Feeding device and magazine robot

Abstract

The application relates to a feeding device and a magazine robot, the feeding device comprising a support, a driving mechanism, a sliding structure and a braking mechanism, the driving mechanism being installed on the support, the sliding structure being slidably installed on the support, the sliding structure being in transmission connection with the driving mechanism, so that the driving mechanism can drive the sliding structure to slide, the braking mechanism being installed on the sliding structure, the braking mechanism being used for limiting or allowing the sliding of the sliding structure, 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, so that uncontrollable movement of the sliding structure under inertia or free falling under the action of gravity is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lifting equipment, in particular to a feeding device and a bin robot. BACKGROUND

[0002] Material handling equipment is mainly used for transporting materials, thereby improving the efficiency of materials in the process of production and circulation.

[0003] In the related art, the 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 carries the material to move to guide the movement of the material. However, in the process of working of the material handling equipment, there is a situation that the driving mechanism is damaged after long-term use, thereby causing the sliding structure to lose control. The sliding structure losing control can cause serious consequences, including but not limited to damage to goods, damage to equipment, and personal injury to operators, especially when the sliding structure moves in the vertical direction, such risks are particularly prominent. SUMMARY

[0004] Embodiments of the present application provide a feeding device and a bin robot, which solve the technical problem of the sliding structure losing control in the case of damage to the driving mechanism in the related art.

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

[0006] a support;

[0007] a driving mechanism, the driving mechanism is installed on the support;

[0008] a sliding structure, the sliding structure is slidably installed on the support, the sliding structure is in transmission connection with the driving mechanism, so that the driving mechanism can drive the sliding structure to slide; and,

[0009] a braking mechanism, the braking mechanism is installed on the sliding structure, the braking mechanism 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 arranged oppositely, the driving mechanism comprises:

[0011] a transmission member, comprising a third end and a fourth end arranged oppositely, the first end is connected with the third end, and the second end is connected with the fourth end; and,

[0012] a power source, the power source is in transmission connection with the transmission member, so as to drive the transmission member to rotate and drive the sliding structure to slide.

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

[0014] The power source comprises a motor.

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

[0016] a fixed braking member fixed to the sliding structure, the fixed braking member having a guide slope facing the support, the guide slope being arranged to tilt in a direction of approaching the support along a vertical upward direction; and

[0017] a sliding braking member arranged between the fixed braking member and the support, the sliding braking member having a matching slope and a braking surface, the matching slope being adapted to the guide slope so that when the sliding braking member moves upward, the braking surface is pressed against the support to achieve friction braking.

[0018] Optionally, one of the guide slope and the matching slope is provided with a guide groove, and the other is provided with a guide rail, the guide rail being in sliding fit with the guide groove; and / or,

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

[0020] Optionally, the braking mechanism further comprises:

[0021] a braking push rod fixedly connected to the sliding braking member, the braking push rod being movably mounted to the sliding structure, the braking push rod being provided with a matching portion;

[0022] a braking elastic member arranged between the sliding structure and the braking push rod; and

[0023] an execution device provided with a locking portion, the locking portion being matched with the matching portion, the execution device being used to release the matching of the locking portion and the matching portion to allow the braking elastic member to drive the braking push rod to push the sliding braking member to move upward.

[0024] Optionally, the locking portion comprises a locking hook, and the matching portion comprises a clamping groove.

[0025] Optionally, the feeding device further comprises a guide member fixedly arranged on the sliding structure, the guide member comprising a guide hole, and the braking push rod is arranged in the guide hole.

[0026] Optionally, the braking mechanism comprises a detection component for detecting the fracture of the transmission member.

[0027] Optionally, the detection component and the execution device are communicatively connected.

[0028] Optionally, the driving mechanism comprises a tension guide rod and a tension elastic member, at least one end of the transmission member is connected with the tension guide rod, the tension guide rod is movably installed on the sliding structure, and the tension elastic member is arranged between the sliding structure and the tension guide rod, and the tension elastic member is used to drive the tension guide rod to exert a tension force on the transmission member.

[0029] The detection component is used to detect the position / relative movement of the tension guide rod and the sliding structure, so as to detect the fracture of the transmission member.

[0030] Optionally, the detection component comprises a micro switch, and the micro switch is located at the outer circumferential side of the tension guide rod.

[0031] The outer circumferential side of the tension guide rod is provided with a protruding structure, and the protruding structure is used to move to a preset position to trigger the micro switch.

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

[0033] In the feeding device of the present application, the brake mechanism is directly installed on the sliding structure, so that 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 brake mechanism, thereby avoiding the uncontrollable movement of the sliding structure under inertia or the free falling of the sliding structure under gravity.

[0034] Other features and advantages of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

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

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

[0038] Figure 2 is Figure 1 a partial structural schematic diagram of the feeding device in

[0039] Figure 3 isFigure 2 partial structural schematic view of the structure in FIG. 1;

[0040] Figure 4 Figure 3 another perspective structural schematic view of the structure in FIG. 1;

[0041] Figure 5 Figure 4 enlarged schematic view of part A in FIG. 1;

[0042] Figure 6 Figure 4 structural schematic view of the execution device in FIG. 1;

[0043] Figure 7 Figure 4 structural schematic view of the sliding brake in FIG. 1;

[0044] Figure 8 Figure 4 structural schematic view of the brake push rod in FIG. 1.

[0045] Explanation of Reference Signs:

[0046] 1000, box robot; 100, feeding device; 1, support; 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, brake mechanism; 51, detection component; 511, micro switch; 5111, switch driving rod; 5112, trigger switch terminal; 52, fixed brake member; 521, guide slope; 5211, guide rail; 53, sliding brake member; 531, matching slope; 5311, guide groove; 532, brake surface; 5321, anti-skid groove; 533, hinged lock lug; 54, brake push rod; 541, matching part; 5411, clamping groove; 542, shaft shoulder; 543, hinged hole; 55, brake elastic member; 56, execution device; 561, locking part; 5611, lock hook; 562, electric control actuator; 5621, actuator terminal; 6, guide member; 61, bushing; 200, chassis; 300, fork; 400, buffer tray; 2000, box. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to 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 the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0048] The present application provides a feeding device and a box robot, Figures 1 to 8 ​​​​​A structural schematic diagram of a magazine robot is provided for the embodiments of the present application.

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

[0050] The sliding structure 2 is a slidable component, which can include rollers, sliders and other auxiliary sliding parts. It slides along the slide rail or slide groove of the support 1. It can be understood that the sliding structure 2 carries the material 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 being directly connected to the sliding structure 2 in a specific way, or the material being connected to the sliding structure 2 through a carrying structure 3. The present application does not limit the specific connection, as long as the sliding structure 2 can move the material. Specifically, the carrying structure 3 is fixedly connected to the sliding structure 2. The main function of the carrying structure 3 is to carry and fix the material to be transported. The carrying 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, a hydraulic or pneumatic cylinder drive, which is connected to the sliding structure 2 through chain, steel wire rope or gear rack, etc. to drive the sliding structure 2 to slide, thereby realizing the transportation of the material. It can be understood that the driving mechanism 4 can also be connected to the sliding structure 2 through the carrying structure 3.

[0052] The braking mechanism 5 is installed on the sliding structure 2. 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 braking mechanism 5 allows the sliding of the sliding structure 2 to ensure smooth transportation of the material. However, in emergency situations such as power failure or driving mechanism 4 failure, the braking mechanism 5 can immediately respond by physically locking or other mechanisms to prevent the movement of the sliding structure 2, thereby avoiding uncontrollable movement of the sliding structure 2 under inertia or free falling under the action of gravity, ensuring operation safety.

[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 transmission chain or transmission belt is broken, causing the power transmission to be interrupted), the braking mechanism 5 can immediately respond by limiting the further movement of the sliding structure 2, thereby avoiding the uncontrollable movement of the sliding structure 2 under inertia or free falling under the action of gravity. The operation of the braking mechanism 5 is independent of the driving mechanism 4 (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 work effectively to ensure safety. That is, 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 avoiding the uncontrollable movement of the sliding structure 2 under inertia or free falling under the action of gravity, improving the safety and reliability of the device.

[0054] In some embodiments, referring to Figure 2 , the sliding structure 2 has a first end and a second end arranged opposite to each other, 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 arranged opposite to each other, 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 in driving connection with the transmission member 41 to drive the transmission member 41 to rotate and thereby 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 connected to the two ends of the sliding structure 2 respectively to form a closed loop. When the power source 42 is started, the transmission member 41 will rotate, and since the two ends of the transmission member 41 are connected to the sliding structure 2, 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 movement due to uniform force on both ends, has better balance, and ensures the stability 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, and the stability can be adjusted to a certain extent, thereby enhancing the stability.

[0055] In some embodiments, the transmission member 41 includes a transmission belt or a transmission chain. Both the transmission belt and the transmission chain can be adjusted in length as needed to adapt to different mechanical layouts. Both designs are relatively simple, easy to manufacture and install, and conducive to cost reduction.

[0056] In some embodiments, the power source 42 comprises an electric motor, and the forward and reverse rotation of the electric motor determines the moving direction of the sliding structure 2. By adjusting the rotating speed of the electric motor, the moving speed of the sliding structure 2 can be accurately controlled, which is suitable for the material transportation requirements in different scenarios, easy to control, high efficiency, stable performance, and thus improves the overall safety and reliability of the system.

[0057] It can be understood that the brake mechanism 5 has various types of brake designs. For example, the brake mechanism 5 comprises a clamp and two friction pads to clamp the support 1 to generate a braking force. For another example, the brake mechanism 5 is attracted to the support 1 by electromagnetic force to generate a braking force. The type of the brake mechanism 5 is not limited in the present application.

[0058] In some embodiments, referring to Figures 3 to 5 , the sliding structure 2 slides in the vertical direction, i.e., the feeding device 100 feeds in the vertical direction. The brake mechanism 5 comprises a fixed brake 52 and a sliding brake 53. The fixed brake 52 is fixedly arranged on the sliding structure 2. The fixed brake 52 has a guide inclined surface 521 facing the support 1. The guide inclined surface 521 is arranged to be inclined in the direction of approaching the support 1 along the upward vertical direction. The sliding brake 53 is arranged between the fixed brake 52 and the support 1. The sliding brake 53 has a matching inclined surface 531 and a braking surface 532 (see Figure 7), the matching slope surface 531 matches the guide slope surface 521, so that when the sliding brake 53 moves upward, the brake surface 532 is pressed against the support 1, thereby achieving friction braking. In these embodiments, the fixed brake 52 is fixedly installed on the sliding structure 2 and has a guide slope surface 521 facing the support 1, which guides the sliding brake 53 to move in a specific direction. The sliding brake 53 is located between the fixed brake 52 and the support 1 and has a matching slope surface 531 matching the guide slope surface 521 of the fixed brake 52 and a brake surface 532 for generating friction. When the sliding brake 53 moves upward, due to the inclined arrangement and guiding effect of the guide slope surface 521, the sliding brake 53 moves toward the support 1, so that its brake surface 532 is forced to approach the support 1. When braking is needed, an external force (such as spring force, hydraulic pressure or air pressure) pushes the sliding brake 53 to move upward. Due to the existence of the slope, the movement of the sliding brake 53 is converted into pressure in the vertical direction of the brake surface 532, so that the brake surface 532 is pressed against the support 1 to generate 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 slope can amplify the force applied to the sliding brake 53, so that a smaller driving force can generate a larger friction force to achieve high-efficiency braking effect. Once the brake surface 532 is pressed against the support 1, even if the driving force disappears, the braking state will be maintained due to the friction, until an external force releases the brake, which has a self-locking feature, simple structure and convenient maintenance.

[0059] In some embodiments, one of the guide slope surface 521 and the matching slope surface 531 is provided with a guide groove 5311, and the other is provided with a guide rail 5211, which is in sliding fit with the guide groove 5311. In these embodiments, the combination of the guide groove 5311 and the guide rail 5211 ensures the linear movement of the sliding brake 53, prevents it from deviating or being stuck during braking, and ensures the stability and reliability of the braking effect. Through the close fit of the guide groove 5311 and the guide rail 5211, the positioning accuracy of the sliding brake 53 can be improved, ensuring that the contact area and pressure distribution of the brake surface 532 and the support 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 53 and the fixed brake 52, reduce friction and wear, and prolong the service life of the braking mechanism 5. The design of the guide groove 5311 and the guide rail 5211 makes the assembly process of the braking mechanism 5 simpler and 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 and improve the safety of the entire system.

[0060] In some embodiments, the brake surface 532 is provided with anti-skid grooves 5321, which can increase the actual contact area of the brake surface 532, especially in the presence of lubricants or wet substances between the brake surface 532 and the contact surface of the support 1, by increasing the micro-roughness to improve the friction coefficient, ensuring the braking efficiency. In a wet or oily environment, the anti-skid grooves 5321 can help quickly drain the water or oil between the brake surface 532 and the contact surface, preventing the formation of a lubricating layer, thereby avoiding brake slip and ensuring the reliability and safety of the brake. The design of the anti-skid grooves 5321 can also alleviate the effect of thermal expansion, maintain the shape stability of the brake surface 532, and reduce the risk of brake failure. Specifically, the anti-skid grooves 5321 can be designed in a cross type, longitudinal or transverse arrangement, as needed.

[0061] In some embodiments, the anti-skid grooves 5321 are made of wear-resistant materials, which can significantly extend the service life of the anti-skid grooves 5321, maintain good structural integrity and friction performance even in high-strength and frequent braking processes, and reduce the frequency of maintenance and replacement. Anti-skid materials usually have a high friction coefficient, which can provide sufficient friction force even in wet, oily or harsh environments, ensuring the stability and safety of the brake system. Specifically, the wear-resistant anti-skid material can be a special alloy steel, such as high-speed steel, tool steel, etc., which has high hardness and wear resistance, suitable for brake applications that require high strength and high wear resistance. The wear-resistant 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, suitable for high-speed and high-load brake systems.

[0062] It can be understood that when braking is required, an external force is needed to push the sliding brake 53 to move upwards, which can be hydraulic or pneumatic, and the present application does not limit.

[0063] In some embodiments, please refer to Figure 4 、 Figure 5 and Figure 8, the brake mechanism 5 further comprises a brake push rod 54, a brake elastic member 55 and an execution device 56, the brake push rod 54 is fixedly connected with the sliding brake piece 53, the brake push rod 54 is movably installed on the sliding structure 2, and the brake push rod 54 is provided with a matching part 541; the brake elastic member 55 is arranged between the sliding structure 2 and the brake push rod 54; the execution device 56 is provided with a locking part 561, the locking part 561 is matched with the matching part 541, and the execution device 56 is used to release the cooperation between the locking part 561 and the matching part 541, so that the brake elastic member 55 drives the brake push rod 54 to push the sliding brake piece 53 to move upwards. In these embodiments, in the working process of the brake mechanism 5, when the execution device 56 is not operated, the locking part 561 and the matching part 541 remain in the cooperation state, the brake push rod 54 is fixed, the brake elastic member 55 is in the compressed or stretched state, and energy is stored. Once the execution device 56 is operated, the locking part 561 and the matching part 541 are released, and the restoring force of the brake elastic member 55 drives the brake push rod 54 to move, and then pushes the sliding brake piece 53 to move upwards, so that the brake effect is realized. The brake elastic member 55 (such as a spring) is used to drive the sliding brake piece 53. Compared with a hydraulic or pneumatic system, the structure is relatively simple, there are no complex components such as pumps, valves and pipelines in the hydraulic or pneumatic system, the complexity of the system is reduced, and the design, manufacturing and maintenance costs are reduced. The elastic force of the brake elastic member 55 (such as a spring) can be released instantaneously, and the corresponding speed is improved.

[0064] It can be understood that in the above embodiments, the spring itself can only provide a constant elastic force, and cannot autonomously control the storage and release of the elastic force. The execution device 56 is introduced, the locking part 561 is matched with the matching part 541 on the brake push rod 54, the compressed state of the spring is locked, and the natural stretching to release the brake force is prevented. When braking is needed, the execution device 56 releases the locking, allows the spring to stretch, and thus pushes the sliding brake piece 53 to brake, so that the brake system is activated only when a correct control signal or operation instruction is received, necessary safety control and operation flexibility are provided. The execution device 56 can be a pneumatic execution device 56, and can also be a hydraulic execution device 56.

[0065] In some embodiments, the locking part 561 comprises a locking hook 5611, and the matching part 541 comprises a clamping groove 5411. In these embodiments, the locking hook 5611 is clamped into the clamping groove 5411 to achieve locking, and the locking hook 5611 is taken out of the clamping groove 5411 to achieve unlocking. The matching mode of the locking hook 5611 and the clamping groove 5411 has the advantages of simple structure, low cost, good stability, easy operation, quick connection and disconnection, and is favorable for improving the corresponding speed of the brake mechanism 5 and improving the overall safety of the device. Specifically, refer to Figure 7 and Figure 8The brake push rod 54 is provided with a clamping groove 5411 at one end and a shaft shoulder 542 and a hinge hole 543 at the other end. The shaft shoulder 542 is used to install a brake elastic element 55 (such as a spring). The brake push rod 54 is connected to the hinge lock ear 533 on the sliding brake 53 through a hinge pin and a clasp spring.

[0066] In some embodiments, referring to Figure 5 The feeding device 100 further comprises a guide 6 fixedly arranged on the sliding structure 2. The guide 6 comprises a guide hole in which the brake push rod 54 is arranged. When the brake push rod 54 moves under the action of the brake elastic element 55 or other driving mechanism, it is arranged in the guide hole. The inner wall of the guide hole limits and guides the brake push rod 54 to ensure its linear motion and avoid deviation or shaking during the motion, thereby improving the stability and reliability of the brake system. In order to prevent the brake push rod 54 arranged in the guide hole from being stuck, a plurality of bushings 61 are arranged in the guide hole in some embodiments, and the brake push rod 54 is arranged in the bushings 61.

[0067] In some embodiments, referring to Figures 2 to 4 The brake mechanism 5 comprises a detection component 51 for detecting the breakage of the transmission member 41. In these embodiments, the detection component 51 can monitor the state of the transmission member 41 in real time. Once the breakage of the transmission member 41 is detected, the brake mechanism 5 can be immediately started to prevent the sliding structure 2 from producing uncontrollable motion under the action of inertia or free fall under the action of gravity, thereby avoiding causing safety accidents and ensuring the safety of the operator and the surrounding environment. Such safety measures are part of preventive maintenance, which helps to reduce downtime and prolong the service life of the equipment.

[0068] It can be understood that there are various ways for the detection component 51 to detect the breakage of the transmission member 41, and the detection method is not limited in the present application. For example, sound detection can be used. The transmission member 41 usually produces a specific sound when it breaks. An acoustic sensor can be used to listen to these abnormal sounds and issue a warning in a timely manner. For another example, a photoelectric sensor can be arranged 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, so that braking is taken to prevent out-of-control, thereby improving the safety, reliability and efficiency of the feeding device 100.

[0070] In some embodiments, referring to Figures 2 to 4The driving mechanism 4 comprises a tension guide rod 43 and a tension elastic member 44, at least one end of the transmission member 41 is connected with the tension guide rod 43, the tension guide rod 43 is movably installed on the sliding structure 2, the tension elastic member 44 is arranged between the sliding structure 2 and the tension guide rod 43, and the tension elastic member 44 is used to drive the tension guide rod 43 to exert a tension force on the transmission member 41. The detection component 51 is used to detect the position / relative movement of the tension guide rod 43 and the sliding structure 2 to detect the fracture of the transmission member 41. In these embodiments, the fracture of the transmission member 41 is detected by detecting the position or relative movement of the tension guide rod 43 and the sliding structure 2. Since the tension degree of the transmission member 41 directly affects its working state and service life, when the transmission member 41 is fractured, the tension guide rod 43 will no longer be subjected to the tension force from the transmission member 41, so that the relative position between the tension guide rod 43 and the sliding structure 2 will change significantly. This change can directly reflect the state of the transmission member 41, providing an instant and accurate fracture signal. By monitoring the slight position change of the tension 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, has high reliability and stability, and is suitable for both transmission belts and transmission chains. As long as the tension force can be applied through the tension guide rod 43, this method can be used for fracture detection, which has strong adaptability. That is, the fracture of the transmission member 41 is detected by detecting the position / relative movement of the tension guide rod 43 and the sliding structure 2, which is efficient, reliable and easy to implement, and improves the safety and usability of the equipment.

[0071] It can be understood that the detection component 51 capable of detecting the position / relative movement of the tension guide rod 43 and the sliding structure 2 has many types, such as an optical sensor, which monitors the position change of the tension guide rod 43 by emitting a light beam and detecting the reflection or blocking condition. For example, a magnetic sensor uses the change of a magnetic field to detect the movement of a metal object, which is suitable for a tension guide rod 43 made of metal. For example, a linear displacement sensor can directly measure the linear displacement of the tension guide rod 43 and provide continuous position information.

[0072] In some embodiments, the detection component 51 comprises a micro switch 511 located on the outer circumferential side of the tension guide rod 43; wherein the outer circumferential side of the tension guide rod 43 is provided with a protruding structure 431 for moving to a preset position along with the tension guide rod 43 to trigger the micro switch 511. In these embodiments, the micro switch 511 is selected as the detection component 51, which can be triggered under the action of a very small force, making it very suitable for detecting the slight movement of the tension guide rod 43 with high sensitivity. The micro switch 511 has a simple structure, which is usually composed of a switch driving rod 5111 and a contact. When subjected to pressure, the switch driving rod 5111 deforms and contacts the contact to complete the circuit closure, with 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. By arranging the micro switch 511 on the outer circumferential side of the tension guide rod 43, the protruding structure 431 can be used as a triggering mechanism. When the transmission member 41 is normally tensioned, the protruding structure 431 remains in a certain position. When the transmission member 41 breaks and the tensioning force disappears, the tension guide rod 43 moves, and the protruding structure 431 moves to the preset position along with it, thereby triggering the micro switch 511 to achieve instant detection of the breakage of the transmission member 41. By arranging the micro switch 511 on the outer circumferential side of the tension guide rod 43, it is ensured that the switch can accurately and timely respond to the position change of the tension guide rod 43, thereby responding to the breakage of the transmission member 41 at the first time and improving the operation safety and maintenance efficiency of the equipment.

[0073] It should be noted that the micro switch 511 can be divided into two triggering modes of normally open and normally closed. The protruding structure 431 is used to move to a preset position along with the tension guide rod 43 to trigger the micro switch 511, which means that when the micro switch 511 is in the normally open triggering mode, the normally open micro switch 511 is in the open state when not subjected to external force. The protruding structure 431 moves to a position corresponding to the switch driving rod 5111 of the micro switch 511 (i.e. the preset position) along with the tension guide rod 43, and the protruding structure 431 pushes the switch driving rod 5111 to make the contact close to contact to trigger the micro switch 511. When the micro switch 511 is in the normally closed triggering mode, the normally closed micro switch 511 is in the closed state when not subjected to external force. The protruding structure 431 moves to a position away from the switch driving rod 5111 (i.e. the preset position) along with the tension guide rod, and other parts of the tension guide rod correspond to the switch driving rod 5111 to make the contact separate and open to trigger the micro switch 511.

[0074] In some embodiments, the execution device 56 is an electrically controlled 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 electrically controlled actuator 562 receives the electrical signal through the actuator terminal 5621, and controls the disengagement of the locking portion 561 from 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 53 to move upward, and achieving braking. Specifically, the trigger switch terminal 5112 and the actuator terminal 5621 are connected by a lead wire to achieve signal transmission.

[0075] It can be understood that the electrical signal sent by the micro switch 511 that the transmission member 41 is broken is sent to the electrically controlled actuator 562, which can trigger the execution of the brake to prevent falling. The electrical signal can also be manually triggered to facilitate manual maintenance of the device during normal operation. In addition, when the transmission member 41 is too loose, the tensioning guide rod 43 will also displace relative to the sliding structure 2 under the action of the tensioning elastic member 44, thereby triggering the micro switch 511. Therefore, when the transmission member 41 is too loose, the brake to prevent falling can also be triggered.

[0076] According to a second aspect of the present application, a magazine robot 1000 is provided, which includes a feeding device 100, and the structure of the feeding device 100 is as described above. Since the magazine robot 1000 adopts all the technical solutions of the above-mentioned embodiments, it at least has the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here. Specifically, refer to Figure 1 The magazine robot 1000 moves the entire feeding device 100 through the driving system on the chassis 200. The fork 300 is installed on the carrying structure 3 of the feeding device 100, the execution mechanism in the fork 300 picks up the magazine 2000, moves with the carrying structure 3 to place the magazine 2000 at different heights, and buffers the magazine 2000 on the buffer tray 400 for transfer.

[0077] In the description of the present application, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined as "first" and "second" can explicitly or implicitly include one or more features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0078] In the above-mentioned embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

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

[0080] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present application without departing from the technical solution content of the present application still falls within the scope of the technical solution of the present application.

Claims

1. A feeding device, characterized in that, The device comprises: a support; a driving mechanism mounted on the support; a sliding structure slidably mounted on the support, the sliding structure being in driving connection with the driving mechanism so that the driving mechanism can drive the sliding structure to slide; and, a braking mechanism mounted on the sliding structure, the braking mechanism being used to limit or allow the sliding of the sliding structure; wherein the sliding structure slides in a vertical direction, and the braking mechanism comprises: a fixed braking member fixed on the sliding structure, the fixed braking member having a guide slope facing the support, the guide slope being arranged to tilt in a direction of approaching the support in a vertical upward direction; a sliding braking member arranged between the fixed braking member and the support, the sliding braking member having a matching slope and a braking surface, the matching slope being adapted to the guide slope so that when the sliding braking member moves upward, the braking surface is pressed against the support to achieve friction braking; a braking push rod fixedly connected with the sliding braking member, the braking push rod being movably mounted on the sliding structure, the braking push rod being provided with a matching part; a braking elastic member arranged between the sliding structure and the braking push rod; and an execution device provided with a locking part, the locking part being matched with the matching part, the execution device being used to release the matching of the locking part and the matching part to allow the braking elastic member to drive the braking push rod to push the sliding braking member to move upward.

2. The feeder of claim 1, wherein The sliding structure has oppositely arranged first and second ends, and the driving mechanism comprises: a transmission member comprising oppositely arranged third and fourth ends, the first end being connected with the third end, and the second end being connected with the fourth end; and a power source in driving connection with the transmission member to drive the transmission member to rotate and thus drive the sliding structure to slide.

3. The feeder of claim 2, wherein The transmission member comprises a transmission belt or a transmission chain; and / or The power source comprises an electric motor.

4. The feeding device according to claim 1, wherein one of the guide slope and the matching slope is provided with a guide groove, and the other is provided with a guide rail, the guide rail being in sliding connection with the guide groove; and / or the braking surface is provided with an anti-skid groove.

5. The feeder of claim 1, wherein The locking part comprises a locking hook, and the matching part comprises a clamping groove.

6. The feeder of claim 1, wherein The feeding device further comprises a guide member fixedly arranged on the sliding structure, the guide member comprising a guide hole, and the braking push rod is arranged in the guide hole.

7. The feeder of claim 1, wherein The braking mechanism comprises a detection component for detecting the breakage of the transmission member.

8. The feeder of claim 7, wherein The detection component and the execution device are in communication connection.

9. The feeder of claim 7, wherein The driving mechanism comprises a tensioning guide rod and a tensioning elastic member, at least one end of the transmission member being connected with the tensioning guide rod, the tensioning guide rod being movably mounted on the sliding structure, and the tensioning elastic member being arranged between the sliding structure and the tensioning guide rod, the tensioning elastic member being used to drive the tensioning guide rod to apply a tensioning force to the transmission member. The detection component is used to detect the position / relative movement between the tensioning guide rod and the sliding structure to detect the breakage of the transmission member.

10. The feeder of claim 9, wherein The detection component includes a micro switch located on the outer circumferential side of the tensioning guide rod. The outer circumferential side of the tensioning guide rod is provided with a protruding structure, which is used to follow the movement of the tensioning guide rod to a preset position to trigger the micro switch.

11. A magazine robot characterized by The magazine robot includes the feeding device as claimed in any one of claims 1 to 10.

Images