Feeding device and workbin robot

Abstract

The invention relates to a feeding device and a workbin robot, the feeding device comprises a support, a driving mechanism, a sliding structure and a braking mechanism, the driving mechanism is installed on the support, the sliding structure is slidably installed on the support, the sliding structure is in transmission connection with the driving mechanism, and the braking mechanism is in transmission connection with the sliding structure. The brake mechanism is installed on the sliding structure and used for limiting or allowing sliding of the sliding structure, the brake mechanism is directly installed on the sliding structure, and even if the sliding structure is out of control due to damage of the driving mechanism, the brake mechanism can drive the sliding structure to slide. In addition, the feeding device can still limit sliding of the sliding structure through the brake mechanism, so that the sliding structure is prevented from generating uncontrollable movement under inertia or freely falling under the action of gravity.

Description

Technical Field

[0001] The present application relates to the technical field of lifting equipment, and in particular to a feeding device and a material box robot. Background Art

[0002] Material handling equipment is mainly used to move materials, thereby improving the efficiency of materials in processes such as production and turnover.

[0003] In the related art, material handling equipment usually includes a sliding structure and a driving mechanism. The driving mechanism is used to drive the sliding structure to slide, and the sliding structure drives the material to move to guide the movement of the material. However, during the operation of the material handling equipment, there is a situation where the driving mechanism is damaged after long-term use, resulting in the loss of control of the sliding structure. The loss of control of the sliding structure may lead to serious consequences, including but not limited to damage to the goods, damage to the equipment, and personal injury to the operator, especially when the sliding structure moves in the vertical direction, such risks are particularly prominent. Summary of the invention

[0004] The embodiments of the present application provide a feeding device and a material box robot to solve the technical problem in the related art that the sliding structure loses control when the driving mechanism is damaged.

[0005] In order to achieve the above object, according to a first aspect of the present application, a feeding device is provided, comprising:

[0006] Bracket;

[0007] A driving mechanism, wherein the driving mechanism is mounted on the bracket;

[0008] a sliding structure, wherein the sliding structure is slidably mounted on the bracket, and the sliding structure is drivingly connected to the driving mechanism so that the driving mechanism can drive the sliding structure to slide; and,

[0009] A braking mechanism is installed on the sliding structure, and is used to limit or allow the sliding of the sliding structure.

[0010] Optionally, the sliding structure has a first end and a second end that are arranged opposite to each other, and the driving mechanism includes:

[0011] a transmission member, comprising a third end and a fourth end disposed opposite to each other, wherein the first end is connected to the third end, and the second end is connected to the fourth end; and,

[0012] A power source is connected to the transmission member to drive the transmission member to rotate and thus drive the sliding structure to slide.

[0013] Optionally, the transmission member includes a transmission belt or a transmission chain; and / or,

[0014] The power source includes a motor.

[0015] Optionally, the sliding structure slides in a vertical direction, and the braking mechanism includes:

[0016] a fixed brake member fixedly disposed on the sliding structure, wherein the fixed brake member has a guide slope facing the bracket, and the guide slope is inclined in a vertically upward direction toward a direction close to the bracket; and,

[0017] A sliding brake is arranged between the fixed brake and the bracket. The sliding brake has a matching slope and a braking surface. The matching slope is matched with the guide slope so that when the sliding brake moves upward, the braking surface is pressed against the bracket to achieve friction braking.

[0018] Optionally, one of the guiding inclined surface and the matching inclined surface is provided with a guiding groove, and the other one is provided with a guiding rail, and the guiding rail is slidably matched with the guiding groove; and / or,

[0019] The braking surface is provided with an anti-skid groove.

[0020] Optionally, the braking mechanism further comprises:

[0021] A brake push rod, fixedly connected to the sliding brake member, the brake push rod is movably mounted on the sliding structure, and a matching portion is provided on the brake push rod;

[0022] a brake elastic member, disposed between the sliding structure and the brake push rod; and,

[0023] The actuator is provided with a locking portion, which matches the matching portion. The actuator is used to release the matching between the locking portion and the matching portion to allow the brake elastic member to drive the brake push rod to push the sliding brake member to move upward.

[0024] Optionally, the locking portion includes a locking hook, and the matching portion includes a locking slot.

[0025] Optionally, the feeding device further comprises a guide member, wherein the guide member is fixedly arranged on the sliding structure, the guide member comprises a guide hole, and the brake push rod is passed through the guide hole.

[0026] Optionally, the braking mechanism comprises a detection component, and the detection component is used to detect the breakage of the transmission member.

[0027] Optionally, the detection component is communicatively connected to the execution device.

[0028] Optionally, the driving mechanism comprises a tensioning guide rod and a tensioning elastic member, at least one end of the transmission member is connected to the tensioning guide rod, the tensioning guide rod is movably mounted on the sliding structure, the tensioning elastic member is arranged between the sliding structure and the tensioning guide rod, and the tensioning elastic member is used to drive the tensioning guide rod to apply tensioning force to the transmission member;

[0029] The detection component is used to detect the position / relative movement of the tensioning guide rod and the sliding structure to detect the breakage of the transmission member.

[0030] Optionally, the detection component includes a micro switch, and the micro switch is located on the outer peripheral side of the tensioning guide rod;

[0031] Wherein, a protrusion structure is provided on the outer peripheral side of the tensioning guide rod, and the protrusion structure is used to move with the tensioning guide rod to a preset position to trigger the micro switch.

[0032] According to a second aspect of the present application, a material box robot is provided, comprising the feeding device as described above.

[0033] In the feeding device of the embodiment of the present application, by directly installing the braking mechanism on the sliding structure, even if the driving mechanism is damaged and the sliding structure is out of control, the feeding device can still limit the sliding of the sliding structure through the braking mechanism, thereby preventing the sliding structure from producing uncontrollable movement under inertia or free falling under the action of gravity.

[0034] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0036] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0037] Figure 1 is a schematic structural diagram of a material box robot provided in an exemplary embodiment of the present disclosure;

[0038] Figure 2 yes Figure 1 A schematic diagram of a part of the structure of the feeding device;

[0039] Figure 3 yes Figure 2 A partial structural diagram of the structure in FIG.

[0040] Figure 4 yes Figure 3 A structural schematic diagram of another perspective of the structure in;

[0041] Figure 5 for Figure 4 An enlarged schematic diagram of a local A in FIG.

[0042] Figure 6 for Figure 4 A schematic diagram of the structure of the execution device in FIG.

[0043] Figure 7 for Figure 4 A schematic diagram of the structure of the sliding brake member;

[0044] Figure 8 for Figure 4 Schematic diagram of the structure of the brake push rod.

[0045] Description of reference numerals:

[0046] 1000, material box robot; 100, feeding device; 1, bracket; 2, sliding structure; 3, bearing structure; 4, driving mechanism; 41, transmission member; 42, power source; 43, tension guide rod; 431, protruding structure; 44, tension elastic member; 5, braking mechanism; 51, detection component; 511, micro switch; 5111, switch driving rod; 5112, trigger switch terminal; 52, fixed brake member; 521, guide ramp; 5211, guide rail; 53, sliding brake member; 531, matching Inclined surface; 5311, guide groove; 532, braking surface; 5321, anti-skid groove; 533, hinged lock ear; 54, brake push rod; 541, matching part; 5411, slot; 542, shoulder; 543, hinged hole; 55, brake elastic member; 56, actuator; 561, locking part; 5611, lock hook; 562, electric actuator; 5621, actuator terminal; 6, guide member; 61, bushing; 200, chassis; 300, fork; 400, cache tray; 2000, material box. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0048] The present application provides a feeding device and a material box robot. Figures 1 to 8A schematic diagram of the structure of the material box robot provided in an embodiment of the present application.

[0049] See also Figures 1 to 4 The feeding device 100 includes a bracket 1, a sliding structure 2, a driving mechanism 4 and a braking mechanism 5. The bracket 1 is the basic structure of the entire device, providing support and stability, ensuring that all components can be properly installed and maintaining the integrity of the structure. It is usually made of high-strength materials, such as steel or alloy, to withstand the load and stress of the device during operation.

[0050] The sliding structure 2 is a sliding component. The sliding structure 2 may include auxiliary sliding parts such as rollers and sliders, and slide along the slide rail or slide groove of the bracket 1. It can be understood that the sliding structure 2 drives the material to move and provides guidance for the movement of the material, thereby improving the stability and reliability of the material movement. The sliding structure 2 is connected to the material, including the material is directly connected to the sliding structure 2 in a specific way, or the material is connected to the sliding structure 2 through the bearing structure 3. The present application does not limit the specific connection situation. The sliding structure 2 can drive the material to move. Specifically, the bearing structure 3 is fixedly connected to the sliding structure 2. The main function of the bearing structure 3 is to carry and fix the material to be transported. The bearing structure 3 can be a platform, a hopper or other forms of loading containers.

[0051] The driving mechanism 4 is a key component for driving the sliding structure 2 to slide. It usually includes a power source 42, such as an electric motor, hydraulic or pneumatic cylinder drive, and is connected to the sliding structure 2 through a chain, a wire rope or a gear rack, thereby driving the sliding structure 2 to slide, thereby realizing the transportation of materials. It can be understood that the driving mechanism 4 can also be connected to the sliding structure 2 through the bearing structure 3.

[0052] The brake mechanism 5 is installed on the sliding structure 2, and its function is to limit or allow the sliding of the sliding structure 2, thereby controlling the movement of the material. Under normal operating conditions, the brake mechanism 5 allows the sliding of the sliding structure 2 to ensure the smooth transportation of the material. However, in an emergency, such as a power outage or a failure of the drive mechanism 4, the brake mechanism 5 can respond immediately and prevent the movement of the sliding structure 2 through physical locking or other mechanisms, thereby preventing the sliding structure 2 from producing uncontrollable movement under inertia or free falling under the action of gravity, ensuring safe operation.

[0053] In the technical solution of the present application, by directly installing the braking mechanism 5 on the sliding structure 2, once the driving mechanism 4 is damaged (including the breakage of the transmission chain or the transmission belt, resulting in the interruption of power transmission), the braking mechanism 5 can respond immediately, and prevent the further movement of the sliding structure 2 by limiting, thereby preventing the sliding structure 2 from producing uncontrollable movement under inertia, or free falling under the action of gravity. The operation of the braking mechanism 5 is independent of the driving mechanism 4 (it does not need to rely on limiting the rotation of the driving wheel / transmission wheel). Even if the transmission part fails, the braking mechanism can still operate effectively to ensure safety. That is, in this solution, by directly installing the braking mechanism 5 on the sliding structure 2, even if the driving mechanism 4 is damaged and the sliding structure 2 is out of control, the feeding device 100 can still limit the sliding of the sliding structure 2 through the braking mechanism 5, thereby preventing the sliding structure 2 from producing uncontrollable movement under inertia, or free falling under the action of gravity, thereby improving the safety and reliability of the device.

[0054] In some embodiments, see Figure 2 The sliding structure 2 has a first end and a second end that are relatively arranged. The driving mechanism 4 includes a transmission member 41 and a power source 42. The transmission member 41 includes a third end and a fourth end that are relatively arranged. The third end of the transmission member 41 is connected to the first end of the sliding structure 2, and the fourth end of the transmission member 41 is connected to the second end of the sliding structure 2. The power source 42 is connected to the transmission member 41 in a transmission connection to drive the transmission member 41 to rotate and thus drive the sliding structure 2 to slide. In these embodiments, the transmission member 41 serves as the main transmission element, and its two ends are respectively connected to the two ends of the sliding structure 2 to form a closed loop. When the power source 42 is started, the transmission member 41 will rotate accordingly. Since both ends of the transmission member 41 are connected to the sliding structure 2 The two ends of the transmission member 41 are connected, so when the transmission member 41 rotates, it will drive the sliding structure 2 to move as a whole. This closed-loop driving mechanism 4 can effectively prevent the sliding structure 2 from being deflected during the movement because the two ends are evenly stressed. The balance is better, thereby ensuring the smoothness and safety of material transportation. Even if the friction or resistance on one side changes, the overall stability can be maintained through compensation on the other side. It can self-regulate to a certain extent and has enhanced stability. That is, the two ends of the transmission member 41 are respectively connected to the two ends of the sliding structure 2 to form a closed-loop structure, which can provide a more stable lifting force and ensure the balance of the sliding structure 2 during the activity, thereby avoiding the tilt or shaking that may be caused by unilateral drive.

[0055] In some embodiments, the transmission member 41 includes a transmission belt or a transmission chain. Whether it is a transmission belt or a transmission chain, the length can be adjusted as needed to adapt to different mechanical layouts. The designs of both are relatively simple, easy to manufacture and install, and help reduce costs.

[0056] In some embodiments, the power source 42 includes a motor, and the forward and reverse rotation of the motor will determine the moving direction of the sliding structure 2. By adjusting the speed of the motor, the moving speed of the sliding structure 2 can be accurately controlled, which is suitable for material transportation needs in different scenarios. It is easy to control, efficient, and has stable performance, thereby improving the overall safety and reliability of the system.

[0057] It is understandable that the braking mechanism 5 has various types of braking designs. For example, the braking mechanism 5 includes a clamp and two friction pads to clamp the bracket 1 to generate a braking force. For example, electromagnetic force is used to attract the braking mechanism 5 to contact the bracket 1 to generate a braking force. The present application does not specifically limit the type of the braking mechanism 5.

[0058] In some embodiments, see Figures 3 to 5 , the sliding structure 2 slides in the vertical direction, that is, the feeding device 100 feeds in the vertical direction, the braking mechanism 5 includes a fixed braking member 52 and a sliding braking member 53, the fixed braking member 52 is fixedly arranged on the sliding structure 2, the fixed braking member 52 has a guiding inclined surface 521 toward the bracket 1, and the guiding inclined surface 521 is inclined in the vertical upward direction toward the direction close to the bracket 1; the sliding braking member 53 is arranged between the fixed braking member 52 and the bracket 1, and the sliding braking member 53 has a matching inclined surface 531 and a braking surface 532 (see Figure 7), the matching inclined surface 531 is adapted to the guiding inclined surface 521, so that when the sliding brake 53 moves upward, the braking surface 532 is pressed toward the bracket 1, thereby realizing friction braking. In these embodiments, the fixed brake 52 is fixedly installed on the sliding structure 2, and has a guiding inclined surface 521 facing the bracket 1, and the guiding inclined surface 521 guides the sliding brake 53 to move in a specific direction. The sliding brake 53 is located between the fixed brake 52 and the bracket 1, and has a matching inclined surface 531 matching the guiding inclined surface 521 of the fixed brake 52, and a braking surface 532 for generating friction. When the sliding brake 53 moves upward, due to the inclined setting and guiding effect of the guiding inclined surface 521, the sliding brake 53 has the ability to move toward the bracket 1, so that its braking surface 532 will be forced to move toward the bracket. The bracket 1 is close to the sliding brake member 53, and when braking is needed, an external force (such as spring force, hydraulic pressure or air pressure) pushes the sliding brake member 53 to move upward. Due to the existence of the inclined surface, the movement of the sliding brake member 53 is converted into pressure in the direction perpendicular to the braking surface 532, so that the braking surface 532 is pressed against the bracket 1, generating friction, thereby preventing the movement of the sliding structure 2. Due to the wedge principle, the braking force can be established in a very short time to ensure rapid braking. The design of the inclined surface can amplify the force applied to the sliding brake member 53, and a smaller driving force can generate a larger friction force to achieve an efficient braking effect. Once the braking surface 532 is pressed against the bracket 1, even if the driving force disappears, the braking state will be maintained due to the friction until the external force releases the brake. It has a self-locking characteristic, a simple structure and easy maintenance.

[0059] In some embodiments, one of the guide inclined surface 521 and the matching inclined surface 531 is provided with a guide groove 5311, and the other is provided with a guide rail 5211, and the guide rail 5211 is slidably matched with the guide groove 5311. In these embodiments, the combination of the guide groove 5311 and the guide rail 5211 ensures the linear motion of the sliding brake member 53, prevents it from deflecting or getting stuck during the braking process, and ensures the stability and reliability of the braking effect. The close cooperation between the guide groove 5311 and the guide rail 5211 can improve the positioning accuracy of the sliding brake member 53, and ensure that the braking surface 53 The contact area and pressure distribution between the guide groove 5311 and the bracket 1 are uniform, thereby optimizing the braking performance. The design of the guide groove 5311 and the guide rail 5211 can also reduce the direct contact between the sliding brake member 53 and the fixed brake member 52, reduce friction and wear, and extend the service life of the brake mechanism 5. The design of the guide groove 5311 and the guide rail 5211 makes the assembly process of the brake mechanism 5 simpler and also facilitates future maintenance and adjustment. The cooperation of the guide groove 5311 and the guide rail 5211 can also play a certain locking role to prevent accidental brake release, thereby improving the safety of the entire system.

[0060] In some embodiments, the braking surface 532 is provided with an anti-skid groove 5321, which can increase the actual contact area of ​​the braking surface 532, especially when there is a lubricant or slippery substance between the braking surface 532 and the contact surface of the bracket 1, by increasing the micro-roughness to improve the friction coefficient, ensure the braking efficiency, in a humid or oily environment, the anti-skid groove 5321 can help quickly discharge the water or oil between the braking surface 532 and the contact surface, prevent these liquids from forming a lubricating layer, thereby avoiding braking slip, ensuring the reliability and safety of braking, the design of the anti-skid groove 5321 can also alleviate the thermal expansion effect, keep the shape of the braking surface 532 stable, and reduce the risk of braking failure. Specifically, the design of the anti-skid groove 5321 can be cross-shaped, longitudinally or horizontally arranged, and set as needed.

[0061] In some embodiments, the anti-skid groove 5321 is made of wear-resistant and anti-skid material. The wear-resistant material can significantly extend the service life of the anti-skid groove 5321, and can maintain good structural integrity and friction performance even in high-intensity and frequent braking processes, reducing the frequency of maintenance and replacement. The anti-skid material usually has a high friction coefficient, and can provide sufficient friction even in wet, greasy or harsh environments to ensure the stability and safety of the braking system. Specifically, the wear-resistant and anti-skid material can be a special alloy steel, such as high-speed steel, tool steel, etc., which has high hardness and wear resistance and is suitable for braking applications that require high strength and high wear resistance. The wear-resistant and anti-skid material can also be a composite material, such as carbon fiber reinforced plastic (CFRP), ceramic matrix composite (CMC), etc., which combines light weight, high strength and excellent wear resistance, and is suitable for high-speed and high-load braking systems.

[0062] It is understandable that when braking is required, an external force is required to push the sliding brake member 53 upward. The external force can be hydraulic or pneumatic, which is not limited in the present application.

[0063] In some embodiments, see Figure 4 , Figure 5 and Figure 8, the brake mechanism 5 also includes a brake push rod 54, a brake elastic member 55 and an actuator 56, the brake push rod 54 is fixedly connected to the sliding brake member 53, the brake push rod 54 is movably installed on the sliding structure 2, and a matching portion 541 is provided on the brake push rod 54; the brake elastic member 55 is arranged between the sliding structure 2 and the brake push rod 54; the actuator 56 is provided with a locking portion 561, the locking portion 561 matches the matching portion 541, and the actuator 56 is used to release the matching between the locking portion 561 and the matching portion 541, so as to allow the brake elastic member 55 to drive the brake push rod 54 to push the sliding brake member 53 to move upward. In these embodiments, in the working process of the brake mechanism 5, when the actuator 56 is not operated, the lock The stop portion 561 and the matching portion 541 remain in a matched state, the brake push rod 54 is fixed, and the brake elastic member 55 is in a compressed or stretched state to store energy. Once the actuator 56 is operated to release the lock, the restoring force of the brake elastic member 55 will drive the brake push rod 54 to move, and then push the sliding brake member 53 to move upward to achieve a braking effect. The brake elastic member 55 (such as a spring) is used to drive the sliding brake member 53. Compared with a hydraulic or pneumatic system, the structure is relatively simple and there are no complex components such as pumps, valves, and pipelines in the hydraulic or pneumatic system, which reduces the complexity of the system, reduces the design and manufacturing and maintenance costs, and the elastic force of the brake elastic member 55 (such as a spring) can be released instantly to increase the corresponding speed.

[0064] It is understandable that in the above-mentioned embodiment, the spring itself can only provide a constant elastic force, but cannot autonomously control the storage and release of the elastic force. The actuator 56 is introduced to lock the compressed state of the spring through the cooperation of the locking portion 561 and the matching portion 541 on the brake push rod 54, preventing it from naturally extending and releasing the braking force. When braking is required, the actuator 56 will be unlocked, allowing the spring to extend, thereby pushing the sliding brake member 53 to brake, ensuring that the brake system will only be activated when receiving the correct control signal or operation instruction, providing the necessary safety control and operational flexibility. The actuator 56 can be a pneumatic actuator 56 or a hydraulic actuator 56.

[0065] In some embodiments, the locking portion 561 includes a locking hook 5611, and the matching portion 541 includes a card slot 5411. In these embodiments, the locking hook 5611 is inserted into the card slot 5411 to achieve locking, and the locking hook 5611 is withdrawn from the card slot 5411 to achieve unlocking. The matching mode of the locking hook 5611 and the card slot 5411 has a simple structure, low cost, good stability, easy operation, and can be quickly connected and disconnected, which is conducive to improving the response speed of the braking mechanism 5 and improving the overall safety of the device. For details, refer to Figure 7 and Figure 8One end of the brake push rod 54 is provided with a slot 5411, and the other end is provided with a shoulder 542 and a hinge hole 543. The shoulder 542 is used to install a brake elastic member 55 (such as a spring). The brake push rod 54 is connected to the hinge lock ear 533 on the sliding brake member 53 through a hinge pin and a retaining spring.

[0066] In some embodiments, see Figure 5 The feeding device 100 further includes a guide member 6, which is fixed to the sliding structure 2. The guide member 6 includes a guide hole, and the brake push rod 54 is inserted into the guide hole. In this way, when the brake push rod 54 moves under the action of the brake elastic member 55 or other driving mechanism, it will be inserted into the guide hole. The inner wall of the guide hole plays a role in limiting and guiding the brake push rod 54, ensuring its linear motion and avoiding deviation or shaking during the motion, thereby improving the stability and reliability of the braking system. In order to prevent the brake push rod 54 installed in the guide hole from getting stuck, in some embodiments, a plurality of bushings 61 are provided in the guide hole, and the brake push rod 54 is inserted into the bushings 61.

[0067] In some embodiments, see Figures 2 to 4 The braking mechanism 5 includes a detection component 51, which is used to detect the breakage of the transmission member 41. In these embodiments, the detection component 51 can monitor the status of the transmission member 41 in real time. Once the breakage of the transmission member 41 is detected, the braking mechanism 5 can be immediately activated to prevent the sliding structure 2 from producing uncontrollable movement under the action of inertia, or free falling under the action of gravity, so as to avoid safety accidents and ensure the safety of operators and the surrounding environment. Such safety measures are part of preventive maintenance, which helps to reduce downtime and extend the service life of equipment.

[0068] It is understandable that there are many ways for the detection component 51 to detect the breakage of the transmission member 41, and the present application does not limit the detection method. For example, through sound detection, a specific sound is usually generated when the transmission member 41 breaks, and an acoustic sensor can be used to monitor these abnormal sounds and issue a warning in time. For example, a photoelectric sensor is set on the path of the transmission member 41. If the transmission member 41 breaks, the light beam will no longer be blocked, and the sensor will detect this change and trigger an alarm.

[0069] In some embodiments, the detection component 51 and the execution device 56 are communicatively connected. In these embodiments, the detection component 51 monitors the breakage of the transmission member 41 during the material handling process. Once the breakage of the transmission member 41 is detected, the execution device 56 is immediately notified through the communication connection, thereby applying braking to prevent loss of control, thereby improving the safety, reliability and efficiency of the feeding device 100.

[0070] In some embodiments, see Figures 2 to 4The driving mechanism 4 includes a tensioning guide rod 43 and a tensioning elastic member 44. At least one end of the transmission member 41 is connected to the tensioning guide rod 43. The tensioning guide rod 43 is movably installed on the sliding structure 2. The tensioning elastic member 44 is arranged between the sliding structure 2 and the tensioning guide rod 43. The tensioning elastic member 44 is used to drive the tensioning guide rod 43 to apply a tensioning force to the transmission member 41. The detection component 51 is used to detect the position / relative movement of the tensioning guide rod 43 and the sliding structure 2 to detect the breakage of the transmission member 41. In these embodiments, the breakage of the transmission member 41 is detected by detecting the position or relative movement of the tensioning guide rod 43 and the sliding structure 2. Since the tensioning degree of the transmission member 41 directly affects its working state and life, when the transmission member 41 breaks, the tensioning guide rod 43 will no longer be affected by the tension from the transmission member 41, so that the relative position between the tensioning guide rod 43 and the sliding structure 2 will change significantly. This change can directly reflect the state of the transmission member 41 and provide an immediate and accurate breakage signal. By monitoring the slight position changes of the tensioning guide rod 43 and the sliding structure 2, high-sensitivity detection of the state of the transmission member 41 can be achieved. This detection method is not affected by external factors such as environmental noise and temperature changes, and has high reliability and stability. Whether it is a transmission belt or a transmission chain, as long as the tensioning force can be applied through the tensioning guide rod 43, this method can be used for breakage detection, and it has strong adaptability, that is, the breakage of the transmission member 41 is detected by detecting the position / relative movement of the tensioning guide rod 43 and the sliding structure 2. This method is efficient, reliable and easy to implement, thereby improving the safety and availability of the equipment.

[0071] It can be understood that there are various detection components 51 that can be used to detect the position / relative movement of the tensioning guide rod 43 and the sliding structure 2, such as a photoelectric sensor that monitors the position change of the tensioning guide rod 43 by emitting a light beam and detecting reflection or obstruction. Another example is a magnetic sensor that uses changes in the magnetic field to detect the movement of metal objects and is suitable for a tensioning guide rod 43 made of metal. Another example is a linear displacement sensor that can directly measure the linear displacement of the tensioning guide rod 43 and provide continuous position information.

[0072] In some embodiments, the detection component 51 includes a micro switch 511, and the micro switch 511 is located on the outer peripheral side of the tension guide rod 43; wherein, a protrusion structure 431 is provided on the outer peripheral side of the tension guide rod 43, and the protrusion structure 431 is used to follow the tension guide rod 43 to move to a preset position to trigger the micro switch 511. In these embodiments, the micro switch 511 is selected as the detection component 51. The micro switch 511 can be triggered under the action of a very small force, which makes it very suitable for detecting the slight movement of the tension guide rod 43 and has high sensitivity. The micro switch 511 has a simple structure and is usually composed of a switch drive rod 5111 and contacts. When subjected to pressure, the switch drive rod 5111 deforms and contacts to complete the circuit closure, and has high durability and reliability. In addition, the micro switch 511 also has the advantages of instant response, relatively low cost, easy installation and maintenance, and easy integration. The micro switch 511 is set on the tension guide rod. On the peripheral side of 43, the protruding structure 431 can be used as a trigger mechanism. When the transmission member 41 is normally tensioned, the protruding structure 431 remains in a certain position. When the transmission member 41 breaks, the tensioning force disappears, the tensioning guide rod 43 moves, and the protruding structure 431 moves to a preset position, thereby triggering the micro switch 511, and realizing instant detection of the break of the transmission member 41. By setting the micro switch 511 on the peripheral side of the tensioning guide rod 43, it is ensured that the switch can accurately and promptly respond to the position change of the tensioning guide rod 43, so as to respond at the first time when the transmission member 41 breaks, thereby improving the operating safety and maintenance efficiency of the equipment.

[0073] It should be noted that the micro switch 511 can be divided into two triggering modes: normally open and normally closed. The protruding structure 431 is used to follow the tensioning guide rod 43 to move to a preset position to trigger the micro switch 511. When the micro switch 511 is in the normally open triggering mode, the normally open micro switch 511 is in a disconnected state when no external force is applied. The protruding structure 431 follows the tensioning guide rod 43 to move to a position corresponding to the switch driving rod 5111 of the micro switch 511 (i.e., the preset position). The lifting structure 431 pushes the switch driving rod 5111, so that the contacts are close to each other to trigger the micro switch 511; when the micro switch 511 is in the normally closed trigger mode, the contacts of the normally closed micro switch 511 are in a closed state when not subjected to external force, and the raised structure 431 follows the tension guide rod to move to a position offset from the switch driving rod 5111 (i.e., a preset position), and other parts of the tension guide rod correspond to the switch driving rod 5111, so that the contacts are separated and disconnected to trigger the micro switch 511.

[0074] In some embodiments, the actuator 56 is an electric actuator 562, which includes an actuator terminal 5621. After the micro switch 511 is triggered, the trigger switch terminal 5112 of the micro switch 511 outputs an electrical signal, and the electric actuator 562 receives the electrical signal through the actuator terminal 5621, and controls the locking portion 561 to release the matching portion 541 according to the electrical signal, thereby allowing the brake elastic member 55 to drive the brake push rod 54 to push the sliding brake member 53 upward to achieve braking. Specifically, the trigger switch terminal 5112 and the actuator terminal 5621 are connected by a lead to achieve signal transmission.

[0075] It can be understood that the electrical signal of the transmission part 41 being broken emitted by the micro switch 511 is sent to the electric control actuator 562, which can trigger the braking to prevent falling. The electrical signal can also be actively triggered by manual execution to facilitate manual maintenance of the device during normal operation. In addition, when the transmission part 41 is too loose, the tensioning guide rod 43 will also be relatively displaced with the sliding structure 2 under the action of the tensioning elastic part 44, thereby triggering the micro switch 511. Therefore, when the transmission part 41 is too loose, it can also trigger the braking to prevent falling.

[0076] According to the second aspect of the present application, a material box robot 1000 is provided, comprising a feeding device 100. The structure of the feeding device 100 is as described above. Since the material box robot 1000 adopts all the technical solutions of all the above embodiments, it has at least the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here. Figure 1 The material box robot 1000 drives the entire feeding device 100 to move through the driving system on the chassis 200. The fork 300 is installed on the supporting structure 3 of the feeding device 100. The actuator in the fork 300 forks the material box 2000. As the supporting structure 3 moves, it places the material boxes 2000 at different heights and caches the material boxes 2000 on the cache tray 400 to transfer the material boxes 2000.

[0077] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0078] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0079] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0080] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A feeding device, characterized in that: include: Bracket; A driving mechanism, wherein the driving mechanism is mounted on the bracket; A sliding structure, wherein the sliding structure is slidably mounted on the bracket, and the sliding structure is transmission-connected to the driving mechanism so that the driving mechanism can drive the sliding structure to slide; and, A braking mechanism is installed on the sliding structure, and is used to limit or allow the sliding of the sliding structure.

2. The feeding device according to claim 1, characterized in that: The sliding structure has a first end and a second end that are arranged opposite to each other, and the driving mechanism comprises: a transmission member, comprising a third end and a fourth end disposed opposite to each other, wherein the first end is connected to the third end, and the second end is connected to the fourth end; and, A power source is connected to the transmission member to drive the transmission member to rotate and thus drive the sliding structure to slide.

3. The feeding device according to claim 2, characterized in that: The transmission member includes a transmission belt or a transmission chain; and / or, The power source includes a motor.

4. The feeding device according to claim 2, characterized in that: The sliding structure slides in a vertical direction, and the braking mechanism comprises: a fixed brake member fixedly disposed on the sliding structure, wherein the fixed brake member has a guide slope facing the bracket, and the guide slope is inclined in a vertically upward direction toward a direction close to the bracket; and, A sliding brake is arranged between the fixed brake and the bracket. The sliding brake has a matching slope and a braking surface. The matching slope is matched with the guide slope so that when the sliding brake moves upward, the braking surface is pressed against the bracket to achieve friction braking.

5. The feeding device according to claim 4, characterized in that: One of the guiding inclined surface and the matching inclined surface is provided with a guiding groove, and the other one is provided with a guiding rail, and the guiding rail is slidably matched with the guiding groove; and / or, The braking surface is provided with an anti-skid groove.

6. The feeding device according to claim 4, characterized in that: The braking mechanism also includes: A brake push rod, fixedly connected to the sliding brake member, the brake push rod is movably mounted on the sliding structure, and a matching portion is provided on the brake push rod; a brake elastic member, disposed between the sliding structure and the brake push rod; and, The actuator is provided with a locking portion, which matches the matching portion. The actuator is used to release the matching between the locking portion and the matching portion to allow the brake elastic member to drive the brake push rod to push the sliding brake member to move upward.

7. The feeding device according to claim 6, characterized in that: The locking portion includes a locking hook, and the matching portion includes a locking groove.

8. The feeding device according to claim 6, characterized in that: The feeding device also includes a guide member, which is fixed to the sliding structure. The guide member includes a guide hole, and the brake push rod is inserted into the guide hole.

9. The feeding device according to claim 6, characterized in that: The braking mechanism comprises a detection component, and the detection component is used to detect the breakage of the transmission member.

10. The feeding device according to claim 9, characterized in that: The detection component is communicatively connected with the execution device.

11. The feeding device according to claim 9, characterized in that: The driving mechanism comprises a tensioning guide rod and a tensioning elastic member, at least one end of the transmission member is connected to the tensioning guide rod, the tensioning guide rod is movably mounted on the sliding structure, the tensioning elastic member is arranged between the sliding structure and the tensioning guide rod, and the tensioning elastic member is used to drive the tensioning guide rod to apply tensioning force to the transmission member; The detection component is used to detect the position / relative movement of the tensioning guide rod and the sliding structure to detect the breakage of the transmission member.

12. The feeding device according to claim 11, characterized in that: The detection component includes a micro switch, and the micro switch is located on the outer peripheral side of the tension guide rod; Wherein, a protrusion structure is provided on the outer peripheral side of the tensioning guide rod, and the protrusion structure is used to move with the tensioning guide rod to a preset position to trigger the micro switch.

13. A material box robot, characterized in that: The material box robot comprises a feeding device as described in any one of claims 1 to 12.

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