DS-PPS pallet-type intensively stores goods to people's system-transplanting RGV robotTechnical field
The present invention is applied to the cargo access that puts one's child in a boarding nursery of automated warehousing, belongs to AI and automation equipment field, furtherIt says more particularly to DS-PPS pallet-type intensively stores goods to people's system-transplanting RGV robot.
Background technique
In the prior art, AI and automation equipment field, applied to the cargo access that puts one's child in a boarding nursery of automated warehousing, commonlyTechnology is jacking transplanter, and jacking transplanter is made of roller and chain.The cargo that specially puts one's child in a boarding nursery moves on roller conveyor,Stop after reaching conveyer center, two groups of chains, which increase, raises the cargo that puts one's child in a boarding nursery, and contact surface and roller disconnect, and the cargo that puts one's child in a boarding nursery is by twoGroup chain deposits support, and chain is rotated by motor, cargo is transplanted to from roller conveyor another perpendicular to conveyerIn equipment, transplanting is completed.Weakness of the existing technology is must to be cut into transportation system, can only one in composition systemSingle machine individually cannot be used independently.
Summary of the invention
The present invention intensively deposits the technical solution adopted is that providing a kind of DS-PPS pallet-type to solve above-mentioned technical problemWarehousing is to people's system-transplanting RGV robot, wherein the specific technical proposal is:
Including hoofing part module, access module and electric cabinet；The hoofing part module includes rack-and-pinion, described to depositModulus block includes servo motor, and the servo motor drives ball screw and linear slide rail, and rail is arranged in the side of the electric cabinetRoad.
Above-mentioned DS-PPS pallet-type intensively stores goods to people's system-transplanting RGV robot, in which: access module is to watchClothes driving screw rod, screw rod drive hook, and hook pushes the cargo in RGV robot, shifts onto and complete stock on the track of memory block.
Above-mentioned DS-PPS pallet-type intensively stores goods to people's system-transplanting RGV robot, in which: hoofing part moduleIt is servo-drive gear, gear is mounted on Slider platform；Left and right walking sends cargo in face of intensive storage mouth or people.
Hoofing part module: by servo motor driving gear rotation, gear engages with finishing rack gear and generates lateral thrustCarry out transverse shifting；Hoofing part module includes robot sliding rail, and support plate, robot sliding rail are arranged below robot sliding railBetween setting finishing rack gear；Storing mechanism, walking mechanism and chassis rail are set between robot sliding rail；
Access module: including servo motor, servo motor is driven by belt, and belt driving band moves screw rod, feed screw nutIt is arranged on screw rod, servo motor drives lead screw to rotate by belt, so that access module is moved forward and backward；
Access claw hook device is fixed on feed screw nut, and when picking protracts, and hooks rack chassis using hook, motor is anti-Turn, by cargo chassis hook be pulled to transplanting RGV robot above, rack chassis hooks completely come after transplant robot it is traversing to specifiedTransplanting RGV robot is released using stock pushing block, until on track in chassis by position.It wherein releases and stroke, benefit is released by controlHook is taken off with tripping gear, takes back this with the chassis for completing stock movement when preventing mobile.
Above-mentioned DS-PPS pallet-type intensively stores goods to people's system-transplanting RGV robot, in which: RGV robot according toInstruction sends cargo in face of track designation or personnel, and robot needs move left and right in orbit, and track is by linear slide railIt is formed with rack-and-pinion, motor-driven gear rotation, gear and rack gear are engaged generated lateral dynamics driving robot or soIt is mobile, further instruction is waited after reaching designated position.
The present invention has the following beneficial effects with respect to the prior art: directly launching the robot of matching production according to demandQuantity；It is separated inside from transportation system, save the cost.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of jacking transplanter.
Fig. 2 is RGV robot interior structure chart.
Fig. 3 is RGV robot single machine figure.
Fig. 4 is the schematic diagram of more robots collaboration.
Fig. 5 is access module interior view.
Fig. 6 is hoofing part module diagram.
Fig. 7 is RGV robot ambulation movement routine track.
In figure:
It is solid that 1 servo motor, 2 ball screw, 3 linear slide rail 4 controls 5 track of electronic box, 6 rack-and-pinion, 7 access module 8It is sliding to determine 9 chassis rail of pendant, 10 electronic box 11 finishing 12 robot track of rack gear, 13 walking mechanism, 14 storing mechanism 15It touches 16 support plate of line, 17 screw rod, 18 belt and transmits 19 tripping gear, 20 stock pushing block, 21 picking hook, 22 feed screw nut
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
The present invention provides a kind of DS-PPS pallet-types intensively to store goods to people's system-transplanting RGV robot, including walkingDrive module, access module and electric cabinet；The hoofing part module includes rack-and-pinion, and the access module includes servo electricityMachine, the servo motor drive ball screw and linear slide rail, and track is arranged in the side of the electric cabinet.Access module is (to depositingCarry chassis and be stored in intensive storage/take out to deposit in intensive storage and carry chassis) it is servo-drive screw rod, screw rod drives hook,Hook pushes the cargo in RGV robot, shifts onto and completes stock on the track of memory block.Hoofing part module (makes RGV robotAlong the power mechanism of track travel) it is servo-drive gear, gear is mounted on Slider platform；Left and right walking, send cargoTo in face of intensive storage mouth or people.RGV robot sends cargo in face of track designation or personnel according to instruction, robotIt needs to move left and right in orbit, track is made of linear slide rail and rack-and-pinion, motor-driven gear rotation, gear and rack gearFrictional force drives robot caused by being engaged moves left and right, and waits further instruction after reaching designated position.
Hoofing part module: by servo motor driving gear rotation, gear engages with finishing rack gear and generates lateral thrustCarry out transverse shifting；Hoofing part module includes robot sliding rail, and support plate, robot sliding rail are arranged below robot sliding railBetween setting finishing rack gear；Storing mechanism, walking mechanism and chassis rail are set between robot sliding rail；
Access module: including servo motor, servo motor is driven by belt, and belt driving band moves screw rod, feed screw nutIt is arranged on screw rod, servo motor drives lead screw to rotate by belt, so that access module is moved forward and backward；
Access claw hook device is fixed on feed screw nut, and when picking protracts, and hooks rack chassis using hook, motor is anti-Turn, by cargo chassis hook be pulled to transplanting RGV robot above, rack chassis hooks completely come after transplant robot it is traversing to specifiedTransplanting RGV robot is released using stock pushing block, until on track in chassis by position.It wherein releases and stroke, benefit is released by controlHook is taken off with tripping gear, takes back this with the chassis for completing stock movement when preventing mobile.
Embodiment 1: using as a set of single machine, does last execution part, according to instruction automatic access cargo, realizes certainlyDynamicization access flexible can cooperate with multimachine associated working, robot can be changed quickly.
Embodiment 2: transplanter is evolved into the robot of algorithm；The instruction received can be voluntarily completed, completion is reportedState replaces the transplanter of existing single action.