CN210103386U - Transport robot dolly - Google Patents
Transport robot dolly Download PDFInfo
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- CN210103386U CN210103386U CN201920581378.3U CN201920581378U CN210103386U CN 210103386 U CN210103386 U CN 210103386U CN 201920581378 U CN201920581378 U CN 201920581378U CN 210103386 U CN210103386 U CN 210103386U
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- loading
- unloading
- trolley
- cart
- manipulator
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Abstract
The utility model relates to a robot trolley field especially relates to an automatic get transport robot trolley of putting and saving. The utility model realizes the claw taking or placing of the material through the material clamping manipulator on the premise of ensuring the compact structure of the vehicle body; the multi-layer shelf is provided, and can store a plurality of materials simultaneously; automatic storage, material handover, taking and placing are realized through ingenious mechanism design; the manipulator mechanism is integrated in the storage rack, the lateral free movement freedom degree is increased between the manipulator mechanism and the trolley chassis, the lateral positioning deviation between the manipulator and the butted workbench can be automatically adjusted under the condition that the trolley body does not move laterally, millimeter-level high-precision butt joint is realized, and the problem that the robot trolley is difficult to move laterally and position is solved.
Description
Technical Field
The utility model relates to a robot trolley field especially relates to a transport robot trolley and automatic getting is put and storage method thereof.
Background
The automatic assembly line is widely used in various social industries, the traditional assembly line generally adopts various conveyor belts to realize material transfer between devices, and due to the characteristics that the occupied area is large, the devices need to work in a large open plane area and the like, the automatic material transfer requirements of one floor are set when the distribution area of the devices is large and one open space is not available (not in one workshop). Because the flexibility of robot car intelligence and removal, at novel automatic assembly line, replace the traditional material mode of transferring that relies on the conveyer belt, be obtaining quick development. Most of the existing robot trolleys only have one layer of article placing table, one layer of articles are conveyed once, layering placing cannot be achieved, the robot trolleys with the function of the multilayer article placing frames used by medical institutions cannot achieve automatic storage of the articles, the articles need to be placed on the multilayer article placing frames of the robot trolleys in a manual fit mode, and the articles are taken out of the multilayer article placing frames of the robot trolleys manually when the standby robot trolleys run to butt joints.
Aiming at the defects of the prior art, the invention provides the robot trolley for conveying, and the robot trolley for automatically taking, placing and storing a plurality of articles is realized.
SUMMERY OF THE UTILITY MODEL
The utility model provides a transport robot trolley, which comprises a trolley chassis and a trolley bearing platform, and is characterized by also comprising a multilayer storage rack, a clamping manipulator and a loading and unloading device;
the trolley bearing platform is arranged on the trolley bottom plate,
the multi-layer shelf is arranged on the bearing platform of the trolley,
the clamping manipulator is arranged at the top end of the commodity shelf and comprises a manipulator left clamping jaw, a manipulator right clamping jaw, a bidirectional screw rod and a Y-axis moving module; the left clamping jaw and the right clamping jaw of the manipulator are movably connected with the bidirectional screw rod and can perform opening and closing movement along the bidirectional screw rod in the X direction; the bidirectional screw rod is movably connected with the Y-axis moving module, and the Y-axis moving module can drive the left clamping jaw and the right clamping jaw of the manipulator to move along the Y direction;
the loading and unloading device consists of a Z-direction loading and unloading module, a gear rack mechanism, a loading and unloading sliding plate, a loading and unloading upper sliding plate and a conveying tray, wherein the conveying tray is arranged on the loading and unloading upper sliding plate, the loading and unloading upper sliding plate is connected with a loading and unloading lower sliding plate through a track and the gear rack mechanism, the loading and unloading upper sliding plate can move in the Y direction relative to the loading and unloading sliding plate, the loading and unloading sliding plate is movably connected with the Z-direction loading and unloading module, the Z-direction loading and unloading module is arranged in the vertical direction of a trolley bearing platform to realize the sliding of the loading and unloading upper sliding plate,
the Y direction is the forward advancing or retreating direction of the trolley, the X direction is the direction which is perpendicular to the Y direction on the surface parallel to the trolley chassis, and the Z direction is the direction which is perpendicular to the trolley chassis surface.
Preferably, the trolley bearing platform is a movable platform and is arranged on a trolley chassis through a guide rail pair, the guide rail pair consists of a guide rail and a sliding block, the guide rail of the guide rail pair is connected with the trolley chassis, and the sliding block of the guide rail pair is connected with the trolley bearing platform; the trolley bearing platform can move along the guide rail pair in the X direction, so that the robot trolley can automatically adjust the lateral positioning deviation between the robot trolley and the workbench which is butted with the manipulator.
Preferably, the loading and unloading upper sliding plate is provided with a boss, the bottom surface of the blood vessel conveying tray is provided with a notch, and the boss on the loading and unloading upper sliding plate is matched with the notch on the bottom surface of the conveying tray to realize the X-Y plane positioning of the blood vessel conveying tray on the loading and unloading upper sliding plate.
Preferably, install protecting sheathing on the dolly chassis for the multilayer supporter that transports the dolly is in confined space, can avoid transporting the mutual contamination between article and the environment, realizes transferring safely.
The utility model realizes the claw taking or placing of the material through the material clamping manipulator on the premise of ensuring the compact structure of the vehicle body; the multi-layer shelf is provided, and can store a plurality of materials simultaneously; automatic storage, material handover, taking and placing are realized through ingenious mechanism design; the manipulator mechanism is integrated in the storage rack, the lateral free movement freedom degree is increased between the manipulator mechanism and the trolley chassis, the lateral positioning deviation between the manipulator and the butted workbench can be automatically adjusted under the condition that the trolley body does not move laterally, millimeter-level high-precision butt joint is realized, and the problem that the robot trolley is difficult to move laterally and position is solved.
Drawings
Fig. 1 is a schematic front structural view of the transfer robot cart of the present invention;
fig. 2 is a schematic side view of the transportation robot cart of the present invention;
FIG. 3 is a diagram of the working process of the transportation robot cart of the present invention;
wherein: 1-a trolley chassis, 2-a trolley bearing platform, 3-a multilayer shelf, 31-a supporting plate, 4-a clamping manipulator, 41-a manipulator left clamping jaw, 42-a manipulator right clamping jaw, 43-a bidirectional screw rod, 44-a Y-axis moving module, a 51-Z direction loading and unloading module, 52-a gear rack mechanism, 53-an loading and unloading upper sliding plate, 54-an unloading sliding plate, 55-a conveying tray and 6-a guide rail pair.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious 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.
As shown in fig. 1-2, the conveying robot cart for automatic pick-and-place and storage in an embodiment of the present invention comprises a cart chassis 1, a cart carrying platform 2, a multi-layer shelf 3, a gripping manipulator and a handling device; the trolley bearing platform 2 is arranged on the trolley chassis 1, the multilayer commodity shelf 3 is arranged on the trolley bearing platform 2, the clamping manipulator is arranged at the top end of the multilayer commodity shelf 3 and comprises a manipulator left clamping jaw 41, a manipulator right clamping jaw 42, a bidirectional screw 43 and a Y-axis moving module 44, and the instrument hand left clamping jaw 41 and the manipulator right clamping jaw 42 are movably connected with the bidirectional screw 43 and can be opened and closed along the bidirectional screw 43 in the X direction; the bidirectional screw 43 is movably connected with the Y-axis moving module 44 and can move along the Y-axis moving module 44 in the Y direction; the loading and unloading device comprises a Z-direction loading and unloading module 51, a gear rack mechanism 52, an loading and unloading upper sliding plate 53, an loading and unloading lower sliding plate 54 and a conveying tray 55, wherein the conveying tray 55 is arranged on the loading and unloading upper sliding plate 53, the loading and unloading upper sliding plate 53 is connected with the loading and unloading lower sliding plate 54 through a track and the gear rack mechanism 52, the loading and unloading upper sliding plate 53 can move in the Y direction relative to the loading and unloading lower sliding plate 54, the loading and unloading lower sliding plate 54 is movably connected with the Z-direction loading and unloading module 51, the Z-direction loading and unloading module 51 is arranged in the vertical direction of the surface of the trolley bearing platform 2 to realize the sliding of the loading and unloading upper sliding plate 53 and the loading and unloading lower sliding plate 54 between the top layer and the bottom layer of the multilayer commodity shelf 3, the Y direction is the forward direction or backward direction of the trolley, the X direction.
In this embodiment, the four wheels and chassis of the cart together form the ground motion system (cart chassis) of the cart. The trolley bearing platform 2 is a movable platform and is connected with the trolley chassis 1 through 2 parallel X-direction guide rail pairs 6, the trolley bearing platform 2 can drive the multilayer storage rack 3 to move in the X direction under the condition that the robot trolley chassis 1 does not move transversely, transverse butt joint deviation is automatically adapted and adjusted when the robot trolley is in butt joint with the workbench, and the requirement on the transverse positioning precision of the robot trolley is reduced. Two clamping jaws (41, 42) of the clamping manipulator move synchronously in the X direction under the drive of a bidirectional screw 43, so that the clamping jaws can grab the conveying tray 55; the Y-axis moving module 44 moves in the Y direction to realize the movement of the clamping mechanical arms (41 and 42) to the conveying tray 55 between the pick-and-place tray position and the storage tray position, so that the objects are grabbed from the pick-and-place tray position and sent to the storage position, and the conveying tray 55 is fetched into the robot trolley multilayer shelf 3; or the storage position of the multilayer shelf 3 is used for grabbing the conveying tray 55 and sending out the tray to a tray taking and placing position, so that the conveying tray 55 is sent out to the workbench from the robot trolley.
Install protecting sheathing (not drawing in the figure) on the dolly chassis of this embodiment for the multilayer supporter that transports the dolly is in confined space, and the blood sample transports the tray like this and saves in the automobile body transporting the in-process, can avoid the mutual contamination between blood sample and the environment, realizes the safety of blood sample and transfers.
When the transfer robot cart of the present embodiment is used for transferring a blood sample, the method for automatically taking, placing and storing the transfer robot cart includes the following steps:
(1) loading a blood sample transport tray: the clamping mechanical arm 4 extends to a loading position, the bidirectional screw 43 drives the mechanical arm clamping jaws 41 and 42 to clamp the blood sample conveying tray, the clamping mechanical arm 4 retracts into the vehicle, the loading and unloading device moves upwards to a butting position, the mechanical arm clamping jaws 41 and 42 are loosened, the blood sample conveying tray falls onto an upper sliding plate 53 of the loading and unloading device, and the blood sample conveying tray is positioned through a convex-concave interface; the loading and unloading device moves downwards to the pallet butt joint position of the multilayer shelf 3 and stops moving, the rack and pinion mechanism 52 drives the loading and unloading device upper sliding plate 53 to move towards the-Y direction to the storage butt joint position, and the loading and unloading device moves downwards to enable the blood sample conveying tray 55 to be separated from the convex-concave interface of the loading and unloading device upper sliding plate 53 and be placed on the pallet of the multilayer shelf 3; the rack and pinion mechanism 52 drives the upper slide plate 53 of the handling device to move to a waiting position in the + Y direction, and the loading of the blood sample conveying tray is completed;
(2) unloading the blood sample transport tray: the loading and unloading device moves to the pallet butt joint position of the multilayer shelf 3 and stops moving, the rack and pinion mechanism 52 drives the upper sliding plate 53 of the loading and unloading device to move to the taking butt joint position in the-Y direction, and the loading and unloading device moves upwards to enable the blood sample conveying tray 55 to be combined with the upper sliding plate 53 of the loading and unloading device through a convex-concave interface; the rack and pinion mechanism 52 drives the upper slide plate 53 of the handling device to move in the + Y direction, and the blood sample conveying tray 55 is taken out from the multi-layer rack 3; the assembling and disassembling device moves to a butt joint position, the clamping mechanical arm 4 moves to the butt joint position, the bidirectional screw 43 drives the mechanical arm clamping jaws 41 and 42 to clamp the blood sample conveying tray, and the assembling and disassembling device moves downwards to enable the blood sample conveying tray 55 to be separated from a convex-concave interface of the sliding plate 53 on the assembling and disassembling device; the clamping mechanical arm 4 extends to an unloading position, the bidirectional screw 43 drives the mechanical arm clamping jaws 41 and 42 to loosen the blood sample conveying tray 55, the blood sample conveying tray 55 is placed at the unloading position, and the clamping mechanical arm 4 retracts into the vehicle to finish unloading of the blood sample conveying tray;
the order of the steps (1) and (2) can be changed.
In connection with fig. 1-2, when the automated pick-and-place and store transport robotic cart of the present embodiment is used for automated pick-and-place and store transport for testing blood samples, the operation of the robotic cart is as shown in fig. 3,
fig. 3 ① shows an initial state of the robot cart, in which the Y-axis moving module 44 of the gripping manipulator 4 is in a retracted and reset state, i.e., in a stored position, retracted in the cart body, two jaws of the gripping manipulator 4 are in an unclamped state, and the loading and unloading upper slide plate 53 is in a reset state (+ the foremost end in the Y direction).
In fig. 3 ②, when a blood sample needs to be clamped and tested, the Y-axis moving module 44 of the clamping manipulator 4 extends (+ Y direction) to move to the picking and placing position of the transporting tray 55, and drives the clamping jaw of the clamping manipulator 4 to extend outside the vehicle, and when the clamping jaw reaches the picking and placing position of the blood sample transporting tray 55, the bidirectional screw 43 drives the clamping jaw of the clamping manipulator 4 to move inwards to clamp the blood sample transporting tray 55.
In fig. 3 ③, the Y-axis moving module 44 of the gripping robot 4 retracts (in the Y direction), moves the blood sample transfer tray 55 into the vehicle body, and the Z-direction attaching/detaching module 51 moves the attaching/detaching upper slide plate 53 up (+ Z direction) by the attaching/detaching slide plate 54 to reach the position where the tray is transferred to the gripping robot 4.
In FIG. 3 ④, the two-way lead screw 43 drives the gripper robot 4 to release the jaws, the blood sample transport tray 55 falls onto the upper loading/unloading slide plate 53, the upper loading/unloading slide plate 53 has a boss to fit with the notch on the bottom surface of the blood sample transport tray 55 to perform a positioning function, the Z-direction loading/unloading module 51 drives the upper loading/unloading slide plate 53 to descend (in the-Z direction) through the upper loading/unloading slide plate 54 to move to the rack layer on which the blood sample transport tray 55 needs to be placed, and the rack and pinion mechanism 52 drives the upper loading/unloading slide plate 53 to move backward (in the-Y direction) to the rear position to place the blood sample tray on the pallet 31 of the.
In fig. 3 ⑤, the Z-direction attaching/detaching module 51 moves the attaching/detaching upper slide plate 53 downward again (in the (-Z direction) by the attaching/detaching slide plate 54 to bring the transport tray 55 into contact with the pallet 31 of the multi-layer rack 3, and the blood sample transport tray 55 is placed on the pallet 31.
In FIG. 3 ⑥, the rack and pinion mechanism 52 drives the loading/unloading slide 53 to move forward (+ Y direction), and move out from the multi-layer rack 3 to the front position to the return position.
The process of unloading and delivering the blood sample tray from the robot trolley to the workbench is similar to the working principle of the loading process and is the reverse process of the loading process.
Claims (5)
1. A transport robot trolley comprises a trolley chassis, a trolley bearing platform, a multilayer storage rack, a clamping manipulator and a loading and unloading device;
the trolley bearing platform is arranged on the trolley chassis;
the multilayer shelf is arranged on the trolley bearing platform;
the clamping manipulator is arranged at the top end of the commodity shelf and comprises a manipulator left clamping jaw, a manipulator right clamping jaw, a bidirectional screw rod and a Y-axis moving module; the left clamping jaw and the right clamping jaw of the manipulator are movably connected with the bidirectional screw rod and can perform opening and closing movement along the bidirectional screw rod in the X direction; the bidirectional screw rod is movably connected with the Y-axis moving module, and the Y-axis moving module can drive the left clamping jaw and the right clamping jaw of the manipulator to move along the Y direction;
the loading and unloading device consists of a Z-direction loading and unloading module, a gear rack mechanism, an loading and unloading sliding plate, an loading and unloading upper sliding plate and a conveying tray, wherein the conveying tray is arranged on the loading and unloading upper sliding plate, the loading and unloading upper sliding plate is connected with a loading and unloading lower sliding plate through a track and the gear rack mechanism, the loading and unloading upper sliding plate can move in the Y direction relative to the loading and unloading sliding plate, the loading and unloading sliding plate is movably connected with the Z-direction loading and unloading module, and the Z-direction loading and unloading module is arranged in the vertical direction of a trolley bearing platform to realize the sliding of the loading and unloading upper sliding;
the Y direction is the forward advancing or retreating direction of the trolley, the X direction is the direction which is perpendicular to the Y direction on the surface parallel to the trolley chassis, and the Z direction is the direction which is perpendicular to the trolley chassis surface.
2. The transfer robot cart of claim 1, wherein the cart carrying platform is a movable platform, and is mounted to the cart chassis via a rail pair, the rail pair is composed of a rail and a slider, the rail of the rail pair is connected to the cart chassis, and the slider of the rail pair is connected to the cart carrying platform; the trolley bearing platform can move along the guide rail pair in the X direction.
3. The transfer robot cart of claim 1 or 2, wherein the upper loading/unloading sled has a projection, and the bottom surface of the transfer tray has a recess, and the projection of the upper loading/unloading sled is engaged with the recess of the bottom surface of the transfer tray.
4. The transfer robot cart as claimed in claim 1 or 2, wherein a protective case is installed on the cart chassis so that the multi-layered rack of the transfer cart is in a closed space.
5. The transfer robot cart of claim 3, wherein a protective case is installed on the cart base such that the multi-layered rack of the transfer cart is in a closed space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920581378.3U CN210103386U (en) | 2019-04-26 | 2019-04-26 | Transport robot dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920581378.3U CN210103386U (en) | 2019-04-26 | 2019-04-26 | Transport robot dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210103386U true CN210103386U (en) | 2020-02-21 |
Family
ID=69537152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920581378.3U Withdrawn - After Issue CN210103386U (en) | 2019-04-26 | 2019-04-26 | Transport robot dolly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210103386U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104585A (en) * | 2019-04-26 | 2019-08-09 | 前海瑞智捷自动化科技（深圳）有限公司 | A kind of carrier robot trolley and carrier robot trolley automatic clamping and placing and storage method |
-
2019
- 2019-04-26 CN CN201920581378.3U patent/CN210103386U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104585A (en) * | 2019-04-26 | 2019-08-09 | 前海瑞智捷自动化科技（深圳）有限公司 | A kind of carrier robot trolley and carrier robot trolley automatic clamping and placing and storage method |
| CN110104585B (en) * | 2019-04-26 | 2023-08-08 | 深圳瑞智捷医疗科技有限公司 | Transfer robot trolley and automatic transfer robot trolley picking, placing and storing method |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 518100 101, No.7, Nuclear Power Industrial Park, Fumin community, Fucheng street, Longhua District, Shenzhen City, Guangdong Province Patentee after: Shenzhen ruizhijie Medical Technology Co.,Ltd. Address before: 518000 Room 201, building A, No. 1, Qian Wan Road, Qianhai Shenzhen Hong Kong cooperation zone, Shenzhen, Guangdong (Shenzhen Qianhai business secretary Co., Ltd.) Patentee before: QIANHAI RUIZHIJIE AUTOMATION TECHNOLOGY (SHENZHEN) Co.,Ltd. |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20200221 Effective date of abandoning: 20230808 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20200221 Effective date of abandoning: 20230808 |