CN203843841U - Flexible mechanical power assisting arm - Google Patents
Flexible mechanical power assisting arm Download PDFInfo
- Publication number
- CN203843841U CN203843841U CN201320849607.8U CN201320849607U CN203843841U CN 203843841 U CN203843841 U CN 203843841U CN 201320849607 U CN201320849607 U CN 201320849607U CN 203843841 U CN203843841 U CN 203843841U
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- mechanical power
- connecting rod
- slew gear
- flexible mechanical
- grabbing device
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Abstract
The utility model relates to a flexible mechanical power assisting arm. The flexible mechanical power assisting arm is characterized in that a support column and a grabbing device are connected with each other by a connecting rod to form a lever balance mechanism, the support column is in control connection with a main rotary mechanism, a second rotary mechanism is arranged at a joint of the connecting rod and the grabbing device, and the main rotary mechanism and the second rotary mechanism form a secondary rotary mechanism; the secondary rotary mechanism is in control connection with a control box. The flexible mechanical power assisting arm has the advantages that a lever balance principle is adopted for the power assisting arm, the pressure of a cylinder is adjusted, accordingly, labor-saving operation effects can be realized, and the flexible mechanical power assisting arm can circularly move in all directions by the aid of three rotary joints, also can move within a certain angle as needed, can be directly erected on the ground, also can be mounted on vertical faces, and is convenient to operate and flexible in mounting; the flexible mechanical power assisting arm can be adjusted according to different weights of carried components and can be flexibly operated.
Description
[technical field]
The utility model relates to mechanical auxiliary arm of force technical field, a kind of simple to operate, easy to use specifically, flexible strong, laborsaving operation, and a kind of device that can carry optional position within the scope of 360 °, be applicable to automobile and the auto parts machinery parts conveyance field in producing.
[background technology]
On the not high auto production line of some automaticities, on station, part has artificial upper part, part on suspender.Artificial upper part, because being subject to heavily quantitative limitation of workpiece, can only be gone up some little parts.Use suspender just need to consider whether the guide rail of suspender has installing space, some narrower and small Production Regional is not possessing the condition that uses suspender carrying, manually can not realize carrying because of the reason of human engineering time simultaneously, artificial mechanism arm just can be realized the demand of this respect work, it applies equilibrium of forces principle dexterously, make operator carry out corresponding push-and-pull to weight, just can be in space inner equilibrium running fix, without skilled crawl operation, operator pulls weight, just weight correctly can be put into any position in space.
Traditional hard arm-type manipulator is mainly made up of track travel system, Robotic Host, holder part, operating part and air-path control system four parts.Wherein:
1. track travel components of system as directed is in order to coordinate with mobile platform dolly, and platform dolly lower flange connects hard arm-type manipulator.Make the steadily walking in track stroke of whole equipment;
2. Robotic Host part, can realize the gravitational equilibrium state of Different Weight material, and rigidity arm can make mechanical hand strap workpiece surmount obstacles; Horizontal arm can meet that material is laterally put in relevant place, the horizontal action request such as taking-up, is equipped with brake gear, and operator can the motion of interrupt machine hand at any time in operating process;
3. air-actuated jaw part, host computer control and fixture (manipulator) become one, handled easily person both hands control workpiece;
4. operating part, is on manipulator, to bear the mechanism that captures object, and the crawl function of the finger of boosting manipulator is determined by crawled object and finger.
[summary of the invention]
The purpose of this utility model is to improve on the architecture basics of existing hard arm-type manipulator, overcome existing machinery hand in operational limitation, and track is not easy to install and the part difficulty of knocking off, complex operation, be difficult to reach the technological difficulties such as the ideal requirement of man-machine combination, provide a kind of cylinder that utilizes as the power source fluctuating, implement upper and lower laborsaving operation, utilize slew gear to be implemented in the flexible mechanical power assistant arm of service radius insight operation.
For achieving the above object, design a kind of flexible mechanical power assistant arm, comprise grabbing device, connecting rod and support column, it is characterized in that described support column be connected with grabbing device by connecting rod form lever balance mechanism, described support column is by main slew gear control connection, the junction of described connecting rod and grabbing device is provided with the second slew gear, and described main slew gear and the second slew gear form B grade swivel gear; Described B grade swivel gear is by control box control connection.
Described lever balance mechanism is taking the junction of support column and connecting rod as fulcrum, one end of described connecting rod is by driving joint and cylinder interlock, the other end of described connecting rod is connected to form lever construction by the second slew gear and grabbing device, and described cylinder is by control box control connection.
Wherein grabbing device is made up of armed lever, handgrip, permanent magnetic chuck in armed lever, second in first, in described first, the end, one end of armed lever and the lower surface of B grade swivel gear are connected by bolt level, in described first, the other end end of armed lever is fixed with handgrip downward vertically, and the fixing permanent magnetic chuck of armed lever level in second is passed through in the bottom of described handgrip.On described handgrip, be also provided with button control box, in described control box, be provided with 3 pressure-reducing valves, adjust to as required different pressure, allow the different pressure of cylinder balancing, make this device can realize the parts that capture Different Weight, realize flexibility operation.Brake at workpiece Qu Jian ﹑ Fang Jian ﹑ Fu Zai ﹑ Kong Zai ﹑ Fan Zhuan ﹑ etc., be that the size of active force and the action of cylinder that carrys out control cylinder by Pneumatic valve and pressure-reducing valve realizes workpiece from bin to all operations being put into weld jig, then have operator or operator the manipulator of complete operation to be put into the position of appointment.
Main slew gear and the second slew gear are made up of rotating disk, bearing and nut respectively, and bearing is fixed by nut, and then dial rotation is fixed on bearing and realizes and rotating.
On main slew gear, be also fixed with braking mechanism, operator can the motion of interrupt machine hand at any time in operating process;
On the basis of said structure, be also upper and lower parallel the second grabbing device with superposeing one group with the first grabbing device on main slew gear, form two crawl structures.
The flexible mechanical power assistant arm utilization that the utility model provides be lever balance theory, the adjusting of the pressure by cylinder, carry out the switching of the weight of unloaded and load and several workpiece to getting different workpiece, realize floating under unloaded and load condition, reach the effect of rapid operation, getting workpiece to putting under the mobile status of part, the all-around mobile that has three rotary joints to realize 360 °, also can carry out moving in certain angle as required.Front end grabbing workpiece part is to use permanent magnetic chuck, realizes workpiece from bin pickup to the action being put into fixture by the switching of cylinder.This cover mechanical auxiliary arm of force is installed can directly stand in ground, also can be arranged on facade, easy to operate, flexible for installation, and it also can be adjusted according to the different weight of carrying parts simultaneously, realizes the operation of flexibility.
[brief description of the drawings]
Fig. 1 is the utility model flexible mechanical power assistant arm stereogram
01. column in Fig. 1,02. cantilever seat, armed lever in 03., 04. handgrip, 05. control box, 06. air accumulator, 07. braking mechanism, 08. permanent magnetic chuck, 09. button control box;
Fig. 2 is lever construction partial enlarged drawing in Fig. 1
10. main slew gears in Fig. 2,11. second slew gears, 12. driving joints, 13. linkages;
Fig. 3 is the utility model flexible mechanical power assistant arm side view;
Fig. 4 is the utility model flexible mechanical power assistant arm top view;
Fig. 5 is the power assistant arm structural representation with two gripper equipments.
[detailed description of the invention]
Below in conjunction with drawings and Examples, the technical solution of the utility model is further illustrated, believe that the structure of this flexible mechanical power assistant arm and structure are clearly for a person skilled in the art.
Embodiment mono-
Flexible mechanical power assistant arm as shown in Figure 1, comprise grabbing device, connecting rod, support column, the drive disk assembly such as B grade swivel gear, cylinder being formed by main slew gear and the second slew gear, main slew gear and the second slew gear are made up of rotating disk, bearing and nut respectively, bearing is fixed and mounting surface by nut, then dial rotation is fixed on bearing.
First, what support column adopted is column and a day Split type structure for font cantilever seat, after being bolted, cantilever seat 02 and braking mechanism 07 is rotated and is fixed on main slew gear 10 by bolt by the upper surface of column 01 and main slew gear 10;
Secondly, connecting rod 13 is penetrated in the upper hole of described cantilever seat 02, and its stage casing is rotated and is fixed in the upper hole of described cantilever seat, link vertically by driving joint 12 and the cylinder-driven axle being fixed on cantilever seat mounting platform in one end of connecting rod, then control box 05 and air accumulator 06 are arranged on cantilever seat 02 mounting platform both sides again, cylinder is by air accumulator 06 and control box 05 control connection; Pneumatic valve and pressure-reducing valve, the size of the active force of control cylinder and the action of cylinder are installed in the lower hole of described cantilever seat; In this control box, be provided with 3 pressure-reducing valves, adjust to as required different pressure, allow the different pressure of cylinder balancing, make this device can realize the parts that capture Different Weight, realize flexibility operation.
Then, be provided with the second slew gear 11 at the lower surface of connecting rod 13 other ends, by described the second slew gear 11 and vertical being connected of grabbing device by armed lever, handgrip, permanent magnetic chuck form in armed lever, second in first, specifically, in first, the end, one end of armed lever and the lower surface of B grade swivel gear are connected by bolt level, in first, the other end end of armed lever is fixed with handgrip downward vertically by bolt, and the bottom of handgrip is by the fixing permanent magnetic chuck of armed lever level in bolt and second.
Finally, button control box 09 is arranged on handgrip 04, notes needing leveling in construction bolt junction, then carry out gas circuit winding displacement, after having assembled, can implement operation by button control box 09.
Embodiment bis-
As shown in Figure 5, on the basis of said structure, be also upper and lower parallel the second grabbing device with superposeing one group with the first grabbing device on main slew gear, form two crawl structures.
Claims (7)
1. a flexible mechanical power assistant arm, comprise grabbing device, connecting rod and support column, it is characterized in that described support column be connected with grabbing device by connecting rod form lever balance mechanism, described support column is by main slew gear control connection, the junction of described connecting rod and grabbing device is provided with the second slew gear, and described main slew gear and the second slew gear form B grade swivel gear; Described B grade swivel gear is by control box control connection, described support column adopts column and cantilever seat Split type structure, the upper surface of column is by main slew gear rotation cantilever mounted seat, described cantilever seat is a day character form structure, connecting rod penetrates in the upper hole of described cantilever seat, and its stage casing is rotated and is fixed in the upper hole of described cantilever seat, link vertically by driving joint and the cylinder-driven axle being fixed on cantilever seat mounting platform in one end of described connecting rod, described cylinder is by the air accumulator and the control box control connection that are positioned at cantilever seat mounting platform both sides; In the lower hole of described cantilever seat, be also provided with Pneumatic valve and pressure-reducing valve, the size of the active force of control cylinder and the action of cylinder, the lower surface of the connecting rod other end is provided with the second slew gear, is connected with grabbing device is vertical by described the second slew gear.
2. a kind of flexible mechanical power assistant arm as claimed in claim 1, it is characterized in that described lever balance mechanism is taking the junction of support column and connecting rod as fulcrum, one end of described connecting rod is by driving joint and cylinder interlock, the other end of described connecting rod is connected to form lever construction by the second slew gear and grabbing device, and described cylinder is by control box control connection.
3. a kind of flexible mechanical power assistant arm as claimed in claim 1, is characterized in that described main slew gear and the second slew gear are made up of rotating disk, bearing and nut respectively, and described bearing is fixed by nut, and described dial rotation is fixed on bearing.
4. a kind of flexible mechanical power assistant arm as claimed in claim 1, is characterized in that being also fixed with braking mechanism on described main slew gear.
5. a kind of flexible mechanical power assistant arm as claimed in claim 1, it is characterized in that described grabbing device is made up of armed lever, handgrip, permanent magnetic chuck in armed lever, second in first, in described first, the end, one end of armed lever and the lower surface of B grade swivel gear are connected by bolt level, in described first, the other end end of armed lever is fixed with handgrip downward vertically, and the fixing permanent magnetic chuck of armed lever level in second is passed through in the bottom of described handgrip.
6. a kind of flexible mechanical power assistant arm as claimed in claim 1, it is characterized in that also superposeing on described main slew gear one group is upper and lower parallel the second grabbing device with the first grabbing device, forms two structures that capture.
7. a kind of flexible mechanical power assistant arm as claimed in claim 5, it is characterized in that being also provided with on described handgrip button control box, in described control box, be provided with 3 pressure-reducing valves, adjust to as required different pressure, allow the different pressure of cylinder balancing, make this device can realize the parts that capture Different Weight, realize flexibility operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320849607.8U CN203843841U (en) | 2013-12-20 | 2013-12-20 | Flexible mechanical power assisting arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320849607.8U CN203843841U (en) | 2013-12-20 | 2013-12-20 | Flexible mechanical power assisting arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203843841U true CN203843841U (en) | 2014-09-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320849607.8U Expired - Fee Related CN203843841U (en) | 2013-12-20 | 2013-12-20 | Flexible mechanical power assisting arm |
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| CN (1) | CN203843841U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476559A (en) * | 2014-10-28 | 2015-04-01 | 芜湖赛德交通设备有限公司 | Robot wrist |
| CN106078708A (en) * | 2016-06-30 | 2016-11-09 | 苏州勤堡精密机械有限公司 | Power-assisted parallel manipulator device |
| CN107555169A (en) * | 2017-09-22 | 2018-01-09 | 苏州昌田机械设备制造有限公司 | A kind of semi-automatic Work transfer apparatus |
| CN107555170A (en) * | 2017-09-22 | 2018-01-09 | 苏州昌田机械设备制造有限公司 | A kind of semi-automatic method for carrying of Work transfer apparatus |
| CN108482334A (en) * | 2018-04-20 | 2018-09-04 | 力帆实业(集团)股份有限公司 | Electric vehicle changes electromechanical arm and shroud upper panel battery taking and placing mechanism |
| CN110181481A (en) * | 2019-05-09 | 2019-08-30 | 江苏亨通光导新材料有限公司 | Conveying robot |
| CN110809425A (en) * | 2018-06-02 | 2020-02-18 | 上海安翰医疗技术有限公司 | Capsule endoscope control apparatus |
| CN111113403A (en) * | 2020-01-09 | 2020-05-08 | 金世纪艾克森(江苏)激光科技股份有限公司 | Steel plate grabbing robot |
| CN111872608A (en) * | 2020-08-27 | 2020-11-03 | 上海期颐实业有限公司 | Flexible welding smoke cantilever absorbing device |
| CN113443437A (en) * | 2021-05-27 | 2021-09-28 | 常州伟泰科技股份有限公司 | Arm-type autoloading frock of helping hand |
| CN114055429A (en) * | 2020-07-29 | 2022-02-18 | 精工爱普生株式会社 | Working method and robot system |
-
2013
- 2013-12-20 CN CN201320849607.8U patent/CN203843841U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476559A (en) * | 2014-10-28 | 2015-04-01 | 芜湖赛德交通设备有限公司 | Robot wrist |
| CN106078708A (en) * | 2016-06-30 | 2016-11-09 | 苏州勤堡精密机械有限公司 | Power-assisted parallel manipulator device |
| CN107555169A (en) * | 2017-09-22 | 2018-01-09 | 苏州昌田机械设备制造有限公司 | A kind of semi-automatic Work transfer apparatus |
| CN107555170A (en) * | 2017-09-22 | 2018-01-09 | 苏州昌田机械设备制造有限公司 | A kind of semi-automatic method for carrying of Work transfer apparatus |
| CN108482334A (en) * | 2018-04-20 | 2018-09-04 | 力帆实业(集团)股份有限公司 | Electric vehicle changes electromechanical arm and shroud upper panel battery taking and placing mechanism |
| CN110809425A (en) * | 2018-06-02 | 2020-02-18 | 上海安翰医疗技术有限公司 | Capsule endoscope control apparatus |
| CN110809425B (en) * | 2018-06-02 | 2022-05-27 | 上海安翰医疗技术有限公司 | Capsule endoscope control apparatus |
| CN110181481A (en) * | 2019-05-09 | 2019-08-30 | 江苏亨通光导新材料有限公司 | Conveying robot |
| CN111113403A (en) * | 2020-01-09 | 2020-05-08 | 金世纪艾克森(江苏)激光科技股份有限公司 | Steel plate grabbing robot |
| CN114055429A (en) * | 2020-07-29 | 2022-02-18 | 精工爱普生株式会社 | Working method and robot system |
| US11858146B2 (en) | 2020-07-29 | 2024-01-02 | Seiko Epson Corporation | Working method and robot system |
| CN114055429B (en) * | 2020-07-29 | 2024-01-05 | 精工爱普生株式会社 | Operation method and robot system |
| CN111872608A (en) * | 2020-08-27 | 2020-11-03 | 上海期颐实业有限公司 | Flexible welding smoke cantilever absorbing device |
| CN111872608B (en) * | 2020-08-27 | 2024-06-04 | 上海期颐实业有限公司 | Flexible welding fume cantilever absorbing device |
| CN113443437A (en) * | 2021-05-27 | 2021-09-28 | 常州伟泰科技股份有限公司 | Arm-type autoloading frock of helping hand |
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Legal Events
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| C14 | Grant of patent or utility model | ||
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Effective date of registration: 20150914 Granted publication date: 20140924 |
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| RINS | Preservation of patent right or utility model and its discharge | ||
| PD01 | Discharge of preservation of patent |
Date of cancellation: 20160314 Granted publication date: 20140924 |
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| RINS | Preservation of patent right or utility model and its discharge | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140924 Termination date: 20151220 |
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| EXPY | Termination of patent right or utility model |