CN112141553A

CN112141553A - Material storage device, material conveying equipment and control method of material conveying equipment

Info

Publication number: CN112141553A
Application number: CN202010941179.6A
Authority: CN
Inventors: 梁祺; 张晓航
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-09-09
Filing date: 2020-09-09
Publication date: 2020-12-29
Anticipated expiration: 2040-09-09
Also published as: CN112141553B

Abstract

The invention discloses a material storage device, material conveying equipment and a control method of the material conveying equipment. The storage device comprises: the storage container is provided with a discharge hole; the discharge nozzle is communicated with the discharge hole; the elastic assembly is arranged on the storage container and can enable the discharging nozzle to abut against the outer wall of the storage container, so that the discharging nozzle can move relative to the storage container when being collided; collision detection subassembly set up in on the storage container, collision detection subassembly can be in the ejection of compact mouth is relative storage container is triggered and response collision direction when removing. In the material storage device, the discharge nozzle can move and trigger the collision detection assembly when being collided, so that the start and stop of a structure for driving the material storage device to move can be conveniently and timely controlled, and the material storage container is prevented from turning on one side; the collision detection assembly can also sense the collision direction, and the barriers are avoided according to the sensed collision direction when the position of the material storage device is conveniently adjusted so as to avoid secondary collision.

Description

Material storage device, material conveying equipment and control method of material conveying equipment

Technical Field

The invention relates to the technical field of construction machinery, in particular to a material storage device, material conveying equipment and a control method of the material conveying equipment.

Background

Nowadays, mechanized production is more and more common, brings convenience for people's daily work, provides better operation environment for the workman, provides good hotbed to social science and technology progress. However, in the process of replacing manpower by mechanization, the occurrence of mechanical injury accidents cannot be avoided. For a movable storage device, if a discharge nozzle of the movable storage device touches a fixed rack or a fixed structure without stopping movement in the moving process, the storage device is easy to turn over, and the movable storage device is easy to collide again when being adjusted after collision, and mechanisms are not found in the market for avoiding the accident.

Disclosure of Invention

The first purpose of the invention is to provide a storage device, which can detect collision and collision direction in time and conveniently adjust the start, stop or direction of movement in time.

The second purpose of the invention is to provide a material transporting device, which can detect collision and collision direction in time and stop moving in time according to the detection result so as to avoid the phenomenon of side turning.

The third purpose of the invention is to provide a control method of the material transporting equipment, which can detect the collision and the collision direction in time, stop moving or adjust the moving direction in time according to the detection result, and avoid the secondary collision in the subsequent moving process.

To achieve the purpose, the first aspect of the invention adopts the following technical scheme:

a stock device comprising: the storage container is provided with a discharge hole; the discharge nozzle is communicated with the discharge hole; the elastic assembly is arranged on the storage container and can enable the discharging nozzle to abut against the outer wall of the storage container, so that the discharging nozzle can move relative to the storage container when being collided; collision detection subassembly set up in on the storage container, collision detection subassembly can be in the ejection of compact mouth is relative storage container is triggered and response collision direction when removing.

In the material storage device, the discharge nozzle can move relative to the material storage container and trigger the collision detection assembly when being collided, and the collision detection assembly can also sense the collision direction, so that the start and stop of a structure for driving the material storage device to move can be conveniently and timely controlled, and the material storage container is prevented from turning on one's side; the position of the material storage device is conveniently adjusted according to the sensed collision direction so as to avoid secondary collision.

In some embodiments, the collision detection assembly includes at least two detection members disposed on at least two sides of the tap such that the collision detection assembly can be triggered by the tap in at least two directions of collision.

Through detecting multi-direction collision, the position and the moving direction of the storage device can be conveniently adjusted subsequently, and multiple collisions are avoided.

In some embodiments, the number of the detection members is two, and the two detection members are respectively arranged at the diagonal positions of the discharge hole.

Through the detection piece of diagonal setting, every detection piece can detect the ascending collision of two at least directions, is favorable to simplifying collision detection subassembly's structure.

In some embodiments, the tap comprises: the discharge port is communicated with the discharge hole; the flange plate encircles the circumference setting of body, the flange plate can by the elastic component butt in the outer wall of storage container, the edge of flange plate can trigger the detection piece.

The edge through flange board triggers the detection piece, and the ejection of compact mouth can trigger the detection piece when taking place less displacement, and the collision detection is more sensitive.

In some embodiments, the resilient assembly comprises:

the supporting piece is arranged on the storage container, and the two opposite sides of the discharging nozzle are provided with the supporting pieces;

the elastic piece is arranged between the support piece and the storage container, one end of the elastic piece is abutted against the support piece, and the other end of the elastic piece can abut against the discharging nozzle on the storage container;

at least two elastic pieces in the elastic assembly are respectively arranged at the diagonal positions of the discharging nozzle.

Through two elastic components of diagonal angle setting, can guarantee that the homoenergetic when the ejection of compact mouth bumps in a plurality of directions takes place to remove on the basis of less elastic component.

In some embodiments, the supporting member includes a pressing portion and two connecting portions, the pressing portion is connected to the elastic member, and the two connecting portions are connected to the storage container.

Support piece can realize through two connecting portion with storage container's fixed connection, and the hollow portion that the shape compressed tightly the portion can provide arrangement space for the elastic component for detection assembly's spatial layout is more reasonable.

In some embodiments, the elastic member is a spring, and a guide member for guiding the telescopic motion of the spring is disposed on the pressing portion, and the guide member is disposed through the spring.

The guide piece enables the telescopic motion of the spring to be more stable, and meanwhile, the end, which is tightly abutted by the spring, is not easy to displace in the radial direction, so that the reliability of the spring is improved.

In some embodiments, the tap projects forwardly from the magazine.

The ejection of compact mouth protrusion storage container can make the ejection of compact mouth be the part with the barrier contact at first to fail to in time detect after avoiding the collision of other parts of storage container.

In a second aspect, the invention adopts the following technical scheme:

the utility model provides a fortune material equipment, includes the mobile device, still includes controller and foretell storage device, storage device set up in on the mobile device, the controller respectively with collision detection subassembly with the mobile device communication is connected, the controller can the collision detection subassembly is triggered the back control the mobile device stops to remove to the collision direction.

The material transporting equipment can timely detect collision and collision directions after collision of the material storage device, so that the moving device timely stops moving, and side turning of the material storage container is avoided.

In a third aspect, the invention adopts the following technical scheme:

a control method of material conveying equipment is applied to the material conveying equipment, and comprises the following steps:

when the moving device drives the storage device to move, if the collision detection assembly is triggered by the discharging nozzle, the collision detection assembly sends a trigger signal to the controller;

after receiving the trigger signal, the controller interrupts a control signal for controlling the mobile device to move towards the collision direction;

the moving device stops moving in the collision direction.

According to the control method of the material conveying equipment, the moving device can be prevented from moving towards the collision direction in time after collision, so that side overturning is prevented.

Has the advantages that: the invention provides a material storage device, material conveying equipment and a control method of the material conveying equipment. In the material storage device, the discharge nozzle can move relative to the material storage container and trigger the collision detection assembly when being collided, so that the start and stop of a structure for driving the material storage device to move can be conveniently and timely controlled, and the material storage container is prevented from turning on one side; the collision detection assembly can also sense the collision direction, and the barriers are avoided according to the sensed collision direction when the position of the material storage device is conveniently adjusted so as to avoid secondary collision.

Drawings

Fig. 1 is a front view of a magazine according to an embodiment of the present invention;

fig. 2 is a right side view of the magazine shown in fig. 1;

fig. 3 is an enlarged view of a portion of the magazine shown in fig. 2 at a;

fig. 4 is a left side view of the magazine shown in fig. 1;

fig. 5 is an enlarged view of a portion of the magazine shown in fig. 4 at B;

FIG. 6 is a schematic structural diagram of a support member according to an embodiment of the present invention;

FIG. 7 is a schematic view of the analysis of the stress of the discharging nozzle when the discharging nozzle is collided during the forward and upward movement of the storing device;

FIG. 8 is a schematic view of the analysis of the force applied to the discharge nozzle during the downward movement of the storage device when the discharge nozzle is impacted;

FIG. 9 is a schematic view of the analysis of the stress of the discharging nozzle when the discharging nozzle is collided during the leftward movement of the storing device;

fig. 10 is a schematic view showing the force analysis of the ejection nozzle when the ejection nozzle is collided during the rightward movement of the stocker.

The reference numbers illustrate:

10. a storage container; 11. a discharging nozzle; 20. an elastic component; 21. an elastic member; 22. a support member; 23. a detection member; 24. a guide member; 25. a fastener; 111. a flange plate; 221. a pressing part; 222. a connecting portion.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

The embodiment provides a material storage device, which can be applied to material conveying equipment or other application environments where materials need to be stored, so that the application environment of the material storage device is not limited.

The storage device provided by the embodiment is arranged on a moving device, as shown in fig. 1 to 5, the storage device comprises a storage container 10, a discharge nozzle 11, an elastic component 20 and a collision detection component, a discharge port is arranged on the storage container 10, and the discharge nozzle 11 is communicated with the discharge port and abuts against the outer wall of the storage container 10 so that the discharge nozzle 11 can move relative to the storage container 10 when being collided; the collision detection assembly is arranged on the storage container 10 and can be triggered and sense the collision direction when the discharging nozzle 11 moves relative to the storage container 10.

In the material storage device, the discharging nozzle 11 can move relative to the material storage container 10 and trigger the collision detection assembly when being collided, so that the starting and stopping of a structure for driving the material storage device to move can be conveniently and timely controlled, and the material storage container 10 is prevented from turning on one side; the collision detection assembly can also sense the collision direction, and the barriers are avoided according to the sensed collision direction when the position of the material storage device is conveniently adjusted so as to avoid secondary collision.

In this embodiment, the discharge hole is arranged at the bottom of the material storage container 10, so that the material can conveniently enter the discharge nozzle 11 under the action of the self gravity.

The collision detection assembly comprises at least two detection pieces 23, and the detection pieces 23 are arranged on at least two sides of the discharging nozzle 11, so that the collision detection assembly can be triggered by the discharging nozzle 11 in at least two collision directions, and the timeliness and the accuracy of collision detection are improved.

Alternatively, the four sides of the tap 11 may be provided with the detection pieces 23 so that the collision detection assembly can detect the collision in the front, up, down, left and right directions.

In the moving process of the storage device, when the discharging nozzle 11 is collided, the elastic component 20 deforms, the discharging nozzle 11 displaces relative to the storage container 10, and the corresponding detection piece 23 is triggered, so that the movement of the storage device is stopped in time, and the storage container 10 is prevented from turning on one side; according to the triggered corresponding detection piece 23, the collision direction can be judged so as to avoid obstacles when the position of the storage device is adjusted, thereby preventing multiple collisions.

In order to simplify the structure of the collision detecting assembly, the collision detecting assembly includes two detecting members 23, and the two detecting members 23 are respectively disposed at diagonal positions of the discharging hole, so that each detecting member 23 can detect a collision in at least two directions.

For convenience of description, the two detecting members 23 are disposed at two diagonal positions, i.e., left rear and right front, of the discharging hole, respectively.

The term "left and right sides of the tap 11" refers to the left and right sides of the tap 11 when facing the outlet of the tap 11. As shown in fig. 2 and 3, the detector 23 located on the right side of the tap 11 is capable of sensing impacts of the tap 11 in three directions, forward, upward, and rightward; as shown in fig. 4 and 5, the sensing member 23 located on the left side of the tap 11 can sense the impact of the tap 11 in both the downward and leftward directions.

As shown in fig. 7, when the magazine is moving forward or upward, the discharge nozzle 11 rotates around the rear end of the discharge nozzle 11 when being collided, so that the front end of the discharge nozzle 11 moves downward to trigger the front-end detecting member 23; as shown in fig. 10, when the magazine moves to the right, the discharge nozzle 11 is collided and rotated around the left end of the discharge nozzle 11, so that the right end of the discharge nozzle 11 moves downward to trigger the right-side detecting member 23.

The detecting member 23 at the front right end can thus detect the collision in the three directions of forward, upward, and rightward, and can interrupt the control signal for moving the magazine forward, upward, and rightward when the magazine position is adjusted, to prevent the nozzle from being continuously collided.

Similarly, during the leftward movement of the magazine, as shown in fig. 9, the discharge nozzle 11 rotates around the right end when being collided, so that the left end of the discharge nozzle 11 moves downward and triggers the left detection member 23; as shown in fig. 8, during downward movement of the magazine, the tap 11 rotates about the front end when impacted, causing the rear end of the tap 11 to move downward and trigger the rear end detector 23.

The left rear detector 23 can thus detect a collision both in the downward and leftward direction, and can interrupt the control signal for the left and downward of the magazine when the magazine position is adjusted, so as to prevent the nozzle from being collided further.

Alternatively, the detecting member 23 may be a micro switch, and when the discharging nozzle 11 is displaced and contacts with an action reed of the micro switch, a force is applied to the action reed, and when the action reed is displaced to a critical point, an instant action is generated, so that a movable contact at the end of the action reed is quickly connected with a fixed contact, and the micro switch is triggered. The micro switch has the characteristics of small contact distance, short action stroke, small pressing power and quick on-off. Of course, in other embodiments, other types of detecting members 23 may be used as long as the collision of the material nozzle 11 can be detected.

In some embodiments, the tap 11 includes a body having one end in communication with the discharge opening and a flange plate 111; the flange plate 111 is disposed around the circumference of the main body, the flange plate 111 can be abutted against the outer wall of the storage container 10 by the elastic component 20, and the edge of the flange plate 111 can trigger the detecting member 23. When the discharging nozzle 11 collides and moves, the moving displacement of the edge of the flange plate 111 is the largest, and the detecting piece 23 is triggered by the edge of the flange plate 111, so that the sensing sensitivity of the detecting piece 23 is effectively improved.

As shown in fig. 3 and 5, in the present embodiment, each of the elastic assemblies 20 includes a support member 22 and an elastic member 21. The relative both sides of ejection of compact mouth 11 all are provided with support piece 22, and support piece 22 sets up in the bottom of storage container 10, and the one end and the support piece 22 butt of elastic component 21, the other end of elastic component 21 can be with the flange board 111 butt of ejection of compact mouth 11 on the bottom surface of storage container 10 to realize ejection of compact mouth 11 and storage container 10's unsteady connection. At least two elastic members 21 of the elastic assembly 20 are respectively disposed at diagonal positions of the tap 11 so that the tap 11 can be rotated in different directions under the impact in different directions, thereby triggering different detecting members 23.

Specifically, each support member 22 is provided with at least one elastic member 21, and two elastic members 21 are located at diagonal positions of the tap 11. Wherein, two support pieces 22 can be located the left and right sides of tap 11 respectively, or front and back both sides, as long as guarantee two support pieces 22 corresponding elastic component 21, at least two elastic component 21 are the diagonal setting.

In other embodiments, three or each side of the tap 11 may be provided with a support 22, and one, two or more elastic members 21 may be provided on each support 22.

As shown in fig. 6, in the present embodiment, the supporting member 22 includes a pressing portion 221 in a shape and two connecting portions 222 disposed at two ends of the pressing portion 221, the pressing portion 221 is connected to the elastic member 21, and both the connecting portions 222 are fixedly connected to the magazine 10. The support member 22 can be connected to the storage container 10 through the two connecting portions 222, and the hollow portion of the compression portion 221 can provide a space for accommodating the elastic member 21, so that the spatial layout of the detection assembly 20 is more reasonable.

In this embodiment, one of the two connecting portions 222 is detachably connected to the magazine 10 by the fastener 25, and the other connecting portion 222 is pivotally connected to the magazine 10, so as to facilitate the installation of the elastic member 21.

In other embodiments, both of the connecting portions 222 may be fixedly connected to the magazine 10 by the fastener 25. Of course, in other embodiments, the supporting member 22 may have other structures as long as it can be fixedly connected to the magazine 10 while being connected to one end of the elastic member 21.

In some embodiments, the elastic member 21 is a spring, and the pressing portion 221 is provided with a guide 24 for guiding the telescopic movement of the spring, and the guide 24 is disposed through the spring. The guide 24 makes the telescopic motion of the spring more stable, and makes the end of the spring which is tightly propped difficult to shift radially, thereby improving the reliability of the spring.

In this embodiment, the discharging nozzle 11 protrudes forward from the storage container 10, so that the discharging nozzle 11 is the first contact part with the obstacle, thereby preventing the other positions of the storage device from contacting the obstacle first to cause undetected collision.

This embodiment still provides a material transporting equipment, and this material transporting equipment includes the storage device, controller and the mobile device that this embodiment provided, and storage device sets up on the mobile device, and the controller is connected with collision detection subassembly and mobile device communication respectively. The moving device can drive the material storage device to move to a required position, and the controller can control the moving device to stop moving towards the collision direction after the collision detection assembly is triggered, so that the material storage container 10 is prevented from turning on one side.

The material conveying equipment provided by the embodiment of the invention can stop moving towards the current moving direction when the discharging nozzle 11 of the material storage device is collided, so that the phenomenon of side turning of the material storage device is avoided.

The embodiment also provides a control method of the material transporting equipment, and the control method can be applied to the material transporting equipment provided by the embodiment.

The control method of the material conveying equipment provided by the embodiment comprises the following steps:

when the moving device drives the material storage device to move, if the collision detection assembly is triggered by the discharging nozzle 11, the collision detection assembly sends a trigger signal to the controller; after receiving the trigger signal, the controller can acquire collision direction information and interrupt a control signal for controlling the mobile device to move towards the collision direction; the moving device stops moving in the collision direction. By the control method, not only can the moving device be timely controlled to stop moving towards the collision direction after collision is detected, so that the storage container 10 is prevented from turning over laterally, but also the moving device can avoid obstacles when leaving the collision position according to the detected collision direction, so that the position of the storage device can be conveniently adjusted, the storage device is kept away from the obstacles, and secondary collision is avoided.

Specifically, the two detecting members 23 are respectively located at two diagonal positions of the discharge port, namely, the left rear position and the right front position.

During the forward or upward movement of the magazine, after the detection member 23 located on the right side of the tap 11 is triggered, the controller interrupts the control signal for controlling the moving means to move forward, upward and rightward to stop moving in the collision direction; during the downward movement of the material storage device, after the detection piece 23 positioned at the left side of the discharging nozzle 11 is triggered, the controller interrupts the control signal for controlling the moving device to move downwards and leftwards so as to stop moving downwards; when the detection piece 23 positioned at the right side of the discharging nozzle 11 is triggered in the process that the storage device moves leftwards, the controller interrupts a control signal for controlling the moving device to move leftwards so as to stop moving leftwards; when the detecting member 23 located on the left side of the discharge nozzle 11 is triggered during the rightward movement of the magazine, the controller interrupts the drive signal for controlling the moving device to move rightward to stop the rightward movement.

According to the control method of the material conveying equipment, the moving device can be stopped to move towards the collision moving direction in time after the detection piece 23 beside the discharging nozzle 11 is triggered in the moving process of the material storage device, and meanwhile, the moving device is prevented from moving towards other collision directions which are sensed by the triggered detection piece 23, so that the material nozzle is prevented from being collided continuously.

Illustratively, as shown in fig. 7, during the forward or upward movement of the magazine, the tap 11 will be subjected to a force F when it hits a foreign object₁Or F₂When a force F acts₁Or F₂When the elastic force of the elastic member 21 is exceeded, the tap 11 is rotated in the direction of the arrow shown in fig. 7 to be displaced, the detection member 23 on the right side of the tap 11 is triggered, and the controller interrupts the control signal for controlling the moving means to move forward, upward and rightward to stop the forward or upward movement. As shown in fig. 8, during the downward movement of the magazine, the force F is applied to the discharge nozzle 11 when it hits a foreign object₃When a force F acts₃When the elastic force of the elastic member 21 is exceeded, the discharging nozzle 11 is rotated in the direction of the arrow shown in fig. 8 to be displaced, the detecting member 23 on the left side of the discharging nozzle 11 is triggered, and the controller interrupts the control signal for controlling the moving device to move down and left to stop moving down. As shown in fig. 9, during the left movement of the magazine, the force F is applied to the discharge nozzle 11 when it hits a foreign object₄When a force F acts₄When the elastic force of the elastic member 21 is exceeded, the discharge nozzle 11 is rotated in the direction of the arrow shown in fig. 9 and displaced, and the detection member 23 on the left side of the discharge nozzle 11 is triggered, and the moving device stops moving leftward. As shown in fig. 10, during the rightward movement of the magazine, the force F is applied to the discharge nozzle 11 when it hits a foreign object₅When a force F acts₅When the elastic force of the elastic member 21 is exceeded, the discharging nozzle 11 rotates in the direction of the arrow shown in fig. 10 to displace, the detecting member 23 on the right side of the discharging nozzle 11 is triggered, and the controller interrupts the control signal for controlling the moving device to move rightward to stop moving rightward.

It should be noted that when one portion is referred to as being "secured to" another portion, it may be directly on the other portion or there may be an intervening portion. When a portion is said to be "connected" to another portion, it may be directly connected to the other portion or intervening portions may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A magazine, comprising:

the storage container is provided with a discharge hole;

the discharge nozzle is communicated with the discharge hole;

the elastic assembly is arranged on the storage container and can enable the discharging nozzle to abut against the outer wall of the storage container, so that the discharging nozzle can move relative to the storage container when being collided;

collision detection subassembly set up in on the storage container, collision detection subassembly can be in the ejection of compact mouth is relative storage container is triggered and response collision direction when removing.

2. The magazine according to claim 1, characterized in that the collision detection assembly comprises at least two detection members, which are provided on at least two sides of the tap, so that the collision detection assembly can be triggered by the tap in at least two collision directions.

3. The storing device according to claim 2, characterized in that two detecting members are provided, and the two detecting members are respectively arranged at the diagonal positions of the discharging port.

4. The stock storage device of claim 2 wherein the tap comprises:

the discharge port is communicated with the discharge hole;

the flange plate encircles the circumference setting of body, the flange plate can by the elastic component butt in the outer wall of storage container, the edge of flange plate can trigger the detection piece.

5. The magazine according to claim 2, characterized in that said elastic assembly comprises:

6. The storing device according to claim 5, characterized in that the supporting member comprises a shaped pressing portion and two connecting portions arranged at two ends of the pressing portion, the pressing portion is connected with the elastic member, and both of the two connecting portions are connected with the storing container.

7. The storing device according to claim 6, wherein the elastic member is a spring, and a guide member for guiding the telescopic movement of the spring is provided on the pressing portion, and the guide member is inserted into the spring.

8. A magazine according to any of claims 1-7, in which the tap projects forwardly of the magazine.

9. A material transporting device, which comprises a moving device and is characterized by further comprising a controller and a storage device as claimed in any one of claims 1 to 8, wherein the storage device is arranged on the moving device, the controller is respectively in communication connection with the collision detection assembly and the moving device, and the controller can control the moving device to stop moving towards the collision direction after the collision detection assembly is triggered.

10. A control method of a material conveying device, which is applied to the material conveying device as claimed in claim 9, and is characterized by comprising the following steps:

the moving device stops moving in the collision direction.