Liftable carrying and conveying robot

Abstract

The utility model discloses a lifting carrying and conveying robot. Comprising a movable trolley, a shell, a conveying cavity, a supporting frame and a conveying mechanism, wherein the shell is arranged on the movable trolley; the conveying cavity is formed in the shell and used for receiving a box body; the supporting frame is arranged in the conveying cavity in an up-down moving mode; the supporting frame is arranged in the shell, the conveying mechanism is arranged in the shell, the driving mechanism is arranged in the shell and connected with the supporting frame and drives the supporting frame to move up and down, and the control mechanism is arranged on the shell and connected with the conveying mechanism and the driving mechanism. Free butt joint conveying at different places and at different heights is achieved, and intelligence of medicine conveying is improved.

Description

Technical Field

[0001] The utility model belongs to the field of handling robots, and in particular relates to a lifting and lowering handling and conveying robot. Background Art

[0002] An automated guided vehicle (AGV) is a transport vehicle equipped with an electromagnetic or optical automatic guidance device that can travel along a specified guide path and has safety protection and various transfer functions. AGV belongs to the category of wheeled mobile robots. In industrial applications, a transport vehicle that does not require a driver uses a rechargeable battery as its power source. Generally, its route and behavior can be controlled by a dispatching system, or it can be navigated using a magnetic stripe or QR code. The magnetic stripe or QR code is attached to the floor, and the automated transport robot moves and acts according to the information provided by the magnetic stripe or QR code.

[0003] For the service sector, handling robots are not only an advanced concept and method for labor liberation and labor substitution, but should also play their due role in practical application. The application of automatic handling robots in welcoming guests, ushering in seats, patrolling and early childhood education are simple applications, and do not have the absolute role of replacing labor. In the field of service, the transportation and handling of goods are limited by the structure, making the transportation height not flexible enough and unable to cope with the docking and transportation of conveyor lines at different heights. Utility Model Content

[0004] The utility model aims to overcome the shortcomings of the prior art and provide a lifting and lowering transporting robot.

[0005] The utility model adopts the following technical solutions:

[0006] A liftable handling and conveying robot comprises a movable trolley, a shell arranged on the movable trolley, a conveying cavity arranged in the shell for receiving a box body, a support frame arranged in the conveying cavity and movable up and down, a conveying mechanism arranged on the support frame for conveying the box body, a driving mechanism arranged in the shell and connected to and driving the support frame to move up and down, and a control mechanism arranged on the shell and connected to the conveying mechanism and the driving mechanism, wherein the driving mechanism comprises two rotating screws arranged on both sides of the support frame relative to the inner wall of the conveying cavity, two lifting nut seats respectively arranged on both sides of the support frame and cooperating with the relatively rotating screws, a driving motor arranged at the bottom of the conveying cavity, and a transmission assembly connected between the driving motor and the two rotating screws.

[0007] Preferably, it also includes a transmission component, which includes a rotating gear connected to the driving motor, two driven gears respectively connected to the ends of the two rotating screw rods, two tensioning wheels rotatably arranged at the bottom of the conveying chamber, and a tensioning belt tensioned between the rotating gear, the two driven gears and the two tensioning wheels.

[0008] Preferably, the control mechanism includes a first sensor arranged on the inner wall of the conveying chamber for detecting the rising or falling height of the support frame, a second sensor arranged on the support frame for detecting the conveying position of the box, and a controller arranged on the shell. The controller is respectively connected to the first sensor, the second sensor, the drive motor and the conveying mechanism, controls the operation of the drive motor according to the signal feedback from the first sensor, and controls the operation of the conveying mechanism according to the signal feedback from the second sensor.

[0009] Preferably, the control mechanism further includes a display panel arranged on the shell and connected to the controller, a switch button arranged on the shell and connected to the controller, and an emergency stop button arranged on the shell and connected to the controller.

[0010] Preferably, two second sensors are provided, and the two second sensors are arranged opposite to each other at the ends of the support frame, and a mounting plate for mounting the second sensors is provided at the end of the support frame.

[0011] Preferably, the first sensor is a slot switch, and the second sensor is a through-beam sensor.

[0012] Preferably, the conveying mechanism comprises a plurality of electric rollers arranged at intervals on a support frame for supporting a conveying box body, and a limiting member arranged on the support frame for limiting the position of the box body.

[0013] Preferably, the limiting member includes a clearance groove extending downward from the side of the support frame, a clamping block arranged in the clearance groove and movable forward and backward relative to the box body, and a clamping cylinder arranged on the support frame and connected to drive the clamping block to move.

[0014] Preferably, the driving mechanism further comprises two guide members arranged opposite to each other on the inner wall of the conveying cavity and located on both sides of the support frame, and the guide members comprise two guide rails arranged opposite to each other on both sides of the rotating screw and two guide blocks arranged on the side edges of the support frame and respectively cooperate with the relative guide rails.

[0015] Preferably, the movable cart is an AGV cart, which includes a frame, a connecting frame arranged on the top of the frame and connected to the shell, a movable wheel arranged at the bottom of the frame, and a shock-absorbing hydraulic spring arranged on the frame and connected to the connecting frame.

[0016] From the above description of the utility model, it can be seen that compared with the prior art, the beneficial effects of the utility model are as follows: the present application limits the structure of the handling and conveying robot, and sets a support frame that can move up and down. The control mechanism controls the driving mechanism according to the received instructions to move the support frame to a suitable height to receive the transmitted box containing medicines, and controls the conveying mechanism to transport the received box to the designated position, thereby realizing free docking and conveying at different locations and different heights, and improving the intelligence of medicine delivery. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of the structure of the transport robot Figure 1 ;

[0018] Figure 2 Schematic diagram of the structure of the transport robot Figure 2 ;

[0019] Figure 3 Schematic diagram of the structure of the transport robot Figure 3 ;

[0020] Figure 4 Schematic diagram of the structure of the transport robot Figure 4 ;

[0021] In the figure, 1- movable trolley, 2- shell, 3- conveying chamber, 4- support frame, 5- conveying mechanism, 6- driving mechanism, 7- control mechanism, 11- frame, 12- connecting frame, 13- moving wheel, 14- shock-absorbing hydraulic spring, 41- mounting plate, 51- electric roller, 52- give way groove, 53- clamping block, 54- clamping cylinder, 61- rotating screw, 62- lifting nut seat, 63- driving motor, 64- rotating gear, 65- driven gear, 66- tensioning wheel, 67- tensioning belt, 68- guide rail, 69- guide block, 71- first sensor, 72- second sensor, 73- display panel, 74- switch button, 75- emergency stop button. DETAILED DESCRIPTION

[0022] The present invention is further described below through specific implementation methods.

[0023] A liftable handling and conveying robot comprises a movable trolley 1, a shell 2 arranged on the movable trolley 1, a conveying cavity 3 arranged in the shell 2 for receiving a box, a support frame 4 arranged in the conveying cavity 3 and movable up and down, a conveying mechanism 5 arranged on the support frame 4 for conveying the box, a driving mechanism 6 arranged in the shell 2 and connected to and driving the support frame 4 to move up and down, and a control mechanism 7 arranged on the shell 2 and connected to the conveying mechanism 5 and the driving mechanism 6. When working, the control mechanism 7 controls the driving mechanism 6 to move the support frame 4 to a suitable height to receive a box containing medicines to be conveyed according to a received instruction, and controls the conveying mechanism 5 to work to convey the received box to a designated position, thereby realizing free docking and conveying at different locations and different heights, and improving the intelligence of medicine conveying.

[0024] The movable cart 1 is an AGV cart. Specifically, the AGV cart includes a frame 11, a connecting frame 12 arranged on the top of the frame 11 and connected to the shell 2, a movable wheel 13 arranged at the bottom of the frame 11, and a shock-absorbing hydraulic spring 14 arranged on the frame 11 and connected to the connecting frame 12; specifically, the AGV cart is a common device in the transportation field, and the specific structure and working principle will not be further described here.

[0025] The conveying mechanism 5 includes a plurality of electric rollers 51 arranged at intervals on the support frame 4 for supporting the conveying box and a limiter arranged on the support frame 4 for limiting the position of the box; specifically, the limiter includes a clearance groove 52 extending downward from the side of the support frame 4, a clamping block 53 arranged in the clearance groove 52 and movable forward and backward relative to the box, and a clamping cylinder 54 arranged on the support frame 4 and connected to and driving the clamping block 53 to move. When the box enters the conveying cavity 3 and is conveyed to the specified position by the electric roller 51, the clamping cylinder 54 controls the clamping block 53 to retract inwardly to fix the box on the conveying mechanism 5, so as to prevent the box from being offset during the movement and conveying of the movable trolley 1, thereby causing damage to the medicines in the box.

[0026] The driving mechanism 6 comprises two rotating screws 61 arranged on both sides of the support frame 4 relative to the inner wall of the conveying chamber 3, two lifting nut seats 62 arranged on both sides of the support frame 4 and cooperating with the relatively rotating screws 61, a driving motor 63 arranged at the bottom of the conveying chamber 3, a transmission assembly connected between the driving motor 63 and the two rotating screws 61, and two guide members arranged on both sides of the support frame 4 relative to the inner wall of the conveying chamber 3; specifically, the transmission assembly comprises a rotating gear 64 connected to the driving motor 63, two driven gears 65 connected to the ends of the two rotating screws 61, two tensioning wheels 66 rotatably arranged at the bottom of the conveying chamber 3, and a tensioning belt 67 tensioned between the rotating gear 64, the two driven gears 65 and the two tensioning wheels 66; the guide member comprises two guide rails 68 arranged on both sides of the rotating screw 61 relative to each other and two guide blocks 69 arranged on the side of the support frame 4 and cooperating with the relatively guiding rails 68 respectively, and the supporting frame 4 is stably moved up and down in the conveying chamber 3 and adjusted to a suitable height through the cooperation between the guide blocks 69 and the guide rails 68.

[0027] The control mechanism 7 includes a first sensor 71 arranged on the inner wall of the conveying chamber 3 for detecting the rising or falling height of the support frame 4, a second sensor 72 arranged on the support frame for detecting the conveying position of the box, a controller arranged on the shell 2, a display panel 73 arranged on the shell 2 and connected to the controller, a switch button 74 arranged on the shell 2 and connected to the controller, and an emergency stop button 75 arranged on the shell 2 and connected to the controller. The controller is respectively connected to the first sensor 71, the second sensor 72, the drive motor 63 and the conveying mechanism 5, and controls the operation of the drive motor 63 according to the signal feedback from the first sensor 71, and controls the operation of the conveying mechanism 5 according to the signal feedback from the second sensor 72; specifically, two first sensors 71 are arranged, and the two first sensors 71 are arranged on the upper and lower sides of the support frame 4 relatively up and down; two second sensors 72 are arranged, and the two second sensors 72 are arranged relatively at the end of the support frame 4, and correspondingly, a mounting plate 41 for mounting the second sensor 72 is arranged at the end of the support frame 4; further, the first sensor 71 is a slot switch, and the second sensor 72 is a through-beam sensor; the controller is a PLC controller.

[0028] During operation, when a box loaded with medicines flows out from the front conveyor line, the movable cart 1 goes to the docking conveying position according to the received signal, and then the control mechanism 7 controls the driving mechanism 6 to work according to the received signal, so that the support frame 4 moves to the required height to receive the box flowing out from the front conveyor line; when the box enters the conveying mechanism 5 and is fixed to the designated position, the movable cart 1 moves the box to the designated position according to the established route to complete the delivery of the medicines.

[0029] The present application limits the structure of the handling and conveying robot, provides a support frame that can move up and down, and adjusts the conveying mechanism to the required height to receive boxes of different sizes, thereby achieving free docking and conveying at different locations and different heights, thereby improving the intelligence of drug delivery.

[0030] The above description is only a preferred embodiment of the present utility model, and therefore cannot be used to limit the scope of implementation of the present utility model. That is, equivalent changes and modifications made according to the scope of the patent application of the present utility model and the contents of the specification should still fall within the scope covered by the patent of the present utility model.

Claims

1. A lifting and lowering transport robot, characterized in that: It includes a movable trolley, a shell arranged on the movable trolley, a conveying cavity arranged in the shell for receiving a box body, a support frame arranged in the conveying cavity and movable up and down, a conveying mechanism arranged on the support frame for conveying the box body, a driving mechanism arranged in the shell and connected to and driving the support frame to move up and down, and a control mechanism arranged on the shell and connected to the conveying mechanism and the driving mechanism. The driving mechanism includes two rotating screws arranged on both sides of the support frame relative to the inner wall of the conveying cavity, two lifting nut seats respectively arranged on both sides of the support frame and cooperating with the relatively rotating screws, a driving motor arranged at the bottom of the conveying cavity, and a transmission component connected between the driving motor and the two rotating screws.

2. The liftable transport robot according to claim 1, characterized in that: It also includes a transmission component, which includes a rotating gear connected to a driving motor, two driven gears respectively connected to the ends of two rotating screw rods, two tensioning wheels rotatably arranged at the bottom of the conveying chamber, and a tensioning belt tensioned between the rotating gear, the two driven gears and the two tensioning wheels.

3. The liftable transport robot according to claim 1, characterized in that: The control mechanism includes a first sensor arranged on the inner wall of the conveying chamber for detecting the rising or falling height of the support frame, a second sensor arranged on the support frame for detecting the conveying position of the box body, and a controller arranged on the shell. The controller is respectively connected to the first sensor, the second sensor, the drive motor and the conveying mechanism, controls the operation of the drive motor according to the signal feedback from the first sensor, and controls the operation of the conveying mechanism according to the signal feedback from the second sensor.

4. The liftable transport robot according to claim 3, characterized in that: The control mechanism also includes a display panel arranged on the shell and connected to the controller, a switch button arranged on the shell and connected to the controller, and an emergency stop button arranged on the shell and connected to the controller.

5. The liftable transport robot according to claim 3, characterized in that: There are two second sensors, which are arranged at the ends of the support frame opposite to each other. A mounting plate for mounting the second sensors is arranged at the end of the support frame.

6. The liftable transport robot according to claim 3, characterized in that: The first sensor is a slot switch, and the second sensor is a through-beam sensor.

7. The liftable handling and conveying robot according to claim 1, characterized in that: The conveying mechanism comprises a plurality of electric rollers arranged at intervals on a support frame for supporting a conveying box body and a limiting member arranged on the support frame for limiting the position of the box body.

8. The liftable transport robot according to claim 7, characterized in that: The limiting member comprises a clearance groove extending downward from the side of the support frame, a clamping block arranged in the clearance groove and movable forward and backward relative to the box body, and a clamping cylinder arranged on the support frame and connected to drive the clamping block to move.

9. The liftable transport robot according to claim 1, characterized in that: The driving mechanism also includes two guide members arranged opposite to each other on the inner wall of the conveying cavity and located on both sides of the support frame. The guide members include two guide rails arranged opposite to each other on both sides of the rotating screw and two guide blocks arranged on the side of the support frame and respectively matched with the opposite guide rails.

10. The liftable transport robot according to claim 1, characterized in that: The movable trolley is an AGV trolley, which includes a frame, a connecting frame arranged on the top of the frame and connected to the shell, a movable wheel arranged at the bottom of the frame, and a shock-absorbing hydraulic spring arranged on the frame and connected to the connecting frame.

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