CN216781841U - Storage assembly applied to carrying robot - Google Patents

Abstract

The utility model discloses a containing and storing assembly applied to a carrying robot, which comprises a containing frame body, wherein the containing assembly is arranged on the containing frame body, articles grabbed by the carrying robot can be placed in the containing assembly, a covering and limiting assembly is movably arranged at the containing assembly and can cover the articles in the containing assembly so as to prevent the articles from falling. The storage and storage assembly applied to the carrying robot is high in automation degree, and can enable the carrying robot to carry a plurality of articles at one time by storing the articles grabbed by the carrying robot, so that the carrying efficiency is greatly improved.

Description

Storage assembly applied to carrying robot

Technical Field

The utility model relates to the field of robots, in particular to a storage assembly applied 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, since the robot only carries one piece of goods at a time, the carrying efficiency is low, and therefore, it is necessary to design a storage device which is suitable for being used in a hospital scene and can be applied to a carrying robot.

SUMMERY OF THE UTILITY MODEL

The utility model provides a storage assembly applied to a carrying robot, which has the effects of carrying a plurality of articles at one time and having high carrying efficiency. The specific technical scheme is as follows:

the storage assembly comprises a storage rack body, wherein the storage rack body is provided with a storage assembly, articles grabbed by the carrying robot can be placed in the storage assembly, a covering limiting assembly is movably arranged at the position of the storage assembly and can cover the articles in the storage assembly, and the articles are prevented from falling.

Furthermore, the storage assembly comprises a storage rack, the storage rack is movably arranged on the storage rack body, a plurality of storage grooves are formed in the storage rack body, and the storage rack body can rotate relative to the storage rack body so that articles can be placed in different storage grooves.

Furthermore, the storage rack is arc-shaped, the circle center of the arc is coincident with the rotation axis of the storage rack, and the plurality of accommodating grooves are uniformly distributed on the arc-shaped storage rack.

Furthermore, a rotary driving element is arranged in the containing frame body and is connected with the rotary shaft; the storage assembly comprises a connecting plate, two ends of the connecting plate are respectively connected with the rotating shaft and the storage rack, and the connecting plate can rotate relative to the storage rack body to drive the storage rack to rotate.

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

Further, accomodate and be provided with a plurality of spacing grooves on the subassembly, spacing support includes linking arm and overlay, and the one end of linking arm links to each other with covering drive element, and the other end and the overlay of linking arm link to each other, are provided with a plurality of spacing claws on the overlay, and spacing claw is corresponding with the spacing groove, covers drive element and can drive the linking arm and rotate to make spacing claw can cover the article of accomodating in the groove.

Further, the covering and limiting assembly comprises a limiting cover, and the limiting cover is arranged above the storage assembly so as to cover the articles in the storage assembly; the limiting cover is provided with a taking and placing opening, a limiting arm is movably arranged at the taking and placing opening, articles grabbed by the carrying robot can be placed in the storage assembly through the taking and placing opening, and the limiting arm can rotate relative to the storage assembly so as to cover the articles in the storage assembly at the taking and placing opening.

Furthermore, the containing assembly is annular, a plurality of containing grooves are evenly distributed on the annular containing assembly, the limiting cover is annular, the limiting cover covers the containing grooves, the containing assembly can rotate around the containing frame body, and the specified containing grooves can rotate to the position of the taking and placing opening.

Furthermore, the limiting arm comprises a connecting part, a horizontal part and a limiting unit which are sequentially connected, the connecting part is connected with the covering driving element, and the covering driving element is positioned in the annular middle position of the containing assembly; the horizontal part is arranged at the position above the containing frame body; the covering driving element drives the connecting part to rotate so that the limiting unit covers the articles in the accommodating groove at the pick-and-place opening.

Furthermore, a rotary driving element is arranged in the containing frame body and is positioned in the annular middle position of the containing assembly; the receiving assembly comprises a connecting plate, and the connecting plate is connected with the rotary driving element so as to drive the receiving assembly to rotate; the connecting plate sets up between the top of accomodating the support body and the horizontal part of spacing arm, and the connecting portion position department of spacing arm is provided with dodges the groove to the rotation space of increase connecting plate.

The storage and storage assembly applied to the carrying robot is high in automation degree, and can enable the carrying robot to carry a plurality of articles at one time by storing the articles grabbed by the carrying robot, so that the carrying efficiency is greatly improved.

The above description is only an overview of the technical solutions of the present invention, and the present invention can be implemented in accordance with the content of the description so as to make the technical means of the present invention more clearly understood, and the above and other objects, features, and advantages of the present invention will be more clearly understood.

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 storage assembly for a carrier robot according to the present invention;

FIG. 2 is a perspective view of a grabbing assembly of a first embodiment of a storage assembly for a carrier robot according to the present invention;

fig. 3 is a perspective view of the hidden gripping jaws of the grabbing assembly of the first embodiment of the storage assembly for a carrier robot according to the present invention;

fig. 4 is a perspective view of a lifting assembly of a first embodiment of a storage assembly for a carrier robot according to the present invention;

fig. 5 is a perspective view of a storage module according to a first embodiment of the storage module applied to a carrier robot according to the present invention;

fig. 6 is a top view of a receiving assembly of a first embodiment of a receiving and storing assembly applied to a carrier robot according to the present invention;

fig. 7 is a side view of a receiving assembly of a first embodiment of a receiving and storing assembly applied to a carrier robot according to the present invention;

fig. 8 is a top view of a covering and limiting assembly of a first embodiment of a storage and retrieval assembly for a carrier robot according to the present invention;

fig. 9 is a side view of a covering and limiting assembly of a first embodiment of a storage assembly for a carrier robot according to the present invention;

fig. 10 is a schematic view illustrating the opening of the covering and limiting assembly of the first embodiment of the storage assembly of the carrier robot according to the present invention;

FIG. 11 is a schematic view of the covering and spacing assembly closing of a first embodiment of a storage assembly for a carrier robot according to the present invention;

FIG. 12 is a schematic view of a storage assembly of the present invention for a carrier robot during placement of an article;

fig. 13 is a perspective view of a second embodiment of the storage assembly applied to a carrier robot according to the present invention;

fig. 14 is a perspective view of a grasping assembly of a second embodiment of a storing assembly applied to a carrier robot according to the present invention;

fig. 15 is a perspective view of a storage module according to a second embodiment of the storage module applied to a carrier robot according to the present invention;

fig. 16 is a perspective view of the second storage module of the second embodiment of the storage module of the transfer robot with the position-limiting cover hidden therein;

fig. 17 is a schematic view of a second embodiment of the storage assembly applied to a carrier robot of the present invention when placing an article.

Detailed Description

For better understanding of the objects, functions and embodiments of the present invention, the storage assembly for a carrier robot according to 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 to which the present invention is applied includes a moving device 1, the moving device 1 is used for moving the carrier 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 sets up 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 an elevating platform 36, the elevating platform 36 is connected with the grabbing component 2, and the elevating platform 36 can ascend and descend along with the movement of the chain 34, so that the grabbing component 2 can ascend and descend. 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.

Specifically, clamping jaw transmission unit includes clamping jaw driving gear 24 and clamping jaw driven gear 25, and clamping jaw driving gear 24 and clamping jaw driven gear 25 intermeshing, clamping jaw driving gear 24 link to each other with first clamping jaw 21, and clamping jaw driven gear 25 links to each other with second clamping jaw 22, and clamping jaw driving gear 24 links to each other with clamping jaw drive element, and clamping jaw drive element drive clamping jaw driving gear 24 rotates to drive clamping jaw driven gear 25 rotates, in order to realize driving first clamping jaw 21 and second clamping jaw 22 and open or the closure.

The clamping jaw driving element is connected with the clamping jaw mounting plate 29 and 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 a 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; thereby the steering wheel drives the rotation of clamping jaw driving gear 24 and drives clamping jaw driven gear 25 rotatory to the realization is snatched subassembly 2 and is snatched 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-image parts, which is not described 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 mounting groove 27, the guide blocks 28 of this embodiment are disposed on the top of the side of the mounting groove 27 far away from the clamping jaw connecting portion 211, the guide surfaces 281 are disposed on the top of the guide blocks 28, the guide surfaces 281 are obliquely disposed, the height of the end close to the mounting groove 27 is lower than the height of the end far away from the mounting groove 27, so that an article can slide into the mounting groove 27 when being mounted on the guide surfaces 281, and in addition, the article mounted in the mounting groove 27 is prevented from sliding out of the mounting groove 27 due to the reverse action of the mounting groove 27, thereby improving the reliability of the grasping assembly 2 for lifting the article.

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 lifting unit, 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 one among cylinder and the hydro-cylinder, the steering wheel is chooseed for use to the upset drive component in this embodiment, 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 upset gear 52's the pivot, upset arm 54 links to each other with snatching subassembly 2, the upset drive component passes through upset gear 52, upset arm 54 drives and snatchs subassembly 2 and rotates.

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 support 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, wherein 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 the requirement. 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 receiving frame 41 to rotate the storage rack 44, so that the grabbing component 2 can place the grabbed objects in different receiving 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 should be noted that, in order to improve the stability of the articles in the storage groove 45, the storage assembly 4 further includes 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 the vertical plane relative to the storage frame body 41, so that the covering limiting assembly 47 can cover the storage groove 45, thereby limiting the articles in the storage groove 45.

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 this 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, and 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 limiting claw 473 and the covering plate 472 is the same as the angle between the bottom of the receiving slot 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 a manner in which the storage module 4 is rotated in the horizontal direction and the grasping module 2 is kept stationary in the horizontal direction, so as to achieve the purpose of storing articles in the designated storage slot 45 of the storage module 4. It will be appreciated that the storage assembly 4 is held stationary in the horizontal direction and the grasping assembly 2 is rotated in the horizontal direction, so that the storage of the articles in the storage slots 45 of the storage assembly 4 can be achieved 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 to 17, the difference between the first embodiment and the second embodiment is mainly that the structures of the gripping jaw 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 containing frame body 41, the rotary driving element is located at the annular middle position of the containing assembly 42, and the connecting plate 43 is connected with the rotary driving element to drive the containing 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 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.

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 limiting cover 48 of the embodiment includes a first limiting portion 483 and a second limiting portion 484, the first limiting portion 483 is inclined from the center to the outside and is parallel to the bottom of the accommodating groove 45, and the second limiting portion 484 is perpendicular to the first 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 hollowed-out portions 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 connection plate 43 of the present embodiment is also disposed on the upper portion of the storage rack body 41, and therefore an avoiding groove 496 is disposed at the position of the connection portion 491 of the limiting arm 49 to increase the rotation space of the connection plate 43, so as to avoid interference when the connection 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 storage and storage assembly applied to the carrying robot is high in automation degree, and can enable the carrying robot to carry a plurality of articles at one time by storing the articles grabbed by the carrying robot, so that the carrying efficiency is greatly improved.

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 (10)

1. The storage assembly is characterized by comprising a storage rack body, wherein the storage rack body is provided with a storage assembly, articles grabbed by the carrying robot can be placed in the storage assembly, a covering limiting assembly is movably arranged at the position of the storage assembly and can cover the articles in the storage assembly, so that the articles are prevented from falling.

2. A storage assembly as claimed in claim 1, wherein the storage assembly comprises a storage shelf movably disposed on the storage shelf, the storage shelf having a plurality of storage slots, the storage shelf being rotatable relative to the storage shelf such that the articles can be placed in different storage slots.

3. The storage module of claim 2, wherein the storage rack is a circular arc, the center of the circular arc coincides with the rotation axis of the storage rack, and the plurality of storage slots are uniformly distributed on the circular arc storage rack.

4. The storage module as claimed in claim 2, wherein a rotation driving member is provided in the storage body, the rotation driving member being connected to the rotation shaft; the storage assembly comprises a connecting plate, two ends of the connecting plate are respectively connected with the rotating shaft and the storage rack, and the connecting plate can rotate relative to the storage rack body to drive the storage rack to rotate.

5. The storage assembly of any one of claims 1 to 4, wherein the covering and limiting assembly comprises a limiting bracket movably disposed on the storage rack body, the limiting bracket is provided with a limiting claw, and the limiting bracket can rotate relative to the storage rack body to enable the limiting claw to cover the article in the storage assembly.

6. A storage and retrieval assembly for a delivery robot as claimed in claim 5, wherein the storage assembly is provided with a plurality of retaining grooves, the retaining bracket comprises a connecting arm and a cover plate, one end of the connecting arm is connected to the cover driving member, the other end of the connecting arm is connected to the cover plate, the cover plate is provided with a plurality of retaining claws, the retaining claws correspond to the retaining grooves, and the cover driving member drives the connecting arm to rotate so that the retaining claws can cover the articles in the storage grooves.

7. The storage module of any one of claims 1 to 4, wherein the covering and limiting assembly comprises a limiting cover, and the limiting cover is arranged above the storage module to cover the articles in the storage module; the limiting cover is provided with a taking and placing opening, a limiting arm is movably arranged at the taking and placing opening, articles grabbed by the carrying robot can be placed in the storage assembly through the taking and placing opening, and the limiting arm can rotate relative to the storage assembly so as to cover the articles in the storage assembly at the taking and placing opening.

8. The storage assembly of claim 7, wherein the storage assembly is ring-shaped, the ring-shaped storage assembly has a plurality of storage slots uniformly distributed thereon, the limiting cover is ring-shaped and covers the storage slots, the storage assembly can rotate around the storage rack, and the designated storage slot can rotate to the pick-and-place opening.

9. The storage module for a carrier robot as claimed in claim 8, wherein the stopping arm comprises a connecting part, a horizontal part and a stopping unit connected in sequence, the connecting part is connected with a covering driving element, and the covering driving element is located at a middle position of the ring shape of the storage module; the horizontal part is arranged at the position above the containing frame body; the covering driving element drives the connecting part to rotate so that the limiting unit covers the articles in the accommodating groove at the pick-and-place opening.

10. The storage module for a carrier robot as claimed in claim 9, wherein a rotation driving member is provided in the storage body, the rotation driving member being located at an annular middle position of the storage module; the receiving assembly comprises a connecting plate, and the connecting plate is connected with the rotary driving element so as to drive the receiving assembly to rotate; the connecting plate sets up between the top of accomodating the support body and the horizontal part of spacing arm, and the connecting portion position department of spacing arm is provided with dodges the groove to the rotation space of increase connecting plate.

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