CN210061193U

CN210061193U - Arm and AGV car

Info

Publication number: CN210061193U
Application number: CN201920847297.3U
Authority: CN
Inventors: 周新云; 陈伟
Original assignee: Hunan Sany Kuaierju Housing Industry Co Ltd
Current assignee: Hunan Sany Kuaierju Housing Industry Co Ltd
Priority date: 2019-06-05
Filing date: 2019-06-05
Publication date: 2020-02-14
Anticipated expiration: 2029-06-05

Abstract

The utility model provides an arm and AGV car relates to AGV technical field, and this arm includes at least one multistage flexible arm, and multistage flexible arm includes drive assembly and a plurality of arm section of thick bamboo. A plurality of arm section of thick bamboo cup joints in proper order, and a plurality of arm section of thick bamboo all are connected with drive assembly, and drive assembly is used for driving the extension of multistage flexible arm or shortens. One end of the multi-stage telescopic arm is used for being rotatably connected to the AGV. The AGV comprises a carriage and the mechanical arm arranged in the carriage. The utility model discloses the arm that has alleviated existence among the prior art easily receives the technical problem who hinders and then restricted AGV execution work when removing with the operation along with the AGV.

Description

Arm and AGV car

Technical Field

The utility model belongs to the technical field of the AGV technique and specifically relates to a manipulator and AGV car are related to.

Background

With the development of science and technology, an Automated Guided Vehicle (AGV) is widely used. Such as express delivery intelligent mobile vehicle, intelligent food delivery mobile vehicle, domestic intelligent mobile vehicle, intelligent track mobile vehicle, etc.

The AGVs are generally provided with mechanical arms for various operations, and the mechanical arms are mounted above or on the sides of the AGVs and can move together with the AGVs to an operation area for operation.

However, the mechanical arm on the existing AGV generally adopts an industrial mechanical arm, the length of the industrial mechanical arm is long, and the joint motion mode of the industrial mechanical arm is generally rotation, so that the industrial mechanical arm cannot reduce the size and also occupies a large operation space. Under the complicated operational environment that has more unknown object etc., the arm all receives the hindrance of unknown object easily when moving and the operation along with AGV, leads to the arm to receive easily to interfere, has restricted AGV executive work.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a arm and AGV car to the arm that exists easily receives the technical problem who hinders and then restricted AGV execution work when removing and the operation along with the AGV among the alleviating prior art.

The utility model provides a mechanical arm, which comprises at least one multi-stage telescopic arm, wherein the multi-stage telescopic arm comprises a driving component and a plurality of arm cylinders;

the arm cylinders are sequentially sleeved, and are connected with the driving assembly, and the driving assembly is used for driving the multistage telescopic arm to extend or shorten;

one end of the multi-stage telescopic arm is used for being rotatably connected to the AGV.

Furthermore, the mechanical arm comprises two multi-stage telescopic arms, wherein one multi-stage telescopic arm is a first section arm, and the other multi-stage telescopic arm is a second section arm;

first festival arm and second festival arm include head end and tail end respectively, and the head end of first festival arm is used for rotating to connect on the AGV car, and first festival arm and second festival arm are connected, and the tail end of second festival arm is used for being connected with the clamping jaw.

Further, the driving assembly in the first arm section comprises a first motor, a first screw, a first nut, a first pulley, a second pulley, a first rope and a second rope;

the first arm section comprises three arm cylinders, the three arm cylinders are respectively a first arm cylinder, a second arm cylinder and a third arm cylinder, and the first arm cylinder, the second arm cylinder and the third arm cylinder are sequentially sleeved;

the first motor is arranged in the first arm cylinder, one end of the first screw rod is connected with an output shaft of the first motor, the other end of the first screw rod penetrates through the second arm cylinder to be connected with the first nut, and the first nut is connected with the outer wall of the second arm cylinder;

the first pulley is arranged at one end, far away from the first nut, of the second arm cylinder, one end of a first rope is connected with the outer wall of the first arm cylinder, and the other end of the first rope is connected with the inner wall of the third arm cylinder by bypassing the first pulley;

the second pulley is installed on one end of the second arm cylinder close to the first nut, one end of the second rope is connected with the outer wall of the first arm cylinder, and the other end of the second rope is connected with the end of the third arm cylinder by winding the second pulley.

Further, the driving assembly in the second arm section comprises a second motor, a second screw, a second nut, a third pulley and a third rope;

the second arm section comprises three arm cylinders, wherein the three arm cylinders are respectively a large arm cylinder, a middle arm cylinder and a small arm cylinder, and the large arm cylinder, the middle arm cylinder and the small arm cylinder are sequentially sleeved;

the second motor is arranged in the large arm cylinder, one end of a second screw rod is connected with an output shaft of the second motor, the other end of the second screw rod penetrates through the middle arm cylinder to be connected with a second nut, and the second nut is connected with the inner wall of the middle arm cylinder;

the third pulley is installed in the middle arm cylinder, one end of a third rope is connected with the small arm cylinder, and the other end of the third rope rounds the third pulley and penetrates through the middle arm cylinder to be connected with the large arm cylinder.

Further, the arm still includes the gyration subassembly, and the head end and the gyration subassembly of first festival arm are connected, and the gyration subassembly is used for installing on the AGV car, and the gyration subassembly is used for driving first festival arm rotation on the AGV car.

Further, the mechanical arm further comprises an elbow swinging assembly, the elbow swinging assembly is respectively connected with the first section arm and the second section arm, and the elbow swinging assembly is used for driving the second section arm to swing relative to the first section arm.

Further, the elbow swinging assembly is installed on the side wall of the tail end, close to the first section arm, of the first section arm, and the elbow swinging assembly is connected with the middle portion, close to the sleeve of the first section arm, of the second section arm.

Further, the mechanical arm further comprises a wrist swinging assembly, the tail end of the second section arm and the clamping jaw are sequentially connected, and the wrist swinging assembly is used for driving the clamping jaw to swing.

The utility model provides an AGV car includes the carriage and installs in the carriage as in any one of above-mentioned technical scheme arm.

Furthermore, the AGV also comprises a base; one end of the multi-stage telescopic arm is rotatably connected with the base, and the base is fixed inside a carriage of the AGV;

the carriage is provided with an opening, the other end of the multi-stage telescopic arm can penetrate through the opening and extend out of the carriage, and the other end of the multi-stage telescopic arm can penetrate through the opening and retract into the carriage.

The utility model provides an arm and AGV car can produce following beneficial effect:

the utility model provides a mechanical arm includes at least one multistage flexible arm, and multistage flexible arm includes drive assembly and a plurality of arm section of thick bamboo. A plurality of arm section of thick bamboo cup joints in proper order, and a plurality of arm section of thick bamboo all are connected with drive assembly, and drive assembly is used for driving the extension of multistage flexible arm or shortens. Before the arm moves to the operation district along with the AGV car, the drive assembly in the multistage flexible arm in the arm starts to make multistage flexible arm shorten, because multistage flexible arm shortens, therefore the arm can occupy less space, and the arm is difficult to receive the hindrance of unknown object in the environment when the AGV car drives to the operation district, more does benefit to the AGV car and takes mechanical arm to remove, does benefit to the AGV car promptly and carries out work. When the AGV car moves to the operation district after, the AGV car can issue rotation instruction to the arm earlier to make the arm orientation treat the operation object, issue the extension instruction to drive assembly again, so that the extension of multistage flexible arm can touch and treat the operation object until the arm. Because the length of the multistage telescopic arm is short when the mechanical arm rotates, the length of the mechanical arm is short, so that the movable space occupied by the mechanical arm is small, the mechanical arm is not easy to be hindered by unknown objects in the environment, and the mechanical arm is favorable for operation and execution of the AGV car. When the AGV car moves again or drives away from the operating area, a shortening instruction can be issued to the driving assembly firstly, so that the multi-stage telescopic arms are shortened, the shortened multi-stage telescopic arms can enable the mechanical arm to occupy smaller activity space, and the mechanical arm is not easy to be blocked.

Compared with the prior art, the utility model provides a mechanical arm utilizes drive assembly can make multistage flexible arm shorten, and then makes the mechanical arm shorten, and the space that the mechanical arm occupies after shortening is less, is difficult for touching the barrier. It can be seen that the utility model provides a mechanical arm has been alleviated the mechanical arm that exists among the prior art and has easily received the technical problem who hinders and then restricted AGV execution work when removing and the operation along with the AGV.

The utility model provides a AGV car includes above-mentioned arm, therefore has the same beneficial effect with above-mentioned arm.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of a robot arm according to a first embodiment of the present invention;

fig. 2 is another schematic structural diagram of a robot arm according to a first embodiment of the present invention;

FIG. 3 is a schematic view of the first arm segment of FIG. 1;

FIG. 4 is a schematic view of the first arm segment of FIG. 2;

FIG. 5 is a schematic view of the second arm segment of FIG. 1;

FIG. 6 is a schematic view of the second arm segment of FIG. 2;

fig. 7 is a schematic structural diagram of an AGV vehicle according to a second embodiment of the present invention;

FIG. 8 is a schematic view of the robot arm of FIG. 1 in a shortened configuration;

fig. 9 is another schematic structural diagram of an AGV vehicle according to a second embodiment of the present invention;

fig. 10 is a schematic view of another AGV according to the second embodiment of the present invention.

Icon: 1-a first jointed arm; 10-a first electric machine; 11-a first screw; 12-a first nut; 13-a first pulley; 14-a second pulley; 15-a first rope; 16-a second rope; 17-a first arm cylinder; 18-a second arm cylinder; 19-a third arm cylinder; 2-a second knuckle arm; 20-a second motor; 21-a second screw; 22-a second nut; 23-a third pulley; 24-a third rope; 25-a large arm cylinder; 26-a middle arm cylinder; 27-a forearm cylinder; 3-clamping jaw; 4-an elbow swing assembly; 5-wrist-swing assembly; 6-wrist rotation assembly; 7-a compartment; 70-base.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The first embodiment is as follows:

as shown in fig. 1-2, the present embodiment provides a robot arm including at least one multi-stage telescopic arm, which includes a driving assembly and a plurality of arm cylinders, as shown in fig. 3-6. A plurality of arm section of thick bamboo cup joints in proper order, and a plurality of arm section of thick bamboo all are connected with drive assembly, and drive assembly is used for driving the extension of multistage flexible arm or shortens. One end of the multi-stage telescopic arm is used for being rotatably connected to the AGV.

Before the mechanical arm moves to the operation area along with the AGV car, the drive assembly in the multistage flexible arm in the mechanical arm starts to make multistage flexible arm shorten, as shown in fig. 2, because multistage flexible arm shortens, therefore the mechanical arm can occupy less space, and the mechanical arm is difficult to receive the hindrance of unknown object in the environment when the AGV car drives to the operation area, more does benefit to the AGV car and drives the mechanical arm and remove, does benefit to the AGV car execution work promptly.

After the AGV car moves to the operation area, the AGV car can issue rotation instruction to the arm earlier to make the arm orientation treat the operation object, issue the extension instruction to drive assembly again, so that the extension of multistage flexible arm is until the arm can touch treat the operation object, as shown in FIG. 1. Wherein the other end of the multi-stage telescopic boom can be connected with a tool for working, such as a clamping jaw 3. After the extension of multistage flexible arm, the clamping jaw 3 of arm other end can touch and treat the operation object and then accomplish the process of snatching and treating the operation object, perhaps can touch and treat the operation region and then place the article of snatching in treating operation region department.

Because the length of the multistage telescopic arm is short when the mechanical arm rotates, the length of the mechanical arm is short, so that the movable space occupied by the mechanical arm is small, the mechanical arm is not easy to be hindered by unknown objects in the environment, and the mechanical arm is favorable for operation and execution of the AGV car. When the AGV car moves again or drives away from the operating area, a shortening instruction can be issued to the driving assembly firstly, so that the multi-stage telescopic arms are shortened, the shortened multi-stage telescopic arms can enable the mechanical arm to occupy smaller activity space, and the mechanical arm is not easy to be blocked.

The mechanical arm provided by the embodiment can shorten the multi-stage telescopic arm by utilizing the driving assembly, and further shortens the mechanical arm. Compared with the prior art, the mechanical arm provided by the embodiment can be shortened, occupies a smaller space and is not easy to touch the obstacle.

Therefore, the utility model provides a mechanical arm has been alleviated the mechanical arm that exists among the prior art and has easily received the technical problem who hinders and then restricted AGV execution work when removing with the operation along with the AGV.

The number of the multi-stage telescopic arms can be multiple, and the mechanical arm comprises two multi-stage telescopic arms as an example, as shown in fig. 1 and 2, the two multi-stage telescopic arms are connected end to end. One of the multi-stage telescopic arms is a first section arm 1, and the other multi-stage telescopic arm is a second section arm 2. First festival arm 1 and second festival arm 2 include head end and tail end respectively, and the head end of first festival arm 1 is used for rotating to connect on the AGV car, and first festival arm 1 and second festival arm 2 are connected, and the tail end of second festival arm 2 is used for being connected with clamping jaw 3.

In practical application, the driving assemblies in the first arm section 1 and the second arm section 2 can both adopt the driving assemblies adopted by a multi-stage telescopic arm in an existing crane, such as a multi-stage telescopic hydraulic cylinder, the inner walls of a plurality of arm cylinders of the first arm section 1 are all connected with the multi-stage telescopic hydraulic cylinder, and the inner walls of a plurality of arm cylinders of the second arm section 2 are all connected with another multi-stage telescopic hydraulic cylinder. The driving assembly can further comprise a single-stage oil cylinder, pulleys and ropes, each of the first section of arm 1 and the second section of arm 2 comprises a fixed arm cylinder, the single-stage oil cylinder is connected between the fixed arm cylinder and the arm cylinder adjacent to the fixed arm cylinder, the pulley blocks formed by the pulleys and the ropes are connected between the other arm cylinders, the fixed arm cylinder and the arm cylinder adjacent to the fixed arm cylinder stretch out and draw back through the single-stage oil cylinder, and the other arm cylinders stretch out and draw back under the driving of the fixed arm cylinder, the arm cylinder adjacent to the fixed arm cylinder and the pulley blocks. The driving assembly is also a driving assembly often adopted by the existing multistage telescopic arm, and the specific connection mode is not repeated herein. In addition, the single-stage oil cylinder in the driving assembly can be replaced by a motor and a lead screw.

The first knuckle arm 1 and the second knuckle arm 2 can be connected in a swinging mode, so that the second knuckle arm 2 can swing relative to the first knuckle arm 1, and the use flexibility of the mechanical arm is improved.

The head end of the first arm 1 provided by the embodiment can be rotatably connected to the inside of the car 7 of the AGV. Further, the head end of first festival arm 1 can rotate and connect on the bottom surface of the carriage 7 of AGV car, all shorten the back when second festival arm 2 and first festival arm 1, first festival arm 1 and second festival arm 2 can draw in inside carriage 7 of AGV car, the arm occupies the inner space of AGV car this moment, further prevent to occupy the required space of AGV car process of advancing, more be difficult for touching the barrier, the smoothness nature of AGV car process of advancing has been guaranteed. After first festival arm 1 and second festival arm 2 all extend, second festival arm 2 can stretch out from the top of the carriage 7 of AGV car, and then makes the clamping jaw 3 of the tail end of second festival arm 2 can touch the object of treating that highly is higher than the AGV car.

The head end of first festival arm 1 can also rotate and connect on the inside lateral wall of the carriage 7 of AGV car, and after second festival arm 2 and first festival arm 1 all shortened, first festival arm 1 and second festival arm 2 can draw in inside carriage 7 of AGV car, and the arm also can occupy the inner space of AGV car this moment, guarantees AGV car course of motion's smoothness nature. After first festival arm 1 and second festival arm 2 all extend, second festival arm 2 can stretch out from the side of the carriage 7 of AGV car, and then makes the clamping jaw 3 of the tail end of second festival arm 2 can touch the object of treating the operation that is located around the AGV car.

The head end of first festival arm 1 can also rotate and connect on the inside top surface of the carriage 7 of AGV car, and after second festival arm 2 and first festival arm 1 all shortened, first festival arm 1 and second festival arm 2 can draw in inside carriage 7 of AGV car, and the arm also can occupy the inner space of AGV car this moment, guarantees AGV car course of motion's smoothness nature. After first festival arm 1 and second festival arm 2 all extend, second festival arm 2 can stretch out from the bottom surface of the carriage 7 of AGV car, and then makes the clamping jaw 3 of the tail end of second festival arm 2 can touch the object of treating that highly is less than the AGV car.

As shown in fig. 3 to 4, the driving assembly in the first knuckle arm 1 includes a first motor 10, a first screw 11, a first nut 12, a first pulley 13, a second pulley 14, a first rope 15, and a second rope 16. The first arm section 1 comprises three arm cylinders, the three arm cylinders are respectively a first arm cylinder 17, a second arm cylinder 18 and a third arm cylinder 19, and the first arm cylinder 17, the second arm cylinder 18 and the third arm cylinder 19 are sequentially sleeved.

The first motor 10 is installed in the first arm cylinder 17, one end of the first screw rod 11 is connected with an output shaft of the first motor 10, the other end of the first screw rod 11 penetrates through the second arm cylinder 18 to be connected with the first nut 12, and the first nut 12 is connected with the outer wall of the second arm cylinder 18. The first pulley 13 is installed on one end of the second arm cylinder 18 far away from the first nut 12, one end of the first rope 15 is connected with the outer wall of the first arm cylinder 17, and the other end of the first rope 15 is connected with the inner wall of the third arm cylinder 19 by passing through the first pulley 13. The second pulley 14 is mounted on one end of the second arm cylinder 18 near the first nut 12, one end of the second rope 16 is connected to the outer wall of the first arm cylinder 17, and the other end of the second rope 16 is connected to the end of the third arm cylinder 19 around the second pulley 14.

The head end of the first arm section 1 is the end of the first arm cylinder 17 far away from the second arm section 2, and the tail end of the first arm section 1 is the end of the third arm cylinder 19 near the second arm section 2.

As shown in fig. 3 to 4, the radial cross-sections between the first arm cylinder 17, the second arm cylinder 18, and the third arm cylinder 19 increase in order. That is, the radial section of the first arm cylinder 17 is smaller than that of the second arm cylinder 18, and the radial section of the second arm cylinder 18 is smaller than that of the third arm cylinder 19.

As shown in fig. 3-4, after the output shaft of the first motor 10 rotates, the first nut 12 can be driven to move on the first screw 11 along the axial direction of the first screw 11, and further the second arm cylinder 18 can be driven to approach or leave the first arm cylinder 17. Taking the first arm 1 as an example of extending, the second arm cylinder 18 will be far away from the first arm cylinder 17, and the second arm cylinder 18 will drive the second pulley 14 to be far away from the first arm cylinder 17 when being far away from the first arm cylinder 17. Meanwhile, the second rope 16 moves on the second pulley 14, and the distance between one end of the second rope 16 and the second pulley 14 is longer and shorter, and the distance between the other end of the second rope 16 and the second pulley 14 is shorter and shorter, at this time, the other end of the second rope 16 drives the third arm cylinder 19 to move in the direction away from the second arm cylinder 18, so that the third arm cylinder 19 and the second arm cylinder 18 are relatively far away. The elongation process between the first arm cylinder 17, the second arm cylinder 18 and the third arm cylinder 19 of the first joint arm 1 can be completed.

As shown in fig. 3 to 4, when the first arm 1 is shortened, the second arm cylinder 18 can be moved in a direction approaching the first arm cylinder 17 by the first motor 10, the first screw 11 and the first nut 12, and the first pulley 13 can be moved in a direction approaching the first arm cylinder 17 by the second arm cylinder 18 approaching the first arm cylinder 17. Meanwhile, the first rope 15 moves on the first pulley 13, and a distance between one end of the first rope 15 and the first pulley 13 becomes longer and shorter, and a distance between the other end of the first rope 15 and the first pulley 13 becomes shorter and shorter. At this time, the other end of the first rope 15 drives the third arm cylinder 19 to move in a direction approaching the second arm cylinder 18, so that the third arm cylinder 19 and the second arm cylinder 18 are relatively close to each other. The shortening process between the first arm cylinder 17, the second arm cylinder 18 and the first arm cylinder 17 of the first joint arm 1 can be completed.

In the present embodiment, as shown in fig. 5 and 6, the driving assembly in the second knuckle arm 2 includes a second motor 20, a second screw 21, a second nut 22, a third pulley 23, and a third rope 24. The second arm section 2 comprises three arm cylinders, the three arm cylinders are respectively a large arm cylinder 25, a middle arm cylinder 26 and a small arm cylinder 27, and the large arm cylinder 25, the middle arm cylinder 26 and the small arm cylinder 27 are sequentially sleeved.

The second motor 20 is installed in the large arm cylinder 25, one end of the second screw 21 is connected with an output shaft of the second motor 20, the other end of the second screw 21 penetrates through the middle arm cylinder 26 to be connected with the second nut 22, and the second nut 22 is connected with the inner wall of the middle arm cylinder 26. The third pulley 23 is installed in the middle arm cylinder 26, one end of the third rope 24 is connected to the small arm cylinder 27, and the other end of the third rope 24 passes around the third pulley 23 and is connected to the large arm cylinder 25 through the middle arm cylinder 26.

The head end of the second arm section 2 is the end part of the large arm barrel 25 close to the first arm section 1, and the large arm barrel 25 of the second arm section 2 is connected with the arm barrel of the first arm section 1 close to the second arm section 2. The tail end of the second section arm 2 is the end part far away from the first section arm 1 in a small arm cylinder 27, and the small arm cylinder 27 of the second section arm 2 is connected with the clamping jaw 3.

As shown in fig. 5, when the output shaft of the second motor 20 rotates in a certain direction, the second nut 22 and the middle arm cylinder 26 are moved in a direction away from the large arm cylinder 25, and the large arm cylinder 25 and the middle arm cylinder 26 are relatively away from each other. At the same time, the middle arm cylinder 26 will drive the third pulley 23 to move together in the direction away from the large arm cylinder 25. Since one end of the third rope 24 is connected to the small-arm cylinder 27 and the other end of the third rope 24 passes around the third pulley 23 and passes through the middle-arm cylinder 26 to be connected to the large-arm cylinder 25, the third rope 24 slides on the third pulley 23, and the distance between the other end of the third rope 24 and the third pulley 23 is gradually lengthened and the distance between one end of the third rope 24 and the third pulley 23 is gradually shortened. At this time, one end of the third rope 24 pulls the small arm cylinder 27 to move away from the large arm cylinder 25, and finally, the extension process of the second knuckle arm 2 is realized.

When the second arm segment 2 needs to be shortened, the second arm segment 2 can be in a vertical state, and then the output shaft of the second motor 20 is rotated in the reverse direction to drive the second nut 22 on the second screw 21 to drive the middle arm cylinder 26 to move towards the direction close to the big arm cylinder 25, and meanwhile, the small arm cylinder 27 in the second arm segment 2 moves towards the direction close to the big arm cylinder 25 under the action of gravity.

When the second joint arm 2 is shortened, the second joint arm 2 can be swung on the first joint arm 1 to adjust the position of the second joint arm 2.

The arm that this embodiment provided can also include gyration subassembly, and the head end and the gyration subassembly of first festival arm 1 are connected, and gyration subassembly is used for installing on the AGV car, and gyration subassembly is used for driving first festival arm 1 rotation on the AGV car.

Wherein, the gyration assembly can be the shoulder gyration assembly that current arm adopted.

The rotating assembly in this embodiment may include a bearing and a motor, gear teeth are provided on an inner side of an inner race of the bearing, and a gear is installed on an output shaft of the motor. The outer ring of the bearing and the motor are fixed on the AGV, a gear on an output shaft of the motor is meshed with gear teeth on the inner side of the inner ring of the bearing, and the inner ring of the bearing is fixedly connected with the head end of the first knuckle arm 1. Because the gear on the motor output shaft is meshed with the gear teeth on the inner side of the bearing inner ring, the output shaft of the motor can drive the gear and the inner ring of the bearing to rotate together, and further the first pitch arm 1 is driven to rotate.

The driving assembly in the first knuckle arm 1 can enable the mechanical arm to generate one degree of freedom, the driving assembly in the second knuckle arm 2 can enable the mechanical arm to generate one degree of freedom, and the rotating assembly between the first knuckle arm 1 and the AGV car can enable the mechanical arm to generate one degree of freedom.

Further, the mechanical arm provided by the present embodiment may further include an elbow oscillating assembly 4, where the elbow oscillating assembly 4 is connected to the first joint arm 1 and the second joint arm 2, respectively, and the elbow oscillating assembly 4 is configured to drive the second joint arm 2 to oscillate relative to the first joint arm 1.

The elbow oscillating assembly 4 in the mechanical arm provided by the embodiment may also adopt the elbow oscillating assembly 4 adopted by the existing mechanical arm.

The elbow oscillating module 4 in this embodiment may also include a motor mounted on the outer side wall of the third arm cylinder 19 in the first arm segment 1, and an output shaft of the motor is connected to the large arm cylinder 25 in the second arm segment 2, and an axis of the output shaft of the motor is perpendicular to an axis of the third arm cylinder 19 and an axis of the large arm cylinder 25 in the second arm segment 2, respectively. When the output shaft of the motor rotates, the output shaft of the motor drives the large arm cylinder 25 to swing relative to the third arm cylinder 19, so as to adjust the pitch angle of the second knuckle arm 2.

Wherein the elbow oscillating assembly 4 connected between the first knuckle arm 1 and the second knuckle arm 2 can also generate one degree of freedom for the mechanical arm.

As shown in FIG. 1, the elbow rest assembly 4 of the present embodiment is preferably mounted on the side wall of the first articulated arm 1 near the trailing end of the first articulated arm 1, and the elbow rest assembly 4 is connected to the middle of the sleeve of the second articulated arm 2 near the first articulated arm 1.

At this time, the output shaft of the motor in the elbow swing component 4 is connected with the middle part of the large arm barrel 25 in the second section arm 2, and the output shaft of the motor is connected with the middle part of the large arm barrel 25 in the second section arm 2, so that the balance weight of the second section arm 2 during extension can be optimal, and further the stability of the mechanical arm during operation can be improved.

In practical application, the connecting position of the output shaft of the motor in the elbow oscillating assembly 4 and the large arm cylinder 25 in the second knuckle arm 2 can be adjusted according to the load condition of the second knuckle arm 2 during operation, so as to ensure the stability of the mechanical arm during operation.

In this embodiment, the arm still includes wrist swing subassembly 5, and the tail end and the clamping jaw 3 of wrist swing subassembly 5, second festival arm 2 connect gradually, and wrist swing subassembly 5 is used for driving the swing of clamping jaw 3.

Wherein, wrist swing subassembly 5 can be the swing joint of common use in current arm, and the swing joint can drive clamping jaw 3 in the tail end swing of second festival arm 2 to the direction of adjustment clamping jaw 3, because the swing joint is current utensil, therefore no longer explain swing joint's specific structure in this embodiment. The pendulum joint here also allows a degree of freedom for the robot arm.

Further, the arm can also include wrist rotating assembly 6, and the tail end and the clamping jaw 3 of wrist swing subassembly 5, wrist rotating assembly 6, second festival arm 2 connect gradually, and wrist rotating assembly 6 is used for driving the rotation of clamping jaw 3.

The wrist rotating component 6 may be a commonly used rotary joint in the existing robot arm, and the rotary joint can drive the clamping jaw 3 to rotate at the tail end of the second section arm 2, so as to adjust the direction of the clamping jaw 3. The rotary joint here also allows a degree of freedom of the robot arm.

Further, the robot arm may further comprise a wrist swing assembly 5, i.e. a swing joint. One of the wrist swinging component 5, the wrist rotating component 6 and the other wrist swinging component 5 are sequentially connected, and the other wrist swinging component 5 is connected with the clamping jaw 3. The other wrist swing assembly 5 also enables one degree of freedom of the robot arm.

When the mechanical arm comprises one of the wrist swinging assembly 5, the wrist rotating assembly 6 and the other wrist swinging assembly 5 which are connected in sequence, the orientation of the clamping jaw 3 can be adjusted more flexibly.

It can be seen that the robot arm provided by this embodiment may be a four-degree-of-freedom robot arm, and the four structures corresponding to the four degrees of freedom are a rotation component, a driving component in the first joint arm 1, a driving component in the second joint arm 2, and a wrist swing component 5. The mechanical arm provided by the embodiment can be a mechanical arm with five degrees of freedom, and five structures corresponding to the five degrees of freedom are a rotation component, a driving component in the first section arm 1, a driving component in the second section arm 2, a wrist swinging component 5 and a wrist rotating component 6. The mechanical arm provided by the embodiment may also be a six-degree-of-freedom mechanical arm, and the six structures corresponding to the six degrees of freedom include a rotation component, a driving component in the first-joint arm 1, a driving component in the second-joint arm 2, a wrist swinging component 5, a wrist rotating component 6, and a swinging joint. In practical application, the degree of freedom of the mechanical arm can be configured according to actual operation conditions.

To sum up, the arm that this embodiment provided can stretch out and draw back, and then can adjust the length of arm, and the arm can occupy less space after shortening, changes in and fuses with current AGV car, and the arm extends back working range and can enlarge. The manipulator that this embodiment provided can not influence the use of manipulator when reducing the occupation space of manipulator, makes the manipulator be difficult for receiving the interference of barrier, promotes the smoothness nature of manipulator and AGV car operation.

Example two:

as shown in fig. 7, the AGV vehicle according to the first embodiment includes a car 7 and a robot arm according to the first embodiment mounted in the car 7.

7-10, the AGV further includes a chassis 70; one end of the multi-stage telescopic arm is rotatably connected with the base 70, and the base 70 is fixed inside the compartment 7 of the AGV. The carriage 7 is provided with an opening, the other end of the multi-stage telescopic arm can penetrate through the opening and extend out of the carriage 7, and the other end of the multi-stage telescopic arm can penetrate through the opening and retract into the carriage 7.

The base 70 can be fixed on the bottom surface of the carriage 7 of the AGV vehicle, as shown in fig. 7, after the multi-stage telescopic arms are shortened, the mechanical arms can be folded inside the carriage 7 of the AGV vehicle, the mechanical arms occupy the inner space of the AGV vehicle at the moment and cannot occupy the required space when the AGV vehicle advances, the mechanical arms are not easy to touch the obstacle, and the smoothness of the AGV vehicle advancing process is ensured. As shown in fig. 8, after the multi-stage telescopic arm is extended, the mechanical arm can drive the clamping jaw 3 connected with the mechanical arm to extend out of the top of the carriage 7 of the AGV, so that the clamping jaw 3 can touch an object to be operated, which is higher than the AGV, and the upper part of the AGV is a main working space.

As shown in fig. 9, the base 70 can also be fixed on the inner side wall of the car 7 of the AGV, after the multi-stage telescopic arms are shortened, the mechanical arm can be folded inside the car 7 of the AGV, and at this time, the mechanical arm also occupies the inner space of the AGV and does not occupy the space required by the AGV when the AGV travels, so that the smoothness of the travel process of the AGV is ensured. After the extension of multistage flexible arm, the arm can drive clamping jaw 3 and stretch out from the side of the carriage 7 of AGV car, and then makes clamping jaw 3 can touch the object of treating the operation that is located around the AGV car, and AGV car side is main working space this moment.

As shown in fig. 10, the base 70 can also be fixed on the inner top surface of the car 7 of the AGV, after the multi-stage telescopic arms are shortened, the mechanical arm can be folded inside the car 7 of the AGV, and at this time, the mechanical arm still occupies the inner space of the AGV but does not occupy the space required by the AGV when the AGV travels, so as to ensure the smoothness of the travel process of the AGV. After the extension of multistage flexible arm, the arm can drive clamping jaw 3 and stretch out from the bottom surface of the carriage 7 of AGV car, and then makes clamping jaw 3 can touch the object of treating that highly is less than the AGV car, and AGV car below is main working space this moment.

It can be seen that the mounted position of the arm in the AGV car that this embodiment provided is nimble, can with the better integration of AGV car, reduce the occupation space of AGV car and arm, reduce the interference of surrounding environment to the AGV car, do benefit to AGV car execution work.

The AGV car that this embodiment provided includes the arm in embodiment one, therefore the AGV car that this embodiment provided and the arm in embodiment one can realize the same technological effect, solves the same technical problem. The technical problem that the mechanical arm that exists among the prior art easily receives the hindrance and then has restricted AGV execution work when removing and the operation along with the AGV has also been alleviated to the AGV car that this embodiment provided.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims

1. A mechanical arm is characterized by comprising at least one multi-stage telescopic arm, wherein the multi-stage telescopic arm comprises a driving assembly and a plurality of arm cylinders;

2. A robot arm according to claim 1, characterized in that it comprises two of said multi-stage telescopic arms, one of which is a first jointed arm (1) and the other of which is a second jointed arm (2);

first festival arm (1) with second festival arm (2) include head end and tail end respectively, the head end of first festival arm (1) is used for rotating to connect on the AGV car, first festival arm (1) with second festival arm (2) are connected, the tail end of second festival arm (2) is used for being connected with clamping jaw (3).

3. A robot arm according to claim 2, characterized in that the drive assembly in the first knuckle arm (1) comprises a first motor (10), a first screw (11), a first nut (12), a first pulley (13), a second pulley (14), a first rope (15) and a second rope (16);

the first arm section (1) comprises three arm cylinders, the three arm cylinders are respectively a first arm cylinder (17), a second arm cylinder (18) and a third arm cylinder (19), and the first arm cylinder (17), the second arm cylinder (18) and the third arm cylinder (19) are sequentially sleeved;

the first motor (10) is installed in the first arm cylinder (17), one end of the first screw (11) is connected with an output shaft of the first motor (10), the other end of the first screw (11) penetrates through the second arm cylinder (18) to be connected with the first nut (12), and the first nut (12) is connected with the outer wall of the second arm cylinder (18);

the first pulley (13) is installed on one end, far away from the first nut (12), of the second arm cylinder (18), one end of the first rope (15) is connected with the outer wall of the first arm cylinder (17), and the other end of the first rope (15) is connected with the inner wall of the third arm cylinder (19) by bypassing the first pulley (13);

the second pulley (14) is installed on one end, close to the first nut (12), of the second arm cylinder (18), one end of the second rope (16) is connected with the outer wall of the first arm cylinder (17), and the other end of the second rope (16) is connected with the end of the third arm cylinder (19) by bypassing the second pulley (14).

4. A robot arm according to claim 2, characterized in that the drive assembly in the second knuckle arm (2) comprises a second motor (20), a second screw (21), a second nut (22), a third pulley (23) and a third rope (24);

the second arm section (2) comprises three arm cylinders, the three arm cylinders are respectively a large arm cylinder (25), a middle arm cylinder (26) and a small arm cylinder (27), and the large arm cylinder (25), the middle arm cylinder (26) and the small arm cylinder (27) are sequentially sleeved;

the second motor (20) is installed in the large arm cylinder (25), one end of the second screw (21) is connected with an output shaft of the second motor (20), the other end of the second screw (21) penetrates through the middle arm cylinder (26) to be connected with the second nut (22), and the second nut (22) is connected with the inner wall of the middle arm cylinder (26);

the third pulley (23) is installed in the middle arm cylinder (26), one end of the third rope (24) is connected with the small arm cylinder (27), and the other end of the third rope (24) passes through the middle arm cylinder (26) and is connected with the large arm cylinder (25) by passing through the third pulley (23).

5. The mechanical arm according to claim 2, further comprising a swing assembly, wherein the head end of the first knuckle arm (1) is connected with the swing assembly, the swing assembly is used for being installed on an AGV, and the swing assembly is used for driving the first knuckle arm (1) to rotate on the AGV.

6. A robot arm according to claim 5, characterized in that it further comprises an elbow swing assembly (4), said elbow swing assembly (4) being connected to said first pitch arm (1) and said second pitch arm (2), respectively, said elbow swing assembly (4) being adapted to swing said second pitch arm (2) with respect to said first pitch arm (1).

7. A robotic arm as claimed in claim 6, characterised in that the elbow swing assembly (4) is mounted on a side wall of the first jointed arm (1) near the trailing end of the first jointed arm (1), the elbow swing assembly (4) being connected to the middle of the sleeve in the second jointed arm (2) near the first jointed arm (1).

8. A robot arm according to any of claims 2-7, characterized in that the robot arm further comprises a wrist swinging assembly (5), the tail end of the second arm (2) and the clamping jaw (3) are connected in sequence, and the wrist swinging assembly (5) is used for driving the clamping jaw (3) to swing.

9. AGV vehicle, characterized in that it comprises a car (7) and a robot arm according to any of claims 1-8 mounted in the car (7).

10. The AGV vehicle of claim 9, further comprising a chassis (70); one end of the multi-stage telescopic arm is rotatably connected with the base (70), and the base (70) is fixed inside a carriage (7) of the AGV;

the carriage (7) is provided with an opening, the other end of the multi-stage telescopic arm can penetrate through the opening and extend out of the carriage (7), and the other end of the multi-stage telescopic arm can penetrate through the opening and retract into the carriage (7).