Fully automatic rail robot running device and method

Abstract

The full-automatic track robot operating device and method of the present invention include a receiving device, a lifting device, and a sending device. The receiving device is docked with the bottom end of the lifting device, and the sending device is docked with the top end of the lifting device. The lifting device is composed of a lifting basket, a lifting track, and a driving motor. The receiving device includes an automatic flipping receiving and sending platform, which is docked with the lifting basket. The sending device includes an aerial track, a track robot, and a sending platform. The aerial track is formed by fixing positioning rails at both ends of the slide rail. The lower end of the positioning rail is fixed with the sending platform. The sending platform is provided 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. The designed automatic flipping receiving platform in this device saves a large amount of space, and at the same time, the appearance is more concise and beautiful. This device uses the meshing of gears and racks to achieve the effect of variable speed of the track robot, so that the position of the track robot can be fixed after parking, making loading and unloading more simple and convenient.

Description

Technical Field

[0001] The present invention belongs to transportation devices, and mainly relates to a full-automatic track robot running device and method. Background Art

[0002] In hospital logistics, track robots are usually used to transport items such as drugs by moving on horizontal tracks suspended in corridors. It is convenient and fast to use, reduces the labor intensity of staff, and effectively improves work efficiency. For example, the patent with publication number CN115229760A and name "Track-type logistics robot operation system". However, this track robot running device still has some drawbacks in actual use. First, during the actual use of this device, due to the relatively fast speed during transportation, when it reaches the destination, the impact force during stopping is large, resulting in a phenomenon of front-back tremors. It is very difficult to make the track robot stop smoothly, which easily causes damage to internal components and there are certain safety hazards. At the same time, to achieve the above-mentioned air transportation method, a lifting device needs to be installed on the ground to lift items from the ground to the track on the corridor ceiling. Currently, the ground lifting device places the hoist behind a blocking wall, and there is an open goods inlet and outlet on the wall opposite to the hoist. A horizontally placed conveyor belt is provided on the front side of the blocking wall at the same height as the inlet and outlet to transport goods. The problem with this receiving and sending platform is that when there is no goods transmission, the horizontally placed conveyor belt not only occupies space and is relatively bulky, but also requires a tensioning mechanism. At the same time, the inlet and outlet on the blocking wall are open, which is not aesthetically pleasing. Summary of the Invention

[0003] The present invention aims to overcome the deficiencies of the prior art and provides a full-automatic track robot running device.

[0004] The full-automatic track robot running device of the present invention includes a receiving device, a lifting device, and a sending device. The receiving device is docked with the bottom end of the lifting device, and the sending device is docked with the top end of the lifting device. The lifting device is composed of a lifting basket, a lifting track, and a driving motor. The receiving device includes an automatic flipping receiving and sending platform, and the automatic flipping receiving and sending platform is docked with the lifting basket. The sending device includes an air track, a track robot, and a sending platform. The air track includes a slide rail and positioning rails fixed at both ends of the slide rail. A sending platform is fixed at the lower end of the positioning rail. The sending platform is provided with a conveyor belt I at the bottom of the frame. When the lifting basket rises to the highest position, it is docked with the sending platform.

[0005] As a further improvement of the present invention, the automatic flipping transceiver platform includes a basic rear door. The basic rear door is formed by fixing two vertical support frames and two horizontal support frames to form a square door frame, and an upper baffle and a lower baffle are fixed inside the door frame. An inlet is formed between the upper baffle, the lower baffle and the two vertical support frames. Rotating shafts are rotatably connected inside the vertical support frames on both sides of the inlet. One ends of two opposite rotating shafts respectively penetrate through the vertical support frames and are fixedly connected to both sides of a conveyor belt II installed at the inlet. An installation plate is fixed to the upper part inside the vertical support frame, and a connecting piece I is fixed on the installation plate. One end of the connecting piece I is rotatably connected to one end of an electric push rod. A connecting rod extending towards the inside of the vertical support frame is fixed on the rotating shaft, and the other end of the connecting rod is fixed with a connecting piece II. The connecting piece II is rotatably connected to the extending end of the electric push rod; control buttons are provided on the outer side surface of the upper baffle.

[0006] As a further improvement of the present invention, both the vertical support frame and the horizontal support frame are made of channel steel, and the open side of the channel steel is located inside the door; convex connecting pieces III are fixed on both the left and right sides of the conveyor belt II, and square through holes are provided at the convex parts of the connecting pieces III. One end of the rotating shaft is inserted into the square through hole and fixedly connected thereto.

[0007] As a further improvement of the present invention, the electric push rod and the control buttons are respectively electrically connected to an external controller.

[0008] As a further improvement of the present invention, the slide rail is composed of two single rails arranged in parallel, and the rail robot is suspended below the slide rail. The rail robot includes a transportation box body. A driving shaft is fixed at the middle position of one end on the upper surface of the transportation box body, and driving wheels are installed at both ends of the driving shaft. A driven shaft is fixed at the middle position of the other end on the upper surface of the transportation box body, and driven wheels are fixed at both ends of the driven shaft. The driving wheels and the driven wheels are both placed inside the slide rail. Two or more support connecting rods are fixed on the single rails at both ends of the slide rail, and both ends of each support connecting rod are respectively fixed on the single rails on both sides. A rack is fixed between the support connecting rods. The rack is installed in the same direction and at the same angle as the slide rail, and is fixed at the middle position of each support connecting rod and placed below each support connecting rod; A gear and a DC motor are fixed between the upper end of the transportation box body, the driving wheels and the driven wheels. The output end of the DC motor is in transmission connection with the gear; The gear meshes with the rack.

[0009] As a further improvement of the present invention, a position sensor I is fixed on one side of the driving wheel at the upper end of the transportation box body, and a position sensor II is fixed on one side of the driven wheel.

[0010] As a further improvement of the present invention, position sensors III and IV are respectively fixed at both ends of the slide rail, and charging devices are fixed on the same side at both ends of the slide rail.

[0011] The operation method of the full-automatic track robot of the present invention is realized through the following steps:

[0012] (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 slowly retract. At the same time, it drives the connecting rod to rotate counterclockwise. While the connecting rod rotates, it drives the conveyor belt II to rotate counterclockwise. When the push rod in the electric push rod retracts to the shortest position, the conveyor belt II flips from the vertical state to the horizontal state. Then, place the goods on the conveyor belt II, and the conveyor belt II starts to work to convey the goods to the lifting basket;

[0013] (2) When the goods reach the lifting basket, the conveyor belt III at the bottom of the lifting basket starts to work. After conveying the goods into the lifting basket, the conveyor belt III stops working, and the driving motor starts to work to make the lifting basket move upward along the lifting track to the top;

[0014] (3) After the lifting basket rises to the top, the driving motor stops working, the lifting basket stops rising, the conveyor belt III starts to work to convey the goods to the sending platform. At the same time, the conveyor belt I at the bottom of the sending platform starts to work to convey the goods to the transportation box;

[0015] (4) After the goods reach the transportation box, the track robot starts to transport the goods. When the track robot approaches the designated location, when the position sensor I detects the induction device at this position, it transmits the signal to the main controller. The main controller controls the active wheel motor to stop working, and the active wheel stops rotating. The track 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. After buffering through the rack, it meshes with the rack, and the gear continues to rotate. The track robot continues to move forward. When the position sensor IV detects the track robot, it transmits the signal to the main controller. The main controller controls the DC motor to stop working, and the track robot stops moving forward. Through the meshing of the gear and the rack, the position of the track robot is fixed;

[0016] (5) After the position of the track robot is fixed, unloading can be carried out. The working principle of unloading is the same as that of loading;

[0017] (6) When there is no goods to transport, the recovery button can be manually pressed to flip the conveyor belt II from the horizontal state back to the vertical state.

[0018] The full-automatic track robot operation device and method of the present invention have a reasonable structural design. The automatically flipping receiving platform designed in this device saves a large amount of space. At the same time, the appearance is more concise and beautiful; this device uses the meshing of the gear and the rack to achieve the effect of variable speed of the track robot, so that the position of the track robot can be fixed after parking, making loading and unloading more simple and convenient. Description of the Drawings

[0019] Figure 1 is a schematic side view structure of the present invention;

[0020] Figure 2 is a schematic non - working state structure diagram of the automatic flipping transceiver platform of the present invention;

[0021] Figure 3 is a schematic working state structure diagram of the automatic flipping transceiver platform of the present invention;

[0022] Figure 4 is a schematic sectional view structure diagram of the automatic flipping transceiver platform of the present invention;

[0023] Figure 5 is a schematic structure diagram of the transmitting device of the present invention;

[0024] Figure 6 is a schematic sectional view structure diagram of the transmitting device of the present invention. Detailed implementation manners

[0025] The full - automatic track robot running device of the present invention includes a receiving device, a lifting device and a transmitting device. The receiving device is docked with the bottom end of the lifting device, and the transmitting device is docked with the top end of the lifting device. The lifting device is composed of a lifting basket 1, a lifting track 2 and a driving motor 3. The receiving device includes an automatic flipping transceiver platform 4, and the automatic flipping transceiver platform 4 is docked with the lifting basket 1. It includes a basic back door 11, and the basic back door 11 is formed by fixing two vertical support frames 12 and two horizontal support frames 13 to form a square door frame, and an upper baffle 14 and a lower baffle 15 are fixed inside the door frame. Both the vertical support frame 12 and the horizontal support frame 13 are made of channel steel, and the opening side of the channel steel is located inside the door. An inlet 16 is formed between the upper baffle 14, the lower baffle 15 and the two vertical support frames 12. Rotating shafts 17 are rotatably connected inside the vertical support frames 12 on both sides of the inlet 16. One ends of two opposite rotating shafts 17 respectively penetrate through the vertical support frames 12 and are fixedly connected to both sides of a conveyor belt II 18 installed at the inlet 16. Raised connecting pieces III 25 are fixed on both the left and right sides of the conveyor belt II 18, and square through - holes 26 are provided at the raised parts of the connecting pieces III 25. One end of the rotating shaft 17 is inserted into the square through - hole 26 and fixedly connected thereto.

[0026] An installation plate 19 is fixed to the upper part inside the vertical support frame 12. A connecting piece I 20 is fixed to the installation plate 19. One end of the connecting piece I 20 is rotatably connected to one end of the electric push rod 21. A connecting rod 22 extending towards the inside of the vertical support frame 12 is fixed to the rotating shaft 17. The other end of the connecting rod 22 is fixed with a connecting piece II 23. The connecting piece II 23 is rotatably connected to the extended end of the electric push rod 21. Control buttons are provided on the outer side of the upper baffle 14. The electric push rod 21 and the control buttons are respectively electrically connected to an external controller. The control buttons include an open button and a retract button.

[0027] The sending device includes an aerial track 5, a track robot 6, and a sending platform 7. The aerial track 5 includes a slide rail 8 and positioning rails 9 fixed at both ends of the slide rail 8. The track robot 6 is suspended below the slide rail 8. Position sensors III 37 and position sensors IV 38 are respectively fixed at both ends of the slide rail 8. Charging devices 39 are fixed on the same side at both ends of the slide rail 8. The slide rail 8 is composed of two parallel single rails 27. More than two support connecting rods 31 are fixed on the single rails 27 at both ends of the slide rail 8. Both ends of each support connecting rod 31 are respectively fixed on the single rails 27 on both sides. A rack 32 is fixed between the support connecting rods 31. The rack 32 is installed in the same direction and at the same angle as the slide rail 8, and is fixed at the middle position of each support connecting rod 31 and is placed below each support connecting rod 31. The sending platform 7 is fixed at the lower end of the positioning rail 9. The sending platform 7 is provided with a conveyor belt I 10 at the bottom of the frame, and is docked with the sending platform 7 when the lifting basket 1 rises to the highest position.

[0028] The track robot 6 includes a transport box 28. A driving shaft is fixed at the middle position of one end on the upper surface of the transport box 28. Driving wheels 29 are installed at both ends of the driving shaft. A driving wheel motor is installed inside the driving wheels 29. A driven shaft is fixed at the middle position of the other end on the upper surface of the transport box 28. Driven wheels 30 are fixed at both ends of the driven shaft. The driving wheels 29 and the driven wheels 30 are both placed inside the slide rail 8. A gear 33 and a DC motor 34 are fixed between the upper end of the transport box 28, the driving wheels 29 and the driven wheels 30. The output end of the DC motor 34 is in transmission connection with the gear 33. The gear 33 is engaged with the rack 32.

[0029] A position sensor I 35 is fixed on one side of the upper end of the transport box 28 and the driving wheel 29. A position sensor II 36 is fixed on one side of the driven wheel 30. Induction devices are respectively arranged at the front ends of two opposite racks 32 on the slide rail 8 and are used in cooperation with the position sensor I 9 and the position sensor II 10. The induction devices are magnetic attraction sheets. A charging end used in cooperation with the charging device 39 is provided on one side of the upper end of the transport box 28.

[0030] A main controller is also provided at the upper end of the transportation box body 28. The main controller is electrically connected to the position sensor I 35, the position sensor II 36, the position sensor III 37, the position sensor IV 38, the driving wheel motor and the DC motor 34 respectively.

[0031] The operation method of the full-automatic track robot of the present invention is realized through the following steps:

[0032] (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 slowly retract. At the same time, it drives the connecting rod 22 to rotate counterclockwise. While the connecting rod 22 rotates, it drives the conveyor belt II 18 to rotate counterclockwise. When the push rod in the electric push rod 21 retracts to the shortest position, the conveyor belt II 18 flips from the vertical state to the horizontal state. Then, the goods are placed on the conveyor belt II 18, and the conveyor belt II 18 starts to work and conveys the goods to the lifting basket 1.

[0033] (2) When the goods reach the lifting basket 1, the conveyor belt III at the bottom of the lifting basket 1 starts to work, conveys the goods into the lifting basket 1, and then the conveyor belt III stops working. The driving motor 3 starts to work, so that the lifting basket 1 moves upward to the top on the lifting track 2.

[0034] (3) After the lifting basket 1 rises to the top, the driving motor 3 stops working, and the lifting basket 1 stops rising. The conveyor belt III is docked with the sending platform 7 and starts to work, conveys the goods to the sending platform 7. At the same time, the conveyor belt I 10 at the bottom of the sending platform starts to work and conveys the goods to the transportation box body 28.

[0035] After the goods reach the transportation box body 28, the track robot 6 starts to transport the goods, transporting the goods from end A to end B. When the track robot 6 approaches the designated location at end B, the position sensor I 35 detects the magnetic sheet 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 29 stops rotating. The track robot 6 will continue to slide forward under the action of inertia. At the same time, the main controller controls the DC motor 34 to start working and drives the gear 33 to rotate clockwise at a constant speed. After buffering through the rack 32, it meshes with the rack 32, and the gear 33 continues to rotate. The track robot 6 continues to move forward. When the position sensor IV 38 detects the track robot 6, it transmits the signal to the main controller. The main controller controls the DC motor 34 to stop working and stops moving forward. Through the meshing of the gear 33 and the rack 32, the position of the track robot 6 is fixed; when the track robot 6 is transported from end B to end A, the position sensor II 36 detects the magnetic sheet 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. The track robot 6 will continue to slide forward under the action of inertia. 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 buffering through the rack 32, it meshes with the rack 32, and the gear 33 continues to rotate. The track robot 6 continues to move forward. When the position sensor III 37 detects the track robot 6, it transmits the signal to the main controller. The main controller controls the DC motor 34 to stop working and stops moving forward. Through the meshing of the gear 33 and the rack 32, the position of the track robot 6 is fixed;

[0036] After the position of the track robot 6 is fixed, unloading can be carried out. The working principle of unloading is the same as that of loading;

[0037] When there is no goods to be transported, the recovery button can be manually pressed to flip the conveyor belt II 18 from the horizontal state back to the vertical state to block the inlet 16.

Claims

1. Automatic track robot running device, including a receiving device, a lifting device and a sending device. The receiving device is docked with the bottom end of the lifting device, and the sending device is docked with the top end of the lifting device. The lifting device is composed of a lifting basket (1), a lifting track (2) and a driving motor (3), characterized in that The described receiving device includes an automatically flipping transceiver platform (4), and the automatically flipping transceiver platform (4) is docked with the lifting basket (1). The described transmitting device includes an aerial track (5), a track robot (6), and a transmitting platform (7). The aerial track (5) includes a slide rail (8) and positioning rails (9) fixed at both ends of the slide rail (8). A transmitting platform (7) is fixed at the lower end of the positioning rail (9). The transmitting platform (7) is provided with a conveyor belt I (10) at the bottom of the frame, and when the lifting basket (1) rises to the highest position, it is docked with the transmitting platform (7). The described automatically flipping transceiver platform (4) includes a basic back door (11). The basic back door (11) is formed by fixing two vertical support frames (12) and two horizontal support frames (13) to form a square door frame, and an upper baffle (14) and a lower baffle (15) are fixed inside the door frame. An inlet (16) is formed between the upper baffle (14), the lower baffle (15), and the two vertical support frames (12). Rotating shafts (17) are rotatably connected inside the vertical support frames (12) on both sides of the inlet (16). One end of two opposite rotating shafts (17) respectively penetrates the vertical support frame (12) and is fixedly connected to both sides of the conveyor belt II (18) installed at the inlet (16). An installation plate (19) is fixed on the upper part of the inner side of the vertical support frame (12), and a connecting piece I (20) is fixed on the installation plate (19). The connecting piece I (20) is rotatably connected to one end of an electric push rod (21). A connecting rod (22) extending towards the inner side of the vertical support frame (12) is fixed on the rotating shaft (17). The other end of the connecting rod (22) is fixed with a connecting piece II (23), and the connecting piece II (23) is rotatably connected to the extending end of the electric push rod (21). Control buttons are provided on the outer side surface of the upper baffle (14).

2. The fully automatic track robot running device according to claim 1, wherein Both 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 located inside the door. Raised connecting pieces III (25) are fixed on both the left and right sides of the conveyor belt II (18). Square through holes (26) are provided at the raised parts of the connecting pieces III (25). One end of the rotating shaft (17) is inserted into the square through hole (26) and fixedly connected thereto.

3. The fully automatic track robot running device according to claim 1, characterized in that The electric push rod (21) and the control buttons are respectively electrically connected to an external controller.

4. The fully automatic track robot running device according to claim 1, characterized in that The described slide rail (8) is composed of two parallel single rails (27). The rail robot (6) is suspended below the slide rail (8). The rail robot (6) includes a transport box body (28). At the middle position of one end on the upper surface of the transport box body (28), a driving shaft is fixed, and driving wheels (29) are installed at both ends of the driving shaft. At the middle position of the other end on the upper surface of the transport box body (28), a driven shaft is fixed, and driven wheels (30) are fixed at both ends of the driven shaft. The driving wheels (29) and the driven wheels (30) are both placed inside the slide rail (8). On the single rails (27) at both ends of the slide rail (8), more than two support connecting rods (31) are fixed. Both ends of each support connecting rod (31) are respectively fixed on the single rails (27) on both sides. A rack (32) is fixed between the support connecting rods (31). The rack (32) is installed in the same direction and at the same angle as the slide rail (8), and is fixed at the middle position of each support connecting rod (31) and placed below each support connecting rod (31). A gear (33) and a DC motor (34) are fixed between the upper end of the transport box body (28), the driving wheels (29) and the driven wheels (30). The output end of the DC motor (34) is in transmission connection with the gear (33). The gear (33) is engaged with the rack (32).

5. The fully automatic track robot running device according to claim 4, characterized in that A position sensor I (35) is fixed on one side of the driving wheel (29) at the upper end of the transport box body (28), and a position sensor II (36) is fixed on one side of the driven wheel (30).

6. The fully automatic rail robot running device according to claim 4, characterized in that Position sensors III (37) and IV (38) are respectively fixed at both ends of the slide rail (8), and charging devices (39) are fixed on the same side at both ends of the slide rail (8).

7. The full-automatic rail robot operation method 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 slowly retract. At the same time, it drives the connecting rod (22) to rotate counterclockwise. While the connecting rod (22) rotates, it drives the conveyor belt II (18) to rotate counterclockwise. When the push rod in the electric push rod (21) retracts to the shortest position, the conveyor belt II (18) flips from the vertical state to the horizontal state. Then, the goods are placed on the conveyor belt II (18), and the conveyor belt II (18) starts to work and conveys the goods to the lifting basket (1). (2) When the goods reach the lifting basket (1), the conveyor belt III at the bottom of the lifting basket (1) starts to work. After conveying the goods into the lifting basket (1), the conveyor belt III stops working, and the drive motor (3) starts to work, so that the lifting basket (1) moves upward on the lifting track (2) to the top end. (3) After the lifting basket (1) rises to the top end, the drive motor (3) stops working, the lifting basket (1) stops rising, the conveyor belt III starts to work, and conveys the goods to the sending platform (7). At the same time, the conveyor belt I (10) at the bottom of the sending platform (7) starts to work and conveys the goods to the transport box body (28). After the goods arrive on the transportation box body (28), the rail robot (6) starts to transport the goods. When the rail robot (6) approaches the designated location, after the position sensor I (35) detects the induction device at this position, it transmits a signal to the main controller. The main controller controls the driving wheel motor to stop working, and the driving wheel (29) stops rotating. The rail robot (6) will continue to slide forward under the action of inertia. At the same time, the DC motor (34) starts to work and drives the gear (33) to rotate clockwise at a constant speed. After being buffered by the rack (32), it meshes with the rack (32). The gear (33) continues to rotate, and the rail robot (6) continues to move forward. When the position sensor IV (38) detects the rail robot (6), it transmits a signal to the main controller. The main controller controls the DC motor (34) to stop working, and the rail robot (6) stops moving forward. The position of the rail robot (6) is fixed by 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 above; (5)After the position of the rail robot (6) is fixed, unloading can be carried out, and the working principle of unloading is the same as that of loading; (6)When there is no goods to transport, the recycling button can be manually pressed to turn the conveyor belt II from the horizontal state back to the vertical state.

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