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Assist manipulator

A technology that assists manipulators and arms. It is applied in the direction of manipulators, program-controlled manipulators, and joints. It can solve the problems of waste of resources and costs, and achieve the effect of increasing or decreasing the movement speed and expanding the scope of use.

Inactive Publication Date: 2021-02-05
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If professional manipulators are used, it will cause a great waste of resources and costs; if general-purpose intelligent manipulators are used, specific needs cannot be met

Method used

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Embodiment Construction

[0069] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0070] figure 1 , 17 and 18 show a power-assisted manipulator located in the X-Y-Z three-dimensional coordinate system (Z represents the direction of gravity, and the XY plane simulates a horizontal plane), including an arm 100, a kinematic connection mechanism 200, a lifting drive mechanism 300, a force-sensing handle 400 and a control system, The motion connection mechanism 200 is respectively connected to the arm 100 and the lift drive mechanism 300, the lift drive mechanism 300 drives the arm 100 to move up and down along Z through the motion connection mechanism 200, the force sensing handle 400 is fixed on the arm 100, when the handle 410 When an upward force is applied, the arm 100 automatically moves upwards, and vice versa, it moves downwards, thereby achieving the effect of overcoming the effect of gravity.

[0071] The arm 100 is ...

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Abstract

The power-assisted manipulator of the present invention belongs to the field of mechanical engineering, and solves the problem that the handling speed and strength of the manipulator cannot be manually controlled, and the workpieces with large mass and different volumes are difficult to load and unload. The power-assisted manipulator includes: an arm with a first locking member; The adapter, which is hinged with the arm through the X-axis hinge, makes the arm rotate around the X-axis; the locking mechanism, which is detachably fixed on the adapter; when the arm rotates around the X-axis to close The adapter, the locking mechanism is locked with the first locking member, so that the arm is fixedly connected with the adapter; the connector, which is hinged with the adapter through the Z-direction hinge axis, makes the fixedly connected adapter and arm At the same time, it rotates around the hinge axis in the Z direction; the lifting drive mechanism is connected with the connecting piece and is used to drive the connecting piece, the adapter piece and the arm to move along the Z direction. The device has the advantages of simple structure, convenient operation and powerful function, and has the effect of lifting a heavy object as light as it is when carrying a heavy object.

Description

technical field [0001] The invention relates to the field of industrially produced tools in mechanical engineering, in particular to a power-assisted manipulator. Background technique [0002] In the traditional way of handling, if you encounter a workpiece that is difficult to move, several people are required to carry it at the same time. If the distance is relatively long, it will take a long time. These things will bring a certain amount of waste of manpower and material resources to us, and will eventually increase the cost even more. Manipulators have been widely used as handling tools in industrial production. Most manipulators are special-purpose tools, which are basically only working devices for one or several functions, and they work according to a fixed program. Most of the general-purpose manipulators are fairly intelligent devices, which generally require relatively high-level intelligent software and control systems to work, and their disadvantages are high ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/06B25J9/10B25J13/02B25J15/02B25J17/00
CPCB25J9/0009B25J9/06B25J9/10B25J13/02B25J15/0206B25J17/00
Inventor 张学成于立娟姜冬梅郭新旭
Owner JILIN UNIV
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