hinge 140, and the facet joint hinge 140 is parallel to the Z direction. Further, the second round hole 122, the large joint hinge 150 and the third round hole 131 form a hinge mounting pair, so that the small joint arm 120 and the clamping component 110 synchronously rotate around the large joint hinge 150, and the rotation around the large joint hinge 150 is parallel to the Z direction. The arm 100 can freely rotate around the facet joint hinge 140, the macro joint hinge 150 and the hinge 230, and can move in three degrees of freedom in the XY plane, so that the moving range of the arm 100 is larger.

Referring to fig. 10, 17 and 18, kinematic coupling 200 includes: a transverse hinge 210, an adaptor 220, a hinge 230, a connector 240 and a locking mechanism 250. Referring to fig. 11, the adaptor 220 includes: hinge inner mounting hole 221, threaded hole 222, hinge mount 223. The connection member 240 includes: a through hole 241, a slider connecting block 242, and a hinge outer mounting hole 243.

Adaptor 220 is the cuboid structure, and its long limit is on a parallel with the Z to, mounting hole 221 symmetry is seted up on the both ends face that is perpendicular to the Z to in two hinges, screw hole 222 is seted up on adaptor 220 towards the terminal surface upper portion of arm 100, hinge mount pad 223 is seted up at adaptor 220 towards the terminal surface bottom of arm 100. The transverse hinge 210, the hinge mounting seat 223 and the fourth round hole 132 on the arm 100 form a hinge mounting pair, so that the arm 100 rotates around the transverse hinge 210, and the rotation range of the arm 100 is as follows: the arm 100 rotates around the hinge axis in the X direction until the arm 100 abuts against the adaptor 220, and the arm 100 is perpendicular to the Z axis (see fig. 19); the arm 100 pivots about the X-axis hinge axis to be parallel to the Z-axis (see fig. 20). Wherein, the transverse hinge 210 is parallel to the X direction, and the arm can rotate around the X direction.

The locking mechanism 250 is fixed on the threaded hole 222 of the adapter 220 in a threaded manner; when the arm rotates around the hinge axis in the X direction to be close to the adaptor 220, the locking mechanism 250 is locked with the first locking member, so that the arm 100 is fixedly connected with the adaptor 220;

the slider connecting block 242 of the connecting member 240 is composed of a vertical plate 242a and two horizontal plates 242b, the vertical plate 242a is parallel to the Z direction, the horizontal plate 242b is perpendicular to the Z direction, one end of the two horizontal plates 242b is fixed on the vertical plate 242a, the distance between the two horizontal plates 242b is slightly larger than the length of the adaptor 220, the adaptor 220 is placed between the two horizontal plates 242b, hinge outer mounting holes 243 are formed in the positions, corresponding to the hinge inner mounting holes 221, of the two horizontal plates 242b, a hinge outer mounting hole 243 and a hinge 230 form a hinge mounting pair, so that the adaptor 220 rotates around the hinge 230, and the arm 100 also rotates synchronously with the adaptor 220. Wherein the hinge 230 is parallel to the Z-direction, enabling the arm 100 to rotate around the Z-direction. Further, a protection plate is arranged between the adaptor 220 and the vertical plate 242a, and a gap is formed between the protection plate and the adaptor 220, so that interference is prevented when the adaptor 220 rotates. Preferably, one end of the adaptor 220 facing the protection plate is a smooth arc structure, so as to further avoid interference when the adaptor 220 rotates.

The lifting driving mechanism 300 is connected with the through hole 241 of the connecting member 240, drives the connecting member 240 to move up and down along the Z direction, and the adaptor 220 and the arm 100 move synchronously with the connecting member 240. The lifting driving mechanism adopts various modes such as electric driving or pneumatic driving to drive the connecting piece 240 to move along the Z direction, and devices capable of driving the connecting piece 240 to move all fall into the protection scope of the invention.

The force sensing handle 400 includes: the force detection device comprises a handle 410, an elastic element 420, a strain element 430 and a dumbbell-shaped through hole 440, wherein the elastic element 420, the strain element 430 and the dumbbell-shaped through hole 440 form a force detection sensor, one end of the elastic element 420 is fastened on the arm 100 in a threaded mode, and the other end of the elastic element 420 is fixedly connected with the handle 410 in a threaded mode. The elastic member 420 is a rectangular parallelepiped member, a dumbbell-shaped through hole 440 is formed in the middle of the rectangular parallelepiped member as shown in fig. 16, and two strain elements 430 are attached to the rectangular parallelepiped member, and further, attached to the outer surface of the rectangular parallelepiped member above both ends of the dumbbell-shaped through hole 440. The point is that the force detection sensing means senses the force in the Z direction of the force acting on the handle 410. When a Z-direction force is applied to the handle 410, the force detection sensor fixedly connected to the handle 410 through a screw thread senses the magnitude and direction of the force, so that a sensing signal is transmitted to the control system, and the control system controls the lifting speed and direction of the lifting driving mechanism 300. The control system is connected to the force detection sensor of the force sensing handle 400 and the lifting driving mechanism 300, when an acting force is applied to the handle 410, the force detection sensing device transmits a sensing signal to the information acquisition card of the control system, the signal is displayed on the computer, the driver of the control system is used for driving the moving speed of the lifting driving mechanism, the moving speed is closely related to the applied force, and the Newton's second law is basically met.

The arm 100 of the power-assisted manipulator of the embodiment can realize three types of motions, namely, up-down movement along the Z direction, rotation around the X direction and rotation around the Z direction, and the moving range of the arm 100 in the XY plane is large, so that the arm 100 can conveniently clamp a workpiece in the XY plane and clamp the workpiece to move up and down along the Z direction.

In another embodiment, the hollow portion 134 is formed in the oblique beam member of the large joint arm 130, and the hollow portion 134 has a volume capable of accommodating the small joint arm 120 and the clamping assembly 110. Further, a notch 123 is formed at an end of the small joint arm 120 close to the second circular hole 122 to ensure that the small joint arm 120 does not interfere with the hollow portion 134 when being folded. Figures 19 and 20 are schematic views of the facet arm 120 and clamp assembly 110 received into the cavity portion 134; further, the small joint arm 120 is provided with a first pin hole 124, the large joint arm 130 is provided with a second pin hole 135, and when the small joint arm 120 is received in the hollow portion 134, the first pin hole 124 and the second pin hole 135 are coaxial; and a latch 136, the latch 136 being inserted into the first latch hole 124 and the second latch hole 135, for locking the small articulated arm 120 in the hollow part 134 to prevent it from slipping out. The space that helping hand arm was deposited can be saved in the design of accomodating of this embodiment, is convenient for depositing of helping hand arm.

In another embodiment, as shown in fig. 12-13, the locking mechanism 250 comprises a cam 251, a sleeve 252, a stud 253, a handle 254 and a helical curved surface 255, wherein the cam 251 is provided with a central through hole, and the sleeve 252 is arranged in the central through hole and is coaxial with the central through hole; the stud 253 is sleeved in the sleeve 252, so that the cam 251 can rotate around the stud 253. Further, an external thread is formed at one end of the stud 253, the diameter of a nut at the other end of the stud 253 is larger than that of the central through hole, the external thread end of the stud 253 penetrates through the sleeve 252 and is in threaded connection with the threaded hole 222 on the adapter 220, the stud 253 is rotated until the cam 251 is attached to the adapter 220, further, a gap is formed between the cam 251 and the adapter 220, so that friction force between the cam 251 and the adapter 220 is prevented, and the resistance to rotation of the cam 251 is reduced; further, the cam 251 is radially provided with a spiral curved surface 255 and a handle 254, a central angle between the spiral curved surface 255 and the handle 254 is 90 degrees, the handle 254 is of a cylindrical structure, so that a person can grasp the cylindrical structure conveniently, an external force is applied to the handle 254, and the handle 254 drives the cam 251 to rotate around the stud 253. Further, as seen in fig. 18, the first locking member is a rectangular recess 133 that opens onto arm 100. When the arm 100 rotates around the transverse hinge 210 to abut against the adaptor 220, the locking mechanism 250 is located right above the rectangular groove 133, an external force is applied to the handle 254, the cam 251 rotates around the stud 253, the spiral curved surface 255 slides into the rectangular groove 133, the arm 100 is locked so as not to rotate around the transverse hinge 210, and the locked state of the arm 100 is shown in detail in fig. 18.

In another embodiment, the helical surface 255 has a lead angle of no greater than 3 ° to ensure self-locking. Preferably, the helix angle is 3 degrees. The locking mechanism 250 of the present embodiment functions as: when the arm 100 rotates around the transverse hinge 210 to be close to the adaptor 220, an external force and the handle 254 are applied, the cam 251 rotates around the stud 253 until the spiral curved surface 255 of the cam 251 slides into the rectangular groove 133, so that the arm 100 is locked and cannot rotate around the transverse hinge 210, the locked state of the arm 100 is shown in detail in fig. 18, the arm 100 and the motion connecting mechanism 200 are locked into a whole, and the lifting driving mechanism 300 drives the arm 100 and the motion connecting mechanism 200 which are locked into a whole to move up and down along the Z direction, so that the stable transmission is ensured, which is the locked working state of the locking mechanism. By manipulating the handle 254, as the portion of the helical curved surface 255 of the latch mechanism located in the rectangular recess 133 is gradually reduced, the transverse hinge 210 is rotated about the X-direction hinge axis until the helical curved surface 255 is completely separated from the rectangular recess 133, and the large joint arm 130 together with the small joint arm 120 and the clamp assembly 110 can be folded down to reduce the volume when stored, which is the release operation state of the latch mechanism (see fig. 20). The two working states do not change the working state unless human intervention is performed.

In another embodiment, fig. 3-4 illustrate one implementation of the clamping assembly, the clamping assembly 110 comprising: a housing 111, a clip 112, a clip drive unit 113, and a first hinge 114.

The shell 111 is a hollow structure symmetrical along a symmetry axis; the connection hole 117 is opened at one end of the housing 111. The pair of clamping flaps 112 are symmetrically arranged along the symmetry axis, one end of each clamping flap 112 extends into the shell 111 and is hinged in the shell 111 through a first hinge 114, and the other ends of the two clamping flaps 112 are used for clamping workpieces;

the clip flap driving unit 113 includes: the servo motor 113a, the timing belt mechanism 113b, the first lead screw nut pair 113c, the first slider 113d, the slider connecting block 113e, the linear guide pair 113f and the second hinge 113 g. A pair of linear guide rails 113f are symmetrically arranged on two sides of the symmetry axis and respectively fixed on the part of the clamping flap 112 extending into the shell 111; the pair of first sliders 113d are disposed on two sides of the symmetry axis, a sliding groove is formed in a side surface of the first slider 113d facing the linear guide 113f, and the linear guide 113f is disposed in the sliding groove, so that the first slider 113d slides along the linear guide 113 f. The sliding block connecting block 113e is symmetrical along the symmetry axis, one end of the sliding block connecting block 113e symmetrical along the symmetry axis is hinged to the other end of the first sliding block 113d through the second hinge 113g, and the other end of the sliding block connecting block 113e is hinged to the other end of the second first sliding block 113d through the second hinge 113 g. The sliding block connecting block 113e is provided with a central through hole; the first lead screw-nut pair 113c includes a first nut and a first lead screw rotatably connected to the first nut. Further, the first lead screw coincides with the symmetry axis, and two ends of the first lead screw are respectively fixed in the shell 111 through bearings; the first nut is fixed in the central through hole and used for converting the rotary motion of the first lead screw into the linear motion of the sliding block connecting block; the servo motor 113a is connected with the first lead screw through a synchronous belt mechanism 113b, and is used for driving the first lead screw to rotate.

The working process of the clamping assembly 110 of the present embodiment is as follows: the servo motor 113a rotates and is transmitted to the first lead screw through the synchronous belt mechanism 113b, the first lead screw rotates under the support of the bearing to drive the first nut to move linearly along the first lead screw, and meanwhile, the sliding block connecting block 113e moves synchronously with the first nut to drive the first sliding block 113d to move along the sliding groove of the linear guide rail pair 113f, so that the clamping flaps 112 are driven to open and close to clamp or release the workpiece.

In another embodiment, the force sensing handle 400 is secured to the clamp assembly 110 of the arm 100. As shown in fig. 21, the housing 111 has a hollow slot 118 and a through hole, the width of the slot 118 is equal to the width of the elastic member 420, when the elastic member 420 is placed in the slot 118, the elastic member 420 is fixed to the end wall of the slot 118 by a bolt, so that the elastic member 420 is reliably fixed in the housing 111; further, the handle 410 is fixedly connected to the elastic member 420 after passing through the through hole. The force sensing handle 400 fixed to the clamping assembly 110 in this embodiment is convenient for an operator to hold and work.

In another embodiment, see fig. 14-15, an implementation of the lifting drive mechanism 300 of the above embodiment is shown, which includes a support frame 310 and a drive unit 320. The support bracket 310 includes: big disc 311, anchor bolt hole 312, support plate 313, filler strip 314. The driving unit 320 includes: a servo motor 321, a synchronous belt mechanism 322, a lead screw nut pair 323 and a guide rail slide block mechanism 324.

As shown in fig. 15, a plurality of anchor bolt holes 312 are formed in the large disc 311, and bolts are fixed on a horizontal plane after passing through the anchor bolt holes 312, and are used for supporting the large disc 311 to be horizontal. The support plate 313 is a structural member with a U-shaped cross section, and the structural member is vertically fixed on the large circular disc 311, so that the length direction of the structural member is parallel to the Z direction, and further, a space for accommodating the screw nut assembly 323 and the guide rail slider mechanism 324 is provided inside the U-shaped structural member. The beads 314 are fixed to the inner wall of the support plate 313. A triangular rib plate is arranged in the U-shaped structure of the supporting plate to stabilize the supporting plate; in addition, the invention also comprises a protective device which comprises a protective component, a ground adapting component and the like. The protective components include retractable protective plates, non-retractable protective plates, protective plate chutes, adhesive buttons, motors, belt housings, and the like.

As shown in fig. 15, the driving unit 320 includes a servomotor 321, a timing belt mechanism 322, a lead screw nut pair 323, and a rail slider mechanism 324. The casing of the servomotor 321 is fixed to the support plate 313, and the torque and the rotational speed output therefrom are transmitted to the screw nut pair 323 via the timing belt mechanism 322.

As shown in fig. 18, the screw-nut pair 323 comprises a screw 323a and a nut 323b sleeved on the screw 323a, the upper end of the screw 323a is fixed in the support plate 313 through a bearing, and the lower end is suspended; further, the end of the screw 323a penetrating through the bearing is connected with a synchronous belt mechanism 322, and the synchronous belt mechanism 322 is connected with an output shaft of the servo motor 321, so as to ensure that the screw 323a rotates under the driving of the servo motor 321; further, the connecting piece 240 is sleeved on the screw 323a through the through hole 241, and the nut 323b is connected and fastened in the through hole 241, and the connecting piece 240 can move up and down and rotate along the screw 323 a; further, to limit the rotation of the connecting member 240 along the lead screw 323a, the slider connecting block 424 of the connecting member 240 is fixedly connected to the guide rail slider mechanism 324, and the guide rail slider mechanism 324 guides the connecting member 240 to move up and down and limits the connecting member 240 from rotating along the lead screw 323 a. The specific implementation form is shown in FIG. 18: the guide rail and slider mechanism 324 comprises a guide rail 324a and a slider 324b which are parallel to the Z direction, the slider 324b is provided with a sliding chute which is parallel to the Z direction, the inner diameter of the sliding chute is slightly larger than the outer diameter of the guide rail 324a, and the slider 324b is sleeved on the guide rail 324a and can move up and down along the guide rail 324 a; further, the guide rail 324a is fixed on the support plate 313 through the backing strip 314, so that the guide rail slider mechanism 324 is firmly connected to the support frame 310; further, the other end of the slider 324b is fixedly connected to the slider connecting block 424, and the connecting member 240 is limited by the slider 324b not to rotate along the lead screw 323a, but only to move up and down along the sliding groove. Importantly, the screw 323a is in threaded connection with the nut 323b, and when the screw 323a rotates, the nut 323b limited to rotate converts the rotation into a linear motion along the screw 323a, so as to drive the connecting member 240 fixed to the nut 323b to move linearly up and down.

The transmission process of the embodiment is as follows: the servo motor 321 outputs rotation speed and torque, the rotation speed and the torque are transmitted to the lead screw nut pair 323a through the synchronous belt mechanism 322, the lead screw nut pair 323a plays a role in converting the rotation motion of the servo motor 321 into linear motion, the guide rail slider mechanism 324 guides the lead screw nut pair 323a to move along the guide rail 324a in parallel to the Z direction, the connecting piece 240 connected with the nut 323b is driven to move along the Z direction, and the connecting piece 220 is used for driving the arm 100 to move along the Z direction.

In another embodiment, the side of the clamping flap 112 that holds the workpiece is provided with a friction material member 115 and an internal groove 116, and the friction material member 115 is made of rubber and fastened by a combination of mechanical method and bonding method to increase the friction between the clamping flap 112 and the workpiece. The internal profiled groove 116 is used for installing and replacing different tools. If plane lifting is needed, the tool is a plane piece which can be firmly positioned; if central lifting is needed, the tool is a member for installing a lifting tool.

In another embodiment, the small joint arm 120 is provided with a through slot 125, so as to reduce the weight of the small joint arm 120 and the resistance of the lifting driving mechanism 300 to drive the arm to move upwards.

In another embodiment, the anchor bolts in the previous embodiment are replaced by pulleys fixed at the bottom of a large disc, so that the power-assisted mechanical arm can move in a plane when needed.

The power-assisted mechanical arm has the following functions:

1. in the first function, the arm can freely rotate through the small joint hinge 140, the large joint hinge 150 and the hinge 230, so that the arm can move in three degrees of freedom in a plane. The hand-shaped clamping assembly 110 can reach any position on a sector area of not less than 180 degrees in a plane by taking the rotation center of the hinge 230 as a circle center and the maximum length of a combined body formed by the clamping assembly 110, the small joint arm 120 and the large joint arm 130 as a radius. 2. The second function is that the combination of the hand clamp assembly 110, the small articulated arm 120, and the large articulated arm 130 rotates about the center of rotation of the transverse hinge 210. The rotation direction is downward, the rotation is at the maximum angle of 90 degrees, the rotation condition is that the locking mechanism 250 is loosened, when the locking mechanism 250 is in a locking state, the combination body formed by the hand-shaped clamping component 110, the small joint arm 120 and the large joint arm 130 can be ensured to rotate around the transverse hinge 210, and further, the lifting driving mechanism 300 can drive the combination body to move up and down. When the locking mechanism 250 is released, the combination is allowed to rotate downward; as can be seen from the above, the assistive robotic arm of the present invention can achieve four degrees of freedom in space in x, y, z, C (the direction C is defined as rotation about the lateral hinge 230, the hinge 140, and the hinge 150). 3. In the XY plane, the hand-shaped clamping assembly 110 can freely move in the plane with the human hand without applying force under the condition of neglecting the inertia force, and the moving state of the hand-shaped clamping assembly is completely sensed by the human hand. However, in the z direction (i.e. the direction of gravity), in order to achieve the same effect as the planar motion, under the action of the force sensing handle 400 and the control system, when an upward force is applied to the handle 410, the lifting driving mechanism 300 drives the combined body to automatically follow the upward movement, and vice versa, the downward movement. The speed of movement is closely related to the force applied, essentially according to newton's second law, to overcome the effect of gravity.

While embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.

Claims

1. A power manipulator, comprising: the arm, including big joint arm, little joint arm and centre gripping subassembly, the both ends of little joint arm respectively through the hinge with the one end of centre gripping subassembly, big joint arm is articulated: wherein the large joint arm is provided with a first locking piece;

2. A power assisted manipulator according to claim 1, wherein the large articulated arm is a sloped beam member provided with a hollow portion for receiving the small articulated arm and the grip assembly;

3. A power manipulator according to claim 2, wherein said locking mechanism comprises:

the stud is in threaded connection with the adapter;

the cam is sleeved on the stud and rotates around the stud;

4. A booster robot as claimed in claim 3, wherein the helix angle of the helical curved surface is not more than 3 degrees.

5. A power assisted robot as claimed in claim 3 or claim 4, wherein the clamping assembly comprises:

a housing having an axisymmetric structure and hinged to the small joint arm by a hinge;

6. A power assisted manipulator according to claim 5, wherein the lift drive mechanism comprises:

wherein the guide rail and the lead screw are parallel to the Z direction;

7. A power-assisted manipulator according to claim 6, wherein the clamping flaps are provided with positioning spigots for mounting and replacing different tools.

8. The power robot of claim 7, wherein the inner side of the pinching flaps is embedded with a frictional resistance member.

9. The power assisted mechanical hand of claim 8, wherein the small articulated arm is provided with a through slot.