Lifting movable feeding robot suitable for explosion-proof environment

Abstract

The invention relates to a robot, in particular to a liftable mobile charging robot suitable for an anti-explosion environment, and solves the problems of high labor intensity of personnel, safety risk and low working efficiency during chemical charging. The device comprises a wheel type chassis, a telescopic arm assembly arranged on the wheel type chassis and a clamping jaw assembly arranged on the telescopic arm assembly, the telescopic arm assembly can drive the clamping jaw assembly to move in the vertical direction so that the device can reach the high filling position, and the wheel type chassis can drive the telescopic arm assembly and the clamping jaw assembly to move; the telescopic arm assembly adopts a driving motor to be matched with a multi-stage lead screw for transmission, the structure is compact, the rigidity is large, heavy load can be achieved easily, the clamping jaw assembly can be kept stable when located at a high position, the driving motor is an explosion-proof motor, and the requirement for the explosion-proof environment of a chemical plant is met.

Description

Technical Field

[0001] The invention relates to a robot, in particular to a lifting and moving feeding robot suitable for explosion-proof environments. Background Art

[0002] In the daily production of chemical plants, different reagents need to be added to the reaction tank at different reaction stages. These reagents are generally stored in medicine barrels. When filling is required, the operator needs to take the medicine barrel of the corresponding reagent from the shelf and move it to the corresponding reaction tank, move the medicine barrel to the top of the reaction tank, and then align it with the filling port on the top of the reaction tank for filling. After filling to the specified dose, the medicine barrel is moved back to the shelf for return. The entire process is implemented manually, which is cumbersome and labor-intensive. Generally, the height of the reaction tank is very high, and the medicine barrels filled with reagents are generally heavy. When manually moving the medicine barrel to the top of the reaction tank, if you are not careful, there is a risk of falling, which is easy to endanger the safety of personnel, and the work efficiency of manual operation is not high. Chemical plants usually store a large number of flammable and explosive materials, and there are certain safety risks when personnel work, so it is necessary to design a robot to replace manual filling in the explosion-proof environment of chemical plants. Summary of the invention

[0003] The purpose of the present invention is to solve the technical problems of high labor intensity, safety risks and low work efficiency when filling medicines, and to provide a lifting and moving feeding robot suitable for explosion-proof environment.

[0004] In order to achieve the above-mentioned invention object, the present invention provides the following technical solutions:

[0005] A lifting and moving feeding robot suitable for explosion-proof environment, which is special in that it comprises a wheeled chassis, a telescopic arm assembly arranged on the wheeled chassis, and a clamping claw assembly arranged on the telescopic arm assembly;

[0006] The telescopic arm assembly can drive the clamping claw assembly to move in the vertical direction; the clamping claw assembly includes a clamping assembly and a flipping assembly; the clamping assembly is used to clamp the medicine barrel, and the flipping assembly is used to flip the clamping assembly to realize the dumping and filling of the medicine barrel;

[0007] The telescopic arm assembly comprises a driving motor, a transmission screw and a telescopic arm; the transmission screw is arranged in the telescopic arm;

[0008] The drive motor is arranged on the wheeled chassis and is an explosion-proof motor;

[0009] The telescopic arm comprises a primary telescopic arm, a secondary telescopic arm and a tertiary telescopic arm which are sequentially sleeved from the outside to the inside; a stopper is arranged between the two adjacent ones; the primary telescopic arm is fixedly arranged on the wheeled chassis;

[0010] The transmission screw comprises a primary transmission screw, a secondary transmission screw and a tertiary transmission screw which are sequentially sleeved from the outside to the inside;

[0011] The primary transmission screw is connected to the output shaft of the driving motor, and the inner wall of the primary transmission screw is provided with an internal thread; the outer wall of the secondary transmission screw is provided with an external thread, and the external thread is meshed with the internal thread of the primary transmission screw;

[0012] The inner wall of the secondary transmission screw is provided with an internal thread, the outer wall of the tertiary transmission screw is provided with an external thread, the external thread of the tertiary transmission screw is meshed with the internal thread of the secondary transmission screw; and the tertiary transmission screw is fixedly connected to the inner side surface of the top plate of the tertiary telescopic arm;

[0013] The clamping claw assembly is arranged on the top plate of the three-stage telescopic arm.

[0014] Furthermore, the flip assembly includes a flip motor, which is arranged on the top plate of the three-stage telescopic arm; the clamping assembly includes a clamping claw frame, a clamping claw motor, a movable clamping claw and a synchronization assembly; the inner side center of the clamping claw frame is connected to the output shaft of the flipping motor, and the clamping claw motor is connected to the clamping claw frame; the movable clamping claw includes a first clamping claw assembly, a second clamping claw assembly and a third clamping claw assembly; the clamping claw motor and the flipping motor are both explosion-proof motors;

[0015] The first clamping jaw assembly comprises a first horizontal guide rail arranged on one side of the outer side of the clamping jaw frame and extending in the horizontal direction, on which the first clamping jaw is slidably mounted, the second clamping jaw assembly comprises a second horizontal guide rail arranged on the other side of the outer side of the clamping jaw frame and extending in the horizontal direction, on which the second clamping jaw is slidably mounted, and the third clamping jaw assembly comprises a first vertical guide rail arranged on the top of the outer side of the clamping jaw frame and extending in the vertical direction, on which the third clamping jaw is slidably mounted;

[0016] The synchronous assembly comprises an upper reversing wheel and a lower reversing wheel arranged at the top and bottom of the inner side surface of the clamping jaw frame, and a left reversing wheel and a right reversing wheel arranged at the left and right sides, the four of which are connected by a synchronous belt, and the output shaft of the clamping jaw motor is connected to the upper reversing wheel or the lower reversing wheel; an upper left steering wheel is arranged at the upper left of the inner side surface center of the clamping jaw frame, an upper right steering wheel is arranged at the upper right, a lower left steering wheel is arranged at the lower left, and a lower right steering wheel is arranged at the lower right, all of which are in contact with the outer side surface of the synchronous belt; a first meshing assembly connected to the first clamping jaw, a second meshing assembly connected to the second clamping jaw, and a third meshing assembly connected to the third clamping jaw are arranged on the inner side surface of the clamping jaw frame;

[0017] The first meshing assembly is meshed with the synchronous belt between the left reversing wheel and the lower left steering wheel, the second meshing assembly is meshed with the synchronous belt between the right reversing wheel and the upper right steering wheel, and the third meshing assembly is meshed with the synchronous belt between the upper reversing wheel and the upper left steering wheel; or, the first meshing assembly is meshed with the synchronous belt between the left reversing wheel and the upper left steering wheel, the second meshing assembly is meshed with the synchronous belt between the right reversing wheel and the lower right steering wheel, and the third meshing assembly is meshed with the synchronous belt between the upper reversing wheel and the upper right steering wheel.

[0018] Furthermore, the flip assembly includes a flip motor, which is arranged on the top plate of the three-stage telescopic arm; the clamping assembly includes a clamping claw frame, a clamping claw motor, a movable clamping claw and a synchronization assembly; the inner side center of the clamping claw frame is connected to the output shaft of the flipping motor, and the clamping claw motor is connected to the clamping claw frame; the movable clamping claw includes a first clamping claw assembly, a second clamping claw assembly and a third clamping claw assembly; the clamping claw motor and the flipping motor are both explosion-proof motors;

[0019] The first clamping jaw assembly comprises a first horizontal guide rail arranged on one side of the outer side of the clamping jaw frame and extending in the horizontal direction, on which the first clamping jaw is slidably mounted, the second clamping jaw assembly comprises a second horizontal guide rail arranged on the other side of the outer side of the clamping jaw frame and extending in the horizontal direction, on which the second clamping jaw is slidably mounted, and the third clamping jaw assembly comprises a first vertical guide rail arranged on the top of the outer side of the clamping jaw frame and extending in the vertical direction, on which the third clamping jaw is slidably mounted;

[0020] The synchronous assembly includes a synchronous gear rotatably connected to the output shaft of the flip motor, a driving wheel is arranged on the top of the inner side surface of the clamping jaw frame, the output shaft of the clamping jaw motor is connected to the driving wheel, and the inner side surface of the clamping jaw frame is provided with a first meshing assembly connected to the first clamping jaw, a second meshing assembly connected to the second clamping jaw, and a third meshing assembly connected to the third clamping jaw; the first meshing assembly, the second meshing assembly and the third meshing assembly are all racks; the synchronous gear includes three coaxially fixed gears, and the first meshing assembly, the second meshing assembly and the third meshing assembly are respectively meshed with one of the gears; and the first meshing assembly is meshed with the lower side of the synchronous gear, the second meshing assembly is meshed with the upper side of the synchronous gear, and the third meshing assembly is respectively meshed with the left side of the synchronous gear and the driving wheel; or, the first meshing assembly is meshed with the upper side of the synchronous gear, the second meshing assembly is meshed with the lower side of the synchronous gear, and the third meshing assembly is respectively meshed with the right side of the synchronous gear and the driving wheel;

[0021] When the clamp motor rotates, it drives the first clamp, the second clamp and the third clamp to move synchronously away from the center of the clamp frame to release the medicine barrel or to move synchronously toward the center of the clamp frame to clamp the medicine barrel.

[0022] Furthermore, the first meshing assembly, the second meshing assembly and the third meshing assembly have the same structure, including a tooth plate and a cover plate connected to the tooth plate, the tooth plate is provided with a rack meshing with the synchronous belt, the cover plate is provided with a groove for the synchronous belt to pass through, and a connecting piece is provided on the tooth plate, which is used to connect to the inner side of the mounting base of the first jaw, the second jaw or the third jaw.

[0023] Furthermore, the projections of the outer walls of the secondary telescopic arm and the tertiary telescopic arm on the horizontal plane are rectangular.

[0024] Further, it also includes a tensioning structure;

[0025] The tensioning structure includes a T-shaped frame, a tensioning wheel, a vertical sliding block, a horizontal sliding block, a second vertical guide rail, a third horizontal guide rail and a fixing seat;

[0026] The fixed seat is connected to the inner side surface of the clamping frame, the T-frame includes a vertical frame and a horizontal frame vertically connected to the middle part of one side of the vertical frame, the second vertical guide rail is arranged on the vertical frame, the third horizontal guide rail is arranged on the horizontal frame, the vertical slider is slidably assembled on the second vertical guide rail, the horizontal slider is connected to the end of the outer shell of the flip motor away from the output shaft of the flip motor, the center of the horizontal slider coincides with the axial center line of the output shaft of the flip motor, and the horizontal slider is slidably assembled with the third horizontal guide rail, and a tensioning wheel is arranged between the fixed seat and the vertical slider, and the two ends of the tensioning wheel are rotatably connected to the vertical slider and the fixed seat respectively.

[0027] Furthermore, the first jaw, the second jaw and the third jaw have the same structure and all include a mounting base and a jaw body; the mounting base of the first jaw is slidably assembled on the first horizontal guide rail, the mounting base of the second jaw is slidably assembled on the second horizontal guide rail, and the mounting base of the third jaw is slidably assembled on the first vertical guide rail, and one end of the jaw body is fixedly connected to the outer side surface of the mounting base.

[0028] Furthermore, the output shaft of the clamping jaw motor is connected to the upper reversing wheel.

[0029] Furthermore, baffles are provided at the outer ends of the first clamping jaw and the second clamping jaw; and a fixed clamping jaw is provided at the bottom position of the outer side surface of the clamping jaw frame.

[0030] Furthermore, there are two of each of the upper left steering wheel, the upper right steering wheel, the lower left steering wheel and the lower right steering wheel.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] (1) The present invention provides a liftable and movable feeding robot suitable for use in explosion-proof environments, comprising a wheeled chassis, a telescopic arm assembly arranged on the wheeled chassis, and a clamping claw assembly arranged on the telescopic arm assembly, wherein the telescopic arm assembly can drive the clamping claw assembly to move in a vertical direction, so that the filling position at a high place can be reached, and the wheeled chassis can drive the telescopic arm assembly and the clamping claw assembly to move; the clamping claw assembly is responsible for clamping the medicine barrel and flipping and pouring the medicine; the telescopic arm assembly adopts a multi-stage transmission screw to drive the multi-stage telescopic arm to achieve movement in a vertical direction, and its transmission process is as follows: the driving motor rotates, thereby driving the first-stage transmission screw to rotate first and driving the second-stage transmission screw to rotate together, because the third-stage transmission screw is fixedly connected to the inner side surface of the top plate of the third-stage telescopic arm, it does not rotate but moves along the axial direction, and the third-stage transmission screw drives the third-stage telescopic arm and the second-stage telescopic arm to unfold until the third-stage transmission screw When the thread of the secondary transmission screw reaches the end, the three-stage telescopic arm is fully unfolded, and the stopper arranged between the three-stage telescopic arm and the secondary telescopic arm plays a role of force transmission, so that the three-stage telescopic arm drives the secondary telescopic arm to unfold, and then enters the next stage of transmission. When the first-stage transmission screw rotates, the secondary transmission screw moves along the axial direction until the thread of the first-stage transmission screw and the secondary transmission screw reaches the end, and the telescopic arm is fully unfolded, thus realizing multi-stage transmission and multi-stage unfolding of the telescopic arm, with a simple structure and low cost. Because the dead weight of the clamping jaw assembly after clamping the medicine barrel is very heavy, if other transmission forms are used, when fully unfolded, the clamping jaw assembly may shake when it is raised to a high place, while the multi-stage screw transmission structure is compact and rigid, which is conducive to heavy load, so that the clamping jaw assembly can remain stable even when it is at a high place; the driving motor adopts an explosion-proof motor to meet the explosion-proof environment requirements of chemical plants.

[0033] (2) The present invention provides a synchronous component in a liftable and movable feeding robot suitable for use in an explosion-proof environment, which includes two structural forms. The first type adopts a reversing wheel, a steering wheel and a synchronous belt to achieve that when the clamp motor rotates, it drives the first clamp, the second clamp and the third clamp to move synchronously away from the center position of the clamp frame to loosen the medicine barrel or to move synchronously close to the center position of the clamp frame to clamp the medicine barrel. The second type is that a synchronous gear is rotatably connected to the output shaft of the flip motor, and the three clamps are synchronously opened or clamped through the cooperation of the driving wheel, the synchronous gear and the rack. Both structural forms use a clamp motor as the power source, which is simple in structure and saves cost.

[0034] (3) The liftable and movable feeding robot suitable for use in an explosion-proof environment provided by the present invention is also provided with a tensioning assembly. The tensioning assembly is used to enable the clamping frame to deflect along a fixed path, thereby improving the rotation accuracy and ensuring that when the clamping frame is deflected into place, the mouth of the medicine barrel can be aligned with the filling port of the reaction tank. When the clamping frame is deflected, the tensioning wheel rotates and drives the vertical sliding block to move along the second vertical guide rail, and the T-shaped frame also moves along the third horizontal guide rail to adapt to the deflection angle of the clamping frame.

[0035] (4) The outer wall of the secondary telescopic arm and the outer wall of the tertiary telescopic arm of the liftable mobile feeding robot suitable for use in an explosion-proof environment provided by the present invention are projected in a rectangular horizontal plane, and the inner wall of the primary telescopic arm and the inner wall of the secondary telescopic arm are projected in a rectangular horizontal plane. Since the rectangular structure has high stability, the stability of the entire telescopic arm assembly structure can be improved when it is fully unfolded. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a three-dimensional structural schematic diagram of an embodiment of a lifting and moving feeding robot suitable for use in an explosion-proof environment according to the present invention in a use state;

[0037] Figure 2 Schematic diagram of the three-dimensional structure of the clamping jaw assembly in an embodiment of the present invention;

[0038] Figure 3 Schematic diagram of the three-dimensional structure of the clamping jaw assembly in the embodiment of the present invention in the use state (the synchronous belt, the upper left steering wheel, the lower left steering wheel, the upper right steering wheel and the lower right reversing wheel are not shown);

[0039] Figure 4 is a side view of a clamping jaw assembly according to an embodiment of the present invention;

[0040] Figure 5 It is a schematic diagram of the cooperation between the upper reversing wheel, the lower reversing wheel, the left reversing wheel, the right reversing wheel, the upper left steering wheel, the lower left steering wheel, the upper right steering wheel and the lower right reversing wheel and the synchronous belt in an embodiment of the present invention;

[0041] Figure 6 It is a schematic diagram of the cooperation with the synchronous gear when the first meshing assembly, the second meshing assembly and the third meshing assembly are all racks in the embodiment of the present invention;

[0042] Figure 7 It is a schematic diagram of the cooperation between the synchronous gear and the output shaft of the flip motor in an embodiment of the present invention.

[0043] Figure 8 is a cross-sectional view of a telescopic arm assembly in an expanded state according to an embodiment of the present invention;

[0044] Fig. 9 A cross-sectional view of the telescopic arm assembly in a retracted state according to an embodiment of the present invention

[0045] The following are the descriptions of the reference numerals:

[0046] 1-claw frame, 101-fixed claw; 2-claw motor, 3-flip motor; 4-first claw, 41-first horizontal guide rail, 42-mounting base, 43-claw body, 431-baffle; 5-second claw, 51-second horizontal guide rail, 6-third claw, 61-first vertical guide rail; 7-upper reversing wheel, 8-lower reversing wheel, 9-left reversing wheel, 10-right reversing wheel, 11-synchronous belt, 12-upper left steering wheel, 13-lower left steering wheel, 14-upper right steering wheel, 15-lower right steering wheel, 16-first meshing assembly, 161-tooth plate, 1 62-cover plate; 17-second meshing assembly, 18-third meshing assembly; 19-T-frame, 191-vertical frame, 192-horizontal frame; 20-fixed seat, 21-second vertical guide rail, 23-tensioning wheel, 24-vertical sliding block, 25-third horizontal guide rail, 26-wheeled chassis, 27-drive motor, 28-transmission screw, 281-first-stage transmission screw, 282-second-stage transmission screw, 283-third-stage transmission screw; 29-telescopic arm, 291-first-stage telescopic arm, 292-second-stage telescopic arm, 293-third-stage telescopic arm, 30-synchronous gear. DETAILED DESCRIPTION

[0047] The present invention will be further described below in conjunction with the accompanying drawings and exemplary embodiments.

[0048] Reference Figure 1-Figure 9 The present invention is a liftable mobile feeding robot suitable for use in an explosion-proof environment, comprising a wheeled chassis 26. Shock absorbers are arranged on the four wheels of the wheeled chassis 26, so that excess vibrations can be absorbed during movement to prevent the medicine in the medicine barrel from spilling out, and each wheel can be independently steered to improve the movement flexibility of the entire wheeled chassis 26.

[0049] A telescopic arm assembly is provided on the wheeled chassis 26, and a clamping claw assembly is provided on the telescopic arm assembly. The structure of the telescopic arm assembly is as follows: Figure 6 As shown, it includes a driving motor 27, a transmission screw 28 and a telescopic arm 29. The transmission screw 28 is arranged in the telescopic arm 29. The driving motor 27 is fixedly arranged on the wheeled chassis 26 and the driving motor 27 is an explosion-proof motor.

[0050] The telescopic arm 29 includes a primary telescopic arm 291, a secondary telescopic arm 292 and a tertiary telescopic arm 293 which are sequentially sleeved from the outside to the inside, a stopper is arranged between the adjacent two, and the primary telescopic arm 291 is fixedly arranged on the wheeled chassis 26, and the projections of the outer walls of the secondary telescopic arm 292 and the tertiary telescopic arm 293 on the horizontal plane are rectangular, and the projections of the inner walls of the primary telescopic arm 291 and the inner walls of the secondary telescopic arm 292 on the horizontal plane are rectangular, so that the rectangular structure can be used to improve the stability of the telescopic arm assembly after it is fully deployed. The transmission screw 28 includes a primary transmission screw 281, a secondary transmission screw 282 and a tertiary transmission screw 283 which are sequentially sleeved from the outside to the inside, and the primary transmission screw 281 is connected to the output shaft of the driving motor 27, an internal thread is arranged on the inner wall of the primary transmission screw 281, and an external thread for meshing with the internal thread of the primary transmission screw 281 is arranged on the outer wall of the secondary transmission screw 282. The inner wall of the secondary transmission screw 282 is provided with an internal thread, and the outer wall of the tertiary transmission screw 283 is provided with an external thread. The external thread of the tertiary transmission screw 283 is meshed with the internal thread of the secondary transmission screw 282, and the tertiary transmission screw 283 is fixedly connected to the inner side surface of the top plate of the tertiary telescopic arm 293.

[0051] The unfolding process of the telescopic arm 29 is as follows: the driving motor 27 rotates, thereby driving the primary transmission screw 281 to rotate first and driving the secondary transmission screw 282 to rotate together. Because the tertiary transmission screw 283 is fixedly connected to the inner side of the top plate of the tertiary telescopic arm 293, it does not rotate but moves along the axial direction. The tertiary transmission screw 283 drives the tertiary telescopic arm 293 and the secondary telescopic arm 292 to unfold until the threaded fit of the tertiary transmission screw 283 and the secondary transmission screw 282 reaches the end. At this time, the tertiary telescopic arm 293 is fully unfolded, and the stopper set between the tertiary telescopic arm 293 and the secondary telescopic arm 292 plays a role in force transmission, so that the tertiary telescopic arm 293 drives the secondary telescopic arm 292 to unfold, and then enters the next stage of transmission. When the primary transmission screw 281 rotates, the secondary transmission screw 282 moves along the axial direction until the threaded fit of the primary transmission screw 281 and the secondary transmission screw 282 reaches the end, and the telescopic arm 29 is fully unfolded. In this way, multi-stage transmission and multi-stage unfolding of the telescopic arm 29 are realized, with a simple structure and low cost. Because the weight of the clamping claw assembly after clamping the medicine barrel is very heavy, if other transmission forms are used, when fully unfolded, the clamping claw assembly may shake when it rises to the top, while the multi-stage screw transmission structure is compact and rigid, which is conducive to heavy load, so that the clamping claw assembly can remain stable even when it is in the air.

[0052] A clamping claw assembly is arranged on the top plate of the three-stage telescopic arm 293, which includes a clamping assembly for clamping the medicine barrel and a flipping assembly for flipping the clamping assembly to realize dumping and filling of the medicine barrel. The flipping assembly includes a flipping motor 3, which is installed on the top plate of the three-stage telescopic arm 293.

[0053] The clamping assembly includes a clamping frame 1, a clamping motor 2, a movable clamping jaw and a synchronization assembly; the output shaft of the flipping motor 3 is connected to the center of the inner side surface of the clamping frame 1, and the clamping motor 2 is connected to the clamping frame 1, and the movable clamping jaw includes a first clamping jaw assembly, a second clamping jaw assembly and a third clamping jaw assembly; the clamping jaw motor 2 and the flipping motor 3 are both explosion-proof motors, which meet the explosion-proof environment requirements of chemical plants.

[0054] The first clamping jaw assembly includes a first horizontal guide rail 41 which is arranged on one side of the outer side surface of the clamping jaw frame 1 and extends in the horizontal direction, on which the first clamping jaw 4 is slidably mounted; the second clamping jaw assembly includes a second horizontal guide rail 51 which is arranged on the other side of the outer side surface of the clamping jaw frame 1 and extends in the horizontal direction, on which the second clamping jaw 5 is slidably mounted; and the third clamping jaw assembly includes a first vertical guide rail 61 which is arranged on the top of the outer side surface of the clamping jaw frame 1 and extends in the vertical direction, on which the third clamping jaw 6 is slidably mounted; a fixed clamping jaw 101 is arranged at the bottom position of the outer side surface of the clamping jaw frame 1, so that the stability of the medicine barrel after clamping is ensured by four-way locking.

[0055] There are two main forms of medicine: liquid and powder. Both forms of medicine can be stored in medicine barrels, and powder medicine can also be stored in medicine bags. The clamping jaw assembly can not only stably clamp the medicine barrel, but also can stably clamp the medicine bag. In this embodiment, the clamping jaw assembly clamps the medicine barrel.

[0056] The first jaw 4, the second jaw 5 and the third jaw 6 have the same structure, and all include a mounting base 42 and a claw body 43. The mounting base 42 of the first jaw 4 is slidably mounted on the first horizontal guide rail 41, the mounting base 42 of the second jaw 5 is slidably mounted on the second horizontal guide rail 51, and the mounting base 42 of the third jaw 6 is slidably mounted on the first vertical guide rail 61, and one end of the claw body 43 is fixedly connected to the outer side surface of the mounting base 42. In order to prevent the medicine barrel from falling out, a baffle 431 is also provided at the outer end of the claw body 43 of the first jaw 4 and the second jaw 5.

[0057] In order to realize the synchronous movement of the first clamping jaw 4, the second clamping jaw 5 and the third clamping jaw 6, a synchronous component is also provided. In the present invention, the synchronous component has two structural forms. The first one is as follows: Figure 5As shown, an upper reversing wheel 7 and a lower reversing wheel 8 are respectively arranged at the top and bottom of the inner side of the clamping jaw frame 1, and a left reversing wheel 9 and a right reversing wheel 10 are respectively arranged on the left and right sides, and the four are connected by a synchronous belt 11, and an upper left steering wheel 12 is arranged at the upper left of the center of the inner side of the clamping jaw frame 1, an upper right steering wheel 14 is arranged at the upper right, a lower left steering wheel 13 is arranged at the lower left, and a lower right steering wheel 15 is arranged at the lower right, and the four are all in contact with the outer side of the synchronous belt 11. In order to prevent the synchronous belt 11 from being deformed too much when passing through each steering wheel, two upper left steering wheels 12, upper right steering wheels 14, lower left steering wheels 13 and lower right steering wheels 15 are respectively arranged, so that the synchronous belt 11 can be gradually turned to avoid the steering angle being too large to affect the operation of the synchronous belt 11. In order not to generate excess deflection torque on the entire clamping jaw frame 1, the output shaft of the clamping jaw motor 2 can be connected to the upper reversing wheel 7 or the lower reversing wheel 8. In this embodiment, in order not to interfere with other equipment, the output shaft of the clamping jaw motor 2 is connected to the upper reversing wheel 7.

[0058] In order to cooperate with the synchronous belt 11 to clamp the medicine barrel, the inner side of the clamp frame 1 is provided with a first meshing component 16 connected to the first clamp 4, a second meshing component 17 connected to the second clamp 5, and a third meshing component 18 connected to the third clamp 6; the first meshing component 16 meshes with the synchronous belt 11 between the left reversing wheel 9 and the lower left steering wheel 13, the second meshing component 17 meshes with the synchronous belt 11 between the right reversing wheel 10 and the upper right steering wheel 14, and the third meshing component 18 meshes with the synchronous belt 11 between the upper reversing wheel 7 and the upper left steering wheel 12. Alternatively, the first meshing component 16 meshes with the synchronous belt 11 between the left reversing wheel 9 and the upper left steering wheel 12, the second meshing component 17 meshes with the synchronous belt 11 between the right reversing wheel 10 and the lower right steering wheel 15, and the third meshing component 18 meshes with the synchronous belt 11 between the upper reversing wheel 7 and the upper right steering wheel 14. In this arrangement, when the jaw motor 2 rotates, the first jaw 4, the second jaw 5 and the third jaw 6 can move synchronously away from the center position of the jaw frame 1 or synchronously move toward the center position of the jaw frame 1, thereby achieving stable clamping of the medicine barrel, and only one jaw motor 2 is used as the power source, and linkage is achieved through transmission through the synchronous belt 11, thereby saving costs.

[0059] In order to ensure that each meshing component is stably engaged with the synchronous belt 11, the structures of the first meshing component 16, the second meshing component 17 and the third meshing component 18 are the same, which include a tooth plate 161 and a cover plate 162 connected to the tooth plate 161 by bolts, and a rack meshed with the synchronous belt 11 is provided on the tooth plate 161, and a groove for the synchronous belt 11 to pass through is opened on the cover plate 162, so that when each meshing component is engaged with the synchronous belt 11, the synchronous belt 11 is limited in the groove through the cooperation between the tooth plate 161 and the cover plate 162, so as to ensure that the rack is stably engaged with the synchronous belt 11, and a connecting piece is also provided on the tooth plate 161, which is used to connect to the inner side of the mounting base 42 of the first jaw 4, the second jaw 5 or the third jaw 6.

[0060] The three clamps all adopt the above-mentioned transmission form, and their opening and closing stroke is large, which can be adapted to most medicine barrels or medicine bags on the market. At the same time, the reversing wheel and the steering wheel can also adopt the sprocket form, and the synchronous belt 11 also adopts the chain form for transmission, or the synchronous belt transmission can also be replaced by rope transmission.

[0061] Alternatively, the second synchronous component structure can be used to realize the synchronous opening and closing of the three clamping jaws, such as Figure 6 and Figure 7 As shown, a synchronous gear 30 is rotatably connected to the output shaft of the flip motor 3 through a bearing, and the synchronous gear 30 includes three coaxially arranged gears, which are fixedly connected to each other, and a driving wheel is arranged on the top of the inner side of the clamping jaw frame 1, and the output shaft of the clamping jaw motor 2 is connected to the driving wheel, and the first meshing component 16, the second meshing component 17 and the third meshing component 18 are all in the form of racks, and the three are respectively connected to the inner side of the mounting base 42 of the first clamping jaw 4, the second clamping jaw 5 and the third clamping jaw 6 through a connecting piece, and the first meshing component 16, the second meshing assembly 17 and the third meshing assembly 18 are respectively meshed with one of the gears in the synchronous gear 30; and the first meshing assembly 16 is meshed with the lower side of the synchronous gear 30, the second meshing assembly 17 is meshed with the upper side of the synchronous gear 30, and the third meshing assembly 18 is respectively meshed with the left side of the synchronous gear 30 and the driving wheel; or, the first meshing assembly 16 is meshed with the upper side of the synchronous gear 30, the second meshing assembly 17 is meshed with the lower side of the synchronous gear 30, and the third meshing assembly 18 is respectively meshed with the right side of the synchronous gear 30 and the driving wheel. When the jaw motor 2 rotates, it drives the first jaw 4, the second jaw 5 and the third jaw 6 to move synchronously away from the center position of the jaw frame 1 to release the medicine barrel or synchronously move toward the center position of the jaw frame 1 to clamp the medicine barrel, because the synchronous gear 30 is rotatably connected to the output shaft of the flip motor 3 through a bearing, and the two will not affect each other when they rotate.

[0062] The tensioning assembly is to enable the clamping frame 1 to deflect along a fixed path, improve the rotation accuracy, and ensure that when the deflection is in place, the barrel mouth of the medicine barrel can be aligned with the filling port of the reaction tank. It includes a T-shaped frame 19, a tensioning wheel 23, a vertical sliding block 24, a horizontal sliding block, a second vertical guide rail 21, a third horizontal guide rail 25 and a fixed seat 20;

[0063] The T-shaped frame 19 includes a vertical frame 191 and a horizontal frame 192 vertically connected to the middle of one side of the vertical frame 191, the second vertical guide rail 21 is arranged on the vertical frame 191, and the third horizontal guide rail 25 is arranged on the horizontal frame 192. The vertical slider 24 is slidably assembled on the second vertical guide rail 21, the fixed seat 20 is connected to the inner side of the clamping frame 1, and a tension wheel 23 is arranged between the fixed seat 20 and the vertical slider 24, and the two ends of the tension wheel 23 are rotatably connected to the vertical slider 24 and the fixed seat 20 respectively.

[0064] The transverse slider is fixedly connected to the end of the housing of the flip motor 3 away from the output shaft of the flip motor 3. The center of the transverse slider coincides with the axis line of the output shaft of the flip motor 3, and the transverse slider is slidably assembled on the third horizontal guide rail 25. When the clamping jaw frame 1 is deflected under the drive of the flip motor 3, the tensioning wheel 23 rotates and drives the vertical slider 24 to move along the second vertical guide rail 21, and the T-frame 19 will also move along the third horizontal guide rail 25 to adapt to the deflection angle of the clamping jaw frame 1.

[0065] When in use, the wheeled chassis 26 moves to the medicine barrel position, and the jaw motor 2 rotates, driving the first jaw 4, the second jaw 5 and the third jaw 6 to move synchronously in the direction away from the center of the jaw frame 1, and then embrace the medicine barrel, and then the jaw motor 2 rotates in the opposite direction, and the first jaw 4, the second jaw 5 and the third jaw 6 move synchronously in the direction close to the jaw frame 1 to clamp the medicine barrel, and then the wheeled chassis 26 moves to the reaction tank position, and the drive motor 27 in the telescopic arm assembly rotates, and then the secondary telescopic arm 292 and the tertiary telescopic arm 293 extend in the vertical direction until they reach the specified position. After the telescopic arm assembly stops, the flip motor 3 rotates, driving the entire jaw frame 1 to rotate, and the medicine is poured from the medicine barrel from the filling port into the reaction tank. The entire process is realized by a robot without human participation, avoiding personnel safety risks, reducing personnel labor intensity, and improving work efficiency.

[0066] The embodiments described above are merely descriptions of specific implementation methods of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A lifting and moving feeding robot suitable for use in explosion-proof environments, characterized in that: It comprises a wheeled chassis (26), a telescopic arm assembly arranged on the wheeled chassis (26), and a clamping claw assembly arranged on the telescopic arm assembly; The telescopic arm assembly can drive the clamping claw assembly to move in the vertical direction; the clamping claw assembly includes a clamping assembly and a flipping assembly; the clamping assembly is used to clamp the medicine barrel, and the flipping assembly is used to flip the clamping assembly to realize the dumping and filling of the medicine barrel; The telescopic arm assembly comprises a driving motor (27), a transmission screw (28) and a telescopic arm (29); the transmission screw (28) is arranged in the telescopic arm (29); The drive motor (27) is arranged on the wheeled chassis (26) and is an explosion-proof motor; The telescopic arm (29) comprises a primary telescopic arm (291), a secondary telescopic arm (292) and a tertiary telescopic arm (293) which are sequentially sleeved from the outside to the inside; a stopper is provided between the two adjacent ones; the primary telescopic arm (291) is fixedly provided on the wheeled chassis (26); The transmission screw (28) comprises a primary transmission screw (281), a secondary transmission screw (282) and a tertiary transmission screw (283) which are sequentially sleeved from the outside to the inside; The primary transmission screw (281) is connected to the output shaft of the driving motor (27), and the inner wall of the primary transmission screw (281) is provided with an internal thread; the outer wall of the secondary transmission screw (282) is provided with an external thread, and the external thread is meshed with the internal thread of the primary transmission screw (281); The inner wall of the secondary transmission screw (282) is provided with an internal thread, and the outer wall of the tertiary transmission screw (283) is provided with an external thread, and the external thread of the tertiary transmission screw (283) is meshed with the internal thread of the secondary transmission screw (282); and the tertiary transmission screw (283) is fixedly connected to the inner side surface of the top plate of the tertiary telescopic arm (293); The clamping claw assembly is arranged on the top plate of the three-stage telescopic arm (293).

2. The liftable and movable feeding robot suitable for use in explosion-proof environments according to claim 1 is characterized in that: The flip assembly comprises a flip motor (3), and the flip motor (3) is arranged on the top plate of the three-stage telescopic arm (293); The clamping assembly comprises a clamping jaw frame (1), a clamping jaw motor (2), a movable clamping jaw and a synchronization assembly; the center of the inner side surface of the clamping jaw frame (1) is connected to the output shaft of the flipping motor (3), and the clamping jaw motor (2) is connected to the clamping jaw frame (1); the movable clamping jaw comprises a first clamping jaw assembly, a second clamping jaw assembly and a third clamping jaw assembly; the clamping jaw motor (2) and the flipping motor (3) are both explosion-proof motors; The first clamping jaw assembly comprises a first horizontal guide rail (41) arranged on one side of the outer side of the clamping jaw frame (1) and extending in the horizontal direction, on which the first clamping jaw (4) is slidably mounted, the second clamping jaw assembly comprises a second horizontal guide rail (51) arranged on the other side of the outer side of the clamping jaw frame (1) and extending in the horizontal direction, on which the second clamping jaw (5) is slidably mounted, and the third clamping jaw assembly comprises a first vertical guide rail (61) arranged on the top of the outer side of the clamping jaw frame (1) and extending in the vertical direction, on which the third clamping jaw (6) is slidably mounted; The synchronous assembly comprises an upper reversing wheel (7) and a lower reversing wheel (8) arranged at the top and bottom of the inner side surface of the clamping jaw frame (1), and a left reversing wheel (9) and a right reversing wheel (10) arranged at the left and right sides, the four being connected by a synchronous belt (11), and the output shaft of the clamping jaw motor (2) being connected to the upper reversing wheel (7) or the lower reversing wheel (8); an upper left steering wheel (12) is arranged at the upper left of the center of the inner side surface of the clamping jaw frame (1), an upper right steering wheel (14) is arranged at the upper right, a lower left steering wheel (13) is arranged at the lower left, and a lower right steering wheel (15) is arranged at the lower right, and the four are all in contact with the outer side surface of the synchronous belt (11); a first meshing assembly (16) connected to the first clamping jaw (4), a second meshing assembly (17) connected to the second clamping jaw (5), and a third meshing assembly (18) connected to the third clamping jaw (6) are arranged on the inner side surface of the clamping jaw frame (1); The first meshing assembly (16) meshes with the synchronous belt (11) between the left reversing wheel (9) and the lower left steering wheel (13), the second meshing assembly (17) meshes with the synchronous belt (11) between the right reversing wheel (10) and the upper right steering wheel (14), and the third meshing assembly (18) meshes with the synchronous belt (11) between the upper reversing wheel (7) and the upper left steering wheel (12); or, the first meshing assembly (16) meshes with the synchronous belt (11) between the left reversing wheel (9) and the upper left steering wheel (12), the second meshing assembly (17) meshes with the synchronous belt (11) between the right reversing wheel (10) and the lower right steering wheel (15), and the third meshing assembly (18) meshes with the synchronous belt (11) between the upper reversing wheel (7) and the upper right steering wheel (14); When the clamp motor (2) rotates, it drives the first clamp (4), the second clamp (5) and the third clamp (6) to synchronously move away from the center position of the clamp frame (1) to release the medicine barrel, or synchronously move toward the center position of the clamp frame (1) to clamp the medicine barrel.

3. The liftable and movable feeding robot suitable for use in explosion-proof environments according to claim 1 is characterized in that: The flip assembly comprises a flip motor (3), and the flip motor (3) is arranged on the top plate of the three-stage telescopic arm (293); The clamping assembly comprises a clamping jaw frame (1), a clamping jaw motor (2), a movable clamping jaw and a synchronization assembly; the center of the inner side surface of the clamping jaw frame (1) is connected to the output shaft of the flipping motor (3), and the clamping jaw motor (2) is connected to the clamping jaw frame (1); the movable clamping jaw comprises a first clamping jaw assembly, a second clamping jaw assembly and a third clamping jaw assembly; the clamping jaw motor (2) and the flipping motor (3) are both explosion-proof motors; The first clamping jaw assembly comprises a first horizontal guide rail (41) arranged on one side of the outer side of the clamping jaw frame (1) and extending in the horizontal direction, on which the first clamping jaw (4) is slidably mounted, the second clamping jaw assembly comprises a second horizontal guide rail (51) arranged on the other side of the outer side of the clamping jaw frame (1) and extending in the horizontal direction, on which the second clamping jaw (5) is slidably mounted, and the third clamping jaw assembly comprises a first vertical guide rail (61) arranged on the top of the outer side of the clamping jaw frame (1) and extending in the vertical direction, on which the third clamping jaw (6) is slidably mounted; The synchronous assembly comprises a synchronous gear (30) rotatably connected to the output shaft of the flip motor (3); a driving wheel is arranged at the top of the inner side of the clamping jaw frame (1); the output shaft of the clamping jaw motor (2) is connected to the driving wheel; the inner side of the clamping jaw frame (1) is provided with a first meshing assembly (16) connected to the first clamping jaw (4), a second meshing assembly (17) connected to the second clamping jaw (5), and a third meshing assembly (18) connected to the third clamping jaw (6); the first meshing assembly (16), the second meshing assembly (17) and the third meshing assembly (18) are all racks; the synchronous gear (30) comprises three coaxially fixed gears. , the first meshing component (16), the second meshing component (17) and the third meshing component (18) are respectively meshed with one of the gears; and the first meshing component (16) is meshed with the lower side of the synchronous gear (30), the second meshing component (17) is meshed with the upper side of the synchronous gear (30), and the third meshing component (18) is respectively meshed with the left side of the synchronous gear (30) and the driving wheel; or, the first meshing component (16) is meshed with the upper side of the synchronous gear (30), the second meshing component (17) is meshed with the lower side of the synchronous gear (30), and the third meshing component (18) is respectively meshed with the right side of the synchronous gear (30) and the driving wheel; When the clamp motor (2) rotates, it drives the first clamp (4), the second clamp (5) and the third clamp (6) to synchronously move away from the center position of the clamp frame (1) to release the medicine barrel, or synchronously move toward the center position of the clamp frame (1) to clamp the medicine barrel.

4. The liftable and movable feeding robot suitable for explosion-proof environment according to claim 2 is characterized in that: The first meshing assembly (16), the second meshing assembly (17) and the third meshing assembly (18) have the same structure, including a tooth plate (161) and a cover plate (162) connected to the tooth plate (161), the tooth plate (161) is provided with a rack meshing with the synchronous belt (11), the cover plate (162) is provided with a groove for the synchronous belt (11) to pass through, and a connecting piece is provided on the tooth plate (161), and the connecting piece is used to connect with the inner side of the mounting base (42) of the first clamping jaw (4), the second clamping jaw (5) or the third clamping jaw (6).

5. The liftable and movable feeding robot suitable for use in explosion-proof environments according to claim 1 is characterized in that: The projections of the outer walls of the secondary telescopic arm (292) and the tertiary telescopic arm (293) on the horizontal plane are rectangular, and the projections of the inner walls of the primary telescopic arm (291) and the secondary telescopic arm (292) on the horizontal plane are rectangular.

6. The liftable and movable feeding robot suitable for use in explosion-proof environments according to any one of claims 2 to 4, characterized in that: Also included is a tensioning structure; The tensioning structure comprises a T-shaped frame (19), a tensioning wheel (23), a vertical sliding block (24), a horizontal sliding block, a second vertical guide rail (21), a third horizontal guide rail (25) and a fixing seat (20); The fixed seat (20) is connected to the inner side surface of the clamping claw frame (1); the T-shaped frame (19) includes a vertical frame (191) and a horizontal frame (192) vertically connected to the middle part of one side of the vertical frame (191); the second vertical guide rail (21) is arranged on the vertical frame (191); the third horizontal guide rail (25) is arranged on the horizontal frame (192); the vertical sliding block (24) is slidably assembled on the second vertical guide rail (21); the horizontal sliding block is connected to an end of the housing of the flip motor (3) away from the output shaft of the flip motor (3); the center of the horizontal sliding block coincides with the axis center line of the output shaft of the flip motor (3); and the horizontal sliding block is slidably assembled with the third horizontal guide rail (25); a tensioning wheel (23) is arranged between the fixed seat (20) and the vertical sliding block (24); and the two ends of the tensioning wheel (23) are rotatably connected to the vertical sliding block (24) and the fixed seat (20) respectively.

7. The liftable and movable feeding robot suitable for use in explosion-proof environments according to claim 6 is characterized in that: The first clamping jaw (4), the second clamping jaw (5) and the third clamping jaw (6) have the same structure and all include a mounting base (42) and a jaw body (43); the mounting base (42) of the first clamping jaw (4) is slidably mounted on a first horizontal guide rail (41), the mounting base (42) of the second clamping jaw (5) is slidably mounted on a second horizontal guide rail (51), and the mounting base (42) of the third clamping jaw (6) is slidably mounted on a first vertical guide rail (61); one end of the jaw body (43) is fixedly connected to the outer side surface of the mounting base (42).

8. The liftable and movable feeding robot suitable for use in explosion-proof environments according to claim 2 is characterized in that: The output shaft of the clamping jaw motor (2) is connected to the upper reversing wheel (7).

9. The liftable and movable feeding robot suitable for explosion-proof environment according to claim 7 is characterized in that: The outer ends of the jaw bodies (43) of the first jaw (4) and the second jaw (5) are provided with baffles (431); and a fixed jaw (101) is provided at the bottom of the outer side surface of the jaw frame (1).

10. The liftable and movable feeding robot suitable for explosion-proof environment according to claim 2 is characterized in that: The upper left steering wheel (12), the upper right steering wheel (14), the lower left steering wheel (13) and the lower right steering wheel (15) are respectively provided with two.

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