A lifting and moving feeding robot suitable for explosion-proof environments

Abstract

This invention relates to robots, specifically to a liftable and mobile material-dispensing robot suitable for explosion-proof environments. It addresses the problems of high labor intensity, safety risks, and low efficiency associated with dispensing chemicals. The invention includes a wheeled chassis, a telescopic arm assembly mounted on the chassis, and a gripper assembly mounted on the telescopic arm assembly. The telescopic arm assembly drives the gripper assembly to move vertically, allowing it to reach higher dispensing positions. The wheeled chassis then moves the telescopic arm assembly and the gripper assembly. The telescopic arm assembly uses a drive motor paired with a multi-stage screw drive, resulting in a compact structure with high rigidity, facilitating heavy-duty operation and ensuring stability even when the gripper assembly is at a high position. The drive motor is an explosion-proof motor, meeting the explosion-proof environment requirements of chemical plants.

Description

Technical Field

[0001] This invention relates to robots, and more specifically to a liftable and mobile feeding robot suitable for explosion-proof environments. Background Technology

[0002] In the daily production of chemical plants, different reagents need to be added to reaction tanks at different reaction stages. These reagents are generally stored in barrels. When addition is needed, operators need to remove the corresponding reagent barrel from the shelf, carry it to the corresponding reaction tank, move the barrel to the top of the reaction tank, and then add the reagent through the filling port on the top of the reaction tank. After adding the specified dosage, the barrel is carried back to the shelf for safekeeping. The entire process is done manually, which is tedious and labor-intensive. Reaction tanks are generally very tall, and the barrels filled with reagents are usually quite heavy. If not careful, there is a risk of falls when manually carrying the barrels to the top of the reaction tank, which could endanger personnel safety. Furthermore, manual operation is inefficient. Chemical plants often store large quantities of flammable and explosive materials, posing certain safety risks to personnel working there. Therefore, it is necessary to design a robot to replace manual labor in the explosion-proof environment of a chemical plant for adding reagents. Summary of the Invention

[0003] The purpose of this invention is to solve the technical problems of high labor intensity, safety risks and low work efficiency in the process of adding medicines, and to provide a liftable and mobile feeding robot suitable for explosion-proof environments.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solution:

[0005] A liftable mobile feeding robot suitable for explosion-proof environments is characterized by including a wheeled chassis, a telescopic arm assembly mounted on the wheeled chassis, and a gripper assembly mounted on the telescopic arm assembly.

[0006] The telescopic arm assembly can drive the gripper assembly to move in the vertical direction; the gripper 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 tilting and filling of the medicine barrel;

[0007] The telescopic boom assembly includes a drive motor, a transmission screw, and a telescopic boom; the transmission screw is disposed inside the telescopic boom.

[0008] The drive motor is mounted on a wheeled chassis and is an explosion-proof motor.

[0009] The telescopic boom includes a first-stage telescopic boom, a second-stage telescopic boom, and a third-stage telescopic boom that are sequentially nested from the outside in; a stop is provided between adjacent telescopic booms; the first-stage telescopic boom is fixedly mounted on a wheeled chassis;

[0010] The transmission screw includes a first-stage transmission screw, a second-stage transmission screw, and a third-stage transmission screw, which are sequentially arranged from the outside to the inside.

[0011] The first-stage transmission screw is connected to the output shaft of the drive motor, and the inner wall of the first-stage transmission screw is provided with an internal thread; the outer wall of the second-stage transmission screw is provided with an external thread, and its external thread meshes with the internal thread of the first-stage transmission screw.

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

[0013] The gripper assembly is mounted on the top plate of the three-stage telescopic arm.

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

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

[0016] The synchronization assembly includes upper and lower reversing wheels located at the top and bottom of the inner side of the gripper frame, and left and right reversing wheels located on the left and right sides, respectively. These four components are connected by a timing belt, and the output shaft of the gripper motor is connected to either the upper or lower reversing wheel. A left upper steering wheel, a right upper steering wheel, a left lower steering wheel, and a right lower steering wheel are located at the upper left, lower right, lower left, and lower right center of the inner side of the gripper frame, respectively, all of which abut against the outer side of the timing belt. The inner side of the gripper frame is provided with a first engagement assembly connected to the first gripper, a second engagement assembly connected to the second gripper, and a third engagement assembly connected to the third gripper.

[0017] The first engagement component engages with the timing belt between the left reversing wheel and the lower left steering wheel, the second engagement component engages with the timing belt between the right reversing wheel and the upper right steering wheel, and the third engagement component engages with the timing belt between the upper reversing wheel and the upper left steering wheel; or, the first engagement component engages with the timing belt between the left reversing wheel and the upper left steering wheel, the second engagement component engages with the timing belt between the right reversing wheel and the lower right steering wheel, and the third engagement component engages with the timing belt between the upper reversing wheel and the upper right steering wheel.

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

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

[0020] The synchronization assembly includes a synchronization gear rotatably connected to the output shaft of the flip motor. A drive wheel is located at the top of the inner side of the gripper frame. The output shaft of the gripper motor is connected to the drive wheel. The inner side of the gripper frame is provided with a first meshing assembly connected to the first gripper, a second meshing assembly connected to the second gripper, and a third meshing assembly connected to the third gripper. The first, second, and third meshing assemblies are all racks. The synchronization gear includes three gears coaxially fixed. The first, second, and third meshing assemblies each mesh with one of these gears. The first meshing assembly meshes with the lower side of the synchronization gear, the second meshing assembly meshes with the upper side of the synchronization gear, and the third meshing assembly meshes with the left side of both the synchronization gear and the drive wheel. Alternatively, the first meshing assembly meshes with the upper side of the synchronization gear, the second meshing assembly meshes with the lower side of the synchronization gear, and the third meshing assembly meshes with the right side of both the synchronization gear and the drive wheel.

[0021] When the gripper motor rotates, it drives the first gripper, the second gripper, and the third gripper to move synchronously away from the center of the gripper frame to release the medicine barrel, or to move synchronously closer to the center of the gripper 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 toothed plate and a cover plate connected to the toothed plate. The toothed plate is provided with a rack that meshes with the timing belt. The cover plate is provided with a through groove for the timing belt to pass through. A connector is provided on the toothed plate for connecting to the inner side of the mounting base of the first gripper, the second gripper, or the third gripper.

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

[0024] Furthermore, it also includes tensioning structures;

[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 fixed base;

[0026] The fixed base is connected to the inner side of the gripper frame. The T-shaped frame includes a vertical frame and a horizontal frame vertically connected to the middle of one side of the vertical frame. The second vertical guide rail is set on the vertical frame, and the third horizontal guide rail is set on the horizontal frame. The vertical sliding slider is slidably assembled on the second vertical guide rail. The horizontal sliding slider is connected to the end of the housing of the flip motor away from the output shaft of the flip motor. The center of the horizontal sliding slider coincides with the axis of the output shaft of the flip motor, and the horizontal sliding slider is slidably assembled with the third horizontal guide rail. A tensioning wheel is provided between the fixed base and the vertical sliding slider. The two ends of the tensioning wheel are rotatably connected to the vertical sliding slider and the fixed base, respectively.

[0027] Furthermore, the first gripper, the second gripper, and the third gripper have the same structure, each including a mounting base and a gripper body; the mounting base of the first gripper is slidably mounted on the first horizontal guide rail, the mounting base of the second gripper is slidably mounted on the second horizontal guide rail, and the mounting base of the third gripper is slidably mounted on the first vertical guide rail, with one end of the gripper body fixedly connected to the outer side of the mounting base.

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

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

[0030] Furthermore, there are two of each of the upper left steering wheel, upper right steering wheel, lower left steering wheel, and 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 mobile feeding robot suitable for explosion-proof environments, comprising a wheeled chassis, a telescopic arm assembly mounted on the wheeled chassis, and a gripper assembly mounted on the telescopic arm assembly. The telescopic arm assembly can drive the gripper assembly to move vertically, thus reaching a high feeding position. The wheeled chassis can drive the telescopic arm assembly and the gripper assembly to move. The gripper assembly is responsible for gripping the medicine barrel and tilting and pouring the medicine. The telescopic arm assembly uses a multi-stage transmission screw to drive the multi-stage telescopic arm to achieve vertical movement. The transmission process is as follows: the drive motor rotates, which in turn drives the first-stage transmission screw to rotate first and then drives the second-stage transmission screw to rotate together. Because the third-stage transmission screw is fixedly connected to the inner side of the top plate of the third-stage telescopic arm, it does not rotate but moves along the axial direction. 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 threaded engagement of the secondary transmission screw reaches its end, the tertiary telescopic arm is fully extended. The stop between the tertiary and secondary telescopic arms then transmits force, causing the tertiary telescopic arm to drive the secondary telescopic arm to extend. This initiates the next stage of transmission. As the primary transmission screw rotates, the secondary transmission screw moves along the axial direction until the threaded engagement between the primary and secondary transmission screws reaches its end, at which point the telescopic arm is fully extended. This achieves multi-stage transmission and multi-stage extension of the telescopic arm. The structure is simple and low-cost. Because the gripper assembly holding the medicine barrel is very heavy, other transmission methods might cause wobbling when fully extended and raised to a high position. The multi-stage screw transmission structure is compact and rigid, which is beneficial for heavy loads and ensures stability even when the gripper assembly is at a high position. The drive motor is an explosion-proof motor, meeting the explosion-proof environment requirements of chemical plants.

[0033] (2) The synchronous component of the liftable mobile feeding robot suitable for explosion-proof environment provided by the present invention includes two structural forms. The first type uses a reversing wheel, a steering wheel and a synchronous belt to drive the first gripper, the second gripper and the third gripper to move synchronously away from the center of the gripper frame to release the medicine barrel or move synchronously towards the center of the gripper frame to clamp the medicine barrel when the gripper motor rotates. The second type has a synchronous gear rotatably connected to the output shaft of the flip motor. The three grippers open or clamp synchronously through the cooperation of the drive wheel, the synchronous gear and the rack. Both structural forms use a gripper motor as the power source, which is simple in structure and saves costs.

[0034] (3) The lifting and moving feeding robot suitable for explosion-proof environment provided by the present invention is also equipped with a tensioning component. The tensioning component is to enable the gripper frame to deflect along a fixed path, improve the rotation accuracy, and ensure that when the deflection is in place, the mouth of the medicine barrel can be aligned with the filling port of the reaction vessel. When the gripper frame deflects, the tensioning wheel rotates and drives the vertical sliding block to move along the second vertical guide rail, while the T-shaped frame will also move along the third horizontal guide rail, which is adapted to the deflection angle of the gripper frame.

[0035] (4) The projection of the outer wall of the second-level telescopic arm and the outer wall of the third-level telescopic arm of the lifting and moving feeding robot suitable for explosion-proof environment provided by the present invention is a rectangle on the horizontal plane. The projection of the inner wall of the first-level telescopic arm and the inner wall of the second-level telescopic arm on the horizontal plane is also a rectangle. Because the rectangular structure has high stability, it can improve the stability of the entire telescopic arm assembly structure when fully extended. Attached Figure Description

[0036] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present invention, a liftable and mobile feeding robot suitable for explosion-proof environments, in use.

[0037] Figure 2 This is a three-dimensional structural diagram of the gripper assembly in an embodiment of the present invention;

[0038] Figure 3 This is a three-dimensional structural diagram of the gripper assembly in use in an embodiment of the present invention (the timing belt, upper left steering wheel, lower left steering wheel, upper right steering wheel, and lower right reversing wheel are not shown).

[0039] Figure 4 This is a side view of the gripper assembly in an embodiment of the present invention;

[0040] Figure 5 This is a schematic diagram illustrating the interaction between the upper reversing wheel, lower reversing wheel, left reversing wheel, right reversing wheel, upper left steering wheel, lower left steering wheel, upper right steering wheel, and lower right reversing wheel and the timing belt in an embodiment of the present invention.

[0041] Figure 6 This is a schematic diagram showing the engagement of the first meshing component, the second meshing component, and the third meshing component with the synchronous gear in an embodiment of the present invention.

[0042] Figure 7 This is a schematic diagram illustrating the engagement between the synchronous gear and the output shaft of the reversing motor in an embodiment of the present invention.

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

[0044] Figure 9 This is a cross-sectional view of the telescopic arm assembly in the retracted state in an embodiment of the present invention.

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

[0046] 1-Gripper frame, 101-Fixed gripper; 2-Gripper motor, 3-Tilting motor; 4-First gripper, 41-First horizontal guide rail, 42-Mounting base, 43-Gripper body, 431-Baffle; 5-Second gripper, 51-Second horizontal guide rail, 6-Third gripper, 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-Gripper plate, 1 62-Cover plate; 17-Second meshing assembly, 18-Third meshing assembly; 19-T-shaped 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-Wheel 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 Implementation

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

[0048] Reference Figures 1-9 The present invention provides a liftable mobile feeding robot suitable for explosion-proof environments, which includes a wheeled chassis 26. Shock absorbers are provided on all four wheels of the wheeled chassis 26, so as to absorb excess vibration during movement, prevent the medicine in the medicine tank from spilling out, and each wheel can be turned independently, thereby improving the movement flexibility of the entire wheeled chassis 26.

[0049] A telescopic boom assembly is mounted on the wheeled chassis 26, and a gripper assembly is mounted on the telescopic boom assembly. The structure of the telescopic boom assembly is as follows: Figure 6 As shown, it includes a drive motor 27, a transmission screw 28, and a telescopic arm 29. The transmission screw 28 is installed inside the telescopic arm 29, and the drive motor 27 is fixedly installed on the wheeled chassis 26 and is an explosion-proof motor.

[0050] The telescopic boom 29 includes a primary telescopic boom 291, a secondary telescopic boom 292, and a tertiary telescopic boom 293, which are sequentially arranged from the outside in. A stop is provided between adjacent booms. The primary telescopic boom 291 is fixedly mounted on the wheeled chassis 26. The projections of the outer walls of the secondary and tertiary telescopic booms 292 and 293 onto the horizontal plane are rectangular, as are the projections of the inner walls of the primary and secondary telescopic booms 291 and 292 onto the horizontal plane. This rectangular structure improves the stability of the telescopic boom assembly when fully extended. The transmission screw 28 includes a primary transmission screw 281, a secondary transmission screw 282, and a tertiary transmission screw 283, which are sequentially arranged from the outside in. The primary transmission screw 281 is connected to the output shaft of the drive motor 27. An internal thread is provided on the inner wall of the primary transmission screw 281, and an external thread is provided on the outer wall of the secondary transmission screw 282 for meshing 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. The external thread of the tertiary transmission screw 283 meshes with the internal thread of the secondary transmission screw 282, and the tertiary transmission screw 283 is fixedly connected to the inner side of the top plate of the tertiary telescopic arm 293.

[0051] The deployment process of the telescopic boom 29 is as follows: The drive motor 27 rotates, which in turn drives the primary transmission screw 281 to rotate first, and then drives 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 boom 293, it does not rotate but moves along the axial direction. The tertiary transmission screw 283 drives the tertiary telescopic boom 293 and the secondary telescopic boom 292 to unfold until the threaded engagement between the tertiary transmission screw 283 and the secondary transmission screw 282 reaches its end. At this time, the tertiary telescopic boom 293 is fully unfolded. The stop set between the tertiary telescopic boom 293 and the secondary telescopic boom 292 plays the role of force transmission, allowing the tertiary telescopic boom to unfold. 293 drives the secondary telescopic arm 292 to unfold, at which point it 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 engagement between the primary and secondary transmission screws 281 and 282 reaches its end, and the telescopic arm 29 is fully unfolded. This achieves multi-stage transmission and multi-stage unfolding of the telescopic arm 29. The structure is simple and the cost is low. Because the gripper assembly behind the medicine barrel is very heavy, if other transmission methods are used, the gripper assembly may wobble when it is fully unfolded and raised to the top. The multi-stage screw transmission structure is compact and has high rigidity, which is conducive to heavy loads and allows the gripper assembly to remain stable even when it is in the air.

[0052] A gripper assembly is provided on the top plate of the three-stage telescopic arm 293. It includes a gripping assembly for gripping the medicine barrel and a flipping assembly for flipping the gripping assembly to achieve tilting and filling of the medicine barrel. The flipping assembly includes a flipping motor 3, which is mounted on the top plate of the three-stage telescopic arm 293.

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

[0054] The first gripper assembly includes a first horizontal guide rail 41 located on one side of the outer side of the gripper frame 1 and extending horizontally, on which a first gripper 4 is slidably mounted. The second gripper assembly includes a second horizontal guide rail 51 located on the other side of the outer side of the gripper frame 1 and extending horizontally, on which a second gripper 5 is slidably mounted. The third gripper assembly includes a first vertical guide rail 61 located at the top of the outer side of the gripper frame 1 and extending vertically, on which a third gripper 6 is slidably mounted. A fixed gripper 101 is located at the bottom of the outer side of the gripper frame 1. This four-way locking ensures the stability of the medicine barrel after gripping.

[0055] The medications are mainly available in two forms: liquid and powder. Both forms can be stored in a medicine container, while powdered medications can be stored in a medicine bag. The gripper assembly can stably hold both the medicine container and the medicine bag. In this embodiment, the gripper assembly holds the medicine container.

[0056] The first gripper 4, the second gripper 5, and the third gripper 6 have the same structure, each including a mounting base 42 and a gripper body 43. The mounting base 42 of the first gripper 4 is slidably mounted on the first horizontal guide rail 41, the mounting base 42 of the second gripper 5 is slidably mounted on the second horizontal guide rail 51, and the mounting base 42 of the third gripper 6 is slidably mounted on the first vertical guide rail 61. One end of the gripper body 43 is fixedly connected to the outer side 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 gripper body 43 of the first gripper 4 and the second gripper 5.

[0057] To achieve synchronized movement of the first gripper 4, the second gripper 5, and the third gripper 6, a synchronization component is also provided. In this invention, the synchronization component has two structural forms, the first being as follows: Figure 5As shown, an upper reversing pulley 7 and a lower reversing pulley 8 are respectively provided at the top and bottom of the inner side of the gripper frame 1, and a left reversing pulley 9 and a right reversing pulley 10 are respectively provided on the left and right sides. The four are connected by a synchronous belt 11. A left upper steering pulley 12, a right upper steering pulley 14, a left lower steering pulley 13, and a right lower steering pulley 15 are provided at the upper left, lower right, lower left, and lower right center of the inner side of the gripper frame 1. All four abut against the outer side of the synchronous belt 11. To prevent excessive deformation of the synchronous belt 11 when passing the steering pulleys, two of each of the following are provided: left upper steering pulley 12, right upper steering pulley 14, left lower steering pulley 13, and right lower steering pulley 15. This allows the synchronous belt 11 to gradually turn, avoiding excessive turning angles that could affect its operation. To avoid generating excessive deflection torque on the entire gripper frame 1, the output shaft of the gripper motor 2 can be connected to either the upper reversing pulley 7 or the lower reversing pulley 8. In this embodiment, to avoid interference with other equipment, the output shaft of the gripper motor 2 is connected to the upper reversing pulley 7.

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

[0059] To ensure stable engagement between each meshing component and the synchronous belt 11, the first meshing component 16, the second meshing component 17, and the third meshing component 18 all have the same structure. They include a toothed plate 161 and a cover plate 162 bolted to the toothed plate 161. A rack that meshes with the synchronous belt 11 is provided on the toothed plate 161, and a groove for the synchronous belt 11 to pass through is provided on the cover plate 162. In this way, when each meshing component engages with the synchronous belt 11, the synchronous belt 11 is confined in the groove by the cooperation of the toothed plate 161 and the cover plate 162, ensuring stable engagement between the rack and the synchronous belt 11. A connector is also provided on the toothed plate 161, which is used to connect to the inner side of the mounting base 42 of the first gripper 4, the second gripper 5, or the third gripper 6.

[0060] All three grippers adopt the above-mentioned transmission method, with a large opening and closing stroke, which can be adapted to most medicine barrels or medicine bags on the market. At the same time, the reversing wheel and steering wheel can also adopt the form of sprockets, and the timing belt 11 can also adopt the form of chain for transmission, or the timing belt transmission can be replaced by rope transmission.

[0061] Alternatively, a second type of synchronous component structure can be used to achieve the synchronous opening and closing of the three grippers, 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 via a bearing. The synchronous gear 30 includes three coaxially arranged gears, which are fixed together. A drive wheel is provided on the top of the inner side of the gripper frame 1. The output shaft of the gripper motor 2 is connected to the drive wheel. The first meshing assembly 16, the second meshing assembly 17, and the third meshing assembly 18 are all rack and pinion in this case. The three are connected to the inner side of the mounting base 42 of the first gripper 4, the second gripper 5, and the third gripper 6 respectively via connectors. The first meshing assembly... 16. The second meshing assembly 17 and the third meshing assembly 18 respectively mesh with one of the synchronous gears 30; and the first meshing assembly 16 meshes with the lower side of the synchronous gear 30, the second meshing assembly 17 meshes with the upper side of the synchronous gear 30, and the third meshing assembly 18 meshes with the left side of the synchronous gear 30 and the drive wheel respectively; or, the first meshing assembly 16 meshes with the upper side of the synchronous gear 30, the second meshing assembly 17 meshes with the lower side of the synchronous gear 30, and the third meshing assembly 18 meshes with the right side of the synchronous gear 30 and the drive wheel respectively. When the gripper motor 2 rotates, it drives the first gripper 4, the second gripper 5, and the third gripper 6 to move synchronously away from the center of the gripper frame 1 to release the medicine barrel or to move synchronously closer to the center of the gripper frame 1 to clamp the medicine barrel. Because the synchronous gear 30 is rotatably connected to the output shaft of the flipping motor 3 through bearings, the rotation of the two will not affect each other.

[0062] The tensioning assembly is designed to allow the gripper frame 1 to deflect along a fixed path, improving rotational accuracy and ensuring that the mouth of the medicine barrel can be aligned with the filling port of the reaction vessel when it is deflected into place. 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 base 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. A second vertical guide rail 21 is disposed on the vertical frame 191, and a third horizontal guide rail 25 is disposed on the horizontal frame 192. The vertical slider 24 is slidably mounted on the second vertical guide rail 21. A fixed seat 20 is connected to the inner side of the gripper frame 1. A tension wheel 23 is disposed 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 horizontal 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 horizontal slider coincides with the axis of the output shaft of the flip motor 3. The horizontal slider is slidably mounted on the third horizontal guide rail 25. When the gripper frame 1 deflects under the drive of the flip motor 3, the tension wheel 23 rotates and drives the vertical slider 24 to move along the second vertical guide rail 21. The T-shaped frame 19 will also move along the third horizontal guide rail 25, which is adapted to the deflection angle of the gripper frame 1.

[0065] In use, the wheeled chassis 26 moves to the position of the medicine barrel, the gripper motor 2 rotates, driving the first gripper 4, the second gripper 5, and the third gripper 6 to move synchronously away from the center of the gripper frame 1, thus encircling the medicine barrel. Then the gripper motor 2 rotates in the opposite direction, and the first gripper 4, the second gripper 5, and the third gripper 6 move synchronously towards the gripper frame 1 to hold the medicine barrel. Then the wheeled chassis 26 moves to the position of the reaction tank, the drive motor 27 in the telescopic arm assembly rotates, and then the secondary telescopic arm 292 and the tertiary telescopic arm 293 extend vertically until they reach the designated position. After the telescopic arm assembly stops, the flip motor 3 rotates, driving the entire gripper frame 1 to rotate, pouring the medicine from the medicine barrel into the reaction tank through the filling port. The entire process is realized by the robot, without human intervention, avoiding personnel safety risks, reducing the labor intensity of personnel, and improving work efficiency.

[0066] The embodiments described above are merely illustrative of specific implementations of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A liftable and mobile feeding robot suitable for explosion-proof environments, characterized in that: It includes a wheeled chassis (26), a telescopic boom assembly mounted on the wheeled chassis (26), and a gripper assembly mounted on the telescopic boom assembly; The telescopic arm assembly can drive the gripper assembly to move in the vertical direction; the gripper 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 tilting and filling of the medicine barrel; The telescopic boom assembly includes a drive motor (27), a transmission screw (28), and a telescopic boom (29); the transmission screw (28) is disposed inside the telescopic boom (29); The drive motor (27) is mounted on the wheeled chassis (26) and is an explosion-proof motor; The telescopic arm (29) includes a first-stage telescopic arm (291), a second-stage telescopic arm (292) and a third-stage telescopic arm (293) arranged sequentially from the outside to the inside; a stop is provided between adjacent telescopic arms; the first-stage telescopic arm (291) is fixedly mounted on the wheeled chassis (26); The transmission screw (28) includes a first-stage transmission screw (281), a second-stage transmission screw (282) and a third-stage transmission screw (283) arranged sequentially from the outside to the inside; The first-stage transmission screw (281) is connected to the output shaft of the drive motor (27), and the inner wall of the first-stage transmission screw (281) is provided with an internal thread; the outer wall of the second-stage transmission screw (282) is provided with an external thread, and its external thread meshes with the internal thread of the first-stage 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. The external thread of the tertiary transmission screw (283) meshes with the internal thread of the secondary transmission screw (282); and the tertiary transmission screw (283) is fixedly connected to the inner side of the top plate of the tertiary telescopic arm (293). The gripper assembly is mounted on the top plate of the three-stage telescopic arm (293); The flipping assembly includes a flipping motor (3), which is mounted on the top plate of the three-stage telescopic arm (293); the clamping assembly includes a gripper frame (1), the center of the inner side of the gripper frame (1) is connected to the output shaft of the flipping motor (3); It also includes tensioning structures; The tensioning structure 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 base (20); The fixed seat (20) is connected to the inner side of the gripper frame (1). 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 set on the vertical frame (191). The third horizontal guide rail (25) is set on the horizontal frame (192). The vertical slider (24) is slidably assembled on the second vertical guide rail (21). The horizontal slider is 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 horizontal slider coincides with the axis of the output shaft of the flip motor (3). The horizontal slider is slidably assembled with the third horizontal guide rail (25). A tensioning wheel (23) is provided between the fixed seat (20) and the vertical slider (24). The two ends of the tensioning wheel (23) are rotatably connected to the vertical slider (24) and the fixed seat (20), respectively.

2. The liftable and mobile feeding robot suitable for explosion-proof environments according to claim 1, characterized in that: The clamping assembly also includes a gripper motor (2), a movable gripper, and a synchronization assembly; the gripper motor (2) is connected to the gripper frame (1); the movable gripper includes a first gripper assembly, a second gripper assembly, and a third gripper assembly; both the gripper motor (2) and the flipping motor (3) are explosion-proof motors; The first gripper assembly includes a first horizontal guide rail (41) disposed on one side of the outer side of the gripper frame (1) and extending in the horizontal direction, on which a first gripper (4) is slidably mounted; the second gripper assembly includes a second horizontal guide rail (51) disposed on the other side of the outer side of the gripper frame (1) and extending in the horizontal direction, on which a second gripper (5) is slidably mounted; the third gripper assembly includes a first vertical guide rail (61) disposed on the top of the outer side of the gripper frame (1) and extending in the vertical direction, on which a third gripper (6) is slidably mounted. The synchronization assembly includes an upper reversing wheel (7) and a lower reversing wheel (8) located at the top and bottom of the inner side of the gripper frame (1), and a left reversing wheel (9) and a right reversing wheel (10) located on the left and right sides. The four are connected by a timing belt (11), and the output shaft of the gripper motor (2) is connected to the upper reversing wheel (7) or the lower reversing wheel (8). 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 located at the upper left, lower right, and lower left of the center of the inner side of the gripper frame (1). All four are in contact with the outer side of the timing belt (11). The inner side of the gripper frame (1) is provided with a first engagement assembly (16) connected to the first gripper (4), a second engagement assembly (17) connected to the second gripper (5), and a third engagement assembly (18) connected to the third gripper (6). The first engagement assembly (16) engages with the timing belt (11) between the left reversing wheel (9) and the lower left steering wheel (13), the second engagement assembly (17) engages with the timing belt (11) between the right reversing wheel (10) and the upper right steering wheel (14), and the third engagement assembly (18) engages with the timing belt (11) between the upper reversing wheel (7) and the upper left steering wheel (12); or, the first engagement assembly (16) engages with the timing belt (11) between the left reversing wheel (9) and the upper left steering wheel (12), the second engagement assembly (17) engages with the timing belt (11) between the right reversing wheel (10) and the lower right steering wheel (15), and the third engagement assembly (18) engages with the timing belt (11) between the upper reversing wheel (7) and the upper right steering wheel (14); When the gripper motor (2) rotates, it drives the first gripper (4), the second gripper (5) and the third gripper (6) to move synchronously away from the center of the gripper frame (1) to release the medicine barrel or move synchronously closer to the center of the gripper frame (1) to clamp the medicine barrel.

3. The liftable and mobile feeding robot suitable for explosion-proof environments according to claim 1, characterized in that: The clamping assembly also includes a gripper motor (2), a movable gripper, and a synchronization assembly; the gripper motor (2) is connected to the gripper frame (1); the movable gripper includes a first gripper assembly, a second gripper assembly, and a third gripper assembly; both the gripper motor (2) and the flipping motor (3) are explosion-proof motors; The first gripper assembly includes a first horizontal guide rail (41) disposed on one side of the outer side of the gripper frame (1) and extending in the horizontal direction, on which a first gripper (4) is slidably mounted; the second gripper assembly includes a second horizontal guide rail (51) disposed on the other side of the outer side of the gripper frame (1) and extending in the horizontal direction, on which a second gripper (5) is slidably mounted; the third gripper assembly includes a first vertical guide rail (61) disposed on the top of the outer side of the gripper frame (1) and extending in the vertical direction, on which a third gripper (6) is slidably mounted. The synchronization assembly includes a synchronization gear (30) rotatably connected to the output shaft of the flip motor (3). A drive wheel is provided on the top of the inner side of the gripper frame (1). The output shaft of the gripper motor (2) is connected to the drive wheel. The inner side of the gripper frame (1) is provided with a first meshing assembly (16) connected to the first gripper (4), a second meshing assembly (17) connected to the second gripper (5), and a third meshing assembly (18) connected to the third gripper (6). The first meshing assembly (16), the second meshing assembly (17), and the third meshing assembly (18) are all racks. The synchronization gear (30) includes three gears coaxially fixed together. The first meshing assembly (16), the second meshing assembly (17), and the third meshing assembly (18) respectively mesh with one of the gears; and the first meshing assembly (16) meshes with the lower side of the synchronizing gear (30), the second meshing assembly (17) meshes with the upper side of the synchronizing gear (30), and the third meshing assembly (18) meshes with the left side of the synchronizing gear (30) and the driving wheel respectively; or, the first meshing assembly (16) meshes with the upper side of the synchronizing gear (30), the second meshing assembly (17) meshes with the lower side of the synchronizing gear (30), and the third meshing assembly (18) meshes with the right side of the synchronizing gear (30) and the driving wheel respectively. When the gripper motor (2) rotates, it drives the first gripper (4), the second gripper (5) and the third gripper (6) to move synchronously away from the center of the gripper frame (1) to release the medicine barrel or move synchronously closer to the center of the gripper frame (1) to clamp the medicine barrel.

4. The liftable and mobile feeding robot suitable for explosion-proof environments according to claim 2, characterized in that: The first engagement assembly (16), the second engagement assembly (17), and the third engagement assembly (18) have the same structure, including a toothed plate (161) and a cover plate (162) connected to the toothed plate (161). The toothed plate (161) is provided with a rack that engages with the synchronous belt (11). The cover plate (162) is provided with a through groove for the synchronous belt (11) to pass through. A connector is provided on the toothed plate (161) for connecting to the inner side of the mounting base (42) of the first gripper (4), the second gripper (5), or the third gripper (6).

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

6. The liftable mobile feeding robot suitable for explosion-proof environments according to any one of claims 2-4, characterized in that: The first gripper (4), the second gripper (5), and the third gripper (6) have the same structure, each including a mounting base (42) and a gripper body (43); the mounting base (42) of the first gripper (4) is slidably mounted on the first horizontal guide rail (41), the mounting base (42) of the second gripper (5) is slidably mounted on the second horizontal guide rail (51), the mounting base (42) of the third gripper (6) is slidably mounted on the first vertical guide rail (61), and one end of the gripper body (43) is fixedly connected to the outer side of the mounting base (42).

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

8. The liftable and mobile feeding robot suitable for explosion-proof environments according to claim 6, characterized in that: The first gripper (4) and the second gripper (5) are provided with baffles (431) at the outer ends of the gripper body (43); a fixed gripper (101) is provided at the bottom of the outer side of the gripper frame (1).

9. The liftable and mobile feeding robot suitable for explosion-proof environments according to claim 2, characterized in that: The upper left steering wheel (12), upper right steering wheel (14), lower left steering wheel (13), and lower right steering wheel (15) are each provided in twos.

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