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WO2020093480A1 - Power-assisted manipulator - Google Patents

Power-assisted manipulator Download PDF

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Publication number
WO2020093480A1
WO2020093480A1 PCT/CN2018/117875 CN2018117875W WO2020093480A1 WO 2020093480 A1 WO2020093480 A1 WO 2020093480A1 CN 2018117875 W CN2018117875 W CN 2018117875W WO 2020093480 A1 WO2020093480 A1 WO 2020093480A1
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WO
WIPO (PCT)
Prior art keywords
shaft
cross arm
left end
hole
rotating shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/117875
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French (fr)
Chinese (zh)
Inventor
王三祥
朱士新
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu Yubo Automation Equipment Co Ltd
Original Assignee
Jiangsu Yubo Automation Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jiangsu Yubo Automation Equipment Co Ltd filed Critical Jiangsu Yubo Automation Equipment Co Ltd
Publication of WO2020093480A1 publication Critical patent/WO2020093480A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid

Definitions

  • the invention belongs to the technical field of mechanical equipment, and particularly relates to a power-assisted manipulator.
  • Power-assisted manipulators are power-assisted equipment used for material handling or installation. It cleverly applies the principle of force balance, so that objects can move in space according to the set distance and orientation. Without heavy and skilled manual operation, the weight can be correctly placed in the set position in the space.
  • the power-assisted manipulator needs to lift and lower the manipulator gripper when gripping objects.
  • the component connection structure and transmission structure between the driving device and the cross arm of the existing power-assisted manipulator are not compact and reliable, resulting in insufficient stability of the lifting motion of the manipulator gripper.
  • the object of the present invention is to provide a boosting manipulator with stable lifting movement.
  • a power-assisted manipulator includes a support column, a transverse arm and a hanging arm. Two opposite support side plates are installed on the top of the support column.
  • the transverse arm is hinged to the support side plate through the main hinge shaft.
  • the main hinge shaft and the cross arm There is a gap between the left ends; a drive cylinder is installed on the support side plate, and the output shaft of the drive cylinder is connected to the left end of the cross arm.
  • the drive cylinder can drive the left end of the cross arm to move in the height direction around the main hinge axis;
  • a boom is hinged at the right end, and a manipulator clamp is connected to the bottom end of the boom.
  • the top end of the output shaft of the driving cylinder is connected with a joint, and the joint is hinged to the lower sides of the two sliders.
  • the output shaft of the driving cylinder can push up or pull down the joint, so that the joint drives the slider to move up and down together.
  • the inner side of the supporting side plate is provided with two plate-shaped sliders, both of which are provided with first shaft holes, and the left end of the cross arm is provided with a first rotating shaft, and both ends of the first rotating shaft penetrate the first shaft horizontally Hole, the slider can drive the first rotating shaft to move up and down relative to the supporting side plate.
  • a second rotating shaft is installed on the slider, and the second rotating shaft is horizontally connected to the two sliders; two support side plates are respectively provided with upright first waist holes, the The width of the first waist-shaped hole matches the diameter of the second rotation shaft, and the second rotation shaft passes through the two first waist-shaped holes; the first shaft hole is a waist-shaped hole arranged horizontally, the The width of the first shaft hole matches the diameter of the first rotating shaft, and the first rotating shaft passes through the two first shaft holes.
  • the number of the second rotating shafts is two, the two second rotating shafts are spaced apart in the longitudinal direction, and the first shaft hole is located between the two second rotating shafts.
  • the longitudinal section of the joint is T-shaped, and two symmetrical concave notches are provided on the upper side of the joint, and the bottoms of the two sliders respectively abut against the concave notches.
  • a cylinder foot frame is connected to the top wall of the driving cylinder, and two mounting holes are oppositely arranged on the top of the cylinder foot frame, and each cylinder has a cylinder positioning shaft;
  • the lower side of the supporting side plate is oppositely provided with a second shaft hole, and each of the cylinder positioning shafts is connected to the adjacent mounting hole and the second shaft hole to install the driving cylinder on the supporting side plate.
  • a rotating shaft seat is connected to the top of the supporting column through a flange, a vertical shaft is provided in the rotating shaft seat, a rectangular connecting block is installed on the top of the vertical shaft, and the connecting block is fixedly installed on two On the supporting side plate, the cross arm and the supporting side plate can rotate around the supporting column together.
  • the driving cylinder of the present invention drives the transverse arm to rotate around the main hinge axis through the slider, and the action is stable; the first shaft hole on the slider and the first waist-shaped hole on the support side plate are directed against the transverse arm The rotation trajectory of the left end is limited, which improves the stability of the rotation process of the cross arm.
  • Figure 1 is a schematic structural view of the present invention
  • FIG. 2 is a schematic view of the internal structure of the cross arm of the present invention after removing the outer support side plate;
  • Figure 3 is a schematic view of the joint structure of the present invention.
  • the marks in the picture are: 1. Support column; 2. Cross arm; 3. Boom; 4. Support side plate; 5. Main hinge shaft; 6. Drive cylinder; 7. Joint; 8. Slider; 9. First Shaft hole; 10. The first shaft; 11. The second shaft; 12. The first waist hole; 13. The concave notch; 14. The cylinder tripod; 15. The mounting hole; 16. The cylinder positioning shaft; 18. The shaft Block; 19. Upright shaft; 20. Connection block; 21. Manipulator fixture.
  • a power-assisted manipulator includes a support column 1, a horizontal arm 2 and a boom 3, two opposite support side plates 4 are installed on the top of the support column 1, the horizontal arm 2 is articulated by the main
  • the shaft 5 is hinged to the supporting side plate 4, the main hinge shaft 5 is close to the left end of the cross arm 2 and is located at a distance from the left end of the cross arm 2; the bottom of the supporting side plate 4 is provided with a driving cylinder 6, which drives the cylinder 6
  • the output shaft is connected to the left end of the cross arm 2, and the driving cylinder 6 can drive the left end of the cross arm 2 to move in the height direction around the main hinge axis 5; the right end of the cross arm 2 is hinged to the boom 3, and the bottom end of the boom 3 is connected with
  • the manipulator jig 21 may be a manipulator that can be opened and closed, or a common manipulator jig structure such as a suction cup that can generate suction force.
  • the inner side of the support side plate 4 is provided with two plate-shaped sliders 8, the top end of the output shaft of the drive cylinder 6 is connected with a joint 7, the joint 7 is hinged to the lower side of the two slides 8, the output shaft of the drive cylinder 6 can be The joint 7 is pushed up or pulled down, so that the joint 7 drives the slider 8 to move up and down together.
  • Both sliders 8 are provided with a first shaft hole 9, and a first rotating shaft 10 is installed at the left end of the cross arm 2, and both ends of the first rotating shaft 10 penetrate the first shaft hole 9 horizontally, and the slider 8 can drive the first The rotating shaft 10 moves up and down relative to the support side plate 4.
  • a second rotating shaft 11 is mounted on the slider 8, and the second rotating shaft 11 is horizontally connected to the two sliders 8; the two supporting side plates 4 are respectively provided with upright first waist-shaped holes 12
  • the width matches the diameter of the second rotating shaft 11, the second rotating shaft 11 penetrates the two first waist-shaped holes 12, and the second rotating shaft 11 can move up and down in the first waist-shaped hole 12; the first shaft hole 9 is horizontally arranged
  • the width of the first shaft hole 9 matches the diameter of the first rotating shaft 10.
  • the first rotating shaft 10 penetrates the two first shaft holes 9.
  • the first rotating shaft 10 can move left and right inside the first shaft hole 9.
  • the movement path of the first rotating shaft 10 at the left end of the transverse arm is arc-shaped, and the first shaft hole 9 and the first waist-shaped hole 12 that are perpendicular to each other are the first rotating shaft
  • the movement track of 10 provides horizontal and vertical movement and guidance space, ensuring that the left end of the transverse arm 2 can rotate the arc-shaped track stably and accurately.
  • the number of the second rotating shafts 11 is two, the two second rotating shafts 11 are spaced apart in the longitudinal direction, and the first shaft hole 9 is located between the two second rotating shafts 11, so that the guiding effect of the second rotating shaft on the slider is more stable .
  • the longitudinal cross section of the joint 7 is T-shaped, and two symmetrical concave notches 13 are provided on the upper side of the joint 7, and the bottoms of the two sliders 8 are respectively abutted on the concave notches 13.
  • the concave notch portion 13 can support the slider 8 and share a part of the pressure of the slider against the hinge shaft on the joint.
  • a cylinder foot frame 14 is connected to the top wall of the driving cylinder 6, and the driving cylinder 6 is mounted on the support side plate 4 through the cylinder foot frame 14.
  • the top of the cylinder foot frame 14 is provided with two mounting holes 15, each The mounting holes 15 are respectively provided with cylinder positioning shafts 16; the lower sides of the two supporting side plates 4 are oppositely provided with second shaft holes, and each cylinder positioning shaft 16 connects the adjacent mounting holes 15 and the second shaft holes, thereby The drive cylinder 6 is installed on the support side plate 4.
  • the top of the support column 1 is connected with a rotating shaft seat 18 through a flange.
  • the rotating shaft seat 18 is provided with a column rotating shaft 19, and a rectangular connecting block 20 is installed on the top of the column rotating shaft 19, and the connecting block 20 is fixedly mounted on two supporting side plates by bolts Between 4, the connecting block 20 can fixedly connect the two supporting side plates 4, when the horizontal arm 2 is rotated in the horizontal plane, the supporting side plate 4 rotates with the horizontal arm 2, the supporting side plate 4 drives the connecting block 20 together around the axis of rotation
  • the base 18 rotates, so that an external force is applied to the cross arm 2 to rotate around the support column 1, thereby changing the position of the manipulator jig 21 relative to the support column, and then using the manipulator jig to hold the object and then transport it.
  • the drive cylinder is started to make the output shaft rise upward, and the slider is lifted through the joint.
  • the first rotating shaft in the first shaft hole of the slider drives the left end of the cross arm to be lifted together, and at the same time,
  • the first rotating shaft whose main hinge shaft rotates clockwise is offset from the right end of the first shaft hole, and the second rotating shaft fixedly connected with the slider follows the slider and moves upward in the first waist-shaped hole, thereby causing the cross arm
  • the right end is lowered, so the manipulator approaches the object, gripping or sucking the object.
  • the output shaft of the driving cylinder pulls the slider downward through the joint, and the movement process of the relevant parts is the reverse of the process of lowering the manipulator.
  • it is necessary to rotate the manipulator and the transverse arm together around the support column, and horizontally pull the manipulator or the hanging arm to sequentially drive the transverse arm, the supporting side plate, and the connecting block to rotate around the rotating shaft seat.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

A power-assisted manipulator, comprising a support column (1), a cross arm (2), and a boom (3). A top part of the support column (1) is mounted with two oppositely arranged support side plates (4). The cross arm (2) is hinged onto the support side plates (4) by means of a main hinge shaft (5). The main hinge shaft (5) is close to a left end of the cross arm (2) and a spacing is provided between the main hinge shaft and the left end of the cross arm (2). A driving cylinder (6) is mounted on the support side plates (4). An output shaft of the driving cylinder (6) is connected to the left end of the cross arm (2). The driving cylinder (6) may drive the left end part of the cross arm (2) to move in the height direction around the main hinge shaft (5). A right end of the cross arm (2) is hinged with the boom (3), and a bottom end of the boom (3) is connected to a manipulator gripper (21). The driving cylinder (6) drives the cross arm (2) by means of a slider (8) to rotate around the main hinge shaft (5), and the movement is stable. A first shaft hole (9) in the slider (8) and a first waist-shaped hole (12) on the support side plates (4) simultaneously limit the rotation trajectory of the left end part of the cross arm (2), which further improves the stability of the rotation process of the cross arm (2).

Description

一种助力机械手Power-assist manipulator 技术领域Technical field

本发明属于机械设备技术领域，具体涉及一种助力机械手。The invention belongs to the technical field of mechanical equipment, and particularly relates to a power-assisted manipulator.

背景技术Background technique

助力机械手是用于物料搬运或者安装的助力设备。它巧妙地应用力的平衡原理，使物体可在空间内按设定的距离和方位平衡移动，无需费力、熟练的手动操作，就可以把重物正确地放到空间中的设定位置。助力机械手夹取物体时需要升降机械手夹具，现有助力机械手的驱动装置和横臂之间的部件连接结构和传动结构不够紧凑、可靠，导致在机械手夹具升降运动过程不够稳定。Power-assisted manipulators are power-assisted equipment used for material handling or installation. It cleverly applies the principle of force balance, so that objects can move in space according to the set distance and orientation. Without heavy and skilled manual operation, the weight can be correctly placed in the set position in the space. The power-assisted manipulator needs to lift and lower the manipulator gripper when gripping objects. The component connection structure and transmission structure between the driving device and the cross arm of the existing power-assisted manipulator are not compact and reliable, resulting in insufficient stability of the lifting motion of the manipulator gripper.

发明内容Summary of the invention

本发明的目的是提供一种升降动作稳定的助力机械手。The object of the present invention is to provide a boosting manipulator with stable lifting movement.

本发明提供了如下的技术方案：The present invention provides the following technical solutions:

一种助力机械手，包括支撑柱、横臂和吊臂，支撑柱的顶部安装有两个相对设置的支撑侧板，横臂通过主铰接轴铰接于支撑侧板上，主铰接轴与横臂的左端之间设有间距；支撑侧板上安装有驱动气缸，驱动气缸的输出轴与横臂的左端连接，驱动气缸可驱动横臂的左端部绕主铰接轴在高度方向上移动；横臂的右端铰接有吊臂，吊臂的底端连接有机械手夹具。A power-assisted manipulator includes a support column, a transverse arm and a hanging arm. Two opposite support side plates are installed on the top of the support column. The transverse arm is hinged to the support side plate through the main hinge shaft. The main hinge shaft and the cross arm There is a gap between the left ends; a drive cylinder is installed on the support side plate, and the output shaft of the drive cylinder is connected to the left end of the cross arm. The drive cylinder can drive the left end of the cross arm to move in the height direction around the main hinge axis; A boom is hinged at the right end, and a manipulator clamp is connected to the bottom end of the boom.

优选的，驱动气缸的输出轴的顶端连接有接头，接头铰接于两个滑块的下侧，驱动气缸的输出轴可顶起或者下拉接头，使接头带动滑块一起上下移动。支撑侧板的内侧设有两个板状的滑块，两个滑块上均设有第一轴孔，横臂的左端安装有第一转轴，第一转 轴的两端水平地贯穿第一轴孔，滑块可带动第一转轴相对于支撑侧板上下移动。Preferably, the top end of the output shaft of the driving cylinder is connected with a joint, and the joint is hinged to the lower sides of the two sliders. The output shaft of the driving cylinder can push up or pull down the joint, so that the joint drives the slider to move up and down together. The inner side of the supporting side plate is provided with two plate-shaped sliders, both of which are provided with first shaft holes, and the left end of the cross arm is provided with a first rotating shaft, and both ends of the first rotating shaft penetrate the first shaft horizontally Hole, the slider can drive the first rotating shaft to move up and down relative to the supporting side plate.

优选的，所述滑块上安装有第二转轴，所述第二转轴水平地连接两个所述滑块；两个所述支撑侧板上分别设有直立的第一腰型孔，所述第一腰型孔的宽度与所述第二转轴的直径相匹配，所述第二转轴贯穿两个所述第一腰型孔；所述第一轴孔为水平设置的腰型孔，所述第一轴孔的宽度与所述第一转轴的直径相匹配，所述第一转轴贯穿两个所述第一轴孔。Preferably, a second rotating shaft is installed on the slider, and the second rotating shaft is horizontally connected to the two sliders; two support side plates are respectively provided with upright first waist holes, the The width of the first waist-shaped hole matches the diameter of the second rotation shaft, and the second rotation shaft passes through the two first waist-shaped holes; the first shaft hole is a waist-shaped hole arranged horizontally, the The width of the first shaft hole matches the diameter of the first rotating shaft, and the first rotating shaft passes through the two first shaft holes.

优选的，所述第二转轴的数量为两个，两个所述第二转轴沿纵向间隔开设置，所述第一轴孔位于两个所述第二转轴之间。Preferably, the number of the second rotating shafts is two, the two second rotating shafts are spaced apart in the longitudinal direction, and the first shaft hole is located between the two second rotating shafts.

优选的，所述接头的纵截面为T型，所述接头的上侧设有两个对称的内凹缺口部，两个所述滑块的底部分别抵在所述内凹缺口部上。Preferably, the longitudinal section of the joint is T-shaped, and two symmetrical concave notches are provided on the upper side of the joint, and the bottoms of the two sliders respectively abut against the concave notches.

优选的，所述驱动气缸的顶壁连接有气缸脚架，所述气缸脚架的顶部相对地设有两个安装孔，每个所述安装孔内分别设有气缸定位轴；两个所述支撑侧板的下侧相对地设有第二轴孔，每个所述气缸定位轴连接相邻的所述安装孔和所述第二轴孔，将驱动气缸安装于支撑侧板上。Preferably, a cylinder foot frame is connected to the top wall of the driving cylinder, and two mounting holes are oppositely arranged on the top of the cylinder foot frame, and each cylinder has a cylinder positioning shaft; The lower side of the supporting side plate is oppositely provided with a second shaft hole, and each of the cylinder positioning shafts is connected to the adjacent mounting hole and the second shaft hole to install the driving cylinder on the supporting side plate.

优选的，所述支撑柱的顶部通过法兰连接有转轴座，所述转轴座内设有立柱转轴，所述立柱转轴的顶部安装有矩形的连接块，所述连接块固定安装于两个所述支撑侧板上，所述横臂和所述支撑侧板可一起绕所述支撑柱旋转。Preferably, a rotating shaft seat is connected to the top of the supporting column through a flange, a vertical shaft is provided in the rotating shaft seat, a rectangular connecting block is installed on the top of the vertical shaft, and the connecting block is fixedly installed on two On the supporting side plate, the cross arm and the supporting side plate can rotate around the supporting column together.

本发明的有益效果是：本发明的驱动气缸通过滑块传动横臂绕主铰接轴转动，动作稳定；滑块上的第一轴孔和支撑侧板上的第一腰型孔同时对横臂左端部的转动轨迹进行限位，提高了横臂转动过程的稳定性。The beneficial effects of the present invention are: the driving cylinder of the present invention drives the transverse arm to rotate around the main hinge axis through the slider, and the action is stable; the first shaft hole on the slider and the first waist-shaped hole on the support side plate are directed against the transverse arm The rotation trajectory of the left end is limited, which improves the stability of the rotation process of the cross arm.

附图说明BRIEF DESCRIPTION

附图用来提供对本发明的进一步理解，并且构成说明书的一部分，与本发明的实施例一起用于解释本发明，并不构成对本发明的限制。在附图中：The drawings are used to provide a further understanding of the present invention, and constitute a part of the description, together with the embodiments of the present invention are used to explain the present invention, and do not constitute a limitation of the present invention. In the drawings:

图1是本发明的结构示意图；Figure 1 is a schematic structural view of the present invention;

图2是本发明的横臂左端处去掉外侧的支撑侧板后的内部结构示意图；2 is a schematic view of the internal structure of the cross arm of the present invention after removing the outer support side plate;

图3是本发明的接头结构示意图。Figure 3 is a schematic view of the joint structure of the present invention.

图中标记为：1.支撑柱；2.横臂；3.吊臂；4.支撑侧板；5.主铰接轴；6.驱动气缸；7.接头；8.滑块；9.第一轴孔；10.第一转轴；11.第二转轴；12.第一腰型孔；13.内凹缺口部；14.气缸脚架；15.安装孔；16.气缸定位轴；18.转轴座；19.立柱转轴；20.连接块；21.机械手夹具。The marks in the picture are: 1. Support column; 2. Cross arm; 3. Boom; 4. Support side plate; 5. Main hinge shaft; 6. Drive cylinder; 7. Joint; 8. Slider; 9. First Shaft hole; 10. The first shaft; 11. The second shaft; 12. The first waist hole; 13. The concave notch; 14. The cylinder tripod; 15. The mounting hole; 16. The cylinder positioning shaft; 18. The shaft Block; 19. Upright shaft; 20. Connection block; 21. Manipulator fixture.

具体实施方式detailed description

如图1和图2所示，一种助力机械手，包括支撑柱1、横臂2和吊臂3，支撑柱1的顶部安装有两个相对设置的支撑侧板4，横臂2通过主铰接轴5铰接于支撑侧板4上，主铰接轴5靠近横臂2的左端并且与横臂2的左端之间设有一段距离；支撑侧板4的底部安装有驱动气缸6，驱动气缸6的输出轴与横臂2的左端连接，驱动气缸6可驱动横臂2的左端部绕主铰接轴5在高度方向上移动；横臂2的右端铰接吊臂3，吊臂3的底端连接有机械手夹具21，机械手夹具21可以是可张开、合拢的机械手，或者可以产生吸力的吸盘等常用的机械手夹具结构。As shown in FIGS. 1 and 2, a power-assisted manipulator includes a support column 1, a horizontal arm 2 and a boom 3, two opposite support side plates 4 are installed on the top of the support column 1, the horizontal arm 2 is articulated by the main The shaft 5 is hinged to the supporting side plate 4, the main hinge shaft 5 is close to the left end of the cross arm 2 and is located at a distance from the left end of the cross arm 2; the bottom of the supporting side plate 4 is provided with a driving cylinder 6, which drives the cylinder 6 The output shaft is connected to the left end of the cross arm 2, and the driving cylinder 6 can drive the left end of the cross arm 2 to move in the height direction around the main hinge axis 5; the right end of the cross arm 2 is hinged to the boom 3, and the bottom end of the boom 3 is connected with The manipulator jig 21 may be a manipulator that can be opened and closed, or a common manipulator jig structure such as a suction cup that can generate suction force.

支撑侧板4的内侧设有两个板状的滑块8，驱动气缸6的输出轴的顶端连接有接头7，接头7铰接于两个滑块8的下侧，驱动气缸6的输出轴可顶起或者下拉接头7，使接头7带动滑块8一起上下移动。两个滑块8上均设有第一轴孔9，横臂2的左端安装有第一转轴10，第一转轴10的两端水平地贯穿第一轴孔9，滑块8可带动第一转轴10相 对于支撑侧板4上下移动。The inner side of the support side plate 4 is provided with two plate-shaped sliders 8, the top end of the output shaft of the drive cylinder 6 is connected with a joint 7, the joint 7 is hinged to the lower side of the two slides 8, the output shaft of the drive cylinder 6 can be The joint 7 is pushed up or pulled down, so that the joint 7 drives the slider 8 to move up and down together. Both sliders 8 are provided with a first shaft hole 9, and a first rotating shaft 10 is installed at the left end of the cross arm 2, and both ends of the first rotating shaft 10 penetrate the first shaft hole 9 horizontally, and the slider 8 can drive the first The rotating shaft 10 moves up and down relative to the support side plate 4.

滑块8上安装有第二转轴11，第二转轴11水平地连接两个滑块8；两个支撑侧板4上分别设有直立的第一腰型孔12，第一腰型孔12的宽度与第二转轴11的直径相匹配，第二转轴11贯穿两个第一腰型孔12，并且第二转轴11可在第一腰型孔12内上下移动；第一轴孔9为水平设置的腰型孔，第一轴孔9的宽度与第一转轴10的直径相匹配，第一转轴10贯穿两个第一轴孔9，第一转轴10可在第一轴孔9内左右移动。当横臂2绕主铰接轴5转动时，横臂左端的第一转轴10的运动轨迹为圆弧形，此时互相垂直的第一轴孔9和第一腰型孔12分别为第一转轴10的运动轨迹提供和横向和纵向的活动及导向空间，保证横臂2左端可以稳定、准确地作圆弧形轨迹的转动。A second rotating shaft 11 is mounted on the slider 8, and the second rotating shaft 11 is horizontally connected to the two sliders 8; the two supporting side plates 4 are respectively provided with upright first waist-shaped holes 12 The width matches the diameter of the second rotating shaft 11, the second rotating shaft 11 penetrates the two first waist-shaped holes 12, and the second rotating shaft 11 can move up and down in the first waist-shaped hole 12; the first shaft hole 9 is horizontally arranged The width of the first shaft hole 9 matches the diameter of the first rotating shaft 10. The first rotating shaft 10 penetrates the two first shaft holes 9. The first rotating shaft 10 can move left and right inside the first shaft hole 9. When the transverse arm 2 rotates around the main hinge axis 5, the movement path of the first rotating shaft 10 at the left end of the transverse arm is arc-shaped, and the first shaft hole 9 and the first waist-shaped hole 12 that are perpendicular to each other are the first rotating shaft The movement track of 10 provides horizontal and vertical movement and guidance space, ensuring that the left end of the transverse arm 2 can rotate the arc-shaped track stably and accurately.

第二转轴11的数量为两个，两个第二转轴11沿纵向间隔开设置，第一轴孔9位于两个第二转轴11之间，从而使第二转轴对滑块的导向作用更加稳定。The number of the second rotating shafts 11 is two, the two second rotating shafts 11 are spaced apart in the longitudinal direction, and the first shaft hole 9 is located between the two second rotating shafts 11, so that the guiding effect of the second rotating shaft on the slider is more stable .

如图3所示，接头7的纵截面为T型，接头7的上侧设有两个对称的内凹缺口部13，两个滑块8的底部分别抵在内凹缺口部13上。内凹缺口部13可以支撑滑块8，分担一部分滑块对接头上的铰轴的压力。As shown in FIG. 3, the longitudinal cross section of the joint 7 is T-shaped, and two symmetrical concave notches 13 are provided on the upper side of the joint 7, and the bottoms of the two sliders 8 are respectively abutted on the concave notches 13. The concave notch portion 13 can support the slider 8 and share a part of the pressure of the slider against the hinge shaft on the joint.

驱动气缸6的顶壁连接有气缸脚架14，驱动气缸6通过气缸脚架14安装于支撑侧板4上，具体为：气缸脚架14的顶部相对地设有两个安装孔15，每个安装孔15内分别设有气缸定位轴16；两个支撑侧板4的下侧相对地设有第二轴孔，每个气缸定位轴16连接相邻的安装孔15和第二轴孔，从而将驱动气缸6安装于支撑侧板4上。A cylinder foot frame 14 is connected to the top wall of the driving cylinder 6, and the driving cylinder 6 is mounted on the support side plate 4 through the cylinder foot frame 14. Specifically, the top of the cylinder foot frame 14 is provided with two mounting holes 15, each The mounting holes 15 are respectively provided with cylinder positioning shafts 16; the lower sides of the two supporting side plates 4 are oppositely provided with second shaft holes, and each cylinder positioning shaft 16 connects the adjacent mounting holes 15 and the second shaft holes, thereby The drive cylinder 6 is installed on the support side plate 4.

支撑柱1的顶部通过法兰连接有转轴座18，转轴座18内设有立柱转轴19，立柱转轴19的顶部安装有矩形的连接块20，连接块20通过螺栓固定安装于两个支撑侧板4之间，连接块20可以固定连接两个支撑侧板4，当在水平面内转动横臂2时，支撑侧板 4随着横臂2一起转动，支撑侧板4带动连接块20一起绕转轴座18旋转，从而实现对横臂2施加外力使其绕支撑柱1转动，进而改变机械手夹具21相对于支撑柱的位置，利用机械手夹具夹持物体后再运输。The top of the support column 1 is connected with a rotating shaft seat 18 through a flange. The rotating shaft seat 18 is provided with a column rotating shaft 19, and a rectangular connecting block 20 is installed on the top of the column rotating shaft 19, and the connecting block 20 is fixedly mounted on two supporting side plates by bolts Between 4, the connecting block 20 can fixedly connect the two supporting side plates 4, when the horizontal arm 2 is rotated in the horizontal plane, the supporting side plate 4 rotates with the horizontal arm 2, the supporting side plate 4 drives the connecting block 20 together around the axis of rotation The base 18 rotates, so that an external force is applied to the cross arm 2 to rotate around the support column 1, thereby changing the position of the manipulator jig 21 relative to the support column, and then using the manipulator jig to hold the object and then transport it.

当需要降下机械手时，启动驱动气缸，使其输出轴向上升起，通过接头顶起滑块，滑块的第一轴孔内的第一转轴带动横臂的左端一起被顶起，同时，绕主铰接轴顺时针转动的第一转轴向第一轴孔的右端偏移，与滑块固定连接的第二转轴跟随滑块一起，在第一腰型孔内向上移动，从而使横臂的右端被降下来，因此机械手靠近物体，夹取或者吸取物体。当需要升起机械手时，驱动气缸的输出轴通过接头向下拉动滑块，相关部件的运动过程与上述降下机械手的过程相反。当运输物体时需要使机械手和横臂一起绕支撑柱转动时，水平拉动机械手或者吊臂，依次带动横臂、支撑侧板和连接块绕转轴座转动即可。When the manipulator needs to be lowered, the drive cylinder is started to make the output shaft rise upward, and the slider is lifted through the joint. The first rotating shaft in the first shaft hole of the slider drives the left end of the cross arm to be lifted together, and at the same time, The first rotating shaft whose main hinge shaft rotates clockwise is offset from the right end of the first shaft hole, and the second rotating shaft fixedly connected with the slider follows the slider and moves upward in the first waist-shaped hole, thereby causing the cross arm The right end is lowered, so the manipulator approaches the object, gripping or sucking the object. When it is necessary to raise the manipulator, the output shaft of the driving cylinder pulls the slider downward through the joint, and the movement process of the relevant parts is the reverse of the process of lowering the manipulator. When transporting objects, it is necessary to rotate the manipulator and the transverse arm together around the support column, and horizontally pull the manipulator or the hanging arm to sequentially drive the transverse arm, the supporting side plate, and the connecting block to rotate around the rotating shaft seat.

以上所述仅为本发明的优选实施例而已，并不用于限制本发明，尽管参照前述实施例对本发明进行了详细的说明，对于本领域的技术人员来说，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still perform the foregoing embodiments The recorded technical solutions are modified, or some of the technical features are equivalently replaced. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims (7)

一种助力机械手，包括支撑柱、横臂和吊臂，其特征在于，所述支撑柱的顶部安装有两个相对设置的支撑侧板，所述横臂通过主铰接轴铰接于所述支撑侧板上，所述主铰接轴靠近所述横臂的左端并且与所述横臂的左端之间设有间距；所述支撑侧板上安装有驱动气缸，所述驱动气缸的输出轴与所述横臂的左端连接，所述驱动气缸可驱动所述横臂的左端部绕所述主铰接轴在高度方向上移动；所述横臂的右端铰接有所述吊臂，所述吊臂的底端连接有机械手夹具。A power-assisted manipulator includes a support column, a transverse arm and a boom, and is characterized in that two opposite support side plates are installed on the top of the support column, and the transverse arm is hinged to the support side through a main hinge axis On the board, the main hinge shaft is close to the left end of the cross arm and is spaced from the left end of the cross arm; a drive cylinder is installed on the support side plate, and the output shaft of the drive cylinder is connected to the The left end of the cross arm is connected, and the driving cylinder can drive the left end of the cross arm to move in the height direction around the main hinge axis; the right end of the cross arm is hinged with the boom, the bottom of the boom A manipulator clamp is connected to the end. 根据权利要求1所述的助力机械手，其特征在于，所述支撑侧板的内侧设有两个板状的滑块，所述驱动气缸的输出轴的顶端连接有接头，所述接头铰接于两个所述滑块的下侧；两个所述滑块上均设有第一轴孔，所述横臂的左端安装有第一转轴，所述第一转轴的两端分别贯穿所述第一轴孔，所述滑块可带动所述第一转轴和所述横臂的左端一起相对于所述支撑侧板上下移动。The power-assisted manipulator according to claim 1, wherein two plate-shaped sliders are provided on the inner side of the supporting side plate, and a joint is connected to the top end of the output shaft of the driving cylinder, and the joint is hinged to the two The lower side of the slider; both sliders are provided with a first shaft hole, a first rotating shaft is installed at the left end of the cross arm, and both ends of the first rotating shaft respectively penetrate the first A shaft hole, the slider can drive the first rotating shaft and the left end of the cross arm to move up and down relative to the supporting side plate together. 根据权利要求2所述的助力机械手，其特征在于，所述滑块上安装有第二转轴，所述第二转轴水平地连接两个所述滑块；两个所述支撑侧板上分别设有直立的第一腰型孔，所述第一腰型孔的宽度与所述第二转轴的直径相匹配，所述第二转轴贯穿两个所述第一腰型孔；所述第一轴孔为水平设置的腰型孔，所述第一轴孔的宽度与所述第一转轴的直径相匹配，所述第一转轴贯穿两个所述第一轴孔。The power assisting manipulator according to claim 2, wherein a second rotating shaft is mounted on the slider, and the second rotating shaft is horizontally connected to the two sliders; the two supporting side plates are respectively provided There is an upright first waist-shaped hole, the width of the first waist-shaped hole matches the diameter of the second rotation shaft, the second rotation shaft passes through the two first waist-shaped holes; the first shaft The hole is a horizontally-shaped waist hole, the width of the first shaft hole matches the diameter of the first rotation shaft, and the first rotation shaft penetrates through the two first shaft holes. 根据权利要求3所述的助力机械手，其特征在于，所述第二转轴的数量为两个，两个所述第二转轴沿纵向间隔开设置，所述第一轴孔位于两个所述第二转轴之间。The power assisting manipulator according to claim 3, wherein the number of the second rotating shafts is two, two of the second rotating shafts are longitudinally spaced apart, and the first shaft holes are located in the two Between two shafts. 根据权利要求3所述的助力机械手，其特征在于，所述接头的纵截面为T型，所述接头的上侧设有两个对称的内凹缺口部，两个所述滑块的底部分别抵在所述内凹缺 口部上。The power-assisted manipulator according to claim 3, wherein the longitudinal section of the joint is T-shaped, and two symmetrical concave notches are provided on the upper side of the joint, and the bottoms of the two sliders are respectively Against the concave notch. 根据权利要求3所述的助力机械手，其特征在于，所述驱动气缸的顶壁连接有气缸脚架，所述气缸脚架的顶部相对地设有两个安装孔，每个所述安装孔内分别设有气缸定位轴；两个所述支撑侧板的下侧相对地设有第二轴孔，每个所述气缸定位轴连接相邻的所述安装孔和所述第二轴孔，将所述驱动气缸安装于所述支撑侧板上。The power-assist manipulator according to claim 3, wherein a cylinder foot frame is connected to the top wall of the driving cylinder, and two mounting holes are provided on the top of the cylinder foot frame oppositely, each of the mounting holes Cylinder positioning shafts are respectively provided; the lower sides of the two supporting side plates are oppositely provided with second shaft holes, and each of the cylinder positioning shafts is connected to the adjacent mounting hole and the second shaft hole, The driving cylinder is installed on the supporting side plate. 根据权利要求1所述的助力机械手，其特征在于，所述支撑柱的顶部通过法兰连接有转轴座，所述转轴座内设有立柱转轴，所述立柱转轴的顶部安装有矩形的连接块，所述连接块固定安装于两个所述支撑侧板上，所述横臂和所述支撑侧板可一起绕所述支撑柱旋转。The power-assisted manipulator according to claim 1, wherein the top of the support column is connected with a rotating shaft seat through a flange, a vertical shaft is provided in the rotating shaft seat, and a rectangular connecting block is installed on the top of the vertical shaft The connection block is fixedly installed on the two support side plates, and the cross arm and the support side plates can rotate around the support column together.
PCT/CN2018/117875 2018-11-08 2018-11-28 Power-assisted manipulator Ceased WO2020093480A1 (en)

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