CN213169273U - Automatic storing device of robot - Google Patents

Abstract

The utility model relates to an intelligent robot technical field discloses an automatic storing device of robot, include: the refrigerator comprises a refrigerator body, a door body and a door body, wherein one end of the refrigerator body is opened, and a cavity is formed in the refrigerator body; the box door is arranged at the opening of the box body and used for closing the box body, the box door comprises a first box door and a second box door, and the first box door and the second box door are respectively movably connected to the box body; the driving mechanism is arranged on the box body, is respectively connected with the first box door and the second box door and drives the first box door and the second box door to respectively move towards two sides of the opening of the box body; and the authority identification mechanism is arranged on the box body, is connected with the driving mechanism and is used for controlling the driving mechanism to open or close the box door. This device carries out getting of storing device through the authority discernment and puts article, and unmanned transportation management is realized to the automatic switch door, reduces the human cost.

Description

Automatic storing device of robot

Technical Field

The utility model relates to an intelligent robot technical field especially relates to an automatic storing device of robot.

Background

An Automatic Guided Vehicle (AGV), also known as a mobile robot, is an unmanned intelligent handling tool, and as a mobile robot system, gradually becomes one of the key devices of the modern industrial automatic logistics system. Although AGVs play a major role in the flexible manufacturing industry and the automated warehousing industry in recent years, applications in medical logistics are still blank. In the medical logistics industry, the contradiction between the increasing object flow and the high labor cost is more and more obvious, and in hospitals, a set of efficient and quick logistics system is urgently needed to fully play the roles of the AGV and the intelligent medical distribution platform.

However, the storage device for protecting the transported articles at present has poor safety performance, cannot play a role in preventing theft of the articles placed in the storage device, and is inconvenient for the management of hospital materials.

Disclosure of Invention

In order to solve the technical problem, the utility model provides an automatic storing device of robot carries out getting of storing device through the authority discernment and puts article, and the automatic switch door realizes unmanned transportation management, reduces the human cost.

The utility model provides a technical scheme as follows:

a robotic automated storage device, comprising:

the refrigerator comprises a refrigerator body, a door body and a door body, wherein one end of the refrigerator body is opened, and a cavity is formed in the refrigerator body;

the box door is arranged at the opening of the box body and used for closing the box body, the box door comprises a first box door and a second box door, and the first box door and the second box door are respectively movably connected to the box body;

the driving mechanism is arranged on the box body, is respectively connected with the first box door and the second box door and drives the first box door and the second box door to respectively move towards two sides of the opening of the box body;

and the authority identification mechanism is arranged on the box body, is connected with the driving mechanism and is used for controlling the driving mechanism to open or close the box door.

Further preferably, sliding grooves are formed in two side walls of the opening of the box body, and pulleys matched with the sliding grooves are respectively arranged at two ends of the first box door and two ends of the second box door.

Further preferably, the sliding groove comprises a first sliding groove and a second sliding groove, and the pulley comprises a first pulley and a second pulley;

the two first sliding grooves are symmetrically arranged on the upper side and the lower side of the opening of the box body, the two first pulleys are symmetrically arranged on the upper side and the lower side of the first box door, and the two first pulleys are respectively arranged in the two first sliding grooves in a matched manner;

the second sliding grooves are symmetrically arranged on the upper side and the lower side of the opening of the box body, the second pulleys are symmetrically arranged on the upper side and the lower side of the second box door, and the second pulleys are respectively arranged in the second sliding grooves in a matched mode.

Further preferably, the driving mechanism includes a driving portion, a first connecting arm, and a second connecting arm;

the driving part is arranged on the upper side of the box body, and the driving part is respectively connected with the first connecting arm and the second connecting arm and is used for driving the first connecting arm and the second connecting arm to move towards the opening close to the box body or away from the opening of the box body;

the first connecting arm is rotatably connected with one side, far away from the second box door, of the first box door, and the second connecting arm is rotatably connected with one side, far away from the first box door, of the second box door.

Further preferably, a first guide groove and a second guide groove are respectively arranged on two sides of a top plate of the box body, the upper end of the first connecting arm is connected with the driving part, and the lower end of the first connecting arm penetrates through the first guide groove to be rotatably connected with the first box door through a first ball head;

the upper end of the second connecting arm is connected with the driving part, and the lower end of the second connecting arm penetrates through the second guide groove to be rotatably connected with the second box door through a second ball head;

the upper end and the lower end of the first box door are respectively provided with a first guide wheel, and the first guide wheels reciprocate along with the first box door in the axial direction of the first guide groove;

and second guide wheels are respectively arranged at the upper end and the lower end of the second box door and reciprocate along with the second box door in the axial direction of the second guide groove.

Further preferably, the driving part comprises a driving motor, a lead screw nut and a guide rail;

the axial direction of the screw rod is parallel to the movement direction of the first connecting arm and the second connecting arm, one end of the screw rod is fixedly connected with a top plate of the box body, and the other end of the screw rod is connected with the driving motor;

the guide rail is fixed on a top plate of the box body and is arranged in parallel with the lead screw;

the screw nut is sleeved on the screw in an adaptive manner, a sliding block is fixedly connected to the lower side of the screw nut, the sliding block is installed on the guide rail in an adaptive manner, and the screw nut is fixedly connected with the first connecting arm and the second connecting arm respectively;

the driving motor is fixed on a top plate of the box body and drives the lead screw nut to reciprocate in the axis direction of the lead screw.

Further preferably, the driving part comprises a driving motor, a sliding seat and a linear guide rail;

at least one linear guide rail is arranged, the linear guide rail is fixed on a top plate of the box body, and the axial direction of the linear guide rail is parallel to the movement direction of the first connecting arm and the second connecting arm;

the sliding seat is arranged on the linear guide rail in a matching manner and is fixedly connected with the first connecting arm and the second connecting arm respectively;

the driving motor is fixed on the top plate of the box body, and an output shaft of the driving motor is fixedly connected with the sliding seat and drives the sliding seat to reciprocate in the axis direction of the linear guide rail.

Further preferably, the method further comprises the following steps: two position detection sensors;

the two position detection sensors are respectively arranged on a top plate of the box body and positioned at two ends of the first guide groove or the second guide groove, and the two position detection sensors are respectively connected with the driving motor and used for controlling the first connecting arm and the second connecting arm to stop moving when reaching a preset position.

Further preferably, the authority identification mechanism is a card swiping identification mechanism or an identifying code identification mechanism.

Further preferably, the method further comprises the following steps: a conveying mechanism;

the conveying mechanism is arranged on a bottom plate of the box body and used for moving the articles placed in the box body towards the opening of the box body or away from the opening of the box body.

Compared with the prior art, the utility model discloses an automatic storing device of robot beneficial effect lies in:

in the utility model, the robot automatic storage device uses the driving motor to automatically open and close the door to receive/transmit the turnover box after the door is in place, thereby realizing unmanned transportation management and reducing the labor cost; articles are taken and placed by the storage device through authority identification, so that hospital material management is facilitated; through controlling the structure of opening the door, shorten the counterpoint clearance, increase turnover case transmission success rate.

Drawings

The foregoing features, technical features, advantages and embodiments are further described in the following detailed description of the preferred embodiments, which is to be read in connection with the accompanying drawings.

FIG. 1 is a schematic structural view illustrating a door closing state of the robot automatic storage device according to the present embodiment;

FIG. 2 is a schematic structural view of the robot automatic storage device of the present embodiment from another perspective when the door is closed;

fig. 3 is a schematic structural diagram of the robot automatic storing device in the open state according to the embodiment.

The reference numbers illustrate:

10. the automatic positioning device comprises a box body, 11, a top plate, 111, a first sliding groove, 112, a second sliding groove, 113, a first guide groove, 114, a second guide groove, 115, a first position detection sensor, 116, a second position detection sensor, 12, a bottom plate, 20, a box door, 21, a first box door, 211, a first pulley, 212, a first guide wheel, 22, a second box door, 221, a second pulley, 222, a second guide wheel, 30, a driving mechanism, 31, a driving motor, 32, a base, 33, a guide rail, 34, a lead screw nut, 35, a lead screw, 36, a transmission arm, 37, a first connection arm, 371, a first ball head, 38, a second connection arm and 40.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

For the sake of simplicity, only the parts relevant to the present invention are schematically shown in the drawings, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

In the embodiments shown in the drawings, the directions (such as up, down, left, right, front, and rear) are used to explain the structure and movement of the various components of the present invention not absolutely, but relatively. These illustrations are appropriate when these components are in the positions shown in the figures. If the description of the positions of these components changes, the indication of these directions changes accordingly.

In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.

In order to more clearly illustrate embodiments of the present invention or technical solutions in the prior art, specific embodiments of the present invention will be described below with reference to the accompanying drawings. It is obvious that the drawings in the following description are only examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be obtained from these drawings without inventive effort.

As a specific embodiment, as shown in fig. 1 to 3, the present embodiment provides an automatic robot storing apparatus, including: the box body 10, the box door 20, the driving mechanism 30 and the authority identification mechanism. Wherein, one end of the box body 10 is open and the inside is provided with a cavity. The door 20 is disposed at an opening of the cabinet 10 and is used for closing the cabinet 10, and the door 20 includes a first door 21 and a second door 22, and the first door 21 and the second door 22 are slidably connected to the cabinet 10. The driving mechanism 30 is disposed on the cabinet 10, and the driving mechanism 30 is connected to the first door 21 and drives the first door 21 to reciprocate from the front side of the opening of the cabinet 10 to the left side of the opening of the cabinet 10. The driving mechanism 30 is connected to the second door 22, and drives the second door 22 to reciprocate from the front side of the opening of the casing 10 to the right side of the opening of the casing 10. The authority recognition mechanism is disposed on the cabinet 10 and connected to the driving mechanism 30 for controlling the driving mechanism 30 to open or close the door 20.

In the embodiment, the driving mechanism 30 is controlled by the authority identification mechanism to open or close the box door 20, so that unmanned transportation management is realized, hospital material management is facilitated, and labor cost is reduced; through both sides structure of opening the door, shorten the counterpoint clearance, increase turnover case transmission success rate.

Specifically, as shown in fig. 1 to 3, sliding grooves are formed in the top plate 11 and the bottom plate 12 at the opening of the box body 10, and pulleys adapted to the sliding grooves are respectively disposed at the upper and lower ends of the first box door 21 and the second box door 22. Wherein, the sliding chute comprises a first sliding chute 111 and a second sliding chute 112, and the pulley comprises a first pulley 211 and a second pulley 221. First spout 111 is the arc wall, and is equipped with two, and two first spout 111 symmetries set up the upper and lower both sides at the box 10 opening part, and first pulley 211 is equipped with two, and two first pulley 211 symmetries set up the upper and lower both ends on first chamber door 20 right side, and two first pulley 211 difference adaptations set up in two first spouts 111. The second sliding grooves 112 are arc-shaped grooves, and two second sliding grooves 112 are symmetrically arranged on the upper side and the lower side of the opening of the box body 10. The number of the second pulleys 221 is two, the two second pulleys 221 are symmetrically arranged at the upper end and the lower end of the left side of the second box door 22, and the two second pulleys 221 are respectively arranged in the two second chutes 112 in an adaptive manner.

The drive mechanism 30 includes a drive portion, a first connecting arm 37, and a second connecting arm 38. The driving portion is disposed on the top plate 11 of the box 10, and the driving portion is connected to the first connecting arm 37 and the second connecting arm 38 respectively, and is configured to drive the first connecting arm 37 and the second connecting arm 38 to move toward the opening close to the box 10 or away from the opening of the box 10. The left and right sides of the top plate 11 of the box 10 are respectively provided with a first guide groove 113 and a second guide groove 114, the upper end of the first connecting arm 37 is connected with the driving part, and the lower end of the first connecting arm 37 passes through the first guide groove 113 to be rotatably connected with the left side of the first box door 21 through a first ball 371. The upper end of the second connecting arm 38 is connected to the driving portion, and the lower end of the second connecting arm 38 passes through the second guide groove 114 and is rotatably connected to the right side of the second door 22 via a second ball. The upper end and the lower end of the left side of the first box door 21 are respectively provided with a first guide wheel 212, the first guide wheel 212 is fittingly arranged in the first guide groove 113, and the first guide wheel 212 reciprocates along with the first box door 21 in the axial direction of the first guide groove 113. The upper and lower ends of the right side of the second door 22 are respectively provided with a second guide wheel 222, the second guide wheel 222 is fittingly arranged in the second guide groove 114, and the second guide wheel 222 reciprocates along with the second door 22 in the axial direction of the second guide groove 114.

In another embodiment, as shown in fig. 2, in addition to the above embodiment, the driving part includes a driving motor 31, a lead screw 35, a lead screw nut 34, and a guide rail 33. In order to facilitate the installation of the driving part, a base 32 is fixed on the top plate 11, the driving motor 31 is fixed at the right end of the base 32, the output shaft of the driving motor 31 is fixedly connected with the left end of the screw rod 35 through a coupler, and the right end of the screw rod is rotatably connected with the right end of the base 32 through a fixing lug. Two guide rails 33 are respectively fixed on the base 32 and respectively located at two sides of the screw 35 and arranged in parallel with the screw 35. The screw nut 34 is fittingly sleeved on the screw 35, and a fitting slider is arranged at a position on the lower side of the screw nut 34 close to the guide rail 33, so that the driving motor 31 drives the screw nut 34 to reciprocate in the axial direction of the screw 35. The upper end of the screw nut 34 is fixedly connected with a transmission arm 36, and both ends of the transmission arm 36 are fixedly connected with the upper ends of the first connecting arm 37 and the second connecting arm 38 respectively.

As shown in fig. 2, when the driving motor 31 drives the first link arm 37 to move to the left end, the first link arm 37 drives the lower end of the first door 21 to move to the left side, and the upper end of the first door 21 moves to the lower side, so that the first door 21 is opened. When the driving motor 31 drives the first link arm 37 to move to the right end, the first link arm 37 drives the lower end of the first door 21 to move to the right side, and the upper end of the first door 21 moves to the upper side, so that the first door 21 is closed.

As shown in fig. 2, when the driving motor 31 drives the second connecting arm 38 to move to the left end, the second connecting arm 38 drives the upper end of the second door 22 to move to the left side, and the lower end of the second door 22 moves to the upper side, so that the second door 22 is opened. When the driving motor 31 drives the second connecting arm 38 to move towards the right end, the second connecting arm 38 drives the upper end of the second door 22 to move towards the right side, and the lower end of the second door 22 moves towards the lower side, so that the second door 22 is closed.

In another embodiment, on the basis of the above embodiments, the driving portion may be selected as a driving manner of the electric push rod, and specifically, the driving portion includes a driving motor, a sliding seat, and a linear guide. At least one linear guide rail is arranged, the linear guide rail is fixed on the top plate 11 of the box body 10, and the axial direction of the linear guide rail is parallel to the movement direction of the first connecting arm 37 and the second connecting arm 38. The sliding base is adapted to be mounted on the linear guide rail, and two ends of the sliding base are respectively fixedly connected with the first connecting arm 37 and the second connecting arm 38. The driving motor is fixed on the top plate 11 of the box body 10, an output shaft of the driving motor is fixedly connected with the sliding base, and drives the sliding base to reciprocate in the axial direction of the linear guide rail, so that the first connecting arm 37 and the second connecting arm 38 reciprocate in the axial direction of the first guide groove 113, and the opening and closing of the first box door 21 and the second box door 22 are controlled.

In addition to the above embodiment, as shown in fig. 2, in addition to the above embodiment, a first position detection sensor 115 and a second position sensor 116 are provided on the top plate 11 of the casing 10. The first position detection sensor 115 and the second position sensor 116 are respectively located at two ends of the second guide groove 114, and the first position detection sensor 115 and the second position sensor 116 are respectively connected to the driving motor 31 for controlling the driving motor 31 to stop working when the driving arm 36 reaches a predetermined position. In this embodiment, the driving motor 31 may be a dc motor, and the first position detection sensor 115 and the second position sensor 116 may be proximity switches. The proximity switch is a position switch which can be operated without mechanical direct contact with a moving part, and when the sensing surface of the object proximity switch reaches an action distance, the switch can be actuated without mechanical contact and any pressure applied, so that a direct current electric appliance is driven or a control instruction is provided for a computer (plc) device. Thereby achieving the automatic opening and closing of the door 20.

Further, the authority identification mechanism is a card swiping identification mechanism or an identifying code identification mechanism. The principle is that when a pulse signal for opening the door is transmitted to the main controller through the card, the main controller informs the driving motor 31 to operate in the forward direction after judging, power is transmitted to the screw nut 34, and then the screw nut 34 transmits the power to the transmission arm 36 to drive the first connecting arm 37 and the second connecting arm 38 to move, so that the first door 21 and the second door 22 are opened. When the pulse signal for closing the door is transmitted to the master controller, the master controller informs the driving motor 31 to run in reverse after judging, the power is transmitted to the screw nut 34, and then the screw nut 34 transmits the power to the transmission arm 36 to drive the first connecting arm 37 and the second connecting arm 38 to move, so that the first door 21 and the second door 22 are closed.

In addition to the above-mentioned embodiments, as shown in fig. 3, in addition to the above-mentioned embodiments, a conveying mechanism 40 is provided on the bottom plate 12 of the box 10, and the conveying mechanism 40 is used for moving the articles placed in the box 10 toward the door opening of the box 10 or away from the opening of the box 10. The conveying mechanism 40 can be a conveying belt and a motor for driving the conveying belt to rotate, the motor is connected with the authority identification mechanism, and the driving is controlled by the main controller. When the door 10 is opened, the motor drives the conveyor belt to rotate, so that the articles on the conveyor belt move to the opening of the box 10 from the inside of the box 10, and a user can take the articles conveniently. When goods need to be put in, the goods only need to be put in the conveying belt at the opening of the box body 10, the motor is driven to drive the conveying belt to rotate through the authority identification mechanism, and the goods are moved into the box body 10. Thereby reduce user's the amount of labour, realize the full-automatic unmanned transportation of goods, improve user experience.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or recited in detail in a certain embodiment.

It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. An automatic storing device of robot, its characterized in that includes:

the refrigerator comprises a refrigerator body, a door body and a door body, wherein one end of the refrigerator body is opened, and a cavity is formed in the refrigerator body;

the box door is arranged at the opening of the box body and used for closing the box body, the box door comprises a first box door and a second box door, and the first box door and the second box door are respectively movably connected to the box body;

the driving mechanism is arranged on the box body, is respectively connected with the first box door and the second box door and drives the first box door and the second box door to respectively move towards two sides of the opening of the box body;

and the authority identification mechanism is arranged on the box body, is connected with the driving mechanism and is used for controlling the driving mechanism to open or close the box door.

2. The robotic automated storage device of claim 1, wherein:

the two side walls of the opening of the box body are provided with sliding grooves, and two ends of the first box door and the second box door are respectively provided with pulleys matched with the sliding grooves.

3. The robotic automated storage device of claim 2, wherein:

the sliding grooves comprise a first sliding groove and a second sliding groove, and the pulleys comprise a first pulley and a second pulley;

the two first sliding grooves are symmetrically arranged on the upper side and the lower side of the opening of the box body, the two first pulleys are symmetrically arranged on the upper side and the lower side of the first box door, and the two first pulleys are respectively arranged in the two first sliding grooves in a matched manner;

the second sliding grooves are symmetrically arranged on the upper side and the lower side of the opening of the box body, the second pulleys are symmetrically arranged on the upper side and the lower side of the second box door, and the second pulleys are respectively arranged in the second sliding grooves in a matched mode.

4. The robotic automated storage device of claim 3, wherein:

the driving mechanism comprises a driving part, a first connecting arm and a second connecting arm;

the driving part is arranged on the upper side of the box body, and the driving part is respectively connected with the first connecting arm and the second connecting arm and is used for driving the first connecting arm and the second connecting arm to move towards the opening close to the box body or away from the opening of the box body;

the first connecting arm is rotatably connected with one side, far away from the second box door, of the first box door, and the second connecting arm is rotatably connected with one side, far away from the first box door, of the second box door.

5. The robotic automated storage device of claim 4, wherein:

a first guide groove and a second guide groove are respectively arranged on two sides of a top plate of the box body, the upper end of the first connecting arm is connected with the driving part, and the lower end of the first connecting arm penetrates through the first guide groove to be rotatably connected with the first box door through a first ball head;

the upper end of the second connecting arm is connected with the driving part, and the lower end of the second connecting arm penetrates through the second guide groove to be rotatably connected with the second box door through a second ball head;

the upper end and the lower end of the first box door are respectively provided with a first guide wheel, and the first guide wheels reciprocate along with the first box door in the axial direction of the first guide groove;

and second guide wheels are respectively arranged at the upper end and the lower end of the second box door and reciprocate along with the second box door in the axial direction of the second guide groove.

6. The robotic automated storage device of claim 5, wherein:

the driving part comprises a driving motor, a lead screw nut and a guide rail;

the axial direction of the screw rod is parallel to the movement direction of the first connecting arm and the second connecting arm, one end of the screw rod is fixedly connected with a top plate of the box body, and the other end of the screw rod is connected with the driving motor;

the guide rail is fixed on a top plate of the box body and is arranged in parallel with the lead screw;

the screw nut is sleeved on the screw in an adaptive manner, a sliding block is fixedly connected to the lower side of the screw nut, the sliding block is installed on the guide rail in an adaptive manner, and the screw nut is fixedly connected with the first connecting arm and the second connecting arm respectively;

the driving motor is fixed on a top plate of the box body and drives the lead screw nut to reciprocate in the axis direction of the lead screw.

7. The robotic automated storage device of claim 5, wherein:

the driving part comprises a driving motor, a sliding seat and a linear guide rail;

at least one linear guide rail is arranged, the linear guide rail is fixed on a top plate of the box body, and the axial direction of the linear guide rail is parallel to the movement direction of the first connecting arm and the second connecting arm;

the sliding seat is arranged on the linear guide rail in a matching manner and is fixedly connected with the first connecting arm and the second connecting arm respectively;

the driving motor is fixed on the top plate of the box body, and an output shaft of the driving motor is fixedly connected with the sliding seat and drives the sliding seat to reciprocate in the axis direction of the linear guide rail.

8. The robotic automated storage device of claim 6 or 7, further comprising: two position detection sensors;

the two position detection sensors are respectively arranged on a top plate of the box body and positioned at two ends of the first guide groove or the second guide groove, and the two position detection sensors are respectively connected with the driving motor and used for controlling the first connecting arm and the second connecting arm to stop moving when reaching a preset position.

9. The robotic automated storage device of claim 1, wherein:

the authority identification mechanism is a card swiping identification mechanism or an identifying code identification mechanism.

10. The robotic automated storage device of claim 1, further comprising: a conveying mechanism;

the conveying mechanism is arranged on a bottom plate of the box body and used for moving the articles placed in the box body towards the opening of the box body or away from the opening of the box body.

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