CN110451205B - Intelligent carrying equipment docking mechanism with detection function - Google Patents

Intelligent carrying equipment docking mechanism with detection function Download PDF

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Publication number
CN110451205B
CN110451205B CN201910813595.5A CN201910813595A CN110451205B CN 110451205 B CN110451205 B CN 110451205B CN 201910813595 A CN201910813595 A CN 201910813595A CN 110451205 B CN110451205 B CN 110451205B
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CN
China
Prior art keywords
intelligent
carrying equipment
intelligent carrying
frame
detectors
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Active
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CN201910813595.5A
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Chinese (zh)
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CN110451205A (en
Inventor
陈焕昌
袁林
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Shanghai Yogo Robot Co Ltd
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Shanghai Yogo Robot Co Ltd
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Priority to CN201910813595.5A priority Critical patent/CN110451205B/en
Publication of CN110451205A publication Critical patent/CN110451205A/en
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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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • B65G2203/044—Optical

Abstract

An intelligent carrying equipment docking mechanism with a detection function comprises a supporting frame, an intelligent carrying rack and two detectors; the intelligent object carrier is movably provided with a moving arm and a taking and placing device, and the two detectors are arranged on the intelligent object carrier; the intelligent carrying frame is movably connected in the supporting frame and can horizontally or vertically move along the supporting frame, the moving arm and the taking and placing device can move on the carrying frame, and the two detectors are used for detecting the position of the intelligent carrying equipment. The detection method of the intelligent carrying equipment docking mechanism with the detection function can detect the position of the intelligent carrying equipment.

Description

Intelligent carrying equipment docking mechanism with detection function
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of intelligent carrying equipment, in particular to an intelligent carrying equipment docking mechanism with a detection function.
[ background of the invention ]
Along with the rapid development of the prior art, the intelligent carrying equipment is more and more widely applied in the living field, taking the service industry as an example, the intelligent carrying equipment can be used for catering, maintenance, repair, transportation, cleaning, rescue or monitoring and the like, can complete the service work beneficial to human health, and brings great convenience to the life of people. When the intelligent carrying equipment is used for serving, the intelligent carrying equipment moves to the object carrier of the intelligent carrying equipment and is in butt joint with the object carrier of the intelligent carrying equipment, so that the carried storage box is placed on the object carrier of the intelligent carrying equipment. Because the position that intelligent haulage equipment stopped is not accurate enough, often make intelligent haulage equipment and intelligent haulage equipment's carrier butt joint unsuccessful, the mistake hits on intelligent haulage equipment's carrier, and then makes intelligent haulage equipment damaged by the collision.
In view of the above, it is necessary to provide a novel docking mechanism for an intelligent transportation device with a detection function and a detection method thereof to overcome the above-mentioned drawbacks.
[ summary of the invention ]
The invention aims to provide an intelligent carrying equipment docking mechanism with a detection function, which can detect and adjust the position of the intelligent carrying equipment according to the position of the intelligent carrying equipment to realize docking with the intelligent carrying equipment, so that the intelligent carrying equipment is prevented from mistakenly colliding with a carrier of the intelligent carrying equipment, and the intelligent carrying equipment is further prevented from being damaged.
In order to achieve the above object, the present invention provides an intelligent carrying device docking mechanism with a detection function, which includes a supporting frame, an intelligent object carrier and two detectors; the intelligent object carrier is movably provided with a moving arm and a taking and placing device, and the two detectors are arranged on the intelligent object carrier; the intelligent carrying frame is movably connected in the supporting frame and can horizontally move and vertically move along the supporting frame, the moving arm and the taking and placing device can move on the intelligent carrying frame, and the two detectors are used for detecting the position of the intelligent carrying equipment; the intelligent object carrier comprises a main frame body and a bottom frame connected to the bottom of the main frame body; one side of the main frame body is connected with one side of the supporting frame in a sliding mode, and the bottom frame is connected with the bottom of the supporting frame in a sliding mode; the moving arm and the taking and placing device are movably arranged on the bottom frame of the intelligent object carrier and are respectively positioned on two side surfaces of the bottom frame, and the moving arm and the taking and placing device can move on the bottom frame; the two detectors are internally provided with a transmitter for transmitting light rays and a receiver for receiving the light rays;
when the two detectors detect that the intelligent carrying equipment is accurately parked in the detection range, the moving arm moves towards the direction close to the intelligent carrying equipment and is locked on the intelligent carrying equipment so as to drive the intelligent carrying equipment to move towards the direction close to the intelligent carrier, and the intelligent carrying equipment is accurately butted with the intelligent carrier;
if the two detectors detect that the intelligent carrying equipment cannot be accurately parked in the detection range, the intelligent carrying frame moves horizontally or vertically along the supporting frame according to the position information detected by the two detectors to adjust the position of the intelligent carrying equipment to be accurately butted with the intelligent carrying equipment, and the two detectors move along with the intelligent carrying frame and can detect that the intelligent carrying equipment is accurately parked in the detection range again;
when intelligent haulage equipment is accurate to be berthhed at detection range, the transmitter of two detectors all launches light and shines to intelligent haulage equipment on, and partial light is reflected, and the receiver that corresponds receives the light that reflects and detects out intelligent haulage equipment's position according to the power of the light that reflects.
In a preferred embodiment, the moving arm comprises two sliding beams slidably mounted on the base frame and a connecting plate connected between the two sliding beams; the moving arm slides on the underframe through the two sliding beams.
In a preferred embodiment, the pick-and-place device comprises a main body slidably mounted on the bottom frame and an adsorption member mounted on the main body.
In a preferred embodiment, a driving device is installed on the chassis, the driving device includes a motor, a first driving wheel, a second driving wheel and a driving belt, the first driving wheel is connected with the motor, the second driving wheel and the first driving wheel are arranged at an interval, and the driving belt is sleeved on the first driving wheel and the second driving wheel and connected with the moving arm; the motor can drive the first driving wheel to rotate, and the second driving wheel is driven to rotate through the driving belt, so that the moving arm moves along with the driving belt.
In a preferred embodiment, each sliding beam is provided with a latch hook assembly at an end remote from the connecting plate.
In a preferred embodiment, after the intelligent carrying equipment is completely butted with the intelligent carrier, the taking and placing device moves towards the direction close to the intelligent carrying equipment and is adsorbed on the storage box carried by the intelligent carrying equipment, and the taking and placing device moves towards the direction away from the intelligent carrying equipment after being adsorbed on the storage box so as to take down the storage box carried by the intelligent carrying equipment.
Compared with the prior art, beneficial effect lies in: the invention provides an intelligent carrying equipment butt joint mechanism with a detection function, wherein an intelligent object carrier is movably arranged on a supporting frame, and a detector is arranged on the intelligent object carrier; when the detector detects that the intelligent carrying equipment does not accurately stop in the detection range of the detector, the intelligent carrying frame can move on the supporting frame according to the position of the intelligent carrying equipment to adjust the position of the intelligent carrying frame, the intelligent carrying equipment is in butt joint with the intelligent carrying equipment, the intelligent carrying equipment is prevented from mistakenly colliding on the carrying frame of the intelligent carrying equipment, and the intelligent carrying equipment is further prevented from being damaged by collision.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a usage state diagram of the intelligent handling device docking mechanism with detection function provided by the present invention.
Fig. 2 is a perspective view of the intelligent carrier rack of the intelligent carrier docking mechanism with detection function shown in fig. 1.
Fig. 3 is an enlarged view of the region a shown in fig. 2.
Figure 4 is a combination view of the undercarriage of the intelligent carrier shown in figure 2 with the moving arms and the drive mechanism.
Figure 5 is a combination view of the base frame, the moving arm and the pick-and-place device of the intelligent object carrier shown in figure 2.
Fig. 6 is a schematic diagram of the detector shown in fig. 3.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantageous effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operated in a particular orientation, and are therefore not to be considered limiting.
It is also noted that, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," "disposed," and the like are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. To those of ordinary skill in the art, the above terms may be specifically defined in the present invention according to the specific circumstances.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Further, the meaning of "a plurality" or "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1 to 3, the present invention provides an intelligent carrying apparatus docking mechanism 100 with a detection function, which includes a supporting frame 10, an intelligent carrier 20 and two detectors 30; the intelligent object carrier 20 is movably provided with a moving arm 21 and a pick-and-place device 22, and the two detectors 30 are arranged on the intelligent object carrier 20 and are arranged at intervals with the moving arm 21 and the pick-and-place device 22; the intelligent carrier 20 is movably connected in the supporting frame 10 and can move horizontally or vertically along the supporting frame 10, the moving arm 21 and the pick-and-place device 22 can move on the carrier 20 in a direction approaching or departing from the intelligent handling apparatus 200, and the two detectors 30 are used for detecting the position of the intelligent handling apparatus 200. In the present embodiment, the intelligent object carrier 20 is slidably connected in the supporting frame 10, and both the two detectors 30 are diffuse-reflective photoelectric sensors.
When the two detectors 30 detect that the intelligent handling device 200 is accurately parked within the detection range, the moving arm 21 moves towards the direction close to the intelligent handling device 200 and is locked on the top plate 201 of the intelligent handling device 200, so as to drive the intelligent handling device 200 to move towards the direction close to the intelligent carrier 20, and further, the intelligent handling device 200 is accurately docked with the intelligent carrier 20. After the intelligent carrying equipment 200 is docked with the intelligent carrier 20, the pick-and-place device 22 moves in a direction close to the intelligent carrying equipment 200 and is adsorbed on the storage box 300 carried by the intelligent carrying equipment 200, the pick-and-place device 22 moves in a direction away from the intelligent carrying equipment 200 after being adsorbed on the storage box 300 so as to achieve the purpose that the storage box 300 is separated from the intelligent carrying equipment 200, and at the moment, the pick-and-place device 22 can take off the storage box 300 carried by the intelligent carrying equipment 200.
If the two detectors 30 detect that the intelligent handling apparatus 200 cannot be accurately parked within the detection range (i.e. the intelligent handling apparatus 200 cannot be accurately docked with the intelligent carrier rack 20 at this time), the intelligent carrier rack 20 moves horizontally or vertically along the support frame 10 according to the position information detected by the two detectors 30 to adjust the position thereof to be accurately docked with the intelligent handling apparatus 200, and at this time, the two detectors 30 move along with the intelligent carrier rack 20 and can detect that the intelligent handling apparatus 200 is accurately parked within the detection range again.
Referring to fig. 4 to 6 together, in one embodiment, the intelligent object carrier 20 includes a main frame 201 and a bottom frame 202 fixedly connected to a bottom of the main frame 201; one side of the main frame body 201 is slidably connected with one side of the support frame 10, and the bottom frame 202 is slidably connected with the bottom of the support frame 10; the moving arm 21 and the pick-and-place device 22 are movably mounted on the bottom frame 202 of the intelligent carrier 20 and respectively located on two sides of the bottom frame 202, and both the moving arm 21 and the pick-and-place device 22 can move on the bottom frame 202 toward or away from the intelligent handling apparatus 200. In the present embodiment, the moving arm 21 and the pick-and-place device 22 are slidably mounted on the bottom frame 202 of the intelligent object carrier 20.
It should be noted that an auxiliary sliding mechanism 400 may be disposed on a side of the main frame 201 away from the side slidably connected to the support frame 10, the auxiliary sliding mechanism 400 is slidably connected to a side of the main frame 10 away from the side slidably connected to the support frame 10, and one end of the auxiliary sliding mechanism 400 close to the bottom of the support frame 10 is slidably connected to the support frame 10; in this way, both sides of the intelligent object carrier 20 respectively move vertically along the supporting frame 10 and the auxiliary sliding mechanism 400, and when the intelligent object carrier 20 moves horizontally on the supporting frame 10, the auxiliary sliding mechanism 400 can move horizontally along with the intelligent object carrier 20. In this way, the balance of the intelligent object carrier 20 during horizontal movement or vertical movement on the supporting frame 10 can be enhanced, so that the intelligent object carrier 20 can be kept stable during movement on the supporting frame 10.
In one embodiment, the moving arm 21 includes two sliding beams 211 slidably mounted on the base frame 202 and a connecting plate 212 vertically connected between the two sliding beams 211; the moving arm 21 slides on the base frame 202 via the two sliding beams 211.
In one embodiment, an end of each sliding beam 211 distal from the connecting plate 212 is provided with a latch hook assembly 2111; the moving arm 21 is locked to the top plate 201 of the intelligent handling apparatus 200 by the locking hook assemblies 2111 on the two sliding beams 211.
In one embodiment, the pick-and-place device 22 includes a main body 221 slidably mounted on the bottom frame 202 and an absorbing member 222 mounted on the main body 221, wherein the absorbing member 222 is used for connecting with an external air pipe (not shown), and the external air pipe provides a negative pressure to the absorbing member 222 to enhance the absorbing force of the absorbing member 222. In the present embodiment, the number of the suction members 222 is three. Specifically, the suction member 222 is a suction cup.
In one embodiment, a driving device 23 is installed on the base frame 202, the driving device 23 includes a motor 231, a first driving wheel 232, a second driving wheel 233 and a driving belt 234, the first driving wheel 232 is connected to the motor 231, the second driving wheel 233 is spaced apart from the first driving wheel 232, and the driving belt 234 is sleeved on the first driving wheel 232 and the second driving wheel 233 and is connected to the moving arm 21; the motor 231 can drive the first driving wheel 232 to rotate, and drive the second driving wheel 233 to rotate through the driving belt 234, so that the moving arm 21 moves along with the driving belt 234.
In one embodiment, the belt 234 passes through the connecting plate 212 of the moving arm 21 and is fixedly connected to the connecting plate 212. When the motor 231 drives the first driving wheel 232 to rotate and drives the second driving wheel 233 to rotate through the driving belt 234, the connecting plate 212 of the moving arm 21 is fixedly connected with the driving belt 234, so that the moving arm 21 can move along with the driving belt 234.
In one embodiment, the two detectors 30 are disposed perpendicular to each other, and one of the detectors 30 is mounted on the bottom surface of the bottom frame 202 of the intelligent carrier 20, and the other detector 30 is mounted on the side surface of the bottom frame 202 of the intelligent carrier 20.
In one embodiment, the two detectors 30 are each internally provided with an emitter 31 for emitting light and a receiver 32 for receiving light. When the intelligent carrying equipment 200 is accurately butted with the intelligent carrier 20, the light emitted by the emitter 31 of the detector 30 positioned on the bottom surface of the underframe 202 irradiates the top plate 201 of the intelligent carrying equipment 200 to form a diffuse reflection effect, part of the light is reflected back, and the corresponding receiver 32 receives the reflected light and detects the position of the top plate 201 of the intelligent carrying equipment 200 according to the intensity of the reflected light; the light emitted from the emitter 31 of the detector 30 located on the side of the chassis 202 irradiates the side wall of the intelligent handling device 200 to form a diffuse reflection effect, part of the light is reflected back, and the corresponding receiver 32 receives the reflected light and detects the position of the side wall of the intelligent handling device 200 according to the intensity of the reflected light. In the present embodiment, the detection distance of each detector 30 is 5mm to 100 mm; two lenses 33 are also arranged inside each detector 30, the two lenses 33 being arranged corresponding to the emitter 31 and the receiver 32, respectively.
When the two detectors 30 detect that the intelligent carrying equipment 200 is accurately parked in the detection range, the moving arm 21 moves towards the direction close to the intelligent carrying equipment 200 and is locked on the intelligent carrying equipment 200 so as to drive the intelligent carrying equipment 200 to move towards the direction close to the intelligent carrier 20, and further the intelligent carrying equipment 200 is accurately butted with the intelligent carrier 20;
if the two detectors 30 detect that the intelligent handling apparatus 200 cannot be accurately parked within the detection range (i.e. the intelligent handling apparatus 200 cannot be accurately docked with the intelligent carrier rack 20 at this time), the intelligent carrier rack 20 moves horizontally or vertically along the support frame 10 according to the position information detected by the two detectors 30 to adjust the position thereof to be accurately docked with the intelligent handling apparatus 200, and at this time, the two detectors 30 move along with the intelligent carrier rack 20 and can detect that the intelligent handling apparatus 200 is accurately parked within the detection range again.
In one embodiment, after the intelligent handling device 200 is docked with the intelligent carrier 20, the pick-and-place device 22 moves towards a direction close to the intelligent handling device 200 and is attached to the storage box 300 carried by the intelligent handling device 200, and the pick-and-place device 22 is attached to the storage box 300 and then moves away from the intelligent handling device 200 to remove the storage box 300 carried by the intelligent handling device 200.
In one embodiment, when the intelligent detecting device 200 is accurately parked within the detection range, the light emitted from the emitters 31 of the two detectors 30 irradiates the intelligent handling device to form a diffuse reflection effect, part of the light is reflected, and the corresponding receivers 32 receive the reflected light and detect the position of the intelligent handling device 200 according to the intensity of the reflected light.
Has the advantages that: the invention provides an intelligent carrying equipment butt joint mechanism with a detection function, wherein an intelligent object carrier is movably arranged on a supporting frame, and a detector is arranged on the intelligent object carrier; when the detector detects that the intelligent carrying equipment does not accurately stop in the detection range of the detector, the intelligent carrying frame can move on the supporting frame according to the position of the intelligent carrying equipment to adjust the position of the intelligent carrying frame, the intelligent carrying equipment is in butt joint with the intelligent carrying equipment, the intelligent carrying equipment is prevented from mistakenly colliding on the carrying frame of the intelligent carrying equipment, and the intelligent carrying equipment is further prevented from being damaged by collision. The detection method of the intelligent carrying equipment docking mechanism with the detection function can detect the position of the intelligent carrying equipment.
The invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.

Claims (6)

1. An intelligent carrying equipment docking mechanism with a detection function is characterized by comprising a supporting frame, an intelligent carrying rack and two detectors; the intelligent object carrier is movably provided with a moving arm and a taking and placing device, and the two detectors are arranged on the intelligent object carrier; the intelligent carrying frame is movably connected in the supporting frame and can horizontally move and vertically move along the supporting frame, the moving arm and the taking and placing device can move on the intelligent carrying frame, and the two detectors are used for detecting the position of the intelligent carrying equipment; the intelligent object carrier comprises a main frame body and a bottom frame connected to the bottom of the main frame body; one side of the main frame body is connected with one side of the supporting frame in a sliding mode, and the bottom frame is connected with the bottom of the supporting frame in a sliding mode; the moving arm and the taking and placing device are movably arranged on the bottom frame of the intelligent object carrier and are respectively positioned on two side surfaces of the bottom frame, and the moving arm and the taking and placing device can move on the bottom frame; the two detectors are internally provided with a transmitter for transmitting light rays and a receiver for receiving the light rays;
when the two detectors detect that the intelligent carrying equipment is accurately parked in the detection range, the moving arm moves towards the direction close to the intelligent carrying equipment and is locked on the intelligent carrying equipment so as to drive the intelligent carrying equipment to move towards the direction close to the intelligent carrier, and the intelligent carrying equipment is accurately butted with the intelligent carrier;
if the two detectors detect that the intelligent carrying equipment cannot be accurately parked in the detection range, the intelligent carrying frame moves horizontally or vertically along the supporting frame according to the position information detected by the two detectors to adjust the position of the intelligent carrying equipment to be accurately butted with the intelligent carrying equipment, and the two detectors move along with the intelligent carrying frame and can detect that the intelligent carrying equipment is accurately parked in the detection range again;
when intelligent haulage equipment is accurate to be berthhed at detection range, the transmitter of two detectors all launches light and shines to intelligent haulage equipment on, and partial light is reflected, and the receiver that corresponds receives the light that reflects and detects out intelligent haulage equipment's position according to the power of the light that reflects.
2. The intelligent carrier docking mechanism with detection capability of claim 1, wherein the motion arm comprises two sliding beams slidably mounted on the bottom frame and a connecting plate connected between the two sliding beams; the moving arm slides on the underframe through the two sliding beams.
3. The intelligent carrier docking mechanism with detection function as claimed in claim 1, wherein the pick-and-place device comprises a main body slidably mounted on the bottom frame and an absorbing member mounted on the main body.
4. The intelligent carrying equipment docking mechanism with the detection function as recited in claim 1, wherein a driving device is installed on the chassis, the driving device includes a motor, a first driving wheel, a second driving wheel and a driving belt, the first driving wheel is connected to the motor, the second driving wheel is spaced from the first driving wheel, and the driving belt is sleeved on the first driving wheel and the second driving wheel and connected to the moving arm; the motor can drive the first driving wheel to rotate, and the second driving wheel is driven to rotate through the driving belt, so that the moving arm moves along with the driving belt.
5. The intelligent handling device docking mechanism with detection function of claim 2, wherein one end of each sliding beam far away from the connection plate is provided with a latch hook assembly.
6. The intelligent carrying equipment docking mechanism with the detection function as claimed in claim 1, wherein after the intelligent carrying equipment is docked with the intelligent carrying rack, the taking and placing device moves towards a direction close to the intelligent carrying equipment and is adsorbed on the storage box carried by the intelligent carrying equipment, and the taking and placing device moves towards a direction away from the intelligent carrying equipment after being adsorbed on the storage box so as to take off the storage box carried by the intelligent carrying equipment.
CN201910813595.5A 2019-08-30 2019-08-30 Intelligent carrying equipment docking mechanism with detection function Active CN110451205B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN201910813595.5A CN110451205B (en) 2019-08-30 2019-08-30 Intelligent carrying equipment docking mechanism with detection function

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CN110451205B true CN110451205B (en) 2020-12-25

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Publication number Priority date Publication date Assignee Title
JPS5921294B2 (en) * 1978-02-02 1984-05-18 積水化成品工業株式会社 A device that takes out foam molded products to the outside while keeping them aligned.
KR101575279B1 (en) * 2009-03-19 2015-12-10 한화테크윈 주식회사 Chip mounter laser displacement sensor established head assembly and coordinate calibration method
CN102942061B (en) * 2012-10-29 2016-01-27 深圳市华星光电技术有限公司 A kind of corrective system of automatic transportation equipment and a kind of calibrating method
CN103224136B (en) * 2013-03-26 2015-09-30 东莞市德瑞精密设备有限公司 Battery clamp loads pick-and-place machine
CN205932348U (en) * 2016-08-01 2017-02-08 深圳市银浩自动化设备有限公司 Automatic material receiving machine
CN109160172B (en) * 2018-09-30 2024-01-09 成都睿乐达机器人科技有限公司 Mobile robot with door opening and closing device

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