Actuating mechanism with limiting function for transfer robot

Abstract

The utility model discloses an executing mechanism with a limiting function for a transfer robot, which belongs to the technical field of transfer robots and comprises a self-walking machine base, a driving device is arranged on the self-walking machine base, and the driving device is provided with at least two power output ends. The driving device is configured to be capable of driving the two power output ends to translate at least in the horizontal direction and the vertical direction; the execution arm is installed on the power output end, and a sliding rod is assembled on the execution arm in a sliding mode in the length direction of the execution arm; when the driving device drives the execution arm to move upwards, the blocking strip can be promoted to deflect downwards through the pressure of the box-type packaging material on the blocking strip, and after the limiting column is clamped into the limiting groove, the blocking strip and the execution arm are locked, so that the box-type packaging material can be limited in the horizontal direction Y; and the stability of the box-type packing material in the transportation process can be improved.

Description

Technical Field

[0001] This utility model relates to the field of handling robot technology, and in particular to an actuator with limit function for handling robots. Background Technology

[0002] In smart IoT scenarios such as hospitals, handling robots are needed to transfer goods such as medical consumables. Handling robots mainly consist of self-propelled vehicles and actuators used to transfer goods between the ground and the self-propelled vehicles.

[0003] Currently, most handling robots use interlocking grippers to hold goods. However, in actual use, the grippers only limit the goods in one direction. When the handling robot brakes suddenly during operation, the goods are at risk of falling off the handling robot because there is no limit along the length of the arm.

[0004] Therefore, it is necessary to provide an actuator with limit function for a handling robot to solve the above-mentioned technical problems. Utility Model Content

[0005] The purpose of this utility model is to provide an actuator with a limiting function for a handling robot, so as to solve the problem mentioned in the background art that existing handling robots mostly use mutually opening and closing grippers to hold goods, but in actual use, the grippers only limit the goods in a single direction.

[0006] Based on the above ideas, this utility model provides the following technical solution: an actuator with limit function for a handling robot, comprising:

[0007] The self-propelled base is equipped with a drive device, the drive device having at least two power output ends, and the drive device is configured to drive the two power output ends to translate along at least horizontal and vertical directions.

[0008] An actuator arm is mounted on the power output end. A slide rod is slidably mounted on the actuator arm along its length, and both ends of the slide rod are hinged with stop bars. When the box-shaped package simultaneously squeezes the stop bars at both ends of the slide rod, causing the stop bars to deflect downwards and engage with the actuator arm, the stop bars can be locked with the actuator arm.

[0009] As a further embodiment of this utility model: multiple limiting grooves are evenly provided at the top of the actuator arm and at both ends, and a limiting post is elastically connected to the side of the stop bar near the limiting groove.

[0010] As a further embodiment of this utility model: a pin is fixedly provided on the outer side of the stop bar, and the pin passes through the slide rod and rotates with the slide rod.

[0011] As a further embodiment of this utility model, the pin is elastically connected to the slide rod along its circumferential direction.

[0012] As a further embodiment of this utility model: the actuator arm is provided with a mounting groove that cooperates with the slide rod, and the slide rod is an overall "I" shaped structure, so that the slide rod can only slide along the length direction of the actuator arm through cooperation with the mounting groove.

[0013] As a further embodiment of this utility model: the slide bar is elastically connected to the actuator arm via a limiting spring.

[0014] As a further embodiment of this utility model: the limiting post slides in the mounting hole on the side of the stop bar, and a spring is connected between the inner end face of the mounting hole and the limiting post.

[0015] Compared with the prior art, the beneficial effects of this utility model are: when the drive device drives the execution arm to move upward, the pressure of the box-type packaging on the stop bar can cause the stop bar to deflect downward. When the limiting post is inserted into the limiting groove, the stop bar is locked with the execution arm, thereby limiting the box-type packaging in the horizontal Y direction, which is beneficial to improving the stability of the box-type packaging during transportation. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the drive device structure of this utility model;

[0019] Figure 3 This is a schematic diagram of how the baffle bar of this utility model limits the position of box-type packaging;

[0020] Figure 4 This is a schematic diagram of the actuator arm of this utility model supporting box-shaped packaging.

[0021] Figure 5 This is a utility model Figure 3 A magnified structural diagram at point A;

[0022] Figure 6 This is a distribution diagram of the limiting grooves of this utility model;

[0023] Figure 7 This is a schematic diagram of the structure of the stop bar and slide bar of this utility model;

[0024] Figure 8 This is a structural schematic diagram of the protrusion and the traction component of this utility model;

[0025] Figure 9 This is a schematic diagram of the protrusion of this utility model being deflected outward relative to the stop bar.

[0026] In the diagram: 1. Self-propelled base; 2. First drive mechanism; 3. Slide; 4. Lifting plate; 5. Second drive mechanism; 6. Third drive mechanism; 7. Power output end; 8. Actuating arm; 801. Limiting groove; 9. Stop bar; 901. Protrusion; 902. Pin; 903. Limiting post; 10. Slide rod; 11. Baffle; 12. Boss; 13. Guide rod; 14. Traction component; 15. Mounting hole; 16. Chamfer. Detailed Implementation

[0027] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0028] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0029] Please see Figures 1-9 As shown, an embodiment of this utility model provides an actuator with a limit function for a handling robot, specifically including a self-propelled base 1 and an actuator arm 8 installed on the self-propelled base 1. The self-propelled base 1 itself is equipped with an environmental information acquisition module such as a camera and radar, and is equipped with a positioning device, which can realize automatic transfer between different warehousing facilities. The specific structure and working principle of the self-propelled base 1 can be selected from the existing technology, and will not be described in detail in this utility model.

[0030] The self-propelled base 1 is equipped with a drive device that cooperates with the actuator arm 8. The drive device can drive the actuator arm 8 to translate at least in the horizontal and vertical directions, thereby clamping box-shaped packaging (such as trash cans). The actuator arm 8 is a long strip-shaped plate structure and is mounted on the two power output ends 7 of the drive device.

[0031] Typical box-shaped packaging materials typically have an outward-curving flange at the top. When the actuator arm 8 is positioned below this flange, it can lift the box-shaped packaging material upwards, facilitating its transfer to the self-propelled base 1. However, because the actuator arm 8 is a horizontal plate-like structure, it lacks the ability to precisely control the box-shaped packaging material in various situations. Figure 2 As shown in the horizontal Y-direction limit, when the self-propelled base 1 comes to an emergency stop during movement, the box-shaped package may fall off the self-propelled base 1. Therefore, in this design, a slide rod 10 is slidably mounted on the actuator arm 8, and stop bars 9 are hinged at both ends of the slide rod 10. Initially, the two sets of stop bars 9 are in the following position: Figure 2 As shown, during the handling process, when one side of the box-shaped package comes into contact with one of the sets of baffles 9 first, it can push the slide bar 10 to move, so that the baffles 9 at both ends of the slide bar 10 can be simultaneously squeezed and deflected downward by the box-shaped package.

[0032] Furthermore, referring to Figure 6 As shown, the actuator arm 8 has an installation groove that mates with the slide rod 10. The slide rod 10 has an "I" shaped cross-section, which allows the slide rod 10 to slide only along the length of the actuator arm 8 through its engagement with the installation groove. Multiple limiting grooves 801 are evenly provided at the top and both ends of the actuator arm 8. The side of the stop bar 9 near the limiting groove 801 is elastically connected to a limiting post 903. When the drive device moves the actuator arm 8 upward, the pressure of the box-type packaging on the stop bar 9 causes the stop bar 9 to deflect downward. When the limiting post 903 is inserted into the limiting groove 801, the stop bar 9 is locked with the actuator arm 8, thereby limiting the box-type packaging in the horizontal Y direction, which helps to improve the stability of the box-type packaging during transportation.

[0033] However, when the box-shaped package is large enough that both sets of baffles 9 on the actuator arm 8 are positioned below it, point support from the baffles 9 alone would significantly affect the stability of the package during transport. Therefore, this design incorporates a protrusion 901 hinged at the top of the baffle 9, and this protrusion 901 is connected to the limiting post 903 via a traction member 14. Figure 4 , Figure 9 As shown, when the baffle 9 is located below the box-shaped package, the pressure of the box-shaped package on the protrusion 901 can cause the protrusion 901 to deflect relative to the baffle 9. During this process, the protrusion 901 can pull the limiting post 903 through the traction member 14, so that the limiting post 903 is misaligned with the limiting groove 801 in the vertical direction, so that the baffle 9 can be completely retracted into the inner position of the actuator arm 8. At this time, the actuator arm 8 supports the box-shaped package, thereby avoiding the single-point support of the baffle 9 on the box-shaped package.

[0034] The driving device includes a first driving mechanism 2, a second driving mechanism 5, and a third driving mechanism 6. A slide block 3 is slidably mounted on the self-propelled base 1. The slide block 3 can be driven along the self-propelled base 1 by the first driving mechanism 2. Figure 2 The slide block 3 moves horizontally in the Y direction, while a lifting plate 4 is slidably mounted on the slide block 3 in the vertical direction. The lifting plate 4 can be driven along the vertical direction by the second drive mechanism 5 set on the slide block 3. Figure 2 The two power output ends 7 move vertically in the Z direction, while the power output end 7 is slidably mounted on the lifting plate 4. The third drive mechanism 6 on the lifting plate 4 can drive the two power output ends 7 along the vertical direction Z. Figure 2 The horizontal direction X moves closer to or further away from the vertical direction Z. The horizontal direction X, the horizontal direction Y, and the vertical direction Z are perpendicular to each other. Therefore, through the cooperation of the first drive mechanism 2, the second drive mechanism 5, and the third drive mechanism 6, the actuator arm 8 can be driven to translate in the horizontal and vertical directions, thereby clamping and transporting the box-shaped package onto the self-propelled base 1. In a specific embodiment, the first drive mechanism 2 and the second drive mechanism 5 can be, for example, a motor screw mechanism, and the third drive mechanism 6 can be, for example, a motor synchronous belt pulley mechanism (the two power output ends 7 are respectively installed on the upper and lower parts of the synchronous belt through clamping blocks). It should be understood that the specific form of each drive mechanism is not unique. For example, in some other embodiments, the motor screw mechanism and the motor synchronous belt pulley mechanism can also be replaced by electric cylinders, sprockets, etc.

[0035] The above demonstrates the core content of this solution. The following explains some auxiliary structures:

[0036] Reference Figure 5 As shown, a pin 902 is fixedly installed on the outer side of the baffle 9. The pin 902 passes through the slide rod 10 and rotates with it. A baffle 11 is fixedly installed on the slide rod 10, and a boss 12 is fixedly installed on the outer circumference of the pin 902. An arc spring is connected between the boss 12 and the baffle 11 to achieve an elastic connection between the baffle 9 and the slide rod 10. When the box-shaped package comes into contact with one of the baffles 9, it can drive the slide rod 10 to slide relative to the actuator arm 8. When the box-shaped package comes into contact with both baffles 9 at the same time, it can drive the baffles 9 to overcome the force of the arc spring and deflect downward.

[0037] Refer again Figure 5 As shown, a connecting plate is fixedly installed on the outer side of the slide rod 10, and a guide rod 13 is welded on the connecting plate. A stop plate is fixedly installed on the outer side of the execution arm 8, so that the guide rod 13 passes through the stop plate and slides with it. A limit spring is provided between the connecting plate and the stop plate. The limit springs at both ends of the slide rod 10 can keep the slide rod 10 in the middle position of the execution arm 8 at the beginning.

[0038] Combination Figures 5-6 As shown, the mounting groove has a chamfer 16 near the upper side edge. When the stop bar 9 is squeezed and completely deflected to the inside of the actuator arm 8, the limiting post 903 will be in the mounting groove. The chamfer 16 ensures that the limiting post 903 can be squeezed into the stop bar 9 by the chamfer 16 during the process of the stop bar 9 being reset by the arc spring, thereby avoiding interference between the limiting post 903 and the mounting groove during the upward deflection of the stop bar 9.

[0039] Combination Figure 8 As shown, the hinge point between the protrusion 901 and the stop bar 9 is located on the outer side of the protrusion 901, so that the protrusion 901 can only be positioned relative to the stop bar 9 as shown. Figure 9 As shown, the outward deflection is such that the limiting post 903 slides in the mounting hole 15 on the side of the stop bar 9, and a spring is fixedly connected between the inner end face of the mounting hole 15 and the limiting post 903. The traction member 14 can be a steel wire rope or nylon rope, etc., so that one end of the traction member 14 is fixedly connected to the limiting post 903, and the other end of the traction member 14 extends away from the limiting post 903, then extends upward along the stop bar 9 and is fixedly connected to the bottom of the protrusion 901. The traction member 14 and the stop bar 9 slide in cooperation.

[0040] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. An actuator with limit function for a handling robot, characterized in that, include: Self-propelled base (1), the self-propelled base (1) is equipped with a drive device, the drive device has at least two power output ends (7), and the drive device is configured to drive the two power output ends (7) to translate in at least horizontal and vertical directions; An actuator arm (8) is mounted on the power output end (7). A slide rod (10) is slidably mounted on the actuator arm (8) along its length direction. Both ends of the slide rod (10) are hinged with stop bars (9). When the box-type package simultaneously squeezes the stop bars (9) at both ends of the slide rod (10), causing the stop bars (9) to deflect downward and engage with the actuator arm (8), the stop bars (9) can lock with the actuator arm (8).

2. The actuator with limit function for a handling robot according to claim 1, characterized in that: Multiple limiting grooves (801) are evenly provided at the top and at both ends of the actuator (8), and the side of the stop bar (9) near the limiting groove (801) is elastically connected to a limiting post (903).

3. The actuator with limit function for a handling robot according to claim 2, characterized in that: A pin (902) is fixedly provided on the outer side of the stop bar (9). The pin (902) passes through the slide bar (10) and rotates with the slide bar (10).

4. An actuator with limit function for a handling robot according to claim 3, characterized in that: The pin (902) is elastically connected to the slide rod (10) along its circumferential direction.

5. An actuator with limit function for a handling robot according to claim 1, characterized in that: The actuator arm (8) has a mounting groove that mates with the slide bar (10). The slide bar (10) has an overall "I" shaped structure, so that the slide bar (10) can only slide along the length of the actuator arm (8) through the mating with the mounting groove.

6. An actuator with limit function for a handling robot according to claim 1, characterized in that: The slide bar (10) is elastically connected to the actuator arm (8) via a limiting spring.

7. An actuator with limit function for a handling robot according to claim 2, characterized in that: The limiting post (903) slides in the mounting hole (15) on the side of the stop bar (9), and a spring is connected between the inner end face of the mounting hole (15) and the limiting post (903).

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