CN110422652A - A kind of vertically folded arm and its robot that closes a position - Google Patents
A kind of vertically folded arm and its robot that closes a position Download PDFInfo
- Publication number
- CN110422652A CN110422652A CN201910730530.4A CN201910730530A CN110422652A CN 110422652 A CN110422652 A CN 110422652A CN 201910730530 A CN201910730530 A CN 201910730530A CN 110422652 A CN110422652 A CN 110422652A
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- China
- Prior art keywords
- framework
- scraper plate
- intermediate frame
- expansion
- vertically folded
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- 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.)
- Granted
Links
- 239000000725 suspension Substances 0.000 claims description 41
- 238000007790 scraping Methods 0.000 claims description 16
- 238000005452 bending Methods 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 11
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
- A01F25/00—Storing agricultural or horticultural produce; Hanging-up harvested fruit
- A01F25/16—Arrangements in forage silos
- A01F25/18—Loading or distributing arrangements
- A01F25/186—Distributing arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/04—Spreading out the materials conveyed over the whole surface to be loaded; Trimming heaps of loose materials
- B65G69/045—Spreading out the materials conveyed over the whole surface to be loaded; Trimming heaps of loose materials with scraping devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0202—Agricultural and processed food products
Abstract
The invention discloses a kind of vertically folded arm and its robots that closes a position, wherein vertically folded arm includes intermediate frame and is respectively symmetrically set to the foldable assembly of its two sides, the foldable assembly includes the first framework and second framework, first framework is rotatably connected with the intermediate frame, and first framework can be turned down upwards relative to intermediate frame, first framework and the second framework lower hinge, and second framework can be turned down downwards relative to the first framework, expansion locking piece and foldable locking part are also correspondingly provided in first framework and second framework, it is respectively used to after expansion, folded first framework and second framework carry out position locking, the intermediate frame, it is equipped in first framework and second framework and scrapes tooth assembly for scrape grain.Vertically folded arm in the present invention is by the way of vertically folded, and occupied space is less after folding, is conducive to store and transport, and folds and be unfolded easy to use.
Description
Technical field
The present invention relates to grain storage fields, and in particular to a kind of vertically folded arm and its robot that closes a position.
Background technique
Operation of closing a position is the important link in grain storage, directly influences the integral level of grain storage work.It is domestic at present
Silo is mostly manually closed a position, there are large labor intensity, the problems such as operating environment is severe.People have developed the robot that closes a position thus,
To substitute operation of manually closing a position.The existing robot that closes a position generally comprises two chassis and is connected in flexible between two chassis
Frame is equipped with grain-scraping plate below expansion bracket, and being walked by two chassis, it is flat to drive grain-scraping plates movement to stroke grain face.However it is existing
The robot that closes a position be using such as the expansion bracket in patent publication No. CN109795898A mostly, be expansion bracket when being folded
Carry out horizontal extension, using this folding mode, expansion bracket folded length is longer, occupies more place, be not easy to storage and
Transport.
Summary of the invention
Present invention aims at: it is expansion bracket mostly when being folded for the expansion bracket of the existing robot that closes a position
Horizontal extension is carried out, expansion bracket folded length is longer, occupies more place, is not easy to the problem of storing and transporting, provides one
The vertically folded arm of kind, the folding arm is by the way of vertically folded, and occupied space is less after folding, is conducive to store and transport
It is defeated, it is easy to use.
To achieve the goals above, the technical solution adopted by the present invention are as follows:
A kind of vertically folded arm, including intermediate frame and respectively symmetrically set on the foldable assembly of its two sides, the folding group
Part includes the first framework and second framework, and first framework is rotatably connected with the intermediate frame, and the first framework is opposite
Can be turned down upwards in intermediate frame, first framework and the second framework lower hinge, and second framework relative to
First framework can be turned down downwards, and expansion locking piece and foldable locking are also correspondingly provided in first framework and second framework
Part, the expansion locking piece are used for the first framework and second framework progress position locking after expansion, the foldable locking part
For carrying out position locking, the intermediate frame, the first framework and second framework to folded first framework and second framework
On be equipped with and scrape tooth assembly for scrape grain.
For the present invention by setting intermediate frame and foldable assembly, which includes the first framework and second framework, the
One framework is rotatably connected with intermediate frame, the first framework and second framework lower hinge, when folding by the first framework relative to
Intermediate frame is turned down upwards, and second framework is turned down downwards relative to the first framework, while by the first framework
With setting expansion locking piece and foldable locking part in second framework, for after expansion, folded first framework and the second frame
Body carries out position locking and scrapes since scraping teeth components distribution is in intermediate frame, the first framework and second framework when being folded
For tooth assembly without disassembly, the vertically folded arm is by the way of vertically folded, and occupied space is less after folding, is conducive to store
And transport, and fold and be unfolded easy to use.
As a preferred solution of the present invention, the expansion locking piece includes that the positioning pin being set in the first framework and first are living
Location hole in dynamic pull rod, the positioning pin and second framework cooperates, and first active pull rod is by the first framework after expansion
It is tensed with second framework.By the way that positioning pin is arranged in the first framework, and location hole is set in second framework, it is fixed upon deployment
Position pin is attached positioning to the first framework and second framework with location hole cooperation, while will be after expansion by the first active pull rod
The first framework and second framework tense, thus to after expansion the first framework and second framework position lock so that the first frame
Body and second framework are linked to be entirety, avoid using when the first framework and second framework there is relative motion.
As a preferred solution of the present invention, the foldable locking part includes the second active pull rod on the second frame,
And it is correspondingly arranged at the pulling plate on the first frame, second active pull rod locks folded first framework and second framework
It is fixed.By the way that the second active pull rod is arranged on the second frame, and the pulling plate being correspondingly arranged on the first frame, pass through the second activity
Pull rod cooperates pulling plate to lock folded first framework and second framework position, avoids the first framework and second framework after folding
Automatic-expanding.
As a preferred solution of the present invention, the tooth assembly of scraping includes that scraper plate and more on scraper plate are arranged side by side
Scraping teeth.Tooth assembly is scraped using this, structure is simple, light-weight.
As a preferred solution of the present invention, the scraper plate below the intermediate frame includes left scraper plate, middle scraper plate and right scraper plate,
Wherein the corresponding both ends with middle scraper plate of left scraper plate, right scraper plate are rotatably connected.By setting the scraper plate below intermediate frame to
Left scraper plate, middle scraper plate and right scraper plate, and left scraper plate, right scraper plate be corresponding and the both ends of middle scraper plate are rotatably connected, i.e. intermediate frame
The scraper plate of lower section can be folded, and the scraper plate below intermediate frame be designed longer, and the first framework and the second frame
Scraper plate on body can design it is shorter, to facilitate the folding of the first framework and second framework.
As a preferred solution of the present invention, the left scraper plate, right scraper plate can correspond to the two sides for folding in middle scraper plate, thus just
It is unfolded in left scraper plate, right scraper plate.
As a preferred solution of the present invention, locking bending plate is additionally provided on the middle scraper plate, the locking bending plate is used for
Left scraper plate, right scraper plate after fold is locked, so that folded left scraper plate, right wiper positions be avoided to change.
As a preferred solution of the present invention, folding fixed part is additionally provided in the intermediate frame, the folding fixed part is used
It is fixed in the first framework after fold, so that the first framework after folding be avoided to become relative to intermediate frame position
It is dynamic.
As a preferred solution of the present invention, it is also symmetrically arranged with suspension plate in first framework and second framework, it is described outstanding
Hanging plate scrapes tooth assembly equipped with the expansion suspension position for scraping tooth assembly for suspension upon deployment, and for hanging when folding
Folded suspension position.By being symmetrical arranged suspension plate in the first framework and second framework, and suspension plate is equipped with for being unfolded
When suspension scrape the expansion suspension position of tooth assembly, and for when folding suspension scrape the folded suspension position of tooth assembly, carrying out the
When one framework and second framework expansion or folding, it can will scrape tooth assembly and be transferred on corresponding expansion or folded suspension position, thus
The case where tooth assembly generation interferes can be scraped in the first framework and second framework to avoid when folding.
It closes a position robot, including above-described vertically folded arm, and is set to vertically folded the present invention also provides one kind
The tray unit at arm both ends.It is arranged by closing a position using above-mentioned vertically folded arm in robot, and at vertically folded arm both ends
Tray unit can carry out fast folding or expansion, due to using vertically folded mode, In when close a position operation
Occupied space is less after folding, is conducive to store and transport, and folds and be unfolded easy to use.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are:
1, the present invention includes the first framework and second framework by setting intermediate frame and foldable assembly, the foldable assembly,
First framework is rotatably connected with intermediate frame, the first framework and second framework lower hinge, and when folding is opposite by the first framework
It is turned down upwards in intermediate frame, and second framework is turned down downwards relative to the first framework, while by the first frame
Setting expansion locking piece and foldable locking part on body and second framework, for after expansion, folded first framework and second
Framework carries out position locking, since scraping teeth components distribution is in intermediate frame, the first framework and second framework, when being folded
Tooth assembly is scraped without disassembly, the vertically folded arm is by the way of vertically folded, and occupied space is less after folding, is conducive to deposit
Storage and transport, and fold and be unfolded easy to use；
2, by the way that positioning pin is arranged in the first framework, and location hole is set in second framework, upon deployment positioning pin
Positioning is attached to the first framework and second framework with location hole cooperation, while passing through the first active pull rod for the after expansion
One framework and second framework tense, thus to after expansion the first framework and second framework position lock so that the first framework and
Second framework is linked to be entirety, avoid using when the first framework and second framework there is relative motion；
3, by the way that the second active pull rod is arranged on the second frame, and the pulling plate being correspondingly arranged on the first frame, pass through
Second active pull rod cooperates pulling plate to lock folded first framework and second framework position, avoid after folding the first framework with
Second framework Automatic-expanding；
4, by setting left scraper plate, middle scraper plate and right scraper plate, and left scraper plate, right scraper plate for the scraper plate below intermediate frame
The corresponding both ends with middle scraper plate are rotatably connected, i.e., the scraper plate below intermediate frame can be folded, so that below intermediate frame
Scraper plate can design it is longer, and the scraper plate in the first framework and second framework can design it is shorter, to facilitate first
The folding of framework and second framework；
5, by being symmetrical arranged suspension plate in the first framework and second framework, and suspension plate is equipped with for upon deployment
The expansion suspension position of tooth assembly is scraped in suspension, and for hanging the folded suspension position for scraping tooth assembly when folding, is carrying out first
When framework and second framework expansion or folding, it can will scrape tooth assembly and be transferred on corresponding expansion or folded suspension position, so as to
The case where tooth assembly generation interferes is scraped in the first framework and second framework to avoid when folding.
Detailed description of the invention
Fig. 1 is the vertically folded arm schematic diagram in the present invention.
Fig. 2 is the partial schematic diagram in Fig. 1.
Fig. 3 is the first framework schematic diagram in Fig. 2.
Fig. 4 is the second framework schematic diagram in Fig. 2.
Fig. 5 is the scraper plate schematic diagram below intermediate frame.
Fig. 6 is schematic diagram at suspension plate.
Fig. 7 is schematic diagram after the vertically folded arm in the present invention folds.
Fig. 8 is partial schematic diagram at the A in Fig. 7.
Fig. 9 is partial schematic diagram at the B after Fig. 7 overturning.
Figure 10 is the robot schematic diagram of closing a position in the present invention.
Figure 11 is the partial schematic diagram of Figure 10.
Marked in the figure: 1- intermediate frame, 11- folding fixed part, 2- foldable assembly, the first framework of 21-, 22- second framework,
Locking piece, 231- positioning pin, the first active pull rod of 232-, 24- foldable locking part, the second active pull rod of 241-, 242- is unfolded in 23-
Pulling plate, 25- scrape tooth assembly, 251- scraper plate, 252- scraping teeth, the left scraper plate of 253-, scraper plate in 254-, the right scraper plate of 255-, 256- rotation
Hinge, 257- third active pull rod, 258- lock bending plate, 26- suspension plate, 27- connection ear mount, 3- tray unit, 4- framework
Support.
Specific embodiment
With reference to the accompanying drawing, the present invention is described in detail.
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
Embodiment 1
The present embodiment provides a kind of vertically folded arms；
As shown in figs. 1-9, the vertically folded arm in the present embodiment, including intermediate frame 1 and respectively symmetrically be set to its two
The foldable assembly 2 of side, foldable assembly 2 described in every side includes the first framework 21 and second framework 22, institute as made of square tubes soldering
It states the first framework 21 to be rotatably connected with the intermediate frame 1, and the first framework 21 can be turned over upwards relative to intermediate frame 1
Folding, 22 lower hinge of first framework 21 and the second framework, and second framework 22 can be downward relative to the first framework 21
It is turned down, expansion locking piece 23 and foldable locking part 24, institute is also correspondingly provided in first framework 21 and second framework 22
Expansion locking piece 23 is stated to be used for the first framework 21 and the progress position locking of second framework 22 after expansion, the foldable locking part
24 for carrying out position locking, the intermediate frame 1,21 and of the first framework to folded first framework 21 and second framework 22
It is equipped in second framework 22 and scrapes tooth assembly 25 for scrape grain.
For the present invention by setting intermediate frame and foldable assembly, which includes the first framework and second framework, the
One framework is rotatably connected with intermediate frame, the first framework and second framework lower hinge, when folding by the first framework relative to
Intermediate frame is turned down upwards, and second framework is turned down downwards relative to the first framework, while by the first framework
With setting expansion locking piece and foldable locking part in second framework, for after expansion, folded first framework and the second frame
Body carries out position locking and scrapes since scraping teeth components distribution is in intermediate frame, the first framework and second framework when being folded
For tooth assembly without disassembly, the vertically folded arm is by the way of vertically folded, and occupied space is less after folding, is conducive to store
And transport, and fold and be unfolded easy to use.
In the present embodiment, the expansion locking piece 23 includes positioning pin 231 and the first activity in the first framework 21
Pull rod 232, the positioning pin 231 cooperate with the location hole in second framework 22, pass through the first active pull rod 232 and butterfly after expansion
Shape nut tenses the first framework 21 and second framework 22.By the way that positioning pin is arranged in the first framework, and in second framework
Location hole is set, and positioning pin and location hole cooperation are attached positioning to the first framework and second framework upon deployment, lead to simultaneously
The first active pull rod is crossed by the first framework and second framework tension after expansion, thus to the first framework and the second frame after expansion
Body position locking so that the first framework and second framework are linked to be entirety, avoid using when the first framework and second framework there is phase
To movement.
In the present embodiment, the foldable locking part 24 includes the second active pull rod 241 on the second frame 22, and
The pulling plate 242 being correspondingly arranged on the first frame 21, second active pull rod 241 is by folded first framework 21 and the second frame
Body 22 locks, and the second active pull rod 241 is caught in pulling plate 242 after folding and is locked using wing nut.By second
Second active pull rod is set, and the pulling plate being correspondingly arranged on the first frame on frame, pulling plate is cooperated by the second active pull rod
Folded first framework and second framework position are locked, the first framework and second framework Automatic-expanding after folding are avoided.
In the present embodiment, what more for scraping tooth assembly 25 including scraper plate 251 and on scraper plate 251 were arranged side by side
Scraping teeth 252.Tooth assembly is scraped using this, structure is simple, light-weight.
In the present embodiment, the scraper plate of 1 lower section of intermediate frame is divided into left scraper plate 253, middle scraper plate 254 and right scraper plate 255
Three sections, wherein middle scraper plate 254 is fixedly connected with intermediate frame 1, and left scraper plate 253, right scraper plate 255 correspondence and middle scraper plate 254
Both ends are rotatably connected, and specially left scraper plate 253,255 side of right scraper plate are hinged by rotation hinge 256 and middle scraper plate 254, and
It is locked by third active pull rod 257 and wing nut the other side.By setting left for the scraper plate below intermediate frame
Scraper plate, middle scraper plate and right scraper plate, and the corresponding both ends with middle scraper plate of left scraper plate, right scraper plate are rotatably connected, i.e., under intermediate frame
The scraper plate of side can be folded, and the scraper plate below intermediate frame be designed longer, and the first framework and second framework
On scraper plate can design it is shorter, to facilitate the folding of the first framework and second framework.
In the present embodiment, the left scraper plate 253, right scraper plate 255 can correspond to the two sides for folding in middle scraper plate 254, thus just
It is unfolded in left scraper plate, right scraper plate.
In the present embodiment, it is additionally provided with two locking bending plates 258 on the middle scraper plate 254, is respectively arranged on 254 liang of middle scraper plate
Side, the U-shaped structure of locking bending plate 258 and opening width and the thickness of left scraper plate 235, right scraper plate 255 match, and pass through
Left scraper plate, right scraper plate after fold is clamped by screw rod and wing nut, to avoid folded left scraper plate, right scraper plate position
It sets and changes.
In the present embodiment, it is additionally provided in the intermediate frame 1 and folds fixed part 11, the foldings fixed part 11 is for turning over
The first framework 21 after folding is fixed, so that the first framework after folding be avoided to change relative to intermediate frame position.In
When unfolded state, first framework 21 hingedly, folded by upper and lower two groups of bolts with the intermediate frame 1
When, first the bolt on top is taken down, then the bolt by the first framework 21 around lower part is flipped up, and the bolt on top is inserted into and is rolled over
In pin hole on folded fixed part 11.
In the present embodiment, it is also symmetrically arranged with suspension plate 26 in first framework 21 and second framework 22, specially
Two suspension plates 26 are respectively set in one framework 21 and second framework 22, and scraper plate 251 can by connection ear mount 27 and suspension plate 26
Dismantling connection, and the suspension plate in the first framework 21 and second framework 22 is relative to scraping teeth center line symmetrical setting, the suspension
Plate 26 scrapes tooth assembly equipped with the expansion suspension position for scraping tooth assembly for suspension upon deployment, and for hanging when folding
Folded suspension position.By being symmetrical arranged suspension plate in the first framework and second framework, and suspension plate is equipped with for being unfolded
When suspension scrape the expansion suspension position of tooth assembly, and for when folding suspension scrape the folded suspension position of tooth assembly, carrying out the
When one framework and second framework expansion or folding, it can will scrape groove of the tooth assembly in suspension plate and be transferred to corresponding expansion or folding
On folded suspension position, so as to avoid the tooth assembly of scraping when folding in the first framework and second framework from generating the feelings interfered
Condition.
Embodiment 2
As shown in Figure 1-Figure 11, the present embodiment also provides one kind and closes a position robot, including vertical folding described in embodiment 1
Folded arm, and the tray unit 3 set on vertically folded arm both ends, the tray unit 3 are connected with second framework 22.By closing a position
Above-mentioned vertically folded arm is used in robot, and tray unit is arranged at vertically folded arm both ends can when close a position operation
To carry out fast folding or expansion, since using vertically folded mode, occupied space is less after folding, be conducive to store
And transport, and fold and be unfolded easy to use.
In the present embodiment, the tray unit 3 is robot ambulation chassis in the prior art, and details are not described herein again, and
And the tray unit 3 relative to second framework 22 there is horizontal plane revolution freedom degree and vertical plane to turn round freedom degree, when two
When the road surface height of a tray unit walking is inconsistent, second framework relative to tray unit can vertical plane rotate upwardly and downwardly, when two
When a tray unit speed of travel is variant, second framework relative to tray unit can horizontal plane rotation so that the robot that closes a position
It can be automatically adjusted according to surface conditions and the speed of travel, so that adapting to road surface is uneven and controls two chassis
Unit speed difference.
In the present embodiment, the framework support 4 for carrying out Auxiliary support after folding, institute are additionally provided in the intermediate frame 1
It states there are four framework supports 4, is uniformly arranged on 1 lower part of intermediate frame, and framework support 4 passes through with the intermediate frame 1
Screw and bolt form detachable connection, and framework support can be rotated around screw after pulling out bolt, when being easy to use
It puts down and packs up when not used.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in original of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within reason.
Claims (10)
1. a kind of vertically folded arm, which is characterized in that including intermediate frame and respectively symmetrically set on the foldable assembly of its two sides, institute
Stating foldable assembly includes the first framework and second framework, and first framework is rotatably connected with the intermediate frame, and first
Framework can be turned down upwards relative to intermediate frame, first framework and the second framework lower hinge, and the second frame
Body can be turned down downwards relative to the first framework, be also correspondingly provided in first framework and second framework expansion locking piece and
Foldable locking part, the expansion locking piece are used for the first framework and second framework progress position locking after expansion, the folding
Folded locking piece is used to carry out folded first framework and second framework position locking, the intermediate frame, the first framework and
It is equipped in second framework and scrapes tooth assembly for scrape grain.
2. vertically folded arm according to claim 1, which is characterized in that the expansion locking piece includes being set to the first framework
On positioning pin and the first active pull rod, the location hole in the positioning pin and second framework cooperates, first active pull rod
By the first framework and second framework tension after expansion.
3. vertically folded arm according to claim 2, which is characterized in that the foldable locking part includes being set to the second frame
On the second active pull rod, and the pulling plate being correspondingly arranged on the first frame, second active pull rod is by folded first
Framework and second framework locking.
4. vertically folded arm described in one of -3 according to claim 1, which is characterized in that it is described scrape tooth assembly include scraper plate and
The more scraping teeth being arranged side by side on scraper plate.
5. vertically folded arm according to claim 4, which is characterized in that the scraper plate below the intermediate frame is scraped including a left side
Plate, middle scraper plate and right scraper plate, wherein the corresponding both ends with middle scraper plate of left scraper plate, right scraper plate are rotatably connected.
6. vertically folded arm according to claim 5, which is characterized in that the left scraper plate, right scraper plate can be corresponded to and be folded in
The two sides of middle scraper plate.
7. vertically folded arm according to claim 6, which is characterized in that it is additionally provided with locking bending plate on the middle scraper plate,
The locking bending plate is for locking left scraper plate, the right scraper plate after fold.
8. vertically folded arm according to claim 1, which is characterized in that be additionally provided with folding in the intermediate frame and fix
Portion, the folding fixed part is for being fixed the first framework after fold.
9. vertically folded arm according to claim 1, which is characterized in that also symmetrical in first framework and second framework
Equipped with suspension plate, the suspension plate is equipped with the expansion suspension position that tooth assembly is scraped for suspension upon deployment, and for rolling over
The folded suspension position of tooth assembly is scraped in suspension when folded.
The robot 10. one kind is closed a position, which is characterized in that including vertically folded arm as claimed in any one of claims 1-9 wherein, with
And the tray unit set on vertically folded arm both ends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910730530.4A CN110422652B (en) | 2019-08-08 | 2019-08-08 | Vertical folding arm and flat cabin robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910730530.4A CN110422652B (en) | 2019-08-08 | 2019-08-08 | Vertical folding arm and flat cabin robot thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110422652A true CN110422652A (en) | 2019-11-08 |
| CN110422652B CN110422652B (en) | 2024-05-07 |
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ID=68413297
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910730530.4A Active CN110422652B (en) | 2019-08-08 | 2019-08-08 | Vertical folding arm and flat cabin robot thereof |
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|---|---|---|---|---|
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| CN206203498U (en) * | 2016-11-29 | 2017-05-31 | 中央储备粮威海直属库 | A kind of new flat grain bar |
| CN108016796A (en) * | 2017-12-25 | 2018-05-11 | 中国科学院沈阳自动化研究所 | A kind of space shelf of foldable expansion |
| CN109795898A (en) * | 2019-01-29 | 2019-05-24 | 电子科大科园股份有限公司 | A kind of Jing Ping robot with collapsible impurity removal mechanism |
| CN210456701U (en) * | 2019-08-08 | 2020-05-05 | 四川阿泰因机器人智能装备有限公司 | Vertical folding arm and leveling robot thereof |
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