CN220499145U - Robot device - Google Patents

Abstract

The utility model discloses a robot device, and belongs to the technical field of electric appliances. The robot apparatus includes: the device comprises a machine host, a guide rail assembly, a clamping structure, an inserting structure and a mechanical arm assembly. The guide rail assembly comprises a mounting frame and a sliding rail which are connected, the mechanical arm assembly is movably connected with the sliding rail, and the mechanical arm assembly can move between the first end and the second end of the sliding rail, so that the working range of the mechanical arm assembly can be enlarged. Meanwhile, the mechanical arm assembly can be fixed at the target position on the guide rail assembly through the clamping structure and the inserting structure, so that the mechanical arm assembly can be fixed at a plurality of positions in the moving range, and the applicability of the robot device can be improved.

Description

robotic device

Technical field

The utility model relates to the technical field of electrical appliances, and in particular to a robot device.

Background technique

A robotic device is an intelligent machine that can work semi- or fully autonomously. The robotic device can perform tasks such as work or movement through programming and automatic control.

A robotic device includes a machine host and a mechanical arm. The robotic arm device includes a mechanical arm and a mechanical holder. One end of the mechanical arm is rotatably connected to the machine host, and the other end is fixedly connected to the mechanical holder. The mechanical arm can rotate by itself. to change the position of the mechanical holder and control the mechanical holder to achieve various precise operations.

In the above-mentioned robotic device, the working range of the robotic arm is limited by the length of the robotic arm itself, resulting in poor applicability of the robotic device.

Utility model content

The embodiment of the present invention provides a robot device. The technical solutions are as follows:

The robot device includes: a machine host, a guide rail assembly, a snap-in structure, a plug-in structure and a robotic arm assembly;

The guide rail assembly includes a connected mounting frame and a slide rail, and the mounting frame is connected to the machine host;

The robotic arm assembly is movably connected to the slide rail and can move between the first end and the second end of the slide rail;

The clamping structure and the plug-in structure are both connected to the robot arm assembly, and the clamping structure can be clamped with the slide rail, and the plug-in structure can be plugged into the installation frame.

Optionally, the robotic arm assembly includes a connected guide block and a robotic arm;

One end of the guide block is connected to the mechanical arm, and the other end of the guide block has a first groove, and a first connection position and a second connection position located on both sides of the notch of the first groove;

The buckle structure includes a buckle, the buckle is located outside the notch of the first groove, and at least part of the slide rail is located between the buckle and the first groove;

One end of the buckle is rotatably connected to the first connection position, and the other end of the buckle can be fixedly connected to the second connection position.

Optionally, the surface of the slide rail has annular anti-skid protrusions, and the bending direction of the anti-skid protrusions is perpendicular to the length direction of the slide rail;

The surface of the buckle close to the first groove has an anti-skid groove matching the shape of the anti-skid protrusion.

Optionally, the mechanical arm includes a first mechanical arm, a second mechanical arm and a first rotary connection;

The first end of the first rotary connector is connected to one end of the first mechanical arm, the second end of the first rotary connector is connected to one end of the second mechanical arm, and the first rotary connector is connected to one end of the second mechanical arm. The connecting piece is rotationally connected to at least one of the first mechanical arm and the second mechanical arm;

The length direction of the first mechanical arm and the length direction of the second mechanical arm are both perpendicular to the rotation axis of the first rotation connection member.

Optionally, the robot device further includes a plurality of connector female ends, the connector female ends are electrically connected to the machine host, and the multiple connector female ends are located on the mounting frame and along the first Arranged in one direction, the first direction is a direction parallel to the length direction of the slide rail;

The plug-in structure includes a connector male end, the connector male end is electrically connected to the robot arm assembly, and the connector male end can be plugged into the connector female end.

Optionally, the female end of the connector includes a female connector, and the mounting frame has a plurality of positioning holes arranged along the first direction, and the plurality of female connectors are respectively connected to the plurality of positioning holes. Corresponding, and the female connector is located in the corresponding positioning hole;

The plug-in structure includes a first base and a male connector located on the first base, the first base is connected to the robotic arm assembly, and the shape of the male connector matches the shape of the positioning hole;

The male connector can be inserted into the positioning hole and contacted with the female connector.

Optionally, the connector female end includes a female joint, the mounting frame has a strip-shaped second groove, and the second groove has a plurality of positioning grooves on a groove wall extending along the first direction. , the plurality of female connectors respectively correspond to the plurality of positioning slots one by one, and the female connectors are located in the corresponding positioning slots;

The plug-in structure includes a first base and a male connector located on the first base, the first base is connected to the robotic arm assembly, and the shape of the male connector matches the shape of the positioning groove;

The male connector can be inserted into the positioning groove and contacted with the female connector.

Optionally, the robotic arm assembly also includes a mechanical clamp and an anti-slip pad;

The mechanical clamping claw is connected to an end of the mechanical arm away from the guide block, and the anti-slip pad is in contact with the clamping surface of the mechanical clamping claw.

Optionally, the installation frame includes a first base plate and two second side plates, the two second side plates are respectively located at both ends of the first base plate, and the surface of the first base plate is in contact with the The board surface of the second side board is vertical;

Both ends of the slide rail are fixedly connected to the two second side plates respectively, and there is a preset distance between the slide rail and the first bottom plate.

Optionally, the machine main body has a third groove, and the mounting frame of the guide rail assembly is located in the third groove.

The beneficial effects brought by the technical solutions provided by the embodiments of the present invention include at least:

A robot device including a machine host, a guide rail assembly, a clamping structure, a plug-in structure and a robotic arm assembly is provided. The guide rail assembly includes a connected mounting frame and a slide rail. The robotic arm assembly is movably connected to the slide rail and can move between the first end and the second end of the slide rail, which can increase the working range of the robotic arm assembly. At the same time, the robotic arm assembly can be fixed at the target position on the guide rail assembly through the snap-in structure and the plug-in structure, so that the robotic arm assembly can be fixed at multiple positions within the movement range, which can solve the problem of robots in related technologies. The problem of poor applicability of the device is solved, and the effect of improving the applicability of the robot device is achieved.

Description of the drawings

In order to explain the technical solutions in the embodiments of the present utility model more clearly, the drawings needed to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some implementations of the utility model. For example, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic structural diagram of a robotic device;

Figure 2 is a schematic structural diagram of a robot device provided by an embodiment of the present utility model;

Figure 3 is a schematic structural diagram of a guide rail assembly provided by an embodiment of the present utility model;

Figure 4 is a schematic structural diagram of a snap-in structure, a plug-in structure and a robotic arm assembly provided by an embodiment of the present invention;

Figure 5 is a schematic structural diagram of a snap-in structure and a guide block provided by an embodiment of the present invention;

Figure 6 is a schematic cross-sectional structural diagram of a guide rail assembly and a guide block provided by an embodiment of the present invention;

Figure 7 is a schematic diagram of the connection structure of a snap-in structure, a guide rail assembly and a guide block provided by an embodiment of the present invention;

Figure 8 is a schematic structural diagram of another guide block provided by an embodiment of the present invention;

Figure 9 is a schematic structural diagram of a buckle provided by an embodiment of the present utility model;

Figure 10 is a schematic structural diagram of a robotic arm provided by an embodiment of the present utility model;

Figure 11 is a schematic structural diagram of a guide rail assembly and a connector female end provided by an embodiment of the present invention;

Figure 12 is a schematic structural diagram of another plug-in structure provided by an embodiment of the present invention;

Figure 13 is a schematic structural diagram of another plug-in structure provided by an embodiment of the present invention;

Figure 14 is a schematic structural diagram of another guide rail assembly and a connector female end provided by an embodiment of the present invention;

Figure 15 is a schematic structural diagram of another plug-in structure provided by an embodiment of the present invention;

Figure 16 is a schematic structural diagram of a mechanical clamp and anti-slip pad provided by an embodiment of the present invention;

Figure 17 is a schematic structural diagram of another guide rail assembly provided by an embodiment of the present invention.

Through the above-mentioned drawings, clear embodiments of the present invention have been shown, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the concept of the present invention in any way, but are intended to illustrate the concept of the present invention to those skilled in the art with reference to specific embodiments.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present utility model clearer, the embodiments of the present utility model will be further described in detail below with reference to the accompanying drawings.

With the popularity of robotic devices in the market, robotic devices equipped with robotic arms are used in different work scenarios. For example, robot devices equipped with mechanical arms can be used for carrying goods, hotel cleaning, etc.

Figure 1 is a schematic structural diagram of a robotic device. Please refer to Figure 1. The robotic device 10 includes a machine host 11 and a robotic arm assembly 12. The robotic arm assembly 12 includes a robotic arm 121 and a mechanical gripper 122. One end of the robotic arm 121 It is rotatably connected to the machine host 11, and the other end is fixedly connected to the mechanical clamper 122. The robotic arm 121 can change the position of the mechanical clamper 122 by rotating itself, and control the mechanical clamper 122 to implement various precise operations.

However, for some application scenarios, such as in front of the shelves in a shopping mall, when the robot device 10 is required to pick up items at different locations, the working range of the robotic arm assembly 12 is limited by the length of the robotic arm 121 itself, and it cannot complete the task at higher positions. Or tasks at higher locations. For example, the height at the connection position between the robotic arm 121 and the machine host 11 is 1.4m, and the arm length of the robotic arm 121 is 0.8m, so that the robot device can only grip items above 0.6m above the ground, resulting in The robot device 10 has poor suitability.

The embodiment of the present utility model provides a robot device that can solve the problems existing in the above related technologies.

Figure 2 is a schematic structural diagram of a robot device 20 provided by an embodiment of the present utility model. Figure 3 is a schematic structural diagram of a guide rail assembly 22 provided by an embodiment of the present utility model. Figure 4 is a schematic structural diagram of a guide rail assembly 22 provided by an embodiment of the present utility model. For a schematic structural diagram of the snap-in structure 23, the plug-in structure 24 and the robotic arm assembly 25, please refer to Figure 2, Figure 3 and Figure 4. The robot device 20 may include: a machine host 21 , a guide rail assembly 22 , a clamping structure 23 , a plug-in structure 24 and a robotic arm assembly 25 . The machine host 21 can be used to control the operation of the entire robot device 20 . The machine host 21 may include control structures, circuit boards, electronic components, power components and display devices.

The guide rail assembly 22 may include a connected mounting frame 221 and a slide rail 222. The mounting frame 221 may be connected to the machine host 21, and the guide rail assembly 22 may be installed on the machine host 21 through the mounting frame 221.

The robotic arm assembly 25 can be movably connected with the slide rail 222 of the guide rail assembly 22 and can move between the first end and the second end of the slide rail 222 . In this way, the robot arm assembly 25 can be movably connected to the slide rail 222 to increase the range of movement of the robot arm assembly 25. For example, in the related art, the range of movement of the robot arm assembly 25 is the length of the robot arm assembly 25. In this application In the novel embodiment, the movable range of the robotic arm assembly 25 is the length of the robotic arm assembly 25 plus the length of the slide rail 222 .

Both the snap-in structure 23 and the plug-in structure 24 can be connected to the robot arm assembly 25, and the snap-in structure 23 can be snap-connected to the slide rail 222, and the plug-in structure 24 can be plug-in to the installation frame 221. When the robot arm assembly 25 moves between the first end and the second end of the slide rail 222, the clamping structure 23 and the plug-in structure 24 can both be separated from the guide rail assembly 22, that is, the clamping structure 23 can be separated from the slide rail 222. The rail 222 is separated, and the plug-in structure 24 can be separated from the installation frame 221 to avoid the effect of the clip-on structure 23 and the plug-in structure 24 on the movement of the robot arm assembly 25 . When the robot arm assembly 25 moves to the target position between the first end and the second end of the slide rail 222, the snap-in structure 23 can be snap-connected with the slide rail 222, and the plug-in structure 24 can be plug-in with the installation frame 221. The robotic arm assembly 25 is fixed at the target position, so that the fixed robotic arm assembly 25 enters a working state. There may be multiple target positions between the first end and the second end of the slide rail 222 so that the robot arm assembly 25 can work at multiple positions within the movement range.

To sum up, embodiments of the present invention provide a robot device including a machine host, a guide rail assembly, a clamping structure, a plug-in structure and a robotic arm assembly. The guide rail assembly includes a connected mounting frame and a slide rail. The robotic arm assembly is movably connected to the slide rail and can move between the first end and the second end of the slide rail, which can increase the working range of the robotic arm assembly. At the same time, the robotic arm assembly can be fixed at the target position on the guide rail assembly through the snap-in structure and the plug-in structure, so that the robotic arm assembly can be fixed at multiple positions within the movement range, which can solve the problem of robots in related technologies. The problem of poor applicability of the device is solved, and the effect of improving the applicability of the robot device is achieved.

Figure 5 is a schematic structural diagram of a snap-in structure 23 and a guide block 251 provided by an embodiment of the present utility model. Figure 6 is a schematic cross-sectional structural diagram of a guide rail assembly 22 and a guide block 251 provided by an embodiment of the present utility model. Figure 7 It is a schematic diagram of the connection structure of the snap-in structure 23, the guide rail assembly 22 and the guide block 251 provided by the embodiment of the present invention. Please refer to Figure 4, Figure 5, Figure 6 and Figure 7. In an optional implementation manner , the robotic arm assembly 25 may include a connected guide block 251 and a robotic arm 252 . One end of the guide block 251 can be connected to the robot arm 252, and the other end of the guide block 251 can have a first groove c1, and a first connection position w1 and a second connection position w2 located on both sides of the notch of the first groove c1. .

The buckle structure 23 may include a buckle 231 , the buckle 231 may be located outside the notch of the first groove c1 , and at least part of the slide rail 222 may be located between the buckle 231 and the first groove c1 . One end of the buckle 231 can be rotationally connected to the first connection position w1, and the other end of the buckle 231 can be fixedly connected to the second connection position w2.

Since one end of the buckle 231 can be rotationally connected to the first connection position w1, the buckle 231 can rotate around one end of the buckle 231 between the first position and the second position. When the buckle 231 is at the first position At this time, the other end of the buckle 231 can be separated from the second connection position w2. At this time, the buckle 231 and the slide rail 222 can be in a separated state, that is, the buckle 231 does not snap the guide block 251 to the slide rail 222. superior. When the buckle 231 is in the second position, the other end of the buckle 231 can be fixedly connected to the second connection position w2. At this time, the buckle 231 and the slide rail 222 can be in a locked state, that is, the slide rail 222 At least part of can be located in the area surrounded by the buckle 231 and the first groove c1. The buckle 231 can snap the guide block 251 on the slide rail 222 to fix the guide block 251, thereby fixing the robot arm assembly 25 on at the target location.

It can be understood that the process in which the robot arm assembly 25 in the embodiment of the present invention moves between the first end and the second end of the slide rail 222 may include the following two situations. In the first situation, the second end of the guide block 251 moves A groove c1 is sleeved on the slide rail 222 and slides between the first end and the second end of the slide rail 222 along the length direction of the slide rail 222 to drive the robotic arm assembly 25 to move on the first end of the slide rail 222 . In the second case, the guide block 251 and the slide rail 222 can be separated, and after the guide block 251 is moved to the target position, the guide block 251 and the slide rail 222 can be brought into contact to drive the The robotic arm assembly 25 moves between the first end and the second end of the slide rail 222 .

Figure 8 is a schematic structural diagram of another guide block 251 provided by an embodiment of the present invention. Please refer to Figures 5 and 8. The guide block 251 shown in Figure 8 can be viewed along the second direction f2 in Figure 5. 5 is a schematic structural diagram of the guide block 251. In an exemplary embodiment, the first connection position w1 of the guide block 251 may include a first connection seat w11 and a first rotating shaft w12 located on the first connection seat w11. , the first end of the buckle 231 may have a second through hole (not shown in the figure), and the first end of the buckle 231 may be rotatably connected to the first rotating shaft w12 through the second through hole. The clamping structure 23 also includes a first bolt 232. The second connection position w2 of the guide block 251 may include a second connection seat w21. The second connection seat w21 may have a first threaded hole w22. One end of the first bolt 232 may Fixedly connected to the second end of the buckle 231, the other end of the first bolt 232 can be inserted into the first threaded hole w22, so that the buckle 231 can be fixedly connected to the second connection base w21, thereby making the buckle 231 and the guide block 251 fixed connection.

Under such a structure, the second end of the buckle 231 and the guide block 251 are detachably connected through a threaded connection. The threaded connection is easy to disassemble, the disassembly speed is fast, and the connection strength and stability are high. It is convenient for the operator to quickly disassemble the second end of the buckle 231 and the guide block 251, and to quickly firmly connect the second end of the buckle 231 to the guide block 251.

In an exemplary embodiment, the number of slide rails 222 in the guide rail assembly 22 may be two, and the length directions of the two slide rails 222 may be parallel. The number of first grooves c1 on the guide block 251 may be two, and the two first grooves c1 correspond to the two slide rails 222 one-to-one. The number of buckles 231 may be two, and the two buckles 231 may correspond to the two first grooves c1 one-to-one. In this way, the connection stability between the robot arm assembly 25 and the guide rail assembly 22 can be improved.

Figure 9 is a schematic structural diagram of a buckle 231 provided by an embodiment of the present invention. Please refer to Figures 3 and 9. In an optional implementation, the surface of the slide rail 222 of the guide rail assembly 22 may have an annular shape. The anti-skid protrusion t1 is formed, and the bending direction of the anti-skid protrusion t1 can be perpendicular to the length direction of the slide rail 222 . The surface of the buckle 231 close to the first groove c1 may have an anti-skid groove t2 that matches the shape of the anti-skid protrusion t1. In this way, when the buckle 231 is buckled with the slide rail 222, the contact area between the buckle 231 and the slide rail 222 can be increased through the anti-skid protrusion t1 and the anti-skid groove t2 to increase the interaction between the buckle 231 and the slide rail 222. force to improve the stability of the engagement between the buckle 231 and the slide rail 222.

For example, the length direction of the slide rail 222 can be perpendicular to the ground, and the bending direction of the anti-slip protrusion t1 can be perpendicular to the length direction of the slide rail 222, which can prevent the buckle 231 and the guide from being blocked after the buckle 231 is buckled with the slide rail 222. The block 251 slides along the length of the slide rail 222 .

Through the cooperation of the anti-skid protrusion t1 on the slide rail 222 and the anti-skid groove t2 on the buckle 231, the firmness of the connection between the robot arm assembly 25 and the guide rail assembly 22 can be further improved, and the risk of damage caused by the shaking of the robot device 20 can be reduced. The risk of the robot arm assembly 25 detaching from the guide rail assembly 22 improves the stability of the operation of the robot device 20 .

Figure 10 is a schematic structural diagram of a robotic arm 252 provided by an embodiment of the present invention. Please refer to Figure 10. Optionally, the robotic arm 252 may include a first robotic arm 2521, a second robotic arm 2522 and a first rotating connector. 2523. The end of the first mechanical arm 2521 away from the second mechanical arm 2522 can be connected to the guide block 251 , the first end of the first rotating connector 2523 can be connected to one end of the first mechanical arm 2521 , and the second end of the first rotating connector 2523 can be connected to the guide block 251 . The end may be connected with one end of the second mechanical arm 2522 , and the first rotary connection 2523 may be rotatably connected with at least one of the first mechanical arm 2521 and the second mechanical arm 2522 . The length direction of the first mechanical arm 2521 and the length direction of the second mechanical arm 2522 may both be perpendicular to the rotation axis of the first rotation connection member 2523 .

In this way, the first rotary connecting piece 2523 can be used to connect the first mechanical arm 2521 and the second mechanical arm 2522, so that the first mechanical arm 2521 and the second mechanical arm 2522 become a whole, which facilitates operation. The second mechanical arm 2522 can rotate around the axis of the first rotating connector 2523 to realize various movements of the mechanical arm 252, such as rotation, swing and other movements, which can improve the flexibility of the mechanical arm 252.

Exemplarily, as shown in Figure 10, the robot arm 252 also includes a second rotary connection part 2524, a third rotary connection part 2525, a fourth rotary connection part 2526 and a fifth rotary connection part 2527, as well as first transition parts g1, The second transition piece g2 and the third transition piece g3. Among them, the first transition piece g1, the second transition piece g2 and the third transition piece g3 may all be L-shaped transition pieces.

The second rotary connection piece 2524, the first transition piece g1, the third rotary connection piece 2525, the first mechanical arm 2521, the fourth rotary connection piece 2526, the second transition piece g2, the first rotary connection piece 2523, the third transition piece g3. The fifth rotary connection member 2527 and the second mechanical arm 2522 are sequentially rotatably connected in the direction in which the guide block 251 points to the first mechanical arm 2521. Among them, one end of the second rotary connection piece 2524 away from the first transition piece g1 can be connected to the guide block 251 . The axial direction of the second rotary connection piece 2524 is parallel to the axial direction of the first rotary connection piece 2523 and is parallel to the first mechanical arm 2521 The length direction of the third rotary connection part 2525 , the fourth rotary connection part 2526 and the fifth rotary connection part 2527 is parallel and parallel to the length direction of the first mechanical arm 2521 .

The robotic arm 252 may also include a fixed connection part 2528, and the fixed connection part 2528 may be located between the guide block 251 and the second rotation connection part 2524 to connect the guide block 251 and the second rotation connection part 2524.

Figure 11 is a schematic structural diagram of another guide rail assembly 22 and a connector female end 26 provided by an embodiment of the present utility model. Figure 12 is a schematic structural diagram of another plug-in structure 24 provided by an embodiment of the present utility model. Figure 13 is For a schematic structural diagram of another plug-in structure 24 provided by an embodiment of the present invention, please refer to Figures 11, 12 and 13. The plug-in structure 24 shown in Figure 13 can be viewed along the third direction f3 in Figure 12 A schematic diagram of the plug structure 24 is shown in FIG. 12 . In an optional implementation, the robot device 20 may also include a plurality of connector female ends 26 , the connector female ends 26 may be electrically connected to the machine host 21 , and the multiple connector female ends 26 may be located on the guide rail assembly 22 on the mounting frame 221 and arranged along the first direction f1. The first direction f1 is a direction parallel to the length direction of the slide rail 222 of the guide rail assembly 22.

The plug-in structure 24 may include a connector male end 241 , the connector male end 241 may be electrically connected to the robot arm assembly 25 , and the connector male end 241 may be plugged into the connector female end 26 . When the robot arm assembly 25 moves between the first end and the second end of the slide rail 222 , the connector male end 241 can be separated from the connector female end 26 to prevent the connector male end 241 from pairing with the connector female end 26 The movement of the robotic arm assembly 25 causes an impact. When the robot arm assembly 25 moves to the target position between the first end and the second end of the slide rail 222, the connector male end 241 can be plugged into the connector female end 26 to fix the robot arm assembly 25 there. At the target position, at the same time, the robotic arm assembly 25 and the machine host 21 are electrically connected, so that the fixed robotic arm assembly 25 enters the working state.

That is, the connector male end 241 can be used to support and fix the robotic arm assembly 25 on the one hand, and can be used to electrically connect with the robotic arm assembly 25 on the other hand to provide electrical energy to the robotic arm assembly 25 ( The electrical energy can be provided by a battery provided in the machine host 21), and transmit electrical signals for control to the robotic arm assembly 25. In addition, feedback electrical signals provided by the robotic arm assembly 25 can also be obtained.

Optionally, the connector female end 26 may include a female joint 261, and the mounting frame 221 may have a plurality of positioning holes k1 arranged along the first direction f1, and the plurality of female joints 261 respectively correspond to the plurality of positioning holes k1. , and the female joint 261 is located in the corresponding positioning hole k1. The plug-in structure 24 includes a first base 2411 and a male connector 2412 located on the first base 2411. The first base 2411 is connected to the robot arm assembly 25, and the shape of the male connector 2412 matches the shape of the positioning hole k1. The male connector 2412 can be inserted into the positioning hole k1 and contact the female connector 261. The first base 2411 can be movably connected with the robotic arm assembly 25 .

Such a structure can improve the stability of the connection between the connector female end 26 and the connector male end 241, thereby improving the stability of the connection between the robot arm assembly 25 and the machine host 21, and reducing the circuit risk of the robot arm assembly 25 during operation. The possibility of disconnection improves the stability of the operation of the robotic device 20 . Compared with the overlapping method, this plug-in method can achieve a tighter circuit connection between the robot arm assembly 25 and the machine host 21, reducing the risk of disconnection of the circuit connection due to the shaking of the robot arm assembly 25. The stability of the operation of the robot device 20 is improved.

Figure 14 is a schematic structural diagram of another guide rail assembly 22 and a connector female end 26 provided by an embodiment of the present utility model. Figure 15 is a schematic structural diagram of another plug-in structure 24 provided by an embodiment of the present utility model. Please refer to the figure 14 and Figure 15. In an optional implementation, the connector female end 26 may include a female joint 261, and the mounting frame 221 may have a strip-shaped second groove c2, and the second groove c2 has a groove wall extending along the first direction f1. There are a plurality of positioning grooves c21 on the housing, the plurality of female connectors 261 correspond to the plurality of positioning slots c21 one-to-one, and the female connectors 261 are located in the corresponding positioning slots c21. The plug-in structure 24 includes a first base 2411 and a male connector 2412 located on the first base 2411. The first base 2411 is connected to the robot arm assembly 25, and the shape of the male connector 2412 matches the shape of the positioning groove c21. The male connector 2412 can be inserted into the positioning groove c21 and contact the female connector 261. In this way, more female connectors 261 can be provided on the mounting frame 221 so that when the robot arm assembly 25 moves to multiple positions, it can be electrically connected to the machine host 21 through the male connectors 2412 and the female connectors 261, which can improve the performance of the robot arm. 25 components for mobility flexibility.

FIG. 16 is a schematic structural diagram of a mechanical clamp 253 and an anti-slip pad 254 provided by an embodiment of the present invention. Please refer to FIG. 16 . Optionally, the robotic arm assembly 25 may also include a mechanical clamp 253 and an anti-slip pad 254 . The mechanical clamp 253 can be connected to an end of the mechanical arm 252 away from the guide block 251 , and the anti-slip pad 254 fits the clamping surface of the mechanical clamp 253 . The mechanical gripper in the robot arm 252 device may include at least one of a two-finger gripper, a three-finger gripper, a dexterous hand, and a suction cup. In the robotic arm 252 device shown in the above embodiment, the mechanical gripper is a two-finger gripper. The anti-slip pad 254 can be used to increase the adhesion of the mechanical clamp 253 so that the mechanical clamp 253 has better stability when picking up items.

Figure 17 is a schematic structural diagram of another guide rail assembly 22 provided by an embodiment of the present invention. Please refer to Figure 17. Optionally, the installation frame 221 can include a first bottom plate b1 and two second side plates b2. The two side panels b2 may be respectively located at both ends of the first bottom panel b1, and the surface of the first bottom panel b1 is perpendicular to the surface of the second side panel b2. Both ends of the slide rail 222 can be fixedly connected to the two second side plates b2 respectively, and there is a preset distance between the slide rail 222 and the first bottom plate b1. That is, there is a gap between the slide rail 222 and the first bottom plate b1 so that the buckle 231 can rotate in the gap and facilitate the operator to fix the buckle 231.

In an optional implementation, the machine host 21 may have a third groove, and the mounting frame 221 of the guide rail assembly 22 may be located in the third groove. In this way, the surface smoothness of the machine host 21 can be improved to improve the aesthetics of the robot device 20 , and the stability of the connection between the guide rail assembly 22 and the machine host 21 can also be improved. The main body of the robot device 20 also includes a second bolt. The second side plate b2 has a second mounting through hole. The inner wall of the second groove c2 has a first mounting hole corresponding to the second mounting through hole. The second bolt is located on in the second mounting through hole and the first mounting hole.

Please refer to FIG. 6 . In an exemplary embodiment, the first bottom plate b1 has a plurality of insertion holes k2 arranged along the first direction f1 . The first direction f1 is parallel to the length direction of the slide rail 222 . direction. The plug-in structure 24 includes a positioning part, which may include a positioning base and a positioning screw k3.

The positioning part is located between the guide block 251 and the first bottom plate b1, and the positioning base is connected to the guide block 251. One end of the positioning screw k3 can be separated from the insertion hole k2, or one end of the positioning screw k3 can be inserted into the insertion hole k2. . In this way, the robot arm assembly 25 can be fixed at the target position through the positioning portion and the insertion hole k2. In this case, the robot device 20 may also include an external power cord, which may be used to connect the machine host 21 and the robotic arm assembly 25 to achieve electrical connection between the machine host 21 and the robotic arm assembly 25 .

To sum up, embodiments of the present invention provide a robot device including a machine host, a guide rail assembly, a clamping structure, a plug-in structure and a robotic arm assembly. The guide rail assembly includes a connected mounting frame and a slide rail. The robotic arm assembly is movably connected to the slide rail and can move between the first end and the second end of the slide rail, which can increase the working range of the robotic arm assembly. At the same time, the robotic arm assembly can be fixed at the target position on the guide rail assembly through the snap-in structure and the plug-in structure, so that the robotic arm assembly can be fixed at multiple positions within the movement range, which can solve the problem of robots in related technologies. The problem of poor applicability of the device is solved, and the effect of improving the applicability of the robot device is achieved.

In the present invention, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. The term "plurality" refers to two or more than two, unless expressly limited otherwise.

The above are only optional embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present utility model shall be included in this utility model. Within the protection scope of utility model.

Claims (10)

1. A robotic device, the robotic device comprising: the device comprises a machine host, a guide rail assembly, a clamping structure, an inserting structure and a mechanical arm assembly;

the guide rail assembly comprises a mounting frame and a sliding rail which are connected, and the mounting frame is connected with the machine host;

the mechanical arm assembly is movably connected with the sliding rail and can move between a first end and a second end of the sliding rail;

the clamping structure and the inserting structure are connected with the mechanical arm assembly, the clamping structure can be clamped with the sliding rail, and the inserting structure can be inserted with the mounting frame.

2. The robotic device of claim 1, wherein the robotic arm assembly comprises a guide block and a robotic arm connected;

one end of the guide block is connected with the mechanical arm, and the other end of the guide block is provided with a first groove, and a first connecting position and a second connecting position which are positioned on two sides of a notch of the first groove;

the clamping structure comprises a buckle, the buckle is positioned outside the notch of the first groove, and at least part of the sliding rail is positioned between the buckle and the first groove;

one end of the buckle is rotationally connected with the first connecting position, and the other end of the buckle can be fixedly connected with the second connecting position.

3. The robot apparatus according to claim 2, wherein the surface of the slide rail has an annular anti-slip protrusion, and a bending direction of the anti-slip protrusion is perpendicular to a length direction of the slide rail;

the surface of the buckle, which is close to one side of the first groove, is provided with an anti-slip groove matched with the anti-slip protrusion in shape.

4. The robotic device of claim 2, wherein the robotic arm comprises a first robotic arm, a second robotic arm, and a first rotational connection;

the first end of the first rotating connecting piece is connected with one end of the first mechanical arm, the second end of the first rotating connecting piece is connected with one end of the second mechanical arm, and the first rotating connecting piece is rotationally connected with at least one of the first mechanical arm and the second mechanical arm;

the length direction of the first mechanical arm and the length direction of the second mechanical arm are perpendicular to the rotation axis of the first rotation connecting piece.

5. The robotic device of claim 1, further comprising a plurality of connector female ends electrically connected to the machine host, the plurality of connector female ends being located on the mounting frame and arranged along a first direction, the first direction being a direction parallel to a length direction of the slide rail;

the plug-in structure comprises a connector male end, the connector male end is electrically connected with the mechanical arm assembly, and the connector male end can be plugged in the connector female end.

6. The robotic device of claim 5, wherein the connector female end comprises a female connector, the mounting frame has a plurality of positioning holes arranged along the first direction, the plurality of female connectors are respectively in one-to-one correspondence with the plurality of positioning holes, and the female connector is positioned in the corresponding positioning hole;

the plug-in structure comprises a first base and a male connector positioned on the first base, the first base is connected with the mechanical arm assembly, and the shape of the male connector is matched with the shape of the positioning hole;

the male connector can be inserted into the positioning hole and contacted with the female connector.

7. The robotic device of claim 5, wherein the connector female end comprises a female connector, the mounting frame has a strip-shaped second groove thereon, the groove wall of the second groove extending along the first direction has a plurality of positioning grooves thereon, the female connector corresponds to the plurality of positioning grooves one by one, and the female connector is located in the corresponding positioning groove;

the plug-in structure comprises a first base and a male connector positioned on the first base, the first base is connected with the mechanical arm assembly, and the shape of the male connector is matched with that of the positioning groove;

the male connector can be inserted into the positioning groove and contacted with the female connector.

8. The robotic device of claim 2, wherein the robotic arm assembly further comprises a mechanical jaw and a cleat;

the mechanical clamping jaw is connected with one end, far away from the guide block, of the mechanical arm, and the anti-slip pad is attached to the clamping surface of the mechanical clamping jaw.

9. The robotic device of claim 1, wherein the mounting frame comprises a first bottom plate and two second side plates, the two second side plates being positioned at two ends of the first bottom plate, respectively, and a plate surface of the first bottom plate being perpendicular to a plate surface of the second side plates;

the two ends of the sliding rail are fixedly connected with the two second side plates respectively, and a preset distance is reserved between the sliding rail and the first bottom plate.

10. The robotic device of claim 9, wherein the machine body has a third recess therein, the mounting frame of the rail assembly being located in the third recess.