Ceiling carrying robot

Abstract

The utility model relates to the technical field of robots, in particular to a ceiling carrying robot which comprises a first guide rail assembly, a second guide rail assembly, a lifting assembly and a mechanical arm. The first guide rail assembly is arranged on an indoor ceiling; the second guide rail assembly is movably arranged on the first guide rail assembly, and the extending direction of the second guide rail assembly and the extending direction of the first guide rail assembly intersect with each other. The lifting assembly is movably arranged on the second guide rail assembly, and the lifting assembly can do lifting motion; the mechanical arm is arranged at the movable end of the lifting assembly and used for grabbing objects. According to the ceiling carrying robot, due to the fact that the first guide rail assembly is installed on the ceiling, the floor space is not occupied, and the ceiling carrying robot is suitable for carrying and containing operation in a small house; in the moving process, the height of the lifting assembly rises, and the problem of man-machine coexistence space interference does not exist; and the device is very suitable for carrying operation of indoor top space storage, so that the indoor storage utilization rate is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a ceiling transport robot. Background Art

[0002] Storage is one of the core needs of living, especially in small houses. Storage efficiency directly affects the actual available space and the quality of living. For a long time, traditional storage methods have always faced problems such as low utilization of high-rise space, time-consuming classification, and difficulty in finding items. At present, indoor storage is mostly based on manual storage, which is labor-intensive. The handling robots put into practical application for indoor storage are mostly used for logistics and warehousing. They are large in size, which affects the use of ground space. In the process of moving on the ground, it is easy to affect the normal life and work of users indoors. There is an interference problem in the coexistence space between humans and machines. Obstacle avoidance is required for specific scenarios. The design is complex and the cost is high. In addition, ground handling robots are not suitable for handling operations of storage in the indoor top space, resulting in low utilization of indoor storage. Utility Model Content

[0003] The utility model provides a ceiling transport robot, which is used to solve the defects of the transport robots used for indoor storage in the prior art, such as large size, interference in the coexistence space between man and machine, and unsuitability for transport operations for storage in the indoor top space.

[0004] The utility model provides a ceiling handling robot, comprising:

[0005] A first guide rail assembly, wherein the first guide rail assembly is arranged on an indoor ceiling;

[0006] a second guide rail assembly, wherein the second guide rail assembly is movably disposed on the first guide rail assembly, and an extension direction of the second guide rail assembly intersects with an extension direction of the first guide rail assembly;

[0007] A lifting assembly, the lifting assembly is movably disposed on the second guide rail assembly, and the lifting assembly can move up and down;

[0008] A manipulator is arranged at the movable end of the lifting assembly and is used for grabbing objects.

[0009] According to the ceiling handling robot provided by the utility model, it also includes: a first driving mechanism, wherein the driving end of the first driving mechanism is connected to the second guide rail assembly, and is used to drive the second guide rail assembly to move along the extension direction of the first guide rail assembly.

[0010] According to the ceiling handling robot provided by the utility model, the first driving mechanism includes:

[0011] a first drive unit;

[0012] A first driving wheel, wherein the first driving wheel is rotatably mounted on the ceiling, and the first driving unit is drivingly connected to the first driving wheel;

[0013] a first driven wheel, the first driven wheel being rotatably mounted on the ceiling;

[0014] A first transmission belt, the first transmission belt is transmission-connected to the first driving wheel and the first driven wheel respectively;

[0015] A first connecting plate, wherein the first connecting plate is fixedly connected to the first transmission belt and the second guide rail assembly respectively, and the first transmission belt is used for driving the second guide rail assembly to move along the extension direction of the first guide rail assembly through the first connecting plate.

[0016] The ceiling handling robot provided by the utility model further includes: a second driving mechanism, wherein a driving end of the second driving mechanism is connected to the lifting assembly and is used to drive the lifting assembly to move along the extension direction of the second guide rail assembly.

[0017] According to the ceiling handling robot provided by the utility model, the second driving mechanism includes:

[0018] A second drive unit;

[0019] A second driving wheel, the second driving wheel is rotatably mounted on the first connecting plate, and the second driving unit is drivingly connected to the second driving wheel;

[0020] a second driven wheel, the second driven wheel being rotatably mounted on the first connecting plate;

[0021] a second transmission belt, the second transmission belt being transmission-connected to the second driving wheel and the second driven wheel respectively;

[0022] The second connecting plate is fixedly connected to the second transmission belt and the lifting assembly respectively, and the second transmission belt is used to drive the lifting assembly to move along the extension direction of the second guide rail assembly through the second connecting plate.

[0023] The ceiling handling robot provided by the utility model further includes: a plurality of first sliders and a plurality of second sliders;

[0024] The first guide rail assembly includes: a first slide rail and a second slide rail parallel to each other; the second guide rail assembly includes: a third slide rail and a fourth slide rail parallel to each other; wherein,

[0025] One end of the third slide rail and the fourth slide rail are respectively slidably connected to the first slide rail through the corresponding first slider, and the other end of the third slide rail and the fourth slide rail are respectively slidably connected to the second slide rail through the corresponding first slider;

[0026] The second connecting plate is slidably connected to the third slide rail and the fourth slide rail respectively through the corresponding second sliding blocks.

[0027] According to the ceiling handling robot provided by the utility model, the lifting assembly includes:

[0028] a third driving unit, the third driving unit being arranged on the second connecting plate, and a driving end of the third driving unit being connected to the manipulator via a traction belt;

[0029] A telescopic connecting rod mechanism is connected between the second connecting plate and the manipulator.

[0030] According to the ceiling handling robot provided by the utility model, the telescopic connecting rod mechanism includes a scissor-type connecting rod structure formed by hinged connection of multiple connecting rods;

[0031] A first sliding groove is formed on the second connecting plate, and one end of the connecting rod connected to the second connecting plate is slidably disposed in the first sliding groove; wherein,

[0032] When the scissor-type connecting rod structure is in a compressed state, one end of the connecting rod connected to the second connecting plate slides to one end of the first sliding groove;

[0033] When the scissor-type connecting rod structure is in a stretched state, one end of the connecting rod connected to the second connecting plate slides to the other end of the first sliding groove.

[0034] According to the ceiling handling robot provided by the utility model, it also includes: a third connecting plate, a second slide groove is formed on the third connecting plate, the third connecting plate is connected between the scissor-type connecting rod structure and the manipulator, and one end of the connecting rod connected to the third connecting plate is slidably arranged in the second slide groove; wherein,

[0035] When the scissor-type connecting rod structure is in a compressed state, one end of the connecting rod connected to the third connecting plate slides to one end of the second sliding groove;

[0036] When the scissor-type connecting rod structure is in a stretched state, one end of the connecting rod connected to the third connecting plate slides to the other end of the second sliding groove.

[0037] The ceiling handling robot provided by the utility model further includes: an image acquisition device, and the image acquisition device is arranged on the third connecting plate.

[0038] According to the ceiling handling robot provided by the utility model, the manipulator comprises:

[0039] A rotating unit, which is disposed at the movable end of the lifting assembly and can rotate along the vertical axis;

[0040] A swing unit, the swing unit is connected to the rotating end of the rotating unit, and the swing unit can swing along a horizontal axis;

[0041] A clamping unit is connected to the swinging unit, and the clamping unit switches between a clamping action and an opening action.

[0042] According to the ceiling handling robot provided by the utility model, the rotating unit includes: a first steering gear, and the output shaft direction of the first steering gear is parallel to the lifting direction of the lifting assembly.

[0043] According to the ceiling handling robot provided by the utility model, the swing unit includes: a second steering gear, and the output shaft direction of the second steering gear is perpendicular to the lifting direction of the lifting assembly.

[0044] According to the ceiling handling robot provided by the utility model, the clamping unit includes:

[0045] a first clamping jaw and a second clamping jaw;

[0046] A third steering gear and a fourth steering gear, wherein the third steering gear is drivingly connected to the first clamping claw, and the fourth steering gear is drivingly connected to the second clamping claw.

[0047] According to the ceiling handling robot provided by the utility model, the extension direction of the second guide rail assembly and the extension direction of the first guide rail assembly are perpendicular to each other.

[0048] The utility model provides a ceiling handling robot, which includes: a first guide rail assembly, a second guide rail assembly, a lifting assembly and a manipulator; the first guide rail assembly is arranged on the indoor ceiling; the second guide rail assembly is movably arranged on the first guide rail assembly, and the extension direction of the second guide rail assembly intersects with the extension direction of the first guide rail assembly; the lifting assembly is movably arranged on the second guide rail assembly, and the lifting assembly can move up and down; the manipulator is arranged at the movable end of the lifting assembly for grabbing objects. The utility model provides a ceiling handling robot, because the first guide rail assembly is installed on the ceiling, it does not occupy the ground space, and is suitable for handling and storing operations in small houses; and during the movement, the lifting assembly rises in height, and there is no problem of interference in the coexistence space between man and machine; it is very suitable for handling operations of indoor top space storage, thereby improving the indoor storage utilization rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0050] Figure 1 It is a schematic diagram of the overall structure of the ceiling handling robot provided in one embodiment of the utility model;

[0051] Figure 2 It is a structural schematic diagram of a first guide rail assembly and a second guide rail assembly provided in one embodiment of the utility model from a first perspective;

[0052] Figure 3 It is a partial structural schematic diagram of the first guide rail assembly, the second guide rail assembly and the lifting assembly provided in one embodiment of the utility model from a second perspective;

[0053] Figure 4 It is a partial structural schematic diagram of a lifting assembly and a manipulator provided in one embodiment of the utility model.

[0054] Reference numerals:

[0055] 100: first guide rail assembly; 101: first driving unit; 102: first driving wheel; 103: first driven wheel; 104: first transmission belt; 105: first connecting plate; 106: first slide rail; 107: second slide rail; 108: first slider; 200: second guide rail assembly; 201: second driving unit; 202: second driving wheel; 203: second driven wheel; 204: second transmission belt; 205: second connecting plate; 2051: first slide groove; 206: third slide rail; 207: fourth slide rail; 208: second slide block; 300: lifting assembly; 301: third drive unit; 3011: traction belt; 302: telescopic connecting rod mechanism; 303: third connecting plate; 3031: second slide slot; 400: manipulator; 401: first servo; 402: second servo; 403: third servo; 404: fourth servo; 405: first clamp; 406: second clamp; 500: image acquisition device. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be clearly and completely described below in conjunction with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0057] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0058] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0059] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0060] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0061] Combine the following Figure 1-Figure 4 The utility model is described as a ceiling handling robot, which comprises: a first guide rail assembly 100 , a second guide rail assembly 200 , a lifting assembly 300 and a manipulator 400 .

[0062] Among them, the first guide rail assembly 100 is arranged on the indoor ceiling; the second guide rail assembly 200 is movably arranged on the first guide rail assembly 100, and the extension direction of the second guide rail assembly 200 intersects with the extension direction of the first guide rail assembly 100; the lifting assembly 300 is movably arranged on the second guide rail assembly 200, and the lifting assembly 300 can move up and down; the manipulator 400 is arranged at the movable end of the lifting assembly 300 for grabbing objects.

[0063] The ceiling handling robot of the utility model is installed on the ceiling to replace the existing handling robots walking on the ground. It can use the indoor top space to carry and store items, which is beneficial to the use of indoor top space storage. Specifically, the first guide rail assembly 100 is fixed on the ceiling, and the direction and path of the track are designed according to the room type. The second guide rail assembly 200 slides on the first guide rail assembly 100, and the extension directions of the two are non-parallel. Preferably, according to actual conditions, the first guide rail assembly 100 and the second guide rail assembly 200 can be arranged perpendicular to each other, and the positions of the lifting assembly 300 and the manipulator 400 in the horizontal X-axis and Y-axis directions are adjusted.

[0064] The lifting assembly 300 can perform lifting and lowering movements to adjust the height position of the manipulator 400, that is, to adjust the position of the manipulator 400 in the vertical Z-axis direction. Through the position adjustment of the manipulator 400 by the first guide rail assembly 100, the second guide rail assembly 200 and the lifting assembly 300, the position adjustment of the three axes of X, Y and Z can be achieved. The manipulator 400 is used to grab and release designated items in the room, thereby replacing the manual handling of items and performing storage actions.

[0065] The utility model provides a ceiling handling robot, and its working process is as follows: driven by the first guide rail assembly 100 and the second guide rail assembly 200, the lifting assembly 300 and the manipulator 400 are moved to the position of the object to be handled, and after the lifting assembly 300 descends to the designated position, the manipulator 400 grabs the object; the lifting assembly 300 rises, and driven by the first guide rail assembly 100 and the second guide rail assembly 200, the object is transported to the designated position, the lifting assembly 300 descends, and the manipulator 400 releases the object, thereby carrying the object to the designated position for storage.

[0066] The utility model provides a ceiling handling robot, which includes: a first rail assembly 100, a second rail assembly 200, a lifting assembly 300 and a manipulator 400; the first rail assembly 100 is arranged on the indoor ceiling; the second rail assembly 200 is movably arranged on the first rail assembly 100, and the extension direction of the second rail assembly 200 intersects with the extension direction of the first rail assembly 100; the lifting assembly 300 is movably arranged on the second rail assembly 200, and the lifting assembly 300 can move up and down; the manipulator 400 is arranged at the movable end of the lifting assembly 300, and is used to grab objects. The utility model provides a ceiling handling robot, because the first rail assembly 100 is installed on the ceiling, it does not occupy the ground space, and is suitable for the handling and storage operations in small houses; and during the movement, the lifting assembly 300 rises in height, and there is no problem of human-machine coexistence space interference; it is very suitable for the handling operation of indoor top space storage, thereby improving the indoor storage utilization rate.

[0067] In one embodiment of the utility model, the ceiling handling robot further includes: a first driving mechanism, the driving end of the first driving mechanism is connected to the second guide rail assembly 200, and is used to drive the second guide rail assembly 200 to move along the extension direction of the first guide rail assembly 100. Specifically, the first driving mechanism provides driving force for the movement of the second guide rail assembly 200 on the first guide rail assembly 100, and the first driving mechanism can be any form of driving component, for example: a combination of a motor and a transmission belt or a push rod, or a driving device such as a linear module.

[0068] In one embodiment of the present utility model, the first driving mechanism includes: a first driving unit 101, a first driving wheel 102, a first driven wheel 103, a first transmission belt 104 and a first connecting plate 105. Among them, the first driving wheel 102 is rotatably mounted on the ceiling, and the first driving unit 101 is drivingly connected to the first driving wheel 102; the first driven wheel 103 is rotatably mounted on the ceiling; the first transmission belt 104 is drivingly connected to the first driving wheel 102 and the first driven wheel 103 respectively; the first connecting plate 105 is fixedly connected to the first transmission belt 104 and the second guide rail assembly 200 respectively, and the first transmission belt 104 is used to drive the second guide rail assembly 200 to move along the extension direction of the first guide rail assembly 100 through the first connecting plate 105. Specifically, the first driving unit 101 uses a motor, and the first driving wheel 102 is rotatably mounted on the ceiling through a back plate and a mounting seat. The motor drives the first driving wheel 102 to rotate, and the first transmission belt 104 moves accordingly, and drives the first driven wheel 103 to rotate synchronously, so that the first connecting plate 105 fixed between the first transmission belt 104 and the second guide rail assembly 200 moves accordingly, thereby driving the second guide rail assembly 200 to move. It should be understood that in order to ensure that the second guide rail assembly 200 moves along the direction of the first guide rail assembly 100, the moving direction of the first transmission belt 104 is consistent with the extension direction of the first guide rail assembly 100.

[0069] In one embodiment of the utility model, the ceiling handling robot further includes: a second driving mechanism, the driving end of which is connected to the lifting assembly 300, and is used to drive the lifting assembly 300 to move along the extension direction of the second guide rail assembly 200. Specifically, the second driving mechanism provides driving force for the movement of the lifting assembly 300 on the second guide rail assembly 200, and the second driving mechanism can be any form of driving component, for example: a combination of a motor and a transmission belt or a push rod, or a driving device such as a linear module.

[0070] In one embodiment of the present utility model, the second driving mechanism includes: a second driving unit 201, a second driving wheel 202, a second driven wheel 203, a second transmission belt 204 and a second connecting plate 205. The second driving wheel 202 is rotatably mounted on the first connecting plate 105, the second driving unit 201 is drivingly connected to the second driving wheel 202; the second driven wheel 203 is rotatably mounted on the first connecting plate 105; the second transmission belt 204 is drivingly connected to the second driving wheel 202 and the second driven wheel 203 respectively; the second connecting plate 205 is fixedly connected to the second transmission belt 204 and the lifting assembly 300 respectively, and the second transmission belt 204 is used to drive the lifting assembly 300 to move along the extension direction of the second guide rail assembly 200 through the second connecting plate 205. Specifically, the second driving unit 201 uses a motor, and the second driving wheel 202 is rotatably mounted below the first connecting plate 105 through a mounting seat. The motor drives the second driving wheel 202 to rotate, and the second transmission belt 204 moves accordingly, and drives the second driven wheel 203 to rotate synchronously, so that the second connecting plate 205 fixed between the second transmission belt 204 and the lifting assembly 300 moves accordingly, thereby driving the lifting assembly 300 to move. It should be understood that in order to ensure that the lifting assembly 300 moves in the direction of the second guide rail assembly 200, the moving direction of the second transmission belt 204 is consistent with the extension direction of the second guide rail assembly 200.

[0071] In one embodiment of the present utility model, the ceiling handling robot further includes: a plurality of first sliders 108 and a plurality of second sliders 208. The first guide rail assembly 100 includes: a first slide rail 106 and a second slide rail 107 parallel to each other; the second guide rail assembly 200 includes: a third slide rail 206 and a fourth slide rail 207 parallel to each other. Among them, one end of the third slide rail 206 and the fourth slide rail 207 are respectively slidably connected to the first slide rail 106 through the corresponding first slider 108, and the other end of the third slide rail 206 and the fourth slide rail 207 are respectively slidably connected to the second slide rail 107 through the corresponding first slider 108; the second connecting plate 205 is slidably connected to the third slide rail 206 and the fourth slide rail 207 through the corresponding second slider 208. Specifically, the first guide rail assembly 100 and the second guide rail assembly 200 are respectively composed of two parallel slide rails to ensure the stability of movement. A plurality of first sliders 108 are respectively slidably disposed on the first slide rail 106 and the second slide rail 107, and are respectively fixedly connected to the third slide rail 206 and the fourth slide rail 207, and the third slide rail 206 and the fourth slide rail 207 slide on the first slide rail 106 and the second slide rail 107 through the first slider 108; similarly, a plurality of second sliders 208 are respectively slidably disposed on the third slide rail 206 and the fourth slide rail 207, and are fixedly connected to the second connecting plate 205, and the second connecting plate 205 slides on the third slide rail 206 and the fourth slide rail 207 through the second slider 208.

[0072] In one embodiment of the present invention, the lifting assembly 300 includes: a third driving unit 301 and a telescopic link mechanism 302. The third driving unit 301 is arranged on the second connecting plate 205, and the driving end of the third driving unit 301 is connected to the manipulator 400 through a traction belt 3011; the telescopic link mechanism 302 is connected between the second connecting plate 205 and the manipulator 400. Specifically, the third driving unit 301 adopts a motor or a winch, etc., which drives the manipulator 400 to perform lifting and lowering movements by pulling the traction belt 3011. The telescopic link mechanism 302 is a driven component, which is located on both sides of the traction belt 3011, and can ensure the stable lifting and lowering of the manipulator 400, and prevent the manipulator 400 from shaking during the lifting and lowering process.

[0073] In one embodiment of the present utility model, the telescopic link mechanism 302 includes a scissor-type link structure formed by a plurality of hinged links; a first slide groove 2051 is formed on the second connecting plate 205, and one end of the link connected to the second connecting plate 205 is slidably disposed in the first slide groove 2051. When the scissor-type link structure is in a compressed state, one end of the link connected to the second connecting plate 205 slides to one end of the first slide groove 2051; when the scissor-type link structure is in a stretched state, one end of the link connected to the second connecting plate 205 slides to the other end of the first slide groove 2051. Specifically, the telescopic link mechanism 302 in this embodiment is a scissor-type link structure, which is composed of a plurality of links cross-combined and hinged. During the ascending (or descending) process, the scissor-type link structure will be compressed (or stretched). During the compression (or stretching) movement of the scissor-type link structure, the first slide groove 2051 on the second connecting plate 205 provides space and limit for the movement of the pull rod. Figure 3 As shown, during the compression (or tension) movement of the scissor-type connecting rod structure, the pull rod moves toward the outside (or inside) of the first sliding groove 2051.

[0074] In one embodiment of the utility model, the ceiling handling robot further includes: a third connecting plate 303, a second slide groove 3031 is formed on the third connecting plate 303, the third connecting plate 303 is connected between the scissors-type linkage structure and the manipulator 400, and one end of the connecting rod connected to the third connecting plate 303 is slidably disposed in the second slide groove 3031. When the scissors-type linkage structure is in a compressed state, one end of the connecting rod connected to the third connecting plate 303 slides to one end of the second slide groove 3031; when the scissors-type linkage structure is in a stretched state, one end of the connecting rod connected to the third connecting plate 303 slides to the other end of the second slide groove 3031. The second slide groove 3031 in this embodiment is similar to the first slide groove 2051 in the above embodiment in structure and function, except that the second slide groove 3031 is installed on the third connecting plate 303, and during the compression (or stretching) movement of the scissors-type linkage structure, the second slide groove 3031 on the third connecting plate 303 provides space and limit for the movement of the pull rod. Figure 4 As shown, during the compression (or tension) movement of the scissor-type connecting rod structure, the pull rod moves toward the outside (or inside) of the second sliding groove 3031.

[0075] In one embodiment of the present utility model, the ceiling handling robot further includes: an image acquisition device 500, which is disposed on the third connecting plate 303. The image acquisition device 500 can be a video camera or an infrared camera to monitor the surrounding environment.

[0076] In one embodiment of the utility model, the manipulator 400 includes: a rotating unit, a swinging unit and a clamping unit. Among them, the rotating unit is arranged at the movable end of the lifting assembly 300, and can rotate along the vertical axis; the swinging unit is connected to the rotating end of the rotating unit, and the swinging unit can swing along the horizontal axis; the clamping unit is connected to the swinging unit, and the clamping unit switches between clamping action and opening action. Specifically, the manipulator 400 in this embodiment is composed of three parts: a rotating unit, a swinging unit and a clamping unit, which respectively have a rotating function, a swinging function and a clamping function, so as to achieve angle fine-tuning, thereby clamping objects in different orientations. The rotating axis of the rotating unit in this embodiment is along the vertical direction, and the swinging axis of the swinging unit is along the horizontal direction, so as to achieve multi-degree-of-freedom grasping.

[0077] In one embodiment of the present invention, the rotating unit includes: a first servo 401, the output shaft direction of the first servo 401 is parallel to the lifting direction of the lifting assembly 300; the swinging unit includes: a second servo 402, the output shaft direction of the second servo 402 is perpendicular to the lifting direction of the lifting assembly 300; the clamping unit includes: a first clamp 405, a second clamp 406, a third servo 403 and a fourth servo 404, the third servo 403 is drivingly connected to the first clamp 405, and the fourth servo 404 is drivingly connected to the second clamp 406. Specifically, the manipulator 400 in this embodiment is driven by a servo, the first servo 401 can drive the second servo 402 to rotate along the vertical axis, the second servo 402 can drive the first jaw 405, the second jaw 406, the third servo 403 and the fourth servo 404 to swing along the horizontal axis, the first jaw 405 and the second jaw 406 are driven by the third servo 403 and the fourth servo 404 respectively to realize the opening action and the clamping action.

[0078] In one embodiment of the present utility model, the extension direction of the second guide rail assembly 200 is perpendicular to the extension direction of the first guide rail assembly 100. In this embodiment, by vertically arranging the second guide rail assembly 200 and the first guide rail assembly 100, the lifting assembly 300 and the manipulator 400 can be moved along the X-axis and Y-axis perpendicular to each other in the horizontal direction, and with the cooperation of the lifting assembly 300, the manipulator 400 can be moved along the X-axis, Y-axis and Z-axis perpendicular to each other.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A ceiling handling robot, characterized in that: include: A first guide rail assembly (100), wherein the first guide rail assembly (100) is arranged on an indoor ceiling; a second guide rail assembly (200), the second guide rail assembly (200) being movably disposed on the first guide rail assembly (100), and an extension direction of the second guide rail assembly (200) and an extension direction of the first guide rail assembly (100) intersecting each other; A lifting component (300), the lifting component (300) is movably arranged on the second guide rail component (200), and the lifting component (300) is capable of lifting and lowering movement; A manipulator (400) is arranged at the movable end of the lifting component (300) and is used to grab objects.

2. The ceiling handling robot according to claim 1, characterized in that: Also includes: A first driving mechanism, wherein a driving end of the first driving mechanism is connected to the second guide rail assembly (200) and is used to drive the second guide rail assembly (200) to move along an extension direction of the first guide rail assembly (100).

3. The ceiling handling robot according to claim 2, characterized in that: The first driving mechanism comprises: A first driving unit (101); A first driving wheel (102), the first driving wheel (102) being rotatably mounted on the ceiling, and the first driving unit (101) being drivingly connected to the first driving wheel (102); A first driven wheel (103), wherein the first driven wheel (103) is rotatably mounted on the ceiling; A first transmission belt (104), the first transmission belt (104) being transmission-connected to the first driving wheel (102) and the first driven wheel (103) respectively; A first connecting plate (105), wherein the first connecting plate (105) is fixedly connected to the first transmission belt (104) and the second guide rail assembly (200), respectively, and the first transmission belt (104) is used to drive the second guide rail assembly (200) to move along the extension direction of the first guide rail assembly (100) via the first connecting plate (105).

4. The ceiling handling robot according to claim 3, characterized in that: Also includes: A second driving mechanism, wherein a driving end of the second driving mechanism is connected to the lifting assembly (300) and is used to drive the lifting assembly (300) to move along the extension direction of the second guide rail assembly (200).

5. The ceiling handling robot according to claim 4, characterized in that: The second driving mechanism comprises: A second driving unit (201); A second driving wheel (202), the second driving wheel (202) being rotatably mounted on the first connecting plate (105), and the second driving unit (201) being drivingly connected to the second driving wheel (202); a second driven wheel (203), the second driven wheel (203) being rotatably mounted on the first connecting plate (105); A second transmission belt (204), the second transmission belt (204) being transmission-connected to the second driving wheel (202) and the second driven wheel (203) respectively; A second connecting plate (205), wherein the second connecting plate (205) is fixedly connected to the second transmission belt (204) and the lifting assembly (300) respectively, and the second transmission belt (204) is used to drive the lifting assembly (300) to move along the extension direction of the second guide rail assembly (200) through the second connecting plate (205).

6. The ceiling handling robot according to claim 5, characterized in that: Also includes: A plurality of first sliders (108) and a plurality of second sliders (208); The first guide rail assembly (100) comprises: a first slide rail (106) and a second slide rail (107) which are parallel to each other; the second guide rail assembly (200) comprises: a third slide rail (206) and a fourth slide rail (207) which are parallel to each other; wherein, One end of the third slide rail (206) and the fourth slide rail (207) are respectively slidably connected to the first slide rail (106) through the corresponding first slider (108), and the other end of the third slide rail (206) and the fourth slide rail (207) are respectively slidably connected to the second slide rail (107) through the corresponding first slider (108); The second connecting plate (205) is slidably connected to the third slide rail (206) and the fourth slide rail (207) respectively through the corresponding second sliding blocks (208).

7. The ceiling handling robot according to claim 6, characterized in that: The lifting assembly (300) comprises: A third driving unit (301), the third driving unit (301) being arranged on the second connecting plate (205), and a driving end of the third driving unit (301) being connected to the manipulator (400) via a traction belt (3011); A telescopic connecting rod mechanism (302), wherein the telescopic connecting rod mechanism (302) is connected between the second connecting plate (205) and the manipulator (400).

8. The ceiling handling robot according to claim 7, characterized in that: The telescopic connecting rod mechanism (302) comprises a scissor-type connecting rod structure formed by hinged connection of a plurality of connecting rods; A first sliding groove (2051) is formed on the second connecting plate (205), and one end of the connecting rod connected to the second connecting plate (205) is slidably disposed in the first sliding groove (2051); wherein, When the scissor-type connecting rod structure is in a compressed state, one end of the connecting rod connected to the second connecting plate (205) slides to one end of the first sliding groove (2051); When the scissor-type connecting rod structure is in a stretched state, one end of the connecting rod connected to the second connecting plate (205) slides to the other end of the first sliding groove (2051).

9. The ceiling handling robot according to claim 8, characterized in that: Also includes: A third connecting plate (303), wherein a second slide groove (3031) is formed on the third connecting plate (303), the third connecting plate (303) is connected between the scissor-type connecting rod structure and the manipulator (400), and one end of the connecting rod connected to the third connecting plate (303) is slidably disposed in the second slide groove (3031); wherein, When the scissor-type connecting rod structure is in a compressed state, one end of the connecting rod connected to the third connecting plate (303) slides to one end of the second sliding groove (3031); When the scissor-type connecting rod structure is in a stretched state, one end of the connecting rod connected to the third connecting plate (303) slides to the other end of the second sliding groove (3031).

10. The ceiling handling robot according to claim 9, characterized in that: Also includes: An image acquisition device (500), wherein the image acquisition device (500) is arranged on the third connecting plate (303).

11. The ceiling handling robot according to claim 1, characterized in that: The robot (400) comprises: A rotating unit, the rotating unit being arranged at the movable end of the lifting assembly (300) and being capable of rotating along a vertical axis; A swing unit, the swing unit is connected to the rotating end of the rotating unit, and the swing unit can swing along a horizontal axis; A clamping unit is connected to the swinging unit, and the clamping unit switches between a clamping action and an opening action.

12. The ceiling handling robot according to claim 11, characterized in that: The rotating unit comprises: a first steering gear (401), wherein the output shaft direction of the first steering gear (401) is parallel to the lifting direction of the lifting assembly (300).

13. The ceiling handling robot according to claim 11, characterized in that: The swing unit comprises: a second steering gear (402), wherein the output shaft direction of the second steering gear (402) is perpendicular to the lifting direction of the lifting assembly (300).

14. The ceiling handling robot according to claim 11, characterized in that: The clamping unit comprises: A first clamping jaw (405) and a second clamping jaw (406); A third steering engine (403) and a fourth steering engine (404), wherein the third steering engine (403) is drivingly connected to the first clamping claw (405), and the fourth steering engine (404) is drivingly connected to the second clamping claw (406).

15. The ceiling handling robot according to any one of claims 1 to 14, characterized in that: The extension direction of the second guide rail assembly (200) and the extension direction of the first guide rail assembly (100) are perpendicular to each other.

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