Connection robot with automatic locking function

Abstract

A connection robot with an automatic locking function comprises a movable base and a connection conveying mechanism arranged on the movable base. The connection conveying mechanism comprises a connection platform which is arranged on the movable base and is provided with a connection cavity, a plurality of conveying rollers which are arranged at the bottom of the connection cavity at intervals, a locking arm which is rotatably arranged on the connection platform and is used for locking a turnover box in the connection cavity, and a rotating assembly which is arranged in the connection platform and is used for driving the locking arm to rotate; the locking arm comprises a first rotating part, a second rotating part and a locking part, the first rotating part and the second rotating part are oppositely arranged on the connection platform and can rotate, and the locking part is connected between the first rotating part and the second rotating part and can extrude the upper end of the turnover box. The locking arms can lock the turnover box in the connection cavity when the connection robot transports the turnover box, and the problem that the turnover box is taken at will in the transportation process is solved.

Description

Technical Field

[0001] The utility model belongs to the field of connection robots, and particularly relates to a connection robot with an automatic locking function. Background Art

[0002] In the fields of unmanned warehousing, logistics, hospitals, factories, etc., more and more forms of robots are gradually replacing manual labor for item transfer. The robot moves to the docking platform along the navigation path and docks with the docking platform. The goods located on the docking platform are transported to the robot through the conveying device, and the robot completes the connection of the goods. However, during the transportation process of traditional connection robots, the turnover box is only placed on the robot without any protection, and it is easy for people to misappropriate the turnover box and the transported items on the path, resulting in the loss of the transported items, which urgently needs to be improved. Content of the Utility Model

[0003] The purpose of the utility model is to overcome the shortcomings of the prior art and provide a connection robot with an automatic locking function.

[0004] The utility model adopts the following technical scheme:

[0005] A connection robot with an automatic locking function includes a moving base and a connection conveying mechanism arranged on the moving base. The connection conveying mechanism includes a connection platform arranged on the moving base and forming a connection cavity, a plurality of conveying rollers arranged at intervals at the bottom of the connection cavity, a locking arm rotatably arranged on the connection platform to lock the turnover box in the connection cavity, and a rotating component arranged in the connection platform to drive the locking arm to rotate. The locking arm includes a first rotating part and a second rotating part rotatably arranged relative to each other on the connection platform, and a locking part connected between the first rotating part and the second rotating part and capable of pressing the upper end of the turnover box. The rotating component includes a rotating motor arranged on the connection platform and connected to the first rotating part, a first photoelectric sensor arranged on the connection platform opposite to the second rotating part, a first induction piece rotatably arranged on the connection platform and cooperating with the first photoelectric sensor, and a first connecting shaft connected between the first induction piece and the second rotating part. When it is necessary to lock the turnover box in the connection cavity, the rotating motor works to make the locking arm rotate downward until the first photoelectric sensor has no signal feedback, and then the rotating motor stops working, and the locking arm presses on the upper end of the turnover box.

[0006] Preferably, the connection platform includes a connection base forming the connection cavity, mounting rods and mounting plates oppositely arranged on both sides of the connection base, a protective shell sleeved on the connection base, the mounting rods and the mounting plates, and a guiding strip arranged on the protective shell around the connection cavity. The first rotating part is movably connected to the mounting rod, the second rotating part is movably connected to the mounting plate, and the first photoelectric sensor and the first induction piece are arranged on the mounting plate.

[0007] Preferably, a mounting groove for mounting the rotating motor is formed at the top of the mounting rod, and a connecting portion connected to the docking base is formed at the bottom, and the connecting portion and the docking base are connected by bolts.

[0008] Preferably, the docking platform further comprises two slot-shaped photoelectric sensors which are spaced apart on the docking base to detect whether the turnover box is in place, and the two slot-shaped photoelectric sensors are spaced apart along the moving direction of the turnover box in the docking cavity.

[0009] Preferably, the docking platform also includes a limit assembly arranged on the docking base to limit the turnover box from detaching from the docking cavity, the limit assembly includes a limit seat arranged on the docking base at the front end of the docking cavity, a first limit rod and a second limit rod rotatably arranged on the limit seat, a limit motor arranged on the limit seat and connected to and driving the first limit rod to rotate, a synchronization rod connected between the first limit rod and the second limit rod, and a rotating shaft arranged on the limit seat and connected to the second limit rod.

[0010] Preferably, the limit assembly also includes a second photoelectric sensor arranged on the limit seat opposite to the second limit rod, a second sensing sheet rotatably arranged on the limit seat and cooperating with the second photoelectric sensor, and a second connecting shaft connected between the second sensing sheet and the second limit rod. When the turnover box moves to the specified position in the docking cavity, the limit motor operates to rotate the first limit rod and the second limit rod upward until there is no signal feedback from the second photoelectric sensor, and the limit motor stops working, and the first limit rod and the second limit rod are located at the front end of the turnover box.

[0011] Preferably, it also includes a connecting mechanism arranged between the mobile base and the docking platform, and the connecting mechanism includes a connecting platform connected to the top of the mobile base and two connecting seats relatively arranged on the connecting platform and connected to the docking platform.

[0012] Preferably, the connecting platform includes a connecting plate arranged above the mobile base, four connecting columns distributed in a matrix between the bottom of the connecting plate and the top of the mobile base, a first shell surrounding the four connecting columns, and a second shell snapped on the first shell to cover the connecting plate.

[0013] Preferably, the connection seat includes a connection pole arranged between the top of the connection flat plate and the bottom of the docking platform and a connection shell covering the connection pole and connecting it with the second shell.

[0014] Preferably, the second shell and the two connecting shells are integrally formed.

[0015] 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 composition of the docking robot and further limits the structure of the docking platform, and sets a locking arm to cooperate with the rotating assembly, so that the locking arm can lock the turnover box in the docking cavity when the docking robot transports the turnover box, thereby solving the problem of the turnover box being taken away at will during transportation, and effectively protecting the turnover box and the items in the turnover box; in addition, a limiting assembly is also provided, which limits the turnover box in the docking cavity in the horizontal direction through the rotatable first limiting rod and the second limiting rod, thereby preventing the turnover box from escaping from the docking cavity in the horizontal direction during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of the docking robot;

[0017] Figure 2 Schematic diagram of the docking robot Figure 1 ;

[0018] Figure 3 Schematic diagram of the docking robot Figure 2 ;

[0019] Figure 4 A schematic diagram of the partial structure of the docking robot Figure 1 ;

[0020] Figure 5 A schematic diagram of the partial structure of the docking robot Figure 2 ;

[0021] Figure 6 It is a schematic diagram of the structure of the connecting transmission mechanism;

[0022] Figure 7 Schematic diagram of the rotating assembly Figure 1 ;

[0023] Figure 8 Schematic diagram of the rotating assembly Figure 2 ;

[0024] Figure 9 for Figure 5 Partial structure diagram of Figure 1 ;

[0025] Figure 10 for Figure 5 Partial structure diagram of Figure 2 ;

[0026] In the figure, 1 - moving base, 2 - connecting and conveying mechanism, 3 - connecting mechanism, 4 - connecting platform, 5 - conveying roller, 6 - locking arm, 7 - rotating assembly, 8 - connecting cavity, 31 - connecting platform, 311 - connecting flat plate, 312 - connecting column, 313 - first housing, 314 - second housing, 32 - connecting seat, 321 - connecting vertical rod, 322 - connecting housing, 41 - connecting base, 42 - mounting rod, 421 - mounting groove, 422 - connecting portion, 43 - mounting plate, 44 - protective housing, 45 - guiding strip, 46 - groove-shaped photoelectric sensor, 47 - limiting assembly, 471 - limiting seat, 472 - first limiting rod, 473 - second limiting rod, 474 - limiting motor, 475 - synchronizing rod, 476 - rotating shaft, 477 - second photoelectric sensor, 478 - second sensing piece, 479 - second connecting shaft, 61 - first rotating portion, 62 - second rotating portion, 63 - locking portion, 71 - rotating motor, 72 - first photoelectric sensor, 73 - first sensing piece, 74 - first connecting shaft. Detailed implementation manners

[0027] The present utility model will be further described below through specific implementation manners.

[0028] Refer to Figures 1 to 10 As shown in the figure, a connecting robot with an automatic locking function includes a moving base 1, a connecting and conveying mechanism 2 arranged above the moving base 1, and a connecting mechanism 3 arranged between the moving base 1 and the connecting and conveying mechanism 2.

[0029] The connecting and conveying mechanism 2 includes a connecting platform 4 formed with a connecting cavity 8, a plurality of conveying rollers 5 spaced apart from each other at the bottom of the connecting cavity 8, a locking arm 6 rotatably arranged on the connecting platform 4 to lock the turnover box in the connecting cavity 8, and a rotating assembly 7 arranged in the connecting platform 4 to drive the locking arm 6 to rotate. After the turnover box is conveyed into the connecting cavity 8, the rotating assembly 7 controls the locking arm 6 to rotate downward to press on the upper end of the turnover box, so as to lock the turnover box in the connecting cavity 8, solve the problem that the turnover box is randomly taken during transportation, and effectively protect the turnover box and the items in the turnover box. Among them, the connecting cavity 8 extends from the front end to the rear end of the connecting platform 4, and the rear end of the connecting platform 4 is higher than the front end to prevent the turnover box in the connecting cavity 8 from detaching from the connecting cavity 8 from the rear end; the conveying rollers 5 can adopt electric rollers to realize the individual control of a plurality of conveying rollers 5.

[0030] The docking platform 4 includes a docking base 41 forming the docking cavity 8, mounting rods 42 and mounting plates 43 oppositely arranged on both sides of the docking base 41, a protective shell 44 sleeved on the docking base 41, the mounting rods 42 and the mounting plates 43, guide strips 45 arranged around the docking cavity 8 on the protective shell 44, two groove-shaped photoelectric sensors 46 arranged at intervals on the docking base 41 for detecting whether the turnover box is transmitted in place, and a limiting component 47 arranged on the docking base 41 for restricting the turnover box from detaching from the docking cavity 8. Among them, the two groove-shaped photoelectric sensors 46 are arranged at intervals along the moving direction of the turnover box in the docking cavity 8. When the groove-shaped photoelectric sensor at the rear detects that the turnover box is in place, the conveying roller 5 stops working, so that the turnover box stays at the designated position.

[0031] The locking arm 6 includes a rotatable first rotating part 61 and a second rotating part 62 respectively arranged on the mounting rod 42 and the mounting plate 43, and a locking part 63 connected between the first rotating part 61 and the second rotating part 62 and capable of squeezing the upper end of the turnover box.

[0032] The rotating assembly 7 includes a rotating motor 71 arranged on the mounting rod 42 and connected to the first rotating part 61, a first photoelectric sensor 72 arranged on the mounting plate 43 opposite to the second rotating part 62, a first sensing piece 73 rotatably arranged on the mounting plate 43 and cooperating with the first photoelectric sensor 72, and a first connecting shaft 74 connected between the first sensing piece 73 and the second rotating part 62. When it is necessary to lock the turnover box in the docking cavity 8, the rotating motor 71 works to make the locking arm 6 rotate downward until the first photoelectric sensor 72 has no signal feedback, and the rotating motor 71 stops working. The locking arm 6 presses on the upper end of the turnover box to lock the turnover box in the docking cavity 8. When it is necessary to unlock the turnover box, the rotating motor 71 works to make the locking arm 6 rotate upward to reset and unlock the turnover box, so that the medical staff can take out the turnover box. Among them, an installation groove 721 for installing the rotating motor 71 is formed at the top of the mounting rod 42, and a connecting part 422 connected to the docking base 41 is formed at the bottom, and the connecting part 422 and the docking base 41 are bolt-connected.

[0033] The limiting component 47 includes a limiting seat 471 arranged at the front end of the connection cavity 8 on the connection base 41, a first limiting rod 472 and a second limiting rod 473 rotatably arranged on the limiting seat 471, a limiting motor 474 arranged on the limiting seat 471 and connected to drive the first limiting rod 472 to rotate, a synchronous rod 475 connected between the first limiting rod 472 and the second limiting rod 473, a rotating shaft 476 arranged on the limiting seat 471 and connected to the second limiting rod 473, a second photoelectric sensor 477 arranged on the limiting seat 471 opposite to the second limiting rod 473, a second sensing piece 478 rotatably arranged on the limiting seat 471 and cooperating with the second photoelectric sensor 477, and a second connecting shaft 479 connected between the second sensing piece 478 and the second limiting rod 473. When the turnover box moves to the specified position in the connection cavity 8, the limiting motor 474 works to rotate the first limiting rod 472 and the second limiting rod 473 upward until the second photoelectric sensor 477 has no signal feedback, and the limiting motor 474 stops working. The first limiting rod 472 and the second limiting rod 473 are vertically arranged at the front end of the turnover box, playing a role in limiting the turnover box in the connection cavity 8 in the horizontal direction and preventing the turnover box from detaching from the connection cavity 8 in the horizontal direction during transportation.

[0034] The connecting mechanism 3 includes a connecting platform 31 connected to the top of the moving base 1 and two connecting seats 32 oppositely arranged on the connecting platform 31 and connected to the connection platform 4.

[0035] The connecting platform 31 includes a connecting flat plate 311 arranged above the moving base 1, four connecting columns 312 arranged in a matrix distribution between the bottom of the connecting flat plate 311 and the top of the moving base 1, a first outer shell 313 surrounding the four connecting columns 312, and a second outer shell 314 buckled on the first outer shell 313 and covering the connecting flat plate 311.

[0036] The connecting seat 32 includes a connecting vertical rod 321 arranged between the top of the connecting flat plate 311 and the bottom of the connection platform 4 and a connecting outer shell 322 covering the connecting vertical rod 321 and connected to the second outer shell 314. Among them, the second outer shell 314 and the two connecting outer shells 322 are integrally formed.

[0037] When the docking robot is packing at the starting point, the rotating motor 71 works to rotate the locking arm 6 upward, the limiting motor 474 works to rotate the first limiting rod 472 and the second limiting rod 473 downward to the bottom of the docking chamber 8, and the conveying roller 5 works to cooperate with the two groove-shaped photoelectric sensors 46 to convey the turnover box to the specified position in the docking chamber 8; then the rotating motor 71 works to rotate the locking arm 6 downward until there is no signal feedback from the first photoelectric sensor 72, the rotating motor 71 stops working, the locking arm 6 presses on the upper end of the turnover box, and restricts the turnover box in the vertical direction. At the same time, the limiting motor 474 works to rotate the first limiting rod 472 and the second limiting rod 473 upward until there is no signal feedback from the second photoelectric sensor 477, the limiting motor 474 stops working, the first limiting rod 472 and the second limiting rod 473 are vertically arranged in front of the turnover box, and restrict the turnover box in the horizontal direction; then, the docking robot works to transport the turnover box to the destination.

[0038] When the docking robot unloads the box at the destination, the rotating motor 71 operates to rotate the locking arm 6 upward and reset, and the limit motor 474 operates to rotate the first limit rod 472 and the second limit rod 473 downward to below the docking cavity 8, thereby releasing the restriction on the turnover box and allowing medical staff to take the turnover box.

[0039] The present application defines the composition of the docking robot and further defines the structure of the docking platform 4, and arranges the locking arm 6 to cooperate with the rotating component 7, so that the locking arm 6 can lock the turnover box in the docking cavity 8 when the docking robot transports the turnover box, thereby solving the problem of the turnover box being taken away at will during transportation, and effectively protecting the turnover box and the items in the turnover box; in addition, a limiting component 47 is also provided, which limits the turnover box in the docking cavity 8 in the horizontal direction through the rotatable first limiting rod 472 and the second limiting rod 473, so as to prevent the turnover box from escaping from the docking cavity 8 in the horizontal direction during transportation.

[0040] 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 connecting robot with an automatic locking function, characterized in that: The invention comprises a movable base and a docking and conveying mechanism arranged on the movable base, wherein the docking and conveying mechanism comprises a docking platform arranged on the movable base and forming a docking cavity, a plurality of conveying rollers arranged at intervals at the bottom of the docking cavity, a locking arm rotatably arranged on the docking platform to lock the turnover box in the docking cavity, and a rotating assembly arranged in the docking platform to drive the locking arm to rotate, wherein the locking arm comprises a first rotating part and a second rotating part rotatable relative to each other on the docking platform and a locking part connected between the first rotating part and the second rotating part and capable of squeezing the upper end of the turnover box, wherein the rotating assembly comprises a rotating motor arranged on the docking platform and connected to the first rotating part, a first photoelectric sensor arranged on the docking platform and opposite to the second rotating part, a first sensing sheet rotatably arranged on the docking platform and cooperating with the first photoelectric sensor, and a first connecting shaft connected between the first sensing sheet and the second rotating part, and when it is necessary to lock the turnover box in the docking cavity, the rotating motor works to rotate the locking arm downward until there is no signal feedback from the first photoelectric sensor, the rotating motor stops working, and the locking arm is pressed on the upper end of the turnover box.

2. The docking robot with an automatic locking function according to claim 1, characterized in that: The docking platform includes a docking base forming the docking cavity, a mounting rod and a mounting plate relatively arranged on both sides of the docking base, a protective shell sleeved on the docking base, the mounting rod and the mounting plate, and a guide strip arranged on the protective shell surrounding the docking cavity, the first rotating part is movably connected to the mounting rod, the second rotating part is movably connected to the mounting plate, and the first photoelectric sensor and the first sensing sheet are arranged on the mounting plate.

3. The docking robot with an automatic locking function according to claim 2, characterized in that: The top of the mounting rod is formed with a mounting groove for mounting the rotating motor, and the bottom is formed with a connecting portion connected to the docking base, and the connecting portion and the docking base are connected by bolts.

4. The docking robot with an automatic locking function according to claim 2, wherein: The docking platform also includes two slot-shaped photoelectric sensors spaced apart on the docking base for detecting whether the turnover box is in place, and the two slot-shaped photoelectric sensors are spaced apart along the moving direction of the turnover box in the docking cavity.

5. The connection robot with an automatic locking function according to claim 2, wherein: The docking platform also includes a limit assembly arranged on the docking base to limit the turnover box from leaving the docking cavity. The limit assembly includes a limit seat arranged on the docking base at the front end of the docking cavity, a first limit rod and a second limit rod rotatably arranged on the limit seat, a limit motor arranged on the limit seat and connected to and driving the first limit rod to rotate, a synchronization rod connected between the first limit rod and the second limit rod, and a rotating shaft arranged on the limit seat and connected to the second limit rod.

6. The docking robot with an automatic locking function according to claim 5, wherein: The limit assembly also includes a second photoelectric sensor arranged on the limit seat opposite to the second limit rod, a second sensing sheet rotatably arranged on the limit seat to cooperate with the second photoelectric sensor, and a second connecting shaft connected between the second sensing sheet and the second limit rod. When the turnover box moves to the specified position in the docking cavity, the limit motor works to rotate the first limit rod and the second limit rod upward until there is no signal feedback from the second photoelectric sensor, and the limit motor stops working, and the first limit rod and the second limit rod are located at the front end of the turnover box.

7. A docking robot with an automatic locking function according to claim 1, characterized in that: It also includes a connecting mechanism arranged between the mobile base and the docking platform, wherein the connecting mechanism includes a connecting platform connected to the top of the mobile base and two connecting seats relatively arranged on the connecting platform and connected to the docking platform.

8. The docking robot with an automatic locking function according to claim 7, wherein: The connection platform includes a connection plate arranged above the mobile base, four connection columns distributed in a matrix between the bottom of the connection plate and the top of the mobile base, a first shell surrounding the four connection columns and a second shell buckled on the first shell to cover the connection plate.

9. The docking robot with an automatic locking function according to claim 8, wherein: The connection seat comprises a connection upright pole arranged between the top of the connection flat plate and the bottom of the docking platform and a connection shell covering the connection upright pole and connecting it with the second shell.

10. The docking robot with an automatic locking function according to claim 9, characterized in that: The second housing is integrally formed with the two connecting housings.

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