CN219078357U - Article bearing and conveying device and mobile robot - Google Patents

Abstract

The utility model relates to an article bearing and conveying device and a mobile robot, which comprises a main body, a conveying roller, a rotary jacking component and a guide mechanism, wherein the rotary jacking component is used for lifting and steering materials, the guide mechanism is used for guiding the materials when the materials are conveyed on the conveying roller, the rotary jacking component can move in the vertical direction, the guide mechanism can move along the axial direction of the conveying roller, when the rotary jacking component does not work, the bearing mechanism is flush with or lower than the conveying roller, the guide member can be adjusted according to the width of the materials, the guide member can be arranged above the bearing mechanism, can also be positioned at two sides of the bearing mechanism, and when the rotary jacking component is required to lift the materials and steer the materials, the bearing mechanism can be higher than the highest position of the conveying roller, so that the materials leave the surface of the conveying roller, the guide member moves to a position far away from the bearing mechanism, the guide member is prevented from being collided when the bearing mechanism moves upwards, and the rotary jacking component can work normally.

Description

Article bearing and conveying device and mobile robot

Technical Field

The utility model relates to the field of article transportation, in particular to an article bearing and conveying device and a mobile robot.

Background

In modern production processes, with the increasing popularity of automated production, the context of material handling by conveyor devices is also increasingly being used. In order to facilitate material steering, a material steering device is generally arranged on the existing conveying device, and comprises a rotary jacking device embedded in a conveying roller line, wherein the rotary jacking device can jack and rotate relative to the conveying roller line, and the material is steered when appropriate, so that the conveying requirement of the material is met. On some existing conveying devices, a guide member is provided on the conveying roller line for guiding the material. If the guide piece is arranged on the conveying device with the material steering device capable of lifting, the guide piece can interfere with the material steering device, and the normal use of the material steering device is affected.

Disclosure of Invention

The utility model aims to overcome the defects in the prior art, and provides an article bearing and conveying device and a mobile robot.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

an article carrying and conveying device comprising:

a main body;

a plurality of conveying rollers which are arranged on the main body at intervals;

the rotary jacking assembly comprises a bearing mechanism, a rotating mechanism and a jacking mechanism, wherein the jacking mechanism drives the bearing mechanism to move along the vertical direction and has a jacking state higher than the highest position of the conveying roller, and the rotating mechanism drives the bearing mechanism to rotate by taking the vertical direction as the center;

the guide mechanism comprises a guide piece and a guide power source connected with the guide piece, wherein the guide piece is positioned above the conveying roller and can move along the axial direction of the conveying roller under the action of the guide power source, and the guide piece is arranged above or far away from the bearing mechanism.

Preferably, the number of the guide pieces is at least 2, and the guide pieces are oppositely arranged at two sides of the main body;

the guide pieces on two sides are driven by the guide power source to move in opposite directions so as to reduce the distance between the guide pieces;

the guide parts on two sides are driven by the guide power source to move oppositely so as to increase the distance between the guide parts;

when the bearing mechanism is driven by the jacking mechanism to move to be higher than the highest position of the conveying roller, the distance between the guide pieces is larger than the width of the bearing mechanism along the axial direction of the conveying roller.

Preferably, the number of the guiding power sources corresponds to the number of the guiding elements, and one guiding power source is in direct transmission connection with one guiding element; or alternatively, the process may be performed,

the number of the guide power sources is smaller than that of the guide pieces, and the guide power sources are in indirect transmission connection with the guide pieces through a first transmission assembly;

the main body is provided with a guide groove axially arranged along the conveying roller, the guide power source and the first transmission assembly are both positioned below the conveying roller, the lower end of the guide piece is provided with an extension part, and the extension part penetrates through the guide groove and is in transmission connection with the guide power source.

Preferably, the carrying mechanism comprises at least a first carrying member arranged along the axial direction of the conveying roller, and the width of the first carrying member in the conveying direction of the conveying roller is smaller than the interval between the conveying rollers; and/or

The conveying rollers comprise short conveying rollers, the axial length of the short conveying rollers is smaller than that of the main body of 1/2, the short conveying rollers are arranged side by side along the axial direction, an installation gap is formed in the conveying direction of the conveying rollers, the bearing mechanism at least comprises a second bearing piece arranged along the conveying direction of the conveying rollers, and the axial width of the second bearing piece along the conveying rollers is smaller than that of the installation gap.

Preferably, the rotary jacking assembly further comprises a mounting bracket, the bearing mechanism is arranged above the mounting bracket, and the rotary mechanism is arranged below the mounting bracket and penetrates through the mounting bracket to drive the bearing mechanism to rotate;

the jacking mechanism is in transmission connection with the mounting bracket and drives the mounting bracket, the rotating mechanism and the bearing mechanism on the mounting bracket to move along the vertical direction.

Preferably, the jacking mechanism comprises a jacking power source,

the output end of the jacking power source is directly in transmission connection with the mounting bracket or the bearing mechanism; or alternatively

The output end of the jacking power source is indirectly in transmission connection with the mounting bracket or the bearing mechanism through a second transmission assembly;

the second transmission assembly comprises a connecting shaft fixedly connected with the mounting bracket or the bearing mechanism and an eccentric structure connected with the output end of the jacking power source, and the connecting shaft is in transmission fit with the eccentric structure to drive the mounting bracket or the bearing mechanism to move up and down.

Preferably, a first guide part is arranged on one side, close to the jacking mechanism, of the mounting bracket, a second guide part is arranged on one side, close to the mounting bracket, of the jacking mechanism, and the first guide part is in vertical sliding fit with the second guide part;

and/or

The signal induction piece has been set firmly on the installing support, climbing mechanism or the interval is equipped with upper limit travel switch and lower limit travel switch on the main part, upper limit travel switch with the removal upper limit position of signal induction piece corresponds, lower limit travel switch with the removal lower limit position of signal induction piece corresponds.

Preferably, the rotation mechanism comprises a rotary power source,

the output end of the rotary power source is directly in transmission connection with the bearing mechanism; or alternatively

The rotary power source is in indirect transmission connection with the bearing mechanism through a third transmission assembly;

the rotating mechanism further comprises an angle detection assembly for detecting the rotation angle of the bearing mechanism.

Preferably, the main body is further provided with a blocking mechanism, the blocking mechanism comprises a blocking power source and a blocking plate, and the blocking plate is arranged at an upstream position and/or a downstream position in the conveying direction of the conveying roller;

the output shaft of the blocking power source is connected with the blocking plate, or the blocking mechanism further comprises a blocking transmission piece, and the blocking plate is connected with the output shaft of the blocking power source through the blocking transmission piece;

the blocking power source drives the blocking plate to move upwards along the vertical direction, and the blocking plate is higher than the highest position of the conveying roller; the blocking power source drives the blocking plate to move downwards along the vertical direction, and the blocking plate is lower than the highest position of the conveying roller.

In order to achieve the above purpose, the present utility model further adopts the following technical scheme:

the mobile robot comprises a chassis, the article bearing and conveying device is arranged on the chassis, the main body is fixedly connected with the chassis, and the conveying roller is positioned above the chassis.

Compared with the prior art, the utility model has the beneficial effects that:

according to the technical scheme, the article bearing and conveying device comprises the rotary jacking component and the guide mechanism, wherein the rotary jacking component is used for lifting materials and steering the materials, the guide mechanism is used for guiding the materials when the materials are conveyed on the conveying roller, in order to prevent the rotary jacking component and the guide mechanism from interfering with each other, the rotary jacking component is arranged to be capable of moving in the vertical direction, the guide mechanism is arranged to be capable of moving along the axial direction of the conveying roller, when the rotary jacking component does not work, the bearing mechanism is flush with or lower than the conveying roller, the guide member can be adjusted according to the width of the materials, can be arranged above the bearing mechanism, can also be positioned on two sides of the bearing mechanism, and when the rotary jacking component is required to lift the materials and steer the materials, the bearing mechanism can be higher than the highest position of the conveying roller, so that the materials leave the surface of the conveying roller, and the guide member moves to a position away from the bearing mechanism, and when the bearing mechanism is prevented from moving upwards, the bearing mechanism collides with the guide member, and the rotary jacking component can work normally.

The mobile robot can not only finish normal transportation and steering of materials, but also provide limited guiding for the materials through the guiding mechanism, and the guiding mechanism can not interfere the steering of the materials, and can continuously play a role in guiding the transportation of the materials after the steering of the materials is finished.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of an article carrying and conveying device according to an embodiment of the present utility model.

Fig. 2 is a schematic side view of the article carrying and conveying device shown in fig. 1, wherein the guide member is disposed above the carrying mechanism.

Fig. 3 is a schematic top view of the article carrying and conveying device shown in fig. 2.

Fig. 4 is a schematic side view of the article carrying and conveying device of fig. 1, wherein the guide is located away from the carrying mechanism.

Fig. 5 is a schematic top view of the article carrying and conveying device shown in fig. 4.

Fig. 6 is a schematic bottom view of the article-carrying conveyor of fig. 1.

Fig. 7 is a schematic structural diagram of a rotary jack assembly according to an embodiment of the present utility model.

Fig. 8 is a schematic view illustrating another angle of the rotary jack assembly according to the embodiment of the present utility model.

Fig. 9 is a schematic structural view of a bearing mechanism and a rotating mechanism according to an embodiment of the present utility model.

Fig. 10 is a schematic structural diagram of a lifting mechanism according to an embodiment of the utility model.

Reference numerals illustrate:

10. a main body; 11. a mounting edge; 12. a mounting plate; 13. a guide groove;

20. a conveying roller; 21. a long conveying roller; 22. a short conveying roller; 23. a mounting gap;

30. a carrying mechanism; 31. a first carrier; 32. a second carrier; 33. a circular platform;

40. a rotation mechanism; 41. a rotating electric machine; 42. a first drive shaft; 43. an encoder; 44. a second drive shaft;

50. a jacking mechanism; 51. a second guide part; 52. an upper limit travel switch; 53. a lower limit travel switch; 54. a first gear; 55. a second gear; 56. a cam; 57. lifting the power source;

60. a guide mechanism; 61. a guide member; 611. an extension; 62. guiding a power source; 63. a first transmission assembly; 631. a belt; 632. a driving wheel; 633. a slide rail; 634. a slide block;

70. a mounting bracket; 71. a first guide part; 72. a signal sensing piece; 73. a connecting shaft;

80. a blocking mechanism; 81. blocking the power source; 82. and a blocking plate.

Detailed Description

The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

As shown in fig. 1 to 10, the embodiment of the present utility model provides an article carrying and conveying device, which includes a main body 10, a conveying roller 20, a rotary lifting assembly and a guiding mechanism 60, wherein the main body 10 is used as a mounting base for mounting the conveying roller 20, the rotary lifting assembly and the guiding mechanism 60, as shown in fig. 1, the main body 10 includes mounting edges 11 and mounting plates 12 positioned at two sides of the conveying roller 20, the conveying roller 20 is provided in plurality and is arranged between the mounting edges 11 of the main body 10 at intervals, and is positioned above the mounting plates 12, the conveying roller 20 can rotate relative to the main body 10 to drive the material to move along the conveying direction, preferably, the conveying roller 20 can rotate positively and negatively to change the conveying direction of the material; since both ends of the conveying roller 20 in the axial direction are connected to the main body 10, the conveying direction is perpendicular to the axial direction of the conveying roller 20.

The rotary jacking assembly is used for lifting materials and steering the materials, the rotary jacking assembly comprises a bearing mechanism 30, a rotating mechanism 40 and a jacking mechanism 50, the jacking mechanism 50 drives the bearing mechanism 30 to move in the vertical direction, so that the bearing mechanism 30 can lift the materials on the bearing mechanism 30, when the bearing mechanism 30 does not work, the bearing mechanism 30 can be flush with the highest position of the conveying roller 20 or lower than the highest position of the conveying roller 20, meanwhile, the bearing mechanism 30 has a jacking state higher than the highest position of the conveying roller 20, the materials can leave the surface of the conveying roller 20, the rotating mechanism 40 drives the bearing mechanism 30 to rotate by taking the vertical direction as a center, the materials are driven to steer, the rotation angle of the materials can be fixed, such as 90 DEG and 180 DEG, and the like, and can be automatically adjusted according to practical conditions, such as the rotation angle of the program control rotating mechanism 40, and the rotation angle can be any angle between 0 DEG and 360 deg.

The guiding mechanism 60 is used for providing limited guiding to the materials and standardizing the transportation angle of the materials, the guiding mechanism 60 comprises a guiding piece 61 and a guiding power source 62 connected with the guiding piece 61, the guiding piece 61 is located above the conveying roller 20 and can move along the axial direction of the conveying roller 20 under the action of the guiding power source 62, and the guiding piece 61 is placed above the bearing mechanism 30 or away from the bearing mechanism 30.

In order to avoid the interference between the rotating lifting assembly and the guide mechanism 60, the rotating lifting assembly is arranged to be capable of moving along the vertical direction, the guide mechanism 60 is arranged to be capable of moving along the axial direction of the conveying roller 20, when the rotating lifting assembly does not work, the bearing mechanism 30 is flush with the conveying roller 20 or lower than the conveying roller 20, the guide piece 61 can be adjusted according to the width of the material, can be arranged above the bearing mechanism 30 or can be positioned at two sides of the bearing mechanism 30, when the rotating lifting assembly is required to lift the material and turn the material, the bearing mechanism 30 is higher than the highest position of the conveying roller 20, so that the material leaves the surface of the conveying roller 20, and the guide piece 61 moves to a position far away from the bearing mechanism 30, and when the bearing mechanism 30 is prevented from moving upwards, the guide piece 61 is collided, and the rotating lifting assembly can work normally.

As shown in fig. 2 to 5, the number of the guide pieces 61 is at least 2, and the guide pieces 61 are oppositely arranged at two sides of the main body 10, the distance between the guide pieces 61 at two sides can be adjusted according to the width of the material, in particular, as shown in fig. 2 and 3, when the material is smaller or the width is narrower, the guide pieces 61 at two sides are driven by the guide power source 62 to move towards each other so as to reduce the distance between the guide pieces 61, and the distance between the guide pieces 61 is adjusted to a position suitable for the width of the material, so that the guide pieces 61 at two sides can provide limited guide for the left and right sides of the material; as shown in fig. 4 and fig. 5, when the material is larger or has a wider width, the guide members 61 on both sides are moved back to each other by the driving of the guide power source 62 to increase the distance between the guide members 61 and adjust to a position suitable for the width of the material, so that the guide members 61 on both sides can provide limited guidance for both left and right sides of the material. When the rotary lifting assembly works and the bearing mechanism 30 is driven by the lifting mechanism 50 to move to a position higher than the highest position of the conveying roller 20, the distance between the guide members 61 is larger than the width of the bearing mechanism 30 along the axial direction of the conveying roller 20, so that the guide members 61 are prevented from interfering with the lifting of the bearing mechanism 30.

The specific structure of the guiding mechanism 60 is various, in some embodiments, the number of guiding power sources 62 corresponds to the number of guiding elements 61, one guiding power source 62 is directly connected with one guiding element 61 in a transmission way, for example, the guiding power source 62 is a cylinder or a hydraulic cylinder, the output end of the cylinder or the hydraulic cylinder is directly connected with the guiding element 61, the guiding element 61 is driven to move by the expansion and contraction of the output end, the cylinder and the guiding element 61 are both positioned above the conveying roller 20, and the cylinder can be arranged at two sides of the main body 10; in other embodiments, the number of guiding power sources 62 is less than the number of guiding elements 61, and the guiding power sources 62 are indirectly connected with the guiding elements 61 in a driving way through a first driving assembly 63, and the first driving assembly 63 is a screw nut, or belt 631 driving, or a rack and pinion, etc. The guide 61 of the present embodiment is an elongated plate-like structure.

In the specific example shown in fig. 6, the guiding power source 62 is a motor, the first transmission assembly 63 is a belt 631 transmission assembly, the belt 631 transmission assembly includes a belt 631, driving wheels 632 located at two ends of the belt 631, one driving wheel 632 is in transmission connection with an output shaft of the motor, the driving wheel 632 rotates to drive the belt 631 to rotate, one guiding element 61 is fixedly connected with an upper layer of the belt 631, the other guiding element 61 is fixedly connected with a lower layer of the belt 631, and during the rotation process of the belt 631, the two guiding elements 61 move relatively or oppositely.

In order to improve stability of the guide member 61, as shown in fig. 6, a set of first transmission assemblies 63 are respectively disposed at two ends of the guide member 61, corresponding to each other, a guide groove 13 is disposed on the main body 10 along the axial direction of the conveying roller 20, the guide power source 62 and the first transmission assemblies 63 are both disposed below the conveying roller 20 and also on the lower surface of the mounting plate 12, the lower end of the guide member 61 has an extension portion 611, and the extension portion 611 passes through the guide groove 13 to be in transmission connection with the guide power source 62, and moves back and forth in the guide groove 13 under the action of the first transmission assemblies 63. The guides 61 on both sides are moved synchronously relative to each other or synchronously back to back based on the belt 631 transport.

Preferably, the first transmission assembly 63 further comprises a guide rail assembly, as shown in fig. 6, the guide rail assembly comprises a sliding rail 633 arranged on the bottom surface of the main body 10, and a sliding block 634 fixedly connected with the extension portion 611 of the guide member 61, the extending direction of the sliding rail 633 is the moving direction of the guide member 61, and the sliding block 634 is in sliding fit with the sliding rail 633, so that the guide member 61 moves along the sliding rail 633 during moving, thereby ensuring that the two guide members 61 always move in parallel opposite or opposite directions.

The specific structure of the carrying mechanism 30 is also various, in some embodiments, the carrying mechanism 30 is a first carrying member 31 axially disposed along the conveying roller 20, the width of the first carrying member 31 in the conveying direction of the conveying roller 20 is smaller than the interval between the conveying rollers 20, the first carrying members 31 are long-strip-shaped, the number is greater than or equal to 1, and when the number of the first carrying members 31 is greater than or equal to 2, the first carrying members 31 are respectively located in the gaps between the different conveying rollers 20, and synchronously lift and synchronously rotate.

In other embodiments, the conveying roller includes a short conveying roller 22, the axial length of the short conveying roller 22 is less than the axial length of the main body 10 of 1/2, the short conveying roller 22 is disposed side by side along the axial direction, and the installation gap 23 is formed in the conveying roller conveying direction, the bearing mechanism 30 is a second bearing member 32 disposed along the conveying roller conveying direction, the width of the second bearing member 32 along the conveying roller axial direction is less than the installation gap 23, at this time, the second bearing member 32 is in a strip-shaped structure, the arrangement direction is the same as the arrangement direction of the guide member 61, therefore, the second bearing member 32 cannot interfere with the guide member 61 during lifting, and at this time, the second bearing member 32 can be lifted to a height higher than the highest position of the guide member 61, then the rotation of the second bearing member 32 cannot interfere with the guide member 61, and the rotary lifting assembly can work normally.

In another embodiment, as shown in fig. 5, the carrying mechanism 30 of the present embodiment includes a first carrying member 31 disposed along the axial direction of the carrying roller and a second carrying member 32 disposed along the carrying roller transporting direction, the carrying roller includes a short carrying roller 22 and a long carrying roller 21, the short carrying roller 22 has an axial length smaller than that of the main body 10 of 1/2, the short carrying roller 22 is disposed side by side in the axial direction and forms a mounting gap 23 in the carrying roller transporting direction, the long carrying roller 21 is disposed upstream and downstream in the transporting direction, the short carrying roller 22 is disposed between the long carrying rollers 21, the width of the first carrying member 31 in the transporting direction is smaller than the pitch of the carrying rollers, the width of the second carrying member 32 in the transporting roller axial direction is smaller than the mounting gap 23, the first carrying member 31 and the second carrying member 32 form a cross-shaped carrying platform, and preferably, the carrying mechanism 30 further includes a circular platform 33, the first carrying member 31 and the second carrying member 32 are disposed circumferentially on the circular platform 33, so that the carrying mechanism 30 has a sufficient contact area with the material to enhance the stability and the material in the lifting and steering process.

In this embodiment, the lifting mechanism 50 drives the carrying mechanism 30 to move along the vertical direction, and the rotating mechanism 40 can synchronously lift along with the carrying mechanism 30, or only the carrying mechanism 30 lifts, i.e. the lifting mechanism 50 is directly connected with the carrying mechanism 30 to drive the carrying mechanism 30 to lift, but the rotating mechanism 40 does not move. In order to simplify the structure of the rotating mechanism 40, enhance the connection stability of the rotating mechanism 40 and the bearing mechanism 30 and the rotation stability of the bearing mechanism 30, the bearing mechanism 30 and the rotating mechanism 40 are installed together and lifted synchronously in the embodiment of the utility model.

Specifically, as shown in fig. 7 to 9, the rotary jacking assembly further includes a mounting bracket 70, the bearing mechanism 30 is disposed above the mounting bracket 70, and the rotating mechanism 40 is disposed below the mounting bracket 70 and penetrates through the mounting bracket 70 to drive the bearing mechanism 30 to rotate.

The jacking mechanism 50 is in transmission connection with the mounting bracket 70, and drives the mounting bracket 70, the rotating mechanism 40 and the bearing mechanism 30 on the mounting bracket to move along the vertical direction. In order to keep the mounting bracket 70 vertical and stable all the time in the lifting process, a first guide portion 71 is provided on the side of the mounting bracket 70 close to the lifting mechanism 50, a second guide portion 51 is provided on the side of the lifting mechanism 50 close to the mounting bracket 70, the first guide portion 71 is in vertical sliding fit with the second guide portion 51, the first guide portion 71 may be a sliding block with a sliding groove, correspondingly, the second guide portion 51 is a guide rail matched with the sliding groove, or the first guide portion 71 is a guide rail, correspondingly, the second guide portion 51 is a sliding block matched with the guide rail.

In order to control the lifting displacement of the bearing mechanism 30, the mounting bracket 70 is fixedly provided with a signal sensing piece 72, the lifting mechanism 50 or the main body 10 is provided with an upper limit travel switch 52 and a lower limit travel switch 53 at intervals, when the signal sensing piece 72 moves into the upper limit travel switch 52 or the lower limit travel switch 53, a stop signal or a reverse rotation signal is triggered to the lifting mechanism 50, the upper limit travel switch 52 corresponds to the upper movement limit position of the signal sensing piece 72, and the lower limit travel switch 53 corresponds to the lower movement limit position of the signal sensing piece 72, so that the guiding limit during the up-down movement of the mounting bracket 70 is realized, and the lifting distance of the bearing mechanism 30 is controlled.

The jacking mechanism 50 includes a jacking power source 57, and in some embodiments, an output end of the jacking power source 57 is directly connected with the mounting bracket 70 or the bearing mechanism 30 in a transmission manner, for example, the jacking power source 57 is an air cylinder or a hydraulic cylinder, and an output end of the jacking power source 57 is directly connected with the mounting bracket 70 or the bearing mechanism 30 or the rotating mechanism 40 to push the bearing mechanism 30;

in other embodiments, the output end of the jacking power source 57 is indirectly connected with the mounting bracket 70 or the bearing mechanism 30 through a second transmission assembly, the second transmission assembly includes a connecting shaft 73 fixedly connected with the mounting bracket 70 or the bearing mechanism 30 and an eccentric structure connected with the output end of the jacking power source 57, and the connecting shaft 73 is in transmission fit with the eccentric structure to drive the mounting bracket 70 or the bearing mechanism 30 to move up and down.

Specifically, as shown in fig. 9 and fig. 10, the lifting power source 57 is a motor, the eccentric structure includes an eccentric wheel or cam 56, and further includes a gear set, the gear set includes a first gear 54 fixedly connected to an output shaft of the motor, a second gear 55 meshed with the first gear 54, the eccentric wheel or cam 56 is eccentrically disposed on the second gear 55, and in a process of rotating the second gear 55, the eccentric wheel or cam 56 periodically lifts the connecting shaft 73 to provide an upward force to the mounting bracket 70 or the bearing mechanism 30, so that the bearing mechanism 30 rises under the action of the eccentric structure and falls under the action of gravity.

The specific structure of the rotating mechanism 40 also has various types, and in some embodiments, the rotating mechanism 40 includes a rotating power source, an output end of the rotating power source is directly connected with the bearing mechanism 30 in a transmission manner, and the rotating power source is a rotating motor. In other embodiments, the rotary power source is indirectly connected to the bearing mechanism 30 through a third transmission assembly, the third transmission assembly may be a set of transmission wheels 632, the bearing mechanism 30 includes a circular platform 33 located at the center, the set of transmission wheels 632 includes a first transmission wheel 632 fixedly connected to the circular platform 33, and a second transmission wheel 632 fixedly connected to the output end of the rotary motor 41, and the first transmission wheel 632 is in transmission fit with the second transmission wheel 632 to drive the bearing mechanism 30 to rotate.

Preferably, the rotating mechanism 40 further comprises an angle detecting component for detecting the rotation angle of the carrying mechanism 30, so that the rotating mechanism 40 can control the rotation angle of the carrying mechanism 30 and the materials thereon. The angle detection assembly comprises a first transmission shaft 42 which rotates synchronously with the bearing mechanism 30, an encoder 43 and a second transmission shaft 44 which is connected with the encoder 43, wherein the first transmission shaft 42 and the second transmission shaft 44 can synchronously transmit through a belt 631, so that the encoder 43 is driven to detect and record the rotation angle of the bearing mechanism 30, and a rotation angle signal is obtained; alternatively, the angle detection component is an angle control unit of the rotating motor 41, and the rotation angle of the bearing mechanism 30 is judged by the rotation angle of the output shaft of the rotating motor 41; or other conventional angle detection sensors, etc.

Preferably, in some embodiments, as shown in fig. 2, 3 and 6, the main body 10 is further provided with a blocking mechanism 80, where the blocking mechanism 80 includes a blocking power source 81 and a blocking plate 82, and the blocking plate 82 is disposed at an upstream position and/or a downstream position in the conveying direction of the conveying roller 20; the blocking power source 81 drives the blocking plate 82 to move upwards along the vertical direction, and the blocking plate 82 is higher than the highest position of the conveying roller 20, so that stopping of materials is realized; the blocking power source 81 drives the blocking plate 82 to move downwards in the vertical direction, the blocking plate 82 is lower than the highest position of the conveying roller 20, and the limitation on materials is relieved.

In some embodiments, the blocking power source 81 is a cylinder or a hydraulic cylinder, and the output shaft is directly connected to the blocking plate, or in other embodiments, the blocking mechanism 80 further includes a blocking transmission member (not shown), where the blocking plate 82 is connected to the output shaft of the blocking power source 81 through the blocking transmission member, the blocking power source 81 is a motor, the blocking transmission member is an eccentric mechanism, and the blocking plate is pushed by the eccentric mechanism, which is a conventional structure and will not be described herein.

The utility model also provides a mobile robot which comprises a chassis, wherein the article carrying and conveying device is arranged on the chassis, the main body 10 is fixedly connected with the chassis, and the conveying roller is positioned above the chassis. The chassis may be a stationary chassis, or a mobile chassis, having space within the chassis for mounting the rotary jacking assembly and guide mechanism 60 for shielding and protecting the rotary power source, jacking power source, drive assembly, etc. therein, as well as other electrical equipment.

The above embodiments are only preferred embodiments of the present utility model, and the scope of the present utility model is not limited thereto, but any insubstantial changes and substitutions made by those skilled in the art on the basis of the present utility model are intended to be within the scope of the present utility model as claimed.

Claims (10)

1. An article carrying and conveying device, comprising:

a main body;

a plurality of conveying rollers which are arranged on the main body at intervals;

the rotary jacking assembly comprises a bearing mechanism, a rotating mechanism and a jacking mechanism, wherein the jacking mechanism drives the bearing mechanism to move along the vertical direction and has a jacking state higher than the highest position of the conveying roller, and the rotating mechanism drives the bearing mechanism to rotate by taking the vertical direction as the center;

the guide mechanism comprises a guide piece and a guide power source connected with the guide piece, wherein the guide piece is positioned above the conveying roller and can move along the axial direction of the conveying roller under the action of the guide power source, and the guide piece is arranged above or far away from the bearing mechanism.

2. The article carrying conveyor of claim 1, wherein the number of guides is at least 2 and is oppositely disposed on either side of the body;

the guide pieces on two sides are driven by the guide power source to move in opposite directions so as to reduce the distance between the guide pieces;

the guide parts on two sides are driven by the guide power source to move oppositely so as to increase the distance between the guide parts;

when the bearing mechanism is driven by the jacking mechanism to move to be higher than the highest position of the conveying roller, the distance between the guide pieces is larger than the width of the bearing mechanism along the axial direction of the conveying roller.

3. The article carrying and transporting device of claim 2, wherein,

the number of the guide power sources corresponds to the number of the guide pieces, and one guide power source is in direct transmission connection with one guide piece; or alternatively, the process may be performed,

the number of the guide power sources is smaller than that of the guide pieces, and the guide power sources are in indirect transmission connection with the guide pieces through a first transmission assembly;

the main body is provided with a guide groove axially arranged along the conveying roller, the guide power source and the first transmission assembly are both positioned below the conveying roller, the lower end of the guide piece is provided with an extension part, and the extension part penetrates through the guide groove and is in transmission connection with the guide power source.

4. The article carrying and conveying device according to claim 1, wherein the carrying mechanism includes at least a first carrying member disposed along an axial direction of the conveying rollers, a width of the first carrying member in a conveying direction of the conveying rollers being smaller than a pitch of the conveying rollers; and/or

The conveying rollers comprise short conveying rollers, the axial length of the short conveying rollers is smaller than that of the main body of 1/2, the short conveying rollers are arranged side by side along the axial direction, an installation gap is formed in the conveying direction of the conveying rollers, the bearing mechanism at least comprises a second bearing piece arranged along the conveying direction of the conveying rollers, and the axial width of the second bearing piece along the conveying rollers is smaller than that of the installation gap.

5. The article carrying and transporting device of claim 1, wherein the rotary jacking assembly further comprises a mounting bracket, the carrying mechanism is arranged above the mounting bracket, and the rotating mechanism is arranged below the mounting bracket and penetrates through the mounting bracket to drive the carrying mechanism to rotate;

the jacking mechanism is in transmission connection with the mounting bracket and drives the mounting bracket, the rotating mechanism and the bearing mechanism on the mounting bracket to move along the vertical direction.

6. The article carrier conveyor of claim 1 or 5, wherein the lifting mechanism comprises a lifting power source,

the output end of the jacking power source is directly in transmission connection with the mounting bracket or the bearing mechanism; or alternatively

The output end of the jacking power source is indirectly in transmission connection with the mounting bracket or the bearing mechanism through a second transmission assembly;

the second transmission assembly comprises a connecting shaft fixedly connected with the mounting bracket or the bearing mechanism and an eccentric structure connected with the output end of the jacking power source, and the connecting shaft is in transmission fit with the eccentric structure to drive the mounting bracket or the bearing mechanism to move up and down.

7. The article carrying and transporting device of claim 5, wherein a side of the mounting bracket adjacent to the jacking mechanism has a first guide portion, a side of the jacking mechanism adjacent to the mounting bracket has a second guide portion, and the first guide portion is in vertical sliding fit with the second guide portion;

and/or

The signal induction piece has been set firmly on the installing support, climbing mechanism or the interval is equipped with upper limit travel switch and lower limit travel switch on the main part, upper limit travel switch with the removal upper limit position of signal induction piece corresponds, lower limit travel switch with the removal lower limit position of signal induction piece corresponds.

8. The article carrier conveyor according to claim 1 or 5, wherein the rotation mechanism comprises a rotary power source,

the output end of the rotary power source is directly in transmission connection with the bearing mechanism; or alternatively

The rotary power source is in indirect transmission connection with the bearing mechanism through a third transmission assembly;

the rotating mechanism further comprises an angle detection assembly for detecting the rotation angle of the bearing mechanism.

9. The article carrying and conveying device according to claim 1, wherein a blocking mechanism is further arranged on the main body, the blocking mechanism comprises a blocking power source and a blocking plate, and the blocking plate is arranged at an upstream position and/or a downstream position in the conveying direction of the conveying roller;

the output shaft of the blocking power source is connected with the blocking plate, or the blocking mechanism further comprises a blocking transmission piece, and the blocking plate is connected with the output shaft of the blocking power source through the blocking transmission piece;

the blocking power source drives the blocking plate to move upwards along the vertical direction, and the blocking plate is higher than the highest position of the conveying roller; the blocking power source drives the blocking plate to move downwards along the vertical direction, and the blocking plate is lower than the highest position of the conveying roller.

10. A mobile robot comprising a chassis on which the article carrying and conveying device according to any one of claims 1 to 9 is provided, the body being fixedly connected to the chassis, the conveying rollers being located above the chassis.

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