CN116534498A - Fully automatic orbital robot running device and method - Google Patents

Abstract

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

Description

Fully automatic orbital robot running device and method

technical field

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

Background technique

In hospital logistics, the rail robot is usually used to move on the horizontal track suspended in the corridor to transport medicines and other items. It is convenient and fast to use, reduces the labor intensity of the staff, and effectively improves the work efficiency. For example, the publication number is CN 115229760 A, and the name is rail-type logistics robot running system, but the rail robot running device still has some disadvantages in actual use. Faster, after arriving at the destination, the impact force when stopping is large, and it will vibrate back and forth. It is difficult to make the orbital robot stop smoothly, and it is easy to cause damage to internal components, and there are certain safety hazards; at the same time, to achieve the above The air transportation method requires a lifting device on the ground to lift the article from the ground to the track at the roof of the corridor. At present, the ground lifting device is to place the hoist behind a blocking wall, and a The open cargo entrance and exit opposite to the elevator is equipped with a horizontal conveyor belt on the front side of the blocking wall at the same height as the entrance and exit to transport the goods. The problem with the receiving and receiving platform is that when there is no goods to transmit The horizontal placement of the conveyor belt not only takes up a lot of space, but also needs to be equipped with a tensioning mechanism. At the same time, it blocks the opening of the entrance and exit on the wall, which is not beautiful.

Contents of the invention

The invention aims at overcoming the deficiencies of the prior art, and provides a fully automatic track robot running device.

The full-automatic track robot operating device of the present invention comprises a receiving device, a lifting device and a sending device, the receiving device is docked with the bottom end of the lifting device, the sending device is docked with the top end of the lifting device, and the lifting device is made of Basket, lifting track and driving motor, the receiving device includes an automatic flipping transceiver platform, which is docked with the lifting basket, and the sending device includes an aerial track, an orbital robot and a sending platform, and the aerial track is Positioning rails are fixed at both ends of the slide rail. The lower end of the positioning rail is fixed with a sending platform. The sending platform is equipped with a conveyor belt I at the bottom of the frame. When the lifting basket rises to the highest point, it is docked with the sending platform.

As a further improvement of the present invention, the automatic reversing transceiver platform includes a basic back door, and the basic back door is fixed by two vertical support frames and two horizontal support frames to form a square door frame, and a door frame is fixed inside the door frame. The upper baffle and the lower baffle, the upper baffle, the lower baffle and the two vertical support frames form a cargo inlet, and the vertical support frames on both sides of the cargo inlet are rotated and connected with rotating shafts. One end runs through the vertical support frame and is fixedly connected to both sides of the conveyor belt II installed at the inlet. A mounting plate is fixed on the inner upper part of the vertical support frame, and a connecting piece I is fixed on the mounting plate. The connecting piece I is connected to the electric push rod. One end is rotatably connected, and the rotating shaft is fixed with a connecting rod extending to the inner side of the vertical support frame, and the other end of the connecting rod is fixed with a connecting piece II, which is rotatably connected with the protruding end of the electric push rod; the upper baffle There are control buttons on the outer side.

As a further improvement of the present invention, the vertical support frame and the horizontal support frame are both made of channel steel, and the opening side of the channel steel is located inside the door; the left and right sides of the conveyor belt II are fixed with protruding connectors III, a square through hole is provided on the protrusion of the connector III, and one end of the rotating shaft is inserted into the square through hole and fixedly connected with it.

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

As a further improvement of the present invention, the slide rail is composed of two monorails juxtaposed, the rail robot is suspended below the slide rail, the rail robot includes a transport box, and a The driving shaft and the two ends of the driving shaft are equipped with driving wheels, and the driven shaft is fixed in the middle of the other end of the transport box, and the two ends of the driven shaft are fixed with driven wheels. Both the driving wheel and the driven wheel are placed on the slide rail. Inside, more than two supporting connecting rods are fixed on the monorails at both ends of the slide rail. It is installed in the same direction and at the same angle as the slide rail, and is fixed at the middle position of each supporting connecting rod, and placed under each supporting connecting rod; the upper end of the transport box, the driving wheel and the driven wheel are fixed with gears and DC The motor, the output end of the DC motor is connected to the gear drive; the gear is used in mesh with the rack.

As a further improvement of the present invention, the upper end of the transport box and one side of the driving wheel are fixed with a position sensor I, and one side of the driven wheel is fixed with a position sensor II.

As a further improvement of the present invention, the two ends of the slide rail are respectively fixed with a position sensor III and a position sensor IV, and a charging device is fixed on the same side of both ends of the slide rail.

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

(1) Manually press the open button. After the external controller receives the signal, it will control the push rod in the electric push rod to retract slowly. At the same time, it will drive the connecting rod to rotate counterclockwise. When the connecting rod rotates, it will drive the conveyor belt II counterclockwise. Rotate, when the push rod in the electric push rod is retracted to the shortest position, the conveyor belt II will turn over from the vertical state to the horizontal state, then put the goods on the conveyor belt II, the conveyor belt II will start to work, and the goods will be transferred to the lifting basket ;

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

(3) After the hoisting basket rises to the top, the driving motor stops working, the hoisting basket stops rising, and the conveyor belt III starts to work to transport the goods to the delivery platform. At the same time, the conveyor belt I at the bottom of the delivery platform starts to work and transports the goods to on the transport box;

(4) After the goods arrive at the transport box, the track robot starts to transport the goods. When the track robot approaches the designated place, the position sensor Ⅰ detects the sensing device at the position and transmits the signal to the main controller, which controls The driving wheel motor stops working, the driving wheel stops rotating, and the orbital robot will continue to slide forward under the action of inertia. At the same time, the DC motor starts to work and drives the gear to rotate clockwise at a constant speed. Mesh, the gears continue to rotate, and the orbital robot continues to move forward. When the position sensor IV detects the orbital robot, it transmits the signal to the main controller. The main controller controls the DC motor to stop working, and the orbital robot stops moving forward. Through the meshing of the gear and the rack , to fix the position of the orbital robot;

(5) After the position of the orbital robot is fixed, it can unload the cargo. The working principle of unloading is the same as that of loading;

(6) When there is no goods to be transported, you can manually press the recovery button to turn the conveyor belt II from the horizontal state back to the vertical state.

The fully automatic track robot running device and method of the present invention has a reasonable structural design, and the automatic flip receiving platform designed in the device saves a lot of space, and at the same time, the appearance is more concise and beautiful; the device utilizes the meshing of the gear and the rack to realize the track The effect of changing the speed of the robot makes the position of the orbital robot fixed after parking, making loading and unloading easier and more convenient.

Description of drawings

Fig. 1 is the side view structural representation of the present invention;

Fig. 2 is a schematic diagram of the non-working state structure of the automatic flipping transceiver platform of the present invention;

Fig. 3 is a schematic diagram of the working state structure of the automatic flipping transceiver platform of the present invention;

Fig. 4 is a schematic cross-sectional structure diagram of the automatic flipping transceiver platform of the present invention;

Fig. 5 is a schematic structural diagram of the sending device of the present invention;

FIG. 6 is a schematic cross-sectional structure diagram of the sending device of the present invention.

Implementation

The full-automatic track robot operating device of the present invention comprises a receiving device, a lifting device and a sending device, the receiving device is docked with the bottom end of the lifting device, the sending device is docked with the top end of the lifting device, and the lifting device is made of The basket 1, the lifting track 2 and the drive motor 3 are composed, and the receiving device includes an automatic overturning transceiver platform 4, and the automatic overturning transceiver platform 4 is docked with the lifting basket 1, and it includes a basic back door 11, and the described basic back door The door 11 is fixed by two vertical support frames 12 and two horizontal support frames 13 to form a square door frame, and an upper baffle plate 14 and a lower baffle plate 15 are fixed in the door frame. The vertical support frame 12 and the horizontal support frame 13 are all made of channel steel, and the opening side of the channel steel is located at the inner side of the door, and a cargo inlet 16 is formed between the upper baffle plate 14, the lower baffle plate 15 and the two vertical support frames 12, and the cargo inlet 16 on both sides The vertical supporting frame 12 is rotatably connected with a rotating shaft 17, and one end of the two opposite rotating shafts 17 respectively runs through the vertical supporting frame 12 and is fixedly connected to both sides of the conveyor belt II18 installed at the inlet 16. The left and right sides of the conveyor belt II18 Protruding connectors III25 are fixed on both sides, and a square through hole 26 is provided on the protrusion of the connector III25. One end of the rotating shaft 17 is inserted into the square through hole 26 and fixedly connected with it.

A mounting plate 19 is fixed on the inner upper part of the vertical support frame 12, and a connecting piece I20 is fixed on the mounting plate 19. The connecting piece I20 is rotatably connected with one end of the electric push rod 21, and the rotating shaft 17 is fixed with a The connecting rod 22 extending to the inner side of the vertical support frame 12, the other end of the connecting rod 22 is fixed with a connecting piece II 23, which is rotatably connected with the extended end of the electric push rod 21; a control button is arranged on the outer surface of the upper baffle plate 14 , the electric push rod 21 and the control button are respectively electrically connected to the external controller, and the control button includes an open button and a recovery button.

Described sending device comprises aerial rail 5, orbital robot 6 and sending platform 7, and described aerial rail 5 is to fix positioning rail 9 to form at the two ends of slide rail 8, and orbital robot 6 is suspended on the below of slide rail 8, The two ends of the slide rail 8 are respectively fixed with a position sensor III 37 and a position sensor IV 38, and a charging device 39 is fixed on the same side at both ends of the slide rail 8; the slide rail 8 is composed of two monorails 27 arranged side by side. 8. More than two supporting connecting rods 31 are fixed on the monorails 27 at both ends, and the two ends of each supporting connecting rod 31 are respectively fixed on the monorails 27 on both sides, and racks 32 are fixed between each supporting connecting rods 31, The rack 32 and the slide rail 8 are installed in the same direction and at the same angle, and are fixed at the middle position of each supporting connecting rod 31, and placed under each supporting connecting rod 31; the lower end of the positioning rail 9 is fixed with a sending platform 7, The sending platform 7 is provided with a conveyor belt I10 at the bottom of the frame, and docks with the sending platform 7 when the lifting basket 1 rises to the highest point.

Described rail robot 6 comprises transport box body 28, and the middle position of one end above transport box body 28 is fixed with drive shaft, the two ends of drive shaft are equipped with drive wheel 29, and drive wheel motor is installed in drive wheel 29, during transportation The middle position of the other end above the box body 28 is fixed with a driven shaft, and the two ends of the driven shaft are fixed with a driven wheel 30, and the driving wheel 29 and the driven wheel 30 are all placed in the slide rail 8; the upper end of the transport box 28 1. A gear 33 and a DC motor 34 are fixed between the driving wheel 29 and the driven wheel 30, and the output end of the DC motor 34 is connected to the gear 33; the gear 33 is meshed with the rack 32 for use.

The upper end of the transport box 28 and one side of the driving wheel 29 are fixed with a position sensor I35, and one side of the driven wheel 30 is fixed with a position sensor II36. There is an induction device used in conjunction with the position sensor I9 and the position sensor II10, and the induction device is a magnetic sheet; the upper side of the transport box 28 is provided with a charging terminal that is used in conjunction with the charging device 39 .

A main controller is also provided at the upper end of the transport box 28, and the main controller is electrically connected to the position sensor I35, the position sensor II36, the position sensor III37, the position sensor IV38, the driving wheel motor and the DC motor 34 respectively.

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

(1) Manually press the open button. After the external controller receives the signal, it will control the push rod in the electric push rod 21 to retract slowly. At the same time, it will drive the connecting rod 22 to rotate counterclockwise. When the connecting rod 22 rotates, it will drive the conveyor belt Ⅱ18 rotates counterclockwise, and when the push rod in the electric push rod 21 is retracted to the shortest position, the conveyor belt Ⅱ18 turns over from the vertical state to the horizontal state, and then puts the goods on the conveyor belt Ⅱ18, and the conveyor belt Ⅱ18 starts to work and transfers the goods To the lifting basket 1;

(2) When the goods arrive at the lifting basket 1, the conveyor belt III at the bottom of the lifting basket 1 starts to work. After the goods are transported into the lifting basket 1, the conveyor belt III stops working, and the driving motor 3 starts to work, so that the lifting basket 1 is on the lifting track. 2 move up to the top;

(3) After the lifting basket 1 rises to the top, the driving motor 3 stops working, the lifting basket 1 stops rising, the conveyor belt III docks with the sending platform 7 and starts to work, and transports the goods to the sending platform 7. At the same time, the bottom of the sending platform The conveyor belt I10 starts to work, and the goods are transported to the transport box 28;

(4) After the goods arrive at the transport box 28, the track robot 6 starts to transport the goods, and transports the goods from the A end to the B end. When the track robot 6 approaches the designated place of the B end, the position sensor I35 detects the end of the rack 32 The magnetic sheet transmits the signal to the main controller, and the main controller controls the driving wheel 29 motor to stop working, the driving wheel 29 stops rotating, and the track robot 6 will continue to slide forward under the action of inertia. At the same time, the main control The device controls the DC motor 34 to start working, and drives the gear 33 to rotate clockwise at a constant speed, and meshes with it after passing through the buffer of the rack 32, the gear 33 continues to rotate, and the orbital robot 6 continues to move forward. When the position sensor IV 38 detects the orbital robot 6 , the signal is transmitted to the main controller, the main controller controls the DC motor 34 to stop working and stop advancing, and the position of the orbital robot 6 is fixed through the engagement of the gear 33 and the rack 32; when the orbital robot 6 is transported from the B end to At the A terminal, the position sensor II 36 detects the magnetic piece at the end of the rack 32, and transmits the signal to the main controller. The main controller controls the motor of the driving wheel 29 to stop working, and the driving wheel stops rotating. At the same time, the main controller controls the DC motor 34 to start working, and drives the gear 33 to rotate at a constant speed. After being buffered by the rack 32, it meshes with it, the gear 33 continues to rotate, and the orbital robot 6 continues to move forward. , when the position sensor III 37 detects the orbital robot 6, it transmits the signal to the main controller, and the main controller controls the DC motor 34 to stop working and stop moving forward. fixed;

(5) After the position of the orbital robot 6 is fixed, it can unload the cargo, and the working principle of unloading is the same as that of loading;

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

Claims (8)

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

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

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

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

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

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

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

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

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

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

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

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

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

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