CN220499145U - Robot device - Google Patents

Abstract

The utility model discloses a robot device, and belongs to the technical field of electric appliances. The robot apparatus includes: the device comprises a machine host, a guide rail assembly, a clamping structure, an inserting structure and a mechanical arm assembly. The guide rail assembly comprises a mounting frame and a sliding rail which are connected, the mechanical arm assembly is movably connected with the sliding rail, and the mechanical arm assembly can move between the first end and the second end of the sliding rail, so that the working range of the mechanical arm assembly can be enlarged. Meanwhile, the mechanical arm assembly can be fixed at the target position on the guide rail assembly through the clamping structure and the inserting structure, so that the mechanical arm assembly can be fixed at a plurality of positions in the moving range, and the applicability of the robot device can be improved.

Description

Robot device

Technical Field

The utility model relates to the technical field of electric appliances, in particular to a robot device.

Background

The robot device is an intelligent machine capable of semi-autonomous or fully autonomous operation, and the robot device can perform tasks such as work or movement through programming and automatic control.

The robot device comprises a machine main machine and a mechanical arm, wherein the mechanical arm device comprises the mechanical arm and a mechanical gripper, one end of the mechanical arm is rotationally connected with the machine main machine, the other end of the mechanical arm is fixedly connected with the mechanical gripper, the mechanical arm can change the position of the mechanical gripper through rotation of the mechanical arm, and the mechanical gripper is controlled to realize various fine operations.

In the above robot device, the working range of the mechanical arm is limited by the length of the mechanical arm itself, resulting in poor applicability of the robot device.

Disclosure of Invention

The embodiment of the utility model provides a robot device. The technical scheme is as follows:

the robot apparatus includes: the device comprises a machine host, a guide rail assembly, a clamping structure, an inserting structure and a mechanical arm assembly;

the guide rail assembly comprises a mounting frame and a sliding rail which are connected, and the mounting frame is connected with the machine host;

the mechanical arm assembly is movably connected with the sliding rail and can move between a first end and a second end of the sliding rail;

the clamping structure and the inserting structure are connected with the mechanical arm assembly, the clamping structure can be clamped with the sliding rail, and the inserting structure can be inserted with the mounting frame.

Optionally, the mechanical arm assembly comprises a guide block and a mechanical arm which are connected;

one end of the guide block is connected with the mechanical arm, and the other end of the guide block is provided with a first groove, and a first connecting position and a second connecting position which are positioned on two sides of a notch of the first groove;

the clamping structure comprises a buckle, the buckle is positioned outside the notch of the first groove, and at least part of the sliding rail is positioned between the buckle and the first groove;

one end of the buckle is rotationally connected with the first connecting position, and the other end of the buckle can be fixedly connected with the second connecting position.

Optionally, the surface of the sliding rail is provided with annular anti-slip protrusions, and the bending direction of the anti-slip protrusions is perpendicular to the length direction of the sliding rail;

the surface of the buckle, which is close to one side of the first groove, is provided with an anti-slip groove matched with the anti-slip protrusion in shape.

Optionally, the mechanical arm comprises a first mechanical arm, a second mechanical arm and a first rotating connector;

the first end of the first rotating connecting piece is connected with one end of the first mechanical arm, the second end of the first rotating connecting piece is connected with one end of the second mechanical arm, and the first rotating connecting piece is rotationally connected with at least one of the first mechanical arm and the second mechanical arm;

the length direction of the first mechanical arm and the length direction of the second mechanical arm are perpendicular to the rotation axis of the first rotation connecting piece.

Optionally, the robot device further includes a plurality of connector female ends, the connector female ends are electrically connected with the machine host, the plurality of connector female ends are all located on the mounting frame and are arranged along a first direction, and the first direction is a direction parallel to the length direction of the sliding rail;

the plug-in structure comprises a connector male end, the connector male end is electrically connected with the mechanical arm assembly, and the connector male end can be plugged in the connector female end.

Optionally, the female end of the connector includes a female connector, the mounting frame is provided with a plurality of positioning holes arranged along the first direction, the plurality of female connectors are respectively in one-to-one correspondence with the plurality of positioning holes, and the female connector is located in the corresponding positioning hole;

the plug-in structure comprises a first base and a male connector positioned on the first base, the first base is connected with the mechanical arm assembly, and the shape of the male connector is matched with the shape of the positioning hole;

the male connector can be inserted into the positioning hole and contacted with the female connector.

Optionally, the female end of the connector includes a female connector, the mounting frame has a strip-shaped second groove, the groove wall of the second groove extending along the first direction has a plurality of positioning grooves, the plurality of female connectors are respectively in one-to-one correspondence with the plurality of positioning grooves, and the female connector is located in the corresponding positioning groove;

the plug-in structure comprises a first base and a male connector positioned on the first base, the first base is connected with the mechanical arm assembly, and the shape of the male connector is matched with that of the positioning groove;

the male connector can be inserted into the positioning groove and contacted with the female connector.

Optionally, the mechanical arm assembly further comprises a mechanical clamping jaw and a non-slip mat;

the mechanical clamping jaw is connected with one end, far away from the guide block, of the mechanical arm, and the anti-slip pad is attached to the clamping surface of the mechanical clamping jaw.

Optionally, the mounting frame comprises a first bottom plate and two second side plates, the two second side plates are respectively positioned at two ends of the first bottom plate, and the plate surface of the first bottom plate is perpendicular to the plate surface of the second side plates;

the two ends of the sliding rail are fixedly connected with the two second side plates respectively, and a preset distance is reserved between the sliding rail and the first bottom plate.

Optionally, the machine main body is provided with a third groove, and the mounting frame of the guide rail assembly is positioned in the third groove.

The technical scheme provided by the embodiment of the utility model has the beneficial effects that at least:

a robotic device is provided that includes a machine host, a rail assembly, a clamping structure, a docking structure, and a robotic arm assembly. The guide rail assembly comprises a mounting frame and a sliding rail which are connected, the mechanical arm assembly is movably connected with the sliding rail, and the mechanical arm assembly can move between the first end and the second end of the sliding rail, so that the working range of the mechanical arm assembly can be enlarged. Meanwhile, the mechanical arm assembly can be fixed at the target position on the guide rail assembly through the clamping structure and the inserting structure, so that the mechanical arm assembly can be fixed at a plurality of positions in the moving range, the problem that the applicability of the robot device in the related art is poor can be solved, and the effect of improving the applicability of the robot device is achieved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a robot apparatus;

fig. 2 is a schematic structural view of a robot apparatus according to an embodiment of the present utility model;

FIG. 3 is a schematic view of a guide rail assembly according to an embodiment of the present utility model;

fig. 4 is a schematic structural diagram of a clamping structure, a plugging structure and a mechanical arm assembly according to an embodiment of the present utility model;

fig. 5 is a schematic structural view of a clamping structure and a guide block according to an embodiment of the present utility model;

FIG. 6 is a schematic cross-sectional view of a guide rail assembly and guide block according to an embodiment of the present utility model;

fig. 7 is a schematic diagram of a connection structure of a clamping structure, a guide rail assembly and a guide block according to an embodiment of the present utility model;

FIG. 8 is a schematic structural view of another guide block according to an embodiment of the present utility model;

fig. 9 is a schematic structural view of a buckle according to an embodiment of the present utility model;

fig. 10 is a schematic structural diagram of a mechanical arm according to an embodiment of the present utility model;

FIG. 11 is a schematic view of a guide rail assembly and a female end of a connector according to an embodiment of the present utility model;

FIG. 12 is a schematic view of another plugging structure according to an embodiment of the present utility model;

FIG. 13 is a schematic view of another plugging structure according to an embodiment of the present utility model;

FIG. 14 is a schematic view of another track assembly and female connector end configuration provided in accordance with an embodiment of the present utility model;

FIG. 15 is a schematic view of another plugging structure according to an embodiment of the present utility model;

FIG. 16 is a schematic view of a mechanical jaw and cleat according to an embodiment of the present utility model;

fig. 17 is a schematic structural view of another rail assembly according to an embodiment of the present utility model.

Specific embodiments of the present utility model have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the embodiments of the present utility model will be described in further detail with reference to the accompanying drawings.

Along with the popularization of the robot device in the market, the robot device matched with the mechanical arm is applied to different working scenes. For example, a robot device equipped with a robot arm can be used for carrying goods, hotel cleaning, and the like.

Fig. 1 is a schematic structural diagram of a robot apparatus, please refer to fig. 1, the robot apparatus 10 includes a machine main body 11 and a mechanical arm assembly 12, the mechanical arm assembly 12 includes a mechanical arm 121 and a mechanical gripper 122, one end of the mechanical arm 121 is rotatably connected with the machine main body 11, the other end is fixedly connected with the mechanical gripper 122, and the mechanical arm 121 can change the position of the mechanical gripper 122 by rotating itself and control the mechanical gripper 122 to implement various fine operations.

However, for some application scenarios, such as before a shelf in a mall, when the robotic device 10 is required to clamp objects at different positions, the working range of the mechanical arm assembly 12 is limited by the length of the mechanical arm 121 itself, and the task at the higher position or the higher position cannot be completed. Illustratively, the height of the connection position between the robot arm 121 and the mainframe 11 is 1.4m, and the arm length of the robot arm 121 is 0.8m, so that the robot apparatus 10 can only grip objects with a height of more than 0.6m from the ground, resulting in poor applicability of the robot apparatus 10.

The embodiment of the utility model provides a robot device which can solve the problems in the related art.

Fig. 2 is a schematic structural diagram of a robotic device 20 according to an embodiment of the present utility model, fig. 3 is a schematic structural diagram of a guide rail assembly 22 according to an embodiment of the present utility model, and fig. 4 is a schematic structural diagram of a clamping structure 23, a plugging structure 24 and a mechanical arm assembly 25 according to an embodiment of the present utility model, please refer to fig. 2, fig. 3 and fig. 4. The robot apparatus 20 may include: the machine comprises a machine host 21, a guide rail assembly 22, a clamping structure 23, a plug-in structure 24 and a mechanical arm assembly 25. The machine host 21 may be used to control the operation of the entire robotic device 20. The machine host 21 may include control structures, circuit boards, electronic components, power components, and display devices.

The rail assembly 22 may include a mounting frame 221 and a slide rail 222 connected, the mounting frame 221 may be connected with the machine host 21, and the rail assembly 22 may be mounted on the machine host 21 by the mounting frame 221.

The robotic arm assembly 25 may be movably coupled to the rail 222 of the rail assembly 22 and movable between a first end and a second end of the rail 222. In this way, the movable range of the mechanical arm assembly 25 can be increased by movably connecting the mechanical arm assembly 25 with the sliding rail 222, and in an exemplary embodiment, the movable range of the mechanical arm assembly 25 in the related art is the length of the mechanical arm assembly 25, and in the embodiment of the present utility model, the movable range of the mechanical arm assembly 25 is the length of the mechanical arm assembly 25 plus the length of the sliding rail 222.

The clamping structure 23 and the plugging structure 24 can be connected with the mechanical arm assembly 25, the clamping structure 23 can be clamped with the sliding rail 222, and the plugging structure 24 can be plugged with the mounting frame 221. When the mechanical arm assembly 25 moves between the first end and the second end of the sliding rail 222, the clamping structure 23 and the plugging structure 24 can be separated from the guiding rail assembly 22, that is, the clamping structure 23 can be separated from the sliding rail 222, and the plugging structure 24 can be separated from the mounting frame 221, so as to avoid the influence of the clamping structure 23 and the plugging structure 24 on the movement of the mechanical arm assembly 25. When the mechanical arm assembly 25 moves to a target position between the first end and the second end of the sliding rail 222, the clamping structure 23 can be clamped with the sliding rail 222, and the plugging structure 24 can be plugged with the mounting frame 221 to fix the mechanical arm assembly 25 at the target position, so that the fixed mechanical arm assembly 25 enters the working state. The slide rail 222 may have a plurality of target positions between the first and second ends so that the robotic arm assembly 25 may operate at a plurality of positions within the range of motion.

In summary, the embodiment of the utility model provides a robot device including a host machine, a guide rail assembly, a clamping structure, a plugging structure and a mechanical arm assembly. The guide rail assembly comprises a mounting frame and a sliding rail which are connected, the mechanical arm assembly is movably connected with the sliding rail, and the mechanical arm assembly can move between the first end and the second end of the sliding rail, so that the working range of the mechanical arm assembly can be enlarged. Meanwhile, the mechanical arm assembly can be fixed at the target position on the guide rail assembly through the clamping structure and the inserting structure, so that the mechanical arm assembly can be fixed at a plurality of positions in the moving range, the problem that the applicability of the robot device in the related art is poor can be solved, and the effect of improving the applicability of the robot device is achieved.

Fig. 5 is a schematic structural diagram of a clamping structure 23 and a guide block 251 provided by an embodiment of the present utility model, fig. 6 is a schematic structural diagram of a cross-section of a guide rail assembly 22 and a guide block 251 provided by an embodiment of the present utility model, fig. 7 is a schematic structural diagram of a connection structure of a clamping structure 23, a guide rail assembly 22 and a guide block 251 provided by an embodiment of the present utility model, please refer to fig. 4, fig. 5, fig. 6 and fig. 7, in an alternative embodiment, a mechanical arm assembly 25 may include a guide block 251 and a mechanical arm 252 connected. One end of the guide block 251 may be connected with the robot arm 252, and the other end of the guide block 251 may have a first groove c1, and a first connection position w1 and a second connection position w2 located at both sides of a slot of the first groove c 1.

The clamping structure 23 may include a buckle 231, the buckle 231 may be located outside the notch of the first groove c1, and at least part of the sliding rail 222 may be located between the buckle 231 and the first groove c 1. One end of the buckle 231 can be rotationally connected with the first connecting position w1, and the other end of the buckle 231 can be fixedly connected with the second connecting position w2.

Since one end of the buckle 231 can be rotatably connected with the first connection position w1, the buckle 231 can rotate between the first position and the second position around one end of the buckle 231, when the buckle 231 is at the first position, the other end of the buckle 231 can be separated from the second connection position w2, and at this time, the buckle 231 and the slide rail 222 can be in a separated state, that is, the buckle 231 does not clamp the guide block 251 on the slide rail 222. When the buckle 231 is at the second position, the other end of the buckle 231 may be fixedly connected with the second connection position w2, and at this time, the buckle 231 and the sliding rail 222 may be in a clamped state, that is, at least a portion of the sliding rail 222 may be located in an area surrounded by the buckle 231 and the first groove c1, and the buckle 231 may clamp the guide block 251 on the sliding rail 222 to fix the guide block 251, thereby fixing the mechanical arm assembly 25 at the target position.

It can be appreciated that the process of moving the mechanical arm assembly 25 between the first end and the second end of the sliding rail 222 in the embodiment of the present utility model may include the following two cases, in which in the first case, the first groove c1 of the guide block 251 is sleeved on the sliding rail 222 and slides between the first end and the second end of the sliding rail 222 along the length direction of the sliding rail 222, so as to drive the mechanical arm assembly 25 to move between the first end and the second end of the sliding rail 222; in the second case, the guide block 251 and the sliding rail 222 may be separated, and after the guide block 251 is moved to the target position, the guide block 251 and the sliding rail 222 are contacted, so as to drive the mechanical arm assembly 25 to move between the first end and the second end of the sliding rail 222.

Fig. 8 is a schematic structural view of another guide block 251 provided in the embodiment of the present utility model, please refer to fig. 5 and 8, the guide block 251 shown in fig. 8 may be a schematic structural view of the guide block 251 shown in fig. 5, which is seen along the second direction f2 in fig. 5, in an exemplary embodiment, the first connection position w1 of the guide block 251 may include a first connection seat w11 and a first rotation shaft w12 located on the first connection seat w11, and the first end of the buckle 231 may have a second through hole (not shown in the figure), and the first end of the buckle 231 may be rotatably connected with the first rotation shaft w12 through the second through hole. The clamping structure 23 further comprises a first bolt 232, the second connecting position w2 of the guide block 251 can comprise a second connecting seat w21, the second connecting seat w21 can be provided with a first threaded hole w22, one end of the first bolt 232 can be fixedly connected with the second end of the buckle 231, and the other end of the first bolt 232 can be inserted into the first threaded hole w22, so that the buckle 231 can be fixedly connected with the second connecting seat w21, and further, the buckle 231 and the guide block 251 are fixedly connected.

Under such structure, just carry out detachable connection with the second end of buckle 231 and guide block 251 through threaded connection's mode, threaded connection's the degree of difficulty of disassembling is little, disassembles fastly, and joint strength and stability are high, can be convenient for operating personnel disassemble the second end of buckle 231 and guide block 251 fast, and the operating personnel of being convenient for is quick with the second end of buckle 231 and the firm connection of guide block 251.

In an exemplary embodiment, the number of the sliding rails 222 in the rail assembly 22 may be two, and the length directions of the two sliding rails 222 may be parallel. The number of the first grooves c1 on the guide block 251 may be two, and the two first grooves c1 are in one-to-one correspondence with the two sliding rails 222. The number of the snaps 231 may be two, and the two snaps 231 may be in one-to-one correspondence with the two first grooves c 1. In this way, the connection stability of the robot arm assembly 25 and the rail assembly 22 can be improved.

Fig. 9 is a schematic structural view of a buckle 231 according to an embodiment of the present utility model, referring to fig. 3 and 9, in an alternative embodiment, a surface of a sliding rail 222 of a rail assembly 22 may have annular protrusions t1, and a bending direction of the protrusions t1 may be perpendicular to a length direction of the sliding rail 222. The surface of the clasp 231 on the side close to the first groove c1 may have a non-slip groove t2 matching the shape of the non-slip protrusion t 1. Thus, when the buckle 231 is clamped with the slide rail 222, the contact area between the buckle 231 and the slide rail 222 can be increased through the anti-slip protrusion t1 and the anti-slip groove t2, so that the acting force between the buckle 231 and the slide rail 222 is increased, and the stability of the clamping between the buckle 231 and the slide rail 222 is improved.

For example, the length direction of the sliding rail 222 may be perpendicular to the ground, the bending direction of the anti-slip protrusion t1 may be perpendicular to the length direction of the sliding rail 222, and the sliding of the buckle 231 and the guide block 251 in the length direction of the sliding rail 222 after the buckle 231 is engaged with the sliding rail 222 may be avoided.

By matching the anti-slip protrusion t1 on the sliding rail 222 with the anti-slip groove t2 on the buckle 231, the firmness of connection between the mechanical arm assembly 25 and the guide rail assembly 22 can be further improved, the risk that the mechanical arm assembly 25 is separated from the guide rail assembly 22 due to shaking of the robot device 20 can be reduced, and the running stability of the robot device 20 is improved.

Fig. 10 is a schematic structural diagram of a mechanical arm 252 according to an embodiment of the present utility model, referring to fig. 10, alternatively, the mechanical arm 252 may include a first mechanical arm 2521, a second mechanical arm 2522 and a first rotating connection 2523. An end of the first robot arm 2521 remote from the second robot arm 2522 may be connected with the guide block 251, a first end of the first rotational connection 2523 may be connected with an end of the first robot arm 2521, a second end of the first rotational connection 2523 may be connected with an end of the second robot arm 2522, and the first rotational connection 2523 may be rotatably connected with at least one of the first robot arm 2521 and the second robot arm 2522. The length direction of the first mechanical arm 2521 and the length direction of the second mechanical arm 2522 may be perpendicular to the rotation axis of the first rotation connector 2523.

In this way, the first rotating connection 2523 may be used to connect the first robot arm 2521 and the second robot arm 2522, so that the first robot arm 2521 and the second robot arm 2522 are integrated and convenient to operate. The second arm 2522 may be rotatable about the axis of the first rotational connection 2523 to enable various movements of the arm 252, such as rotation, swing, etc., which may increase flexibility of the arm 252.

Illustratively, as shown in FIG. 10, the robotic arm 252 further includes a second rotational coupling 2524, a third rotational coupling 2525, a fourth rotational coupling 2526, and a fifth rotational coupling 2527, and first, second, and third transition pieces g1, g2, and g3. Wherein, the first transition piece g1, the second transition piece g2 and the third transition piece g3 may be L-shaped transition pieces.

The second rotating connection 2524, the first transition piece g1, the third rotating connection 2525, the first mechanical arm 2521, the fourth rotating connection 2526, the second transition piece g2, the first rotating connection 2523, the third transition piece g3, the fifth rotating connection 2527 and the second mechanical arm 2522 are sequentially connected in a rotating manner along the direction of the guide block 251 pointing to the first mechanical arm 2521. Wherein, one end of the second rotating connection 2524 facing away from the first transition piece g1 may be connected with the guide block 251, the axial direction of the second rotating connection 2524 and the axial direction of the first rotating connection 2523 are parallel and perpendicular to the length direction of the first mechanical arm 2521, and the axial direction of the third rotating connection 2525, the fourth rotating connection 2526 and the fifth rotating connection 2527 are parallel and parallel to the length direction of the first mechanical arm 2521.

The mechanical arm 252 may further include a fixed connection 2528 thereon, and the fixed connection 2528 may be located between the guide block 251 and the second rotational connection 2524 to connect the guide block 251 and the second rotational connection 2524.

Fig. 11 is a schematic structural view of another guide rail assembly 22 and a female connector end 26 according to an embodiment of the present utility model, fig. 12 is a schematic structural view of another plugging structure 24 according to an embodiment of the present utility model, fig. 13 is a schematic structural view of another plugging structure 24 according to an embodiment of the present utility model, and referring to fig. 11, 12 and 13, the plugging structure 24 shown in fig. 13 may be a schematic view looking into the plugging structure 24 shown in fig. 12 along a third direction f3 in fig. 12. In an alternative embodiment, the robotic device 20 may further include a plurality of connector female ends 26, wherein the connector female ends 26 may be electrically connected with the machine host 21, and the plurality of connector female ends 26 may be located on the mounting frame 221 of the rail assembly 22 and arranged along the first direction f1, wherein the first direction f1 is a direction parallel to a length direction of the sliding rail 222 of the rail assembly 22.

The mating structure 24 may include a male connector end 241, the male connector end 241 may be electrically connected to the robotic arm assembly 25, and the male connector end 241 may be mated with the female connector end 26. When the mechanical arm assembly 25 moves between the first end and the second end of the sliding rail 222, the connector male end 241 can be separated from the connector female end 26, so as to avoid the influence of the connector male end 241 and the connector female end 26 on the movement of the mechanical arm assembly 25. When the mechanical arm assembly 25 moves to a target position between the first end and the second end of the sliding rail 222, the connector male end 241 can be plugged with the connector female end 26 to fix the mechanical arm assembly 25 at the target position, and meanwhile, the mechanical arm assembly 25 and the machine host 21 are electrically connected, so that the fixed mechanical arm assembly 25 enters a working state.

That is, the connector male end 241 may be used to support and secure the robot arm assembly 25 on the one hand, and may be used to electrically connect with the robot arm assembly 25 on the other hand, so as to provide electrical power to the robot arm assembly 25 (which may be provided by a battery provided in the machine main body 21), and to transmit electrical signals for control to the robot arm assembly 25, and may further obtain feedback electrical signals provided by the robot arm assembly 25.

Alternatively, the connector female end 26 may include a female joint 261, the mounting frame 221 may have a plurality of positioning holes k1 arranged along the first direction f1 thereon, the plurality of female joints 261 are respectively in one-to-one correspondence with the plurality of positioning holes k1, and the female joint 261 is located in the corresponding positioning hole k 1. The plug structure 24 includes a first base 2411 and a male connector 2412 on the first base 2411, the first base 2411 is connected to the mechanical arm assembly 25, and the shape of the male connector 2412 matches the shape of the positioning hole k 1. The male connector 2412 can be inserted into the positioning hole k1 and contacted with the female connector 261. The first base 2411 may be movably coupled to the robotic arm assembly 25.

The structure can improve the stability of connection between the connector female end 26 and the connector male end 241, so as to improve the stability of connection between the mechanical arm assembly 25 and the machine host 21, reduce the possibility of disconnection of the circuit when the mechanical arm assembly 25 is in operation, and improve the operation stability of the robot device 20. Compared with the lap joint mode, the plugging mode can realize closer circuit connection between the mechanical arm assembly 25 and the machine host 21, reduce the risk of disconnection of the circuit connection caused by shaking of the mechanical arm assembly 25, and improve the running stability of the robot device 20.

Fig. 14 is a schematic structural view of another guide rail assembly 22 and a female connector end 26 according to an embodiment of the present utility model, and fig. 15 is a schematic structural view of another plugging structure 24 according to an embodiment of the present utility model, please refer to fig. 14 and 15. In an alternative embodiment, the female connector end 26 may include a female connector 261, the mounting frame 221 may have a strip-shaped second groove c2 thereon, the groove wall of the second groove c2 extending along the first direction f1 has a plurality of positioning grooves c21 thereon, the plurality of female connector 261 corresponds to the plurality of positioning grooves c21 one by one, and the female connector 261 is located in the corresponding positioning groove c 21. The plug structure 24 includes a first base 2411 and a male connector 2412 on the first base 2411, the first base 2411 is connected to the robotic arm assembly 25, and the male connector 2412 has a shape matching the shape of the positioning slot c 21. The male connector 2412 can be inserted into the positioning groove c21 and contacted with the female connector 261. In this way, more female connectors 261 can be disposed on the mounting frame 221, so that when the mechanical arm assembly 25 moves to a plurality of positions, the mechanical arm assembly 25 can be electrically connected with the machine host 21 through the male connectors 2412 and the female connectors 261, and the flexibility of movement of the mechanical arm assembly 25 can be improved.

Fig. 16 is a schematic view of a mechanical clamping jaw 253 and a non-slip pad 254 according to an embodiment of the present utility model, referring to fig. 16, optionally, the mechanical arm assembly 25 may further include a mechanical clamping jaw 253 and a non-slip pad 254. The mechanical clamping jaw 253 can be connected with one end of the mechanical arm 252 far away from the guide block 251, and the anti-slip pad 254 is attached to the clamping surface of the mechanical clamping jaw 253. The mechanical gripper in the robotic arm 252 device may include at least one of a two-finger gripper, a three-finger gripper, a dexterous hand, and a suction cup. In the mechanical arm 252 device shown in the above embodiment, the mechanical gripper is a two-finger gripper. The non-slip pad 254 may be used to increase the attachment force of the mechanical gripping jaw 253, resulting in better stability of the mechanical gripping jaw 253 when picking up items.

Fig. 17 is a schematic structural diagram of another guide rail assembly 22 according to an embodiment of the present utility model, referring to fig. 17, alternatively, the mounting frame 221 may include a first bottom plate b1 and two second side plates b2, the two second side plates b2 may be respectively located at two ends of the first bottom plate b1, and the plate surface of the first bottom plate b1 is perpendicular to the plate surface of the second side plate b 2. Two ends of the sliding rail 222 may be fixedly connected with the two second side plates b2 respectively, and a predetermined distance is provided between the sliding rail 222 and the first bottom plate b 1. That is, a gap is formed between the sliding rail 222 and the first bottom plate b1, so that the buckle 231 can rotate in the gap, and an operator can fix the buckle 231 conveniently.

In an alternative embodiment, the machine body 21 may have a third recess therein, and the mounting frame 221 of the rail assembly 22 may be positioned in the third recess. In this way, the surface smoothness of the machine main body 21 can be improved, the aesthetic property of the robot device 20 can be improved, and the stability of the connection between the guide rail assembly 22 and the machine main body 21 can be improved. The robot device 20 main body further includes a second bolt, the second side plate b2 has a second mounting hole, the inner wall of the second groove c2 has a first mounting hole corresponding to the second mounting hole, and the second bolt is located in the second mounting hole and the first mounting hole.

Referring to fig. 6, in an exemplary embodiment, the first bottom plate b1 has a plurality of plugging holes k2 arranged along a first direction f1, where the first direction f1 is a direction parallel to a length direction of the sliding rail 222. The mating structure 24 includes a locating portion that may include a locating base and a locating screw k3.

The positioning part is located between the guide block 251 and the first bottom plate b1, and the positioning base is connected with the guide block 251, one end of the positioning screw k3 can be separated from the plugging hole k2, or one end of the positioning screw k3 can be plugged into the plugging hole k 2. In this way, the mechanical arm assembly 25 can be fixed at the target position by the positioning portion and the insertion hole k 2. In this case, the robot apparatus 20 may further include an external power cord that may be used to connect the machine main body 21 and the robot arm assembly 25 to achieve electrical connection of the machine main body 21 and the robot arm assembly 25.

In summary, the embodiment of the utility model provides a robot device including a host machine, a guide rail assembly, a clamping structure, a plugging structure and a mechanical arm assembly. The guide rail assembly comprises a mounting frame and a sliding rail which are connected, the mechanical arm assembly is movably connected with the sliding rail, and the mechanical arm assembly can move between the first end and the second end of the sliding rail, so that the working range of the mechanical arm assembly can be enlarged. Meanwhile, the mechanical arm assembly can be fixed at the target position on the guide rail assembly through the clamping structure and the inserting structure, so that the mechanical arm assembly can be fixed at a plurality of positions in the moving range, the problem that the applicability of the robot device in the related art is poor can be solved, and the effect of improving the applicability of the robot device is achieved.

In the present utility model, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless explicitly defined otherwise.

The foregoing description of the preferred embodiments of the present utility model is not intended to limit the utility model, but rather, the utility model is to be construed as limited to the appended claims.

Claims (10)

1. A robotic device, the robotic device comprising: the device comprises a machine host, a guide rail assembly, a clamping structure, an inserting structure and a mechanical arm assembly;

the guide rail assembly comprises a mounting frame and a sliding rail which are connected, and the mounting frame is connected with the machine host;

the mechanical arm assembly is movably connected with the sliding rail and can move between a first end and a second end of the sliding rail;

the clamping structure and the inserting structure are connected with the mechanical arm assembly, the clamping structure can be clamped with the sliding rail, and the inserting structure can be inserted with the mounting frame.

2. The robotic device of claim 1, wherein the robotic arm assembly comprises a guide block and a robotic arm connected;

one end of the guide block is connected with the mechanical arm, and the other end of the guide block is provided with a first groove, and a first connecting position and a second connecting position which are positioned on two sides of a notch of the first groove;

the clamping structure comprises a buckle, the buckle is positioned outside the notch of the first groove, and at least part of the sliding rail is positioned between the buckle and the first groove;

one end of the buckle is rotationally connected with the first connecting position, and the other end of the buckle can be fixedly connected with the second connecting position.

3. The robot apparatus according to claim 2, wherein the surface of the slide rail has an annular anti-slip protrusion, and a bending direction of the anti-slip protrusion is perpendicular to a length direction of the slide rail;

the surface of the buckle, which is close to one side of the first groove, is provided with an anti-slip groove matched with the anti-slip protrusion in shape.

4. The robotic device of claim 2, wherein the robotic arm comprises a first robotic arm, a second robotic arm, and a first rotational connection;

the first end of the first rotating connecting piece is connected with one end of the first mechanical arm, the second end of the first rotating connecting piece is connected with one end of the second mechanical arm, and the first rotating connecting piece is rotationally connected with at least one of the first mechanical arm and the second mechanical arm;

the length direction of the first mechanical arm and the length direction of the second mechanical arm are perpendicular to the rotation axis of the first rotation connecting piece.

5. The robotic device of claim 1, further comprising a plurality of connector female ends electrically connected to the machine host, the plurality of connector female ends being located on the mounting frame and arranged along a first direction, the first direction being a direction parallel to a length direction of the slide rail;

the plug-in structure comprises a connector male end, the connector male end is electrically connected with the mechanical arm assembly, and the connector male end can be plugged in the connector female end.

6. The robotic device of claim 5, wherein the connector female end comprises a female connector, the mounting frame has a plurality of positioning holes arranged along the first direction, the plurality of female connectors are respectively in one-to-one correspondence with the plurality of positioning holes, and the female connector is positioned in the corresponding positioning hole;

the plug-in structure comprises a first base and a male connector positioned on the first base, the first base is connected with the mechanical arm assembly, and the shape of the male connector is matched with the shape of the positioning hole;

the male connector can be inserted into the positioning hole and contacted with the female connector.

7. The robotic device of claim 5, wherein the connector female end comprises a female connector, the mounting frame has a strip-shaped second groove thereon, the groove wall of the second groove extending along the first direction has a plurality of positioning grooves thereon, the female connector corresponds to the plurality of positioning grooves one by one, and the female connector is located in the corresponding positioning groove;

the plug-in structure comprises a first base and a male connector positioned on the first base, the first base is connected with the mechanical arm assembly, and the shape of the male connector is matched with that of the positioning groove;

the male connector can be inserted into the positioning groove and contacted with the female connector.

8. The robotic device of claim 2, wherein the robotic arm assembly further comprises a mechanical jaw and a cleat;

the mechanical clamping jaw is connected with one end, far away from the guide block, of the mechanical arm, and the anti-slip pad is attached to the clamping surface of the mechanical clamping jaw.

9. The robotic device of claim 1, wherein the mounting frame comprises a first bottom plate and two second side plates, the two second side plates being positioned at two ends of the first bottom plate, respectively, and a plate surface of the first bottom plate being perpendicular to a plate surface of the second side plates;

the two ends of the sliding rail are fixedly connected with the two second side plates respectively, and a preset distance is reserved between the sliding rail and the first bottom plate.

10. The robotic device of claim 9, wherein the machine body has a third recess therein, the mounting frame of the rail assembly being located in the third recess.