CN110436107A - Material carrier robot and its Transfer method - Google Patents
Material carrier robot and its Transfer method Download PDFInfo
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- CN110436107A CN110436107A CN201910833063.8A CN201910833063A CN110436107A CN 110436107 A CN110436107 A CN 110436107A CN 201910833063 A CN201910833063 A CN 201910833063A CN 110436107 A CN110436107 A CN 110436107A
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- 239000000463 material Substances 0.000 title claims abstract description 84
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims description 16
- 230000007423 decrease Effects 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 230000032258 transport Effects 0.000 description 76
- 238000010586 diagram Methods 0.000 description 8
- 230000001360 synchronised effect Effects 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000003032 molecular docking Methods 0.000 description 3
- 230000005571 horizontal transmission Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 235000004443 Ricinus communis Nutrition 0.000 description 1
- 230000002337 anti-port Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- 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
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- 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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Abstract
The invention discloses a kind of material carrier robot and its Transfer methods, material carrier robot includes robot body, shelf and to connection module, robot body receives jacking shelf after instruction, and is moved to equipment end, and equipment end has at least one set of horizontal transport track one；Shelf are equipped at least one set of horizontal transport track two, and horizontal transport track two is equipped with driven wheel；It include driving wheel to connection module；After robot body jacking shelf to equipment end, horizontal transport track one and horizontal transport track two are in identical height, power is transferred on horizontal transport track two by driving wheel by driven wheel, and driving horizontal transport track two and horizontal transport track one rotate in the same direction, at the same speed.Material carrier robot and its Transfer method of the present invention, mobile robot is able to solve to bear under the logistic pattern that shelf transport material, the problem of shelf actively cannot load and unload material in itself non-transformer realizes that mobile robot bears the shelf of not drive, is done directly the handling of material on shelf.
Description
Technical field
The present invention relates to storage automatic equipment technical fields, and in particular to a kind of material carrier robot and its transport side
Method.
Background technique
Mobile robot has the function of autonomous positioning and navigation.Typically application is that mobile robot is actively carried on the back to one kind
Shelf are transported to destination from any starting point by negative shelf.Such as in electric business bulk storage plant, the information of shelf (including shelf
Upper cargo, shelf location etc.) by advance demand flag, when system sends instructions to mobile robot, mobile robot can be automatic
Shelf are born, are shipped the shelves at sorter or other designated positions, to realize the transport from goods to people.
Mobile robot is based on the modes such as radar, magnetic stripe, colour band, two dimensional code, and the function of autonomous positioning and navigation may be implemented
Energy.When being equipped with suitable executing agency, then have and be autonomous mobile to destination, completes to appoint using the executing agency of itself
Business, arrangement speed are fast；Can be with automatic obstacle avoiding, flexibility is high；It is easily combined with various smart accessories, to form level of intelligence
Higher product.
Logistics is the running pith of factory always in factory, the stock group of magnanimity, the human cost increasingly increased,
Continual logistics task for 24 hours has become the common pain spot of integrated mill.In cost of labor increasingly increased today, factory
In simply repeat, the logistics of time-consuming consumption people is also urgently promoted.Carrying out logistics in factory using mobile robot is then a kind of new solution
Certainly scheme, mobile robot can be run for 24 hours, the links of logistics can be made all visual controllable with MES Direct Communication,
It arranges that the features such as fast speed, automatic obstacle avoiding, high flexibility can allow transport process is more stable efficiently to exempt to construct simultaneously, returns
Fastly, more acurrate, it is particularly suitable for factory's domestic demand and supports for 24 hours, simply repeats post, factory's operating cost can be significantly reduced, promote work
Factory's automation, intelligent level.Technique is very mature, is a kind of raising the degree of automation, reduces labor intensity
Effective means.But there is also a significant disadvantages: not having the ability of active execution movement on shelf.Because of nothing on shelf
Method place power supply (if placed power supply there will be shelf can automatic charging the problem of, and each shelf place power supply
Cost is very high, and shelf self weight also can be very big), cause executing agency's type on shelf very limited, control can not be also installed and executed
The control unit of mechanism, no power supply and power also mean that the ability for not having active execution movement.
This typically now is solved the problems, such as there are two types of mode, the first is, executing agency, shelf and machine are installed on shelf
Contact is installed, by the power transmission of robot to shelf, so that the executing agency on shelf is driven, to realize handling between people
Cargo.The shortcomings that this mode is, each shelf require the control unit of installation set of execution mechanism and executing agency, and goods
Frame is usually very more, and quantity, far more than mobile robot, cost is relatively high.Another way is to utilize gravity, goods
It is located at cargo arranged beneath idler wheel on frame, slides to cargo in equipment end automatically.Under the effect of gravity, cargo rolls on idler wheel
Shi Zhendong is very big, is then impacted very greatly when cargo has rolled stopping, being not used to perishable goods.And this utilization gravity transit cargo
The mode of object has one-way, i.e., can only be rolled to position under high position, be unable to antiport.
Based on the above technological deficiency, cargo is remained in using the main way that mobile robot transports material and is manually put
It sets on shelf, by manually picking and placing the cargo on shelf to equipment end when shelf are docked with equipment end.
Summary of the invention
Inventive embodiments of the present invention provide a kind of material carrier robot and its Transfer method, the material carrier robot and
Material Transfer method is able to solve robot body under the logistic pattern for bearing shelf transport material, and shelf are at itself without electricity
When source, the problem of cannot actively loading and unloading material, realizes that robot body bears the shelf of not drive, is done directly object on shelf
The handling of material.
In order to solve the above-mentioned technical problems, the present invention provides a kind of material carrier robot, including robot body and
Shelf, the material for needing to transport are placed on the shelf, and the robot body receives the goods of jacking designated position after instruction
Frame, and automatic obstacle avoiding navigation is moved to equipment end, the equipment end has at least one set of horizontal transport track one；On the shelf
Equipped at least one set of horizontal transport track two, the horizontal transport track two is equipped with driven wheel, the robot body jacking
When shelf to equipment end, the horizontal transport track one and horizontal transport track two are in identical height；
The material carrier robot further include to connection module, it is described that equipment end is mounted on to connection module comprising by transmitting
The driving wheel of driver driving；When the robot body jacking shelf to equipment end, the driving wheel drives driven wheel rotation,
So that the material on horizontal transport track two is transported to the material on horizontal transport track one or on horizontal transport track one
It is transported on horizontal transport track two.
Further comprise that the shelf are supported by universal caster wheel in a preferred embodiment of the present invention, is located at horizontal pass
The side of defeated two transmission direction of track is equipped with strut rail.
It further comprise the material carrier robot further include self-clamping module in a preferred embodiment of the present invention, it is described
Self-clamping module is mounted on equipment end comprising the clamping end driven by clamping driver；The robot body jacking shelf are extremely
When equipment end, the strut rail is located at the surface of clamping end clamping opening；When the clamping driver executes holding action, described in drive
Strut rail translates in the horizontal direction.
It further comprise the height between the clamping end and horizontal transport track one in a preferred embodiment of the present invention
Difference is identical as the difference in height between strut rail and horizontal transport track two.
It further comprise that the clamping end has dynamic collet and quiet collet in a preferred embodiment of the present invention, it is described dynamic
Collet connection clamping driver, the quiet collet are arranged on module mounting plate, and the self-clamping module is solid by module mounting plate
It is scheduled on robot body, with the clamping opening of opening upwards between the dynamic collet and quiet collet.
It further comprise being equipped with gear positioned at the side of transmission rail two on the shelf in a preferred embodiment of the present invention
Material strip.
It further comprise the driving wheel and driven wheel is gear in a preferred embodiment of the present invention, it is described driven
It is engaged after wheel contraposition with driving wheel.
It further comprise that the robot body has navigation module and jacking mould in a preferred embodiment of the present invention
Block, the navigation module is for automatic obstacle avoiding navigation in robot body moving process；The jacking module includes pallet and liter
Driver drops；The lift actuator driving pallet rises or decline, and jacking shelf are detached from ground, institute when the pallet rises
State pallet decline when shelf supports on the ground.
In a preferred embodiment of the present invention, further comprise the transmission driver be motor.
In order to solve the above-mentioned technical problem, the present invention also provides a kind of material Transfer method, the material of the above structure is used
Material on specified shelf is transported to designated equipment end by carrier robot, is included the following steps,
(1) automatic obstacle avoiding navigation is moved to specified shelf position after robot body receives instruction, and refers to positioned at this
The pallet of the bottom of order frame, robot body rises, on the bottom jacking shelf disengaging ground for specifying shelf；
(2) robot body jacking shelf and automatic obstacle avoiding, which navigate, is moved to designated equipment end position, the cross of shelf
Gear is in the surface of clamping end clamping opening；The pallet decline of subsequent robot body, shelf supports are on the ground；
(3) clamping end execute holding action push strut rail translate in the horizontal direction so that the driven wheel on shelf with it is right
The driving wheel of connection module docks, and power is transferred to horizontal transport track two by driven wheel by driving wheel, drives horizontal transport rail
Road two and horizontal transport track one rotate in the same direction, at the same speed, and the material on horizontal transport track two is transported to horizontal transport track
Material on one or on horizontal transport track one is transported on horizontal transport track two.
Beneficial effects of the present invention:
The material carrier robot and material Transfer method of the embodiment of the present invention, are able to solve robot body and are bearing goods
Frame transports under the logistic pattern of material, and shelf are in itself non-transformer, and the problem of cannot actively loading and unloading material realizes robot sheet
Body bears the shelf of not drive, is done directly the handling of material on shelf.
It is existing to be born by mobile robot under the logistic pattern that shelf transport material, or cannot be guaranteed the steady of transmission
Property (utilize gravity for transport) or each shelf on require the modules such as power supply, controller (under normal circumstances, the quantity of shelf
About 10-50 times of equipment end quantity), it is costly.
The material carrier robot and material Transfer method of the embodiment of the present invention increase docking in the equipment end of negligible amounts
Module, and the end cap more than quantity does not need any power supply and controller, can significantly reduce cost.
Detailed description of the invention
On Fig. 1 in the embodiment of the present invention material carrier robot structural schematic diagram；
Fig. 1 a is the enlarged diagram of part A in material carrier robot shown in Fig. 1；
Fig. 1 b is that the structure that robot body bears when shelf are moved to equipment end position in the embodiment of the present invention is shown
It is intended to；
Fig. 2 is structural schematic diagram of the transport robot when driving wheel is docked with follower in the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of shelf in the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of robot body in the embodiment of the present invention；
Fig. 5 is the structural schematic diagram in the embodiment of the present invention to connection module；
Fig. 6 is the structural schematic diagram of self-clamping module in the embodiment of the present invention；
Fig. 7 is detailed structure schematic diagram when driving wheel is docked with follower.
Figure label explanation:
1- equipment end, 11- horizontal transport track one；
2- robot body, 21- pallet；
4- shelf, 41- horizontal transport track two, 42- driven wheel, 43- universal caster wheel；
6- is to connection module, 61- driving wheel；
8- self-clamping module, the clamping end 81-, 82- move collet, the quiet collet of 83-, 84- module mounting plate.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, so that those skilled in the art can be with
It more fully understands the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
Embodiment one
The present embodiment discloses a kind of material carrier robot, including robot body 2, shelf 4, to connection module 6 and clamping
Module 8.Referring to shown in Fig. 4, above-mentioned robot body 2 has navigation module and jacking module, which receives instruction
It is moved to another storage point from a storage point afterwards, the material for needing to transport is placed on the shelf 4 of each storage point.
Above-mentioned navigation module is for automatic obstacle avoiding navigation in 2 moving process of robot body.Above-mentioned jacking module includes pallet 22 and rises
Driver is dropped, when robot body 2 is moved to specified 4 position of shelf, pierces the lower section of shelf 4, above-mentioned lift actuator
Pallet 22 is driven to rise or decline, jacking shelf 4 are detached from ground, shelf when above-mentioned pallet 22 declines when above-mentioned pallet 22 rises
4 supports are on the ground.
After 2 jacking shelf 4 of robot body, automatic obstacle avoiding navigation is moved to designated equipment end position, the present embodiment
In technical solution, above equipment end is that the places such as workshop or warehouse are handled up the equipment of material, referring to shown in Fig. 7, above equipment end 1
With at least one set of horizontal transport track 1.Herein, equipment end 1 can configure multiple groups horizontal transport track one as needed
11, the layering installation of multiple groups horizontal transport track 1, single layer can install one group or multiple groups.In the present embodiment technical solution,
Above-mentioned horizontal transport track 1 can be the combination of synchronous belt and synchronous pulley and perhaps the combination of chain and sprocket wheel or rub
It wipes and takes turns and the combination of friction band or other conveyer belts that can be realized horizontal transmission material.
Installation is reserved on above equipment end 1 to the position of connection module 6 and self-clamping module 8.
Referring to shown in Fig. 3, above-mentioned 4 main body of shelf is frame structure, and bottom is supported by universal caster wheel 43, the frame of shelf body
At least one set of horizontal transport track 2 41 is equipped in frame structure, above-mentioned horizontal transport track 2 41 is equipped with driven wheel 42；It is above-mentioned
The side that shelf 4 are located at 2 41 transmission direction of horizontal transport track is equipped with strut rail 44, is located at transmission rail 2 41 on above-mentioned shelf 4
Side be equipped with stop block material bar 45.Herein, water in the quantity and position and equipment end 1 of horizontal transport track 2 41 is set on shelf 4
The quantity of flat transmission rail 1 and position correspond.Likewise, in the present embodiment technical solution, above-mentioned horizontal transport track
2 41 can be the group of the combination of synchronous belt and the synchronous pulley perhaps combination of chain and sprocket wheel or friction pulley and friction band
Conjunction or other conveyer belts that can be realized horizontal transmission material.Horizontal transport track 1 and horizontal transport track 2 41
Realize that structure is identical；After above-mentioned 2 jacking shelf 4 of robot body are moved to equipment end 1, above-mentioned pallet 22 declines shelf 4 and supports
On the ground, the position of the horizontal transport track 1 of the horizontal transport track 2 41 on shelf 4 and equipment end, height one at this time
One docking.Above-mentioned material strip 45 of working as can prevent the material on horizontal transport track 2 41 from falling in moving process.
After above-mentioned 2 jacking shelf 4 of robot body are moved to equipment end 1, above-mentioned pallet 22 declines shelf 4 and is supported on ground
On, robot body 2 can exit bottom shelf at this time, execute other tasks；It can also rest in as you were.And shelf 4
It supports when on ground, above-mentioned horizontal transport track 1 and horizontal transport track 2 41 are in identical height.
Above-mentioned to be mounted on equipment end 1 to connection module 6, referring to Figure 5, this includes being driven by transmission driver to connection module 6
Dynamic driving wheel 61；When above-mentioned 2 jacking shelf 4 of robot body to equipment end 1, above-mentioned driving wheel 61 drives 42 turns of driven wheel
It is dynamic, so that the material on horizontal transport track 2 41 is transported on horizontal transport track 1 or horizontal transport track one
Material on 11 is transported on horizontal transport track 2 41.
After above-mentioned 2 jacking shelf 4 to equipment end 1 of robot body, transmission driver driving driving wheel 61 is rotated, this implementation
Example technical solution is total, and it is preferable to use motor, the rotations of driving wheel 61 to be transferred to power by driven wheel 42 for above-mentioned transmission driver
On horizontal transport track 2 41, drive horizontal transport track 2 41 and horizontal transport track 1 it is synchronized, with rotating, horizontal biography
Material on defeated track 1 is transferred to the material on horizontal transport track 2 41 or on horizontal transport track 2 41 and is passed
It transports on horizontal transport track 1.Robot body is solved under the logistic pattern for bearing shelf transport material with this, shelf
The problem of actively material cannot be loaded and unloaded in itself non-transformer, realizes that robot body bears the shelf of not drive, directly complete
At the handling of material on shelf.
In the present embodiment technical solution, it is preferable to use gear, above-mentioned driven wheels 42 for above-mentioned driving wheel 61 and driven wheel 42
It is engaged after contraposition with driving wheel 61, the power of driving wheel 61 drives driven wheel 42 to rotate by engaged transmission, so that power be passed
It is handed on horizontal transport track 2 41.
Above-mentioned robot body is mobile with open posture in warehouse or workshop, due to positioning accuracy problem, machine
Human body inevitably has error when being moved to each storage point position, in order to ensure normal between driving wheel 61 and driven wheel 42
Engagement, the material carrier robot also have self-clamping module 8, which is mounted on equipment end 1, should referring to shown in Fig. 6
Self-clamping module 8 includes the clamping end 81 driven by clamping driver；When the self-clamping module 8 is installed, it is ensured that above-mentioned 81 He of clamping end
Difference in height between horizontal transport track 1 is identical as the difference in height between strut rail 44 and horizontal transport track 2 41.Above-mentioned folder
Holding end 81 has dynamic collet 82 and quiet collet 83, the above-mentioned dynamic connection of collet 82 clamping driver, and above-mentioned quiet collet 83 is arranged in mould
On block mounting plate 84, above-mentioned self-clamping module 8 is fixed on robot body 2 by module mounting plate 84, above-mentioned dynamic 82 He of collet
With the clamping opening of opening upwards between quiet collet 83.When above-mentioned 2 jacking shelf 4 of robot body to equipment end 1, above-mentioned strut rail 44
Positioned at the surface of 81 clamping opening of clamping end；When above-mentioned clamping driver executes holding action, drive above-mentioned strut rail 44 in level side
It translates up.
Strut rail 44 on shelf 4 is used to cooperate with self-clamping module 8, realizes that the high-precision of shelf 4 and equipment end 1 aligns, really
It protects between driving wheel and driven wheel and normally engages, operational process is as follows:
When 2 jacking shelf 4 of robot body are moved to 1 position of designated equipment end, strut rail 44 shown in b referring to Fig.1
The surface of clamping opening between dynamic collet 82 and quiet collet 83；Then, referring to shown in Fig. 2, under the pallet 22 of robot body 2
Drop, strut rail 44 is located between dynamic collet 82 and quiet collet 83 support of shelf 4 on the ground, at this point, ten thousand far from 44 position of strut rail
Ground is supportted to castor 43, it is hanging that the universal caster wheel 43 close to 44 position of strut rail is liftoff；Last clamping end 81 executes holding action and pushes
Strut rail 44 translates in the horizontal direction, can be turned at this time by supporting point of universal caster wheel by the shelf 4 of universal caster wheel support are whole
Dynamic adjustment pose, is engaged so that the driven wheel 42 (gear) on shelf 4 enters correct engagement point with driving wheel 61 (gear), reference
Shown in Fig. 7.
In addition, difference in height and strut rail 44 and horizontal transport track two between above-mentioned clamping end 81 and horizontal transport track 1
Difference in height between 41 is identical, can eliminate horizontal transport track 1 and horizontal transport rail as caused by ground relief
Difference in height between road 2 41, it is ensured that horizontal transport track 1 and horizontal transport track 2 41 are capable of the docking of normal table.
Embodiment two
The present embodiment discloses a kind of material Transfer method, neutralizes material shown in b-7 referring to Fig.1 using embodiment one and transports
It send robot that the material on specified shelf is transported to designated equipment end, specifically includes following steps,
(1) automatic obstacle avoiding navigation is moved to specified shelf position after robot body 2 receives instruction, and refers to positioned at this
The pallet of the bottom of order frame, robot body 2 rises, on the bottom jacking shelf disengaging ground for specifying shelf；
(2) 2 jacking shelf of robot body and automatic obstacle avoiding, which navigate, is moved to designated equipment end position, shelf 4
Strut rail 44 is located at the surface of 81 clamping opening of clamping end；The pallet decline of subsequent robot body 2, shelf supports are on the ground；
(3) clamping end 81 executes holding action promotion strut rail 44 and translates in the horizontal direction, so that the driven wheel on shelf 4
42 dock with the driving wheel 61 to connection module 6, and power is transferred to horizontal transport track 2 41 by driven wheel 42 by driving wheel 61,
Horizontal transport track 2 41 and the horizontal transport track 1 of equipment end is driven to rotate in the same direction, at the same speed, horizontal transport track 2 41
On material be transported to the material on horizontal transport track 1 or on horizontal transport track 1 and be transported to horizontal biography
On defeated track 2 41.
The material carrier robot and material Transfer method of the embodiment of the present invention, are able to solve robot body and are bearing goods
Frame transports under the logistic pattern of material, and shelf are in itself non-transformer, and the problem of cannot actively loading and unloading material realizes robot sheet
Body bears the shelf of not drive, is done directly the handling of material on shelf.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
It encloses without being limited thereto.Those skilled in the art's made equivalent substitute or transformation on the basis of the present invention, in the present invention
Protection scope within.Protection scope of the present invention is subject to claims.
Claims (10)
1. a kind of material carrier robot, including robot body and shelf, the material for needing to transport are placed on the shelf,
The robot body receives the shelf of jacking designated position after instruction, and automatic obstacle avoiding navigation is moved to equipment end, feature
Be: the equipment end has at least one set of horizontal transport track one；The shelf are equipped at least one set of horizontal transport track
Two, the horizontal transport track two is equipped with driven wheel, described horizontal to pass when the robot body jacking shelf to equipment end
Defeated track one and horizontal transport track two are in identical height；
The material carrier robot further include to connection module, it is described that equipment end is mounted on to connection module comprising by transmission drive
The driving wheel of device driving；When the robot body jacking shelf to equipment end, the driving wheel drives driven wheel rotation, so that
The material that material on horizontal transport track two is transported on horizontal transport track one or on horizontal transport track one is defeated
It send to horizontal transport track two.
2. material carrier robot as described in claim 1, it is characterised in that: the shelf are supported by universal caster wheel, position
Strut rail is equipped in the side of two transmission direction of horizontal transport track.
3. material carrier robot as claimed in claim 2, it is characterised in that: the material carrier robot further includes clamping mould
Block, the self-clamping module are mounted on equipment end comprising the clamping end driven by clamping driver；The robot body jacking
When shelf to equipment end, the strut rail is located at the surface of clamping end clamping opening；When the clamping driver executes holding action, band
The strut rail is moved to translate in the horizontal direction.
4. material carrier robot as claimed in claim 3, it is characterised in that: the clamping end and horizontal transport track one it
Between difference in height it is identical as the difference in height between strut rail and horizontal transport track two.
5. material carrier robot as claimed in claim 3, it is characterised in that: the clamping end has dynamic collet and quiet folder
Head, the dynamic collet connection clamping driver, the quiet collet are arranged on module mounting plate, and the self-clamping module passes through module
Mounting plate is fixed on robot body, with the clamping opening of opening upwards between the dynamic collet and quiet collet.
6. material carrier robot as described in claim 1, it is characterised in that: be located at the side of transmission rail two on the shelf
Portion is equipped with stop block material bar.
7. material carrier robot as described in claim 1, it is characterised in that: the driving wheel and driven wheel are gear,
It is engaged after the driven wheel contraposition with driving wheel.
8. material carrier robot as described in claim 1, it is characterised in that: the robot body have navigation module and
Module is jacked, the navigation module is for automatic obstacle avoiding navigation in robot body moving process；The jacking module includes support
Disk and lift actuator；The lift actuator driving pallet rises or decline, and jacking shelf are detached from when the pallet rises
Ground, the pallet decline when shelf supports on the ground.
9. material carrier robot as described in claim 1, it is characterised in that: the transmission driver is motor.
10. a kind of material Transfer method, will be on specified shelf using the described in any item material carrier robots of claim 1-9
Material be transported to designated equipment end, it is characterised in that: include the following steps,
(1) automatic obstacle avoiding navigation is moved to specified shelf position after robot body receives instruction, and is located at the specified goods
The pallet of the bottom of frame, robot body rises, on the bottom jacking shelf disengaging ground for specifying shelf；
(2) robot body jacking shelf and automatic obstacle avoiding, which navigate, is moved to designated equipment end position, the strut rail position of shelf
In the surface of clamping end clamping opening；The pallet decline of subsequent robot body, shelf supports are on the ground；
(3) clamping end execute holding action push strut rail translate in the horizontal direction so that the driven wheel on shelf with dock mould
The driving wheel of block docks, and power is transferred to horizontal transport track two by driven wheel by driving wheel, drives horizontal transport track two
It being rotated in the same direction, at the same speed with horizontal transport track one, the material on horizontal transport track two is transported on horizontal transport track one,
Or the material on horizontal transport track one is transported on horizontal transport track two.
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| CN201910833063.8A CN110436107B (en) | 2019-09-04 | 2019-09-04 | Material conveying robot and conveying method thereof |
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|---|---|---|---|
| CN201910833063.8A CN110436107B (en) | 2019-09-04 | 2019-09-04 | Material conveying robot and conveying method thereof |
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| CN110436107B CN110436107B (en) | 2024-02-02 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110817222A (en) * | 2019-11-15 | 2020-02-21 | 北京三快在线科技有限公司 | Goods shelf, automatic goods picking system and goods distribution system |
| CN111994543A (en) * | 2020-09-28 | 2020-11-27 | 河南森源中锋智能制造有限公司 | AGV conveyor and AGV |
| CN112758573A (en) * | 2020-12-15 | 2021-05-07 | 湖南红太阳光电科技有限公司 | Positioning coupling device for mobile goods shelf, mobile goods shelf and material conveying system |
| CN113911607A (en) * | 2020-07-08 | 2022-01-11 | 广州赛特智能科技有限公司 | Automatic material distribution system and distribution method |
| CN113979035A (en) * | 2021-10-27 | 2022-01-28 | 山东泰开箱变有限公司 | Shuttle trolley capable of automatically transferring |
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