CN214964352U

CN214964352U - Carrying robot capable of automatically taking and placing objects

Info

Publication number: CN214964352U
Application number: CN202120876794.3U
Authority: CN
Inventors: 肖罡; 屠奇明; 韩大康
Original assignee: Jiangxi College of Application Science and Technology
Current assignee: Jiangxi College of Application Science and Technology
Priority date: 2021-04-26
Filing date: 2021-04-26
Publication date: 2021-12-03
Anticipated expiration: 2031-04-26

Abstract

The utility model discloses a can get cargo ship robot of thing of putting automatically, push away the top that the frame slided to locate and remove the frame including removing frame, loading board and two looks spaced, push away to be equipped with the crane that can go up and down on putting up, the loading board supporting pushes away on two cranes that put up, pushes away and is equipped with the lift actuating mechanism who is used for driving the crane lift on putting up, removes to be equipped with on putting up and is used for driving two and pushes away the frame and slide to stretching respectively in the actuating mechanism that slides of table body both sides. This can get thing and put transport machine people has and gets thing and transport the steady swift, can place article on the desktop of assigned position and can effectively alleviate advantages such as service personnel's working strength in the use scene by oneself.

Description

Carrying robot capable of automatically taking and placing objects

Technical Field

The utility model relates to the technical field of robot, especially, relate to a can get automatically and put transport robot of thing.

Background

Many robots with carrying functions appear in the market at present, the robots are mainly applied to occasions where goods need to be carried frequently, such as large-scale factories and logistics, and the use of the large-scale carrying robots is limited in some daily life scenes, such as environments of restaurants, hospitals, supermarkets and the like. Although in the above environment, some transportation functions can be completed by using a cart, a mobile robot, or other vehicles, when taking and placing an article, a service person still needs to place the article on the cart or the robot, the autonomous article taking function of the robot cannot be realized, and when the position where the article needs to be placed is reached, the article needs to be taken out by a user or the service person, so that in the using process, the working intensity and the workload of the service person cannot be reduced by some existing robot devices.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to overcome prior art not enough, provide one kind get the thing and transport the process steady swift, can place article on the desktop of assigned position and can effectively reduce the service personnel work load can get the thing automatically and put the transport robot.

In order to solve the technical problem, the utility model discloses a following technical scheme:

the utility model provides a can get thing automatically and put shiies machine people, including removing frame, loading board and two looks spaced pushing away the frame, push away the top that the frame slided to locate and removes the frame, be equipped with the crane that can go up and down on pushing away the frame, the loading board supports on two cranes that push away the frame, it is equipped with the lift actuating mechanism who is used for driving the crane lift to push away to put up to push away, it is used for driving two to push away to slide to stretching the actuating mechanism that slides on the table body to remove to put up to be equipped with.

As a further improvement of the above technical solution:

the lifting frame comprises a scissor frame and a lifting plate, the bottom of the scissor frame is arranged on the pushing frame, the lifting plate is arranged at the top of the scissor frame, the bearing plate is supported on the lifting plate, and the lifting driving mechanism is connected with the scissor frame and used for driving the scissor frame to unfold and fold so as to lift the lifting plate.

The lifting driving mechanism comprises a lifting driving screw rod arranged on the pushing frame and a lifting driving motor used for driving the lifting driving screw rod to rotate, a sliding block is arranged on the pushing frame in a sliding mode, the lifting driving screw rod penetrates through the sliding block and is connected with the sliding block in a threaded mode, one end of the bottom of the scissor rack is hinged to the pushing frame, the other end of the bottom of the scissor rack is hinged to the sliding block, and one end of the top of the scissor rack is hinged to the lifting plate, and the other end of the top of the scissor rack is connected with the lifting plate in a sliding mode.

The pushing frame is provided with an accommodating groove for accommodating the scissor frame, and the sliding block is slidably arranged in the accommodating groove.

The sliding driving mechanism comprises a sliding driving screw rod arranged on the moving frame and a sliding driving motor used for driving the sliding driving screw rod to rotate, a connecting rod is arranged between the pushing frames, and the sliding driving screw rod penetrates through the connecting rod and is in threaded connection with the connecting rod.

The top of moving the frame is equipped with linear slide rail and holding tank, linear slide rail locates on the bottom surface of holding tank, push away the frame and locate on linear slide rail cunning.

The movable rack comprises a support frame, a rotating rack and a rotary driving mechanism for driving the rotating rack to rotate and adjust, the bottom of the support frame is provided with movable wheels, the rotating rack is arranged at the top of the support frame, the pushing rack is arranged on the rotating rack in a sliding manner, and the sliding driving mechanism is arranged on the rotating rack.

The rotary driving mechanism comprises a gear set and a rotary driving motor, and the rotary driving motor is arranged on the support frame and is connected with the rotating frame through the gear set.

The supporting frame is provided with a plurality of layers of placing table tops for placing articles.

The carrying robot capable of automatically taking articles and placing articles further comprises a control module, a walking motor used for driving the moving wheel to walk is arranged on the supporting frame, and the walking motor, the rotary driving mechanism, the lifting driving mechanism and the sliding driving mechanism are all connected with the control module through signals.

Compared with the prior art, the utility model has the advantages of:

the utility model discloses a can get cargo carrying robot of thing and put thing automatically, push away the top that the frame slided to locate and removes the frame including removing frame, loading board and two looks spaced, push away to be equipped with the crane that can go up and down on putting up, the loading board supporting pushes away on two cranes that push away the frame, pushes away to be equipped with the lift actuating mechanism who is used for driving the crane lift on putting up, removes to be equipped with on putting up and is used for driving two and pushes away the frame and slide to stretching the actuating mechanism that slides on the table body. Use this can get thing and put the transport robot of thing automatically and be used for passing the dish as an example (of course this can get thing and put the transport robot of thing automatically also can be used for carrying other article), pass the dish process: placing the dishes on the bearing plate; the carrying robot capable of automatically taking and placing objects moves to the corresponding table body (dining table) side through the movable frame and is aligned with the table body; the lifting driving mechanism drives the lifting frame to ascend, so that the bearing plate is higher than the table body; the sliding driving mechanism drives the two pushing frames to slide to extend to two sides of the table body respectively; the lifting driving mechanism drives the lifting frame to descend, so that the bearing plate is supported on the table body, and the effect of transferring dishes is achieved; the sliding driving mechanism drives the two pushing frames to return, and the bearing plate to be placed is used for transferring dishes again. Pass dish process reverse operation and can realize getting the autonomic dish function of getting of the transport robot that thing was put automatically, can get the transport robot that thing was put automatically and remove to the table body by, the loading board below of pushing away that does not place the loading board releases to the table body, and the crane rises, makes the loading board be higher than the desktop, pushes away the frame and returns, and the crane descends, reaches the effect of going the dish. This but transport robot that thing was put to thing gets thing and transports the process steady swift, can place article on the desktop of assigned position and can effectively alleviate service personnel's in the use scene working strength table body by oneself.

Drawings

Fig. 1 is a schematic perspective view of the carrying robot of the present invention capable of automatically taking and placing objects.

Fig. 2 is a schematic perspective view of the carrying robot (not shown) capable of automatically taking and placing objects according to the present invention.

Fig. 3 is an enlarged view at a in fig. 2.

Fig. 4 is an exploded view (first view) of the moving frame of the carrying robot of the present invention capable of automatically taking and placing objects.

Fig. 5 is an exploded view (second view) of the moving frame of the carrying robot of the present invention capable of automatically taking and placing objects.

Fig. 6 is a schematic structural view of the carrying robot capable of automatically taking and placing objects of the present invention when aligning with the table body.

Fig. 7 is a schematic structural view of the carrying robot capable of automatically taking and placing objects of the present invention when the pushing frame slides.

Fig. 8 is a schematic structural view of the carrying robot capable of automatically taking and placing objects of the present invention when the pushing frame slides (the loading plate is not shown).

Fig. 9 is a schematic structural view of the carrying robot capable of automatically taking and placing objects of the present invention when the dish is returned.

The reference numerals in the figures denote:

1. a movable frame; 11. a support frame; 111. placing a table top; 112. a first annular groove; 113. a ball bearing; 12. a rotating frame; 121. a second annular groove; 13. a rotation driving mechanism; 131. a gear set; 132. a rotary drive motor; 14. a moving wheel; 2. a carrier plate; 3. pushing the frame; 31. a slider; 32. an accommodating groove; 33. a connecting rod; 4. a lifting frame; 41. a scissor rack; 42. a lifting plate; 5. a lifting drive mechanism; 51. a lifting driving screw rod; 52. a lifting drive motor; 6. a table body; 61. a groove is penetrated; 7. a slip drive mechanism; 71. a sliding driving screw rod; 72. a slip drive motor; 8. a linear slide rail; 9. and (6) accommodating the tank.

Detailed Description

The invention will be described in further detail with reference to the drawings and specific examples.

Fig. 1 to fig. 9 show that the utility model discloses can get an embodiment of the transport robot of thing automatically, this transport robot of thing is put automatically is including removing frame 1, loading board 2 and two looks spaced push away frame 3, push away the top that 3 cunning of putting and locate removal frame 1, it can go up and down to be equipped with crane 4 on the frame 3 to push away, loading board 2 supports on two crane 4 who pushes away frame 3, it is equipped with the lift actuating mechanism 5 that is used for driving crane 4 to go up and down to push away to be equipped with on the frame 3, it is used for driving two to push away frame 3 cunning and moves to stretching to the actuating mechanism 7 that slides on the table body 6 to remove to be equipped with on the frame 1. Use this can get thing and put the transport robot of thing automatically and be used for passing the dish as an example (of course this can get thing and put the transport robot of thing automatically also can be used for carrying other article), pass the dish process: placing the dishes on the bearing plate 2; as shown in fig. 6, the carrying robot capable of automatically taking and placing objects moves to the corresponding table body 6 (dining table) side through the moving frame 1 and aligns with the table body 6; as shown in fig. 6, the lifting driving mechanism 5 drives the lifting frame 4 to ascend, so that the bearing plate 2 is higher than the table body 6; as shown in fig. 7 and 8, the sliding driving mechanism 7 drives the two pushing frames 3 to slide to extend to two sides of the table body 6 respectively; the lifting driving mechanism 5 drives the lifting frame 4 to descend, so that the bearing plate 2 is supported on the table body 6, and the effect of transferring dishes is achieved; as shown in fig. 9, the sliding driving mechanism 7 drives the two pushing frames 3 to retract, and the carrier plate 2 to be placed is used for transferring dishes again. Simultaneously, biography dish process reverse operation can realize getting the autonomic dish function of getting of the transport robot that thing was put automatically, can get the transport robot that thing was put automatically and remove to table body 6 by, the loading board 2 below on the table body 6 is released to pushing away of not placing loading board 2 frame 3, and crane 4 rises, makes loading board 2 be higher than the desktop, pushes away the frame 3 and returns, and crane 4 descends, reaches the effect of removing the dish. This but transport robot that thing was put to thing gets thing and transports the process steady swift, can place article on the desktop of assigned position and can effectively alleviate service personnel's in the use scene working strength table body by oneself.

In this embodiment, as shown in fig. 2 and 3, the lifting frame 4 includes a scissor rack 41 and a lifting plate 42, the bottom of the scissor rack 41 is disposed on the pushing frame 3, the lifting plate 42 is disposed on the top of the scissor rack 41, the bearing plate 2 is supported on the lifting plate 42, and the lifting driving mechanism 5 is connected to the scissor rack 41 and is used for driving the scissor rack 41 to unfold and fold so as to lift the lifting plate 42. Specifically, each lifting plate 42 is supported on the pushing frame 3 through two lifting frames 4 arranged at intervals, and the lifting of the lifting plate 42 is realized by utilizing the principle of the scissor frame 41.

In this embodiment, as shown in fig. 3, the lifting driving mechanism 5 includes a lifting driving screw 51 disposed on the pushing frame 3 and a lifting driving motor 52 for driving the lifting driving screw 51 to rotate, a sliding block 31 is slidably disposed on the pushing frame 3, the lifting driving screw 51 is disposed in the sliding block 31 and is in threaded connection with the sliding block 31, one end of the bottom of the scissor rack 41 is hinged to the pushing frame 3, the other end of the bottom of the scissor rack is hinged to the sliding block 31, one end of the top of the scissor rack 41 is hinged to the lifting plate 42, and the other end of the top of the scissor rack 41 is in sliding connection with the lifting plate 42. Specifically, lifting drive screw 51 and lifting drive motor 52 are both mounted on pushing frame 3, and move along with the movement of pushing frame 3, and lifting drive motor 52 (bidirectional motor) drives lifting drive screw 51 to rotate forward or backward, pushes slider 31 to slide, and causes scissor holder 41 to unfold upward or scissor holder 41 to retract downward, thereby realizing the lifting movement of lifting plate 42. The lifting plate 42 is lifted by adopting the transmission of the lifting driving screw rod 51 and the slide block 31, so that the lifting plate 42 and the bearing plate 2 on the lifting plate 42 are higher than the table body 6. The lifting plate 42 can be set to be trapezoidal in cross section, and the bottom surface of the bearing plate 2 is provided with a trapezoidal groove matched with the lifting plate 42, so that the lifting plate 42 is just positioned in the trapezoidal groove, and the bearing plate 2 is limited in the direction perpendicular to the side wall of the trapezoidal groove.

In the present embodiment, as shown in fig. 3, the pushing frame 3 is provided with a receiving groove 32 for receiving the scissor frame 41, and the slider 31 is slidably disposed in the receiving groove 32. Specifically, the accommodating groove 32 is a groove with a five-side closed upper opening, the slider 31 is slidably disposed in the accommodating groove 32, the elevation driving screw 51 is inserted into the accommodating groove 32, the elevation driving motor 52 can drive the elevation driving screw 51 to rotate, so that the scissor holder 41 is retracted into the accommodating groove 32, and the elevation plate 42 covers the top opening of the accommodating groove 32, thereby achieving the effect of protecting the scissor holder 41.

In this embodiment, as shown in fig. 2, the sliding driving mechanism 7 includes a sliding driving screw 71 disposed on the moving frame 1 and a sliding driving motor 72 for driving the sliding driving screw 71 to rotate, a connecting rod 33 is disposed between the two pushing frames 3, and the sliding driving screw 71 is disposed in the connecting rod 33 and is in threaded connection with the connecting rod 33. Specifically, the connecting rod 33 is fixed between two pushing frames 3, so that the two pushing frames 3 form a whole structure to synchronously slide, the sliding driving motor 72 is installed on the moving frame 1 and used for driving the sliding driving screw rod 71 to rotate, and the sliding driving screw rod 71 rotates to drive the connecting rod 33 and the two pushing frames 3 to synchronously slide, so that the two pushing frames 3 extend out to one side of the table body 6, or the extended pushing frames 3 return to the moving frame 1.

In this embodiment, as shown in fig. 2 and fig. 3, the top of the moving frame 1 is provided with a linear slide rail 8, and the pushing frame 3 is slidably disposed on the linear slide rail 8. The linear slide rail 8 has a guiding effect on the pushing frame 3, so that the pushing frame 3 slides stably along the linear slide rail 8, and the dish conveying process is more stable.

In this embodiment, as shown in fig. 2, 4, 5 and 6, the top of the moving frame 1 is provided with an accommodating groove 9, and the linear sliding rail 8 is disposed on the bottom surface of the accommodating groove 9. Specifically, holding tank 9 runs through in the relative both sides that remove frame 1, and the bottom surface both sides of holding tank 9 all are equipped with a linear slide rail 8, and two push away frame 3 and slide respectively on locating two linear slide rails 8, push away frame 3 under the driving action of driving motor 72 that slides, can stretch out outside holding tank 9 or return to in the holding tank 9. The middle part of holding tank 9 is equipped with the safety cover in the actuating mechanism 7 top that slides, and the safety cover is used for protecting actuating mechanism 7 that slides, also can be used for supporting loading board 2.

In this embodiment, as shown in fig. 1, fig. 2, and fig. 4 to fig. 9, the moving frame 1 includes a supporting frame 11, a rotating frame 12, and a rotation driving mechanism 13 for driving the rotating frame 12 to rotate and adjust, a moving wheel 14 is disposed at the bottom of the supporting frame 11, the rotating frame 12 is disposed at the top of the supporting frame 11, the pushing frame 3 is slidably disposed on the rotating frame 12, and the sliding driving mechanism 7 is disposed on the rotating frame 12. Specifically, holding tank 9 is located the top of swivel 12, and drive lead screw 71 and the driving motor 72 that slides all locate on swivel 12, specifically locate on the bottom surface of holding tank 9. The rotating frame 12 can be rotationally adjusted by the rotary driving mechanism 13, so that the pushing frame 3 on the rotating frame 12 can be aligned to two sides of the table body 6. Two sides of the top surface of the table body 6 can be opened with a through slot 61 for the push frame 3 to penetrate, thereby improving the use safety. The rotating frame 12 can be rotationally adjusted by the rotational driving mechanism 13, so that the push frame 3 on the rotating frame 12 can be aligned with the passing groove 61 of the table body 6. The top surface of the supporting frame 11 is provided with a first annular groove 112, a plurality of balls 113 are arranged in the first annular groove 112 at intervals, the bottom surface of the rotating frame 12 is provided with a second annular groove 121, and the second annular groove 121 is supported on each ball 113, so that the rotating frame 12 can rotate relative to the supporting frame 11.

In this embodiment, as shown in fig. 4, the rotation driving mechanism 13 includes a gear set 131 and a rotation driving motor 132, and the rotation driving motor 132 is disposed on the supporting frame 11 and connected to the rotating frame 12 through the gear set 131. The rotation driving motor 132 rotationally adjusts the rotating frame 12 through the gear train 131.

In this embodiment, the supporting frame 11 is provided with a plurality of layers of placing tables 111 for placing articles. The placing table top 111 can be used for placing a dish, so that the cleaning work on the table body 6 is facilitated.

In this embodiment, the carrying robot capable of automatically fetching and placing objects further includes a control module (not shown in the drawings), the supporting frame 11 is provided with a traveling motor (not shown in the drawings) for driving the moving wheel 14 to travel, and the traveling motor, the rotation driving motor 132 of the rotation driving mechanism 13, the lifting driving motor 52 of the lifting driving mechanism 5 and the sliding driving mechanism 7 are all in signal connection with the control module. The control module can send instructions to the walking motor, the lifting driving mechanism 5 of the rotating driving mechanism 13 and/or the sliding driving motor 72 of the sliding driving mechanism 7, so that the robot moves to a specified position, the rotating frame 12 rotates to a specified angle, the lifting plate is lifted to a specified height, and/or the pushing frame 3 is pushed out or retracted. The carrying robot capable of automatically taking and placing objects can achieve the processes of self-taking, transferring and placing, achieves full-process intelligent operation and can effectively reduce the workload of service staff.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention. The technical solution of the present invention can be used by anyone skilled in the art to make many possible variations and modifications, or to modify equivalent embodiments, without departing from the scope of the technical solution of the present invention, using the technical content disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments by the technical entity of the present invention should fall within the protection scope of the technical solution of the present invention.

Claims

1. The utility model provides a can get thing machine people that carries of putting automatically which characterized in that: including removing frame (1), loading board (2) and two looks spaced push away frame (3), push away the top that frame (3) slided to locate removal frame (1), it can go up and down crane (4) to be equipped with on frame (3) to push away, loading board (2) support is on two crane (4) that push away frame (3), it is used for driving lift actuating mechanism (5) that crane (4) go up and down to be equipped with on frame (3) to push away, it is used for driving two to push away frame (3) and slides to stretching to the actuating mechanism (7) that slides on the table body (6) to be equipped with on removal frame (1).

2. The carrier robot capable of automatically taking and placing objects according to claim 1, wherein: the lifting frame (4) comprises a scissor frame (41) and a lifting plate (42), the bottom of the scissor frame (41) is arranged on the pushing frame (3), the lifting plate (42) is arranged at the top of the scissor frame (41), the bearing plate (2) is supported on the lifting plate (42), and the lifting driving mechanism (5) is connected with the scissor frame (41) and used for driving the scissor frame (41) to be unfolded and folded so as to lift the lifting plate (42).

3. The carrier robot capable of automatically taking and placing objects according to claim 2, wherein: lift actuating mechanism (5) including locating lift drive lead screw (51) on pushing away frame (3) and be used for driving lift drive lead screw (51) rotatory lift driving motor (52), it is equipped with slider (31) to push away to slide on frame (3), lift drive lead screw (51) wear to locate in slider (31) and with slider (31) threaded connection, the one end of scissors frame (41) bottom with push away frame (3) articulated, the other end is articulated with slider (31), the one end and the lifter plate (42) at scissors frame (41) top are articulated, the other end and lifter plate (42) sliding connection.

4. The carrier robot capable of automatically taking and placing objects according to claim 3, wherein: the pushing frame (3) is provided with an accommodating groove (32) for accommodating the scissor frame (41), and the sliding block (31) is slidably arranged in the accommodating groove (32).

5. The carrier robot capable of automatically taking and placing objects according to claim 1, wherein: slip actuating mechanism (7) including locate the drive lead screw (71) that slides on removing frame (1) and be used for driving the rotatory driving motor (72) that slides of drive lead screw (71), two it is equipped with connecting rod (33) to push away between frame (3), drive lead screw (71) that slides wear to locate in connecting rod (33) and with connecting rod (33) threaded connection.

6. The carrier robot capable of automatically taking and placing objects according to claim 1, wherein: the top of moving frame (1) is equipped with linear slide rail (8) and holding tank (9), linear slide rail (8) are located on the bottom surface of holding tank (9), push away and put up (3) cunning and locate on linear slide rail (8).

7. The carrier robot capable of automatically picking and placing objects according to any one of claims 1 to 6, wherein: remove frame (1) including support frame (11), swivel mount (12) and be used for driving swivel mount (12) rotation regulation's rotary driving mechanism (13), the bottom of support frame (11) is equipped with removes wheel (14), the top of support frame (11) is located in swivel mount (12), push away on frame (3) cunning locates swivel mount (12), actuating mechanism (7) that slides are located on swivel mount (12).

8. The carrier robot capable of automatically taking and placing objects according to claim 7, wherein: the rotary driving mechanism (13) comprises a gear set (131) and a rotary driving motor (132), wherein the rotary driving motor (132) is arranged on the support frame (11) and is connected with the rotary frame (12) through the gear set (131).

9. The carrier robot capable of automatically taking and placing objects according to claim 7, wherein: the supporting frame (11) is provided with a plurality of layers of placing table tops (111) for placing articles.

10. The carrier robot capable of automatically taking and placing objects according to claim 7, wherein: the carrying robot capable of automatically taking and placing objects further comprises a control module, a walking motor used for driving the moving wheel (14) to walk is arranged on the supporting frame (11), and the walking motor, the rotary driving mechanism (13), the lifting driving mechanism (5) and the sliding driving mechanism (7) are all in signal connection with the control module.