Ground rail type intelligent carrier

Abstract

The utility model relates to the technical field of intelligent carrying storage, and discloses a ground rail type intelligent carrying machine which comprises a ground rail, a walking wheel mechanism is arranged above the ground rail, a stand column is fixedly connected to the top of the walking wheel mechanism, a cross beam is fixedly connected to the top of the stand column, carrying mechanical arms are symmetrically arranged on the outer side wall of the cross beam, and the carrying mechanical arms are fixedly connected to the top of the stand column. The carrying mechanical arm is in sliding connection with the cross beam; a telescopic arm type structure is adopted, action is flexible, precision is high, and load is large; a force control monitoring system is arranged, full material and material frame detection can be achieved, and safety and reliability are achieved; intelligent control is matched with an informatization management system, so that production conditions can be adapted in real time; the layout is flexible, the warehouse can be moved at any time, the applicability is high, and the early-stage investment and the later-stage upgrading and reconstruction cost of a factory are greatly reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent transportation and warehousing, in particular to a ground rail type intelligent carrier. Background Art

[0002] The global manufacturing industry is currently experiencing a new competitive situation, and the importance of fully automated robotic processes in production has also been redefined. Intelligent robots are not only more economical and faster, but more importantly, they achieve better, reproducible quality and more reliable processing.

[0003] At present, the operation and storage of production materials on the market basically rely on single-function, manually controlled cranes with poor stability, extremely low precision, and the need for on-site control by personnel; or rely on complex and expensive AGV-type storage systems with small loads, high costs, and complex systems. The market lacks economical, convenient, large-load, high-precision, and intelligent transportation and storage equipment. Therefore, an intelligent carrier is urgently needed to solve the above problems. Utility Model Content

[0004] 1. Technical issues to be resolved

[0005] In view of the shortcomings of the existing technology, the utility model provides a ground rail type intelligent carrier, which adopts a telescopic arm structure, is flexible in movement, high in precision, and has a large load; is equipped with a force control monitoring system, which can realize the detection of full material and material frame, which is safe and reliable; intelligent control, with an information management system, can adapt to the production situation in real time; flexible layout, can be moved at any time, strong applicability, the initial investment and the cost of the factory's later upgrade and transformation have been greatly reduced, and solves the current problem that the operation and storage of production materials on the market basically rely on single-function, manually controlled cranes, which have poor stability, extremely low precision, and require on-site control by personnel; or rely on complex and expensive AGV-type storage systems, which have small loads, high costs, and complex systems. The market lacks economical, convenient, large-load, high-precision, and intelligent transportation and storage equipment.

[0006] (II) Technical solution

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a ground rail type intelligent carrier, comprising a ground rail, a walking wheel mechanism is provided above the ground rail, the top of the walking wheel mechanism is fixedly connected to a column, the top of the column is fixedly connected to a cross beam, the outer side wall of the cross beam is symmetrically provided with a carrying mechanical arm, and the carrying mechanical arm is slidably connected to the cross beam.

[0008] Preferably, the ground rails are laid in pairs in parallel and horizontally on the ground through sleepers and shims, and have stop limit devices at both ends.

[0009] Preferably, the walking wheel mechanism is driven by a servo motor and a reducer, is installed in pairs on the ground rail for rolling operation, and has limit buffer devices at both ends.

[0010] Preferably, there are four columns in total, which are symmetrically fixedly connected to the walking wheel mechanisms.

[0011] Preferably, the crossbeam is horizontally connected to the column, and a pair of slide rails and a pair of bevel racks are laid in parallel on the crossbeam.

[0012] Preferably, the transport robot arm is slidably connected to the slide rail of the beam through a slider, and a pair of helical gears are respectively engaged with a pair of helical racks of the beam, and the helical gears are driven by a servo motor and a reducer to slide on the beam.

[0013] Preferably, the transporting mechanical arms are installed in pairs on the slide rails of the crossbeam, and there is a floating limit device between the two groups of the transporting mechanical arms, which can be opened and closed in a controlled manner within a set distance without disengagement.

[0014] Preferably, the transport robot arm can extend two extended arms downward, the two extended arms are connected by a slide rail slider, the two extended arms are driven by a servo motor and a screw rod, and the two extended arms are synchronously extended and retracted through a chain sprocket.

[0015] Preferably, a pair of rotatable and openable fork teeth are installed at the end of the second extended arm of the carrying robot arm, and the rotation and opening of the fork teeth are controlled by a servo motor.

[0016] Preferably, a force control sensor is provided on the extended arm of the transport robot arm.

[0017] (III) Beneficial effects

[0018] Compared with the prior art, the utility model provides a ground rail type intelligent carrier, which has the following beneficial effects:

[0019] 1. It adopts telescopic arm structure, which is flexible, high-precision and large-load;

[0020] 2. Equipped with force control monitoring system, it can realize material fullness and material frame detection, which is safe and reliable;

[0021] 3. Intelligent control, combined with the information management system, can adapt to production conditions in real time;

[0022] 4. Flexible layout, warehouse relocation at any time, strong applicability, the initial investment and the cost of factory later upgrades and renovations have been greatly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the utility model.

[0024] In the figure:

[0025] 1. Ground rail; 2. Travel wheel mechanism; 3. Column; 4. Crossbeam; 5. Transport robot arm. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] It should be noted that all directional indications in the embodiments of the present application are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0028] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0029] In addition, in this application, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0030] In the related technologies, the operation and storage of production materials on the market basically rely on single-function, manually controlled cranes, which have poor stability, extremely low precision, and require on-site control by personnel; or rely on complex and expensive AGV-type storage systems, which have small loads, high costs, and complex systems. The market lacks economical, convenient, large-load, high-precision, and intelligent transportation and storage equipment.

[0031] In order to solve the problems in the related technology to a certain extent, the embodiment of the present application provides a ground rail type intelligent carrier, which adopts a telescopic arm structure, is flexible in movement, high in precision and has a large load; it is equipped with a force control monitoring system, which can realize material fullness and material frame detection, which is safe and reliable; it has intelligent control and can adapt to the production situation in real time with the information management system; it has a flexible layout, can be moved to another warehouse at any time, and has strong applicability, and the cost of the initial investment and the later upgrading and transformation of the factory has been greatly reduced.

[0032] The present application is described below with reference to the accompanying drawings and specific embodiments:

[0033] Combination Figure 1 The embodiment of the present application provides a ground rail type intelligent carrier, including a ground rail 1, a walking wheel mechanism 2 is provided above the ground rail 1, a column 3 is fixedly connected to the top of the walking wheel mechanism 2, a cross beam 4 is fixedly connected to the top of the column 3, and a carrying mechanical arm 5 is symmetrically provided on the outer side wall of the cross beam 4, and the carrying mechanical arm 5 is slidably connected to the cross beam 4.

[0034] In some embodiments, the ground rails 1 are laid in pairs on the ground in parallel and horizontally through sleepers and shims, and stop limit devices are provided at both ends.

[0035] In some embodiments, the walking wheel mechanism 2 is driven by a servo motor and a reducer, installed in pairs on the ground rail 1 for rolling operation, and has limit buffer devices at both ends.

[0036] In some embodiments, there are four columns 3 in total, which are symmetrically fixedly connected to the walking wheel mechanism 2 respectively.

[0037] In some embodiments, the crossbeam 4 is horizontally connected to the column 3 , and a pair of slide rails and a pair of bevel racks are laid in parallel on the crossbeam 4 .

[0038] In some embodiments, the transport robot arm 5 is slidably connected to the slide rail of the beam 4 through a slider, and a pair of helical gears are respectively engaged with a pair of helical racks on the beam 4, and the helical gears are driven by a servo motor and a reducer to slide on the beam 4.

[0039] In some embodiments, the transporting robot arms 5 are installed in pairs on the slide rails of the crossbeam 4, and there is a floating limit device between the two groups of transporting robot arms 5, which can be opened and closed in a controlled manner within a set distance without disengagement.

[0040] In some embodiments, the transport robot arm 5 can extend two extended arms downward, the two extended arms are connected by a slide rail slider, the two extended arms are driven by a servo motor and a screw rod, and the two extended arms are synchronously extended and retracted through a chain sprocket.

[0041] In some embodiments, a pair of rotatable and openable fork teeth are installed at the end of the second extended arm of the carrier robot arm 5, and the rotation and opening of the fork teeth are controlled by a servo motor.

[0042] In some embodiments, the extended arm of the carrier robot 5 is equipped with a force control sensor.

[0043] In specific use, the present invention is a ground rail type intelligent carrier. When entering the warehouse: the material frame is placed at the designated material placement position, and the call station calls the intelligent carrier to enter the warehouse; when leaving the warehouse: the call station calls the intelligent carrier to leave the warehouse, and the intelligent carrier places the material frame at the designated exit position and takes away the material. The present invention has flexible layout, can be moved at any time, and has strong applicability. The cost of initial investment and the cost of factory later upgrades and renovations have been greatly reduced.

[0044] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification.

[0045] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A ground rail type intelligent carrier, comprising a ground rail (1), characterized in that: A walking wheel mechanism (2) is provided above the ground rail (1); a column (3) is fixedly connected to the top of the walking wheel mechanism (2); a crossbeam (4) is fixedly connected to the top of the column (3); a transporting mechanical arm (5) is symmetrically provided on the outer side wall of the crossbeam (4); and the transporting mechanical arm (5) is slidably connected to the crossbeam (4).

2. A ground rail type intelligent carrier according to claim 1, characterized in that: The ground rails (1) are laid in pairs on the ground in parallel and horizontally through sleepers and shims, and have stop limit devices at both ends.

3. The ground rail type intelligent carrier according to claim 1, characterized in that: The walking wheel mechanism (2) is driven by a servo motor and a reducer, is installed in pairs on the ground rail (1) for rolling operation, and has limit buffer devices at both ends.

4. The ground rail type intelligent carrier according to claim 1, characterized in that: There are four upright posts (3) in total, which are symmetrically fixedly connected to the walking wheel mechanism (2).

5. The ground rail type intelligent carrier according to claim 1, characterized in that: The crossbeam (4) is horizontally connected to the upright column (3), and a pair of slide rails and a pair of bevel racks are laid in parallel on the crossbeam (4).

6. The ground rail type intelligent carrier according to claim 5, characterized in that: The transport robot arm (5) is slidably connected to the slide rail of the crossbeam (4) via a slider, and has a pair of helical gears respectively meshed with a pair of helical racks on the crossbeam (4), and the helical gears are driven by a servo motor and a reducer to slide on the crossbeam (4).

7. The ground rail type intelligent carrier according to claim 6, characterized in that: The transporting mechanical arms (5) are installed in pairs on the slide rails of the crossbeam (4), and there is a floating limit device between the two groups of the transporting mechanical arms (5), which can be opened and closed in a controlled manner within a set distance without disengagement.

8. The ground rail type intelligent carrier according to claim 6, characterized in that: The transport robot arm (5) can extend two extension arms downwards, the two extension arms are connected via a slide rail and a slider, the two extension arms are driven by a servo motor and a screw rod, and the two extension arms are synchronously extended and retracted via a chain sprocket.

9. The ground rail type intelligent carrier according to claim 8, characterized in that: A pair of rotatable and openable fork teeth are installed at the end of the second extended arm of the transporting mechanical arm (5), and the rotation, opening and closing of the fork teeth are controlled by a servo motor.

10. The ground rail type intelligent carrier according to claim 8, characterized in that: The extended arm of the transport robot arm (5) is equipped with a force control sensor.

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