CN213796522U

CN213796522U - Hard arm type power-assisted manipulator

Info

Publication number: CN213796522U
Application number: CN202022168786.1U
Authority: CN
Inventors: 王芳; 徐宁
Original assignee: Jiangyin Tongli Industrial Automation Co ltd
Current assignee: Jiangyin Tongli Industrial Automation Co ltd
Priority date: 2020-09-28
Filing date: 2020-09-28
Publication date: 2021-07-27
Anticipated expiration: 2030-09-28

Abstract

The utility model relates to a hard arm type power-assisted manipulator, power-assisted manipulator include a base, and the top of base is fixed with the stand, is provided with a main rotation axis from the stand, the top of main rotation axis is articulated through bolt and arm of force, and the other end of arm of force is articulated through the bolt with the top of secondary rotation axis, the bottom of secondary rotation axis is fixed with the one end of the gyration arm that the level set up, and the other end of gyration arm is articulated with the anchor clamps rotation axis of vertical setting, and this anchor clamps rotation axis bottom is provided with the inflatable shaft anchor clamps, and inflatable shaft anchor clamps bottom is fixed with the inflatable shaft; the clamp is characterized in that a turning cylinder is further fixed on the clamp rotating shaft, a connecting rod is arranged at the top of the inflatable shaft clamp, one end of the connecting rod is fixed with the inflatable shaft clamp, the other end of the connecting rod is hinged with a piston rod of the turning cylinder, and the middle of the connecting rod is hinged with the bottom of the clamp rotating shaft. The hard arm type power-assisted mechanical hand can avoid shaking during carrying and can turn over carried articles.

Description

Hard arm type power-assisted manipulator

Technical Field

The utility model relates to a hard arm formula helping hand manipulator belongs to commodity circulation mechanical equipment technical field.

Background

The industrial manipulator is a high-tech automatic production device developed in recent decades. Industrial robots are an important branch of industrial robots. The accuracy of the manipulator operation and the ability of completing the operation in various environments have wide development prospects in various fields of national economy. With the increasing progress of technology, manipulators, which have multiple degrees of freedom and can be used to transport objects to perform work in various environments, play an extremely important role in the field of modern manufacturing technology. Industrial robots are widely used in various fields, and the robots are classified into various types to be suitable for various environments, such as a stacker robot, a packing robot, a power robot, and the like.

The power-assisted manipulator is a power-assisted mechanism for carrying materials, and is widely applied to material transfer work during production and assembly of packaging, chemical engineering, electronics, automobiles, household appliances, food, beverages, machine tool machining and the like. Under the condition that the station is limited or indefinite, the robot can easily and accurately move a person, greatly lightens the labor intensity of an operator, improves the working efficiency, is easy to realize scale and automation of production, and is a powerful tool for matching with automatic production.

However, the conventional power-assisted manipulator is poor in stability and is prone to shaking during transportation. In addition, the conveyed articles can only be moved in a fixed direction and cannot be turned over, so that inconvenience is brought to the conveying of the manipulator.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome the aforesaid not enough, provide one kind and rock when avoiding carrying to can carry out the hard arm formula helping hand manipulator that overturns to carrying article.

The purpose of the utility model is realized like this:

the hard arm type power-assisted manipulator comprises a base, wherein the top of the base is fixed with a stand column, a main rotating shaft is arranged on the stand column, the top of the main rotating shaft is hinged with a force arm through a bolt, the other end of the force arm is hinged with the top of the secondary rotating shaft through a bolt, the force arm consists of a main force arm and a secondary force arm which are arranged in parallel, wherein, two ends of the slave force arm are respectively hinged with the tops of the main rotating shaft and the secondary rotating shaft through bolts, one end of the main force arm is hinged with the top of the secondary rotating shaft through a bolt, the other end of the main force arm close to the end is hinged with the main rotating shaft through a bolt, the bottom of the end of the other end of the main force arm is hinged with a piston rod of the main force arm lifting cylinder, the bottom of the slave force arm is hinged with a piston rod of the slave force arm lifting cylinder, the bottom of the cylinder body is fixed on the top of a lifting cylinder fixing plate which is horizontally arranged, and the lifting cylinder fixing plate is fixed with the main rotating shaft;

the bottom of the secondary rotating shaft is fixed with one end of a horizontally arranged rotating arm, the other end of the rotating arm is hinged with a vertically arranged clamp rotating shaft, an air expansion shaft clamp is arranged at the bottom of the clamp rotating shaft, an air expansion shaft is fixed at the bottom of the air expansion shaft clamp and used for grabbing a paper roll, and the air expansion shaft stretches into a paper roll tube core and then is tensioned;

the clamp is characterized in that a turning cylinder is further fixed on the clamp rotating shaft, a connecting rod is arranged at the top of the inflatable shaft clamp, one end of the connecting rod is fixed with the inflatable shaft clamp, the other end of the connecting rod is hinged with a piston rod of the turning cylinder, and the middle of the connecting rod is hinged with the bottom of the clamp rotating shaft.

Preferably, the main rotation shaft can rotate 360 ° on the column.

Preferably, the main force arm lifting cylinder and the auxiliary force arm lifting cylinder are both vertically arranged.

Preferably, the base includes the bottom plate, and it is fixed with the ground that a plurality of connecting bolt have worn on the bottom plate, still wear a plurality of leveling screw on the bottom plate for the levelness of adjustment base.

The utility model discloses hard arm-type helping hand manipulator has following advantage:

the utility model discloses hard arm-type helping hand manipulator that stability in use is higher uses hard arm-type manipulator, is difficult for producing in the handling to rock.

In addition, a turning cylinder is arranged on a clamp rotating shaft, a connecting rod is arranged at the top of the inflatable shaft clamp, one end of the connecting rod is fixed with the inflatable shaft clamp, the other end of the connecting rod is hinged with a piston rod of the turning cylinder, the middle of the connecting rod is hinged with the bottom of the clamp rotating shaft, the inflatable shaft clamp is turned over by pushing of the turning cylinder, and therefore the inflatable shaft can be driven to turn over, the inflatable shaft and the paper roll can be erected, and convenience is brought to carrying.

And a horizontal adjusting screw is also arranged on the base, so that the levelness of the base can be adjusted.

Drawings

Fig. 1 is a schematic structural view of the hard arm type power-assisted manipulator of the present invention.

FIG. 2 is a view showing the connection relationship between the tilt cylinder, the connecting rod, the air shaft support and the rotary shaft of the jig in FIG. 1.

Fig. 3 is a schematic structural diagram of the base in fig. 1.

In the figure: the device comprises a base 1, a bottom plate 1.1, a foundation 1.2, a connecting bolt 1.3, a horizontal adjusting screw 1.4, an upright post 2, a main rotating shaft 3, a force arm 4, a main force arm 4.1, a slave force arm 4.2, a secondary rotating shaft 5, a main force arm lifting cylinder 6, a slave force arm lifting cylinder 7, a lifting cylinder fixing plate 8, a rotary arm 9, a clamp rotating shaft 10, an inflatable shaft clamp 11, an inflatable shaft 12, a turnover cylinder 13 and a connecting rod 14.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1 to 3, the present invention relates to a hard arm type power manipulator, which adopts the lever principle, and drives the lever near end by using pneumatic pressure, and the lever far end can lift the heavy object. The pressure in the cylinder is automatically stabilized by the air valve, so that the force applied by the cylinder and the tension of the weight are kept in a balanced state, and when an operator operates to ascend or descend by external force (namely the balanced state is destroyed), the balance is automatically maintained again, and the operation of moving, overturning and carrying the weight is completed by small operating force.

The manipulator of helping hand includes a base 1, base 1 includes bottom plate 1.1, and it is fixed with ground 1.2 to have worn a plurality of connecting bolt 1.3 on the bottom plate 1.1, still worn a plurality of level adjustment screws 1.4 on the bottom plate 1.1 for the levelness of adjustment base 1.

The top of base 1 is fixed with stand 2, is provided with a main rotation axis 3 on the follow stand 2, and main rotation axis 3 can carry out 360 rotations on stand 2, the top of main rotation axis 3 is passed through the bolt and is articulated with arm of force 4.

The other end of the force arm 4 is hinged with the top of the secondary rotating shaft 5 through a bolt. The force arm 4 is composed of a main force arm 4.1 and a secondary force arm 4.2 which are arranged in parallel, wherein two ends of the secondary force arm 4.2 are respectively hinged with the tops of the main rotating shaft 3 and the secondary rotating shaft 5 through bolts, one end of the main force arm 4.1 is hinged with the top of the secondary rotating shaft 5 through bolts, the other end of the main force arm 4.1 is hinged with the main rotating shaft 3 through bolts near the end, the bottom of the end of the other end of the main force arm 4.1 is hinged with a piston rod of a main force arm lifting cylinder 6, the bottom of the secondary force arm 4.2 is hinged with a piston rod of a secondary force arm lifting cylinder 7, the main force arm lifting cylinder 6 and the secondary force arm lifting cylinder 7 are both vertically arranged, the bottoms of cylinder bodies are fixed at the top of a horizontally arranged lifting cylinder fixing plate 8, the lifting cylinder fixing plate 8 is fixed with the main rotating shaft 3, the force arm lifting cylinder 6 and the secondary force arm lifting cylinder 7 are driven by the main rotating shaft 3 to rotate together, the main force arm lifting cylinder 6 and the auxiliary force arm lifting cylinder 7 can drive the power arm 4 to lift after stretching, so that the article to be carried is driven to vertically lift.

The bottom of the secondary rotating shaft 5 is fixed with one end of a horizontally arranged rotary arm 9, the other end of the rotary arm 9 is hinged to a vertically arranged fixture rotating shaft 10, an air expansion shaft fixture 11 is arranged at the bottom of the fixture rotating shaft 10, an air expansion shaft 12 is fixed at the bottom of the air expansion shaft fixture 11, the air expansion shaft 12 is used for grabbing a paper roll, the air expansion shaft 12 stretches into a tube core of the paper roll (coiled material) and then is tensioned, the horizontal grabbing of the paper roll can be achieved, and the paper roll is horizontally turned by rotating the rotary arm 9.

The clamp rotating shaft 9 is further fixed with a turning cylinder 13, the top of the inflatable shaft clamp 11 is provided with a connecting rod 14, one end of the connecting rod 14 is fixed with the inflatable shaft clamp 11, the other end of the connecting rod is hinged with a piston rod of the turning cylinder 13, the middle of the connecting rod 14 is hinged with the bottom of the clamp rotating shaft 10, and the turning cylinder 13 can stretch out and draw back to push and pull the inflatable shaft clamp 11 to turn over vertically, so that the inflatable shaft 12 and the paper roll can be driven to turn over, and the paper roll is vertically placed in the packing box.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and variations can be made in the embodiments or in part of the technical features of the embodiments without departing from the spirit and the scope of the invention.

Claims

1. Hard arm-type helping hand manipulator, its characterized in that: the power-assisted manipulator comprises a base, a column is fixed at the top of the base, a main rotating shaft is arranged on the column, the top of the main rotating shaft is hinged with a force arm through a bolt, the other end of the force arm is hinged with the top of the secondary rotating shaft through a bolt, the force arm consists of a main force arm and a secondary force arm which are arranged in parallel, wherein, two ends of the slave force arm are respectively hinged with the tops of the main rotating shaft and the secondary rotating shaft through bolts, one end of the main force arm is hinged with the top of the secondary rotating shaft through a bolt, the other end of the main force arm close to the end is hinged with the main rotating shaft through a bolt, the bottom of the end of the other end of the main force arm is hinged with a piston rod of the main force arm lifting cylinder, the bottom of the slave force arm is hinged with a piston rod of the slave force arm lifting cylinder, the bottom of the cylinder body is fixed on the top of a lifting cylinder fixing plate which is horizontally arranged, and the lifting cylinder fixing plate is fixed with the main rotating shaft;

2. The hard-arm power-assisted manipulator of claim 1, wherein: the main rotating shaft can rotate 360 degrees on the upright post.

3. The hard-arm power-assisted manipulator of claim 1, wherein: the main force arm lifting cylinder and the auxiliary force arm lifting cylinder are both vertically arranged.

4. The hard-arm power-assisted manipulator of claim 1, wherein: the base comprises a bottom plate, a plurality of connecting bolts are arranged on the bottom plate in a penetrating mode and fixed with the foundation, and a plurality of horizontal adjusting screws are further arranged on the bottom plate in a penetrating mode and used for adjusting the levelness of the base.