CN216883999U

CN216883999U - Mobile robot for grabbing and storing multiple articles

Info

Publication number: CN216883999U
Application number: CN202220509085.6U
Authority: CN
Inventors: 胡彦; 麦家明
Original assignee: Tianjin Huibo Zhilian Robot Technology Co ltd
Current assignee: Tianjin Huibo Zhilian Robot Technology Co ltd
Priority date: 2022-03-07
Filing date: 2022-03-07
Publication date: 2022-07-05
Anticipated expiration: 2032-03-07

Abstract

The utility model discloses a mobile robot for grabbing and storing multiple articles, which comprises a mobile device, wherein a support assembly is vertically arranged on the mobile device, a grabbing assembly and a storing assembly are arranged on the support assembly, the storing assembly is positioned below 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 the grabbing assembly can store the grabbed articles in the designated storing grooves. The mobile robot for grabbing and storing the multiple articles has high automation degree, replaces manual carrying, loading and storing of some medical wastes, avoids direct contact of medical staff with the objects, effectively reduces the danger coefficient of the medical staff, and simultaneously reduces the labor intensity of the medical staff; simultaneously, the storage assembly is stored, a plurality of articles can be carried at one time, and the carrying efficiency is greatly improved.

Description

Mobile robot for grabbing and storing multiple articles

Technical Field

The utility model relates to the field of robots, in particular to a mobile robot for grabbing and storing multiple articles.

Background

Along with the development of society, mechanical equipment is used for replacing manpower in many occasions, and the mechanical replacement has a plurality of advantages, such as carrying, loading and storing some toxic and harmful articles, and avoiding direct contact of personnel; 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 passageway are relatively narrow, so it is necessary to design a mobile robot suitable for the hospital scene to use for grabbing and storing multiple articles.

SUMMERY OF THE UTILITY MODEL

The utility model provides a mobile robot for grabbing and storing multiple articles, which has the effects of high operation speed and high carrying efficiency. The specific technical scheme is as follows:

the utility model provides a mobile robot that many article snatched storage, wherein, includes the mobile device, the last vertical bracket component that is provided with of mobile device is provided with on the bracket component and snatchs the subassembly and accomodates storage assembly, accomodates storage assembly and is located the below of snatching the subassembly, accomodates and is provided with a plurality of grooves of accomodating on the storage assembly, snatchs the subassembly and accomodates storage assembly and can rotate relatively to it deposits in appointed accomodating the groove to snatch the article that the subassembly will be grabbed.

Further, be provided with lifting unit on the bracket component, the last removal subassembly that is provided with of lifting unit, the last upset subassembly that is provided with of removal subassembly snatchs the subassembly and sets up on the upset subassembly, and lifting unit drives removal subassembly, upset subassembly and snatchs the vertical removal of subassembly, and the subassembly rotation is snatched in the drive of upset subassembly to the article that will grab are deposited in and are accomodate 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.

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, the moving assembly comprises a first guide rail and a second guide rail, the second guide rail is arranged above the first guide rail, the first guide rail is connected with the lifting assembly, and the second guide rail is connected with the overturning assembly; the opposite sides of the first guide rail and the second guide rail are respectively provided with a rack, a driving gear is arranged between the two racks, the upper end and the lower end of the driving gear are respectively meshed with the two racks, and the driving gear is connected with a movement driving motor so as to drive the first guide rail and the second guide rail to move relatively.

Further, the upset subassembly includes the upset support body, and the upset support body sets up on removing the subassembly, is provided with the upset drive component in the upset support body, and the 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 the subassembly of snatching, and the upset drive component drives through upset gear, upset arm and snatchs the subassembly and rotate.

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 removal subassembly sets up on the elevating platform, and chain drive assembly passes through the elevating platform and drives removal subassembly, upset subassembly and snatch the subassembly and follow the vertical removal of bracket component.

Furthermore, accomodate storage assembly and include the storage rack body, the storage rack body sets up in the mobile device top, is provided with storage assembly on the storage rack body, and a plurality of grooves of accomodating set up on storage assembly, are provided with the spacing subassembly of cover on the storage assembly, and the spacing subassembly of cover can cover the article of accomodating in the groove 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.

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 mobile robot for grabbing and storing the multiple articles 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 danger coefficient of the medical staff, and simultaneously reduces the labor intensity of the medical staff; meanwhile, the storage assembly is arranged, so that a plurality of articles can be transported at one time, the transportation efficiency is greatly improved, and in addition, the storage assembly is arranged at the lower part, so that the gravity center of the mobile robot for grabbing and storing the articles can be reduced, and the mobile robot for grabbing and storing the articles is more stable when moving.

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 multi-item grabbing and storing mobile robot of the present invention;

FIG. 2 is a perspective view of a grasping assembly of the multi-article grasping storage mobile robot of the present invention;

FIG. 3 is a perspective view of the multi-article storage mobile robot with the gripper jaws of the gripper assembly hidden from view, in accordance with the present invention;

FIG. 4 is a perspective view of the lift assembly of the multi-article grasping storage mobile robot of the present invention;

FIG. 5 is a perspective view of the mobile assembly of the multi-article grasping storage mobile robot of the present invention;

FIG. 6 is a schematic view of the internal connections of the mobile components of the multi-item capture storage mobile robot of the present invention;

fig. 7 is a perspective view of a storage assembly of the mobile robot for multi-article grabbing storage according to the present invention;

FIG. 8 is a perspective view of a storage assembly of the multi-article grasping storage mobile robot of the present invention;

fig. 9 is a schematic view of a multi-article grabbing-storing mobile 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 mobile robot for multi-object grabbing and storing according to the present invention will be described in detail with reference to the accompanying drawings.

As shown in fig. 1 to 9, the mobile robot for multi-item grabbing and storing of the present invention includes a mobile device 1, where the mobile device 1 is used for moving the mobile robot for multi-item grabbing and storing, and the mobile 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 below 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 deposits the article of snatching the subassembly 2 and will snatching in appointed groove 45 of accomodating, it can be according to actual demand promptly to snatch subassembly 2, deposit the article of snatching in a certain one of a plurality of grooves 45 of accomodating and accomodate in the groove 45.

It can be understood that bracket component 3 can be two sets ofly, snatch subassembly 2 and accomodate 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 set up snatch subassembly 2 below can to make full use of vertical space, simultaneously, because many article snatch the mobile robot's of storage focus is in relative low level, can also strengthen the stability when many article snatch the mobile robot of storage and remove.

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 in the lower part 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 will snatching in the groove 45 of accomodating of storage assembly 4, thereby make many article snatch the mobile robot of storage and can carry a plurality of article simultaneously, improve the efficiency that many article snatched the mobile robot of storage.

It is worth noting that the lifting assembly of this embodiment is provided with the moving assembly 6, the moving assembly 6 is connected with the overturning assembly 5, and the moving assembly 6 can drive the overturning assembly 5 and the grabbing assembly 2 to move in the horizontal direction, so as to increase the grabbing range of the grabbing assembly 2 and improve the adaptability of the mobile robot for grabbing and storing a plurality of articles to different environments.

As shown in fig. 5 and 6, the moving assembly 6 includes a first rail 61 and a second rail 62, the second rail 62 is disposed above the first rail 61, the first rail 61 is connected to the lifting assembly, and the second rail 62 is connected to the overturning assembly 5. The opposite sides of the first guide rail 61 and the second guide rail 62 are respectively provided with a rack 63, a driving gear 64 is arranged between the two racks 63, and the upper end and the lower end of the driving gear 64 are respectively meshed with the two racks 63. The drive gear 64 is connected to a movement drive motor to drive the first guide rail 61 and the second guide rail 62 to move relatively. The mobile driving motor of the embodiment can be a steering engine.

It should be noted that there are two driving gears 64, a driving gear fixing plate 65 is disposed between the first guide rail 61 and the second guide rail 62, and the two driving gears 64 are respectively disposed at two ends of the driving gear fixing plate 65 to improve the stability of the first guide rail 61 and the second guide rail 62 during movement. Preferably, a plurality of fixing blocks 66 are arranged on the first guide rail 61 and the second guide rail 62, the driving gear fixing plate 65 is connected with the fixing blocks 66 to be fixed between the first guide rail 61 and the second guide rail 62, and by arranging the plurality of fixing blocks 66, the vertical distance between the two racks 63 and the driving gear 64 can be relatively fixed, so that the pressure of the racks 63 on the driving gear 64 is reduced, the first guide rail 61 and the second guide rail 62 can move relatively more easily, and the service life of the moving assembly 6 is prolonged.

Preferably, in order to increase the moving speed, the driving gear 64 of the present embodiment is connected to the moving driving motor through an acceleration gear set.

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 moving assembly is arranged on the lifting platform 36, and the chain transmission assembly drives the moving assembly, 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 includes a lifting driven wheel 32, a lifting driving wheel, 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 columns 31, a lifting driving wheel is arranged at the middle position of the lower ends of the two upright columns 31, and a chain 34 is sleeved on the lifting driven wheel 32 and the lifting driving wheel. The lifting driving wheel is connected to the lifting driving element 35, and the lifting driving element 35 can drive the lifting driving wheel to rotate so as to drive the chain 34 to move.

The chain 34 is provided with an elevating platform 36, and the elevating platform 36 can be elevated along with the movement of the chain 34, so as to realize the elevation of the grabbing component 2. 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 and 3, the grabbing assembly 2 of the present embodiment includes a clamping jaw, the clamping jaw is connected to a clamping jaw driving device 23, the clamping jaw driving device 23 is fixedly disposed on a clamping jaw mounting plate 29 together with the clamping jaw, the clamping jaw mounting plate 29 is connected to an overturning assembly 5, and the overturning assembly 5 can drive the clamping jaw mounting plate 29 to overturn, so as to drive the clamping jaw driving device 23 to overturn integrally with the clamping jaw. After grabbing subassembly 2 and snatching article, transport the below 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, 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.

As shown in fig. 2, the supporting structure of this embodiment includes a holding space 216 disposed on the jaw bodies of the first jaw 21 and the second jaw 22, and the holding space 216 can be engaged with the plate-like structure on the object.

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.

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 receiving plate 2101 is provided with two clamping jaw positioning posts, and 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 posts of the receiving plate 2101 to enhance the stability of the first clamping jaw 21 and the second clamping jaw 22 during rotation.

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 this embodiment adopts a dc gear motor with an encoder, and the specific height is accurately stopped by feedback through the encoder of the dc gear motor and PID adjustment.

Upset subassembly 5 includes upset support body 51, upset support body 51 sets up on the second guide rail of removal subassembly, 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 of cylinder and 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. 7 to 8, the storage assembly 4 includes a storage rack body 41 and a storage assembly 42, the storage rack body 41 is fixedly disposed above the mobile device 1, 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 42. The articles grabbed by the mobile robot for multi-article grabbing and storing can be placed in the storage groove 45, namely, the articles grabbed by the grabbing component 2 can be placed in the storage groove 45, a covering and limiting component 47 is arranged above the storage component 42, and the covering and limiting component 47 can cover the articles in the storage component 42 so as to prevent the articles from falling.

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 mobile robot for multi-article grabbing and storing 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, the storage assembly 42 is annular, a plurality of storage grooves 45 are uniformly distributed on the annular storage assembly 42, the limiting cover 48 is annular, the limiting cover covers 48 above the storage grooves 45, the storage assembly 42 can rotate around the storage frame body 41, the designated storage groove 45 can rotate to the pick-and-place opening, and the storage groove 45 which needs to pick and place the 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 44, the middle of the connecting plate 43 is connected to the storage rack body 41, 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 the embodiment is eight, the included angle between two adjacent storage grooves 45 is 40 degrees, and the grabbed objects 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 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 two fixing portions 481 are symmetrically disposed on the position limiting cover 48, the fixing portions 481 are connected to one end of the fixing bracket 482, and the other end of the fixing bracket 482 is connected to the upright 31 of the lifting assembly, it should be understood that the other end of the fixing bracket 482 may also be connected to the mobile device 1, as long as the fixing of the position limiting cover 48 is achieved.

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 access opening, one end of the limiting arm 49 is connected with the covering driving element, the covering driving element is fixedly arranged on the limiting cover 48, and the covering driving element can drive the limiting arm 49 to rotate on the vertical plane, so that the limiting arm 49 can cover the upper part of the accommodating groove 45 at the opening position on the limiting cover 48, and the articles in the accommodating groove 45 are limited.

When the mobile robot for multi-article grabbing and storing in 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 lower 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 above the article, so as to achieve the accommodating of the article, then the grabbing component 2 can be lifted up through the lifting component and clamp another article, then the article is conveyed to the lower part of the lifting component through the lifting component, at the moment, the storage rack 44 rotates, the empty accommodating groove 45 is aligned to 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 above the article, so as to achieve the accommodating of the article. If the article needs to be taken out, the operation direction is operated, which is not described herein.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but 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

1. The utility model provides a mobile robot that many article snatched storage, a serial communication port, including the mobile device, the last vertical bracket component that is provided with of mobile device is provided with on the bracket component and snatchs the subassembly and accomodates the storage assembly, accomodates the storage assembly and is located the below of snatching the subassembly, accomodates and is provided with a plurality of grooves of accomodating on the storage assembly, snatchs the subassembly and accomodates the storage assembly and can rotate relatively to it deposits in appointed accomodating the groove to be convenient for snatch the subassembly and will grab the article of getting.

2. The mobile robot for multi-object grabbing and storage according to claim 1, wherein the support assembly is provided with a lifting assembly, the lifting assembly is provided with a moving assembly, the moving assembly is provided with a turning assembly, the grabbing assembly is arranged on the turning assembly, the lifting assembly drives the moving assembly, the turning assembly and the grabbing assembly to move vertically, and the turning assembly drives the grabbing assembly to rotate so as to store the grabbed objects in the storage groove.

3. A mobile multi-article gripping and storing robot according to claim 1 or 2, wherein the gripping assembly comprises a first jaw and a second jaw, the first jaw and the second jaw being relatively openable and closable to grip an 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 mobile multi-article gripping and storing robot as claimed in claim 3, wherein the supporting structure includes a receiving and gripping space provided in the jaw body of the first jaw and the second jaw, the receiving and gripping space being engageable with the plate-like structure of the article.

5. The mobile robot for multi-article grabbing storage according to claim 2, wherein the moving assembly comprises a first rail and a second rail, the second rail is disposed above the first rail, the first rail is connected to the lifting assembly, and the second rail is connected to the flipping assembly; the opposite sides of the first guide rail and the second guide rail are respectively provided with a rack, a driving gear is arranged between the two racks, the upper end and the lower end of the driving gear are respectively meshed with the two racks, and the driving gear is connected with a movement driving motor so as to drive the first guide rail and the second guide rail to move relatively.

6. The mobile robot for multi-object grabbing and storage according to claim 2, wherein the overturning component comprises an overturning frame body, the overturning frame body is arranged on the moving component, an overturning driving element is arranged in the overturning frame body and connected with an overturning gear, a rotating shaft of the overturning gear is movably arranged on the overturning frame body, an overturning arm is arranged on a rotating shaft of the overturning gear and connected with the grabbing component, and the overturning driving element drives the grabbing component to rotate through the overturning gear and the overturning arm.

7. The mobile robot for multi-object grabbing and storage according to claim 2, wherein the lifting assembly comprises a chain transmission assembly, the chain transmission assembly is arranged on the support assembly, a lifting table is arranged on the chain transmission assembly, the moving assembly is arranged on the lifting table, and the chain transmission assembly drives the moving assembly, the overturning assembly and the grabbing assembly to vertically move along the support assembly through the lifting table.

8. The mobile robot for multi-object grabbing and storage according to claim 1 or 2, wherein the storage assembly comprises a storage rack body, the storage rack body is arranged above the mobile device, the storage assembly is arranged on the storage rack body, a plurality of storage grooves are arranged on the storage assembly, a covering and limiting assembly is arranged on the storage assembly, and the covering and limiting assembly can cover the objects in the storage grooves to prevent the objects from falling.

9. The mobile robot for multi-object grabbing storage according to claim 8, wherein the storage assembly comprises a circular arc-shaped storage rack, a plurality of storage slots are uniformly distributed on the circular arc-shaped storage rack, the storage rack is movably arranged on the storage rack and can rotate relative to the storage rack, and the center of the circle of the storage rack coincides with the rotation axis of the storage rack.

10. The mobile robot for multi-article grabbing storage according to claim 8, wherein the covering and limiting assembly comprises a limiting cover, and the limiting cover is arranged above the receiving assembly to cover the articles in the receiving groove; the spacing cover is provided with and gets the opening of putting, gets to put the activity of opening part and is provided with spacing arm, snatchs the subassembly and can place article in accomodating the groove through getting the opening of putting, and spacing arm can rotate for accomodating the subassembly to make spacing arm cover get put the article in the groove of accomodating of opening part.