Clamping type transfer robot

Abstract

The utility model discloses a clamping type transfer robot which comprises a movable supporting mechanism, a sliding supporting mechanism and a clamping mechanism, the sliding supporting mechanism is arranged on the movable supporting mechanism, the clamping mechanism is arranged on the side face of the sliding supporting mechanism, the clamping mechanism is connected with the sliding supporting mechanism in a sliding mode, and the clamping mechanism can clamp a target object. The clamping and holding arm has the advantages that the clamping and holding arm is provided with the three sets of rotating shaft joints, the clamping and holding arm can be suitable for various objects, the objects can be moved within a small range in the horizontal plane when the clamping and holding arm does not move, the application range is wider, and functions are richer; by arranging the sliding supporting mechanism, the clamping and holding mechanism can vertically ascend and descend, and target objects of different heights can be adapted; by arranging the movable supporting mechanism, the robot can quickly reach a specific position to work; each set of wheels of the vehicle body is driven by an independent motor, rotating shafts are connected between the two sets of wheels at the front end and the two sets of wheels at the rear end, and rapid steering can be achieved through cooperation of the rotating shafts and the independent wheels.

Description

Technical Field

[0001] The utility model relates to the technical field of sample transportation, in particular to a clamping and holding type transport robot. Background Art

[0002] In the field of biological sample transportation, transfer tanks are used to temporarily store biological samples such as blood samples, vaccines, bacteria and virus strains at low temperatures, so that the samples are kept in liquid nitrogen for short-term active preservation, ensuring that the transfer tank maintains the entire cold chain during the transit process.

[0003] The transfer tank needs to be moved by the transfer equipment. The existing clamping robot is relatively simple in design. The clamping arm can usually only move with a single degree of freedom and can only cooperate with the corresponding object to be transferred, so its application range is narrow. Utility Model Content

[0004] The purpose of this section is to summarize some aspects of the embodiments of the utility model and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and utility model name of this application to avoid blurring the purpose of this section, specification abstract and utility model name, and such simplifications or omissions cannot be used to limit the scope of the utility model.

[0005] In view of the above problems or problems existing in the prior art, the present utility model is proposed.

[0006] Therefore, the purpose of the utility model is to provide a clamping type transport robot, which can transport different types of transfer tanks or other objects, overcome the problem of narrow range, can be used for a variety of objects, and can move the position of objects in a small range in the horizontal plane without moving itself. It has a wider range of application and richer functions.

[0007] In order to solve the above-mentioned technical problems, the utility model provides the following technical solutions: a clamping type transport robot, which includes a mobile support mechanism, a sliding support mechanism, and a clamping mechanism. The sliding support mechanism is arranged on the mobile support mechanism, and the clamping mechanism is arranged on the side of the sliding support mechanism. The clamping mechanism is slidably connected to the sliding support mechanism, and the clamping mechanism can clamp the target object.

[0008] As a preferred solution of the clamping type handling robot of the utility model, the clamping mechanism can be rotated and extended, and can move the target object.

[0009] As a preferred solution of the clamping type handling robot of the utility model, the clamping mechanism includes a clamping component and a clamping component; the clamping component is connected to the clamping component, the clamping component can drive the clamping component to move, and the clamping component can be clamped with the target object.

[0010] As a preferred solution of the clamping type handling robot of the utility model, the clamping component can perform at least one level of telescopic rotation, and the clamping component can rotate around the clamping component.

[0011] As a preferred solution of the clamping type handling robot of the utility model, the clamping assembly includes a first clamping arm, a second clamping arm, and a third clamping arm, the first clamping arm is connected to the sliding support mechanism, the two sides of the first clamping arm are rotatably connected to the second clamping arm, the second clamping arm is rotatably connected to the third clamping arm, the first clamping arm can rotatably support the second clamping arm, and the second clamping arm and the third clamping arm can be rotatably extended and retracted to clamp the target object.

[0012] As a preferred solution of the clamping type handling robot of the utility model, wherein: the clamping assembly includes a clamping drive shaft and a clamping block; the clamping drive shaft is arranged on the third clamping arm, and the clamping drive shaft is connected to the clamping block, and the clamping drive shaft can drive the clamping block to rotate.

[0013] As a preferred solution of the clamping and holding transport robot of the utility model, the sliding support mechanism includes a vertical support frame and a sliding lifting member; the vertical support frame is provided with a sliding lifting member, and the sliding lifting member can drive the clamping mechanism to move up and down.

[0014] As a preferred solution of the clamping type handling robot of the utility model, the sliding lifting part includes a lead screw, a lifting slider, a lead screw slider, and a first clamping arm; the lead screw is vertically arranged on a vertical support frame, the inside of the lead screw slider is meshed with the lead screw, the side of the lead screw slider is connected to the lifting slider, a guide rail is arranged on the vertical support frame, the guide rail can guide the lead screw slider, the first clamping arm is arranged on the upper end surface of the lifting slider, and the lead screw slider can drive the lifting slider to rise and fall.

[0015] As a preferred solution of the clamping type handling robot of the utility model, the mobile support mechanism includes a front body and a rear body, and the front body and the rear body are connected by a body rotating shaft.

[0016] As a preferred solution of the clamping type handling robot of the utility model, wheels are arranged on the front body and the rear body, and each set of wheels is controlled by a separate driving mechanism.

[0017] As a preferred solution of the clamping type handling robot of the utility model, the vehicle body rotating shaft and the single set of wheels can cooperate with each other for steering.

[0018] As a preferred solution of the clamping type handling robot of the utility model, a limiting cabin is arranged on the upper end surface of the mobile support mechanism, and the limiting cabin can limit the position of the target object.

[0019] The beneficial effects of the utility model are as follows: 1. The clamping arm is provided with three sets of rotating shaft joints, which can be suitable for a variety of objects, and can move the position of the object in a small range in the horizontal plane without moving itself, so the application range is wider and the functions are richer; 2. By providing a sliding support mechanism, the clamping mechanism can be vertically lifted and lowered, and can adapt to targets of different heights; by providing a mobile support mechanism, it can quickly reach a specific position for work; 3. Each set of wheels on the vehicle body is driven by a separate motor, and a rotating shaft is connected between the two front sets of wheels and the two rear sets of wheels, and quick steering can be achieved through the cooperation of the rotating shaft and the separate wheels. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0021] Figure 1 This is the overall schematic diagram of the clamping type handling robot.

[0022] Figure 2 This is the front view of the gripping transport robot.

[0023] Figure 3 for Figure 2 AA cross-sectional view of the gripping transport robot.

[0024] Figure 4 for Figure 1 Enlarged view of F1 of the gripping transport robot.

[0025] Figure 5 for Figure 3 Enlarged view of F2 of the gripping transport robot.

[0026] Figure 6 for Figure 3 Enlarged view of F3 of the gripping transport robot.

[0027] Figure 7 This is a schematic diagram of the working status of the clamping type handling robot.

[0028] Figure numerals: moving support mechanism, 1; sliding support mechanism, 2; clamping mechanism, 3; clamping assembly, 31; clamping assembly, 32; first clamping arm, 311; second clamping arm, 312; third clamping arm, 313; clamping drive shaft, 321; clamping block, 322; vertical support frame, 21; sliding lifting member, 22; lead screw, 221; lifting slider, 222; lead screw slider, 223; front vehicle body, 11; rear vehicle body, 12; vehicle body rotating shaft, 13; wheel, 14; limit cabin, 15; DETAILED DESCRIPTION

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0030] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0031] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0032] Example 1

[0033] Reference Figures 1-2 , which is the first embodiment of the utility model, provides a clamping type transport robot, which includes a mobile support mechanism 1, a sliding support mechanism 2, and a clamping mechanism 3. The mobile support mechanism 1 can drive the sliding support mechanism 2 and the clamping mechanism 3 to move, the sliding support mechanism 2 can drive the clamping mechanism 3 to rise and fall, and the clamping mechanism 3 can rotate and telescope the target object.

[0034] Specifically, the mobile support mechanism 1, the sliding support mechanism 2, and the clamping mechanism 3, the sliding support mechanism 2 is arranged on the mobile support mechanism 1, the clamping mechanism 3 is arranged on the side of the sliding support mechanism 2, the clamping mechanism 3 is slidably connected to the sliding support mechanism 2, and the clamping mechanism 3 can clamp the target object.

[0035] Preferably, when the mobile support mechanism 1 is stationary, the clamping mechanism 3 can be telescopically rotated to clamp the target object. The clamping mechanism 3 can be telescopically rotated in multiple stages, so as to clamp targets of different types.

[0036] Preferably, the target object can be a transfer tank of different types and models, or a tank body, a box body, etc., all of which can be clamped by the clamping mechanism 3.

[0037] In summary, the utility model can move the clamping mechanism 3 to any position through the mobile support mechanism 1, can lift the clamping mechanism 3 through the sliding support mechanism 2, and can clamp and move different types of targets through the telescopic rotation of the clamping mechanism 3, thereby improving work efficiency.

[0038] Example 2

[0039] Reference Figures 1 to 7 , which is the second embodiment of the utility model. In the previous embodiment, the clamping type transport robot includes a mobile support mechanism 1, a sliding support mechanism 2, and a clamping mechanism 3. By setting the mobile support mechanism 1, the sliding support mechanism 2 and the clamping mechanism 3 can be driven to move, the sliding support mechanism 2 can drive the clamping mechanism 3 to be raised and lowered, and the clamping mechanism 3 can be used to rotate and telescope the target object.

[0040] Specifically, the mobile support mechanism 1, the sliding support mechanism 2, and the clamping mechanism 3, the sliding support mechanism 2 is arranged on the mobile support mechanism 1, the clamping mechanism 3 is arranged on the side of the sliding support mechanism 2, the clamping mechanism 3 is slidably connected to the sliding support mechanism 2, and the clamping mechanism 3 can clamp the target object.

[0041] Preferably, when the mobile support mechanism 1 is stationary, the clamping mechanism 3 can be telescopically rotated to clamp the target object. The clamping mechanism 3 can be telescopically rotated in multiple stages, so as to clamp targets of different types.

[0042] Preferably, the target object can be a transfer tank of different types and models, or a tank body, a box body, etc., all of which can be clamped by the clamping mechanism 3.

[0043] Furthermore, the clamping mechanism 3 can be rotated and extended, and can move the target object.

[0044] Furthermore, the clamping mechanism 3 includes a clamping component 31 and a clamping component 32; the clamping component 31 is connected to the clamping component 32, the clamping component 31 can drive the clamping component 32 to move, and the clamping component 32 can be clamped with the target object.

[0045] Preferably, some target objects can be clamped by the clamping component 31, and the transfer tank can be clamped by the clamping component 32 to avoid falling off during the process.

[0046] Furthermore, the clamping assembly 31 can perform at least one level of telescopic rotation, and the clamping assembly 32 can rotate around the clamping assembly 31 .

[0047] Furthermore, the clamping assembly 31 includes a first clamping arm 311, a second clamping arm 312, and a third clamping arm 313. The first clamping arm 311 is connected to the sliding support mechanism 2. Both sides of the first clamping arm 311 are rotatably connected to the second clamping arm 312. The second clamping arm 312 is rotatably connected to the third clamping arm 313. The first clamping arm 311 can rotatably support the second clamping arm 312, and the second clamping arm 312 and the third clamping arm 313 can be rotatably extended and retracted to clamp the target object.

[0048] Preferably, by providing the first clamping arm 311, the second clamping arm 312, and the third clamping arm 313, multi-stage telescopic rotation can be achieved during movement, and clamping can be performed even when facing some wider targets.

[0049] Preferably, the first clamping arm 311 and the second clamping arm 312 are both provided with a driving shaft, which can drive the second clamping arm 312 and the third clamping arm 313 to rotate and retract.

[0050] Preferably, the second clamping arm 312 can rotate around the first clamping arm 311, and the third clamping arm 313 can rotate around the second clamping arm 312 and can be extended and retracted, thereby realizing multi-stage rotation and extension.

[0051] Furthermore, the clamping assembly 32 includes a clamping drive shaft 321 and a clamping block 322 ; the clamping drive shaft 321 is disposed on the third clamping arm 313 , and the clamping drive shaft 321 is connected to the clamping block 322 , and the clamping drive shaft 321 can drive the clamping block 322 to rotate.

[0052] Preferably, the clamping blocks 322 on both sides can be engaged with the transfer tank to prevent the samples inside from falling off during the grabbing and clamping process and damaging them.

[0053] It should be noted that the clamping drive shaft 321 can drive the clamping block 322 to rotate at multiple angles along the third clamping arm 313, so that objects of different shapes can be transported.

[0054] Furthermore, the sliding support mechanism 2 includes a vertical support frame 21 and a sliding lifting member 22 ; the vertical support frame 21 is provided with the sliding lifting member 22 , and the sliding lifting member 22 can drive the clamping mechanism 3 to move up and down.

[0055] Furthermore, the sliding lifting member 22 includes a lead screw 221, a lifting slider 222, a lead screw slider 223, and a first clamping arm 311; the lead screw 221 is vertically arranged on the vertical support frame 21, the lead screw slider 223 is internally meshed and connected with the lead screw 221, and the side of the lead screw slider 223 is connected to the lifting slider 222. A guide rail is arranged on the vertical support frame 21, and the guide rail can guide the lead screw slider 223. The first clamping arm 311 is arranged on the upper end surface of the lifting slider 222, and the lead screw slider 223 can drive the lifting slider 222 to rise and fall.

[0056] Preferably, the driving mechanism drives the lead screw 221 to rotate, and the lead screw slider 223 is threadedly connected to the lead screw 221. The rotation of the lead screw 221 can drive the lead screw slider 223 to rise and fall. The lead screw slider 223 is vertically slidably connected to the guide rail on the side of the vertical support frame 21 during the lifting process to ensure that the lead screw slider 223 will not deviate during the lifting process. The lead screw slider 223 will drive the lifting slider 222 to rise and fall while lifting. The lifting slider 222 drives the clamping mechanism 3 to rise and fall.

[0057] Furthermore, the mobile support mechanism 1 includes a front body 11 and a rear body 12 , and the front body 11 and the rear body 12 are connected via a body rotating shaft 13 .

[0058] Furthermore, wheels 14 are provided on the front vehicle body 11 and the rear vehicle body 12, and each set of wheels 14 is controlled by a separate driving mechanism.

[0059] Furthermore, the vehicle body shaft 13 and the single set of wheels 14 can cooperate with each other for steering.

[0060] Preferably, the vehicle body shaft 13 and the single set of wheels 14 can cooperate to quickly turn.

[0061] Furthermore, a limiting cabin 15 is provided on the upper end surface of the mobile support mechanism 1, and the limiting cabin 15 can limit the target object.

[0062] Preferably, the target object clamped by the clamping mechanism 3 can be stuck on the limiting cabin 15, which can further ensure that no shaking occurs during the transportation process.

[0063] In summary, the utility model can be used for a variety of objects by arranging three sets of rotating shaft joints in the clamping arm, and can move the position of the object in a small range in the horizontal plane without moving itself, so the application range is wider and the functions are richer; by arranging the sliding support mechanism 2, the clamping mechanism 3 can be vertically raised and lowered to adapt to targets of different heights; by arranging the mobile support mechanism 1, it can quickly reach a specific position to work; each set of wheels on the vehicle body is driven by a separate motor, and a rotating shaft is connected between the two front sets of wheels and the two rear sets of wheels, and quick steering can be achieved through the cooperation of the rotating shaft and the separate wheels.

[0064] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and ratio of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangements, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present utility model. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and is not only structurally equivalent but also an equivalent structure. Without departing from the scope of the present invention, other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the present invention is not limited to a specific embodiment, but extends to various modifications that still fall within the scope of the appended claims.

[0065] Additionally, in order to provide a concise description of example embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0066] It should be understood that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but for those of ordinary skill having the benefit of this disclosure, without undue experimentation, the development effort will be a routine task of design, fabrication, and production.

[0067] It should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. A clamping type handling robot, characterized in that: The invention comprises a mobile support mechanism (1), a sliding support mechanism (2), and a clamping mechanism (3), wherein the sliding support mechanism (2) is arranged on the mobile support mechanism (1), the clamping mechanism (3) is arranged on the side of the sliding support mechanism (2), the clamping mechanism (3) is slidably connected to the sliding support mechanism (2), and the clamping mechanism (3) can clamp a target object; The upper end surface of the mobile support mechanism (1) is provided with a limiting cabin (15), and the limiting cabin (15) can limit the position of the target object.

2. The clamping type handling robot according to claim 1, characterized in that: The clamping mechanism (3) can be rotated and extended, and can move the target object.

3. The clamping type handling robot according to claim 2, characterized in that: The clamping mechanism (3) comprises a clamping component (31) and a clamping component (32); the clamping component (31) is connected to the clamping component (32), the clamping component (31) can drive the clamping component (32) to move, and the clamping component (32) can be clamped with a target object.

4. The clamping type handling robot according to claim 3, characterized in that: The clamping assembly (31) can perform at least one level of telescopic rotation, and the clamping assembly (32) can rotate around the clamping assembly (31).

5. The clamping type handling robot according to claim 3 or 4, characterized in that: The clamping assembly (31) comprises a first clamping arm (311), a second clamping arm (312), and a third clamping arm (313); the first clamping arm (311) is connected to the sliding support mechanism (2); both sides of the first clamping arm (311) are rotatably connected to the second clamping arm (312); the second clamping arm (312) is rotatably connected to the third clamping arm (313); the first clamping arm (311) can rotatably support the second clamping arm (312); and the second clamping arm (312) and the third clamping arm (313) can be rotatably extended and retracted to clamp the target object.

6. The clamping type handling robot according to claim 5, characterized in that: The clamping assembly (32) comprises a clamping drive shaft (321) and a clamping block (322); the clamping drive shaft (321) is arranged on the third clamping arm (313), and the clamping drive shaft (321) is connected to the clamping block (322); the clamping drive shaft (321) can drive the clamping block (322) to rotate.

7. The clamping type handling robot according to claim 1, characterized in that: The sliding support mechanism (2) comprises a vertical support frame (21) and a sliding lifting member (22); the vertical support frame (21) is provided with a sliding lifting member (22), and the sliding lifting member (22) can drive the clamping mechanism (3) to move up and down.

8. The clamping type handling robot according to claim 7, characterized in that: The sliding lifting member (22) comprises a lead screw (221), a lifting slider (222), a lead screw slider (223), and a first clamping arm (311); the lead screw (221) is vertically arranged on a vertical support frame (21); the lead screw slider (223) is internally meshed with the lead screw (221); the side of the lead screw slider (223) is connected to the lifting slider (222); a guide rail is arranged on the vertical support frame (21); the guide rail can guide the lead screw slider (223); the first clamping arm (311) is arranged on the upper end surface of the lifting slider (222); the lead screw slider (223) can drive the lifting slider (222) to move up and down.

9. The clamping type handling robot according to claim 1, characterized in that: The mobile support mechanism (1) comprises a front vehicle body (11) and a rear vehicle body (12), wherein the front vehicle body (11) and the rear vehicle body (12) are connected via a vehicle body rotating shaft (13).

10. The clamping type handling robot according to claim 9, characterized in that: Wheels (14) are arranged on the front vehicle body (11) and the rear vehicle body (12), and each set of the wheels (14) is controlled by a separate driving mechanism.

11. The clamping type handling robot according to claim 10, characterized in that: The vehicle body rotating shaft (13) and the single set of wheels (14) can cooperate to steer.

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