CN208683764U - A kind of material fetching mechanism of aerial shuttle - Google Patents

Abstract

The utility model discloses a kind of material fetching mechanisms of aerial shuttle, including feeding pedestal, the feeding through-hole to match with object shape to be grabbed is opened up on the feeding pedestal, is respectively equipped with feeding actuator, at least three synchronous pulleys, synchronous belt and handgrip along the periphery of feeding through-hole；The feeding actuator connects one of synchronous pulley, Synchronous Transmission is realized by synchronous band connection between adjacent synchronous pulley, the number of the handgrip matches with synchronous pulley, it is coaxially assembled with synchronous pulley one end of the handgrip, the other end is hanging, and the free end of each handgrip turns to above feeding through-hole the clamping space formed for clamping.The material fetching mechanism of the utility model realizes the full-automation of entire logistics system, and after capable of being in place entire material fetching mechanism, realization is automatically grabbed, so that the artificial feeding of substitution, realizes the automatic operation of entire feeding shuttle.

Description

A kind of material fetching mechanism of aerial shuttle

Technical field

The utility model relates to a kind of logistics transportation equipment more particularly to a kind of material fetching mechanisms of aerial shuttle.

Background technique

Currently, logistics transportation equipment mainly has AGV and two kinds of RGV, AGV (Automated Guided in workshop Vehicle) i.e. automatic guided vehicle, also referred to as mobile robot are one kind using electric energy as power, magnetically or optically etc. non-are connect by electric Touch homing guidance device drives to specified place along predefined paths in the case where unmanned manipulation, realize automatic transferring, The travelling bogie of the functions such as carrying.

RGV (Rail Guided Vehicle) is rail guidance vehicle, is called rail shuttle, is a kind of track pallet Floor truck is made of an operating mechanism and a chain of stations formula or a volume formula conveyer two parts, is responsible for cargo to be distributed to specified Position.AGV is not necessarily to stationary track, and RGV then presses fixed rail running.Opposite AGV, RGV are occupied with its brilliant cost performance The huge market share of logistic industry, major advantage shows as speed and acceleration is fast, and track fixes, smooth running, parking Position is accurate, high reliablity, at low cost, easy to promote and utilize.But the existing RGV of existing market is used for SMT (surface mount skill Art Surface Mount Technology) shop material dispatching still have following deficiency:

(1) RGV is mainly used for heavy duty at present or middle carrying is defeated, still lacks the small-sized RGV for SMT charging tray, carrying capacity Only need 10kg or less；

(2) RGV track is all arranged on ground at present, occupies ground space；

(3) current RGV track is all annular or unidirectional reciprocal, flexible poor, and the workshop SMT is that multiple logistics winding intersect.

Shuttle is divided into assembly type shuttle and transportation type shuttle according to the difference of function.Assembly type shuttle is suitable for Preparation and assembly steelshop, it is relatively conventional in automobile industry.Transportation type shuttle is mainly the transport, sorting, outbound etc. to cargo, It is shuttle currently in use in most automatic stereowarehouses, is suitable for various industries, in industries such as drinks, drug, tobaccos With extremely wide；But the crawl for cargo, it is substantially artificial arrangement of goods at present, is transported by shuttle.

Therefore, with logistic industry flourish, how automatic material taking, realize that the full-automation of entire logistics system is At present the problem of urgent need to resolve.

Utility model content

The technical problem to be solved by the utility model is to: how to realize and automatically grab material, provides a kind of aerial The material fetching mechanism of shuttle.

The utility model is to solve above-mentioned technical problem, the material fetching mechanism packet of the utility model by the following technical programs Feeding pedestal is included, the feeding through-hole to match with object shape to be grabbed is opened up on the feeding pedestal, along the periphery of feeding through-hole It is respectively equipped with feeding actuator, at least three synchronous pulleys, synchronous belt and handgrip；The feeding actuator connects one of those Synchronous pulley realizes Synchronous Transmission, the number and synchronous belt of the handgrip by synchronous band connection between adjacent synchronous pulley Wheel matches, and one end of the handgrip is coaxially assembled with synchronous pulley, and the other end is hanging, and the free end of each handgrip, which turns to, to be taken The clamping space for clamping is formed above material through hole.

The synchronous pulley is using the center of feeding through-hole as origin, and annular spread is on feeding pedestal.It can be realized to object The uniform clamping of material.

The feeding through-hole is circular through hole.Different feeding shape of through holes can be designed according to the shape of material.

Setting is used for the side block column of position restriction on the free end of the handgrip.Position can be carried out to cargo to be captured Set restriction.

One of effective means as the utility model, the feeding actuator are feeding driving motor.

The utility model has the advantage that the material fetching mechanism of the utility model realizes entire logistics compared with prior art The full-automation of system, after capable of being in place entire material fetching mechanism, realization is automatically grabbed, thus the artificial feeding of substitution, Realize the automatic operation of entire feeding shuttle.

Detailed description of the invention

Fig. 1 is the aerial shuttle structural schematic diagram of the utility model；

Fig. 2 is the structural schematic diagram of the hollow middle shuttle feeding of Fig. 1；

Fig. 3 is the stereoscopic schematic diagram of walking mechanism；

Fig. 4 is the walking mechanism stereoscopic schematic diagram of Fig. 3 relative perspective；

Fig. 5 is that Fig. 4 rotates clockwise the walking mechanism stereoscopic schematic diagram after certain angle；

Fig. 6 is the stereoscopic schematic diagram of winding mechanism；

Fig. 7 is the structural schematic diagram for being tensioned testing agency；

Fig. 8 is the top view of material fetching mechanism；

Fig. 9 is stereoscopic schematic diagram when material fetching mechanism is inactive；

Figure 10 is the stereoscopic schematic diagram in material fetching mechanism motion process；

Figure 11 is the stereoscopic schematic diagram after the completion of material fetching mechanism movement；

Figure 12 is automatic charge device schematic diagram.

Specific embodiment

It elaborates below to the embodiments of the present invention, the present embodiment before being with technical solutions of the utility model It puts and is implemented, the detailed implementation method and specific operation process are given, but the protection scope of the utility model is unlimited In following embodiments.

As shown in Figure 1, the aerial shuttle of the present embodiment includes I-shaped track 5, the row that is arranged on I-shaped track 5 Walk mechanism 1, the winding mechanism 2 being set under I-shaped track 5 and the material fetching mechanism 3 being set under winding mechanism 2；It is described Walking mechanism 1 walks along I-shaped track 5 and winding mechanism 2 and material fetching mechanism 3 is driven to move, and the drive of winding mechanism 2 takes Expect that mechanism 3 moves up and down, is provided with automatic charging mechanism 4 at the top of shuttle.

As shown in Figure 1, winding mechanism 2 links together with material fetching mechanism 3, when aerial when shuttle is walked in the sky When shuttle needs to grab material, as shown in Fig. 2, winding mechanism 2 acts, keep material fetching mechanism 3 separated, to grab material, Wait grab material movement after the completion of, aerial shuttle restores state shown in FIG. 1 again, so recycle, realize material crawl, Divide and puts.

As shown in Fig. 3,4 and 5, the walking mechanism 1 includes hoofing part part 101, driving member 102, shuttle wheel, water Flat guide part 104 is vertically directed part 105, tumbler 106 and adjustment part 107, and the hoofing part part 101 drives driving member 102 Drive shuttle vehicle wheel rotation, the horizontally-guided part 104 be arranged in the top of shuttle wheel and with where shuttle wheel Plane it is perpendicular, the shuttle wheel be symmetrically distributed in the risers two sides of I-shaped track 5 and with I-shaped track 5 Bottom inner horizontal is in contact, on the outer horizontal plane for being vertically directed the bottom that I-shaped track 5 is arranged in part 105 and with wear Plane parallel where shuttle car wheel, the tumbler 106, which is located at, to be vertically directed under part 105, and the adjustment part 107 is vertical In the lower section of tumbler 106, the adjustment part 107 is connected on winding mechanism 2.

It horizontally-guided part 104 and is vertically directed part 105 and guarantees aerial shuttle in the process of moving, shuttle wheel is always It can be bonded I-shaped track 5, guarantee the stationarity of motion process, tumbler 106 and adjustment part 107 guarantee that aerial shuttle exists In turning process, shuttle wheel can be bonded I-shaped track 5 always, further ensure that the stationarity of motion process. Either simplex font track 5 is taken, and shuttle is suspended to either simplex font track 5 and is run, takes full advantage of ground in logistics transportation Above space, and two-orbit is overcome to high-precision requirement.

In the walking mechanism 1, shuttle wheel has two groups, and one group includes symmetrically in the active of I-shaped 5 two sides of track Wheel 103 and first driven wheel 109, another group includes that the second driven wheel 110 and third symmetrically in I-shaped 5 two sides of track are driven 111 are taken turns, is respectively provided with one on the driving wheel 103, the first driven wheel 109, the second driven wheel 110 and third driven wheel 111 Horizontally-guided part 104, each horizontally-guided part 104 include that two levels being in contact with the risers of I-shaped track 5 are led To wheel.

Driving wheel 103 and the first driven wheel 109 constitute the first rolling group, 111 structure of the second driven wheel 110 and third driven wheel At the second rolling group, the tumbler 106 is vertical shaft, and two vertical shafts are symmetrically distributed in the first rolling group and the second rolling The lower section of dynamic group.

The adjustment part 107 includes horizontal rotating shaft, bearing and bearing block, and the both ends of the horizontal rotating shaft are connected by axle bed In bearing block, the vertical shaft is connected on the bearing block of adjustment part 107.When turning, I-shaped track 5 oppresses track one Two groups of horizontally-guided parts 104 of side, tumbler 106 drive bogie turning, drive the vertical shaft fine tuning of tumbler 106, real Existing shuttle wheel turning.If track out-of-flatness in turning, compressing is vertically directed part 105 on the outside of lower end of track face, drives two A rolling group is finely tuned along horizontal rotating shaft, guarantees that shuttle wheel can be bonded I-shaped track 5 always.

The bottom of the adjustment part 107 is connected on winding mechanism 2 by connector 112.

It is described be vertically directed part 105 at least there are four, be separately positioned on driving wheel 103, the first driven wheel 109, second from Under driving wheel 110 and third driven wheel 111, and it is tightly attached on the outer horizontal plane of bottom of I-shaped track 5.

The driving member 102 includes main driving wheel 1021, transmission belt 1022, active rotating shaft 1023 and from driving wheel 1024, The main driving wheel 1021 is connected to the output end of hoofing part part 101, and the transmission belt 1022 is socketed main driving wheel respectively 1021 and from driving wheel 1024, the active rotating shaft 1023 from driving wheel 1024 by driving, the driving wheel 103 and active rotating shaft 1023 connections.The remote property of gear-driven accuracy and V belt translation is had both, while structure is simple, standardization level is high.

The hoofing part part 101 is travel driving motor, and driving motor output shaft connects main driving wheel 1021.

The walking mechanism 1 further includes position detector 108, and the position detector 108 is close switch, described close The outside of walking mechanism 1 is arranged in switch.With real-time monitoring shuttle truck position, shuttle congestion is avoided together, while can be with The speed of convenient control shuttle, enhances its traveling comfort.

The walking mechanism 1 of the aerial shuttle is driven by travel driving motor, through driving motor output shaft by torque through passing Moving part 102 is transmitted to driving wheel 103, and driving wheel 103 drives the first driven wheel 109, the second driven wheel 110 and third driven wheel 111；Horizontally-guided part 104 is set to driving wheel 103, the first driven wheel 109, the second driven wheel 110 and third driven wheel 111 Top, that is close to I-shaped track 5 faces two sides directly, is vertically directed part 105 and is set to the I-shaped 5 outer horizontal plane in lower section of track, tightly Paste the 5 outer horizontal plane in lower section of I-shaped track, horizontally-guided part 104 and be vertically directed the guarantee of part 105 whether speed reason or Track out-of-flatness, driving wheel 103, the first driven wheel 109, the second driven wheel 110 and third driven wheel 111 can paste always I-shaped track 5 walk.The lower section of the first rolling group, the second rolling group is arranged in tumbler 106, makes the traveling machine of shuttle Structure can smoothly turn round in I-shaped 5 corner of track changes driving direction, and adjustment part includes that a horizontal positioned level turns Axis, bearing and bearing spider are vertically set below vertical shaft, and when walking mechanism 1 is turned round, driving wheel 103, first is driven The 109, second driven wheel 110 of wheel and third driven wheel 111 might have horizontal in I-shaped 5 lower section of track of deviation by a small margin Face causes shuttle traveling unstable, and adjustment part 107 can adjust deviation offset distance well, make driving wheel 103, first from Driving wheel 109, the second driven wheel 110, third driven wheel 111 and 5 lower section inner horizontal of I-shaped track can be in contact always, protect Hold the stability of shuttle traveling.

As shown in Figure 6 and Figure 7, the winding mechanism 2 of the present embodiment includes roll driving element 201, winch spool 202, undrawn yarn Bar 203,204, four winding ropes 212 of guiding axis and four guide wheel assemblies 205；One end of four winding ropes 212 is fixed respectively And be wrapped on winch spool 202, the other end lifts material fetching mechanism 3, the winding driving after passing through corresponding guide wheel assemblies 205 Part 201 drives winch spool 202 to rotate, and the winding screw rod 203 is installed in the center of winch spool 202, and the guiding axis 204 is along volume Around the two sides for being axially disposed within winding screw rod 203 of cylinder 202.

The winding mechanism 2 further includes winding pedestal 206 and frame 207, and the frame 207 is connected by fastener 208 It is formed on winding pedestal 206 for holding roll driving element 201, winch spool 202, winding screw rod 203, guiding axis 204, more The space of winding rope 212 and multiple guide wheel assemblies 205.

The winch spool 202 is fixed on winding pedestal 206 by winding support 209.

The winding mechanism 2 further includes contact roller 210, and there are two the contact rollers 210, the end of the contact roller 210 It is connected on winding support 209, contact roller 210 is pressed on winch spool 202.Can ensure that the folding and unfolding of winding rope 212 is smooth has Sequence.

Each guide wheel assemblies 205 include two U-type groove idler wheels, and adjacent U-type groove idler wheel is arranged in a mutually vertical manner along its axis, U-type groove idler wheel is fixed on winding pedestal 206 by roller support.Winding rope 212 can cross line in U-type groove, while adjacent U-type groove idler wheel be mutually perpendicular to ensure that line was more stable.

The outer surface of the winch spool 202 is axially arranged with the wire casing to match with 212 numbers of the winding rope along it.This reality Applying example, there are four wire casings, it can be ensured that four winding ropes 212 can be effectively under four corner hangings of winding pedestal 206 It goes, realizes and the steady volume of following material fetching mechanism 3 is hung.It can also be designed to more wind rope 212, according to actual condition Through corresponding other assemblies, to improve stability of the shuttle in lifting process.

The winding mechanism 2 further includes tensioning testing agency 211, and the tensioning testing agency 211 includes tension detection wheel 2111, mobile sliding block 2112, contact-making switch 2113 and tensioning wheel 2114；The tension detection wheel 2111 and mobile 2112 phase of sliding block Connection, mobile sliding block 2112 are connected with contact-making switch 2113, and the tensioning wheel 2114 and tension detection wheel 2111 are oppositely arranged, Winding rope 212 is connected to guide wheel assemblies 205 after sequentially passing through tensioning wheel 2114 and tension detection wheel 2111.When tensioning wheel 2114 When tensioning, winding rope 212 pushes tension detection wheel 2111, and tension detection wheel 2111 drives mobile sliding block 2112 mobile, and compression connects Switch 2113 is touched, the power supply of roll driving element 201 is connected, winding mechanism 2 works；When winding rope 212 fractures or relaxes When, tension detection wheel 2111 resets, and the power supply of roll driving element 201 is disconnected, so that winding mechanism 2 is when occurring accident, promptly Braking, improves safety of the shuttle in lifting process.

The winding rope 212 of the present embodiment is steel wire.Roll driving element 201 is winding driving motor.

The winding mechanism 2 of the present embodiment has given up traditional hydraulic, chain, eccentric wheel mechanism, passes through winch spool 202, steel Silk, tensioning testing agency 211, realize the lifting of shuttle, and contact roller 210 keeps folding and unfolding end steel wire tangent with winch spool 202 always, When going up and down shuttle, the folding and unfolding of steel wire is steadily consistent.

When aerial shuttle needs feeding, it is attached that winding mechanism 2 by unclasping steel wire, material fetching mechanism 3 is relaxed to material Closely, after material fetching mechanism 3 completes feeding, winding mechanism 2 resets material fetching mechanism 3 by tightening steel wire, blowing process and feeding Process is similar.

As shown in Fig. 8,9,10,11, the material fetching mechanism 3 of the present embodiment includes feeding pedestal 301, the feeding pedestal 301 On open up the feeding through-hole 302 to match with object shape to be grabbed, be respectively equipped with feeding actuator along the periphery of feeding through-hole 302 303, three synchronous pulleys 304, synchronous belt 305 and handgrip 306；The feeding actuator 303 connects one of synchronous belt Wheel 304 realizes Synchronous Transmission by the connection of synchronous belt 305 between adjacent synchronous pulley 304, the number of the handgrip 306 with Synchronous pulley 304 matches, and one end and the coaxial assembly of synchronous pulley 304 of the handgrip 306, the other end is hanging, each handgrip 306 free end turns to above feeding through-hole 302 the clamping space formed for clamping.

In the present embodiment, three synchronous pulleys 304 are set, in practical operation, the setting of synchronous pulley 304 can be four A, five, the different numbers such as six；Handgrip 306 is consistent with 304 quantity of synchronous pulley, 306 one end of handgrip and synchronous pulley 304 Coaxially it is assemblied on feeding pedestal 301；Synchronous belt and synchronous pulley 304 match.

The synchronous pulley 304 is using the center of feeding through-hole 302 as origin, and annular spread is on feeding pedestal 301.

The feeding through-hole 302 is circular through hole.Corresponding through-hole can also be shaped to according to material to be grabbed Shape.

Setting is used for the side block column 307 of position restriction on the free end of the handgrip 306.

Side block column 307 is contacted with material, immediate constraint material.Material is to drive 307 turns of side block column by handgrip 306 Dynamic, multiple side block columns 307 form the clamping space for clamping, and side block column passes through force feedback behind 307 contacting material boundary Signal control handgrip 306 stops operating.Material outer profile lower surface is concordant with the upper surface of handgrip 306 or above it.

The feeding actuator 303 is feeding driving motor.

As shown in figure 12, automatic charging mechanism 4, the automatic charging mechanism are provided at the top of the shuttle of the present embodiment 4 include charged rail 401, cradle 404, charging actuator 402, charging push rod 403, lift lever 410, compression piece 405, charging Column 406；The cradle 404 is held on charged rail 401 and slides along charged rail 401, and the charging actuator 402 is solid It is scheduled on cradle 404 and charging push rod 403 is driven to move up and down, the lift lever 410 is fixed on the top of charging push rod 403 The both ends in portion, the lift lever 410 are connect with the head end of charging column 406 by compression piece 405, the end of the charging column 406 Interface to be charged is connected by electrode 408 after cradle 404.

The cradle 404 is equipped with linear bearing 407, and the charging column 406 is set in linear bearing 407.

The outer rim of the electrode 408 is enclosed with insulative head 409.Generation when can prevent motor 408 and charging connector from contacting Spark.

The compression piece 405 is compressed spring.The charging actuator 402 is charging driving motor.

When shuttle needs to charge, signal is issued to supervisory control desk, the charging driving motor driving in the present embodiment is filled Electric putter 403 moves downward and compresses compressed spring and then charging column 406 is driven to move downward along linear bearing 407, electrode 408 contact with shuttle charge port, start to charge, and insulative head 409 prevents electrode 408 and shuttle charge port Contact from generating Electric spark.After shuttle is fully charged, charging driving motor releases self-locking, compressed spring reset, and charging column 406 is upward to be transported It is dynamic, terminate charging.

The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model Protection scope within.

Claims (5)

1. a kind of material fetching mechanism of aerial shuttle, which is characterized in that the material fetching mechanism includes feeding pedestal, the feeding bottom The feeding through-hole to match with object shape to be grabbed is opened up on seat, is respectively equipped with feeding actuator, extremely along the periphery of feeding through-hole Few three synchronous pulleys, synchronous belt and handgrip；The feeding actuator connects one of synchronous pulley, adjacent synchronous belt Synchronous Transmission is realized by synchronous band connection between wheel, number and the synchronous pulley of the handgrip match, and the one of the handgrip End is coaxially assembled with synchronous pulley, and the other end is hanging, and the free end of each handgrip is turned to above feeding through-hole and formed for pressing from both sides The clamping space held.

2. a kind of material fetching mechanism of aerial shuttle according to claim 1, which is characterized in that the synchronous pulley is to take The center of material through hole is origin, and annular spread is on feeding pedestal.

3. a kind of material fetching mechanism of aerial shuttle according to claim 1, which is characterized in that the feeding through-hole is circle Shape through-hole.

4. a kind of material fetching mechanism of aerial shuttle according to claim 1, which is characterized in that the free end of the handgrip Upper setting is used for the side block column of position restriction.

5. a kind of material fetching mechanism of aerial shuttle according to claim 1, which is characterized in that the feeding actuator is Feeding driving motor.