CN216734553U - Material vehicle touch sliding device, traction mobile robot and goods shelf system - Google Patents

Abstract

The utility model discloses a material vehicle touch-sliding device, which comprises a material vehicle and a touch-sliding device, wherein the material vehicle is provided with a clamping hand, the touch-sliding device comprises a structural component, a fluency strip component, a connecting rod component, a pulley component I, a pulley component II, a follower component, a tension spring support and a tension spring, the touch-sliding device is fixed on the material vehicle, and the touch-sliding device also comprises a steel wire rope and a locking component; a traction mobile robot and goods shelf system comprises a mobile robot, a traction tool, a goods shelf and a material vehicle touch and slide device, wherein the goods shelf comprises a main frame, a front frame, a rear frame, a goods shelf fluency strip assembly and a characteristic identification plate; the traction tool provided with the traction piece is arranged on the mobile robot, the mobile robot is submerged into the bottom of the material vehicle, a clamping hand of the material vehicle is locked through automatic extension of the traction piece, and the material vehicle runs and is positioned through the characteristic identification plate; the follower contacts the front frame to move backwards to drive the steel wire rope to move backwards, the limiting plate is driven to rotate to be horizontal, and the material box automatically slides to the goods shelf fluency strip.

Description

Material vehicle touch-sliding device, traction mobile robot and goods shelf system

Technical Field

The utility model belongs to the technical field of automatic handling, and particularly relates to a material vehicle touch-slide device, a traction mobile robot and a goods shelf system.

Background

In the field of automatic transportation of factory logistics, a full-automatic transportation process from a material starting point to a destination shelf is required; at present, manual intervention is mostly adopted in the unloading process of a goods shelf terminal, and a mechanical arm push-pull type mode is mostly adopted in the automatic unloading process.

Manual intervention unloading reduces automation level and transportation efficiency; the push-pull type mechanical arm has the problems of complex device, increased structure, increased cost and increased maintenance cost.

In view of the above, the present invention is particularly proposed.

SUMMERY OF THE UTILITY MODEL

Aiming at the problems in the prior art, the utility model aims to provide a material vehicle touch-slide device, which comprises a material vehicle and a touch-slide device, wherein the material vehicle is provided with a clamping hand; the sliding contact device comprises a structural component, a fluency strip component, a connecting rod component, a pulley component I, a pulley component II, a follower component, a tension spring support and a tension spring, and the sliding contact device is fixed on the material vehicle; the structure assembly comprises a structure main body, a left frame, a right frame, a middle partition and a rear beam, wherein the structure main body is fixed on the material trolley, the left frame, the right frame and the rear beam are fixed on the structure main body, and the middle partition is fixed on the structure main body and the rear beam; the fluent strip assembly comprises a fluent strip and two fluent strip frames, and the fluent strip is fixed on the structural assembly along the material advancing direction through the fluent strip frames; the connecting rod assembly comprises a connecting rod, a limiting plate frame, a pin shaft, a shaft sleeve and a lubricating pad, wherein the connecting rod and the limiting plate are respectively provided with a shaft sleeve hole, the shaft sleeve penetrates through the shaft sleeve holes of the connecting rod and the limiting plate, a first fastening piece penetrates through the shaft sleeve to connect the connecting rod and the limiting plate together, the limiting plate and the limiting plate frame are respectively provided with a pin shaft hole, the pin shaft is provided with a through hole along the axis direction and penetrates through the pin shaft holes of the limiting plate and the limiting plate frame, a second fastening piece penetrates through the pin shaft through hole to connect the limiting plate and the limiting plate frame together, the limiting plate frame is provided with a mounting hole, a third fastening piece penetrates through the limiting plate frame mounting hole to connect the limiting plate frame and the structure main body together, and the connecting rod is also provided with two steel wire rope mounting holes; the connecting rod assembly is positioned at the front part of the structural assembly and is connected with the structural assembly through a limiting plate frame; the first pulley assemblies are arranged in two groups and are symmetrically arranged left and right, and the first pulley assembly is positioned on the front surface of the front part of the structure main body; the two pulley assemblies are arranged in two groups and are symmetrically arranged left and right, and the two pulley assemblies are positioned on the bottom surface of the front part of the structure main body; the servo-actuated device comprises two groups of servo-actuated devices which are symmetrically arranged left and right, each servo-actuated device comprises a servo-actuated device, a linear shaft, a linear bearing frame, a limiting sleeve, a tail plate and a compression spring, wherein the servo-actuated devices are fixed on the linear shaft; the tension spring support is fixed on the left side of the structure main body, a hook at one end of a tension spring is installed on the tension spring support, and a hook at the other end of the tension spring is connected with a steel wire rope; touch smooth device still includes wire rope, wire rope sets up two, the wire rope on right side passes the wire rope mounting hole of the tailboard of installing the follower subassembly on main structure right side, and be in the same place with the tailboard is fixed, through pulley assembly two on right side, pulley assembly one on right side, pass connecting rod right side wire rope mounting hole, and be in the same place with the connecting rod is fixed, left wire rope passes connecting rod left side wire rope mounting hole, and be in the same place with the connecting rod is fixed, through left pulley assembly one, left pulley assembly two, the wire rope mounting hole of the tailboard of left follower subassembly, link together with the other end couple of extension spring.

Further, the structure main body is provided with a front beam, the front beam is provided with a plurality of pin shaft holes, and the pin shaft penetrates through the pin shaft holes of the front beam.

Further, the rear beam is higher than the horizontal position of the front beam, and the height of the rear beam is adjustable.

Furthermore, the fluent strip assemblies are provided in a plurality of groups, are divided into two groups, and are symmetrically arranged left and right.

Further, limiting plate, spacing grillage, round pin axle, axle sleeve, lubricated pad set up a plurality ofly respectively, and quantity corresponds respectively equally, lubricated pad is installed between connecting rod, limiting plate.

Furthermore, the pulley assembly I comprises a pulley and a pulley yoke I, the pulley yoke I is fixed on the structure main body, and the pulley is arranged on the pulley yoke I; the pulley component II comprises a pulley, a pulley yoke II and a pulley shaft, the pulley yoke II is fixed on the structure main body, and the pulley is installed on the pulley yoke II through the pulley shaft.

Furthermore, the tension spring support is provided with a plurality of tension spring mounting holes for adjusting the mounting positions of the tension springs.

A traction mobile robot comprises a traction mobile robot and a material vehicle touch and slide device, wherein the traction mobile robot comprises a mobile robot and a traction tool, and the traction tool is installed on the mobile robot; the traction tool is provided with a traction piece, the traction mobile robot submerges into the bottom of the material vehicle, and the material vehicle is pushed to run by automatically stretching out and locking a clamping hand of the material vehicle through the traction piece.

A goods shelf system comprises a goods shelf and a material vehicle touch-sliding device, wherein the goods shelf comprises a main frame, a front frame, a rear frame, a goods shelf fluency strip assembly and a plurality of characteristic identification plates, and the characteristic identification plates are arranged on the ground below the goods shelf fluency strip assembly; the material trolley runs to the goods shelf and is positioned by the characteristic identification plate, the follower on the right side is contacted with the front frame to move backwards to drive the tail plate arranged on the linear shaft on the right side to move backwards, the steel wire rope on the right side is driven to move backwards, the connecting rod is driven to move rightwards, the limiting plate is driven to rotate to be horizontal, and the material box automatically slides to the goods shelf fluency strip component under the action of gravity; the left follower and the right follower are simultaneously contacted with the front frame to move backwards, the left follower plays a role in balancing the material trolley, and the left steel wire rope only penetrates through the steel wire rope mounting hole of the left tail plate and is directly connected with the left tension spring.

The utility model provides a material vehicle touch sliding device which has the following beneficial effects: the utility model has simple structure and reliable action.

Drawings

FIG. 1 is a schematic view of a sliding contact device according to the present invention;

FIG. 2 is an enlarged view of a portion of the structure of the sliding and touching device of the present invention;

FIG. 3 is a first structural schematic view of a linkage assembly of the skid device of the present invention;

FIG. 4 is a second structural schematic view of a linkage assembly of the skid contact apparatus of the present invention;

FIG. 5 is a schematic view of a third construction of a linkage assembly of the skid device of the present invention;

FIG. 6 is a schematic structural view of a first pulley assembly of the sliding contact device of the present invention;

FIG. 7 is a schematic structural view of a second pulley assembly of the sliding contact device of the present invention;

FIG. 8 is a schematic view of a first configuration of a follower assembly of the sideslip apparatus of the present invention;

FIG. 9 is a second schematic view of a follower assembly of the sliding-contact apparatus of the present invention;

fig. 10 is a schematic structural view of the material vehicle sliding contact device of the present invention;

FIG. 11 is a schematic structural diagram of the states of the mobile towing robot, the material trolley sliding device and the material box of the present invention;

fig. 12 is a first structural diagram of the material vehicle sliding device, the traction mobile robot and the shelf system according to the present invention;

fig. 13 is a structural diagram of a second state of the material vehicle sliding device, the traction mobile robot and the shelf system according to the present invention;

fig. 14 is a schematic diagram of a third state structure of the material trolley sliding contact device, the traction mobile robot and the shelf system according to the present invention;

in the figure: 1. the robot comprises a mobile robot, 2 traction tools, 21 traction pieces, 3 material vehicles, 31 clamping hands, 4 racks, 41 main frames, 42 front frames, 43 rear frames, 44 rack fluency strip assemblies, 45 characteristic identification plates, 5 sliding contact devices, 51 structural assemblies, 511 structural bodies, 512 left frames, 513 right frames, 514 middle partitions, 515 rear beams, 52 fluency strip assemblies, 521 fluency strips, 522 fluency strip frames, 53 connecting rod assemblies, 531 connecting rods, H1 right steel wire rope mounting holes, H2 left steel wire rope mounting holes, 532 limiting plates, 533 limiting plate frames, 534 pins, 535 shaft sleeves, 536 lubricating pads, 54 pulley assemblies I, P pulleys, 541 pulleys, pulley frames I, 55 pulley assemblies II, 551 pulley frames II, 552 pulley shafts, 56 follower assemblies, 561 followers, 562, a follower assembly, a master block, a slave block, a master, a slave block, a master, a slave block, a slave, a master, a slave, a master, a slave, a master, a slave, a master, a slave, a master, a slave, 563. The linear bearing, 564 linear bearing frame, 565 stop collar, 566 tail plate, 567 compression spring, 57 tension spring support, 58 tension spring, 6 bin.

Detailed Description

The utility model is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and further it is to be understood that when used in this specification the word "comprise" and/or "comprises" indicates the presence of the feature, step, operation, component or module, element and/or combination thereof.

For convenience of description, spatially relative terms such as "front, rear, left, right" and the like may be used herein based on the orientations or positional relationships shown in the drawings, only for convenience of describing the present invention or simplifying the description, and the spatially relative descriptions used herein are to be interpreted accordingly.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

Examples

As shown in figures 1 to 14 of the drawings,

a material vehicle touch-slide device comprises a material vehicle 3 and a touch-slide device 5, wherein the material vehicle 3 is provided with a clamping hand 31; the sliding contact device 5 comprises a structural component 51, a fluency strip component 52, a connecting rod component 53, a first pulley component 54, a second pulley component 55, a follower component 56, a tension spring support 57 and a tension spring 58, and the sliding contact device 5 is fixed on the material vehicle 3; specifically, as shown in fig. 1, the structural component 51 includes a structural main body 511, a left frame 512, a right frame 513, a middle partition 514, and a back beam 515, the structural main body 511 is fixed to the skip 3, the left frame 512, the right frame 513, and the back beam 515 are fixed to the structural main body 511, the middle partition 514 is fixed to the structural main body 511 and the back beam 515, the left frame 512 and the right frame 513 are symmetrically arranged, and flanges are provided at two ends of the back beam 515; as shown in fig. 1, the fluency strip assembly 52 comprises a fluency strip 521 and two fluency strip racks 522, wherein the fluency strip racks 522 are arranged in front and back, the fluency strip 521 is fixed on the structural assembly 51 along the material advancing direction through the fluency strip racks 522, the fluency strip 521 is fixed on the fluency strip racks 522, the front end of the fluency strip assembly 52 is fixed on the structural body 511 through the front fluency strip rack 522 by using a fastener, and the rear end of the fluency strip assembly 52 is fixed on the back beam 515 through the rear fluency strip rack 522 by using a fastener; as shown in fig. 3 to 5, the connecting rod assembly 53 includes a connecting rod 531, a limiting plate 532, a limiting plate frame 533, a pin 534, a bushing 535, and a lubrication pad 536, the connecting rod 531 and the limiting plate 532 are respectively provided with bushing holes, the bushing 535 passes through the bushing holes of the connecting rod 531 and the limiting plate 532, a first fastener passes through the bushing 535 to connect the connecting rod 531 and the limiting plate 532 together, the limiting plate 532 and the limiting plate frame 533 are respectively provided with pin hole holes, the pin 534 is provided with a through hole along an axial direction and passes through the pin hole holes of the limiting plate 532 and the limiting plate frame 533, a second fastener passes through the pin hole 534 to connect the limiting plate 532 and the limiting plate frame 533 together, the limiting plate frame 533 is provided with two mounting holes, a third fastener passes through the mounting hole of the limiting plate frame 533 to connect the limiting plate frame 533 and the structure body 511 together, and the connecting rod 531 is further provided with two steel wire rope mounting holes; the connecting rod assembly 53 is positioned at the front part of the structural assembly 51, and the connecting rod assembly 53 is connected with the structural assembly 51 through the limiting plate frame 533; specifically, as shown in fig. 6, two sets of the first pulley assemblies 54 are arranged, and are symmetrically arranged left and right, and the first pulley assemblies 54 are located on the front surface of the front portion of the structure main body 511; specifically, as shown in fig. 7, two sets of pulley assemblies 55 are arranged, and are symmetrically arranged left and right, and the pulley assemblies 55 are located on the front bottom surface of the structure main body 511; as shown in fig. 8 and 9, the follower assemblies 56 are provided in two sets and are symmetrically arranged left and right, the follower assemblies 56 include a follower 561, a linear shaft 562, a linear bearing 563, a linear bearing holder 564, a stop collar 565, a tail plate 566 and a compression spring 567, the follower 561 is fixed on the linear shaft 562, the linear shaft 562 is mounted on the linear bearing 563, the linear bearing 563 is mounted on the linear bearing holder 564, the linear bearing holder 564 is fixed on the structural body 511, the linear bearing holder 564 is provided with two stop bars, for ensuring that the tail plate 566 moves back and forth along the linear shaft 562 under the action of the compression spring 567, the limiting sleeve 565 and the tail plate 566 are arranged on the rear end of the linear shaft 562, the compression spring 567 is arranged on the front end of the linear shaft 562 and is positioned between the follower 561 and the linear bearing frame 564, and the tail plate 566 is provided with a steel wire rope mounting hole; the tension spring support 57 is fixed on the left side of the structure body 511, a hook at one end of the tension spring 58 is installed on a tension spring installation hole of the tension spring support 57, a hook at the other end of the tension spring 58 is connected with the steel wire rope, and the tension spring 58 is used for keeping the initial position and the dynamic balance of the connecting rod assembly 53; the sliding contact device 5 also comprises a steel wire rope, and the steel wire rope is arranged on the left and right; the right steel wire rope passes through a steel wire rope mounting hole of a tail plate 566 of a follower assembly 56 arranged on the right side of the structure main body 511 and is fixed together with the tail plate 566 through a locking member, passes through a second pulley assembly 55 on the right side and a first pulley assembly 54 on the right side, passes through a right steel wire rope mounting hole H1 of the connecting rod 531 and is fixed together with the connecting rod 531 through the locking member; the left steel wire rope passes through a left steel wire rope mounting hole H2 of the connecting rod 531, is fixed with the connecting rod 531 through a locking piece, passes through steel wire rope mounting holes of the left pulley assembly I54, the left pulley assembly II 55 and the tail plate 566 of the left follower assembly 56, is connected with the other end of the tension spring 58 in a hook mode, and is fixed through the locking piece.

Further, the structural body 511 is provided with a front beam, the front beam is provided with four pin shaft holes, and the pin shaft 534 simultaneously penetrates through the pin shaft holes of the front beam.

Further, the rear beam 515 is higher than the horizontal position of the front beam, and the height of the rear beam 515 is adjustable.

Further, the number of the fluency strip assemblies 52 is eight, and the eight assemblies are divided into two groups and symmetrically arranged left and right.

Further, limiting plate 532, limiting plate frame 533, round pin axle 534, axle sleeve 535, lubrication pad 536 set up four respectively, and the quantity corresponds equally respectively, lubrication pad 536 is installed between connecting rod 531, limiting plate 532.

Further, the first pulley assembly 54 includes a pulley P and a pulley frame one 541, the pulley frame one 541 is fixed on the structure body 511, and the pulley P is installed on the pulley frame one 541; the second pulley assembly 55 includes a pulley P, a second pulley frame 551 and a pulley shaft 552, the second pulley frame 551 is fixed on the structure body 511, and the pulley P is mounted on the second pulley frame 551 through the pulley shaft 552.

Further, the tension spring holder 57 is provided with seven tension spring mounting holes for adjusting the mounting position of the tension spring 58.

Specifically, as shown in fig. 11, a traction mobile robot includes a traction mobile robot and a material vehicle sliding device, the traction mobile robot includes a mobile robot 1 and a traction tool 2, and the traction tool 2 is installed on the mobile robot 1; the traction tool 2 is provided with a traction piece 21, the traction mobile robot submerges the bottom of the material vehicle 3, and the material vehicle 3 is pushed to run by automatically stretching out and locking a clamping hand 31 of the material vehicle 3 through the traction piece 21.

As shown in fig. 12, 13 and 14, a shelf system includes a shelf 4 and a material vehicle sliding device, where the shelf 4 includes a main frame 41, a front frame 42, a rear frame 43, a shelf fluency strip assembly 44 and feature identification plates 45, the rear frame 43 is provided with anti-collision rubber, the shelf fluency strip assembly 44 is provided with twenty-four and divided into six groups, and the feature identification plates 45 are provided with three and fixed on the ground below the shelf fluency strip assembly 44; the material trolley 3 runs to the goods shelf 4 and is positioned by the characteristic identification plate 45, the follower on the right side contacts the front frame 42 to move backwards, the steel wire rope is driven to move backwards, the connecting rod 531 is driven to move rightwards, the limiting plate 532 is driven to rotate to be horizontal, and the material box 6 automatically slides to the goods shelf fluency strip assembly 44 under the action of gravity; the left follower and the right follower are contacted with the front frame 42 at the same time and move backwards, the left follower plays a role in balancing the material trolley 3, and the left steel wire rope only penetrates through the steel wire rope mounting hole of the left tail plate and is directly connected with the left tension spring 58.

The working principle of the utility model is as follows:

the traction mobile robot is submerged into the bottom of the material vehicle 3, and the material vehicle 3 is pushed to run by automatically extending the traction piece 21 and locking a clamping hand 31 of the material vehicle 3; the material trolley 3 runs to the goods shelf 4 and is positioned through the characteristic identification plate 45, the follower 561 on the right side contacts the front frame 42 to move backwards, the tail plate arranged on the straight line shaft on the right side is driven to move backwards, the steel wire rope on the right side is driven to move backwards, the connecting rod 531 is driven to move rightwards, the limiting plate 532 is driven to rotate to be horizontal, the material box 6 automatically slides to the goods shelf fluency strip assembly 44 under the action of gravity, and the unloading process is completed. The left follower and the right follower simultaneously contact the front frame 42 to move backwards, the left follower plays a role in balancing the material trolley 3, and the left steel wire rope only penetrates through the steel wire rope mounting hole of the left tail plate and is directly connected with the left tension spring 58. The follower 561 is separated from the front frame 42, and the follower 561 is reset by the compression spring 567 and drives the linear shaft 562 to do reset movement, so as to drive the steel wire rope to move, and further drive the connecting rod 531 to reset by the steel wire rope.

The present invention has been described in detail with reference to specific embodiments, which are intended to assist in understanding the core concepts of the present invention. It should be understood that any obvious modifications, equivalents and other improvements made by those skilled in the art without departing from the spirit of the present invention are intended to be included within the scope of the present invention.

Claims (9)

1. The utility model provides a material car touches smooth device which characterized in that: the material trolley is provided with a clamping hand; the sliding contact device comprises a structural component, a fluency strip component, a connecting rod component, a pulley component I, a pulley component II, a follower component, a tension spring support and a tension spring, the sliding contact device is fixed on a material vehicle, the structural component comprises a structural main body, a left frame, a right frame, a middle partition and a back beam, the structural main body is fixed on the material vehicle, the left frame, the right frame and the back beam are fixed on the structural main body, the middle partition is fixed on the structural main body and the back beam, the fluency strip component comprises fluency strips and two fluency strip frames, the fluency strips are fixed on the structural component along the material advancing direction through the fluency strip frames, the connecting rod component comprises a connecting rod, a limiting plate frame, a pin shaft sleeve and a lubricating pad, the connecting rod and the limiting plate are respectively provided with shaft sleeve holes, the shaft sleeve penetrates through the shaft sleeve holes of the connecting rod and the limiting plate, and a fastener I penetrates through the shaft sleeve to connect the connecting rod and the limiting plate together, the limiting plate and the limiting plate frame are respectively provided with pin shaft holes, the pin shaft is provided with a through hole along the axis direction and penetrates through the pin shaft holes of the limiting plate and the limiting plate frame, the second fastening piece penetrates through the pin shaft through hole to connect the limiting plate and the limiting plate frame together, the limiting plate frame is provided with mounting holes, the third fastening piece penetrates through the mounting holes of the limiting plate frame to connect the limiting plate frame with the structure main body together, the connecting rod is further provided with two steel wire rope mounting holes, the connecting rod assembly is located at the front part of the structure assembly, the connecting rod assembly is connected with the structure assembly through the limiting plate frame, the first pulley assembly is provided with two groups and is symmetrically arranged on the left and right, the first pulley assembly is located at the front face of the structure main body, the second pulley assembly is provided with two groups and is symmetrically arranged on the left and right, the second pulley assembly is located at the front bottom face of the structure main body, the follower assemblies are provided with two groups and are symmetrically arranged on the left and right, and comprise followers, The linear bearing is arranged on the linear bearing frame, the linear bearing frame is fixed on the structure main body, the linear bearing frame is provided with two limiting strips, the limiting sleeve, the tail plate and the compression spring are arranged on the linear shaft, the tail plate is provided with a steel wire rope mounting hole, the tension spring support is fixed on the left side of the structure main body, one end of a tension spring is arranged on the tension spring support, and the other end of the tension spring is connected with the steel wire rope,

touch smooth device still includes wire rope, wire rope sets up two, the wire rope on right side passes the wire rope mounting hole of the tailboard of installing the follower subassembly on main structure right side, and be in the same place with the tailboard is fixed, through pulley assembly two on right side, pulley assembly one on right side, pass connecting rod right side wire rope mounting hole, and be in the same place with the connecting rod is fixed, left wire rope passes connecting rod left side wire rope mounting hole, and be in the same place with the connecting rod is fixed, through left pulley assembly one, left pulley assembly two, the wire rope mounting hole of the tailboard of left follower subassembly, link together with the other end couple of extension spring.

2. The material vehicle touch and slide device according to claim 1, wherein the structural body is provided with a front beam, the front beam is provided with a plurality of pin shaft holes, and the pin shaft simultaneously penetrates through the pin shaft holes of the front beam.

3. The material vehicle sliding apparatus according to claim 2, wherein the rear beam is higher than the front beam in horizontal position, and the rear beam is adjustable in height.

4. The material vehicle touch and slide device according to claim 1, wherein the fluent strip assembly is provided in plurality, divided into two groups, and symmetrically arranged left and right.

5. The material vehicle touch and slide device according to claim 1, wherein the limiting plate, the limiting plate frame, the pin shaft, the shaft sleeve and the lubricating pad are respectively arranged in a plurality of numbers, the numbers of the limiting plate frame, the pin shaft, the shaft sleeve and the lubricating pad are respectively and correspondingly equal, and the lubricating pad is arranged between the connecting rod and the limiting plate.

6. The material vehicle touch sliding device according to claim 1, wherein the pulley assembly I comprises a pulley and a pulley bracket I, the pulley bracket I is fixed on the structure main body, and the pulley is arranged on the pulley bracket I; the pulley component II comprises a pulley, a pulley yoke II and a pulley shaft, the pulley yoke II is fixed on the structure main body, and the pulley is installed on the pulley yoke II through the pulley shaft.

7. The material vehicle touch and slide device according to claim 1, wherein the tension spring support is provided with a plurality of tension spring mounting holes for adjusting the mounting positions of tension springs.

8. A traction mobile robot, characterized in that: comprises a traction mobile robot and a material vehicle sliding contact device according to any one of claims 1 to 7; the traction mobile robot comprises a mobile robot and a traction tool, and the traction tool is arranged on the mobile robot; the traction tool is provided with a traction piece, the traction mobile robot submerges into the bottom of the material trolley, and the material trolley is pushed to operate by automatically stretching out and locking a clamping hand of the material trolley through the traction piece.

9. A shelving system, characterized by: comprising a goods shelf and a material trolley sliding device according to any one of claims 1 to 7; the goods shelf comprises a main frame, a front frame, a rear frame, a goods shelf fluency strip assembly and a plurality of characteristic identification plates, wherein the characteristic identification plates are fixed on the ground below the goods shelf fluency strip assembly; the material trolley runs to the goods shelf and is positioned by the characteristic identification plate, the follower on the right side is contacted with the front frame to move backwards to drive the tail plate arranged on the linear shaft on the right side to move backwards, the steel wire rope on the right side is driven to move backwards, the connecting rod is driven to move rightwards, the limiting plate is driven to rotate to be horizontal, and the material box automatically slides to the smooth strip of the goods shelf under the action of gravity; the left follower and the right follower are simultaneously contacted with the front frame to move backwards, and the left steel wire rope only passes through the steel wire rope mounting hole of the left tail plate and is directly connected with the left tension spring.

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