CN216781804U - Carrying robot - Google Patents

Abstract

The utility model discloses a carrying robot which comprises a moving device, wherein a support assembly is vertically arranged on the moving device, a grabbing assembly and a storing assembly are arranged on the support assembly, the storing assembly is positioned above the grabbing assembly, a plurality of storing grooves are formed in the storing assembly, and the grabbing assembly and the storing assembly can rotate relatively so that grabbed articles can be stored in the designated storing grooves by the grabbing assembly. The carrying robot has high automation degree, can replace manual carrying, loading and storing of some medical wastes, avoids direct contact of medical staff with the objects, effectively reduces the risk coefficient of the medical staff, and simultaneously reduces the labor intensity of the medical staff; simultaneously accomodate storage assembly through setting up, can once only carry a plurality of article, improved handling efficiency greatly.

Description

Carrying robot

Technical Field

The utility model relates to the field of robots, in particular to a carrying robot.

Background

Along with the development of society, mechanical equipment is used for replacing manpower in many occasions, and the mechanical replacement of people has a plurality of advantages, such as carrying, loading and storing some toxic and harmful articles, and avoiding direct contact of people; in particular, in a hospital setting, medical staff often face the problem of carrying medical waste, and if the medical waste is directly carried, the risk factor is high, and the labor intensity of the medical staff is high, so that the problem can be avoided by using some mechanical equipment, such as a robot, to support the work of the medical staff.

When replacing artifical transport to load and store some medical waste through utilizing the robot, can avoid medical personnel to the direct contact of this type of object, effectual reduction medical personnel's danger coefficient has also reduced medical personnel's intensity of labour simultaneously. However, the hospital scene is special, and the corridor and the ward passage are relatively narrow, so it is necessary to design a carrying robot suitable for the hospital scene.

SUMMERY OF THE UTILITY MODEL

The utility model provides a carrying robot which has the effects of high operation speed and high carrying efficiency. The specific technical scheme is as follows:

the carrying robot comprises a moving device, wherein a support assembly is vertically arranged on the moving device, a grabbing assembly and a storage assembly are arranged on the support assembly, the storage assembly is located above the grabbing assembly, a plurality of storage grooves are formed in the storage assembly, the grabbing assembly and the storage assembly can rotate relatively, and therefore articles grabbed by the grabbing assembly can be stored in the designated storage grooves conveniently.

Further, be provided with lifting unit on the bracket component, the last upset subassembly that is provided with of lifting unit snatchs the subassembly setting on the upset subassembly, and lifting unit drives the upset subassembly and snatchs the vertical removal of subassembly, and the upset subassembly drive snatchs the subassembly and rotates to deposit the article of snatching in accomodating the groove.

Further, the grabbing assembly comprises a first clamping jaw and a second clamping jaw, and the first clamping jaw and the second clamping jaw can be opened and closed relatively to clamp the article; be provided with the bearing structure on first clamping jaw and the second clamping jaw, the bearing structure can be with article looks joint to realize lifting to article through first clamping jaw and second clamping jaw.

Further, the bearing structure comprises mounting grooves formed in the top surfaces of the first clamping jaw and the second clamping jaw, and the mounting grooves can be clamped with rod-shaped structures on the object.

Furthermore, the bearing structure comprises accommodating clamping spaces arranged on the jaw bodies of the first clamping jaw and the second clamping jaw, and the accommodating clamping spaces can be clamped with the plate-shaped structure on the object.

Further, limiting plates are respectively arranged on the inner sides of the first clamping jaw and the second clamping jaw, and the article can abut against the limiting plates to limit the clamping position of the article.

Further, snatch the subassembly and include clamping jaw drive component, clamping jaw drive component links to each other with the clamping jaw driving gear, and the clamping jaw driving gear links to each other with first clamping jaw, and the clamping jaw driving gear meshes with clamping jaw driven gear mutually, and clamping jaw driven gear links to each other with the second clamping jaw, and the first clamping jaw of clamping jaw drive component accessible clamping jaw driving gear and clamping jaw driven gear drive and second clamping jaw open and shut relatively.

Furthermore, the grabbing assembly comprises a clamping jaw mounting plate, a clamping jaw driving element is connected with the clamping jaw mounting plate, an output shaft of the clamping jaw driving element is connected with a clamping jaw driving gear, a hinge hole is formed in the clamping jaw mounting plate, and a rotating shaft of a clamping jaw driven gear is accommodated in the hinge hole; the clamping jaw mounting panel links to each other with the clamping jaw stabilizing member, and the clamping jaw stabilizing member is provided with the board of accepting in the one end of keeping away from the clamping jaw mounting panel, and first clamping jaw and second clamping jaw setting are on accepting the board.

Further, the upset subassembly includes the upset support body, and the upset support body sets up on lifting unit, is provided with upset drive component in the upset support body, and upset drive component links to each other with the upset gear, and the pivot activity of upset gear sets up on the upset support body, is provided with the upset arm in the pivot of upset gear, and the upset arm links to each other with snatching the subassembly, and upset drive component snatchs the subassembly through upset gear, upset arm drive and rotates.

Further, lifting unit includes chain drive assembly, and chain drive assembly sets up on the bracket component, is provided with the elevating platform on the chain drive assembly, and the upset subassembly sets up on the elevating platform, and chain drive assembly passes through the elevating platform and drives the upset subassembly and snatch the subassembly and follow the vertical removal of bracket component.

Furthermore, accomodate storage assembly and include the storage rack body, be provided with storage assembly on the storage rack body, a plurality of grooves of accomodating set up on storage assembly, storage assembly department activity is provided with covers spacing subassembly, covers the article that spacing subassembly can cover in the groove of accomodating to prevent that article from dropping.

Furthermore, the storage assembly comprises an arc-shaped storage rack, a plurality of storage grooves are uniformly distributed on the arc-shaped storage rack, the storage rack is movably arranged on the storage rack and can rotate relative to the storage rack, and the circle center of the storage rack coincides with the rotation axis of the storage rack.

Further, cover spacing subassembly and include spacing support, spacing support activity sets up on accomodating the support body, is provided with a plurality of spacing claws on the spacing support, and spacing support can rotate for accomodating the support body to make spacing claw cover and accomodate the article in the groove.

Furthermore, the covering and limiting assembly comprises a limiting cover, and the limiting cover is arranged above the accommodating assembly so as to cover the articles in the accommodating groove; the limiting cover is provided with a taking and placing opening, a limiting arm is movably arranged at the taking and placing opening, the grabbing component can place articles in the accommodating groove through the taking and placing opening, and the limiting arm can rotate relative to the accommodating component so that the limiting arm covers the articles in the accommodating groove at the taking and placing opening.

The carrying robot has high automation degree, can replace manual carrying, loading and storing of some medical wastes, avoids direct contact of medical staff with the objects, effectively reduces the risk coefficient of the medical staff, and simultaneously reduces the labor intensity of the medical staff; simultaneously accomodate storage assembly through setting up, can once only carry a plurality of article, improved handling efficiency greatly, in addition, will accomodate storage assembly and set up at the top, can practice thrift the shared space of robot, especially adapted uses in the relatively narrow region of range of motion such as hospital or warehouse.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the utility model. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

FIG. 1 is a perspective view of a first embodiment of a carrier robot of the present invention;

FIG. 2 is a perspective view of a gripper assembly of a first embodiment of the carrier robot of the present invention;

FIG. 3 is a perspective view of the first embodiment of the carrier robot with the gripper fingers of the gripper assembly hidden from view;

FIG. 4 is a perspective view of a lift assembly of a first embodiment of the carrier robot of the present invention;

FIG. 5 is a perspective view of a storage assembly of a first embodiment of the carrier robot of the present invention;

FIG. 6 is a top view of a receiving assembly of a first embodiment of the carrier robot of the present invention;

FIG. 7 is a side view of a receiving assembly of a first embodiment of the carrier robot of the present invention;

FIG. 8 is a top view of the covering and position-limiting assembly of the first embodiment of the carrier robot of the present invention;

FIG. 9 is a side view of a cover stop assembly of the first embodiment of the carrier robot of the present invention;

FIG. 10 is a schematic view of the cover and stop assembly of the first embodiment of the carrier robot of the present invention shown open;

FIG. 11 is a schematic view of the cover stop assembly closing according to the first embodiment of the carrier robot of the present invention;

FIG. 12 is a schematic view of an embodiment of a carrier robot of the present invention in the process of placing an article;

FIG. 13 is a perspective view of a second embodiment of the carrier robot of the present invention;

FIG. 14 is a perspective view of a gripper assembly of a second embodiment of the carrier robot of the present invention;

fig. 15 is a perspective view of a storage assembly of a second embodiment of the carrier robot of the present invention;

fig. 16 is a perspective view of the second embodiment of the carrier robot with the storage assembly hidden in the position-limiting cover;

fig. 17 is a schematic view of a second embodiment of the carrier robot of the present invention in placing an article.

Detailed Description

For better understanding of the objects, functions and embodiments of the present invention, the carrier robot of the present invention will be described in further detail with reference to the accompanying drawings.

Example one

As shown in fig. 1 to 12, the carrier robot of the present invention includes a moving device 1, the moving device 1 is used for carrying the movement of the robot, and the moving device 1 of the present embodiment is a wireless remote control car. The vertical bracket component 3 that is provided with on the mobile device 1, be provided with on the bracket component 3 and snatch subassembly 2 and accomodate storage assembly 4, it is located the top of snatching the subassembly to accomodate storage assembly 4, it is provided with a plurality of grooves 45 of accomodating on the storage assembly 4 to accomodate, it can rotate relatively to snatch subassembly 2 and accomodate storage assembly 4, so that it places the article of snatching the subassembly 2 and grabbing in appointed groove 45 of accomodating, it can be according to actual demand promptly to snatch subassembly 2, the article of will grabbing are deposited in a certain one of a plurality of grooves 45 of accomodating and are accomodate in the groove 45.

It can be understood that bracket component 3 can be two sets ofly, snatchs subassembly 2 and accomodates storage component 4 and can set up respectively on a bracket component 3, also can link to each other with two bracket components 3 simultaneously, as long as accomodate storage component 4 and set up and snatch 2 tops of subassembly can to make full use of vertical space.

The support assembly 3 is provided with a lifting assembly, the lifting assembly is provided with a turning assembly 5, the grabbing assembly 2 is arranged on the turning assembly 5, the lifting assembly can drive the turning assembly 5 and the grabbing assembly 2 to vertically move, and the grabbing assembly 2 can grab articles; the storage assembly 4 of accomodating of this embodiment sets up at the top of bracket component 3, and lifting unit drives upset subassembly 5 and snatchs 2 vertical movements of subassembly, and upset subassembly 5 drive snatchs subassembly 2 and rotates to deposit the article of grabbing in the groove 45 of accomodating of storage assembly 4, thereby make carrying robot can carry a plurality of articles simultaneously, improve carrying robot's efficiency.

Specifically, as shown in fig. 1 and 4, the lifting assembly includes a chain transmission assembly, and the chain transmission assembly is disposed on the bracket assembly 3. Bracket component 3 includes stand 31, and the vertical setting of stand 31 is on the mobile device, and the chain drive subassembly links to each other with stand 31, and the stand 31 of this embodiment is two, and vertical fixed setting is on mobile device 1, and the chain drive subassembly setting is between two stands 31. The chain transmission assembly is provided with a lifting platform 36, the overturning assembly 5 is arranged on the lifting platform 36, and the chain transmission assembly drives the overturning assembly 5 and the grabbing assembly 2 to vertically move along the upright column 31 through the lifting platform 36.

The chain transmission assembly comprises a lifting driven wheel 32, a lifting driving wheel 33, a chain 34 and a lifting driving element 35. A lifting driven wheel 32 is arranged at the middle position of the upper ends of the two upright posts 31, a lifting driving wheel 33 is arranged at the middle position of the lower ends of the two upright posts 31, and a chain 34 is sleeved on the lifting driven wheel 32 and the lifting driving wheel 33. The lifting driving wheel 33 is connected to a lifting driving element 35, and the lifting driving element 35 can drive the lifting driving wheel 33 to rotate so as to drive the chain 34 to move.

The chain 34 is provided with a lifting platform 36, the lifting platform 36 is connected with the grabbing component 2, and the lifting platform 36 can lift along with the movement of the chain 34, so that the grabbing component 2 can lift. The lifting table 36 of the embodiment is provided with the guide post 37, and the guide post 37 can enhance the stability of the lifting table 36 during movement, specifically, the guide post 37 is vertically fixed on the moving device 1, the lifting table 36 is provided with a through hole matched with the guide post 37, and the lifting table 36 can move relative to the guide post 37.

Preferably, two guide posts 37 are provided on both sides of the lifting table 36. It should be noted that the top end of the upright 31 is provided with a guide post fixing plate, and the guide post fixing plate is connected with the guide post 37 to improve the stability of the lifting platform 36. Preferably, a linear slide rail is arranged on the upright column 31, a slide block is arranged on the linear slide rail, and the slide block is connected with the lifting platform 36, so as to further improve the stability of the lifting platform 36 during movement.

Preferably, the top end of the upright column 31 is further provided with a limit switch 38, when the lifting platform 36 abuts against the limit switch 38, the lifting driving element 35 is powered off, so as to prevent the lifting platform 36 from moving too high to collide with other parts and cause damage to the equipment, and similarly, the limit switch 38 is also arranged below the upright column 31.

As shown in fig. 2, the grabbing assembly 2 of the embodiment includes a clamping jaw, the clamping jaw is connected with a clamping jaw driving device 23, the clamping jaw driving device 23 is fixedly arranged on a clamping jaw mounting plate 29 together with the clamping jaw, the clamping jaw mounting plate 29 is connected with a turnover assembly 5, and the turnover assembly 5 can drive the clamping jaw mounting plate 29 to turn over so as to drive the clamping jaw driving device 23 to turn over integrally with the clamping jaw. After grabbing subassembly 2 and snatching article, transport the top of bracket component 3 with article through lifting unit, then put into storage assembly 4 through upset subassembly 5 with article.

The clamping jaws comprise a first clamping jaw 21 and a second clamping jaw 22, the first clamping jaw 21 and the second clamping jaw 22 are connected with a clamping jaw driving device 23, and the clamping jaw driving device 23 can drive the first clamping jaw 21 and the second clamping jaw 22 to open or close so as to realize the clamping function of the clamping assembly 2. The first clamping jaw 21 and the second clamping jaw 22 are provided with bearing structures, and the bearing structures can be clamped with the object to lift the object through the first clamping jaw 21 and the second clamping jaw 22.

The jaw driving device 23 includes a jaw driving element and a jaw transmission assembly, the jaw driving element is connected to the jaw transmission assembly, the jaw transmission assembly is connected to the first jaw 21 and the second jaw 22, and the jaw driving element drives the first jaw 21 and the second jaw 22 to open or close through the jaw transmission assembly.

Particularly, clamping jaw drive assembly includes clamping jaw driving gear 24 and clamping jaw driven gear 25, clamping jaw driving gear 24 and clamping jaw driven gear 25 intermeshing, clamping jaw driving gear 24 links to each other with first clamping jaw 21, clamping jaw driven gear 25 links to each other with second clamping jaw 22, clamping jaw driving gear 24 links to each other with clamping jaw drive component, clamping jaw drive component drive clamping jaw driving gear 24 rotates to drive clamping jaw driven gear 25 rotates, open or the closure in order to realize driving first clamping jaw 21 and second clamping jaw 22.

The clamping jaw driving element is connected with the clamping jaw mounting plate 29, the clamping jaw driving element can be any one of a motor, an air cylinder and an oil cylinder, the clamping jaw driving element in the embodiment is a steering engine, and an output shaft of the steering engine is connected with the clamping jaw driving gear 24; the jaw mounting plate 29 is provided with a hinge hole, the jaw driven gear 25 is connected with a jaw driven gear shaft 251, the jaw driven gear shaft 251 is a rotating shaft of the jaw driven gear 25, the jaw driven gear shaft 251 is accommodated in the hinge hole, and the jaw driven gear shaft 251 can rotate relative to the hinge hole; the steering wheel drives clamping jaw driving gear 24 and thus drives clamping jaw driven gear 25 rotatory to the realization is grabbed subassembly 2 and is grabbed article.

The first clamping jaw 21 comprises a clamping jaw connecting part 211 and a first grabbing arm 212, wherein the clamping jaw connecting part 211 is columnar, one end of the clamping jaw connecting part 211 is fixedly connected with the clamping jaw driving gear 24, and the axis of the clamping jaw connecting part 211 is coincided with the axis of the clamping jaw driving gear 24, so that the clamping jaw connecting part 211 can be driven to rotate when the clamping jaw driving gear 24 rotates; the first gripper arm 212 is disposed on a side wall of the end of the jaw connecting portion 211 away from the jaw driving gear 24, and the first gripper arm 212 extends in a direction away from the jaw connecting portion 211. The second clamping jaw 22 includes a clamping jaw connecting portion 211, a clamping jaw connecting portion 211 and a second grabbing arm 213, and the second clamping jaw 22 and the first clamping jaw 21 are mirror images, which is not described in detail herein.

Preferably, the jaw mounting plate 29 is connected to the jaw securing member 210, the end of the jaw securing member 210 remote from the jaw mounting plate 29 is provided with a receiving plate 2101, and the first jaw 21 and the second jaw 22 are provided on the receiving plate 2101. The bearing plate 2101 is provided with two clamping jaw positioning columns, correspondingly, the bottom of the clamping jaw connecting portion 211 of the first clamping jaw 21 and the second clamping jaw 22 is provided with a clamping jaw positioning hole, and the clamping jaw connecting portion 211 of the first clamping jaw 21 and the second clamping jaw 22 can be sleeved on the two positioning columns of the bearing plate 2101, so that the stability of the first clamping jaw 21 and the second clamping jaw 22 during rotation is enhanced.

It should be noted that the inner sides of the first grabbing arm 212 and the second grabbing arm 213 are respectively provided with a limiting plate 26, and the limiting plate 26 can limit the object when the first grabbing arm 212 and the second grabbing arm 213 grab the object, so that the object grabbed by the first grabbing arm 212 and the second grabbing arm 213 can abut against the limiting plate 26, and the grabbing assembly 2 can be clamped to the same position each time the object is grabbed. Preferably, the limiting plate 26 is provided with a hollow-out portion to reduce the weight of the limiting plate 26.

The ends of the first and second gripping arms 212 and 213 away from the jaw connecting portion 211 are bent inward to facilitate gripping of the object by the jaws. In addition, the supporting structure comprises a mounting groove 27, the top surface of one end of each of the first grabbing arm 212 and the second grabbing arm 213, which is far away from the clamping jaw connecting portion 211, is provided with the mounting groove 27, and the mounting groove 27 can be clamped with a rod-shaped structure on an object, such as a frame body at the bottom of a hospital bed.

Preferably, the guide blocks 28 are disposed on the top surfaces of the first clamping jaw 21 and the second clamping jaw 22 at positions close to the hanging grooves 27, the guide blocks 28 of this embodiment are disposed on the top of the hanging grooves 27 at a side away from the clamping jaw connecting portion 211, the guide blocks 28 are disposed on the top of the guide blocks 28, the guide surfaces 281 are obliquely disposed, and the height of one end close to the hanging grooves 27 is lower than the height of one end away from the hanging grooves 27, so that an object can slide into the hanging grooves 27 when being hung on the guide surfaces 281, and in addition, the object hung in the hanging grooves 27 is prevented from sliding out of the hanging grooves 27 due to the reverse action of the hanging grooves 27, thereby improving the reliability of the grabbing assembly 2 for lifting the object.

Preferably, in order to facilitate the grabbing component 2 to grab an article, the lifting platform 36 is further provided with a vision module 39, the vision module 39 of this embodiment is a camera, and an operator can control the grabbing component 2 to grab an article more accurately according to a picture shot by the camera. The lifting driving element 35 of the embodiment adopts a direct current speed reducing motor with an encoder, the encoder of the direct current speed reducing motor is used for feedback, and the specific height accurate stop is realized through PID adjustment.

Upset subassembly 5 includes upset support body 51, upset support body 51 sets up on elevating platform 36, upset support body 51 internal fixation is provided with the upset drive component, the motor can be chooseed for use to the upset drive component, arbitrary in cylinder and the hydro-cylinder, the steering wheel is chooseed for use to the upset drive component in this embodiment, the upset drive component links to each other with upset gear 52, the pivot activity of upset gear 52 sets up on upset support body 51, be provided with upset arm 54 in the pivot of upset gear 52, upset arm 54 with snatch subassembly 2 and link to each other, the upset drive component passes through upset gear 52, upset arm 54 drives and snatchs subassembly 2 and rotate.

Particularly, the turnover gear 52 of this embodiment is connected with the turnover shaft 53, and the activity of turnover shaft 53 sets up on the turnover frame body 51, and the turnover shaft 53 links to each other with the turnover arm 54, and the turnover arm 54 links to each other with the clamping jaw mounting panel 29, and the upset drive component passes through the turnover gear 52 and drives the turnover shaft 53 and rotate, and then drives the rotation of turnover arm 54 to it is rotatory to drive first clamping jaw 21 and second clamping jaw 22, carries out the upset transport to the article of snatching.

It should be noted that the turning arm 54 is connected to the turning shaft 53 through a turning connector 55, the turning connector 55 is cylindrical, one end of the turning connector 55 is provided with a flange, a connecting hole is formed in the position of the central axis of the turning connector 55 for fixedly connecting to the turning shaft 53, a through hole matched with the cylindrical portion of the turning connector 55 is formed in the turning arm 54, and the turning arm 54 is sleeved on the outer side of the cylindrical portion of the turning connector 55 and fixedly connected to the side wall of the flange of the turning connector 55. By arranging the turning connecting piece 55, the shearing force of the turning arm 54 on the turning shaft 53 can be reduced, the reliability of connection between the turning arm 54 and the turning shaft 53 is improved, and the service life of the turning shaft 53 and the turning arm 54 is prolonged.

As shown in fig. 5 to 11, the storage assembly 4 includes a storage rack body 41 and a storage assembly 42, the storage rack body 41 is fixedly disposed on the top of the rack assembly 3, the storage assembly 42 is connected to the storage rack body 41, and a plurality of storage slots 45 are disposed on the storage assembly. The article that the carrying robot snatched can place in holding groove 45, and the article that snatchs subassembly 2 snatched can place in holding groove 45 promptly, and storage assembly 42 department activity is provided with covers spacing subassembly 47, covers spacing subassembly 47 and can cover the article in the storage assembly 42 to prevent that the article from dropping.

Specifically, the storage assembly 42 of the present embodiment includes a connecting plate 43 and a storage rack 44, two ends of the connecting plate 43 are respectively connected to the storage rack body 41 and the storage rack 44, and the storage rack 44 is provided with a plurality of storage slots 45, and the actual number is designed according to requirements. The article grabbed by the grabbing component 2 is transported to the upper side of the bracket component 3 through the lifting component, and then the article grabbed by the grabbing component 2 is placed in one of the accommodating grooves 45 through the overturning component 5 for storage. Preferably, in order to prevent the articles in the storage groove 45 from falling out, the bottom of the storage groove 45 is disposed obliquely, and the included angle between the bottom of the storage groove 45 and the storage rack 44 is 15-30 degrees, which is 23 degrees in this embodiment.

Preferably, the storage rack 44 of the present embodiment is movably disposed on the storage rack body, and the storage rack 44 can rotate relative to the storage rack body 41, so that the articles can be placed in different storage slots 45. To achieve the above purpose, the connecting plate 43 of the present embodiment can rotate relative to the storage rack 41 to rotate the storage rack 44, so that the grabbing component 2 can place the grabbed objects in different storage slots 45.

Particularly, be provided with the rotation driving element in the storage rack body 41, the rotation driving element links to each other with rotation axis 46, and rotation axis 46 links to each other with connecting plate 43, and rotation driving element accessible rotation axis 46 drives connecting plate 43 rotatory, and for convenient control, the rotation driving element of this embodiment adopts the angle steering wheel. The storage rack 44 is in a circular arc shape, the circle center of the circular arc shape coincides with the axis of the rotating shaft 46, so that the circle center of the circular arc shape coincides with the rotating axis of the storage rack 44, a plurality of accommodating grooves 45 are uniformly distributed on the circular arc-shaped storage rack 44, the number of the accommodating grooves 45 in the embodiment is three, and the included angle between every two adjacent accommodating grooves 45 is 45 degrees.

It is worth noting that, in order to improve the stability of the articles in the storage groove 45, the storage assembly 4 further comprises a covering limiting assembly 47, the covering limiting assembly 47 is hinged to the storage frame body 41, and the covering limiting assembly 47 can rotate on a vertical plane relative to the storage frame body 41, so that the covering limiting assembly 47 can cover the upper side of the storage groove 45, and the articles in the storage groove 45 are limited.

The covering and limiting assembly 47 comprises a limiting bracket movably arranged on the accommodating frame body 41, a plurality of limiting claws 473 are arranged on the limiting bracket, and the limiting bracket can rotate relative to the accommodating frame body 41 so that the limiting claws 473 cover the articles in the accommodating grooves 45.

Specifically, the limiting bracket of the embodiment includes a connecting arm 471 and a cover plate 472, one end of the connecting arm 471 is connected to the covering driving element, the other end of the connecting arm 471 is connected to the cover plate 472, a limiting claw 473 is disposed on the cover plate 472, and the covering driving element can drive the connecting arm 471 to rotate, so that the limiting claw 473 can cover the article in the storage assembly 42. It should be noted that the angle between the restricting claw 473 and the cover plate 472 is the same as the angle between the bottom of the accommodating groove 45 and the storage rack 44.

Since the number of the accommodating grooves 45 is three, the number of the limiting claws 473 of the embodiment is five, and the included angle between two adjacent limiting claws 473 is 45 degrees, so that the articles in the accommodating grooves 45 can be limited no matter the storage rack 44 rotates leftwards or rightwards.

Preferably, in order to make the covering carriage more flexible, the covering drive element is connected to the covering carriage via an acceleration gear set. The covering driving element in the embodiment is preferably a steering engine so as to be convenient to operate and control.

When the carrying robot of the embodiment is used, each driving element is controlled to operate through remote control, after the grabbing component 2 grabs an article, the article is conveyed to the upper part of the lifting component through the lifting component, then the covering bracket is lifted upwards, the article is placed into the containing groove 45 through the overturning component 5, then the covering bracket falls down to cover the upper part of the article, so as to achieve the storage of the article, then the grabbing component 2 can descend through the lifting component and clamp another article, then the article is conveyed to the upper part of the lifting component through the lifting component, at the moment, the storage rack 44 rotates to align the empty containing groove 45 with the grabbing component 2, then the covering bracket is lifted upwards, the article is placed into the containing groove 45 through the overturning component 5, then the covering bracket falls down to cover the upper part of the article, so as to achieve the storage of the article. If the article needs to be taken out, the operation direction is operated, which is not described herein.

The present embodiment is intended to store articles in the designated storage groove 45 of the storage module 4 by rotating the storage module 4 in the horizontal direction and keeping the grasping module 2 stationary in the horizontal direction. It can be understood that the storage assemblies 4 are kept stationary in the horizontal direction and the grabbing assemblies 2 are rotated in the horizontal direction, so that the objects can be stored in the storage slots 45 of the storage assemblies 4 in sequence.

For example, the lifting assembly 3 is provided with a rotary driving assembly, the rotary driving assembly is connected with the overturning assembly 5, the rotary driving assembly can drive the overturning assembly 5 and the grabbing assembly 2 to integrally rotate in the horizontal direction, so that the grabbing assembly 2 can correspond to different accommodating grooves 45, and the purpose of storing articles in the appointed accommodating groove 45 for accommodating the storage assembly 4 is achieved.

Example two

As shown in fig. 13-17, the difference between the first embodiment and the second embodiment is mainly that the structures of the gripping jaws of the gripping assembly 2 and the storage assembly 4 are different, and the structures of the other parts are the same and are not repeated herein.

Specifically, as shown in fig. 14, the supporting structure of the present embodiment includes a receiving space 216 provided on the jaw bodies of the first jaw 21 and the second jaw 22, and the receiving space 216 is engageable with a plate-like structure on the article.

The first clamping jaw 21 of the present embodiment includes a clamping jaw connecting portion 211, a first upper grabbing arm 214 and a first lower grabbing arm 215, the clamping jaw connecting portion 211 is in a column shape, one end of the clamping jaw connecting portion 211 is fixedly connected to the clamping jaw driving gear 24, and an axis of the clamping jaw connecting portion 211 coincides with an axis of the clamping jaw driving gear 24, so that the clamping jaw connecting portion 211 can be driven to rotate when the clamping jaw driving gear 24 rotates; first upper and lower gripper arms 214 and 215 are provided on the side walls of the jaw connecting portion 211, and the first upper and lower gripper arms 214 and 215 extend in a direction away from the jaw connecting portion 211. The first upper gripper arm 214 is disposed above the first lower gripper arm 215, and a holding and gripping space 216 is formed between the first upper gripper arm 214 and the first lower gripper arm 215, and the holding and gripping space 216 can be used for gripping an object having a plate-like structure such as a hospital bed. The second clamping jaw 22 includes a clamping jaw connecting portion 211, a second upper grabbing arm 217 and a second lower grabbing arm 218, and the second clamping jaw 22 and the first clamping jaw 21 are mirror images, which is not described herein. By arranging the accommodating clamping space 216 on the first clamping jaw 21 and the second clamping jaw 22, the clamped object can be prevented from inclining at a large angle, the lifted object can be more stable in the carrying process, and the sickbed can be prevented from inclining too much when carried, for example, the sickbed is prevented from overturning.

Preferably, the inner sides of the first upper grabbing arm 214, the first lower grabbing arm 215, the second upper grabbing arm 217 and the second lower grabbing arm 218 are respectively provided with a limiting plate 26, and the limiting plate 26 can limit the object when the object is grabbed, so that the grabbed object can abut against the limiting plate 26, and the grabbing assembly 2 can be grabbed to the same position each time the object is grabbed. Preferably, the limiting plate 26 is provided with a hollow-out portion to reduce the weight of the limiting plate 26.

Compared with the first embodiment, the storage assembly 4 of the present embodiment can store more articles and prevent the articles from falling off during the rotation process. The covering and limiting assembly 47 of the present embodiment comprises a limiting cover 48, wherein the limiting cover 48 is disposed above the receiving assembly 42 to cover the articles in the receiving assembly 42; the limiting cover 48 is provided with a taking and placing opening, a limiting arm 49 is movably arranged at the taking and placing opening, articles grabbed by the carrying robot can be placed in the storage assembly 42 through the taking and placing opening, namely the grabbing assembly 2 can place the articles in the storage assembly 42 through the taking and placing opening, and the limiting arm 49 can rotate relative to the storage assembly 42, so that the limiting arm 49 covers the articles in the storage assembly 42 at the taking and placing opening.

Specifically, as shown in fig. 15 to 16, the storage assembly 4 includes a storage rack body 41 and a storage assembly 42, the storage rack body 41 is fixedly disposed on the lifting assembly, the storage assembly 42 is connected to the storage rack body 41, the storage assembly 42 is annular, a plurality of storage grooves 45 are uniformly distributed on the annular storage assembly 42, a limiting cover 48 is annular, the limiting cover 48 covers the storage grooves 45, the storage assembly 42 can rotate around the storage rack body 41, and a designated storage groove 45 can rotate to a pick-and-place opening, that is, the storage groove 45 which needs to pick and place an object can rotate to the pick-and-place opening.

The storage assembly 42 includes a connecting plate 43 and a storage rack 44, two ends of the connecting plate 43 are respectively connected to the storage rack body 41 and the storage rack 44, the storage rack 44 is arc-shaped, a plurality of storage grooves 45 are uniformly distributed on the arc-shaped storage rack 44, the number of the storage grooves 45 in this embodiment is eight, an included angle between two adjacent storage grooves 45 is 36 degrees, and the grabbed articles can be placed in different storage grooves 45 by the grabbing assembly 2 by rotating the storage rack 44.

Specifically, a rotary driving element is fixedly arranged on the housing body 41, the rotary driving element is located at the annular middle position of the housing assembly 42, and the connecting plate 43 is connected with the rotary driving element to drive the housing assembly 42 to rotate; the rotation driving element of the embodiment is connected to the rotation shaft 46, the storage rack body 41 is arranged in the circular arc shape of the storage rack body 44, the storage rack body 44 is wrapped on the outer side of the storage rack body 41, and the storage rack body 44 can rotate around the storage rack body 41. The circle center of the circular arc coincides with the axis of the rotating shaft 46, the rotating shaft 46 is connected with the connecting plate 43, and the driving element can drive the connecting plate 43 to rotate through the rotating shaft 46, so that the storage rack 44 is driven to rotate.

Preferably, in order to prevent the articles in the storage groove 45 from falling out, the bottom of the storage groove 45 is obliquely arranged, an included angle between the bottom of the storage groove 45 and the storage rack 44 is 15-30 degrees, and 23 degrees is adopted in this embodiment.

It should be noted that, in order to improve the stability of the article in the storage groove 45 and prevent the article from falling out of the storage groove 45 when the carrying robot moves or the storage rack 44 rotates, the storage assembly 4 further includes a covering and limiting assembly 47, the covering and limiting assembly 47 includes a limiting cover 48 and a limiting arm 49, the limiting cover 48 is circular, and the limiting cover 48 is disposed above the storage groove 45, so as to limit the article in the storage groove 45. Two fixing parts 481 are symmetrically arranged on the limiting cover 48, the fixing parts 481 are connected with one end of the fixing support 482, the other end of the fixing support 482 is connected with the upright post 31 of the lifting assembly, and it can be understood that the other end of the fixing support 482 can also be connected with the storage rack body 41 as long as the limiting cover 48 can be fixed.

The position limiting cover 48 of the present embodiment includes a first position limiting portion 483 and a second position limiting portion 484, the first position limiting portion 483 is inclined outward from the center and is parallel to the bottom of the accommodating groove 45, and the second position limiting portion 484 is perpendicular to the first position limiting portion 483 and extends in the direction of the accommodating groove 45. Preferably, the position-limiting cover 48 is provided with a plurality of hollow parts to reduce the weight of the position-limiting cover 48.

It is noted that the position-limiting cover 48 is provided with a pick-and-place opening, which provides a space for the grabbing component 2 to place articles in the storage slot 45. The limiting arm 49 is arranged at the position of the pick-and-place opening, one end of the limiting arm 49 is connected with the covering driving element, the covering driving element is fixedly arranged in the storage rack body 41, and the covering driving element can drive the limiting arm 49 to rotate on the vertical plane of the storage rack body 41, so that the limiting arm 49 can cover the upper part of the storage groove 45 at the opening position on the limiting cover 48, and the articles in the storage groove 45 are limited.

Specifically, the output end of the covering driving element of the present embodiment is provided on the side wall of the housing body 41, the limiting arm 49 includes a connecting portion 491, a horizontal portion 492, and a limiting unit 493, which are connected in sequence, the connecting portion 491 is connected to the output end of the covering driving element, and the horizontal portion 492 is provided at an upper position of the housing body 41 so as not to collide with other parts when the limiting arm 49 swings; the limiting unit 493 includes a first limiting piece 494 and a second limiting piece 495, the first limiting piece 494 is connected with the horizontal portion 492 and forms an included angle with the horizontal portion 492, the first limiting piece 494 is parallel to the bottom of the accommodating groove 45, the second limiting piece 495 is perpendicular to the first limiting piece 494 and extends in the direction of the accommodating groove 45, and the driving connection portion 491 is covered by the second limiting piece 495 so that the first limiting piece 494 and the second limiting piece 495 cover the articles in the accommodating assembly 41 at the pick-and-place opening.

It should be noted that the connecting plate 43 of the present embodiment is also disposed between the top of the storage rack 41 and the horizontal portion 492 of the limiting arm 49, and thus an avoiding groove 496 is disposed at the position of the connecting portion 491 of the limiting arm 49 to increase the rotation space of the connecting plate 43, so as to avoid interference when the connecting plate 43 rotates.

When the carrying robot of the embodiment is used, each driving element is controlled to operate through remote control, after the grabbing component 2 grabs an article, the article is conveyed to the upper part of the lifting component through the lifting component, then the limiting arm 49 is lifted upwards, the article is placed into the accommodating groove 45 through the overturning component 5, then the covering bracket falls down to cover the article, so as to achieve the storage of the article, then the grabbing component 2 can descend through the lifting component and clamp another article, then the article is conveyed to the upper part of the lifting component through the lifting component, at the moment, the storage rack 44 rotates to align the empty accommodating groove 45 with the opening of the limiting cover 48, then the limiting arm 49 is lifted upwards, the article is placed into the accommodating groove 45 through the overturning component 5, then the covering bracket falls down to cover the upper part of the article, so as to achieve the storage of the article. If the article needs to be taken out, the operation direction is operated, which is not described herein.

The carrying robot has high automation degree, can replace manual carrying, loading and storing of some medical wastes, avoids direct contact of medical staff with the objects, effectively reduces the risk coefficient of the medical staff, and simultaneously reduces the labor intensity of the medical staff; simultaneously accomodate storage assembly through setting up, can once only carry a plurality of article, improved handling efficiency greatly, in addition, will accomodate storage assembly and set up at the top, can practice thrift the shared space of robot, especially adapted uses in the relatively narrow region of range of motion such as hospital or warehouse.

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

Claims (14)

1. The carrying robot is characterized by comprising a moving device, wherein a support assembly is vertically arranged on the moving device, a grabbing assembly and a storage assembly are arranged on the support assembly, the storage assembly is arranged above the grabbing assembly, a plurality of storage grooves are formed in the storage assembly, the grabbing assembly and the storage assembly can rotate relatively, and therefore articles grabbed by the grabbing assembly can be stored in the designated storage grooves conveniently.

2. The carrier robot of claim 1, wherein the carriage assembly includes a lifting assembly, the lifting assembly includes a flipping assembly, the grabbing assembly is disposed on the flipping assembly, the lifting assembly drives the flipping assembly and the grabbing assembly to move vertically, and the flipping assembly drives the grabbing assembly to rotate to store the grabbed objects in the storage slots.

3. A carrier robot as claimed in claim 1 or 2, wherein the gripper assembly comprises first and second jaws which are relatively openable and closable to grip the article; be provided with the bearing structure on first clamping jaw and the second clamping jaw, the bearing structure can be with article looks joint to realize lifting to article through first clamping jaw and second clamping jaw.

4. A carrier robot as in claim 3, wherein the support structure includes mounting slots in the top surfaces of the first jaw and the second jaw, the mounting slots being engageable with rod-like structures on the object.

5. A carrier robot as in claim 3, wherein the support structure includes receiving spaces in the body of the first jaw and the second jaw, the receiving spaces being engageable with the plate structure of the object.

6. A carrier robot as claimed in claim 3, wherein the first jaw and the second jaw are provided at inner sides thereof with stopper plates, respectively, against which the article can be rested to define a gripping position of the article.

7. A carrier robot as in claim 3, wherein the gripper assembly includes a jaw drive element coupled to a jaw drive gear coupled to the first jaw, the jaw drive gear being engaged with a jaw driven gear coupled to the second jaw, the jaw drive element being operable to drive the first jaw and the second jaw toward and away from each other via the jaw drive gear and the jaw driven gear.

8. The carrier robot of claim 7, wherein the gripper assembly includes a jaw mounting plate, the jaw driving element is connected to the jaw mounting plate, an output shaft of the jaw driving element is connected to the jaw driving gear, the jaw mounting plate is provided with a hinge hole, and a rotating shaft of the jaw driven gear is received in the hinge hole; the clamping jaw mounting panel links to each other with the clamping jaw stabilizing member, and the clamping jaw stabilizing member is provided with the board of accepting in the one end of keeping away from the clamping jaw mounting panel, and first clamping jaw and second clamping jaw setting are on accepting the board.

9. The carrier robot of claim 2, wherein the flipping unit comprises a flipping unit, the flipping unit is disposed on the lifting unit, a flipping driving unit is disposed in the flipping unit and connected to the flipping gear, a rotating shaft of the flipping gear is movably disposed on the flipping unit, a flipping arm is disposed on the rotating shaft of the flipping gear and connected to the grabbing unit, and the flipping driving unit drives the grabbing unit to rotate via the flipping gear and the flipping arm.

10. The carrier robot of claim 2, wherein the lifting assembly comprises a chain transmission assembly, the chain transmission assembly is disposed on the support assembly, a lifting platform is disposed on the chain transmission assembly, the turnover assembly is disposed on the lifting platform, and the chain transmission assembly drives the turnover assembly and the grabbing assembly to move vertically along the support assembly through the lifting platform.

11. The carrier robot of claim 1 or 2, wherein the storage assembly comprises a rack body, the rack body is provided with the storage assembly, the plurality of storage grooves are formed in the storage assembly, the storage assembly is movably provided with a covering and limiting assembly, and the covering and limiting assembly can cover the articles in the storage grooves to prevent the articles from falling.

12. A carrier robot as recited in claim 11, wherein the storage assembly includes a circular arc shaped storage shelf, the plurality of storage slots are evenly distributed on the circular arc shaped storage shelf, the storage shelf is movably disposed on the storage shelf and is rotatable relative to the storage shelf, and a center of the storage shelf coincides with an axis of rotation of the storage shelf.

13. The carrier robot of claim 11, wherein the covering and limiting assembly comprises a limiting bracket movably disposed on the receiving frame, the limiting bracket having a plurality of limiting claws disposed thereon, the limiting bracket being rotatable relative to the receiving frame such that the limiting claws cover the objects in the receiving slots.

14. The carrier robot of claim 11, wherein the covering and restraining assembly comprises a restraining cap disposed over the receiving assembly to cover the items in the receiving slot; the limiting cover is provided with a taking and placing opening, a limiting arm is movably arranged at the taking and placing opening, the grabbing component can place articles in the accommodating groove through the taking and placing opening, and the limiting arm can rotate relative to the accommodating component so that the limiting arm covers the articles in the accommodating groove at the taking and placing opening.

Images