CN110422652B - Vertical folding arm and flat cabin robot thereof - Google Patents
Vertical folding arm and flat cabin robot thereof Download PDFInfo
- Publication number
- CN110422652B CN110422652B CN201910730530.4A CN201910730530A CN110422652B CN 110422652 B CN110422652 B CN 110422652B CN 201910730530 A CN201910730530 A CN 201910730530A CN 110422652 B CN110422652 B CN 110422652B
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- frame body
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- folded
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- 238000007790 scraping Methods 0.000 claims abstract description 61
- 230000000712 assembly Effects 0.000 claims abstract description 14
- 238000000429 assembly Methods 0.000 claims abstract description 14
- 238000005452 bending Methods 0.000 claims description 8
- 230000002349 favourable effect Effects 0.000 abstract description 4
- 239000000725 suspension Substances 0.000 description 14
- 230000009286 beneficial effect Effects 0.000 description 2
- 210000004210 tooth component Anatomy 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Agricultural Machines (AREA)
- Extensible Doors And Revolving Doors (AREA)
Abstract
The invention discloses a vertical folding arm and a horizontal warehouse robot thereof, wherein the vertical folding arm comprises a middle frame body and folding assemblies respectively and symmetrically arranged on two sides of the middle frame body, the folding assemblies comprise a first frame body and a second frame body, the first frame body is rotatably connected with the middle frame body, the first frame body can be upwards folded relative to the middle frame body, the lower parts of the first frame body and the second frame body are hinged, the second frame body can be downwards folded relative to the first frame body, unfolding locking pieces and folding locking pieces are correspondingly arranged on the first frame body and the second frame body, the folding locking pieces are respectively used for locking the positions of the unfolded first frame body and the folded second frame body, and tooth scraping assemblies for scraping grains are arranged on the middle frame body, the first frame body and the second frame body. The vertical folding arm adopts a vertical folding mode, occupies less space after folding, is favorable for storage and transportation, and is convenient to fold, unfold and use.
Description
Technical Field
The invention relates to the field of grain storage, in particular to a vertical folding arm and a horizontal bin robot thereof.
Background
The leveling operation is an important link in grain storage, and directly influences the whole level of grain storage work. At present, most domestic granaries are manual leveling, and the problems of high labor intensity, bad working environment and the like exist. For this reason, flat robots have been developed to replace manual flat operations. The existing leveling robot generally comprises two chassis and a telescopic frame connected between the two chassis, a grain scraping plate is arranged below the telescopic frame, and the grain scraping plate is driven to move through the walking of the two chassis to level the grain surface. However, most existing flat-cabin robots adopt a telescopic frame as in patent publication number CN109795898a, and when the flat-cabin robot is folded, the telescopic frame stretches horizontally, and by adopting the folding mode, the telescopic frame is long in length after being folded, occupies more places, and is inconvenient to store and transport.
Disclosure of Invention
The invention aims at: to the expansion bracket of current flat storehouse robot, mostly be the expansion bracket and carry out the level and stretch out and draw back when folding, the length is longer after the expansion bracket is folding, occupy more places, the inconvenient problem of storing and transportation provides a vertical folding arm, this folding arm adopts vertical folding mode, occupation space is less after folding, is favorable to storing and transportation, convenient to use.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the utility model provides a vertical folding arm, includes middle framework and the folding subassembly of its both sides are located to the symmetry respectively, folding subassembly includes first framework and second framework, first framework with middle framework rotatable coupling, and first framework can upwards turn over the book in the middle of the framework, first framework with second framework lower part articulates, and the second framework can downwards turn over the book in the first framework, still correspond on first framework and the second framework and be equipped with expansion locking piece and folding locking piece, expansion locking piece is used for carrying out the position locking to first framework and the second framework after expanding, folding locking piece is used for carrying out the position locking to the first framework after folding and second framework, all be equipped with on middle framework, first framework and the second framework and be used for scraping the tooth subassembly of scraping grain.
The folding assembly comprises the first frame body and the second frame body, the first frame body is rotatably connected with the middle frame body, the lower parts of the first frame body and the second frame body are hinged, the first frame body is upwards turned over relative to the middle frame body during folding, the second frame body is downwards turned over relative to the first frame body, and meanwhile, the unfolding locking piece and the folding locking piece are arranged on the first frame body and the second frame body and used for locking the positions of the unfolded and folded first frame body and the folded second frame body.
As a preferable scheme of the invention, the unfolding locking piece comprises a locating pin and a first movable pull rod, wherein the locating pin is arranged on the first frame body, the locating pin is matched with a locating hole on the second frame body, and the first movable pull rod tightens the unfolded first frame body and the second frame body. Through set up the locating pin on first framework to set up the locating hole on the second framework, the locating pin is connected the location with the locating hole cooperation to first framework and second framework when expanding, and first framework and second framework after will expanding through first movable pull rod are taut simultaneously, thereby locks first framework and second framework position after expanding, makes first framework and second framework even become wholly, and relative motion appears in first framework and second framework when avoiding using.
As a preferable scheme of the invention, the folding locking piece comprises a second movable pull rod arranged on the second frame and a pull plate correspondingly arranged on the first frame, and the second movable pull rod locks the folded first frame body and the second frame body. Through set up the second movable pull rod on the second frame to and the pulling plate of locating on the first frame correspondingly, through second movable pull rod cooperation pulling plate with the first framework after folding and the locking of second framework position, avoid folding back first framework and the automatic expansion of second framework.
As a preferred embodiment of the present invention, the scraping tooth assembly includes a scraping plate and a plurality of scraping teeth arranged side by side on the scraping plate. The scraping tooth assembly has the advantages of simple structure and light weight.
As a preferable scheme of the invention, the scrapers below the middle frame body comprise a left scraper, a middle scraper and a right scraper, wherein the left scraper and the right scraper are correspondingly and rotatably connected with the two ends of the middle scraper. The scrapers below the middle frame body are set to be the left scraper, the middle scraper and the right scraper, and the left scraper and the right scraper are correspondingly connected with the two ends of the middle scraper in a rotatable mode, namely, the scrapers below the middle frame body can be folded, so that the scrapers below the middle frame body can be designed longer, the scrapers on the first frame body and the second frame body can be designed shorter, and therefore the folding of the first frame body and the second frame body is facilitated.
As a preferable scheme of the invention, the left scraping plate and the right scraping plate can be correspondingly folded at two sides of the middle scraping plate, so that the left scraping plate and the right scraping plate can be conveniently unfolded.
As a preferable scheme of the invention, the middle scraping plate is also provided with a locking bending plate, and the locking bending plate is used for locking the folded left scraping plate and the folded right scraping plate, so that the positions of the folded left scraping plate and the folded right scraping plate are prevented from changing.
As a preferable scheme of the invention, the middle frame body is further provided with a folding fixing part, and the folding fixing part is used for fixing the folded first frame body, so that the position of the folded first frame body relative to the middle frame body is prevented from changing.
As a preferable scheme of the invention, the first frame body and the second frame body are symmetrically provided with hanging plates, and the hanging plates are provided with unfolding hanging positions for hanging the scraping tooth assembly when unfolding and folding hanging positions for hanging the scraping tooth assembly when folding. Through set up the suspension board on first framework and second framework symmetry, and be equipped with on the suspension board and be used for hanging the expansion of scraping the tooth subassembly and hang the position of hanging when folding to scrape the tooth subassembly, when carrying out first framework and second framework expansion or folding, can be with scraping the tooth subassembly and transfer corresponding expansion or folding and hang the position on to can avoid when folding scraping the tooth subassembly on first framework and the second framework and produce the condition of mutual interference.
The invention also provides a horizontal bin robot which comprises the vertical folding arm and chassis units arranged at two ends of the vertical folding arm. Through adopting above-mentioned vertical folding arm on flat storehouse robot to set up chassis unit at vertical folding arm both ends, when carrying out flat storehouse operation, can fold or expand fast, because the vertical folding mode that adopts, occupation space is less after folding, is favorable to storing and transportation, and folding and expansion convenient to use.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
1. The middle frame body and the folding assembly are arranged, the folding assembly comprises the first frame body and the second frame body, the first frame body is rotatably connected with the middle frame body, the lower parts of the first frame body and the second frame body are hinged, the first frame body is upwards turned over relative to the middle frame body during folding, the second frame body is downwards turned over relative to the first frame body, and meanwhile, the unfolding locking piece and the folding locking piece are arranged on the first frame body and the second frame body and used for locking the positions of the unfolded and folded first frame body and the folded second frame body, and as the scraping tooth assemblies are distributed on the middle frame body, the first frame body and the second frame body, the scraping tooth assemblies do not need to be disassembled during folding, the vertical folding arm adopts a vertical folding mode, occupies less space after folding, is beneficial to storage and transportation, and is convenient to fold and unfold and use;
2. The first frame body is provided with the locating pin, the second frame body is provided with the locating hole, the locating pin is matched with the locating hole to connect and locate the first frame body and the second frame body when the first frame body is unfolded, and the unfolded first frame body and the unfolded second frame body are tensioned through the first movable pull rod, so that the unfolded first frame body and the unfolded second frame body are locked in position, the first frame body and the second frame body are connected into a whole, and relative movement of the first frame body and the second frame body when the first frame body and the second frame body are prevented from occurring during use;
3. The second movable pull rod is arranged on the second frame, and the pull plate is correspondingly arranged on the first frame, so that the position of the folded first frame body and the position of the folded second frame body are locked by matching the second movable pull rod with the pull plate, and the first frame body and the second frame body are prevented from being automatically unfolded after being folded;
4. The scrapers below the middle frame body are set to be the left scraper, the middle scraper and the right scraper, and the left scraper and the right scraper are correspondingly and rotatably connected with the two ends of the middle scraper, namely the scrapers below the middle frame body can be folded, so that the scrapers below the middle frame body can be designed longer, the scrapers on the first frame body and the second frame body can be designed shorter, and the folding of the first frame body and the second frame body is facilitated;
5. through set up the suspension board on first framework and second framework symmetry, and be equipped with on the suspension board and be used for hanging the expansion of scraping the tooth subassembly and hang the position of hanging when folding to scrape the tooth subassembly, when carrying out first framework and second framework expansion or folding, can be with scraping the tooth subassembly and transfer corresponding expansion or folding and hang the position on to can avoid when folding scraping the tooth subassembly on first framework and the second framework and produce the condition of mutual interference.
Drawings
Fig. 1 is a schematic view of a vertical folding arm in the present invention.
Fig. 2 is a partial schematic view of fig. 1.
Fig. 3 is a schematic view of the first frame in fig. 2.
Fig. 4 is a schematic view of a second frame in fig. 2.
Fig. 5 is a schematic view of the squeegee below the center frame.
Fig. 6 is a schematic view of a hanger plate.
Fig. 7 is a schematic view of the vertical folding arm of the present invention after folding.
Fig. 8 is a partial schematic view at a in fig. 7.
Fig. 9 is a partial schematic view of the inverted portion B of fig. 7.
Fig. 10 is a schematic view of a flat-cabin robot in the present invention.
Fig. 11 is a partial schematic view of fig. 10.
The marks in the figure: the device comprises a middle frame body, a folding fixing part 11, a folding component 2, a first frame body 21, a second frame body 22, a folding locking piece 23, a locating pin 231, a first movable pull rod 232, a folding locking piece 24, a second movable pull rod 241, a pull plate 242, a scraping tooth component 25, a scraping tooth component 251, scraping teeth 252, a left scraping plate 253, a middle scraping plate 254, a right scraping plate 255, a rotating hinge 256, a third movable pull rod 257, a locking bending plate 258, a hanging plate 26, a connecting lug 27, a chassis unit 3 and a frame body 4.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
The embodiment provides a vertical folding arm;
As shown in fig. 1-9, the vertical folding arm in this embodiment includes a middle frame 1 and folding assemblies 2 symmetrically disposed on two sides of the middle frame 1, each side of the folding assemblies 2 includes a first frame 21 and a second frame 22 formed by welding square tubes, the first frame 21 is rotatably connected with the middle frame 1, the first frame 21 can be folded upwards relative to the middle frame 1, the lower parts of the first frame 21 and the second frame 22 are hinged, the second frame 22 can be folded downwards relative to the first frame 21, the first frame 21 and the second frame 22 are correspondingly provided with unfolding locking pieces 23 and folding locking pieces 24, the unfolding locking pieces 23 are used for locking positions of the unfolded first frame 21 and the folded second frame 22, the folding locking pieces 24 are used for locking positions of the folded first frame 21 and the folded second frame 22, and the middle frame 1, the first frame 21 and the folded second frame 22 are provided with scraping assemblies 25.
The folding assembly comprises the first frame body and the second frame body, the first frame body is rotatably connected with the middle frame body, the lower parts of the first frame body and the second frame body are hinged, the first frame body is upwards turned over relative to the middle frame body during folding, the second frame body is downwards turned over relative to the first frame body, and meanwhile, the unfolding locking piece and the folding locking piece are arranged on the first frame body and the second frame body and used for locking the positions of the unfolded and folded first frame body and the folded second frame body.
In this embodiment, the unfolding locking piece 23 includes a positioning pin 231 and a first movable pull rod 232 disposed on the first frame 21, the positioning pin 231 is matched with a positioning hole on the second frame 22, and the first frame 21 and the second frame 22 are tensioned by the first movable pull rod 232 and the wing nut after being unfolded. Through set up the locating pin on first framework to set up the locating hole on the second framework, the locating pin is connected the location with the locating hole cooperation to first framework and second framework when expanding, and first framework and second framework after will expanding through first movable pull rod are taut simultaneously, thereby locks first framework and second framework position after expanding, makes first framework and second framework even become wholly, and relative motion appears in first framework and second framework when avoiding using.
In this embodiment, the folding locking member 24 includes a second movable pull rod 241 disposed on the second frame 22 and a pull plate 242 correspondingly disposed on the first frame 21, where the second movable pull rod 241 locks the folded first frame 21 and the second frame 22, and the second movable pull rod 241 is locked by a wing nut after being folded and clamped into the pull plate 242. Through set up the second movable pull rod on the second frame to and the pulling plate of locating on the first frame correspondingly, through second movable pull rod cooperation pulling plate with the first framework after folding and the locking of second framework position, avoid folding back first framework and the automatic expansion of second framework.
In this embodiment, the scraping tooth assembly 25 includes a scraping blade 251 and a plurality of scraping teeth 252 disposed on the scraping blade 251 and arranged side by side. The scraping tooth assembly has the advantages of simple structure and light weight.
In this embodiment, the scrapers below the middle frame 1 are divided into three sections, namely a left scraper 253, a middle scraper 254 and a right scraper 255, wherein the middle scraper 254 is fixedly connected with the middle frame 1, the left scraper 253 and the right scraper 255 are correspondingly rotatably connected with two ends of the middle scraper 254, specifically, one side of the left scraper 253 and one side of the right scraper 255 are hinged with the middle scraper 254 through a rotating hinge 256, and the other side of the left scraper and the right scraper are locked through a third movable pull rod 257 and a butterfly nut. The scrapers below the middle frame body are set to be the left scraper, the middle scraper and the right scraper, and the left scraper and the right scraper are correspondingly connected with the two ends of the middle scraper in a rotatable mode, namely, the scrapers below the middle frame body can be folded, so that the scrapers below the middle frame body can be designed longer, the scrapers on the first frame body and the second frame body can be designed shorter, and therefore the folding of the first frame body and the second frame body is facilitated.
In this embodiment, the left scraper 253 and the right scraper 255 may be folded on two sides of the middle scraper 254, so as to facilitate the unfolding of the left scraper and the right scraper.
In this embodiment, two locking bending plates 258 are further disposed on the middle scraper 254 and are respectively disposed on two sides of the middle scraper 254, the locking bending plates 258 are in a U-shaped structure, the opening width of the locking bending plates is matched with the thicknesses of the left scraper 235 and the right scraper 255, and the folded left scraper and right scraper are clamped by the screw and the butterfly nut, so that the positions of the folded left scraper and right scraper are prevented from changing.
In this embodiment, the middle frame 1 is further provided with a folding fixing portion 11, and the folding fixing portion 11 is used for fixing the folded first frame 21, so as to avoid a change in the position of the folded first frame relative to the middle frame. When in the unfolded state, the first frame 21 is hinged with the middle frame 1 through the upper and lower sets of bolts, when in folding, the upper bolts are firstly taken out, then the first frame 21 is turned upwards around the lower bolts, and the upper bolts are inserted into the bolt holes on the folding fixing part 11.
In this embodiment, the first frame 21 and the second frame 22 are further symmetrically provided with suspension boards 26, specifically, two suspension boards 26 are respectively disposed on the first frame 21 and the second frame 22, the scraping plate 251 is detachably connected with the suspension boards 26 through the connecting lugs 27, the suspension boards on the first frame 21 and the second frame 22 are symmetrically disposed relative to the scraping tooth center line, and the suspension boards 26 are provided with an unfolding suspension position for suspending the scraping tooth assembly when being unfolded, and a folding suspension position for suspending the scraping tooth assembly when being folded. Through set up the suspension board on first framework and second framework symmetry, and be equipped with on the suspension board and be used for hanging the expansion of scraping the tooth subassembly and hang the position of hanging when folding to be used for hanging the folding of scraping the tooth subassembly when folding, when carrying out first framework and second framework expansion or folding, can be with scraping the tooth subassembly and adjust corresponding expansion or folding along the slot on the suspension board and hang the position on to can avoid when folding scraping the tooth subassembly on first framework and the second framework and produce the condition of mutual interference.
Example 2
As shown in fig. 1 to 11, this embodiment also provides a flat-cabin robot, which includes the vertical folding arm described in embodiment 1, and chassis units 3 provided at both ends of the vertical folding arm, where the chassis units 3 are connected to the second frame 22. Through adopting above-mentioned vertical folding arm on flat storehouse robot to set up chassis unit at vertical folding arm both ends, when carrying out flat storehouse operation, can fold or expand fast, because the vertical folding mode that adopts, occupation space is less after folding, is favorable to storing and transportation, and folding and expansion convenient to use.
In this embodiment, the chassis unit 3 is a robot walking chassis in the prior art, which is not described herein, and the chassis unit 3 has a horizontal plane rotation degree of freedom and a vertical plane rotation degree of freedom relative to the second frame 22, when the heights of the road surfaces walked by the two chassis units are inconsistent, the second frame can rotate up and down relative to the vertical plane relative to the chassis unit, and when the walking speeds of the two chassis units are different, the second frame can rotate relative to the chassis unit in a horizontal plane, so that the horizontal bin robot can automatically adjust according to the road surface condition and the walking speed, and thus adapt to the speed difference between the road surface height and the left and right chassis units.
In this embodiment, still be equipped with the framework support 4 that is used for folding back to carry out auxiliary stay on the intermediate frame body 1, framework support 4 has four, evenly sets up in intermediate frame body 1 lower part, just framework support 4 with intermediate frame body 1 forms detachable connection through screw and bolt, and pulls out the bolt back framework support and can rotate around the screw, and when putting down when not using, pack up conveniently.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (8)
1. The vertical folding arm is characterized by comprising a middle frame body and folding assemblies which are symmetrically arranged on two sides of the middle frame body respectively, wherein the folding assemblies comprise a first frame body and a second frame body, the first frame body is rotatably connected with the middle frame body, the first frame body can be upwards folded relative to the middle frame body, the first frame body and the lower part of the second frame body are hinged, the second frame body can be downwards folded relative to the first frame body, unfolding locking pieces and folding locking pieces are correspondingly arranged on the first frame body and the second frame body, the unfolding locking pieces are used for locking positions of the unfolded first frame body and the unfolded second frame body, and tooth scraping assemblies used for scraping grains are arranged on the middle frame body, the folded first frame body and the folded second frame body; the middle frame body is also provided with a folding fixing part, the folding fixing part is used for fixing the folded first frame body, when the folding fixing part is unfolded, the first frame body and the middle frame body are hinged through an upper bolt and a lower bolt, when the folding fixing part is folded, the upper bolt is firstly taken out, then the first frame body is turned upwards around the lower bolt, and the upper bolt is inserted into the bolt hole on the folding fixing part; the first frame body and the second frame body are symmetrically provided with hanging plates, the hanging plates are provided with unfolding hanging positions for hanging the scraping tooth assemblies when unfolding and folding hanging positions for hanging the scraping tooth assemblies when folding, and the scraping tooth assemblies can be adjusted to corresponding unfolding or folding hanging positions along grooves in the hanging plates.
2. The vertical folding arm according to claim 1, wherein the unfolding locking member comprises a positioning pin and a first movable pull rod, wherein the positioning pin is arranged on the first frame body, the positioning pin is matched with a positioning hole on the second frame body, and the first movable pull rod tightens the unfolded first frame body and the second frame body.
3. The vertical folding arm according to claim 2, wherein the folding locking member comprises a second movable pull rod provided on the second frame and a pull plate provided on the first frame, and the second movable pull rod locks the folded first frame and second frame.
4. A vertical folding arm according to any of claims 1-3, wherein the scraping tooth assembly comprises a scraper blade and a plurality of scraping teeth arranged side by side on the scraper blade.
5. The vertical folding arm according to claim 4, wherein the scrapers below the intermediate frame comprise a left scraper, a middle scraper and a right scraper, wherein the left scraper and the right scraper are rotatably connected with two ends of the middle scraper respectively.
6. The vertical folding arm according to claim 5, wherein the left and right scrapers are folded over on opposite sides of the middle scraper.
7. The vertical folding arm according to claim 6, wherein the middle scraping plate is further provided with a locking bending plate, and the locking bending plate is used for locking the left scraping plate and the right scraping plate after being folded.
8. A flat cabin robot comprising a vertical folding arm according to any one of claims 1-7, and chassis units provided at both ends of the vertical folding arm.
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 |
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| CN110422652A CN110422652A (en) | 2019-11-08 |
| CN110422652B true CN110422652B (en) | 2024-05-07 |
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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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| CN (1) | CN110422652B (en) |
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| 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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2019
- 2019-08-08 CN CN201910730530.4A patent/CN110422652B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3913655A1 (en) * | 1989-04-26 | 1990-10-31 | Frech Oskar Gmbh & Co | Swivel mechanism for robot articulated arm - has specified lever members driven from first member by interengaging force transmission elements |
| CN2745500Y (en) * | 2004-10-08 | 2005-12-14 | 陈光中 | Folding frome type mop |
| CN104495233A (en) * | 2014-12-16 | 2015-04-08 | 郑州一帆机械设备有限公司 | Folding bracket for conveyor and belt conveyor using same |
| CN204847246U (en) * | 2015-08-07 | 2015-12-09 | 湖南晨光机器制造有限公司 | Folding arm and self -discharging oceangoing ship carried of self -discharging oceangoing ship hydraulic pressure |
| 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 |
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| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110422652A (en) | 2019-11-08 |
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