CN110127260A - Drawing device, material transportation robot and material transportation method - Google Patents
Drawing device, material transportation robot and material transportation method Download PDFInfo
- Publication number
- CN110127260A CN110127260A CN201910478078.7A CN201910478078A CN110127260A CN 110127260 A CN110127260 A CN 110127260A CN 201910478078 A CN201910478078 A CN 201910478078A CN 110127260 A CN110127260 A CN 110127260A
- Authority
- CN
- China
- Prior art keywords
- drawing device
- swing hook
- stroke switch
- material transportation
- swing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000000463 material Substances 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000004913 activation Effects 0.000 claims abstract description 3
- 230000000712 assembly Effects 0.000 claims description 11
- 238000000429 assembly Methods 0.000 claims description 11
- 230000007704 transition Effects 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 3
- 238000013519 translation Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 22
- 238000010586 diagram Methods 0.000 description 12
- 239000011324 bead Substances 0.000 description 11
- 230000014759 maintenance of location Effects 0.000 description 11
- 230000000007 visual effect Effects 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 230000002093 peripheral effect Effects 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000916 dilatatory effect Effects 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- 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
- B65G35/00—Mechanical conveyors not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of drawing device, material transportation robot and material transportation method, and drawing device includes main body, driving assembly, swing hook part and first stroke switch；Driving assembly is placed in main body, and swing hook part and first stroke switch are respectively provided with outside the main body；Swing hook part includes interconnecting piece, cantilever portion and swing hook portion, and interconnecting piece and swing hook portion are connected to the both ends of cantilever portion；Interconnecting piece is fixedly connected with the rotary output axis of driving assembly, and cantilever portion is stretched out perpendicular to cantilever portion to periphery along the axially extending of rotary output axis, swing hook portion from the extended end portion of cantilever portion.Material transportation robot includes drawing device, and material transportation method is that driving slide track component translates drawing device outward in the horizontal direction；Judge whether to obtain the activation signal from first stroke switch, if so, stopping driving slide track component；Starting driving assembly rotates swing hook part along rotary output axis.The work simplification of lifting device and slide track component, drawing device structure is simple, improves working efficiency.
Description
Technical field
The present invention relates to material transport equipment technical fields, and in particular to a kind of drawing device, material transportation robot and
Material transportation method.
Background technique
A kind of existing material transportation robot for hauling out and transporting body feed tank from shelf, this kind of material transportation machine
Device people includes body, drive wheel assemblies, lifting device, slide track component and drawing device, and drive wheel assemblies are installed on the bottom of body
Portion, lifting device are mounted on the top of body, and lifting device includes lifting platform, and slide track component is mounted on lifting platform, draw case dress
It sets and is mounted on slide track component；Lifting platform can translate along the vertical direction relative to body, and drawing device can be relative to lifting platform edge
Horizontal direction translation.
The extended end portion of drawing device has the drag hook for forward extending out and bending downward, and has on the outside of the wall body of body feed tank and opens
The jack of mouth upward after material transportation robot reaches in front of shelf, makes to draw case by the cooperation of lifting device and slide track component
Device is moved up and is moved forward, and after drag hook reaches the surface of jack, then controlling lifting device makes drawing device to moving down
Dynamic, drag hook enters in jack, then can haul out body feed tank from shelf.
Existing this kind of material transportation robot the problem is that, adjust drawing device position to drag hook enter object
During the jack of hopper, lifting device and slide track component repeatedly work, and every task of lifting device and slide track component is equal
It is related to location sensitive and calculating, working efficiency is low.
Summary of the invention
The first object of the present invention is to provide a kind of drawing device for improving working efficiency.
The second object of the present invention is to provide a kind of material transportation robot for improving working efficiency.
The third object of the present invention is to provide a kind of material transportation method for improving working efficiency.
The drawing device that an object of the present disclosure provides includes main body, driving assembly, swing hook part and first stroke switch；It drives
Dynamic component is placed in main body, and swing hook part and first stroke switch are arranged at outside the first side of main body；Swing hook part include interconnecting piece,
Cantilever portion and swing hook portion, interconnecting piece and swing hook portion are connected to the extension both ends of cantilever portion；Turn of interconnecting piece and driving assembly
Dynamic output shaft is fixedly connected, cantilever portion along the axially extending of rotary output axis, swing hook portion from the extended end portion of cantilever portion perpendicular to
Cantilever portion is stretched out to periphery.
By above scheme as it can be seen that before reaching body feed tank, the swing hook portion of swing hook part is in non-state directed downwardly, works as sliding rail
Component pushes forward drawing device, and the contact portion of first stroke switch touches body feed tank and sends touching signal to control system
Afterwards, system then sends a control signal to driving assembly, rotates swing hook part, swing hook portion swings and enters in slot.Lifting platform arrives
Then without continuing to move to after up to the horizontal position where body feed tank, subsequent slide track component moves forward primary, lifting device
It is simple and effectively dilatory to body feed tank with the structure of the work simplification of slide track component, drawing device, improve working efficiency.
Further embodiment is that main body includes fixed part and movable part, and elastic component is connected between fixed part and movable part；
Driving assembly is installed in movable part, and swing hook part and first stroke switch the outside for being mounted on movable part.
Therefore fixed part is connect with slide track component, and after swing hook part or movable part encounter body feed tank, movable part and solid
Determine to generate relative movement between portion to realize buffering.
Further embodiment is being in axial sliding connection along rotary output axis between fixed part and movable part.
Therefore the relative position that can guarantee between movable part and fixed part in the horizontal direction is arranged in this, guarantees pendulum
The accuracy of hook crawl.
Further embodiment is that drawing device further includes second stroke switch and the second fitting；Second stroke switch and
One of second fitting is arranged on movable part, another setting of second stroke switch and the second fitting is in fixed part
On；Second stroke switch abuts in the glide direction of movable part between the second fitting.
Therefore after first stroke switch provides first time inductive signal, system control slide track component deceleration is simultaneously subsequent
It stops working, after movable part generates relative movement and obtain second of inductive signal relative to fixed part in the process, system is sent out again
It send control signal to driving assembly, rotates swing hook part, swing hook portion is swung and entered in the slot of body feed tank, this setting can guarantee
Swing hook part enters stability when slot, guarantees the success rate for drawing case.
Further embodiment is that drawing device further includes third trip switch and fourth stroke switch；Third trip switch
It is arranged at outside the first side of main body with fourth stroke switch, and third trip switch and fourth stroke switch are arranged at rotation
In the circumferential direction of output shaft；In the circumferential direction of rotary output axis, third trip switch is defeated about the rotation with fourth stroke switch
The central angle of the axis of shaft is 90 degree or more；Swing hook part can rotate between the first swing position and the second swing position, the
One swing position is the position of swing hook part and third trip switch contact, and the second swing position is that swing hook part and fourth stroke switch
The position of contact.
Therefore third trip switch and fourth stroke switch the switch angle for controlling swing hook part, place swing hook
Part switch excessively draws case to fail.
Further embodiment is that drawing device includes at least two swing hook parts, and driving assembly includes that at least two rotations are defeated
Shaft, every rotary output axis are respectively connected with a swing hook part.
Therefore the success rate for drawing case can be improved in this setting, and can prevent body feed tank from generating beat in heave,
Influence subsequent transportation work.
Further embodiment is, opposite between the rotation direction of at least two swing hook parts.
Therefore this setting gathers the swing space of two swing hook parts, the slot of body feed tank may be configured as elongate slots,
Two swing hooks enter in the same slot, more conducively the design to swing hook part size and to the processing of body feed tank.
Further embodiment is that driving assembly includes driving motor, driving gear set and two rotary output axis；Driving cog
Wheel group includes that input gear, transition gear, the first output gear and the second output gear, input gear are connected to driving motor
Motor output shaft, the first output gear are engaged with input gear, transition gear engagement and input gear and the second output gear it
Between；A piece rotary output axis is installed in the first output gear, another rotary output axis is installed in the second output gear.
Therefore this setting simply and efficiently realizes that two swing hook parts turn on the contrary.
The material transportation robot of the offer of second mesh of the invention includes body, drive wheel assemblies, lifting device, slide rail group
Part and drawing device；Drive wheel assemblies are installed on the bottom of body, and lifting device is mounted on the top of body, and lifting device includes
Lifting platform, slide track component are mounted on lifting platform, and drawing device is mounted on slide track component；Lifting platform can be relative to body along perpendicular
Histogram can translate in the horizontal direction to translation, drawing device relative to lifting platform；Drawing device uses above-mentioned drawing device；Turn
Dynamic output shaft is horizontally extending.
By above scheme as it can be seen that before reaching body feed tank, the swing hook portion of swing hook part is in non-state directed downwardly, works as sliding rail
Component pushes forward drawing device, and the contact portion of first stroke switch touches body feed tank and sends touching signal to control system
Afterwards, system then sends a control signal to driving assembly, rotates swing hook part, swing hook portion swings and enters in slot.Lifting platform arrives
Then without continuing to move to after up to the horizontal position where body feed tank, subsequent slide track component moves forward primary, lifting device
With the work simplification of slide track component, the structure of drawing device is simple and effectively draws to body feed tank, improves working efficiency.
The material transportation method that third purpose of the present invention provides is executed using above-mentioned material transportation robot, material fortune
Transmission method includes that driving slide track component translates drawing device outward in the horizontal direction；Judge whether to obtain and be opened from first stroke
The activation signal of pass, if so, stopping driving slide track component, starting driving assembly rotates swing hook part along rotary output axis.
It is then sliding as above scheme as it can be seen that then without continuing to move to behind horizontal position where lifting platform reaches body feed tank
Rail assembly moves forward primary, the work simplification of lifting device and slide track component, and the structure of drawing device is simple and to object
Hopper is effectively drawn, and working efficiency is improved.
Detailed description of the invention
Fig. 1 is the structure chart at the first visual angle of material transportation robotic embodiment of the present invention.
Fig. 2 is the structure chart at the second visual angle of material transportation robotic embodiment of the present invention.
Fig. 3 is the structure chart of lifting device in material transportation robotic embodiment of the present invention.
Fig. 4 is the structure chart at the first visual angle of slide track component in material transportation robotic embodiment of the present invention.
Fig. 5 is the structure chart at the second visual angle of slide track component in material transportation robotic embodiment of the present invention.
Fig. 6 is the structure chart at the first visual angle of drawing device in material transportation robotic embodiment of the present invention.
Fig. 7 is the structure chart at the second visual angle of drawing device in material transportation robotic embodiment of the present invention.
Fig. 8 is the side view of swing hook part in material transportation robotic embodiment of the present invention.
Fig. 9 is the annexation figure of driving gear set and swing hook part in material transportation robotic embodiment of the present invention.
Figure 10 is the working state figure of material transportation robotic embodiment of the present invention.
Figure 11 is the structure chart of body feed tank in material transportation robotic embodiment of the present invention.
Figure 12 is the schematic diagram of the first working condition of material transportation robotic embodiment of the present invention.
Figure 13 is the schematic diagram of the second working condition of material transportation robotic embodiment of the present invention.
Figure 14 is further specific structural schematic diagram after amplifying at A in Figure 13.
Figure 15 is the partial schematic diagram of material transportation robotic embodiment third working condition of the present invention.
Figure 16 is the working principle diagram of driving gear set and swing hook part in material transportation robotic embodiment of the present invention.
Figure 17 is the schematic diagram of swing hook part and body feed tank matching relationship in material transportation robotic embodiment of the present invention.
Specific embodiment
Referring to Fig. 1 and Fig. 2, Fig. 1 and Fig. 2 is the first visual angle of material transportation robotic embodiment of the present invention and the second visual angle
Structure chart.Material transportation robot includes body 1, drive wheel assemblies 21, support wheel group 22, lifting device 3,4 and of slide track component
Drawing device 5, lifting device 3 are mounted on the top of body 1, and lifting device 3 includes lifting platform 35, and slide track component 4 is mounted on liter
It drops on platform 35, drawing device 5 is mounted on slide track component 4.
Body 1 is in " Qian " shape, and body 1 is made of pedestal 11 and twice side wall 12, and side wall 12 is erected at the cross of pedestal 11
To (y-axis direction) two sides, space of the body 1 among twice side wall 12 is run through along the x axis；Drive wheel assemblies 21 and support wheel
Group 22 is mounted on the bottom of pedestal 11, and drive wheel assemblies 21 include two pairs of driving wheels for being installed in rotation on 11 bottom of pedestal,
Support wheel group 22 includes the support wheel that 11 four corners in bottom surface of pedestal are arranged in.
In conjunction with Fig. 1 and Fig. 3, Fig. 3 is the structure chart of lifting device in material transportation robotic embodiment of the present invention.Lifting dress
3 are set by 34, two groups of lifting motor 31,32, two groups of screw components 33 of the first transmission belt component, the second transmission belt component guide assemblies
39 and lifting platform 35 form, screw component 33 include screw rod 331 and be sleeved on screw rod 331 with feed screw nut screw rod cunning
Platform 332, guide assembly 39 include guide rail 391 and sliding block 392.
Lifting motor 31,32, first groups of screw components 33 of the first transmission belt component and first group of setting of guide assembly 39 exist
In the side wall 12 of first side, the second transmission belt component 34 is arranged in pedestal 11, second group of silk component 33 and second group of guide rail group
Part 39 is arranged in the side wall 12 of second side, and the screw rod slide unit 332 of two groups of screw components 33 is separately fixed at the phase of lifting platform 35
To two sides, the sliding block 392 of two groups of guide assemblies 39 is separately fixed at the opposite sides of lifting platform 35.
The output shaft of lifting motor 31 is connected to the input belt wheel of the first transmission belt component 32, the first transmission belt component 32
Output pulley is connected to the extension first end of first screw rod 331, and the input belt wheel of the second transmission belt component 34 is fixedly set in
The extension second end of the screw rod 331, the elongated end of the output pulley another screw rod 331 of fixed suit of the second transmission belt component 34
Portion.
There are two the pad 36 of strip, two pad 36 are right on lifting platform 35 for the two sides installation of 35 upper surface of lifting platform
Claim setting.Pad 36 extends along the x-axis direction, and the upper surface of pad 36 is supporting surface, and the outer of the upper surface 360 of pad 36 is arranged
There are one of retaining wall 361, middle part of the retaining wall 361 relative to upper surface 360 far from lifting platform 35, and retaining wall 361 prolongs along the x-axis direction
It stretches；Lifting platform 35 is stretched out in one end that the front end of x-axis forward direction is that body feed tank enters, upper surface 360 in the extended end portion of x-axis forward direction
One piece of slope panel 362 tilted down, retaining wall 361 stretches out one piece of overhanging wall 363 in the extended end portion of x-axis forward direction, in y-axis
On direction, overhanging wall 363 is from beginning is extended to extending end gradually backwards to lifting platform 35, and the overhanging wall 363 of twice is in lifting platform 35
Front form that a width is gradually narrowed, and the entrance with guide effect, the setting of slope panel 362 can also reduce interference and ask
Topic.
Referring to fig. 4 and Fig. 5, Fig. 4 and Fig. 5 are respectively the view of slide track component first in material transportation robotic embodiment of the present invention
The structure chart at angle and the second visual angle.Slide track component 4 is sliding including the first track 411, the first slide unit 421, the second track 412, second
Platform 422, the first rack gear 451, the second rack gear 452, first motor 431 and the second motor 432, the output shaft peace of first motor 431
Equipped with first gear 441, the output shaft of the second motor 432 is equipped with second gear 442；First track 411 is fixed along the x-axis direction
On lifting platform 35, the second track 412 is fixed on along the x-axis direction on the first slide unit 421, the first rack gear 451 and the second rack gear 452
It is each attached on the first slide unit 421, first motor 431 is mounted on lifting platform 35, and the second motor 432 is mounted on the second slide unit
On 422；First slide unit 421 is slidably matched along the x-axis direction with the first track 411, and the first rack gear 451 is engaged with first gear 441；
Second slide unit 422 is slidably matched along the x-axis direction with the second track 412, and the second rack gear 452 is engaged with second gear 442, draws case dress
5 are set to be fixed on the second slide unit 422 (Fig. 1 shows).
First rack gear 451 and the second rack gear 452 are symmetricly set on the first slide unit 421 in the two sides of x-axis direction, the first track
411 are located at the underface of the second track 412.First motor 431 is mounted on the downside of lifting platform 35, the output of first motor 431
Axis passes through the top that lifting platform 35 reaches lifting platform 35.Material transportation robot further includes protection cap 49, and protection cap 49 is installed on
Lifting platform 35, protection cap 49 block first gear 441 from top.
Material transportation robot further includes the first proximity sensor 461, the second proximity sensor 462, the close sensing of third
Device 463, the 4th proximity sensor 464, the 5th proximity sensor 465, the first detection piece 471, the second detection piece 472, third inspection
Survey part 473 and the 4th detection piece 474；First detection piece 471 is mounted on the first slide unit 421, the first proximity sensor 461 and
Two proximity sensors 462 are mounted on lifting platform 35；First slide unit 421 can slide on the first extreme position relative to lifting platform 35
Between the second extreme position, the first extreme position is the detection range that the first detection piece 471 is located at the first proximity sensor 461
Interior position, the second extreme position are that the first detection piece 471 is located at the position in 462 detection range of the second proximity sensor.
Second detection piece 472 and third detection piece 473 are mounted on the first slide unit 421, and third proximity sensor 463 is arranged
On the second slide unit 422；Second slide unit 422 can slide on third extreme position relative to the first slide unit 421 and quadrupole limits
Between setting, third extreme position is that the second detection piece 472 is located at the position in the detection range of third proximity sensor 463, the
Four extreme positions are that third detection piece 473 is located at the position in the detection range of third proximity sensor 463.4th detection piece
474 are mounted on lifting platform 35, and the 4th proximity sensor 464 is mounted on drawing device 5；Drawing device 5 can be relative to lifting
Platform 35 slides into the 5th extreme position, and the 5th extreme position is the detection that the 4th detection piece 474 is located at the 4th proximity sensor 464
Position in range.
Cooperation is between first detection piece 471, the first proximity sensor 461 and the second proximity sensor 462 to control first
The shift motion range of slide unit 421；Cooperate between second detection piece 472, third detection piece 473 and third proximity sensor 463
To control the shift motion range of drawing device 5；Cooperation is between 4th detection piece 474 and the 4th proximity sensor 464 to control
Extreme position of the drawing device 5 relative to lifting platform.
The adjacent of the second proximity sensor 462 in the direction of the x axis is arranged in 5th proximity sensor 465, and the 5th connects
Nearly sensor 465 is compared with the second proximity sensor 462 far from the first proximity sensor 461.5th proximity sensor 465 is detected and is controlled
Make the critical distance that the first slide unit 421 is stretched out to x-axis forward direction.
The upside of lifting platform 35 is provided with the first retention bead (not shown) and the second retention bead 482, and first is sliding
The downside of platform 421 is provided with third retention bead (not shown)；Third retention bead is limited in the first limit in the y-axis direction
Between position protrusion and the second retention bead 482.The upside of first slide unit 421 is provided with the 4th retention bead 484 and the 5th limit
Protrusion 485, the downside of drawing device 5 is provided with the 6th retention bead 486；6th retention bead 486 is limited in the y-axis direction
Between 4th retention bead 484 and the 5th retention bead 485.The setting of multiple retention beads can limit sliding rail from physical layer
The stroke range of component improves the safety of material transportation robot.
Referring to Fig. 6 and Fig. 7, Fig. 6 and Fig. 7 are respectively the view of drawing device first in material transportation robotic embodiment of the present invention
The structure chart at angle and the second visual angle.Drawing device 5 includes main body 51, driving assembly, swing hook part 54, first stroke switch 571, the
Two travel switches 572, third trip switch 573, fourth stroke switch 574 and the second fitting 582, driving assembly include driving
Motor 52, driving gear set 53, rotary output axis 534 and rotary output axis 535 (Fig. 9 shows).
Main body 51 includes fixed part 511 and movable part 512, and guide rail is arranged between fixed part 511 and movable part 512 along x
Axis direction is slidably connected；Elastic component is connected between fixed part 511 and movable part 512, elastic component is spring 56, fixed part 511
On be fixedly installed with L-type plate 551, movable part 512 is bent to form the retaining wall 552 of protrusion from bottom wall, and a positioning column passes through spiral shell
Bolt is locked on L-type plate 551, and after spring 56 is sleeved on positioning column, the other end of positioning column is slidably inserted into retaining wall 552
Through-hole.Therefore, it not only can mutually be slided along the x axis between fixed part 511 and movable part 512, and the two can be in spring 56
Elastic force under reply sliding before position.
Driving motor 52 is fixed in movable part 512, and movable part 512, which has, is located at straight-ahead one of the wall body of X-axis, and two
A swing hook part 54 is installed in rotation on the outside of the wall body by bearing and rotary output axis, and movable part 512 is in the wall
The left and right sides on body has been respectively mounted a block buffering block 59, and buffer stopper 59 is made of rubber block, silica gel block or metal material.
In conjunction with Fig. 8, Fig. 8 is the side view of swing hook part in material transportation robotic embodiment of the present invention.Swing hook part 54 includes
Interconnecting piece 541, cantilever portion 542, swing hook portion 543 and touching lug boss 544, interconnecting piece 541 and swing hook portion 543 are connected to outstanding
The extension both ends of arm 542, touching lug boss 544 are located at the adjacent position of interconnecting piece 541.
In conjunction with Fig. 9, Fig. 9 is that the connection of driving gear set and swing hook part in material transportation robotic embodiment of the present invention is closed
System's figure.Interconnecting piece 541 has the axis hole being arranged along its thickness direction, and with the citing of rotary output axis 534, rotary output axis 534 is inserted
In axis hole loaded on interconnecting piece 541；Cantilever portion 542 is axially extending along rotary output axis 534, and swing hook portion 543 is from cantilever portion 542
Extended end portion stretched out perpendicular to cantilever portion 542 to periphery, touching lug boss 544 from the circumferential position of interconnecting piece 541 radially
It is stretched out backwards to rotary output axis 534.
Driving gear set 53 includes input gear 530, transition gear 533, the first output gear 531 and the second output gear
532, input gear 530 is connected to the motor output shaft of driving motor 52, and the first output gear 531 is engaged with input gear 530,
Between the engagement of transition gear 533 and input gear 530 and the second output gear 532；Rotation is installed in first output gear 531
Output shaft 534 is equipped with root rotary output axis 535 in second output gear 532.Due to being provided with transition gear 533, first is defeated
The steering of gear 531 and the second output gear 532 is on the contrary, two swing hook parts 54 are connected to 531 He of the first output gear out
On second output gear 53, thus it is also opposite between the rotation direction of two swing hook parts 54.
First stroke switch 571, second stroke switch 572, third trip switch 573 and fourth stroke switch 574 are
Mechanical touching switch.First stroke switch 571 be mounted on the outside of movable part 512 and be located at swing hook part 54 horizontal position with
Under, the elastic touch end of first stroke switch 571 has the oscillating stroke in x-axis direction, when drawing device 5 is moved along X-axis forward direction
After dynamic, the elastic touch end of first stroke switch 571 can be collided with material cabinet.
The second fitting 582 for being internally provided with L-type of fixed part 511, the second fitting 582, which has, is located at X-direction
On retaining wall, second stroke switch 572 is fixed in movable part 512, and the elastic touch end tool of first stroke switch 572
There is the oscillating stroke in x-axis direction.After movable part 512 is slided relative to fixed part 511, the elasticity of second stroke switch 572
Touch end can the second fitting 582 retaining wall collision.
Third trip switch 573 and fourth stroke switch 574 are arranged at the wall body on movable part 512 where swing hook part 54
Outside, and third trip switch 573 and fourth stroke switch 574 are arranged in the circumferential direction of rotary output axis 534, and third trip is opened
It is 90 degree about the central angle of the axis of rotary output axis 534 that 573, which are closed, with fourth stroke switch 574, third trip switch 573
Elastic touch end has the oscillating stroke on y-axis direction, and the elastic touch end of fourth stroke switch 574 has on z-axis direction
Oscillating stroke.
In the circumferential direction of rotary output axis 534, swing hook part 54 can turn between the first swing position and the second swing position
Dynamic, the first swing position is the position of the elasticity touching end in contact of touching lug boss 544 and third trip switch 573 on swing hook part 54
It sets, the second swing position is the position of the elasticity touching end in contact of touching lug boss 544 and fourth stroke switch 574 on swing hook part 54
It sets.
Touching lug boss 544 and swing hook portion 543 are located on same circumferential position, when swing hook part 54 is in the first swing position
When, the extending direction in swing hook portion 543 is y-axis direction, when swing hook part 54 is when the second swing position, the extension side in swing hook portion 543
To for z-axis negative sense.
In conjunction with 1, Fig. 3, Figure 10 and Figure 11, Figure 10 is the working state figure of material transportation robotic embodiment of the present invention, figure
11 be the structure chart of body feed tank in material transportation robotic embodiment of the present invention.Lifting platform 35 is for placing body feed tank 9, body feed tank
9 spaces entered between twice side wall 12 along the x-axis direction are simultaneously supported in two pad 36 of two sides.9 circumferential profile of body feed tank
It is square, there is the rectangular peripheral wall 91 around bottom plate periphery, the outside of peripheral wall 91 has a boss 911, boss 911
Two opening up slots 92 of upper formation, two slots 92 extend along the y-axis direction in elongated.
In conjunction with Figure 12 and Figure 13, Figure 12 and Figure 13 are respectively the first working condition of material transportation robotic embodiment of the present invention
With the schematic diagram of the second working condition.After material transportation robot 100 receives the pick-up instruction of system, then shelf 200 are gone to
Pending picking task at place.Two swing hook parts 54 are in the first swing position (a state diagram in Figure 16) at this time.
When material transportation robot 100 is close to shelf 200, system starting lifting device 3 (Fig. 3 shows) makes on lifting platform 35
It rises, until after the horizontal position of sensor detection lifting platform 35 is matched with the horizontal position of the cargo layer 201 where body feed tank 9,
System then starts slide track component 4 (Fig. 4 shows), and the first slide unit 421 and the sliding of the second slide unit 422 make drawing device 5 enter shelf layer
In 201.
In conjunction with Fig. 6, Fig. 7, Figure 13, Figure 14 and Figure 15, Figure 14 is further specific structural representation after amplifying at A in Figure 13
Figure, Figure 15 are the partial schematic diagram of material transportation robotic embodiment third working condition of the present invention.Drawing device 5 is close to material
The elastic touch end of case 9, first stroke switch 571 first touches the peripheral wall 91 of body feed tank 9, and system is then received from the first row
The switching current signal of Cheng Kaiguan 571, drawing device 5 continue to move forward towards body feed tank 9, and buffer stopper 59 first collides body feed tank 9
Peripheral wall 91, subsequent movable part 512 relative to fixed part 511 to x-axis negative sense slide, spring 56 compress, thus reach buffering effect
Fruit protects drawing device 5；Until the elastic touch end of second stroke switch 572 collides the retaining wall of the second fitting 582, system
The switching signal from second stroke switch 572 is received, 4 break-off of slide track component makes drawing device 5 stop previous movement.
The swing hook portion 543 of swing hook part 54 has arrived at the surface of the opening of slot 92 at this time.
In conjunction with Figure 16 and Figure 17, Figure 16 is driving gear set and swing hook part in material transportation robotic embodiment of the present invention
Working principle diagram.Figure 17 is the schematic diagram of swing hook part and body feed tank matching relationship in material transportation robotic embodiment of the present invention.
After system is received from the switching signal of second stroke switch 572, then enabling signal is sent to driving motor 52, passes through biography
Moving gear group 53, rotary output axis 534 and rotary output axis 535 rotate two swing hook parts 54.Initial swing hook part 54 is located at the
One swing position (described in a state diagram), after swing hook part 54 rotates 90 degree, touching lug boss 544 and fourth stroke switch 574
Elastic touch end touching, the rotation of driving motor 52 stop, and swing hook portion 543 is downward and in entrance slot 92.
Then, system be again started up slide track component 4 move drawing device 5 along x-axis negative sense can be by body feed tank 9 from shelf
It above draws and goes out.Body feed tank 9 reaches in two pad 36 under the guidance of slope panel 362 and overhanging wall 363 (Fig. 3 shows), in turn
Complete picking.Then without continuing to move to behind horizontal position where the arrival of lifting platform 35 body feed tank 9, subsequent slide track component 4 is forward
Mobile primary, the structure of the work simplification of lifting device 3 and slide track component 4, drawing device 5 is simple and has to body feed tank 9
Effect is dilatory, improves working efficiency.
Finally it is emphasized that the above description is only a preferred embodiment of the present invention, it is not intended to restrict the invention, it is right
For those skilled in the art, the present invention can have various change and change, all within the spirits and principles of the present invention,
Any modification, equivalent substitution, improvement and etc. done, should all be included in the protection scope of the present invention.
Claims (10)
1. drawing device characterized by comprising
Main body, driving assembly, swing hook part and first stroke switch；
The driving component is placed in the main body, and the swing hook part and first stroke switch are arranged at the main body
Outside first side；
The swing hook part includes interconnecting piece, cantilever portion and swing hook portion, and the interconnecting piece and the swing hook portion are connected to described
The extension both ends of cantilever portion；
The interconnecting piece is fixedly connected with the rotary output axis of the driving component, and the cantilever portion is along the rotary output axis
Axially extending, the swing hook portion is stretched out perpendicular to the cantilever portion to periphery from the extended end portion of the cantilever portion.
2. drawing device according to claim 1, it is characterised in that:
The main body includes fixed part and movable part, is connected with elastic component between the fixed part and the movable part；
The driving component is installed in the movable part, and the swing hook part and first stroke switch are mounted on the activity
The outside in portion.
3. drawing device according to claim 2, it is characterised in that:
Being in axial sliding connection along the rotary output axis between the fixed part and the movable part.
4. drawing device according to claim 2, it is characterised in that:
The drawing device further includes second stroke switch and the second fitting；
One setting of the second stroke switch and second fitting is on the movable part, the second stroke switch
Another setting with second fitting is on the fixed part；
The second stroke switch abuts in the glide direction of the movable part between second fitting.
5. drawing device according to any one of claims 1 to 4, it is characterised in that:
The drawing device further includes third trip switch and fourth stroke switch；
The third trip switch and fourth stroke switch are arranged at outside the first side of the main body, and described the third line
Cheng Kaiguan and fourth stroke switch are arranged in the circumferential direction of the rotary output axis；
In the circumferential direction of the rotary output axis, the third trip switch is defeated about the rotation with fourth stroke switch
The central angle of the axis of shaft is 90 degree or more；
The swing hook part can rotate between the first swing position and the second swing position, and first swing position is the pendulum
The position of hook and the third trip switch contact, second swing position are that the swing hook part is opened with the fourth stroke
Close the position of contact.
6. drawing device according to any one of claims 1 to 4, it is characterised in that:
The drawing device includes at least two swing hook parts, and the driving component includes at least two rotation outputs
Axis, the every rotary output axis are respectively connected with the swing hook part.
7. drawing device according to claim 6, it is characterised in that:
It is opposite between the rotation direction of at least two swing hook parts.
8. drawing device according to claim 7, it is characterised in that:
The driving component includes driving motor, driving gear set and two rotary output axis；
The driving gear set includes input gear, transition gear, the first output gear and the second output gear, the input tooth
Wheel is connected to the motor output shaft of the driving motor, and first output gear is engaged with the input gear, the transition
Between gear engagement and the input gear and second output gear；
Piece rotary output axis is installed in first output gear, is equipped with another in second output gear
The rotary output axis.
9. material transportation robot, including body, drive wheel assemblies, lifting device, slide track component and drawing device；
The drive wheel assemblies are installed on the bottom of the body, and the lifting device is mounted on the top of the body, described
Lifting device includes lifting platform, and the slide track component is mounted on the lifting platform, and the drawing device is mounted on the sliding rail
On component；
The lifting platform can translate along the vertical direction relative to the body, and the drawing device can be relative to the lifting platform edge
Horizontal direction translation；
It is characterized by:
The drawing device uses the described in any item drawing devices of the claims 1 to 8；
The rotary output axis extends along the horizontal direction.
10. material transportation method, it is characterised in that: it is executed using material transportation robot described in the claims 9, it is described
Material transportation method includes:
The slide track component is driven to translate the drawing device outward along the horizontal direction；
Judge whether to obtain the activation signal from first stroke switch, if so, stopping driving the slide track component；
Starting the driving component rotates the swing hook part along the rotary output axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910478078.7A CN110127260B (en) | 2019-06-03 | 2019-06-03 | Box pulling device, material transporting robot and material transporting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910478078.7A CN110127260B (en) | 2019-06-03 | 2019-06-03 | Box pulling device, material transporting robot and material transporting method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110127260A true CN110127260A (en) | 2019-08-16 |
| CN110127260B CN110127260B (en) | 2024-10-18 |
Family
ID=67579851
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910478078.7A Active CN110127260B (en) | 2019-06-03 | 2019-06-03 | Box pulling device, material transporting robot and material transporting method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110127260B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111674862A (en) * | 2020-06-23 | 2020-09-18 | 武汉隆立洋液压工程有限公司 | Three-dimensional sliding system |
| CN113978982A (en) * | 2021-10-25 | 2022-01-28 | 苏州艾隆科技股份有限公司 | Medicine chest transport assembly |
| CN115057147A (en) * | 2022-08-08 | 2022-09-16 | 湖南工商大学 | Commodity circulation transportation is with anticollision type express delivery storage device and get and put device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002362711A (en) * | 2001-06-04 | 2002-12-18 | Daifuku Co Ltd | Article transferring device |
| CN105398725A (en) * | 2014-09-08 | 2016-03-16 | 村田机械株式会社 | Transfer Device And Carrier System |
| JP2017052599A (en) * | 2015-09-08 | 2017-03-16 | 村田機械株式会社 | Transfer device and control method of transfer device |
| CN106516524A (en) * | 2015-11-03 | 2017-03-22 | 深圳市步科电气有限公司 | Storage system and material box storing and taking method |
| CN208233911U (en) * | 2018-05-25 | 2018-12-14 | 北京起重运输机械设计研究院有限公司 | A kind of shift fork position limiting structure and pull-fork assembly |
| CN208828558U (en) * | 2018-07-24 | 2019-05-07 | 深圳市鲸仓科技有限公司 | A kind of sensing device of novel crawl platform |
| CN210028827U (en) * | 2019-06-03 | 2020-02-07 | 珠海创智科技有限公司 | Draw case device and material transport robot |
-
2019
- 2019-06-03 CN CN201910478078.7A patent/CN110127260B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002362711A (en) * | 2001-06-04 | 2002-12-18 | Daifuku Co Ltd | Article transferring device |
| CN105398725A (en) * | 2014-09-08 | 2016-03-16 | 村田机械株式会社 | Transfer Device And Carrier System |
| JP2017052599A (en) * | 2015-09-08 | 2017-03-16 | 村田機械株式会社 | Transfer device and control method of transfer device |
| CN106516524A (en) * | 2015-11-03 | 2017-03-22 | 深圳市步科电气有限公司 | Storage system and material box storing and taking method |
| CN208233911U (en) * | 2018-05-25 | 2018-12-14 | 北京起重运输机械设计研究院有限公司 | A kind of shift fork position limiting structure and pull-fork assembly |
| CN208828558U (en) * | 2018-07-24 | 2019-05-07 | 深圳市鲸仓科技有限公司 | A kind of sensing device of novel crawl platform |
| CN210028827U (en) * | 2019-06-03 | 2020-02-07 | 珠海创智科技有限公司 | Draw case device and material transport robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111674862A (en) * | 2020-06-23 | 2020-09-18 | 武汉隆立洋液压工程有限公司 | Three-dimensional sliding system |
| CN113978982A (en) * | 2021-10-25 | 2022-01-28 | 苏州艾隆科技股份有限公司 | Medicine chest transport assembly |
| CN115057147A (en) * | 2022-08-08 | 2022-09-16 | 湖南工商大学 | Commodity circulation transportation is with anticollision type express delivery storage device and get and put device |
| CN115057147B (en) * | 2022-08-08 | 2022-11-01 | 湖南工商大学 | Commodity circulation transportation is with anticollision type express delivery storage device and get and put device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110127260B (en) | 2024-10-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110127260A (en) | Drawing device, material transportation robot and material transportation method | |
| CN106985145B (en) | A kind of carrying transfer robot | |
| US8763488B2 (en) | Industrial robot with a trailing stop | |
| CN103086300A (en) | Light stacking robot pallet fork device | |
| CN209456028U (en) | A kind of manual forklift of hydraulic lifting | |
| CN106219360B (en) | A kind of inside and outside baggage elevator with transport vehicle that can form complete guide rail | |
| CN109573447A (en) | A kind of stable type storage robot with obstacle cleaning function | |
| CN210028827U (en) | Draw case device and material transport robot | |
| CN109940575A (en) | Logistics sorting vehicle with automatic clamping telescopic goods frame and control method thereof | |
| CN109590985A (en) | Mobile robot | |
| CN205009259U (en) | Screw drive's spraying manipulator's stand mechanism adopts | |
| CN207415356U (en) | A kind of automatic loading and unloading manipulator | |
| CN210392399U (en) | Draw case device and material transport robot | |
| CN204867371U (en) | An all -in -one is got in spraying | |
| CN210028826U (en) | Draw case device and material transport robot | |
| CN210029149U (en) | Material transportation robot | |
| CN206057970U (en) | A kind of crash-proof chassis system of robot | |
| CN209275697U (en) | Guiding device and handling system | |
| CN208304539U (en) | A kind of swing arm T-type elevator guide rail turnover device | |
| CN204549433U (en) | Manipulator | |
| KR20130125424A (en) | Cleaning apparatus for window and method of controlling the same | |
| CN208954213U (en) | A kind of delivery mechanism of vending machine | |
| CN208438340U (en) | A kind of robot manipulator structure | |
| CN208323385U (en) | A kind of manipulator sorting equipment | |
| CN206637219U (en) | The detection camera drive device of automobile buffer beam rivet detection machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |