CN209868582U - Mechanical arm - Google Patents

Abstract

The utility model discloses an arm for a wheeled robot, which comprises a frame connecting block, an arm body and a supporting wheel; the frame connecting block is rotatably connected with the mechanical arm body, the buffer unit is arranged at the joint, the supporting wheel for bearing is fixed on the mechanical arm body, the gravity in the vertical direction after clamping the tire is completely borne by the supporting wheel, and the whole machine cannot change the bearing of the driving wheel of the whole machine due to the fact that whether the vehicle is borne or not and the weight of the vehicle changes; the mechanical arm body comprises a bearing type mechanical arm, a bearing shaft and a sliding roller, and sliding bearings are arranged inside two sides of the sliding roller, so that the tire and the roller are in rolling friction when the tire is clamped; damping springs are arranged inside two sides of the sliding roller, so that the sliding roller cannot rub the bearing type mechanical arm in the rotating process, and the damping springs can absorb the influence of left and right vibration of an automobile on the movement of the robot; the mechanical arm body and the robot body are flexibly connected through the buffer unit, and gravity in the vertical direction is independently borne by the mechanical arm.

Description

Mechanical arm

Technical Field

The utility model belongs to the arm field especially relates to an used arm of wheeled robot.

Background

With the rapid development of society, automobiles are more and more popular, but the following parking problem becomes a difficult problem in various large and medium cities. In order to solve the problems of difficulty and low efficiency of parking in the existing stock parking lot and a novel parking lot, the intelligent parking robot is more and more popular in application. The current intelligent robot for storing and taking the vehicles mainly has several forms of comb teeth with vehicle carrying plates and mechanical arm clamps. In the prior art, the vehicle-carrying plate type robot always props against a vehicle-carrying plate, and the space utilization rate and the transportation efficiency are the lowest. The comb-tooth type robot needs to build a special parking platform, lift the vehicle, and then lift and carry the vehicle, so that the space utilization rate is not economical. The mechanical arm clamping type vehicle parking device has the advantages that a special parking platform does not need to be built, the vehicle can be directly carried, and the robot can directly enter the bottom of the vehicle to take and park. And carrying out automatic guidance according to the instruction of the intelligent dispatching system of the parking lot. In the operation process, the robot can freely move forwards, backwards, transversely, rotationally and flexibly in multiple directions. Therefore, the walking space is saved, and the floor area of the parking space is reduced. Since the robot of the robot arm gripping type has the most outstanding advantages, the development of the related robot arm unit is also important.

SUMMERY OF THE UTILITY MODEL

In order to make the robot that the arm presss from both sides the formula of getting obtain better use, the utility model provides a novel arm.

The purpose of the utility model is realized through the following technical scheme: a mechanical arm comprises a rack connecting block, a mechanical arm body and a supporting wheel; the frame connecting block is rotatably connected with the mechanical arm body, a buffer unit is arranged at the joint, and at least two supporting wheels are fixed on the mechanical arm body.

Furthermore, the rack connecting block comprises a mounting block main body and two sliding bearings with flange surfaces, the mounting block main body is provided with a first fixing piece with a shaft hole, the end surface of the mechanical arm body is provided with two second fixing pieces with shaft holes, and two ends of the first fixing piece are respectively connected with the two second fixing pieces in a nested manner after the sliding bearings are mounted at the two ends of the first fixing piece; the pin shaft passes through the first fixing piece, the second fixing piece and the sliding bearing, and the rack connecting block and the mechanical arm body are connected into a whole.

Further, the mechanical arm body comprises a bearing type mechanical arm, a bearing shaft and a sliding roller; the bearing type mechanical arm is provided with a plurality of reinforcing ribs, and a sliding roller is arranged between every two adjacent reinforcing ribs; sliding bearings and damping springs are sequentially arranged in the two sides of the sliding roller; the bearing shaft penetrates through the sliding bearing and the reinforcing rib and is fixed on the bearing type mechanical arm.

Further, the buffer unit is arranged on the end face of the bearing type mechanical arm.

Further, the supporting wheels comprise universal wheels, omni wheels and differential wheels.

The utility model has the advantages that:

1. the supporting wheels for bearing are arranged at the two ends of the mechanical arm, the gravity in the vertical direction after the tires are clamped is completely borne by the supporting wheels, the bearing of the driving wheels of the whole machine can not be changed due to the fact that whether the vehicle is borne or not and the weight of the vehicle changes, the service life of the driving wheels is greatly prolonged, and the control difficulty of the driving wheels is reduced.

2. Slide bearing is packed into to slide roller both sides inside for when pressing from both sides and getting the tire, frictional resistance is little for rolling friction with the gyro wheel, increases life and reduces and press from both sides and get power.

3. Damping springs are arranged inside two sides of the sliding roller, so that the sliding roller cannot rub the bearing type mechanical arm in the rotating process, and the service life of the sliding roller is prolonged; in the motion process of the mechanical arm vehicle, the damping spring can absorb the influence of the left and right vibration of the vehicle on the motion of the robot.

4. The mechanical arm body is connected with the frame connecting block through a shaft pin; because the supporting wheels are installed at the two ends of the mechanical arm body, the buffering unit is installed on the surface of the mechanical arm body matched with the rack connecting block, so that the mechanical arm body is flexibly connected with the robot body, and the gravity in the vertical direction is independently borne by the mechanical arm.

Drawings

FIG. 1 is a front view of a robotic arm;

FIG. 2 is a schematic view of a shaft pin;

FIG. 3 is a schematic view of a mounting block body;

FIG. 4 is a schematic view of a robot arm body;

FIG. 5 is a partial cross-section A-A of the robot arm body;

FIG. 6 is a partial cross-section B-B of the robot arm body;

FIG. 7 is a partial cross-section C-C of the robot arm body;

FIG. 8 is a schematic view of the assembly of the robot arm body and the universal wheel;

in the figure, a frame connecting block 1, a mounting block main body 11, a sliding bearing 12 with a flange surface, a pin shaft 2, a mechanical arm body 3, a buffer unit 31, a bearing type mechanical arm 32, a bearing shaft 33, a damping spring 34, a sliding bearing 35, a sliding roller 36 and a universal wheel 4.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1, 4 and 8, the utility model provides a mechanical arm, which comprises a frame connecting block 1, a mechanical arm body 3 and a supporting wheel; the frame connecting block 1 and the mechanical arm body 3 are connected in a rotating mode, the buffer unit 31 is arranged at the joint, and at least two supporting wheels are fixed on the mechanical arm body 3. The supporting wheels comprise universal wheels 4, omni wheels, differential wheels and the like.

As shown in fig. 2-4, the rack connecting block 1 includes a mounting block main body 11 and two sliding bearings 12 with flange surfaces, the mounting block main body 11 has a first fixing member with a shaft hole, the end surface of the robot arm body 3 has two second fixing members with shaft holes, and the two ends of the first fixing member are respectively connected with the two second fixing members in a nested manner after being mounted with the sliding bearings 12 with flange surfaces; the pin shaft 2 penetrates through the first fixing piece, the second fixing piece and the sliding bearing 12 with the flange face to connect the rack connecting block 1 and the mechanical arm body 3 into a whole.

As shown in fig. 5 to 7, the robot arm body 3 includes a carrier robot arm 32, a carrier shaft 33, and a slide roller 36; the bearing type mechanical arm 32 is provided with a plurality of reinforcing ribs, and a sliding roller 36 is arranged between every two adjacent reinforcing ribs; the sliding bearings 35 and the damping springs 34 are sequentially arranged in the two sides of the sliding roller 36; the bearing shaft 33 passes through the sliding bearing 35 and the reinforcing rib and is fixed on the bearing type mechanical arm 32. The end surface of the carrying type mechanical arm 32 is provided with a buffer unit 31.

The utility model discloses the assembly order of arm is as follows:

the method comprises the following steps: assembling the mounting block body 11 and the sliding bearing 12 with the flange to form the frame connecting block 1, as shown in fig. 3 and 6;

step two: slide bearings 35 are installed inside both sides of each slide roller 36, see fig. 5;

step three: the damping springs 34 are arranged inside two sides of the sliding roller 36 provided with the sliding bearing 35 in the second step, and the figure 5 is shown;

step four: the bearing shaft 33 is fixed on the bearing type mechanical arm 32 through the sliding bearing 35 and the reinforcing ribs, as shown in figure 5;

step five: the front end face of the bearing type mechanical arm 32 with the accessories in the fourth step is arranged in the buffer unit 31 to form a mechanical arm body 3, and the figure 7 shows;

step six: universal wheels 4 are fixed to the front end and the rear end of the mechanical arm body 3 through bolts, and the figure is 8;

step seven: the frame connecting block 1 and the mechanical arm body 3 provided with the universal wheel 4 in the sixth step are connected through a shaft pin 2 and fixed through a bolt, which is shown in fig. 1, fig. 2 and fig. 6.

Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.

Claims (5)

1. A mechanical arm is characterized by comprising a rack connecting block, a mechanical arm body and a supporting wheel; the frame connecting block is rotatably connected with the mechanical arm body, a buffer unit is arranged at the joint, and at least two supporting wheels are fixed on the mechanical arm body.

2. The mechanical arm according to claim 1, wherein the frame connecting block comprises a mounting block main body and two sliding bearings with flange surfaces, the mounting block main body is provided with a first fixing piece with a shaft hole, the end surface of the mechanical arm body is provided with two second fixing pieces with shaft holes, and the two ends of the first fixing piece are respectively connected with the two second fixing pieces in a nested manner after being provided with the sliding bearings; the pin shaft passes through the first fixing piece, the second fixing piece and the sliding bearing, and the rack connecting block and the mechanical arm body are connected into a whole.

3. The mechanical arm according to claim 1, wherein the mechanical arm body comprises a bearing type mechanical arm, a bearing shaft and a sliding roller; the bearing type mechanical arm is provided with a plurality of reinforcing ribs, and a sliding roller is arranged between every two adjacent reinforcing ribs; sliding bearings and damping springs are sequentially arranged in the two sides of the sliding roller; the bearing shaft penetrates through the sliding bearing and the reinforcing rib and is fixed on the bearing type mechanical arm.

4. A robot arm according to claim 3, wherein the buffer unit is provided on an end face of the load-bearing robot arm.

5. A robot arm according to claim 1, wherein the support wheels comprise universal wheels, omni wheels, differential wheels.