Carrying robot

Abstract

The utility model discloses 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 mounted on the power output end; when the execution arm clamps the box type packing material and the driving device drives the power output end to move upwards, the power output end can move upwards relative to the execution arm, in the process, the lantern ring can move upwards relative to the connecting shaft and promote the clamping strip to be inserted into the clamping groove, the connecting shaft and the lantern ring are locked, and then the execution arm is locked. Deflection of the execution arm in the process of transporting the box-type packaging materials is avoided, and the stability of transporting the box-type packaging materials can be remarkably improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of carrying robot, especially to a carrying robot. BACKGROUND

[0002] In the intelligent internet of things scene of hospitals and the like, a carrying robot is needed to transfer goods such as medical consumables, and the carrying robot mainly comprises a self-moving carrier and an execution mechanism for transferring goods between the ground and the self-moving carrier.

[0003] Chinese patent CN222757447U discloses a clamping type carrying robot, which can be applied to various objects by setting three groups of rotating shaft joints, and can be adapted to objects of different heights by setting a sliding support mechanism to make the clamping mechanism vertically lift.

[0004] Chinese invention patent CN120004187B discloses an execution mechanism for a carrying robot, which comprises a base installed on a self-walking carrier of the carrying robot, a driving device installed on the base, the driving device comprising at least two power output ends, and an execution arm comprising a long strip-shaped plate body, the plate surface of the execution arm being capable of switching between horizontal and vertical states. The present application realizes flexible picking up of different packaging types of goods by a single execution mechanism through setting a plate-shaped execution arm with horizontal and vertical state switching function and cooperating with the multidirectional translation ability of the driving device.

[0005] The above-mentioned clamping type carrying robot clamps goods through a multi-degree-of-freedom clamping assembly and transports them through a moving support mechanism, but when the surface of the goods is in an inclined state, the contact area between the clamping assembly and the outer surface of the goods is limited, so that the clamping force of the clamping assembly on the goods is not stable enough, which may cause the goods to fall or drop during transportation. In the scheme of an execution mechanism for a carrying robot, the execution arm can be set to horizontal or vertical state to flexibly pick up goods of different packaging types, but the angle of the execution arm relative to the power output end cannot be arbitrarily adjusted, so when the side wall of the goods is inclined, the contact area between the execution arm and the side wall of the goods is limited, which is not conducive to stable clamping of the goods.

[0006] Therefore, it is necessary to provide a carrying robot to solve the above technical problems. UTILITY MODEL CONTENT

[0007] In view of the above-mentioned shortcomings of the prior art, the purpose of the utility model is to provide an execution mechanism for a carrying robot, which can adaptively contact the side of the goods and stably clamp the goods.

[0008] Based on the above idea, the utility model provides the following technical scheme: a carrying robot, including

[0009] Self -walking base, it is used for the transfer of box type packing between different warehousing facilities, the self -walking base is equipped with drive arrangement on, drive arrangement has at least two power output, and drive arrangement is configured as can drive two power output translation along at least horizontal and vertical direction;

[0010] Execution arm, installation is in power output, execution arm can be deflected relative to power output, when execution arm and box type packing contact, execution arm can adaptively fit in the outer surface of box type packing to improve the stability of box type packing when transporting, so that execution arm can selectively release box type packing on the self -walking base and transport.

[0011] As the further scheme of the utility model: execution arm is installed at power output and is elastically connected with power output, when power output moves upward relative to execution arm, execution arm can be locked with power output.

[0012] As the further scheme of the utility model: one end of execution arm is fixedly installed with connecting shaft, and the outside of connecting shaft is coaxially provided with sleeve, sleeve and connecting shaft are rotationally fitted, the bottom of power output is integrally formed with sleeve ring, connecting shaft is arranged through sleeve ring, a plurality of groups of clamping grooves are evenly formed on the outer circumferential surface of connecting shaft, and clamping strip matched with clamping groove is fixedly arranged at the inner wall of sleeve ring.

[0013] As the further scheme of the utility model: torsion unit is installed between connecting shaft and sleeve.

[0014] As the further scheme of the utility model: the position of connecting shaft at both ends is provided as shaft shoulder and is clamped to the outside of sleeve.

[0015] As the further scheme of the utility model: the sleeve is provided with through slot for power output to pass through.

[0016] As the further scheme of the utility model: execution arm is the plate structure of long strip.

[0017] Compared with the prior art, the utility model has the beneficial effects that:

[0018] 1、Through the self-walking base and the execution arm, the box-shaped packaging can be transported, specifically, the execution arm can be self-adaptively attached to the surface of the box-shaped packaging to provide stable clamping force, so that the execution arm can selectively release the box-shaped packaging on the self-walking base according to the weight of the box-shaped packaging, and the box-shaped packaging is supported by the self-walking base or is clamped and transported by the execution arm alone.

[0019] 2、When the execution arm clamps the box-shaped packaging and the driving device drives the power output end to move upward, the power output end can move upward relative to the execution arm, in the process, the sleeve ring can move upward relative to the connecting shaft and make the clamping strip inserted into the clamping groove, so that the connecting shaft and the sleeve ring are locked, and then the execution arm is locked, avoiding the deflection of the execution arm in the process of transporting the box-shaped packaging, which can significantly improve the stability of transporting the box-shaped packaging. BRIEF DESCRIPTION OF DRAWINGS

[0020] The utility model will be further explained in connection with the drawings and embodiments.

[0021] Figure 1 It is the whole structure schematic diagram of the utility model;

[0022] Figure 2 It is the schematic diagram of the execution arm of the utility model in the clamping state;

[0023] Figure 3 It is the connecting structure schematic diagram of the power output end and the execution arm of the utility model;

[0024] Figure 4 It is the connecting shaft and the sleeve ring cooperation schematic diagram of the utility model;

[0025] Figure 5 It is the clamping strip and the clamping groove structure schematic diagram of the utility model.

[0026] In the drawing: 1, self-walking base; 2, first driving mechanism; 3, sliding seat; 4, lifting plate; 5, second driving mechanism; 6, third driving mechanism; 7, power output end; 701, sleeve ring; 7011, clamping strip; 8, sleeve; 9, execution arm; 10, torsion unit; 11, connecting shaft; 1101, clamping groove; 12, boss. DETAILED DESCRIPTION

[0027] The embodiments of the present application will be described in detail with specific examples. Those skilled in the art can easily understand other advantages and functions of the present application from the content disclosed in the specification. The present application can also be implemented or applied in other different embodiments, and the details in the specification can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be noted that the following examples and features in the examples can be combined with each other without conflict.

[0028] It should be noted that the diagrams provided in the following examples only illustrate the basic concept of the present application in a schematic manner, and only show the components related to the present application in the diagrams, not the number, shape and size of the components when actually implemented. The shape, number and proportion of each component in actual implementation can be changed arbitrarily, and the component layout pattern can also be more complex.

[0029] Please refer to Figures 1-5 The embodiment of the present application provides a carrying robot, specifically including a self-walking base 1 and an execution arm 9 installed on the self-walking base 1. The self-walking base 1 itself is provided with an environmental information acquisition module such as a camera and a radar, and a coordinate positioning device, which can realize automatic transfer between different warehouse facilities. The specific structure and working principle of the self-walking base 1 can be selected from the prior art, and the present application will not be described in detail.

[0030] The self-walking base 1 is provided with a driving device matched with the execution arm 9. The driving device can drive the execution arm 9 to translate at least in the horizontal and vertical directions, so as to clamp the box-shaped packaging (such as a garbage can and the like), and the execution arm 9 can be separated from the box-shaped packaging. Figure 1 As can be seen, the execution arm 9 is a long strip-shaped plate structure, and the execution arm 9 is installed on the two power output ends 7 of the driving device. Specifically, the execution arm 9 is installed at the bottom end position of the power output end 7.

[0031] When the execution arm 9 is in a vertical state, the execution arm 9 with a plate structure can stably contact the side surface of the box-shaped packaging, so as to clamp the box-shaped packaging. Since the top end of the box-shaped packaging is mostly formed with a flanging structure outward, the execution arm 9 can be below the flanging structure, thereby facilitating stable support of the box-shaped packaging.

[0032] But in actual use, when the box-shaped packaging is in trapezoidal structure and the top is without flange structure, it is difficult to form stable clamping force on the box-shaped packaging by the execution arm 9 in the above structure. Based on this, in the embodiment, the execution arm 9 is elastically connected with the power output end 7, so that the execution arm 9 can move in the vertical direction relative to the power output end 7. Specifically, when the execution arm 9 clamps the box-shaped packaging and the driving device drives the power output end 7 to move upward, the power output end 7 can be locked with the execution arm 9 during upward movement relative to the execution arm 9, so as to ensure stable contact between the execution arm 9 and the box-shaped packaging. Through this structure, the execution arm 9 can be adaptively fitted on both sides of the box-shaped packaging, thereby improving the stability during transportation. Moreover, the execution arm 9 can selectively release the box-shaped packaging on the self-walking base 1 according to the weight of the box-shaped packaging, which can significantly improve the transportation efficiency in the short-distance high-frequency transportation scenario.

[0033] In combination Figures 3-5 As described above, one end of the execution arm 9 close to the power output end 7 is fixedly installed with a connecting shaft 11, and a sleeve 8 is coaxially arranged outside the connecting shaft 11. The sleeve 8 is rotationally matched with the connecting shaft 11 through a bearing. Through this structure, the execution arm 9 can be deflected relative to the power output end 7, so that the execution arm 9 can be adaptively fitted on the side of the box-shaped packaging. The bottom end of the power output end 7 is integrally formed with a sleeve ring 701, and the connecting shaft 11 penetrates the sleeve ring 701. Further, a plurality of clamping grooves 1101 are uniformly arranged on the outer circumferential surface of the connecting shaft 11, and a clamping strip 7011 matched with the clamping grooves 1101 is fixedly arranged on the inner wall of the sleeve ring 701. When the execution arm 9 is adaptively fitted on the outer surface of the box-shaped packaging and clamps the box-shaped packaging, as the power output end 7 moves upward relative to the execution arm 9, the sleeve ring 701 can move upward relative to the connecting shaft 11, so that the clamping strip 7011 can be inserted into the clamping groove 1101 and lock the connecting shaft 11 and the sleeve ring 701. In this way, the deflection of the execution arm 9 relative to the power output end 7 is avoided, which is beneficial to the stable clamping of the execution arm 9 on the box-shaped packaging.

[0034] Of course, in the initial state, in order to ensure that the execution arm 9 is in the vertical state, a torsion unit 10 needs to be installed between the connecting shaft 11 and the sleeve 8, so as to realize the elastic connection between the connecting shaft 11 and the sleeve 8, so that the execution arm 9 can maintain the vertical state in the non-clamping state.

[0035] The driving device includes a first driving mechanism 2, a second driving mechanism 5, and a third driving mechanism 6. A sliding seat 3 is slidingly arranged on the self-walking base 1. The first driving mechanism 2 arranged on the self-walking base 1 can drive the sliding seat 3 to move along Figure 1The first driving mechanism 2 is arranged on the self-walking base 1 and is capable of driving the slide 3 to move along the horizontal direction Y, and the slide 3 is slidably arranged on the lifting plate 4 along the vertical direction Z, and the second driving mechanism 5 arranged on the slide 3 is capable of driving the lifting plate 4 to move along the vertical direction Z Figure 1 The first driving mechanism 2 is arranged on the self-walking base 1 and is capable of driving the slide 3 to move along the horizontal direction Y, and the slide 3 is slidably arranged on the lifting plate 4 along the vertical direction Z, and the second driving mechanism 5 arranged on the slide 3 is capable of driving the lifting plate 4 to move along the vertical direction Z Figure 1 The first driving mechanism 2 is arranged on the self-walking base 1 and is capable of driving the slide 3 to move along the horizontal direction Y, and the slide 3 is slidably arranged on the lifting plate 4 along the vertical direction Z, and the second driving mechanism 5 arranged on the slide 3 is capable of driving the lifting plate 4 to move along the vertical direction Z

[0036] The first driving mechanism 2 is arranged on the self-walking base 1 and is capable of driving the slide 3 to move along the horizontal direction Y, and the slide 3 is slidably arranged on the lifting plate 4 along the vertical direction Z, and the second driving mechanism 5 arranged on the slide 3 is capable of driving the lifting plate 4 to move along the vertical direction Z

[0037] The first driving mechanism 2 is arranged on the self-walking base 1 and is capable of driving the slide 3 to move along the horizontal direction Y, and the slide 3 is slidably arranged on the lifting plate 4 along the vertical direction Z, and the second driving mechanism 5 arranged on the slide 3 is capable of driving the lifting plate 4 to move along the vertical direction Z

[0038] The first driving mechanism 2 is arranged on the self-walking base 1 and is capable of driving the slide 3 to move along the horizontal direction Y, and the slide 3 is slidably arranged on the lifting plate 4 along the vertical direction Z, and the second driving mechanism 5 arranged on the slide 3 is capable of driving the lifting plate 4 to move along the vertical direction Z

[0039] Referring to Figure 4As shown, the connecting shaft 11 is provided with a shaft shoulder at both ends, and the shaft shoulder is clamped outside the end face of the sleeve 8, so as to limit the sleeve 8 and the connecting shaft 11 in the axial direction, and the torsion unit 10 is a coil spring or a torsion spring, and the two ends of the torsion unit 10 are connected with the connecting shaft 11 and the sleeve 8 respectively.

[0040] From Figure 5 It can be seen that the sleeve 8 needs to be provided with a through groove for the power output end 7 to pass through, so that the sleeve 8 can move along the vertical direction Z relative to the power output end 7.

[0041] The above embodiment only illustrates the principle and effect of the present application, and is not used to limit the present application. Any person skilled in the art can modify or change the above embodiment without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical thought disclosed by the present application should be covered by the claims of the present application.

Claims

1. A transport robot, characterized in that, Include: Self-propelled base (1) for transferring box-shaped packages between different storage facilities, the self-propelled base (1) is provided with driving device, the driving device has at least two power output ends (7), and the driving device is configured to be able to drive two power output ends (7) to translate in at least horizontal and vertical directions; The execution arm (9) is installed on the power output end (7), the execution arm (9) can be deflected relative to the power output end (7), the execution arm (9) is installed at the power output end (7) and is elastically connected with the power output end (7), when the power output end (7) moves upward relative to the execution arm (9), the execution arm (9) can be locked with the power output end (7); One end of the execution arm (9) is fixedly installed with a connecting shaft (11), and the outer side of the connecting shaft (11) is coaxially provided with a sleeve (8), the sleeve (8) and the connecting shaft (11) are rotationally connected, the bottom of the power output end (7) is integrally formed with a sleeve ring (701), the connecting shaft (11) penetrates the sleeve ring (701), a plurality of clamping grooves (1101) are uniformly arranged on the outer circumferential surface of the connecting shaft (11), and the inner wall of the sleeve ring (701) is fixedly provided with a clamping strip (7011) matched with the clamping groove (1101).

2. The handling robot according to claim 1, characterized in that: The connecting shaft (11) and the sleeve (8) are provided with a torsion unit (10).

3. A handling robot according to claim 2, characterized in that: The connecting shaft (11) is provided with a shaft shoulder at both ends, and the shaft shoulder is clamped on the outer side of the sleeve (8).

4. The handling robot according to claim 1, characterized in that: The sleeve (8) is provided with a through groove for the power output end (7).

5. The material handling robot of claim 1, wherein: The execution arm (9) is a long strip-shaped plate structure.

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