CN116534498A - Full-automatic track robot running device and method - Google Patents

Abstract

The invention relates to a full-automatic track robot running device and a method, wherein the full-automatic track robot running device comprises a receiving device, a lifting device and a sending device, the receiving device is in butt joint with the bottom end of the lifting device, the sending device is in butt joint with the top end of the lifting device, the lifting device consists of a lifting basket, a lifting track and a driving motor, the receiving device comprises an automatic overturning receiving and sending platform, the automatic overturning receiving and sending platform is in butt joint with the lifting basket, the sending device comprises an aerial track, a track robot and a sending platform, the aerial track is formed by fixing positioning rails at two ends of a sliding rail, the lower end of the positioning rail is fixedly provided with the sending platform, and the sending platform is provided with a conveying belt I at the bottom of a frame and is in butt joint with the sending platform when the lifting basket rises to the highest position. The automatic overturning receiving platform designed in the device saves a large amount of space, and meanwhile, the appearance is more concise and attractive; the device utilizes the meshing of the gear and the rack to realize the speed change effect of the track robot, so that the position of the track robot after parking can be fixed, and the loading and unloading are simpler, more convenient and more convenient.

Description

Full-automatic track robot running device and method

Technical Field

The invention belongs to a transportation device and mainly relates to a full-automatic track robot running device and method.

Background

In hospital logistics, the rail robot is usually utilized to move on a horizontal rail suspended on a corridor to transport articles such as medicines, the use is convenient and quick, the labor intensity of workers is reduced, the working efficiency is effectively improved, for example, the rail robot running system is disclosed as CN 115229760A, but the rail robot running device has some defects in actual use, firstly, in the actual use process of the device, the impact force is large when the device stops after reaching a destination due to the fact that the speed is high in the transportation process, the phenomenon of front-back vibration is difficult to cause that the rail robot can stop steadily, and internal elements are easy to damage, so that a certain potential safety hazard exists; meanwhile, the above-mentioned air conveying mode is realized, the lifting device is arranged on the ground to lift the articles from the ground to the track at the corridor ceiling, at present, the ground lifting device is used for arranging the lifting machine behind a blocking wall body, an open goods inlet and outlet opposite to the lifting machine is arranged on the wall body, and a horizontal placing conveyor belt is arranged on the front side of the blocking wall body with the same height as the inlet and outlet so as to convey the goods.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a full-automatic track robot running device.

The invention discloses a full-automatic track robot running device which comprises a receiving device, a lifting device and a sending device, wherein the receiving device is in butt joint with the bottom end of the lifting device, the sending device is in butt joint with the top end of the lifting device, the lifting device is composed of a lifting basket, a lifting track and a driving motor, the receiving device comprises an automatic overturning receiving and sending platform, the automatic overturning receiving and sending platform is in butt joint with the lifting basket, the sending device comprises an aerial track, a track robot and a sending platform, the aerial track is composed of positioning rails fixed at two ends of a sliding rail, the sending platform is fixed at the lower end of the positioning rails, a conveying belt I is arranged at the bottom of a frame, and the sending platform is in butt joint with the sending platform when the lifting basket ascends to the highest position.

As a further improvement of the invention, the automatic overturning receiving and dispatching platform comprises a basic back door, wherein the basic back door is a square door frame formed by fixing two vertical supporting frames and two transverse supporting frames, an upper baffle plate and a lower baffle plate are fixed in the door frame, a goods inlet is formed among the upper baffle plate, the lower baffle plate and the two vertical supporting frames, rotating shafts are rotationally connected to the vertical supporting frames at two sides of the goods inlet, one ends of the two opposite rotating shafts respectively penetrate through the vertical supporting frames and two sides of a conveyor belt II arranged at the goods inlet, a mounting plate is fixed at the upper part of the inner side of the vertical supporting frames, a connecting piece I is fixed on the mounting plate, the connecting piece I is rotationally connected with one end of an electric push rod, a connecting rod extending towards the inner side of the vertical supporting frames is fixed on the rotating shaft, and the other end of the connecting rod is fixedly connected with a connecting piece II which is rotationally connected with the extending end of the electric push rod; the outer side surface of the upper baffle is provided with a control button.

As a further improvement of the invention, the vertical support frame and the horizontal support frame are made of channel steel, and the open side of the channel steel is positioned at the inner side of the door; the left side and the right side of the conveyor belt II are both fixed with a convex connecting piece III, a square through hole is arranged on the convex part of the connecting piece III, and one end of a rotating shaft is inserted into the square through hole and fixedly connected with the square through hole.

As a further improvement of the invention, the electric push rod and the control button are respectively and electrically connected with an external controller.

As a further improvement of the invention, the sliding rail is formed by two monorails in parallel, the track robot is hung below the sliding rail, the track robot comprises a transportation box body, a driving shaft is fixed at the middle position of one end above the transportation box body, driving wheels are arranged at the two ends of the driving shaft, a driven shaft is fixed at the middle position of the other end above the transportation box body, driven wheels are fixed at the two ends of the driven shaft, the driving wheels and the driven wheels are all arranged in the sliding rail, more than two supporting connecting rods are fixed on the monorails at the two ends of the sliding rail, two ends of each supporting connecting rod are respectively fixed on the monorails at the two sides, racks are fixed between the supporting connecting rods, and are installed in the same direction and the same angle with the sliding rail, are fixed at the middle positions of the supporting connecting rods and are arranged below the supporting connecting rods; a gear and a direct current motor are fixed among the upper end of the transport box body, the driving wheel and the driven wheel, and the output end of the direct current motor is connected with the gear in a transmission way; the gear is meshed with the rack for use.

As a further improvement of the invention, a position sensor I is fixed at the upper end of the transport case body and one side of the driving wheel, and a position sensor II is fixed at one side of the driven wheel.

As a further improvement of the invention, the two end heads of the sliding rail are respectively fixed with a position sensor III and a position sensor IV, and the same sides of the two ends of the sliding rail are respectively fixed with a charging device.

The full-automatic track robot operation method is realized through the following steps:

(1) When the push rod in the electric push rod retracts to the shortest position, the conveying belt II is turned over from a vertical state to a horizontal state, then, goods are placed on the conveying belt II, the conveying belt II starts to work, and the goods are conveyed to the lifting basket;

(2) When the goods arrive at the lifting basket, the conveyor belt III at the bottom of the lifting basket starts to work, and after the goods are conveyed into the lifting basket, the conveyor belt III stops working, and the driving motor starts to work, so that the lifting basket moves upwards to the top end on the lifting track;

(3) After the lifting basket is lifted to the top end, the driving motor stops working, the lifting basket stops lifting, the conveyor belt III starts working, goods are conveyed to the sending platform, and meanwhile, the conveyor belt I at the bottom of the sending platform starts working, and the goods are conveyed to the conveying box body;

(4) After goods arrive on the transport box body, the track robot starts to transport the goods, when the track robot approaches a designated place, the position sensor I detects an induction device at the position and then transmits a signal to the main controller, the main controller controls the driving wheel motor to stop working, the driving wheel stops rotating, the track robot continues to slide forwards under the action of inertia, meanwhile, the direct current motor starts working and drives the gear to rotate clockwise at a constant speed, the gear continues to rotate after buffering of the rack, the track robot continues to advance, after the position sensor IV detects the track robot, the signal is transmitted to the main controller, the main controller controls the direct current motor to stop working, the track robot stops advancing, and the position of the track robot is fixed through the meshing of the gear and the rack;

(5) After the position of the track robot is fixed, unloading can be carried out, and the working principle of unloading is the same as that of loading;

(6) When no goods are to be transported, the recovery button can be manually pressed to turn the conveyor belt II from the horizontal state to the vertical state.

The full-automatic track robot running device and the full-automatic track robot running method have reasonable structural design, and the automatic overturning receiving platform designed in the device saves a large amount of space, and meanwhile, the appearance is more concise and attractive; the device utilizes the meshing of the gear and the rack to realize the speed change effect of the track robot, so that the position of the track robot after parking can be fixed, and the loading and unloading are simpler, more convenient and more convenient.

Drawings

FIG. 1 is a schematic side view of the present invention;

FIG. 2 is a schematic diagram of the structure of the automatic overturning transceiver platform in a non-working state;

FIG. 3 is a schematic diagram of the working state structure of the automatic overturning receiving and transmitting platform of the present invention;

FIG. 4 is a schematic cross-sectional view of an automatic flip transceiver platform according to the present invention;

fig. 5 is a schematic diagram of a transmitting device according to the present invention;

fig. 6 is a schematic cross-sectional view of a transmitting apparatus according to the present invention.

Description of the embodiments

The invention discloses a full-automatic track robot running device, which comprises a receiving device, a lifting device and a sending device, wherein the receiving device is in butt joint with the bottom end of the lifting device, the sending device is in butt joint with the top end of the lifting device, the lifting device is composed of a lifting basket 1, a lifting track 2 and a driving motor 3, the receiving device comprises an automatic overturning receiving and sending platform 4, the automatic overturning receiving and sending platform 4 is in butt joint with the lifting basket 1 and comprises a basic back door 11, the basic back door 11 is formed by fixing two vertical support frames 12 and two horizontal support frames 13 into a square door frame, an upper baffle plate 14 and a lower baffle plate 15 are fixed in the door frame, the vertical support frames 12 and the horizontal support frames 13 are both made of channel steel, the opening side of the channel steel is positioned at the inner side of the door, a goods inlet 16 is formed between the upper baffle plate 14, the lower baffle plate 15 and the two vertical support frames 12, a rotating shaft 17 is rotationally connected to the vertical support frames 12 at two sides of the goods inlet 16, one ends of the two opposite rotating shafts 17 respectively penetrate through the vertical support frames 12 and are respectively connected with a conveying belt 18 at two sides of the goods inlet 16, the two ends of the conveying belt 18 are fixedly connected with a square rotating shaft 25, two ends of the conveying belt 18 are fixedly connected with a square rotating shaft 25 are fixedly connected with the two sides of the rotating shaft 25 III, and the rotating shaft 25 are fixedly connected with the rotating shaft 25 at two sides of the rotating shaft 25 III.

The upper part of the inner side of the vertical support frame 12 is fixedly provided with a mounting plate 19, the mounting plate 19 is fixedly provided with a connecting piece I20, the connecting piece I20 is rotationally connected with one end of an electric push rod 21, a connecting rod 22 extending towards the inner side of the vertical support frame 12 is fixedly arranged on the rotating shaft 17, the other end of the connecting rod 22 is fixedly provided with a connecting piece II 23, and the connecting piece II 23 is rotationally connected with the extending end of the electric push rod 21; the outer side surface of the upper baffle plate 14 is provided with a control button, the electric push rod 21 and the control button are respectively and electrically connected with an external controller, and the control button comprises an opening button and a recovery button.

The transmitting device comprises an aerial track 5, a track robot 6 and a transmitting platform 7, wherein the aerial track 5 is formed by fixing positioning rails 9 at two ends of a sliding rail 8, the track robot 6 is hung below the sliding rail 8, position sensors III 37 and IV 38 are respectively fixed at the ends of the two ends of the sliding rail 8, and a charging device 39 is fixed at the same side of the two ends of the sliding rail 8; the sliding rail 8 is formed by two single rails 27 in parallel, more than two supporting connecting rods 31 are fixed on the single rails 27 at two ends of the sliding rail 8, two ends of each supporting connecting rod 31 are respectively fixed on the single rails 27 at two sides, a rack 32 is fixed between the supporting connecting rods 31, and the rack 32 and the sliding rail 8 are installed in the same direction and the same angle, are fixed in the middle position of each supporting connecting rod 31 and are arranged below each supporting connecting rod 31; the lower end of the positioning rail 9 is fixedly provided with a sending platform 7, the sending platform 7 is provided with a conveying belt I10 at the bottom of the frame, and the sending platform 7 is in butt joint when the lifting basket 1 rises to the highest position.

The track robot 6 comprises a transport box 28, a driving shaft is fixed in the middle of one end of the upper surface of the transport box 28, driving wheels 29 are arranged at two ends of the driving shaft, a driving wheel motor is arranged in the driving wheels 29, a driven shaft is fixed in the middle of the other end of the upper surface of the transport box 28, driven wheels 30 are fixed at two ends of the driven shaft, and the driving wheels 29 and the driven wheels 30 are both arranged in the sliding rail 8; a gear 33 and a direct current motor 34 are fixed at the upper end of the transport box 28, and between the driving wheel 29 and the driven wheel 30, and the output end of the direct current motor 34 is in transmission connection with the gear 33; the gear 33 is meshed with the rack 32.

A position sensor I35 is fixed at the upper end of the transport box 28 and one side of the driving wheel 29, a position sensor II 36 is fixed at one side of the driven wheel 30, sensing devices matched with the position sensor I9 and the position sensor II 10 are respectively arranged at the front ends of two opposite racks 32 on the sliding rail 8, and the sensing devices are magnetic attraction sheets; a charging end matched with the charging device 39 is arranged on one side of the upper end of the transport case 28.

The upper end of the transport case 28 is also provided with a main controller, and the main controller is respectively and electrically connected with a position sensor I35, a position sensor II 36, a position sensor III 37, a position sensor IV 38, a driving wheel motor and a direct current motor 34.

The full-automatic track robot operation method is realized through the following steps:

(1) When the opening button is manually pressed, an external controller receives a signal and then controls the push rod in the electric push rod 21 to slowly retract, meanwhile, the connecting rod 22 is driven to rotate anticlockwise, the connecting rod 22 drives the conveyor belt II 18 to rotate anticlockwise, when the push rod in the electric push rod 21 retracts to the shortest position, the conveyor belt II 18 is turned over from a vertical state to a horizontal state, then, cargoes are placed on the conveyor belt II 18, the conveyor belt II 18 starts to work, and the cargoes are conveyed to the lifting basket 1;

(2) When the goods arrive at the lifting basket 1, a conveyor belt III at the bottom of the lifting basket 1 starts to work, after the goods are conveyed into the lifting basket 1, the conveyor belt III stops working, and a driving motor 3 starts to work, so that the lifting basket 1 moves upwards to the top end on a lifting track 2;

(3) After the lifting basket 1 is lifted to the top end, the driving motor 3 stops working, the lifting basket 1 stops lifting, the conveyor belt III is in butt joint with the sending platform 7 and starts working, goods are conveyed to the sending platform 7, and meanwhile, the conveyor belt I10 at the bottom of the sending platform starts working, and the goods are conveyed to the conveying box 28;

(4) After the goods arrive on the transport box 28, the track robot 6 starts to transport the goods from the end A to the end B, when the track robot 6 approaches to the appointed place of the end B, the position sensor I35 detects the magnetic attraction piece at the end of the rack 32 and transmits signals to the main controller, the main controller controls the motor of the driving wheel 29 to stop working, the driving wheel 29 stops rotating, the track robot 6 continues to slide forwards under the action of inertia, meanwhile, the main controller controls the direct current motor 34 to start working and drives the gear 33 to rotate clockwise at a constant speed, the gear 33 is meshed with the direct current motor 34 after buffering of the rack 32, the gear 33 continues to rotate, after the position sensor IV 38 detects the track robot 6, the signals are transmitted to the main controller, the main controller controls the direct current motor 34 to stop working, the movement is stopped, and the position of the track robot 6 is fixed through the meshing of the gear 33 and the rack 32; when the track robot 6 is transported from the end B to the end A, the position sensor II 36 detects a magnetic attraction piece at the end of the rack 32, signals are transmitted to the main controller, the main controller controls the motor of the driving wheel 29 to stop working, the driving wheel stops rotating, the track robot 6 continues to slide forwards under the action of inertia, meanwhile, the main controller controls the direct current motor 34 to start working and drive the gear 33 to rotate at a constant speed, the gear 33 continues to rotate after being buffered by the rack 32, the gear 33 continues to rotate, after the position sensor III 37 detects the track robot 6, signals are transmitted to the main controller, the main controller controls the direct current motor 34 to stop working and stop advancing, and the position of the track robot 6 is fixed through the meshing of the gear 33 and the rack 32;

(5) After the position of the track robot 6 is fixed, unloading can be performed, and the working principle of unloading is the same as that of loading;

(6) When no cargo is to be transported, the recovery button can be manually pressed to turn the conveyor belt II 18 from the horizontal state to the vertical state to seal the cargo inlet 16.

Claims (8)

1. Full-automatic track robot running device, including receiving arrangement, hoisting device and sending device, receiving arrangement and hoisting device's bottom butt joint, sending device and hoisting device's top butt joint, hoisting device constitute by lifting basket (1), lifting rail (2) and driving motor (3), its characterized in that receiving arrangement include automatic upset receiving and dispatching platform (4), automatic upset receiving and dispatching platform (4) and lifting basket (1) butt joint, sending device include aerial track (5), track robot (6) and sending platform (7), aerial track (5) constitute at the both ends of slide rail (8) fixed location rail (9), the lower extreme of location rail (9) is fixed with sending platform (7), sending platform (7) are equipped with conveyer belt I (10) in the bottom of frame, dock with sending platform (7) when lifting basket (1) rises to the highest department.

2. The full-automatic track robot running device according to claim 1, wherein the automatic overturning receiving and dispatching platform (4) comprises a basic back door (11), the basic back door (11) is formed by fixing two vertical supporting frames (12) and two horizontal supporting frames (13) to form a square door frame, an upper baffle (14) and a lower baffle (15) are fixed in the door frame, a goods inlet (16) is formed between the upper baffle (14), the lower baffle (15) and the two vertical supporting frames (12), rotating shafts (17) are rotationally connected to the vertical supporting frames (12) at two sides of the goods inlet (16), one ends of the two opposite rotating shafts (17) penetrate through two sides of a conveyor belt II (18) installed at the positions of the vertical supporting frames (12) and the goods inlet (16) respectively, a mounting plate (19) is fixed at the upper part of the inner side of the vertical supporting frames (12), a connecting piece I (20) is fixedly connected with one end of an electric push rod (21), the rotating shafts (17) are rotationally connected with one end of the inner side (14), and the other end (22) of the rotating shafts (17) are fixedly connected with a connecting rod II (23) extending out of the connecting rod (23); a control button is arranged on the outer side surface of the upper baffle plate (14).

3. The full-automatic track robot running device according to claim 2, wherein the vertical support frame (12) and the horizontal support frame (13) are made of channel steel, and the open side of the channel steel is positioned at the inner side of the door; the left side and the right side of the conveyor belt II (18) are both fixed with a convex connecting piece III (25), a square through hole (26) is arranged on the convex part of the connecting piece III (25), and one end of the rotating shaft (17) is inserted into the square through hole (26) and is fixedly connected with the square through hole.

4. The fully automatic orbital robot operating device according to claim 2, wherein the electric push rod (21) and the control button are electrically connected to an external controller, respectively.

5. The full-automatic track robot running device according to claim 1, wherein the sliding rail (8) is formed by two single rails (27) in parallel, the track robot (6) is suspended below the sliding rail (8), the track robot (6) comprises a transportation box (28), a driving shaft is fixed at the middle position of one end above the transportation box (28), driving wheels (29) are installed at two ends of the driving shaft, driven shafts are fixed at the middle position of the other end above the transportation box (28), driven wheels (30) are fixed at two ends of the driven shafts, the driving wheels (29) and the driven wheels (30) are all arranged in the sliding rail (8), more than two supporting connecting rods (31) are fixed on the single rails (27) at two ends of the sliding rail (8), two ends of each supporting connecting rod (31) are respectively fixed on the two sides of the sliding rail (27), racks (32) are fixed between the supporting connecting rods (31), and the racks (32) and the sliding rail (8) are installed at the same angle with the sliding rail (8), and are fixed at the middle positions of the supporting connecting rods (31) and are arranged below the supporting rods (31). A gear (33) and a direct current motor (34) are fixed among the upper end of the transport box body (28), the driving wheel (29) and the driven wheel (30), and the output end of the direct current motor (34) is in transmission connection with the gear (33); the gear (33) is meshed with the rack (32).

6. The full-automatic orbital robot running device according to claim 5, wherein a position sensor I (35) is fixed on one side of the driving wheel (29) and a position sensor II (36) is fixed on one side of the driven wheel (30) at the upper end of the transport case (28).

7. The full-automatic orbital robot running device according to claim 5, wherein the two ends of the sliding rail (8) are respectively fixed with a position sensor III (37) and a position sensor IV (38), and the same sides of the two ends of the sliding rail (8) are respectively fixed with a charging device (39).

8. The full-automatic track robot operation method is realized through the following steps:

(1) When the opening button is manually pressed, an external controller receives a signal and then controls the push rod in the electric push rod (21) to retract slowly, meanwhile, the connecting rod (22) is driven to rotate anticlockwise, the conveying belt II (18) is driven to rotate anticlockwise while the connecting rod (22) rotates, when the push rod in the electric push rod (21) retracts to the shortest position, the conveying belt II (18) is turned from a vertical state to a horizontal state, then, goods are placed on the conveying belt II (18), the conveying belt II (18) starts to work, and the goods are conveyed to the lifting basket (1);

(2) When goods arrive at the lifting basket (1), a conveyor belt III at the bottom of the lifting basket (1) starts to work, and after the goods are conveyed into the lifting basket (1), the conveyor belt III stops working, and a driving motor (3) starts to work, so that the lifting basket (1) moves upwards to the top end on a lifting track (2);

(3) After the lifting basket (1) is lifted to the top end, the driving motor (3) stops working, the lifting basket (1) stops lifting, the conveyor belt III starts working, goods are conveyed to the sending platform (7), and meanwhile, the conveyor belt I (10) at the bottom of the sending platform (7) starts working, and the goods are conveyed to the conveying box body (28);

(4) After goods arrive on a transport box body (28), the track robot (6) starts to transport the goods, when the track robot (6) approaches a specified place, a position sensor I (35) transmits a signal to a main controller after detecting an induction device at the position, the main controller controls a driving wheel motor to stop working, a driving wheel (29) stops rotating, the track robot (6) continues to slide forwards under the action of inertia, meanwhile, a direct current motor (34) starts to work and drives a gear (33) to rotate clockwise at a constant speed, the track robot (6) is meshed with the gear (33) after being buffered by a rack (32), the gear (33) continues to rotate, the track robot (6) continues to move forwards, after a position sensor IV (38) detects the track robot (6), a signal is transmitted to the main controller, the main controller controls the direct current motor (34) to stop working, the track robot (6) stops moving forwards, and the position of the track robot (6) is fixed through the meshing of the gear (33) and the rack (32); when returning, the position sensor II (36) and the position sensor III (37) start to work, and the principle is the same as that above;

(5) After the position of the track robot (6) is fixed, unloading can be carried out, and the working principle of unloading is the same as that of loading;

(6) When no goods are to be transported, the recovery button can be manually pressed to turn the conveyor belt II from the horizontal state to the vertical state.