CN110104585B - Transfer robot trolley and automatic transfer robot trolley picking, placing and storing method - Google Patents
Transfer robot trolley and automatic transfer robot trolley picking, placing and storing method Download PDFInfo
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- CN110104585B CN110104585B CN201910341874.6A CN201910341874A CN110104585B CN 110104585 B CN110104585 B CN 110104585B CN 201910341874 A CN201910341874 A CN 201910341874A CN 110104585 B CN110104585 B CN 110104585B
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- loading
- unloading
- manipulator
- trolley
- conveying tray
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/18—Load gripping or retaining means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/19—Additional means for facilitating unloading
Abstract
The invention relates to the field of robot trolleys, in particular to a conveying robot trolley capable of automatically taking, placing and storing. According to the invention, on the premise of ensuring compact structure of the vehicle body, the claw picking or placing of the materials is realized by the material clamping manipulator; the multi-layer commodity shelf is provided with a plurality of layers of commodity shelf, and can store a plurality of pieces of materials at the same time; automatic storage, material delivery and picking and placing are realized through ingenious mechanism design; the manipulator mechanism is integrated in the storage rack, the free lateral movement freedom degree is increased between the manipulator mechanism and the chassis of the trolley, and under the condition that the trolley body does not generate lateral movement, the lateral positioning deviation between the manipulator and the butted workbench can be automatically adjusted, so that the millimeter-level high-precision butting is realized, and the problem of difficulty in lateral movement positioning of the trolley of the robot is solved.
Description
Technical Field
The invention relates to the field of robot trolleys, in particular to a conveying robot trolley and an automatic taking, placing and storing method thereof.
Background
The automatic assembly line is widely used in various industries of society, and the traditional assembly line generally adopts various conveyor belts to realize material transfer among devices, and due to the large occupied area, the automatic assembly line needs to work in a large open plane area and the like, so that the automatic assembly line cannot meet the automatic material transfer requirements of large equipment subsection area and no further open space (not in a workshop) and no floor. Due to the intelligence and the mobility of the robot trolley, the traditional material transferring mode by a conveyor belt is replaced in a novel automatic assembly line, and rapid development is being carried out. Most of the existing robot trolleys are provided with a layer of object placing table, one layer of objects can not be placed in a layered mode once, the robot trolleys with the multi-layer object placing frame function used by medical institutions can not be stored automatically, the objects are needed to be placed on the multi-layer object placing frame of the robot trolleys in a manual matching mode, and the objects are taken out from the multi-layer object placing frame of the robot trolleys by the manual mode when the standby robot trolleys run to a butt joint point.
Aiming at the defects of the prior art, the invention discloses a robot trolley for conveying a plurality of articles and realizing automatic picking, placing and storing.
Disclosure of Invention
The invention provides a transport robot trolley, which comprises a trolley chassis and a trolley bearing platform and is characterized by further comprising a multi-layer storage rack, a clamping manipulator and a loading and unloading device;
the trolley bearing platform is arranged on the trolley bottom plate,
the multi-layer commodity shelf is arranged on the trolley bearing platform,
the clamping manipulator is arranged at the top end of the storage rack and comprises a left clamping jaw of the manipulator, a right clamping jaw of the manipulator, a bidirectional screw rod and a Y-axis moving module; the left clamping jaw of the manipulator and the right clamping jaw of the manipulator are movably connected with the bidirectional screw rod and can perform opening and closing movement along the bidirectional screw rod in the X direction; the two-way screw rod is movably connected with the Y-axis moving module, and the Y-axis moving module can drive the left clamping jaw of the manipulator and the right clamping jaw of the manipulator to move along the Y direction;
the loading and unloading device consists of a Z-direction loading and unloading module, a gear rack mechanism, a loading and unloading lower slide plate, a loading and unloading upper slide plate and a conveying tray, wherein the conveying tray is arranged on the loading and unloading upper slide plate, the loading and unloading upper slide plate is connected with the loading and unloading lower slide plate through a track and the gear rack mechanism, the loading and unloading upper slide plate can move in the Y direction relative to the loading and unloading lower slide plate, the loading and unloading lower slide plate is movably connected with the Z-direction loading and unloading module, the Z-direction loading and unloading module is arranged in the vertical direction of the trolley loading platform, the loading and unloading upper slide plate and the loading and unloading lower slide plate slide between the top layer and the bottom layer of the multi-layer commodity shelf,
the Y direction is the forward or backward direction of the trolley, the X direction is the direction perpendicular to the Y direction on the surface parallel to the trolley chassis, and the Z direction is the direction perpendicular to the surface of the trolley chassis.
Preferably, the trolley bearing platform is a movable platform and is arranged on the trolley chassis through a guide rail pair, the guide rail pair consists of a guide rail and a sliding block, the guide rail of the guide rail pair is connected with the trolley chassis, and the sliding block of the guide rail pair is connected with the trolley bearing platform; the trolley bearing platform can move along the guide rail pair in the X direction, so that the robot trolley can automatically adjust the lateral positioning deviation between the robot trolley and the workbench in butt joint.
Preferably, the loading and unloading upper slide plate is provided with a boss, the notch on the bottom surface of the blood vessel conveying tray is matched with the boss on the loading and unloading upper slide plate, and the X-Y plane positioning of the blood vessel conveying tray on the loading and unloading upper slide plate is realized.
Preferably, the protective shell is arranged on the chassis of the trolley, so that the multi-layer commodity shelf of the conveying trolley is in a closed space, the mutual pollution between conveyed objects and the environment can be avoided, and the safe conveying is realized.
Meanwhile, the invention also provides an automatic picking, placing and storing method of the transport robot trolley, which comprises the following steps:
(1) Loading and conveying the tray: the clamping manipulator stretches out to a loading position, the bidirectional screw drives the manipulator clamping jaw to clamp the conveying tray, the clamping manipulator retracts into the vehicle, the loading and unloading device moves upwards to a butting position, the manipulator clamping jaw is loosened, and the conveying tray falls onto an upper sliding plate of the loading and unloading device; the loading and unloading device moves downwards to the supporting plate butt joint position of the multi-layer commodity shelf and stops moving, the gear rack mechanism drives the upper sliding plate of the loading and unloading device to move to the storage butt joint position in the-Y direction, and the loading and unloading device moves downwards to enable the conveying tray to be erected on the supporting plate of the multi-layer commodity shelf; the rack-and-pinion mechanism drives the upper slide plate of the loading and unloading device to move to a waiting position in the +Y direction, so that loading of the conveying tray is completed;
(2) Unloading the transport tray: the loading and unloading device moves to the pallet butt joint position of the multi-layer commodity shelf and stops moving, the gear rack mechanism drives the loading and unloading device upper slide plate to move to the taking-out butt joint position in the-Y direction, and the loading and unloading device moves upwards to enable the conveying pallet to be separated from the pallet of the multi-layer commodity shelf and to be placed on the loading and unloading device upper slide plate; the gear rack mechanism drives the upper sliding plate of the loading and unloading device to move in the +Y direction, and the conveying tray is taken out from the multi-layer storage rack; the loading and unloading device moves to the butt joint position, the clamping manipulator moves to the butt joint position, the bidirectional screw rod drives the manipulator clamping jaw to clamp the conveying tray, and the loading and unloading device moves downwards to be separated from the conveying tray; the clamping manipulator stretches out to an unloading position, the bidirectional screw rod drives the manipulator clamping jaw to loosen the conveying tray, the conveying tray is placed at the unloading position, the clamping manipulator retracts into the vehicle, and unloading of the conveying tray is completed;
the order of the steps (1) and (2) can be changed.
According to the invention, on the premise of ensuring compact structure of the vehicle body, the claw picking or placing of the materials is realized by the material clamping manipulator; the multi-layer commodity shelf is provided with a plurality of layers of commodity shelf, and can store a plurality of pieces of materials at the same time; automatic storage, material delivery and picking and placing are realized through ingenious mechanism design; the manipulator mechanism is integrated in the storage rack, the free lateral movement freedom degree is increased between the manipulator mechanism and the chassis of the trolley, and under the condition that the trolley body does not generate lateral movement, the lateral positioning deviation between the manipulator and the butted workbench can be automatically adjusted, so that the millimeter-level high-precision butting is realized, and the problem of difficulty in lateral movement positioning of the trolley of the robot is solved.
Drawings
FIG. 1 is a schematic diagram of the front structure of a transfer robot cart of the present invention;
FIG. 2 is a schematic side view of a transfer robot cart according to the present invention;
FIG. 3 is a diagram of the operation of the transfer robot cart of the present invention;
wherein: the device comprises a 1-trolley chassis, a 2-trolley bearing platform, a 3-multi-layer storage rack, a 31-supporting plate, a 4-clamping manipulator, a 41-manipulator left clamping jaw, a 42-manipulator right clamping jaw, a 43-bidirectional screw rod, a 44-Y axis moving module, a 51-Z direction loading and unloading module, a 52-gear rack mechanism, a 53-loading and unloading upper sliding plate, a 54-loading and unloading lower sliding plate, a 55-conveying tray and a 6-guide rail pair.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-2, the automatic picking, placing and storing transport robot trolley in an embodiment of the invention comprises a trolley chassis 1, a trolley bearing platform 2, a multi-layer commodity shelf 3, a clamping manipulator and a loading and unloading device; the trolley bearing platform 2 is arranged on the trolley chassis 1, the multi-layer storage rack 3 is arranged on the trolley bearing platform 2, the clamping manipulator is arranged at the top end of the multi-layer storage rack 3 and comprises a left manipulator clamping jaw 41, a right manipulator clamping jaw 42, a bidirectional screw 43 and a Y-axis moving module 44, the left manipulator clamping jaw 41 and the right manipulator clamping jaw 42 are movably connected with the bidirectional screw 43, and can perform opening and closing movement along the bidirectional screw 43 in the X direction; the bidirectional screw 43 is movably connected with the Y-axis moving module 44 and can move along the Y-axis moving module 44 in the Y direction; the loading and unloading device comprises a Z-direction loading and unloading module 51, a gear rack mechanism 52, an upper loading and unloading slide plate 53, a lower loading and unloading slide plate 54 and a conveying tray 55, wherein the conveying tray 55 is arranged on the upper loading and unloading slide plate 53, the upper loading and unloading slide plate 53 is connected with the lower loading and unloading slide plate 54 through a track and the gear rack mechanism 52, the upper loading and unloading slide plate 53 can move relative to the lower loading and unloading slide plate 54 in the Y direction, the lower loading and unloading slide plate 54 is movably connected with the Z-direction loading and unloading module 51, the Z-direction loading and unloading module 51 is arranged in the vertical direction of the surface of the trolley bearing platform 2, the upper loading and unloading slide plate 53 and the lower loading and unloading slide plate 54 slide between the top layer and the bottom layer of the multi-layer commodity shelf 3, the Y direction is the forward or backward direction of the trolley, the X direction is the direction vertical to the Y direction on the surface parallel to the trolley chassis, and the Z direction is the direction vertical to the surface of the trolley chassis.
In this embodiment, the four wheels of the cart and the chassis together form the cart's ground movement system (cart floor). The trolley bearing platform 2 is a movable platform and is connected with the trolley chassis 1 through 2 parallel X-direction guide rail pairs 6, the trolley bearing platform 2 can drive the multilayer storage rack 3 to move in the X direction under the condition that the robot trolley chassis 1 does not transversely move, and transverse butt joint deviation is automatically adapted and adjusted when the robot trolley is in butt joint with the workbench, so that the requirement on transverse positioning accuracy of the robot trolley is reduced. The two clamping jaws (41, 42) of the clamping manipulator synchronously move in the X direction under the drive of the bidirectional screw rod 43, so that the clamping jaws can grab the conveying tray 55; the Y-axis moving module 44 moves in the Y direction, so that the clamping manipulators (41, 42) can move the conveying tray 55 between the picking and placing tray position and the storage tray position, the objects can be grabbed from the picking and placing tray position and sent to the storage position, and the conveying tray 55 can be taken into the robot trolley multilayer storage rack 3; or the multi-layer shelf 3 is used for grabbing the conveying tray 55 and sending the conveying tray 55 to the picking and placing tray position, so that the conveying tray 55 is sent out from the robot trolley to the workbench.
The protective housing (not shown in the figure) is arranged on the chassis of the trolley, so that the multilayer rack of the conveying trolley is in a closed space, and the blood sample conveying tray is stored in the trolley body in the conveying process, so that the mutual pollution between the blood sample and the environment can be avoided, and the safe conveying of the blood sample is realized.
When the transfer robot cart of the present embodiment is used for transfer of a blood sample, the transfer robot cart automatic pick-and-place and storage method includes the steps of:
(1) Loading a blood sample transport tray: the clamping manipulator 4 stretches out to the loading position, the bidirectional screw 43 drives the manipulator clamping jaws 41 and 42 to clamp the blood sample conveying tray, the clamping manipulator 4 retracts into the vehicle, the loading and unloading device moves upwards to the abutting position, the manipulator clamping jaws 41 and 42 are loosened, the blood sample conveying tray falls onto the upper sliding plate 53 of the loading and unloading device, and the blood sample conveying tray is positioned through the convex-concave interface; the loading and unloading device moves downwards to the supporting plate butt joint position of the multi-layer shelf 3 and stops moving, the rack-and-pinion mechanism 52 drives the loading and unloading device upper sliding plate 53 to move to the storage butt joint position in the-Y direction, the loading and unloading device moves downwards to enable the blood sample conveying tray 55 to be separated from the convex-concave interface of the loading and unloading device upper sliding plate 53, and the blood sample conveying tray is placed on the supporting plate of the multi-layer shelf 3; the rack and pinion mechanism 52 drives the upper sliding plate 53 of the loading and unloading device to move to a waiting position in the +Y direction, so that loading of the blood sample conveying tray is completed;
(2) Unloading the blood sample transport tray: the loading and unloading device moves to the supporting plate butt joint position of the multi-layer commodity shelf 3 and stops moving, the gear rack mechanism 52 drives the loading and unloading device upper sliding plate 53 to move to the taking-out butt joint position in the-Y direction, and the loading and unloading device moves upwards to enable the blood sample conveying tray 55 to be combined with the loading and unloading device upper sliding plate 53 through a convex-concave interface; the rack and pinion mechanism 52 drives the loading and unloading device upper slide plate 53 to move in the +Y direction, and the blood sample conveying tray 55 is taken out from the multi-layer commodity shelf 3; the loading and unloading device moves to the docking position, the clamping manipulator 4 moves to the docking position, the bidirectional screw 43 drives the manipulator clamping jaws 41 and 42 to clamp the blood sample conveying tray, and the loading and unloading device moves downwards to separate the blood sample conveying tray 55 from a convex-concave interface of the sliding plate 53 on the loading and unloading device; the clamping manipulator 4 stretches out to an unloading position, the bidirectional screw 43 drives the manipulator clamping jaws 41 and 42 to loosen the blood sample conveying tray 55, the blood sample conveying tray 55 is placed at the unloading position, and the clamping manipulator 4 retracts into the vehicle to finish unloading of the blood sample conveying tray;
the order of the steps (1) and (2) can be changed.
Referring to fig. 1-2, when the automated pick-and-place and store transfer robot cart in this embodiment is used to detect the automated pick-and-place and store transfer of blood samples, the robotic transfer cart operates as shown in fig. 3,
fig. 3(1) is an initial state of the robot cart, and the Y-axis moving module 44 of the gripping manipulator 4 is in a retracted and reset state, i.e., a storage position, retracted in the cart body; the two clamping jaws of the clamping manipulator 4 are in a loosening state; the loading and unloading upper slider 53 is in the reset state (+y-direction foremost).
Fig. 3(2), when a blood sample is required to be sampled, the Y-axis moving module 44 of the gripping robot 4 extends out (+y direction) to move to the sampling position of the conveying tray 55, and drives the clamping jaw of the gripping robot 4 to extend out of the vehicle, and when the clamping jaw reaches the sampling position of the conveying tray 55, the bidirectional screw 43 drives the clamping jaw of the gripping robot 4 to move inward to clamp the conveying tray 55.
Fig. 3(3) the Y-axis moving module 44 of the gripping robot 4 is retracted (-Y direction) to move the blood sample transport tray 55 toward the vehicle body, and the Z-direction loading/unloading module 51 moves the loading/unloading upper slide plate 53 upward (+z direction) by the loading/unloading lower slide plate 54 to a position to transfer the tray to/from the gripping robot 4.
Fig. 3(4), the bidirectional screw 43 drives the clamping manipulator 4 to release the clamping jaw, the blood sample conveying tray 55 falls onto the loading and unloading upper slide plate 53, and a boss on the loading and unloading upper slide plate 53 is matched with a notch on the bottom surface of the blood sample conveying tray 55, so as to play a role in positioning; the Z-direction loading/unloading module 51 drives the loading/unloading upper slide plate 53 to descend (-Z direction) through the loading/unloading lower slide plate 54, moves to the shelf layer where the blood sample transport tray 55 needs to be placed, and the rack-and-pinion mechanism 52 drives the loading/unloading upper slide plate 53 to move backward (-Y direction) to the rear position, placing the blood sample tray above the pallet 31 of the multi-layered shelf 3.
In fig. 3(5), the Z-direction loading/unloading module 51 drives the loading/unloading upper slide plate 53 to descend again (-Z-direction) by the loading/unloading lower slide plate 54 to bring the transport tray 55 into contact with the pallet 31 of the multi-layered rack 3, and the blood sample transport tray 55 is placed on the pallet 31.
In fig. 3(6), the rack and pinion mechanism 52 moves the loading and unloading slide 53 forward (+y direction) to move out from the multi-layered shelf 3 to the front position to the return position. The entire flow returns to the origin.
The process of unloading the blood sample tray from the robot trolley and sending the blood sample tray to the workbench is similar to the working principle of the loading process, and is the reverse process of the loading process.
Claims (10)
1. The trolley for the conveying robot comprises a trolley chassis, a trolley bearing platform, a multi-layer storage rack, a clamping manipulator and a loading and unloading device;
the trolley bearing platform is arranged on the trolley chassis;
the multi-layer commodity shelf is arranged on the trolley bearing platform;
the clamping manipulator is arranged at the top end of the storage rack and comprises a left clamping jaw of the manipulator, a right clamping jaw of the manipulator, a bidirectional screw rod and a Y-axis moving module; the left clamping jaw of the manipulator and the right clamping jaw of the manipulator are movably connected with the bidirectional screw rod and can perform opening and closing movement along the bidirectional screw rod in the X direction; the two-way screw rod is movably connected with the Y-axis moving module, and the Y-axis moving module can drive the left clamping jaw of the manipulator and the right clamping jaw of the manipulator to move along the Y direction;
the loading and unloading device consists of a Z-direction loading and unloading module, a gear rack mechanism, a loading and unloading lower slide plate, a loading and unloading upper slide plate and a conveying tray, wherein the conveying tray is arranged on the loading and unloading upper slide plate, the loading and unloading upper slide plate is connected with the loading and unloading lower slide plate through a track and the gear rack mechanism, the loading and unloading upper slide plate can move in the Y direction relative to the loading and unloading lower slide plate, the loading and unloading lower slide plate is movably connected with the Z-direction loading and unloading module, and the Z-direction loading and unloading module is arranged in the vertical direction of the trolley loading platform, so that the loading and unloading upper slide plate and the loading and unloading lower slide plate slide between the top layer and the bottom layer of the multi-layer commodity shelf;
the Y direction is the forward or backward direction of the trolley, the X direction is the direction perpendicular to the Y direction on the surface parallel to the trolley chassis, and the Z direction is the direction perpendicular to the surface of the trolley chassis.
2. The transfer robot trolley of claim 1, wherein the trolley bearing platform is a movable platform and is mounted on the trolley chassis through a guide rail pair, the guide rail pair consists of a guide rail and a slide block, the guide rail of the guide rail pair is connected with the trolley chassis, and the slide block of the guide rail pair is connected with the trolley bearing platform; the trolley bearing platform can move along the guide rail pair in the X direction.
3. The transfer robot cart of claim 1 or 2, wherein the loading and unloading upper slide plate has a boss, the bottom surface of the transfer tray has a recess, and the boss on the loading and unloading upper slide plate is engaged with the recess of the bottom surface of the transfer tray.
4. A transfer robot trolley as claimed in claim 1 or 2, wherein the trolley chassis is provided with a protective enclosure such that the multi-level shelf of the transfer trolley is in a closed space.
5. A transfer robot cart as recited in claim 3, wherein the cart chassis has a protective enclosure mounted thereon such that the multi-level shelf of the transfer cart is in a closed space.
6. A method for automatically taking, placing and storing by using the transport robot trolley according to any one of claims 1, 2 and 5, comprising the following steps:
(1) Loading and conveying the tray: the clamping manipulator stretches out to a loading position, the bidirectional screw drives the manipulator clamping jaw to clamp the conveying tray, the clamping manipulator retracts into the vehicle, the loading and unloading device moves upwards to a butting position, the manipulator clamping jaw is loosened, and the conveying tray falls to the loading and unloading upper sliding plate; the loading and unloading device moves downwards to the supporting plate butt joint position of the multi-layer commodity shelf and stops moving, the gear rack mechanism drives the loading and unloading upper sliding plate to move to the storage butt joint position in the-Y direction, and the loading and unloading device moves downwards to enable the conveying tray to be erected on the supporting plate of the multi-layer commodity shelf; the gear rack mechanism drives the loading and unloading upper sliding plate to move to a waiting position in the +Y direction to finish loading of the conveying tray;
(2) Unloading the transport tray: the loading and unloading device moves to the pallet butt joint position of the multi-layer commodity shelf and stops moving, the rack and pinion mechanism drives the loading and unloading upper slide plate to move to the taking-out butt joint position in the-Y direction, and the loading and unloading device moves upwards to enable the conveying pallet to be separated from the pallet of the multi-layer commodity shelf and to be placed on the loading and unloading upper slide plate; the gear rack mechanism drives the loading and unloading upper sliding plate to move in the +Y direction, and the conveying tray is taken out from the multi-layer storage rack; the loading and unloading device moves to the butt joint position, the clamping manipulator moves to the butt joint position, the bidirectional screw rod drives the manipulator clamping jaw to clamp the conveying tray, and the loading and unloading device moves downwards to be separated from the conveying tray; the clamping manipulator stretches out to an unloading position, the bidirectional screw rod drives the manipulator clamping jaw to loosen the conveying tray, the conveying tray is placed at the unloading position, the clamping manipulator retracts into the vehicle, and unloading of the conveying tray is completed;
the order of the steps (1) and (2) can be changed.
7. A method for automatically taking, placing and storing by using the transport robot trolley according to claim 3, comprising the following steps:
(1) Loading and conveying the tray: the clamping manipulator stretches out to the loading position, the bidirectional screw drives the manipulator clamping jaw to clamp the conveying tray, the clamping manipulator retracts into the vehicle, the loading and unloading device moves upwards to the butting position, the manipulator clamping jaw is loosened, the conveying tray falls onto the loading and unloading upper sliding plate and is positioned through the convex-concave interface; the loading and unloading device moves downwards to the supporting plate butt joint position of the multi-layer commodity shelf and stops moving, the rack-and-pinion mechanism drives the loading and unloading upper slide plate to move to the storage butt joint position in the-Y direction, and the loading and unloading device moves downwards to enable the conveying tray to be separated from the convex-concave interface of the loading and unloading upper slide plate; the gear rack mechanism drives the loading and unloading upper sliding plate to move to a waiting position in the +Y direction to finish loading of the conveying tray;
(2) Unloading the transport tray: the loading and unloading device moves to the supporting plate butt joint position of the multi-layer commodity shelf and stops moving, the gear rack mechanism drives the loading and unloading upper slide plate to move to the taking-out butt joint position in the-Y direction, and the loading and unloading device moves upwards to enable the conveying tray to be combined with the loading and unloading upper slide plate through a convex-concave interface; the gear rack mechanism drives the loading and unloading upper sliding plate to move in the +Y direction, and the conveying tray is taken out from the multi-layer storage rack; the loading and unloading device moves to the butt joint position, the clamping manipulator moves to the butt joint position, the bidirectional screw rod drives the manipulator clamping jaw to clamp the conveying tray, and the loading and unloading device moves downwards to enable the conveying tray to be separated from the convex-concave interface of the loading and unloading upper sliding plate; the clamping manipulator stretches out to an unloading position, the bidirectional screw rod drives the manipulator clamping jaw to loosen the conveying tray, the conveying tray is placed at the unloading position, the clamping manipulator retracts into the vehicle, and unloading of the conveying tray is completed;
the order of the steps (1) and (2) can be changed.
8. A method for automatically taking, placing and storing by adopting the transport robot trolley as claimed in claim 4, which comprises the following steps:
(1) Loading and conveying the tray: the clamping manipulator stretches out to a loading position, the bidirectional screw drives the manipulator clamping jaw to clamp the conveying tray, the clamping manipulator retracts into the vehicle, the loading and unloading device moves upwards to a butting position, the manipulator clamping jaw is loosened, and the conveying tray falls to the loading and unloading upper sliding plate; the loading and unloading device moves downwards to the supporting plate butt joint position of the multi-layer commodity shelf and stops moving, the gear rack mechanism drives the loading and unloading upper sliding plate to move to the storage butt joint position in the-Y direction, and the loading and unloading device moves downwards to enable the conveying tray to be erected on the supporting plate of the multi-layer commodity shelf; the gear rack mechanism drives the loading and unloading upper sliding plate to move to a waiting position in the +Y direction to finish loading of the conveying tray;
(2) Unloading the transport tray: the loading and unloading device moves to the pallet butt joint position of the multi-layer commodity shelf and stops moving, the rack and pinion mechanism drives the loading and unloading upper slide plate to move to the taking-out butt joint position in the-Y direction, and the loading and unloading device moves upwards to enable the conveying pallet to be separated from the pallet of the multi-layer commodity shelf and to be placed on the loading and unloading upper slide plate; the gear rack mechanism drives the loading and unloading upper sliding plate to move in the +Y direction, and the conveying tray is taken out from the multi-layer storage rack; the loading and unloading device moves to the butt joint position, the clamping manipulator moves to the butt joint position, the bidirectional screw rod drives the manipulator clamping jaw to clamp the conveying tray, and the loading and unloading device moves downwards to be separated from the conveying tray; the clamping manipulator stretches out to an unloading position, the bidirectional screw rod drives the manipulator clamping jaw to loosen the conveying tray, the conveying tray is placed at the unloading position, the clamping manipulator retracts into the vehicle, and unloading of the conveying tray is completed;
the order of the steps (1) and (2) can be changed.
9. Use of a transfer robot trolley according to any one of claims 1, 2, 5 for transferring blood samples.
10. Use of a transfer robot cart according to claim 3 for the transfer of blood samples.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910341874.6A CN110104585B (en) | 2019-04-26 | 2019-04-26 | Transfer robot trolley and automatic transfer robot trolley picking, placing and storing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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