Robot folding arm structure

Abstract

The utility model discloses a robot folding arm structure which comprises a main vertical arm, the upper end of the main vertical arm is rotationally connected with a first rotating shaft, the two ends of the first rotating shaft are located on the two sides of the main vertical arm respectively, one end of the first rotating shaft is fixedly connected with a rotating arm, and a first damping structure used for enabling the rotating arm to rotate slowly is arranged above the side wall of the main vertical arm. The scanner is driven to be always kept in a vertical state under the action of the gravity guide structure through movement of the inspection trolley, the transmission assembly drives the rotating arm to rotate, at the moment, the height of the scanner can be adjusted, vibration generated by movement is preliminarily buffered and unloaded through the first damping structure and the second damping structure, and after the vibration is transmitted into the mounting block, the scanner is fixed. The vibration is secondarily buffered and unloaded through the damping buffer piece, so that the scanning process of the scanner is more stable, the preparation process is simple and convenient, the preparation cost is greatly reduced, the vibration can be buffered during movement, the stable scanning effect is achieved, and the practicability is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a robot folding arm structure. Background Art

[0002] Logistics is the whole process of planning, implementing and managing the transportation, storage and distribution of raw materials, semi-finished products, finished products and related information from the place of production to the place of consumption of goods in order to meet the needs of customers at the lowest cost. In the parcel storage warehouse, the parcels will be stacked on the shelves.

[0003] There is an intelligent inspection robot that uses a mobile cart with a mechanical arm. The scanning device is installed on the upper end of the mechanical arm, and the cargo is scanned by moving the cart. However, the rotation position of this type of mechanical arm is mostly equipped with a separately controlled servo motor. Since there are 2-3 rotation points, more servo motors are required, which greatly increases the manufacturing cost. At the same time, the vibration generated by the cart when it moves will also be transmitted to the scanning device at the upper end, making it impossible for the scanner to scan the cargo list clearly and stably, and the practicality is poor. Utility Model Content

[0004] The purpose of the present utility model is to provide a robot folding arm structure in order to solve the above-mentioned problem, as described below in detail.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] The utility model provides a robot folding arm structure, comprising a main vertical arm, the upper end of the main vertical arm is rotatably connected to a rotating shaft, the two ends of the rotating shaft are respectively located on both sides of the main vertical arm, one end of the rotating shaft is fixedly connected to a rotating arm, and a damping structure for slowly rotating the rotating arm is provided above the side wall of the main vertical arm, and a transmission assembly for driving the rotating arm to rotate is provided on the side wall of the main vertical arm;

[0007] The end of the rotating arm is rotatably connected to a second rotating shaft, one end of the second rotating shaft is fixedly connected to a mounting block, and the surface of the rotating arm is provided with a second damping structure for slowly rotating the mounting block, a supporting plate is provided on the upper side of the mounting block, a scanner is fixedly installed on the upper surface of the supporting plate, a shock-absorbing buffer is provided in the mounting block for stably scanning the supporting plate, and a gravity guide structure is provided on the mounting block for stabilizing the scanner above.

[0008] The above-mentioned robot folding arm structure is adopted. When in use, the main vertical arm is installed on the inspection cart, and then the scanner is installed on the surface of the load-bearing plate. When the inspection cart moves, the scanner is always kept in a vertical state under the action of the gravity guide structure. As the transmission component drives the rotating arm to rotate, the scanner can be adjusted in height. At the same time, the vibration generated by the movement is initially buffered and unloaded by the damping structure one and the damping structure two. After being transmitted to the mounting block, the vibration is secondarily buffered and unloaded by the shock-absorbing buffer component, so that the scanning process of the scanner is more stable.

[0009] Preferably, the damping structure 1 comprises a friction ring 1 fixedly connected to the surface of the main vertical arm, and the surface of the rotating arm is fixedly connected with a plurality of protrusions abutting against the friction ring 1.

[0010] Preferably, the transmission assembly includes a hydraulic cylinder fixedly installed below the side wall of the main arm, the movable end of the hydraulic cylinder is fixedly connected to a connecting rope, the end of the rotating arm is fixedly connected to an extension rod fixedly connected to the other end of the connecting rope, the other end of the rotating shaft is rotatably connected to a guide wheel, and the connecting rope abuts against the upper side of the guide wheel.

[0011] Preferably, the second damping structure comprises a second friction ring fixedly connected to the side wall of the rotating arm, and the other end of the second rotating shaft passes through the rotating arm and is fixedly connected to a resistance rod abutting against the surface of the second friction ring.

[0012] Preferably, the shock-absorbing buffer component includes two sliding rod holes opened on both sides of the mounting block, and sliding rods slidably connected to the sliding rod holes are fixedly connected on both sides of the bottom surface of the supporting plate, and a spring is connected between the sliding rod and the inner bottom of the sliding rod hole, and a damper is provided at the inner bottom of the sliding rod.

[0013] Preferably, the gravity guide structure comprises a counterweight block fixedly connected to the bottom surface of the mounting block, and the weight of the counterweight block is greater than the weight of the scanner.

[0014] Preferably, a limit strip adapted to the rotating arm is fixedly connected to the upper end of the main vertical arm.

[0015] Preferably, a mounting plate is fixedly connected to the bottom end of the main arm.

[0016] The beneficial effects are:

[0017] By moving the inspection trolley, the scanner is always kept in a vertical state under the action of the gravity guide structure. As the transmission component drives the rotating arm to rotate, the height of the scanner can be adjusted. At the same time, the vibration generated by the movement is initially buffered and unloaded by the damping structure 1 and the damping structure 2. After being transmitted to the mounting block, the vibration is secondarily buffered and unloaded by the shock-absorbing buffer component, making the scanning process of the scanner more stable, the preparation process is simple and convenient, and the preparation cost is greatly reduced. At the same time, the vibration can be buffered during movement to achieve a stable scanning effect and improve practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is the first stereogram of the utility model;

[0020] Figure 2 It is a second stereogram of the utility model;

[0021] Figure 3 It is a disassembled stereoscopic diagram of the rotating arm of the utility model;

[0022] Figure 4 It is a sectional stereogram of the mounting block of the utility model.

[0023] The following are the descriptions of the reference numerals:

[0024] 1. Main arm; 2. Rotating arm; 3. Transmission assembly; 3a. Hydraulic cylinder; 3b. Guide wheel; 3c. Connecting rope; 3d. Extension rod; 4. Shock-absorbing buffer; 4a. Slide rod hole; 4b. Slide rod; 4c. Spring; 4d. Damper; 5. Rotating shaft 1; 6. Rotating shaft 2; 7. Mounting block; 8. Load-bearing plate; 9. Scanner; 10. Counterweight block; 11. Friction ring 1; 12. Bump; 13. Friction ring 2; 14. Resistance rod; 15. Mounting plate; 16. Limit strip. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the utility model.

[0026] See also Figure 1-Figure 4 As shown, the utility model provides a robot folding arm structure, including a main arm 1, the upper end of the main arm 1 is rotatably connected to a rotating shaft 5, the two ends of the rotating shaft 5 are respectively located on both sides of the main arm 1, one end of the rotating shaft 5 is fixedly connected to a rotating arm 2, and a damping structure 1 for slowly rotating the rotating arm 2 is provided above the side wall of the main arm 1, and a transmission component 3 for driving the rotating arm 2 to rotate is provided on the side wall of the main arm 1;

[0027] The end of the rotating arm 2 is rotatably connected to a rotating shaft 2 6, one end of the rotating shaft 2 6 is fixedly connected to a mounting block 7, and the surface of the rotating arm 2 is provided with a damping structure 2 for slowly rotating the mounting block 7, a supporting plate 8 is provided on the upper side of the mounting block 7, a scanner 9 is fixedly installed on the upper surface of the supporting plate 8, a shock-absorbing buffer 4 is provided in the mounting block 7 for stably scanning the supporting plate 8, and a gravity guide structure is provided on the mounting block 7 for stabilizing the scanner 9 above.

[0028] Reference Figure 3 As shown, the damping structure 1 includes a friction ring 11 fixedly connected to the surface of the main arm 1, and a plurality of protrusions 12 abutting against the friction ring 11 are fixedly connected to the surface of the rotating arm 2. When the rotating arm 2 rotates, the protrusions 12 can contact the surface of the friction ring 11 to achieve slow rotation.

[0029] Reference Figure 2 As shown, the transmission assembly 3 includes a hydraulic cylinder 3a fixedly installed below the side wall of the main arm 1, the movable end of the hydraulic cylinder 3a is fixedly connected to a connecting rope 3c, the end of the rotating arm 2 is fixedly connected to an extension rod 3d fixedly connected to the other end of the connecting rope 3c, the other end of the rotating shaft 5 is rotatably connected to a guide wheel 3b, and the connecting rope 3c abuts against the upper side of the guide wheel 3b, the hydraulic cylinder 3a contracts, driving the connecting rope 3c to move on the surface of the guide wheel 3b, and the rotating arm 2 can be driven to rotate upward by the extension rod 3d, so as to adjust the height position of the scanner 9, and the independently rotating guide wheel 3b can avoid the wear of the connecting rope 3c when it moves.

[0030] As an optional embodiment, the damping structure 2 includes a friction ring 2 13 fixedly connected to the side wall of the rotating arm 2. The other end of the rotating shaft 6 passes through the rotating arm 2 and is fixedly connected to a resistance rod 14 that abuts against the surface of the friction ring 2 13. When the mounting block 7 rotates, the coaxial resistance rod 14 is driven to rotate. At the same time, since the resistance rod 14 abuts against the surface of the friction ring 2 13, the mounting block 7 can be rotated slowly, and the vibration can be buffered and unloaded.

[0031] Reference Figure 4As shown, the shock-absorbing buffer 4 includes two slide rod holes 4a opened on both sides of the mounting block 7, and both sides of the bottom surface of the supporting plate 8 are fixedly connected with slide rods 4b slidably connected to the slide rod holes 4a, and a spring 4c is connected between the slide rod 4b and the inner bottom of the slide rod hole 4a, and a damper 4d is provided at the inner bottom of the slide rod 4b. After the vibration is transmitted to the mounting block 7, the vibration buffer force can be unloaded through the cooperation of the spring 4c and the damper 4d, so that the scanner 9 can perform stable scanning operations.

[0032] As an optional embodiment, the gravity guiding structure includes a counterweight block 10 fixedly connected to the bottom surface of the mounting block 7, and the weight of the counterweight block 10 is greater than the weight of the scanner 9. Under the action of the gravity of the counterweight block 10, the counterweight block 10 can always be located below the scanner 9, thereby enabling the scanner 9 to perform stable scanning operations.

[0033] Furthermore, a limit strip 16 adapted to the rotating arm 2 is fixedly connected to the upper end of the main vertical arm 1, which can limit the side of the rotating arm 2 after the rotating arm 2 rotates to a vertical state to prevent it from rotating excessively.

[0034] Specifically, a mounting plate 15 is fixedly connected to the bottom end of the main arm 1 , and the mounting plate 15 can facilitate the installation of the main arm 1 and the inspection vehicle.

[0035] With the above structure, the main arm 1 is installed on the inspection trolley during use, and the scanner 9 is then installed on the surface of the bearing plate 8. When the inspection trolley moves, the scanner 9 is always kept in a vertical state under the action of the gravity guide structure. As the transmission component 3 drives the rotating arm 2 to rotate, the scanner 9 can be adjusted in height. At the same time, the vibration generated by the movement is initially buffered and unloaded by the damping structure 1 and the damping structure 2. After being transmitted to the mounting block 7, the vibration is secondarily buffered and unloaded by the shock-absorbing buffer 4, so that the scanning process of the scanner 9 is more stable.

[0036] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A robot folding arm structure, characterized in that: The invention comprises a main vertical arm (1), the upper end of the main vertical arm (1) is rotatably connected to a rotating shaft (5), the two ends of the rotating shaft (5) are respectively located on both sides of the main vertical arm (1), one end of the rotating shaft (5) is fixedly connected to a rotating arm (2), and a damping structure (1) is provided above the side wall of the main vertical arm (1) for slowly rotating the rotating arm (2), and a transmission component (3) is provided on the side wall of the main vertical arm (1) for driving the rotating arm (2) to rotate; The end of the rotating arm (2) is rotatably connected to a second rotating shaft (6), one end of the second rotating shaft (6) is fixedly connected to a mounting block (7), and a second damping structure for slowly rotating the mounting block (7) is provided on the surface of the rotating arm (2), a bearing plate (8) is provided on the upper side of the mounting block (7), a scanner (9) is fixedly mounted on the upper surface of the bearing plate (8), a shock-absorbing buffer (4) is provided in the mounting block (7) for stably scanning the bearing plate (8), and a gravity guide structure for stabilizing the scanner (9) above is provided on the mounting block (7).

2. A robot folding arm structure according to claim 1, characterized in that: The damping structure 1 comprises a friction ring 1 (11) fixedly connected to the surface of the main vertical arm (1), and the surface of the rotating arm (2) is fixedly connected to a plurality of protrusions (12) abutting against the friction ring 1 (11).

3. The robot folding arm structure according to claim 1, characterized in that: The transmission assembly (3) comprises a hydraulic cylinder (3a) fixedly mounted below the side wall of the main vertical arm (1); the movable end of the hydraulic cylinder (3a) is fixedly connected to a connecting rope (3c); the end of the rotating arm (2) is fixedly connected to an extension rod (3d) fixedly connected to the other end of the connecting rope (3c); the other end of the rotating shaft (5) is rotatably connected to a guide wheel (3b), and the connecting rope (3c) abuts against the upper side of the guide wheel (3b).

4. The robot folding arm structure according to claim 1, characterized in that: The second damping structure comprises a second friction ring (13) fixedly connected to the side wall of the rotating arm (2); the other end of the second rotating shaft (6) passes through the rotating arm (2) and is fixedly connected to a resistance rod (14) abutting against the surface of the second friction ring (13).

5. The robot folding arm structure according to claim 1, characterized in that: The shock-absorbing buffer (4) comprises two slide rod holes (4a) opened on both sides of the mounting block (7), and both sides of the bottom surface of the bearing plate (8) are fixedly connected with slide rods (4b) slidably connected to the slide rod holes (4a), and a spring (4c) is connected between the slide rod (4b) and the inner bottom of the slide rod hole (4a), and a damper (4d) is provided at the inner bottom of the slide rod (4b).

6. The robot folding arm structure according to claim 1, characterized in that: The gravity guide structure comprises a counterweight block (10) fixedly connected to the bottom surface of the mounting block (7), and the weight of the counterweight block (10) is greater than the weight of the scanner (9).

7. The robot folding arm structure according to claim 1, characterized in that: The upper end of the main vertical arm (1) is fixedly connected to a limit strip (16) adapted to the rotating arm (2).

8. The robot folding arm structure according to claim 1, characterized in that: The bottom end of the main vertical arm (1) is fixedly connected to a mounting plate (15).

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