CN111267661A - Parking pile of storage robot - Google Patents
Parking pile of storage robot Download PDFInfo
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- CN111267661A CN111267661A CN202010286862.0A CN202010286862A CN111267661A CN 111267661 A CN111267661 A CN 111267661A CN 202010286862 A CN202010286862 A CN 202010286862A CN 111267661 A CN111267661 A CN 111267661A
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- 210000000078 claw Anatomy 0.000 claims description 38
- 238000003032 molecular docking Methods 0.000 claims description 18
- 230000001939 inductive effect Effects 0.000 claims description 12
- 230000002146 bilateral effect Effects 0.000 claims description 6
- 239000002184 metal Substances 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/31—Charging columns specially adapted for electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a parking pile of a storage robot, which comprises a parking pile support and a transport trolley, wherein a guide groove with a rightward opening is arranged in the parking pile support, a telescopic groove is arranged in the inner wall of the left side of the guide groove, a telescopic joint is arranged between the telescopic groove and the guide groove, and the telescopic joint comprises a telescopic rod which is slidably arranged between the telescopic groove and the guide groove.
Description
Technical Field
The invention relates to the field of storage robots, in particular to a parking pile of a storage robot.
Background
The storage robot is a special robot which is derived under the 4.0 technical wave of the modern industry and is applied to a large-scale automatic warehouse, an optical guide technology or a laser guide technology is utilized, the storage robot can be controlled by an upper computer to carry out transportation operation, the existing storage robot charging device can guide a trolley to carry out charging only by laying a cable or a guide device on the ground or at a specific position, and in the existing technology, the storage robot is difficult to accurately control the storage robot to run to the front end of a charging connector to carry out charging due to the limitation of a guide mode.
Disclosure of Invention
In order to solve the problems, the storage robot docking pile is designed in the embodiment, the storage robot docking pile comprises a docking pile support and a transport trolley, a guide groove with a right opening is arranged in the docking pile support, a telescopic groove is arranged in the inner wall of the left side of the guide groove, a telescopic joint is arranged between the telescopic groove and the guide groove, the telescopic joint comprises a telescopic rod which is arranged between the telescopic groove and the guide groove in a sliding manner, a charging slot with a right opening is arranged in the telescopic rod, key grooves are symmetrically arranged in the inner walls of the upper side and the lower side of the charging slot, the left end of the transport trolley is connected with a centering plug, the centering plug comprises a vertical sliding groove which is arranged in the transport trolley and is provided with a left opening, a vertical sliding block is arranged in the vertical sliding groove in a sliding manner, the left end of the vertical sliding block is fixedly connected with a centering joint, and, plug motor grooves are symmetrically arranged in the charging hole from top to bottom, a pin key is arranged in the plug motor grooves in a sliding mode, one end of the pin key extends out of the charging hole, a reset spring is fixedly connected between the other end of the pin key and the inner wall of the plug motor groove, a threaded rod is fixedly connected outside the pin key, the charging hole extends into the charging slot, the inner walls of the upper side and the lower side of the charging slot are used for pushing the pin key to slide and compress the reset spring, when the pin key is right opposite to the key groove, the pin key extends out under the elastic action of the reset spring and is clamped into the key groove, the parking pile support is connected with the transport trolley, a sleeve is sleeved outside the center joint in a sliding mode, two return springs are fixedly connected between the right end of the sleeve and the vertical sliding block, three guide rods are distributed on the sleeve in an annular array mode and hinged, and the other ends, the guide rod is hinged with an upper limit rod close to one end of the centering joint, the centering joint is hinged with a lower limit rod close to one end of the upper limit rod, a limit spring is fixedly connected between the upper limit rod and the lower limit rod, the centering joint extends into the guide groove leftwards, at the moment, the metal ball is supported on the inner wall of the guide groove and slides towards one side close to the centering joint along the guide groove, at the moment, the limit spring is compressed, the sleeve is driven to slide rightwards and the return spring is compressed, when three pairs of the upper limit rod and the lower limit rod are abutted, the charging hole is right opposite to the charging slot, the right end of the parking pile support is fixedly connected with a base, a guide groove with a right opening is arranged in the base in an up-and-down penetrating manner, an auxiliary driven rod and a driven wheel are rotationally arranged in the guide groove, and a conveying belt is connected between, the conveying trolley moves onto the conveying belt and drives the conveying trolley to move leftwards through driving of the conveying belt, a driving rod is fixedly connected into an auxiliary driven rod, the front end of the driving rod is rotatably connected to the base, a driven rod is fixedly connected into a driven wheel, and the front end and the rear end of the driven rod are rotatably connected to the base.
Preferably, an upper motor groove is arranged in the parking pile support, a main driving wheel is rotatably arranged in the upper motor groove, a driving motor is fixedly arranged in the upper motor groove, the main driving wheel is in power connection with the driving motor, a lower motor groove is arranged in the parking pile support, a lower driving wheel is rotatably arranged in the lower motor groove, a conveying belt is connected between the main driving wheel and the lower driving wheel, a lower driving rod is fixedly connected in the lower driving wheel, the right end of the lower driving rod extends into the guide through groove and is fixedly connected with a driving bevel gear, a driven bevel gear is meshed with the rear end of the driving bevel gear and is fixedly connected with the driving rod, the driving motor is started to drive the main driving wheel to rotate, the lower driving wheel is driven to rotate by the conveying belt, and the driving bevel gear is driven to rotate by the lower driving rod, and then the driven bevel gear is driven to rotate, the driving rod drives the auxiliary driven rod to rotate, so that the conveying belt is driven to transport the transport trolley, a telescopic groove is formed in the right side of the upper motor groove, auxiliary driving wheels are symmetrically and rotatably arranged in the telescopic groove, a screw is fixedly connected to the right end of each auxiliary driving wheel, the right end of each screw is in threaded connection with the corresponding telescopic rod, a driving wheel is rotatably arranged between the auxiliary driving wheels and meshed with the two auxiliary driving wheels, the driving wheel is in power connection with the driving motor, the driving motor is started, so that the driving wheel is driven to rotate, the auxiliary driving wheels are driven to rotate, and the telescopic rods are driven to stretch and retract through the screws.
Preferably, the right end of the parking pile support is fixedly connected with an induction switch, and the induction switch is used for detecting the distance between the transport trolley and the induction switch.
Preferably, a conveying block is fixedly connected to the conveying belt, a lifting groove with an upward opening is formed in the conveying block, a vertical rod is fixedly arranged on the inner wall of the lower side of the lifting groove, a lifting rod is slidably connected to the upper end of the vertical rod, the right end of the lifting rod is meshed with the circular gear, a lifting motor is fixedly connected to the inner wall of the front side of the lifting groove, the circular gear is in power connection with the lifting motor, a mechanical arm is rotatably arranged on the upper side of the conveying block, the left end of the mechanical arm is hinged to the conveying block, a limiting sliding groove with a downward opening is formed in the mechanical arm, a limiting sliding block is slidably arranged in the limiting sliding groove, the lifting rod is hinged to the limiting sliding block, a mechanical claw base is arranged on the upper side of the mechanical arm, two mechanical claw connecting rods are hinged between the lower end of the mechanical claw base and the, the left end of the mechanical short rod is fixedly connected with a V-shaped mechanical claw, a torsion spring is fixedly connected between the V-shaped mechanical claw and the mechanical claw base, the lifting motor is started, the circular gear is driven to rotate, the lifting rod is driven to lift, the limiting sliding block is driven to slide along the limiting sliding groove, the mechanical arm is driven to swing, and the mechanical claw connecting rod, the mechanical claw base, the mechanical short rod and the V-shaped mechanical claw are driven to lift.
Preferably, the bottom end of the transport trolley is provided with limit plates in a bilateral symmetry manner, limit rods are fixedly connected between the limit plates, the lower end of the transport trolley is provided with four wheels in a front-back bilateral symmetry manner, the transport trolley runs and stops at the upper side of the conveying belt, the four wheels are respectively positioned at the front side and the rear side of the base, when the inductive switch detects that the transport trolley just stops at the upper side of the conveying block, the transport trolley is stopped, the lifting motor is started, the V-shaped mechanical claw rises and contacts with the limit rods, the V-shaped mechanical claw rotates and blocks the limit rods, the torsion spring is twisted, the conveying belt runs and drives the conveying block to move leftwards, and then slides leftwards along the limit rods through the V-shaped mechanical claw until the V-shaped mechanical claw abuts against the left limit plate, and then the conveying block and the V-shaped mechanical claw continuously move leftwards so as to drive the transport trolley to move leftwards.
Preferably, a connecting plate is fixedly arranged at the upper end of the docking pile support and is used for being connected with a wall body.
Preferably, a power supply is fixedly arranged in the telescopic rod, a charging connector is fixedly connected to the inner wall of the left side of the charging slot, a plug sliding groove which is communicated with the left side and the right side is arranged in the charging hole, a charging plug is arranged in the plug sliding groove in a sliding mode, a buffer spring is fixedly connected between the right end of the charging plug and the centering connector, the charging plug, the centering connector, the vertical sliding block and the transport trolley are electrically connected, when the pin key is connected with the key groove, the charging plug is connected with the charging connector and compresses the buffer spring, and at the moment, the power supply charges the charging plug through the charging connector and then charges the transport trolley.
Preferably, the rotation of plug motor inslot is equipped with the drive wheel, the meshing of drive wheel left end is equipped with the threaded rod, the round pin key with threaded connection between the threaded rod, plug motor groove is close to charging plug one side inner wall has set firmly flexible motor, drive wheel power connect in flexible motor works as the round pin key card is gone into when the keyway, starts flexible motor, and then the drive wheel rotates, and then drives the threaded rod rotates, and then drives the round pin key slide and with the keyway breaks away from.
The invention has the beneficial effects that: according to the invention, when the transport trolley is only required to stop, the warehousing robot can accurately stop at the stop pile inlet through the through groove on the stop pile support base, the stop pile can transport the trolley to a designated position through the transmission belt, and then the trolley can be accurately charged and locked through the centering joint, so that the damage or incapability of charging the charging head caused by the incapability of aligning the charging head of the trolley due to errors can be avoided within a certain range.
Drawings
For ease of illustration, the invention is described in detail by the following specific examples and figures.
FIG. 1 is a schematic view of the overall structure of a parking pile of a storage robot according to the present invention;
FIG. 2 is a schematic view of the structure at the transport cart;
FIG. 3 is an enlarged schematic view of A of FIG. 1;
FIG. 4 is a schematic view of the structure in the direction "B-B" of FIG. 1;
FIG. 5 is an enlarged schematic view of "C" of FIG. 2;
FIG. 6 is an enlarged schematic view of "D" of FIG. 2;
FIG. 7 is a schematic view of the structure in the direction "F-F" of FIG. 3;
FIG. 8 is a schematic view of the structure in the direction "G-G" of FIG. 3;
fig. 9 is an enlarged schematic view of "H" in fig. 1.
Detailed Description
The invention will now be described in detail with reference to fig. 1-9, for ease of description, the orientations described below will now be defined as follows: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.
The invention relates to a parking pile of a storage robot, which comprises a parking pile support 65 and a transport trolley 103, wherein a guide groove 77 with a rightward opening is arranged in the parking pile support 65, a telescopic groove 61 is arranged in the inner wall of the left side of the guide groove 77, a telescopic joint 100 is arranged between the telescopic groove 61 and the guide groove 77, the telescopic joint 100 comprises a telescopic rod 58 which is arranged between the telescopic groove 61 and the guide groove 77 in a sliding manner, a charging slot 86 with a rightward opening is arranged in the telescopic rod 58, key grooves 16 are symmetrically arranged in the inner walls of the upper side and the lower side of the charging slot 86, the left end of the transport trolley 103 is connected with a centering plug 102, the centering plug 102 comprises a vertical sliding groove 22 with a leftward opening and arranged in the transport trolley 103, a vertical sliding block 21 is arranged in the vertical sliding groove 22 in an up-down sliding manner, and the left end, the left end of the centering joint 20 is fixedly connected with a charging hole 79, plug motor grooves 91 are symmetrically arranged in the charging hole 79 from top to bottom, a pin key 49 is arranged in the plug motor grooves 91 in a sliding manner, one end of the pin key 49 extends out of the charging hole 79, a reset spring 52 is fixedly connected between the other end of the pin key 49 and the inner wall of the plug motor groove 91, a threaded rod 90 is fixedly connected outside the pin key 49, the charging hole 79 extends into the charging slot 86, the inner walls on the upper side and the lower side of the charging slot 86 are used for pushing the pin key 49 to slide and compress the reset spring 52, when the pin key 49 is right opposite to the key groove 16, the pin key 49 extends out under the elastic force action of the reset spring 52 and is clamped into the key groove 16, at the moment, the docking pile support 65 is connected with the transport trolley 103, a sleeve 76 is slidably sleeved outside the centering joint 20, and two return springs 87 are fixedly connected between the right end of the sleeve, the sleeve 76 is annularly and movably connected with three guide rods 19, the other ends of the guide rods 19 are fixedly connected with metal balls 18, the guide rods 19 are hinged with an upper limit rod 41 near one end of the centering joint 20, the centering joint 20 is hinged with a lower limit rod 43 near one end of the upper limit rod 41, a limit spring 42 is fixedly connected between the upper limit rod 41 and the lower limit rod 43, the centering joint 20 extends into the guide groove 77 leftwards, at the moment, the metal balls 18 abut against the inner wall of the guide groove 77 and slide towards one side near the centering joint 20 along the guide groove 77, at the moment, the limit spring 42 is compressed, the sleeve 76 is driven to slide rightwards and a return spring 87 is compressed, when the three pairs of upper limit rods 41 abut against the lower limit rod 43, the charging hole 79 faces the charging slot 86, the right end of the parking pile support 65 is fixedly connected with a base 32, the guide that runs through from top to bottom in the base 32 is equipped with the opening and leads to groove 85 to the right, the guide is led to the inslot 85 internal rotation and is equipped with vice follower link 89 and follows driving wheel 88, vice follower link 89 with be connected with conveyer belt 15 from between the driving wheel 88, travelling bogie 103 moves on the conveyer belt 15, and through the drive conveyer belt 15 drives travelling bogie 103 moves left, link firmly drive lever 14 in the vice follower link 89, drive lever 14 front end rotate connect in the base 32, driven lever 17 has been linked firmly in following driving wheel 88, both ends rotate connect in around the driven lever 17 base 32.
Beneficially, an upper motor groove 63 is arranged in the parking pile support 65, a main driving wheel 82 is rotatably arranged in the upper motor groove 63, a driving motor 69 is fixedly arranged in the upper motor groove 63, the main driving wheel 82 is in power connection with the driving motor 69, a lower motor groove 62 is arranged in the parking pile support 65, a lower driving wheel 34 is rotatably arranged in the lower motor groove 62, a conveyor belt 83 is connected between the main driving wheel 82 and the lower driving wheel 34, a lower driving rod 35 is fixedly connected in the lower driving wheel 34, the right end of the lower driving rod 35 extends into the guiding through groove 85 and is fixedly connected with a driving bevel gear 84, a driven bevel gear 36 is meshed at the rear end of the driving bevel gear 84, the driven bevel gear 36 is fixedly connected to the driving rod 14, the driving motor 69 is started, the main driving wheel 82 is further driven to rotate, and the lower driving wheel 34 is further driven to rotate by the conveyor belt 83, thereby driving the drive bevel gear 84 to rotate through the lower transmission rod 35, and further driving the driven bevel gear 36 to rotate, the auxiliary driven rod 89 is driven to rotate by the driving rod 14, so as to drive the conveying belt 15 and transport the transport trolley 103, a telescopic groove 71 is arranged at the right side of the upper motor groove 63, auxiliary driving wheels 92 are symmetrically and rotatably arranged in the telescopic groove 71 from top to bottom, the right end of the auxiliary driving wheel 92 is fixedly connected with a screw 12, the right end of the screw 12 is connected with the telescopic rod 58 in a threaded manner, a driving wheel 70 is rotatably arranged between the auxiliary driving wheels 92, the driving wheel 70 is meshed with the two auxiliary driving wheels 92, the driving wheel 70 is power-connected to the driving motor 69, starts the driving motor 69, thereby driving the driving wheel 70 to rotate, further driving the secondary driving wheel 92 to rotate, and further driving the telescopic rod 58 to extend and retract through the screw 12.
Advantageously, the right end of the docking pile support 65 is fixedly connected with an inductive switch 31, and the inductive switch 31 is used for detecting the distance between the transport trolley 103 and the inductive switch 31.
Beneficially, the conveying belt 15 is fixedly connected with a conveying block 30, a lifting groove 93 with an upward opening is arranged in the conveying block 30, a vertical rod 28 is fixedly arranged on the inner wall of the lower side of the lifting groove 93, the upper end of the vertical rod 28 is connected with a lifting rod 73 in a sliding manner, the right end of the lifting rod 73 is engaged with the circular gear 29, a lifting motor 56 is fixedly connected to the inner wall of the front side of the lifting groove 93, the circular gear 29 is in power connection with the lifting motor 56, a mechanical arm 25 is rotatably arranged on the upper side of the conveying block 30, the left end of the mechanical arm 25 is hinged to the conveying block 30, a limiting sliding groove 27 with a downward opening is arranged in the mechanical arm 25, a limiting sliding block 26 is slidably arranged in the limiting sliding groove 27, the lifting rod 73 is hinged to the limiting sliding block 26, a gripper base 47 is arranged on the upper side of the mechanical arm 25, two gripper connecting rods 48, the left end of the mechanical claw base 47 is rotatably connected with a mechanical short rod 60, the left end of the mechanical short rod 60 is fixedly connected with a V-shaped mechanical claw 45, a torsion spring 38 is fixedly connected between the V-shaped mechanical claw 45 and the mechanical claw base 47, the lifting motor 56 is started to drive the circular gear 29 to rotate, so that the lifting rod 73 is driven to lift, the limiting slide block 26 is driven to slide along the limiting slide groove 27, the mechanical arm 25 is driven to swing, and the mechanical claw connecting rod 48, the mechanical claw base 47, the mechanical short rod 60 and the V-shaped mechanical claw 45 are driven to lift.
Advantageously, limit plates 23 are fixedly connected to the bottom end of the transport trolley 103 in a bilateral symmetry manner, limit rods 24 are fixedly connected between the limit plates 23, four wheels 74 are arranged at the lower end of the transport trolley 103 in a front-back bilateral symmetry manner, the transport trolley 103 runs and stops at the upper side of the conveyor belt 15, at this time, the four wheels 74 are respectively located at the front side and the rear side of the base 32, when the inductive switch 31 detects that the transport trolley 103 just stops at the upper side of the transfer block 30, the transport trolley 103 is stopped, at this time, the lifting motor 56 is started, the V-shaped gripper 45 rises and contacts with the limit rod 24, at this time, the V-shaped gripper 45 rotates and blocks the limit rod 24, and the torsion spring 38 is twisted, at this time, the conveyor belt 15 runs and drives the transfer block 30 to move leftwards, and then slides leftwards along the limit rod 24 through the V-shaped gripper, until the V-shaped mechanical claw 45 abuts against the limiting plate 23 on the left side, the conveying block 30 and the V-shaped mechanical claw 45 continue to move leftwards, and the transport trolley 103 is driven to move leftwards.
Advantageously, the docking pile support 65 is fixedly provided with a coupling plate 64 at the upper end thereof, and the coupling plate 64 is used for connecting with a wall body.
Beneficially, a power supply 37 is fixedly arranged in the telescopic rod 58, a charging connector 13 is fixedly connected to the inner wall of the left side of the charging slot 86, a left-right through plug sliding groove 80 is arranged in the charging hole 79, a charging plug 53 is slidably arranged in the plug sliding groove 80, a buffer spring 54 is fixedly connected between the right end of the charging plug 53 and the centering connector 20, the charging plug 53, the centering connector 20, the vertical slider 21 and the transportation trolley 103 are electrically connected, when the pin key 49 is connected with the key groove 16, the charging plug 53 is connected with the charging connector 13 and compresses the buffer spring 54, and at the moment, the power supply 37 charges the charging plug 53 through the charging connector 13, so that the transportation trolley 103 is charged.
Beneficially, the driving wheel 50 is arranged in the plug motor groove 91 in a rotary manner, the threaded rod 90 is meshed with the left end of the driving wheel 50, the pin key 49 is in threaded connection with the threaded rod 90, the plug motor groove 91 is close to the telescopic motor 51 fixedly arranged in the inner wall of one side of the charging plug 53, the driving wheel 50 is in power connection with the telescopic motor 51, when the pin key 49 is clamped into the key groove 16, the telescopic motor 51 is started, the driving wheel 50 is driven to rotate, the threaded rod 90 is driven to rotate, and the pin key 49 is driven to slide and be separated from the key groove 16.
The following describes the use steps of the present invention in detail with reference to fig. 1 to 9:
initially, the telescopic rod 58 is located at the extreme position of the leftmost end inside the telescopic groove 71, the conveying block 30 is located at the extreme position of the rightmost end on the conveying belt 15, the transport trolley 103 is not connected with the parking pile support 65, the three limiting springs 42 at the upper end of the centering joint 20 are in a relaxation state, and at the moment, the guide rod 19 and the centering joint 20 form the maximum opening angle.
When the device is used, when the inductive switch 31 detects that the transport trolley 103 just stops at the upper side of the conveying block 30, the transport trolley 103 is stopped, the lifting motor 56 is started, the V-shaped mechanical claw 45 rises and contacts the limiting rod 24, the V-shaped mechanical claw 45 rotates and blocks the limiting rod 24, the torsion spring 38 is twisted, the driving motor 69 is started, the main driving wheel 82 is driven to rotate, the lower driving wheel 34 is driven to rotate through the conveying belt 83, the driving bevel gear 84 is driven to rotate through the lower driving rod 35, the driven bevel gear 36 is driven to rotate, the auxiliary driven rod 89 is driven to rotate through the driving rod 14, the conveying belt 15 is driven to run and drive the conveying block 30 to move leftwards, the V-shaped mechanical claw 45 slides leftwards along the limiting rod 24 until the V-shaped mechanical claw 45 abuts against the limiting plate 23 on the left side, and the conveying block 30 and the V-shaped mechanical claw 45 continue to move, thereby driving the transport trolley 103 to move leftwards.
Meanwhile, the driving motor 69 drives the driving wheel 70 to rotate, so as to drive the secondary driving wheel 92 to rotate, and further drive the telescopic rod 58 to extend out to the right through the screw 12.
When the metal ball 18 contacts the guide groove 77, the metal ball 18 abuts against the inner wall of the guide groove 77 and slides along the guide groove 77 to the side close to the centering joint 20, at this time, the limiting spring 42 is compressed, the sleeve 76 is driven to slide rightwards and the return spring 87 is compressed, when the three pairs of upper limiting rods 41 abut against the lower limiting rods 43, the charging hole 79 is aligned with the charging slot 86, the conveyer belt 15 continues to drive the transport trolley 103 to move leftwards, the telescopic rod 58 continues to extend rightwards until the charging hole 79 extends into the charging slot 86, at this time, the pin key 49 is pushed to slide and compress the return spring 52 under the action of the upper and lower inner walls of the charging slot 86, when the pin key 49 is aligned with the key groove 16, the pin 49 extends out under the action of the elastic force of the return spring 52 and is clamped into the key groove 16, at this time, the docking pile support 65 and the transport trolley 103 are connected, at this time, the power supply 37 charges the charging plug 53 through the charging connector 13, and further charges the transportation cart 103.
When the inductive switch 31 detects that the carriage 103 reaches the charging position, the drive motor 69 is stopped.
After the trolley is fully charged, the telescopic motor 51 is started first, the threaded rod 90 is driven to rotate by driving the driving wheel 50, the pin key 49 is driven to slide downwards and retract into the plug motor groove 91, the pin key 49 is disconnected from the key groove 16 at the moment, the upper limiting rod 41 is pushed under the elastic force action of the limiting spring 42, the guide rod 19 is further pushed to be away from the centering joint 20 to swing, the transportation trolley 103 is further driven to move rightwards, the charging hole 79 is further disconnected from the charging slot 86, the driving motor 69 is driven at the moment, the conveying block 30 is further driven to move rightwards through the conveying belt 15, the V-shaped mechanical claw 45 is further driven to slide rightwards along the limiting rod 24 until the V-shaped mechanical claw 45 abuts against the limiting plate 23 at the bottom end of the transportation trolley 103, and the transportation.
When the inductive switch 31 detects that the transport trolley 103 and the conveying block 30 reach the right limit position, the lifting motor 56 is started, so that the circular gear 29 is driven to rotate, the lifting rod 73 is driven to slide downwards, the mechanical arm 25 is driven to rotate, the V-shaped mechanical claw 45 is driven to descend, the V-shaped mechanical claw 45 resets under the elastic force action of the torsion spring 38, the limiting rod 24 is loosened by the V-shaped mechanical claw 45, and the transport trolley 103 and the parking pile support 65 are completely separated at the moment.
The invention has the beneficial effects that: according to the invention, when the transport trolley is only required to stop, the warehousing robot can accurately stop at the stop pile inlet through the through groove on the stop pile support base, the stop pile can transport the trolley to a designated position through the transmission belt, and then the trolley can be accurately charged and locked through the centering joint, so that the damage or incapability of charging the charging head caused by the incapability of aligning the charging head of the trolley due to errors can be avoided within a certain range.
In the above manner, a person skilled in the art can make various changes depending on the operation mode within the scope of the present invention.
Claims (8)
1. The utility model provides a storage robot docks stake, includes dock stake support and travelling bogie, its characterized in that: a guide groove with a right opening is arranged in the docking pile support, a telescopic groove is arranged in the inner wall of the left side of the guide groove, a telescopic joint is arranged between the telescopic groove and the guide groove and comprises a telescopic rod arranged between the telescopic groove and the guide groove in a sliding manner, a charging slot with a right opening is arranged in the telescopic rod, key grooves are symmetrically arranged in the inner walls of the upper side and the lower side of the charging slot, the left end of the transport trolley is connected with a centering plug, the centering plug comprises a vertical sliding groove arranged in the transport trolley with a left opening, a vertical sliding block is arranged in the vertical sliding groove in a vertical sliding manner, the left end of the vertical sliding block is fixedly connected with a centering joint, a charging hole is fixedly connected with the left end of the centering joint, plug motor grooves are symmetrically arranged in the charging hole in the vertical direction, a pin key is arranged in, a reset spring is fixedly connected between the other end of the pin key and the inner wall of the plug motor groove, a threaded rod is fixedly connected outside the pin key, a sleeve is sleeved outside the center joint in a sliding manner, two return springs are fixedly connected between the right end of the sleeve and the vertical sliding block, three guide rods are distributed and hinged on the sleeve in an annular array manner, metal balls are fixedly connected at the other ends of the guide rods, the guide rods are close to one end of the center joint, an upper limiting rod is hinged on the end, close to the center joint, of the upper limiting rod, a lower limiting rod is hinged on the end, a limiting spring is fixedly connected between the upper limiting rod and the lower limiting rod, a base is fixedly connected at the right end of the parking pile support, a guiding groove with a right opening is formed in the base in a vertically penetrating manner, an auxiliary driven rod and a driven wheel are arranged in the guiding, a driving rod is fixedly connected in the auxiliary driven rod, the front end of the driving rod is rotatably connected to the base, a driven rod is fixedly connected in the driven wheel, and the front end and the rear end of the driven rod are rotatably connected to the base.
2. The warehousing robot docking pile of claim 1, wherein: an upper motor groove is arranged in the parking pile support, a main driving wheel is rotationally arranged in the upper motor groove, a driving motor is fixedly arranged in the upper motor groove, the main driving wheel is in power connection with the driving motor, a lower motor groove is arranged in the parking pile support, a lower driving wheel is rotationally arranged in the lower motor groove, a conveying belt is connected between the main driving wheel and the lower driving wheel, a lower driving rod is fixedly connected in the lower driving wheel, the right end of the lower driving rod extends into the guide through groove and is fixedly connected with a driving bevel gear, the rear end of the driving bevel gear is meshed with a driven bevel gear, the driven bevel gear is fixedly connected with the driving rod, a telescopic groove is arranged on the right side of the upper motor groove, auxiliary driving wheels are symmetrically arranged in the telescopic groove in a vertical and rotating mode, screw rods are fixedly connected at the right ends of the, a driving wheel is rotatably arranged between the auxiliary driving wheels and meshed with the two auxiliary driving wheels, and the driving wheel is in power connection with the driving motor.
3. The warehousing robot docking pile of claim 1, wherein: the parking pile support is characterized in that the right end of the parking pile support is fixedly connected with an inductive switch, and the inductive switch is used for detecting the distance between the transport trolley and the inductive switch.
4. A storage robot docking pile according to claim 3, characterized in that: the conveying belt is fixedly connected with a conveying block, a lifting groove with an upward opening is arranged in the conveying block, a vertical rod is fixedly arranged on the inner wall of the lower side of the lifting groove, the upper end of the vertical rod is connected with a lifting rod in a sliding manner, the right end of the lifting rod is meshed with the circular gear, a lifting motor is fixedly connected to the inner wall of the front side of the lifting groove, the circular gear is in power connection with the lifting motor, the upper side of the conveying block is rotatably provided with a mechanical arm, the left end of the mechanical arm is hinged with the conveying block, a limiting sliding groove with a downward opening is arranged in the mechanical arm, a limiting sliding block is slidably arranged in the limiting sliding groove, the lifting rod is hinged with the limiting sliding block, the upper side of the mechanical arm is provided with a mechanical claw base, two mechanical claw connecting rods are hinged between the lower end of the, the left end of the mechanical short rod is fixedly connected with a V-shaped mechanical claw, and a torsion spring is fixedly connected between the V-shaped mechanical claw and the mechanical claw base.
5. The warehousing robot docking pile of claim 1, wherein: the transport trolley is characterized in that limiting plates are fixedly connected to the bilateral symmetry of the bottom end of the transport trolley, limiting rods are fixedly connected between the limiting plates, four wheels are arranged at the front and back bilateral symmetry of the lower end of the transport trolley, the transport trolley runs and stops at the upper side of the conveying belt, at the moment, the four wheels are respectively located at the front side and the back side of the base, and the inductive switch detects that the transport trolley just stops at the upper side of the conveying block and stops the transport trolley.
6. The warehousing robot docking pile of claim 1, wherein: and a connecting plate is fixedly arranged at the upper end of the docking pile support and is used for being connected with a wall body.
7. The warehousing robot docking pile of claim 1, wherein: the telescopic link internal stability has been set firmly the power, the joint that charges has been linked firmly on the slot left side inner wall that charges, the downthehole plug spout that link up about being equipped with that charges, it is equipped with charging plug to slide in the plug spout, charging plug right-hand member with buffer spring has been linked firmly between the heart joint, charging plug the heart joint vertical slider with electric connection between the travelling bogie.
8. The warehousing robot docking pile of claim 1, wherein: the charging plug is characterized in that a driving wheel is arranged in the plug motor groove in a rotating mode, a threaded rod is meshed with the left end of the driving wheel, the pin key is in threaded connection with the threaded rod, a telescopic motor is fixedly arranged in the inner wall of the plug motor groove, close to one side of the charging plug, and the driving wheel is in power connection with the telescopic motor.
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| CN202010286862.0A CN111267661B (en) | 2020-04-13 | 2020-04-13 | Parking pile of storage robot |
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| CN202010286862.0A CN111267661B (en) | 2020-04-13 | 2020-04-13 | Parking pile of storage robot |
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| CN111267661B (en) | 2020-12-04 |
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