CN107499952A - One kind is based on AGV or OMV vehicular robot palletizer systems - Google Patents
One kind is based on AGV or OMV vehicular robot palletizer systems Download PDFInfo
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- CN107499952A CN107499952A CN201710649998.1A CN201710649998A CN107499952A CN 107499952 A CN107499952 A CN 107499952A CN 201710649998 A CN201710649998 A CN 201710649998A CN 107499952 A CN107499952 A CN 107499952A
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- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims abstract description 7
- 235000017491 Bambusa tulda Nutrition 0.000 claims abstract description 7
- 241001330002 Bambuseae Species 0.000 claims abstract description 7
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims abstract description 7
- 239000011425 bamboo Substances 0.000 claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims description 11
- 238000001125 extrusion Methods 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 abstract description 11
- 238000013461 design Methods 0.000 abstract description 6
- 230000004888 barrier function Effects 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000017027 detection of gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Invalid Beds And Related Equipment (AREA)
Abstract
The present invention relates to one kind to be based on AGV or OMV vehicular robot palletizer systems, including the dolly with wheel, the bottom platform on dolly, the spiral lift on the platform of bottom, the robot palletizer for being arranged on spiral lift upper end, in addition to control the controller that spiral lift works.The dolly is AGV or OMV dollies.The present invention realizes the lift adjustment of robot palletizer by means of spiral lift, so as to add the job area of robot palletizer on the basis of AGV or OMV dollies are combined with robot palletizer；It is reasonable in design, employ the cooperation of spiral lift and bamboo joint type lifting Support bracket, space structure is compact, spiral lift space occupied after shrinking is smaller, solves the technical barrier that traditional elevating mechanism occupies larger bulk, and lifting force will not diminish suddenly because of the increase of the height of lifting, stability and security performance are higher.
Description
Technical field
The present invention relates to Palletizer technical field, specifically one kind is based on AGV or OMV vehicular robot palletizers
System.
Background technology
In existing shop production line, it is often necessary to stacking is carried out to goods by robot palletizer, it is artificial to substitute
The mode of stacking, saves manpower, improves cargo transport, the efficiency stacked.However, existing robot palletizer is mostly to fix
Formula, stacking are limited in scope, and also have the robot palletizer of movable type, but the height of stacking can be also restricted, and lacking to drive
The mechanism of robot palletizer lifting, according to traditional hydraulic pressure, the mode of screw drive, then can occupy larger bulk,
Requirement for workshop of constructing is higher, therefore there is an urgent need to a kind of new robot palletizer, to solve the demand of stacking in workshop.
The content of the invention
The technical problems to be solved by the invention are that providing one kind is based on AGV or OMV vehicular robot palletizer systems.
The technical problems to be solved by the invention are realized using following technical scheme：
One kind is based on AGV or OMV vehicular robot palletizer systems, including the dolly with wheel, on dolly
Bottom platform, the spiral lift on the platform of bottom, the robot palletizer for being arranged on spiral lift upper end, in addition to use
To control the controller that spiral lift works.
The dolly is AGV or OMV dollies.
The section formula lifting Support bracket that kinematic mount is played with being connected at the top of spiral lift is installed on the bottom platform.
It is provided with the platform of bottom for the anti-too low device to spiral lift lower limit.
Loading plate is installed at the top of the spiral lift, the position being connected with controller is installed on the loading plate and passed
Sensor, gravity sensor.
If the chassis that bamboo joint type lifting Support bracket includes being fixed on the platform of bottom, can be along chassis in axial sliding
A dry crane, the crane in bottommost and chassis axial sliding fit in several cranes, in several cranes
Axial sliding fit between two adjacent cranes.
The spiral lift includes fixed base, the platform around the rotation of fixed base, and driving platform rotates
Motor, the receiver on platform, the spring Flat belt being stored in receiver, in fixed base and and spring
Flat belt, which coordinates, to be formed the flute profile spring of spiral cylinder, is used to fetter the lifting of flute profile spring on platform or shrinks fortune
Dynamic belt track lifting mechanism, the rail-guided frame for making spring Flat belt be engaged with flute profile spring.
It is equally distributed with holes provided with some rows along the length direction of spring Flat belt on the spring Flat belt；It is described
Uniformly being provided with flute profile spring can be with the tooth of corresponding occlusion with holes.
The belt track lifting mechanism includes lifting cylinder, is provided with and is used for along the axis direction of itself on lifting cylinder
Spacing roller that is being oriented to the lifting of flute profile spring and forming double helical arrangement.
Further, the rail-guided frame include circumferentially be distributed several guiding trestles, installed in pair
Formation pitch is same with borded pile body phase on the guiding trestle answered and makes spring Flat belt 1 and flute profile bullet to extrusion spring Flat belt
Several fixture blocks of spring bar occlusion.
Another as the present invention improves, and the rail-guided frame includes coaxially being distributed with belt track lifting mechanism and being in
The outrigger of non-close ring-type, along outrigger madial wall uniform spiral distribution and pitch and the pitch identical of spiral cylinder it is some
Individual block.
The beneficial effects of the invention are as follows：The present invention on the basis of AGV or OMV dollies are combined with robot palletizer,
The lift adjustment of robot palletizer is realized by means of spiral lift, so as to add the job area of robot palletizer；Structure
It is reasonable in design, the cooperation of spiral lift and bamboo joint type lifting Support bracket is employed, space structure is compact, and spiral lift is received
Occupied space is smaller after contracting, solves the technical barrier that traditional elevating mechanism occupies larger bulk, Er Qieju
Lift will not diminish suddenly because of the increase of the height of lifting, and stability and security performance are higher.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the entirety perspective view of the present invention；
Fig. 2 is the spiral lift of the present invention, the schematic diagram of bamboo joint type lifting Support bracket connection；
A kind of dimensional structure diagram of embodiment of the spiral lift of Fig. 3 present invention；
Fig. 4 is a kind of internal structure schematic diagram of embodiment of the spiral lift of the present invention；
Fig. 5 is a kind of top view of embodiment of the spiral lift of the present invention；
Fig. 6 is a kind of birds-eye perspective of embodiment of the spiral lift of the present invention；
Fig. 7 is that a kind of embodiment of the spiral lift of the present invention removes the main view perspective view after fixed base；
Fig. 8 is a kind of structural representation of the receiver bracket of embodiment of the spiral lift of the present invention；
Fig. 9 is the motor of the present invention and structural representation when worm screw, the cooperation of driving force input mechanism；
Figure 10 is the dimensional structure diagram of the another embodiment of the spiral lift of the present invention；
Figure 11 is the front view of the another embodiment of the spiral lift of the present invention；
Figure 12 is the half sectional view of the another embodiment of the spiral lift of the present invention；
Figure 13 is the full sectional view of the another embodiment of the spiral lift of the present invention.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, below it is right
The present invention is expanded on further.
As shown in Figures 1 to 9, it is a kind of to be based on AGV or OMV vehicular robot palletizer systems, including with the small of wheel
Car 17, the bottom platform 18 on dolly 17, the spiral lift 23 on bottom platform 18, it is arranged on spiral lift
The robot palletizer 22 of 23 upper ends, in addition to control the controller that spiral lift 23 works.By means of the shifting of dolly 17
The dynamic specified location that can be transported to robot palletizer 22 carries out operation, when needing to adjust the operation height of robot palletizer,
Worked using controller control spiral lift 23, you can the height of synchronous change robot palletizer, meet stacking requirement.
After spiral lift 23 is packed up completely, spatial altitude can be down to very low the present invention, be greatly saved space,
Without occupying larger spatial volume as traditional hydraulic cylinder type elevating mechanism；
The controller is PLC.
The dolly 17 is AGV or OMV dollies, can realize motion voluntarily using AGV or OMV dollies, meet
The requirement of robot palletizer movement, degree of flexibility are high.
It is provided with to be connected with the top of spiral lift 23 on the bottom platform 18 and plays the section formula lifting support of kinematic mount
Bracket.Using bamboo joint type lifting Support bracket can with spiral lift 23 lifts while auxiliary is played to elevating movement
Supporting role, improve the stability of device.
It is provided with bottom platform 18 for the anti-too low device 20 to the lower limit of spiral lift 23.
It is described to prevent that too low device 20 is column.
The top of spiral lift 23 is provided with loading plate 26, is provided with what is be connected with controller on the loading plate 26
Position sensor 27, gravity sensor 28.The loading plate 26 is provided with robot base 29, and the robot palletizer 22 is installed
On robot base 29.
The weight that the present invention is carried using the detection of gravity sensor 28 is overweight to prevent；Using position sensor 27 to
Height during measurement lifting；Using anti-too low device 20 can prevent robot palletizer downward across after lower limit position to spiral liter
Drop machine 23 damages in itself, serves the effect of security protection.
Chassis 19a that bamboo joint type lifting Support bracket includes being fixed on bottom platform 18, can be along chassis 19a axial directions
Crane 19b and chassis 19a in bottommost slide axially in several cranes 19b slided, several cranes 19b
Coordinate, the crane 19b in top is connected with loading plate 26 in several cranes 19b, phase in several cranes 19b
Axial sliding fit between two adjacent crane 19b.
The spiral lift of the present invention has two kinds of embodiments, as follows respectively：
Embodiment one：
As shown in Figures 3 to 8, the spiral lift 23 includes fixed base, around the flat of fixed base rotation
Platform, motor 24, the receiver 6 on platform, the spring Flat belt 1 being stored in receiver 6, the dress of driving platform rotation
Coordinate in fixed base and with spring Flat belt 1 and form the flute profile spring 2 of spiral cylinder, be used for beam on platform
Tie up flute profile spring 2 lift or the belt track lifting mechanism 3 of contractile motion, for making spring Flat belt 1 be stung with flute profile spring 2
The rail-guided frame 4 closed.Motor 24 drives platform to rotate, and then drives belt track lifting mechanism 3 to rotate, belt track lifting mechanism
3 make flute profile spring 2 be lifted under the guide effect of belt track lifting mechanism 3, and the spiral of sync pulling spring Flat belt 1 is climbed
Rise, be engaged in the squeezing-pushing action lower spring Flat belt 1 of track leading truck 4 with flute profile spring 2 and form spiralling cylinder.
On the spring Flat belt 1 the equally distributed 1a with holes of some rows is provided with along the length direction of spring Flat belt 1；
Uniformly be provided with the flute profile spring 2 can occlusion corresponding with 1a with holes tooth 2a.Process of the flute profile spring 2 in rising
In new tooth 2a is bitten on spring Flat belt 1 in new 1a with holes, you can realize the constantly soaring of spiral cylinder.
The belt track lifting mechanism 3 includes lifting cylinder 3a, is set on lifting cylinder 3a along the axis direction of itself
Have for lifting spacing roller 3b that is being oriented to and forming double helical arrangement to flute profile spring 2.Double helical arrangement
On two spacing roller 3b coordinated in pairs between spacing be more than flute profile spring 2 thickness.The flute profile spring 2 exists
Lifting cylinder 3a revolving force is lifted up under driving along the spacing roller 3b of double helical arrangement.Present invention employs double
The guiding that the spacing roller 3b of helical arrangement is lifted to flute profile spring 2, is effectively prevented flute profile spring 2 and is lifting
During rock and misplace, ensure that the accuracy and stability of motion, so can just make tooth 2a it is corresponding with 1a with holes occlusion.
The fixed base includes elevating mechanism base 10, is vertically installed at by revolute pair on elevating mechanism base 10
The stress support staving 5 at end, several mounting brackets 11 for limiting the revolution free degree of flute profile spring 2.The present invention's consolidates
Determining bracket 11 can prevent that flute profile spring 2 from being turned round during lifting, if flute profile spring 2 turns round, can cause
Without having ascending motion, i.e. idle running can lead to not realize elevating function 2 idle running of spring Flat belt 1 and flute profile spring.
The lifting cylinder 3a is arranged on stress support staving 5 upper end, the spacing roller 3b can around with lifting post
Body 3a junction rotates.
Further, the spacing roller 3b is roller bearing.
The driving force input mechanism 8 is worm gear, and worm screw 25 is provided with the motor 24, and the worm screw 25 is matched somebody with somebody with worm gear
Power transmission is realized in conjunction.
The platform includes the receiver that is arranged on fixed base upper end and can be rotated relatively freely between receiver 6
Bracket 7, installed in the lower surface of receiver bracket 7 and the driving force input mechanism 8 that is used cooperatively with motor 25.Motor 24 drives
Power input mechanism 8, so as to drive receiver bracket 7, you can drive belt track lifting mechanism 3 to rotate.
The upper end of receiver bracket 7 is circumferentially uniformly provided with several and is used to match somebody with somebody with the bottom of receiver 6
The receiver bottom bearings 14 of conjunction.Several are uniformly disposed with the circumferencial direction of the receiver 6 and is arranged on receiver
The receiver external bearings frame 13 of the upper end of bracket 7.The benefit of such structure design is：Ensure that receiver 6 can be flat with spring
The elastic strength of flat rubber belting 1 arbitrarily rotates.
The slot to make way 15 passed through when being lifted for flute profile spring 2 is offered on the receiver bracket 7, so just can guarantee that
The elevating movement of flute profile spring 2 and the gyration of receiver bracket 7 are not interfered, reasonable in design.
Several guiding trestles 4a that the rail-guided frame 4 includes circumferentially being distributed, lead installed in corresponding
Pitch and borded pile body phase are formed on to support 4a together and makes spring Flat belt 1 and flute profile spring to extrusion spring Flat belt 1
Several fixture blocks 4b that bar 2 is engaged.The fixture block 4b stagger be engaged with flute profile spring 2 on spring Flat belt 1 position and with bullet
The lateral surface of spring Flat belt 1 offsets, and can make spring Flat belt 1 progressively close to flute profile spring 2 using fixture block 4b and finally make
Spring Flat belt 1 is interlocked with flute profile spring 2.
Further, the fixture block 4b quantity installed on each guiding trestle 4a is two or three.
The axis for the cylindricality that the flute profile spring 2 stacks overlaps with the axis of stress support staving 5.The tooth of the present invention
After type spring 2 is stacked together, the tooth of the tooth 2a in each pitch and the same position in adjacent pitch is in vertical direction
Upper coincidence, so it is that the tooth 2a after flute profile spring 2 is stacked together constitutes rows of perpendicular straight arranged strips, then by solid
Determine bracket 11 to be stuck between strip and strip, you can prevent that flute profile spring 2 from being turned round during lifting.
The upper end of the spiral cylinder is connected with fixed chuck 9 at the top of lifting body, the upper end of lifting body top fixed chuck 9
It is connected with loading plate 26.
The upper end of the elevating mechanism base 10 is provided with fixed seat 16.
Embodiment two：
As shown in Figure 10 to Figure 13, the spiral lift 23 includes fixed base, around the rotation of fixed base
Platform, driving platform rotate motor 24, the receiver 6 on platform, the spring Flat belt 1 being stored in receiver 6,
Coordinate in fixed base and with spring Flat belt 1 and form the flute profile spring 2 of spiral cylinder, be used on platform
Constraint flute profile spring 2 lifts or the belt track lifting mechanism 3 of contractile motion, for making spring Flat belt 1 and flute profile spring 2
The rail-guided frame 4 of occlusion.Motor 24 drives platform to rotate, and then drives belt track lifting mechanism 3 to rotate, belt track lifting machine
Structure 3 makes flute profile spring 2 be lifted under the guide effect of belt track lifting mechanism 3, and the spiral of sync pulling spring Flat belt 1 is climbed
Rise, be engaged in the squeezing-pushing action lower spring Flat belt 1 of track leading truck 4 with flute profile spring 2 and form spiralling cylinder.
On the spring Flat belt 1 the equally distributed 1a with holes of some rows is provided with along the length direction of spring Flat belt 1；
Uniformly be provided with the flute profile spring 2 can occlusion corresponding with 1a with holes tooth 2a.Process of the flute profile spring 2 in rising
In new tooth 2a is bitten on spring Flat belt 1 in new 1a with holes, you can realize the constantly soaring of spiral cylinder.
The belt track lifting mechanism 3 includes lifting cylinder 3a, is set on lifting cylinder 3a along the axis direction of itself
Have for lifting spacing roller 3b that is being oriented to and forming double helical arrangement to flute profile spring 2.Double helical arrangement
On two spacing roller 3b coordinated in pairs between spacing be more than flute profile spring 2 thickness.The flute profile spring 2 exists
Lifting cylinder 3a revolving force is lifted up under driving along the spacing roller 3b of double helical arrangement.Present invention employs double
The guiding that the spacing roller 3b of helical arrangement is lifted to flute profile spring 2, is effectively prevented flute profile spring 2 and is lifting
During rock and misplace, ensure that the accuracy and stability of motion, so can just make tooth 2a it is corresponding with 1a with holes occlusion.
The fixed base includes elevating mechanism base 10, is vertically installed at by revolute pair on elevating mechanism base 10
The stress support staving 5 at end.
The lower end of the platform is provided with to be connected and will be in superposed state with the stress of fixed base support staving 5
The outer cage 101 that covers of flute profile spring 2.
The lifting cylinder 3a is arranged on stress support staving 5 upper end, the spacing roller 3b can around with lifting post
Body 3a junction rotates.
Further, the spacing roller 3b is roller bearing.
The driving force input mechanism 8 is worm gear, and worm screw 25 is provided with the motor 24, and the worm screw 25 is matched somebody with somebody with worm gear
Power transmission is realized in conjunction.
The platform include by outer cage 101 be arranged on fixed base upper end and between receiver 6 can it is relative oneself
By rotate receiver bracket 7, installed in the lower surface of receiver bracket 7 and the driving force input mechanism that is used cooperatively with motor 25
8.Motor 24 drives driving force input mechanism 8, so as to drive receiver bracket 7, you can drives belt track lifting mechanism 3 to rotate.
The upper end of receiver bracket 7 is circumferentially uniformly provided with several and is used to match somebody with somebody with the bottom of receiver 6
The receiver bottom bearings 14 of conjunction.Several are uniformly disposed with the circumferencial direction of the receiver 6 and is arranged on receiver
The receiver external bearings frame 13 of the upper end of bracket 7.The benefit of such structure design is：Ensure that receiver 6 can be flat with spring
The elastic strength of flat rubber belting 1 arbitrarily rotates.
The rail-guided frame 4 includes distribution coaxial with belt track lifting mechanism 3 and in the outrigger 4c of non-close ring-type, edge
Outrigger 4c madial wall uniform spiral distribution and pitch and several blocks of the pitch identical of spiral cylinder 4d.
Further, the block 4d staggers is engaged position and flat with spring on spring Flat belt 1 with flute profile spring 2
Offseted with 1 lateral surface, can make spring Flat belt 1 progressively close to flute profile spring 2 using block 4d and finally make spring flat
Flat rubber belting 1 is interlocked with flute profile spring 2.
The outrigger 4c is provided with breach 102, during track leading truck 4 rotates, the spring in receiver 6
Flat belt 1 may pass through breach 102 and enter in rail-guided frame 4, and so as to be engaged with flute profile spring 2, structure design is closed
Reason, will not cause to interfere in motion process.
The axis for the cylindricality that the flute profile spring 2 stacks overlaps with the axis of stress support staving 5.The tooth of the present invention
After type spring 2 is stacked together, the tooth of the tooth 2a in each pitch and the same position in adjacent pitch is in vertical direction
Upper coincidence, so it is that the tooth 2a after flute profile spring 2 is stacked together constitutes rows of perpendicular straight arranged strips.
The upper end of the spiral cylinder is connected with fixed chuck 9 at the top of lifting body, the upper end of lifting body top fixed chuck 9
It is connected with loading plate 26.
During work, start dolly, robot palletizer is transported to specified location, subsequent robot palletizer can carry out stacking
Processing；When needing to adjust the height of robot palletizer, starting PLC, controlled motor 24 drives driving force input mechanism 8 to rotate,
So that robot base 29 is moved up or moved down, and synchronous drive robot palletizer moves up and down, and changes stacking machine
The working depth of device people, you can carry out new stacking processing；In palletization, position sensor 27, gravity sensor 28 can be real
When feed back signal to PLC, to facilitate the monitoring to whole equipment.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
For personnel it should be appreciated that the present invention is not limited to the above embodiments, that described in above-described embodiment and specification is the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and
Improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Thing defines.
Claims (10)
1. one kind is based on AGV or OMV vehicular robot palletizer systems, it is characterised in that：Including the dolly (17) with wheel,
Bottom platform (18) on dolly (17), the spiral lift (23) on bottom platform (18), it is arranged on spiral liter
The robot palletizer (22) of drop machine (23) upper end, in addition to control the controller that spiral lift (23) works.
2. one kind according to claim 1 is based on AGV or OMV vehicular robot palletizer systems, it is characterised in that：It is described
Dolly (17) is AGV or OMV dollies.
3. one kind according to claim 1 is based on AGV or OMV vehicular robot palletizer systems, it is characterised in that：It is described
The section formula lifting Support bracket that kinematic mount is played with being connected at the top of spiral lift (23) is installed on bottom platform (18).
4. one kind according to claim 1 is based on AGV or OMV vehicular robot palletizer systems, it is characterised in that：Put down at bottom
It is provided with platform (18) for the anti-too low device (20) to spiral lift (23) lower limit.
5. one kind according to claim 3 is based on AGV or OMV vehicular robot palletizer systems, it is characterised in that：It is described
Bamboo joint type lifting Support bracket includes being fixed on chassis (19a) on bottom platform (18), can be along chassis (19a) in axial sliding
Several cranes (19b), axial sliding fit between two adjacent cranes (19b) in several cranes (19b).
6. one kind according to any one of claim 1-5 is based on AGV or OMV vehicular robot palletizer systems, it is special
Sign is：The spiral lift (23) includes fixed base, the platform around the rotation of fixed base, and driving platform rotates
Motor (24), the receiver (6) on platform, the spring Flat belt (1) being stored in receiver (6), mounted in fixation
Coordinate in formula base and with spring Flat belt (1) and form the flute profile spring (2) of spiral cylinder, be used to fetter on platform
Flute profile spring (2) lift or contractile motion belt track lifting mechanism (3), for making spring Flat belt (1) and flute profile spring
The rail-guided frame (4) of bar (2) occlusion.
7. one kind according to claim 6 is based on AGV or OMV vehicular robot palletizer systems, it is characterised in that：It is described
It is equally distributed (1a) with holes provided with some rows along the length direction of spring Flat belt (1) on spring Flat belt (1)；The tooth
Uniformly be provided with type spring (2) can occlusion corresponding with (1a) with holes tooth (2a).
8. one kind according to claim 6 is based on AGV or OMV vehicular robot palletizer systems, it is characterised in that：It is described
Belt track lifting mechanism (3) includes lifting cylinder (3a), is provided with and is used for along the axis direction of itself on lifting cylinder (3a)
Spacing roller (3b) that is being oriented to flute profile spring (2) lifting and forming double helical arrangement.
9. one kind according to any one of claim 6 to 8 is based on AGV or OMV vehicular robot palletizer systems, described
Rail-guided frame (4) include circumferentially be distributed several guiding trestles (4a), installed in corresponding guiding trestle
Pitch and borded pile body phase are formed on (4a) together and makes spring Flat belt (1) and flute profile spring to extrusion spring Flat belt (1)
Several fixture blocks (4b) of bar (2) occlusion.
10. one kind according to any one of claim 6 to 8 is based on AGV or OMV vehicular robot palletizer systems, institute
Stating rail-guided frame (4) includes distribution coaxial with belt track lifting mechanism (3) and is in the outrigger (4c) of non-close ring-type, along outer
The madial wall uniform spiral distribution of frame (4c) and pitch and several blocks (4d) of the pitch identical of spiral cylinder.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710649998.1A CN107499952A (en) | 2017-08-02 | 2017-08-02 | One kind is based on AGV or OMV vehicular robot palletizer systems |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710649998.1A CN107499952A (en) | 2017-08-02 | 2017-08-02 | One kind is based on AGV or OMV vehicular robot palletizer systems |
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| CN201710649998.1A Pending CN107499952A (en) | 2017-08-02 | 2017-08-02 | One kind is based on AGV or OMV vehicular robot palletizer systems |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109240293A (en) * | 2018-09-10 | 2019-01-18 | 朱圣旭 | Management method is transported in logistics in a kind of factory |
| CN110182525A (en) * | 2019-07-04 | 2019-08-30 | 安吉八塔机器人有限公司 | A kind of material transmitting device suitable for automatic piling system |
| CN115043220A (en) * | 2022-07-11 | 2022-09-13 | 上海浩亚智能科技股份有限公司 | Pile up neatly AGV intelligence control system and device |
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| CN105883424A (en) * | 2016-05-03 | 2016-08-24 | 上海交通大学 | AGV device capable of achieving automatic stacking |
| CN205590214U (en) * | 2016-05-16 | 2016-09-21 | 宁波星箭航天机械有限公司 | Helical lifter |
| CN105881491A (en) * | 2016-05-25 | 2016-08-24 | 刘明月 | Intelligent carrying machine for electric vehicle spare parts |
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| CN109240293A (en) * | 2018-09-10 | 2019-01-18 | 朱圣旭 | Management method is transported in logistics in a kind of factory |
| CN109240293B (en) * | 2018-09-10 | 2021-08-17 | 马鞍山锦兴物流有限公司 | Method for managing logistics transportation in factory |
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| CN115043220A (en) * | 2022-07-11 | 2022-09-13 | 上海浩亚智能科技股份有限公司 | Pile up neatly AGV intelligence control system and device |
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