CN114056921A

CN114056921A - Material loading and unloading device and method for cantilever shaft type mobile robot

Info

Publication number: CN114056921A
Application number: CN202111301011.XA
Authority: CN
Inventors: 叶可枢; 李文华
Original assignee: Hangzhou Iplus Tech Co ltd
Current assignee: Hangzhou Iplus Tech Co ltd
Priority date: 2021-11-04
Filing date: 2021-11-04
Publication date: 2022-02-18
Anticipated expiration: 2041-11-04
Also published as: CN114056921B

Abstract

The invention relates to a material loading and unloading device and a material loading and unloading method of a cantilever shaft type mobile robot, wherein the material loading and unloading device comprises a cantilever shaft, a jacking limiting assembly, a pushing assembly, a side jacking limiting assembly and a control assembly, the control assembly is in communication connection with the jacking limiting assembly, the pushing assembly and the side jacking limiting assembly, and can detect the position of a material on the cantilever shaft and control the jacking limiting assembly, the pushing assembly and the side jacking limiting assembly to realize the positioning or unlocking of the material. Its advantage is in, the position of control assembly detection material, through the position that pushes away the material subassembly adjustment material, it is spacing to utilize the spacing subassembly of jacking, push away the material subassembly to carry out the front and back axial simultaneously, it is spacing to utilize the spacing subassembly of side top to control the material circumference, realizes spacing to the full aspect of material, guarantees the stability of material in the transportation, avoids the material to rock the normal work that influences mobile robot simultaneously.

Description

Material loading and unloading device and method for cantilever shaft type mobile robot

Technical Field

The invention relates to the technical field of material handling, in particular to a material loading and unloading device and a material loading and unloading method of a cantilever shaft type mobile robot.

Background

The existing cantilever shaft type mobile robot can be used for carrying materials. The existing cantilever shaft is simple, the action of automatically loading and unloading materials cannot be finished, the materials can be transported only by manually placing the materials on the cantilever shaft in the material transporting process, and the materials are manually taken down after being transported to a specified place, so that a large amount of manpower is wasted; even can realize going up unloading, the material is also unable to guarantee in the epaxial stability of cantilever. For example, when the material is heavy, if the material shakes, the cantilever shaft type mobile robot is easy to be unstable, and normal work is affected.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides a material loading and unloading device and a material loading and unloading method of a cantilever shaft type mobile robot.

The invention relates to a material handling device of a cantilever shaft type mobile robot, comprising:

the cantilever shaft is used for bearing materials;

the jacking limiting assembly is arranged on the cantilever shaft and used for axially limiting the materials sleeved on the cantilever shaft;

the pushing assembly is arranged on the cantilever shaft and used for pushing the material;

the side top limiting assembly is arranged on the cantilever shaft and used for supporting the inner wall of a material middle barrel sleeved on the cantilever shaft and limiting materials in the circumferential direction;

the material pushing device is characterized by further comprising a control assembly, wherein the control assembly is in communication connection with the jacking limiting assembly, the material pushing assembly and the side jacking limiting assembly, and can detect the position of a material on the cantilever shaft and control the jacking limiting assembly, the material pushing assembly and the side jacking limiting assembly to position or unlock the material.

Preferably, the control assembly comprises a first position detector and a second position detector, the first position detector and the second position detector are arranged along the axial direction of the cantilever shaft, and the upper ends of the first position detector and the second position detector are not higher than the surface of the cantilever shaft;

the jacking limiting assembly is located at the front end of the cantilever shaft, the starting position of the pushing assembly is located at the rear end of the cantilever shaft, the first position detector is arranged on one side, facing the pushing assembly, of the jacking limiting assembly, and the second position detector is arranged between the first position detector and the starting position of the pushing assembly.

Preferably, a distance between the first position detector and the second position detector is smaller than a length of the material in an axial direction of the cantilever shaft.

Preferably, the control assembly further comprises a controller, and the controller is in communication connection with the first position detector and the second position detector;

the controller includes:

a receiving unit, configured to receive a first signal sent by the first position detector and a second signal sent by the second position detector;

the position judging unit is used for judging that the material is positioned in a preset range on the cantilever shaft when only the second signal is received, and judging that the material is positioned in a preset position when the first signal and the second signal are received simultaneously;

the action unit is used for controlling the jacking limiting assembly to act when the material is judged to be positioned in a preset range on the cantilever shaft, and controlling the material pushing assembly to push the material to a preset position; and when the material is judged to be positioned at the preset position, the material pushing assembly is controlled to stop acting, and then the side jacking limiting assembly is controlled to act.

Preferably, the cantilever shaft comprises a first limit hole, the jacking limit assembly comprises a jacking piece and a first telescopic mechanism, and the first telescopic mechanism drives the jacking piece to move up and down in the first limit hole on the upper side of the cantilever shaft; the first telescopic mechanism is electrically connected with the control assembly.

Preferably, the jacking limiting assembly further comprises a first detection assembly used for detecting the position of the jacking piece, the first detection assembly is arranged below or on one side of the jacking piece, and the first detection assembly is in communication connection with the control assembly.

Preferably, the cantilever shaft comprises a second limiting hole, the side ejection limiting assembly comprises two side ejection pieces and a second telescopic mechanism, the side ejection pieces and the second telescopic mechanism are symmetrically arranged about the axis of the cantilever shaft and are respectively connected with the second telescopic mechanism, and the second telescopic mechanism drives the two side ejection pieces to respectively extend and retract in the second limiting hole on the left side and the right side of the cantilever shaft so as to eject or release the inner wall of the hollow material barrel of the material; the second telescopic mechanism is electrically connected with the control assembly.

Preferably, the side top limiting assembly comprises a limiting part, the limiting part comprises a dead point limiting part and a rotation limiting part, the dead point limiting part is used for limiting the side top part to penetrate out of the second limiting hole to retract, and the rotation limiting part is used for limiting the expansion range of the second expansion mechanism.

Preferably, one end of the side ejecting piece facing the material is provided with a supporting surface for being attached to the inner wall of the material barrel.

Preferably, the side top limiting assembly further comprises a second detection assembly used for detecting the moving position of the side top piece, the second detection assembly is arranged on one side of the side top piece, and the second detection assembly is in communication connection with the control assembly.

Preferably, the pushing assembly comprises a pushing piece, a transmission assembly and a pushing motor, the transmission assembly is connected with the pushing piece, and the pushing motor is connected with the transmission assembly; the pushing component comprises pushing structures which are bilaterally symmetrical about the cantilever shaft and move along the axial direction of the cantilever shaft under the action of the pushing motor and the transmission component, and the pushing motor is electrically connected with the control component.

Preferably, the transmission assembly comprises a guide shaft, a material pushing screw rod, a screw nut and a connecting block, the guide shaft is parallel to the material pushing screw rod, the screw nut is sleeved on the material pushing screw rod, one end of the connecting block is sleeved outside the screw nut, the other end of the connecting block is sleeved on the guide shaft, and the connecting block is fixedly connected with a connecting piece of the material pushing piece.

Preferably, the material pushing assembly comprises a third detection assembly used for detecting the position of the material pushing member, the third detection assembly is located outside the moving range of the material pushing member, and the third detection assembly is in communication connection with the control assembly.

The invention also relates to a material loading and unloading method of the cantilever shaft type mobile robot, which comprises the material loading and unloading device, and the method comprises the following steps:

a charging step:

controlling the cantilever shaft to be inserted in alignment with the hollow material barrel of the material;

controlling the jacking limiting assembly, the pushing assembly and the side jacking limiting assembly to position the material together;

unloading;

controlling the butt joint of the cantilever shaft and the receiving shaft;

controlling the jacking limiting assembly and the side jacking limiting assembly to act, and removing the limitation on the material;

and controlling the material pushing assembly to push the material to move to the receiving shaft.

Preferably, the step of controlling the jacking limit assembly, the pushing assembly and the side jacking limit assembly to co-locate the material further comprises:

judging that the material is positioned in a preset range on the cantilever shaft;

controlling the jacking limiting assembly to work, and axially limiting the materials sleeved on the cantilever shaft;

controlling the cantilever shaft to move until the material is taken out;

controlling the material pushing assembly to push the material;

judging that the material is positioned at a preset position on the cantilever shaft;

the side top limiting assembly is controlled to work, and the inner wall of the material barrel in the material on the cantilever shaft is jacked and sleeved to circumferentially limit the material.

Preferably, the control assembly comprises a controller, a first position detector and a second position detector;

the step of judging that the material is positioned in the preset range on the cantilever shaft further comprises the following steps:

judging whether a second signal of the second position detector is received or not through the controller, and determining that the material is located in a preset range on the cantilever shaft;

the step of judging that the material is located at the preset position on the cantilever shaft further comprises the following steps:

and judging whether a first signal of the first position detector and a second signal of the second position detector are received at the same time through the controller, and determining that the material is positioned at a preset position on the cantilever shaft.

Compared with the prior art, the invention has the beneficial effects that: the invention provides a material loading and unloading device and a material loading and unloading method of a cantilever shaft type mobile robot, wherein a jacking limiting assembly, a material pushing assembly and a side jacking limiting assembly are arranged on a cantilever shaft, a control assembly detects the position of a material, the position of the material is adjusted through the material pushing assembly, the material is axially limited in the front-back direction by the jacking limiting assembly and the material pushing assembly, the material is circumferentially limited in the left-right direction by the side jacking limiting assembly, the comprehensive limitation on the material is realized, the stability of the material in the transportation process is ensured, and the influence of the shaking of the material on the normal work of the mobile robot is avoided.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic view of a material handling apparatus provided in an embodiment of the present invention.

Fig. 2 is a schematic view of the material handling device shown in fig. 1 from another angle.

Fig. 3 is a schematic cross-sectional view of a material handling apparatus provided in an embodiment of the present invention, wherein the pusher assembly is in a starting position.

Fig. 4 is a schematic view of a side top limiting assembly provided in an embodiment of the invention in a cantilever shaft.

Fig. 5 is a schematic structural view of the side top limiting assembly shown in fig. 4.

Fig. 6 is a schematic view of another angular configuration of the side top stop assembly shown in fig. 4.

Fig. 7 is a schematic view of a jacking limit assembly provided in an embodiment of the invention in a cantilever shaft.

Fig. 8 is a schematic structural view of the jacking-up limiting assembly shown in fig. 7.

Fig. 9 is a schematic view of another angle of the jacking-limiting assembly shown in fig. 7.

Fig. 10 is an exploded view of a jacking-limiting assembly provided in an embodiment of the present invention.

Fig. 11 is a schematic structural diagram of a pusher assembly provided in an embodiment of the present invention.

Description of reference numerals:

10. a cantilever shaft; 11. a first groove; 12. a second groove; 13. an inner cavity; 131. a fixed block; 14. a sliding fit groove; 15. a first limit hole; 16. a second limiting hole; 17. a connecting plate; 18. a roller; 19. a support assembly; 191. a tripod of diagonal bracing; 192. a diagonal brace cover; 193. a window; 194. a cavity; 20. jacking limiting components; 21. a jacking piece; 22. a first link assembly; 221. a first swing link; 222. a second swing link; 23. a first motor; 24. a first mounting seat; 241. an inner liner plate; 242. a jacking motor frame; 25. a first detection assembly; 251. a baffle plate; 252. detecting the circuit board; 253. a groove-type photoelectric switch; 30. a material pushing assembly; 31. pushing the material piece; 311. a material pushing structure; 3111. connecting the bosses; 3112. a first fastening hole; 312. a connecting member; 313. a first connection portion; 314. a first fixing hole; 315. a second connecting portion; 316. a second fixing hole; 317. a limiting block; 32. a transmission assembly; 321. a guide shaft; 322. pushing a material screw rod; 323. a feed screw nut; 324. connecting blocks; 3241. a second fastening hole; 33. a material pushing motor; 34. a belt drive assembly; 341. a first drive pulley; 342. a second transmission wheel; 343. a drive belt; 35. a third detection assembly; 351. mounting a bracket; 352. a third distance sensor; 40. a lateral top limit component; 41. a side top member; 411. a support surface; 412. chamfering; 42. a second linkage assembly; 421. a first link; 422. a second link; 43. a second motor; 44. a second mounting seat; 441. a concave cavity; 442. rotating the limiting piece; 443. a dead point limiter; 45. a second detection assembly; 451. a first distance sensor; 452. a second distance sensor; 50. a control component; 51. a first position detector; 52. a second position detector; 60. cantilever axle mount pad.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to fig. 3, an embodiment of the present invention provides a material handling device for a cantilever-axle type mobile robot, including a cantilever axle 10, a jacking limit component 20, a pushing component 30, a side jacking limit component 40, and a control component 50, where the cantilever axle 10 is used for bearing a material, and the material is placed on the cantilever axle 10 during transportation; the jacking limiting assembly 20 is arranged on the cantilever shaft 10 and used for axially limiting the materials sleeved on the cantilever shaft 10; the pushing assembly 30 is arranged on the cantilever shaft 10 and used for pushing the material; the side top limiting assembly 40 is arranged on the cantilever shaft 10 and used for supporting the inner wall of a material middle barrel sleeved on the cantilever shaft 10 and limiting materials in the circumferential direction; the control assembly 50 is in communication connection with the jacking limiting assembly 20, the pushing assembly 30 and the side jacking limiting assembly 40, the position of a material on the cantilever shaft 10 can be detected, the jacking limiting assembly 20, the pushing assembly 30 and the side jacking limiting assembly 40 are controlled to realize positioning or unlocking of the material, the full-range limitation of the material is realized, the stability of the material in the transportation process is ensured, and meanwhile, the influence of the shaking of the material on the normal work of the mobile robot is avoided.

The cantilever shaft 10 is mounted on the cantilever shaft mounting base 60, the cantilever shaft mounting base 60 is mounted on a moving vehicle body (not shown), the moving vehicle body moves integrally, the cantilever shaft mounting base 60 moves back and forth and up and down on the moving vehicle body, and the cantilever shaft 10 can move left and right relative to the cantilever shaft mounting base 60, so that alignment, automatic feeding and automatic blanking are realized. A laser alignment device and a visual recognition device can be mounted on the cantilever shaft 10 to further assist in accurately aligning the cantilever shaft 10 with the material cartridge and the receiving shaft.

The control assembly 50 controls the operation of the jacking limit assembly 20, the pushing assembly 30 and the side jacking limit assembly 40 based on the position of the material on the cantilever shaft 10. Specifically, the control assembly 50 comprises a first position detector 51 and a second position detector 52, the first position detector 51 and the second position detector 52 are used for detecting the position of the material on the cantilever shaft 10, and the first position detector 51 and the second position detector 52 are also arranged along the axial direction of the cantilever shaft 10 as the cantilever shaft 10 is butted with a hollow barrel of the material from the axial direction.

In a specific embodiment, the first position detector 51 and the second position detector 52 are located at the upper part of the cantilever shaft 10, when the material is placed on the cantilever shaft 10, the inner wall of the hollow cartridge presses on the upper surface of the cantilever shaft 10, and in order to avoid the heavy material from damaging the first position detector 51 and the second position detector 52, the upper ends of the first position detector 51 and the second position detector 52 are not higher than the surface of the cantilever shaft 10.

Specifically, the cantilever shaft 10 has a first recess 11 for fitting the first position detector 51 and a second recess 12 for fitting the second position detector 52, the openings of the first recess 11 and the second recess 12 face upward, and the detection directions of the first position detector 51 and the second position detector 52 face upward.

In another specific embodiment, the first position detector 51 and the second position detector 52 are located at the lower part of the cantilever shaft 10, the diameter of the cantilever shaft 10 is smaller than the inner diameter of the cartridge of the material, the center point of the material is not on the central axis of the cantilever shaft 10, and only the upper part of the cartridge actually contacts with the cantilever shaft 10, so the detection surfaces of the first position detector 51 and the second position detector 52 can be higher than the surface of the cantilever shaft 10, can be flush with the surface of the cantilever shaft 10, and can be lower than the surface of the cantilever shaft 10. Preferably, the detection surfaces of the first position detector 51 and the second position detector 52 are lower than the surface of the cantilever shaft 10, the cantilever shaft 10 has a first recess 11 for the embedded installation of the first position detector 51 and a second recess 12 for the embedded installation of the second position detector 52, the openings of the first recess 11 and the second recess 12 face downward, and the detection directions of the first position detector 51 and the second position detector 52 face downward.

Preferably, the first and

second position detectors

51 and 52 may be diffuse reflection photoelectric switches, having a larger detection angle, reduced assembly expense and installation space.

The positions of the first position detector 51 and the second position detector 52 in the axial direction of the cantilever shaft 10 need to be determined according to the initial positions of the jacking limit assembly 20 and the pushing assembly 30. As shown in fig. 3, in the specific example, the jacking-up limiting assembly 20 is located at the front end of the cantilever shaft 10, and the starting position of the pushing assembly 30 is located at the rear end of the cantilever shaft 10, so that the first position detector 51 is disposed at a side of the jacking-up limiting assembly 20 facing the pushing assembly 30, and the second position detector 52 is disposed between the first position detector 51 and the starting position of the pushing assembly 30. The distance between the first position detector 51 and the second position detector 52 is smaller than the length of the material in the axial direction of the cantilever shaft 10. It is noted that if the material includes a hollow cylinder, the length of the material is the length of the longer hollow cylinder, and if the material does not include a hollow cylinder, the length of the material is the length of the material itself.

The position setting principle of the first position detector 51 and the second position detector 52 is: taking the actual usage scenario that the material includes a hollow material cylinder as an example, the cantilever shaft 10 is aligned with the hollow material cylinder of the material on the material receiving platform, the cantilever shaft 10 extends into the hollow material cylinder from the front end and continues to extend in the axial direction, in order to ensure that the material is indeed placed on the cantilever shaft 10, the arm length of the cantilever shaft 10 inserted into the hollow material cylinder is generally larger, and the position of the material on the cantilever shaft 10 is close to the middle of the cantilever shaft 10, therefore, the jacking limit component 20 located at the front end will first pass out of the hollow material cylinder, then the first position detector 51 passes out of the hollow material cylinder until the side of the material facing the cantilever shaft 10 approaches the starting position of the material pushing component 30, at this time, the second position detector 52 is in the hollow material cylinder of the material, the first position detector 51 does not send out the first signal, the second position detector 52 detects and sends out the second signal, the control component 50 judges that the material is moved in place, when the material is positioned in the preset range, the jacking limiting assembly 20 is controlled to work, and the material is limited along the axis; then, the material pushing assembly 30 is required to properly push the material out for a certain distance, so that two sides of the material are respectively abutted against the material pushing assembly 30 and the jacking limiting assembly 20, at the moment, the first position detector 51 and the second position detector 52 are both covered and respectively send out a first signal and a second signal, the control assembly 50 judges that the material moves to a preset position, the side jacking limiting assembly 40 is controlled to work, the circumferential shaking of the material is limited, and the full-range positioning of the jacking limiting assembly 20, the material pushing assembly 30 and the side jacking limiting assembly 40 on the material is realized.

In a specific embodiment, the control assembly 50 further comprises a controller, which is connected to the first position detector 51 and the second position detector 52 in a communication manner, and the controller determines the position of the material and controls the corresponding components to operate. The controller can be a control circuit board with an operation chip, is fixed on the material loading and unloading device, and is in wired or wireless connection with the jacking limiting assembly 20, the pushing assembly 30 and the side jacking limiting assembly 40 so as to achieve the required control effect.

Specifically, the controller includes a receiving unit for receiving a first signal from the first position detector 51 and a second signal from the second position detector 52;

the position judging unit is used for judging that the material is positioned in a preset range on the cantilever shaft 10 when only the second signal is received, and judging that the material is positioned in a preset position when the first signal and the second signal are received simultaneously;

the action unit is used for controlling the jacking limiting assembly 20 to act when the material is judged to be positioned in a preset range on the cantilever shaft 10, and controlling the material pushing assembly 30 to push the material to a preset position; when the material is judged to be located at the preset position, the pushing assembly 30 is controlled to stop acting, and then the side jacking limiting assembly 40 is controlled to act.

The specific structure of the jacking limiting assembly 20 is various, in the specific embodiment shown in fig. 7, the cantilever shaft 10 includes a first limiting hole 15, the jacking limiting assembly 20 includes a jacking piece 21 and a first telescopic mechanism, and the first telescopic mechanism drives the jacking piece 21 to move up and down in the first limiting hole 15 on the upper side of the cantilever shaft 10; the first telescoping mechanism is electrically connected to the control assembly 50.

Specifically, the first telescopic mechanism comprises a first link assembly 22, a first motor 23 and a first mounting seat 24, the first link assembly 22, the first motor 23 and the first mounting seat 24 are located in the inner cavity 13 of the cantilever shaft 10, the jacking piece 21 is connected with the first link assembly 22, the first motor 23 is connected with the first link assembly 22, and the jacking piece 21 is driven to move up and down in a first limiting hole 15 on the upper side of the cantilever shaft 10.

In order to fully utilize the inner space of the cantilever shaft 10, as shown in fig. 7, the first mounting seat 24 is obliquely mounted on the upper portion of the inner cavity 13. As shown in fig. 8, the first mounting base 24 includes an inner pad 241 and a lift-up motor frame 242, the inner pad 241 is fixedly connected to the inner cavity 13 wall of the cantilever shaft 10, the lift-up motor frame 242 is an L-shaped plate, one side of the lift-up motor frame is fixedly connected to the inner pad 241, the other side of the lift-up motor frame is fixedly connected to the first motor 23, and the first motor 23 is disposed along the axial direction of the cantilever shaft 10.

As shown in fig. 9, the first link assembly 22 includes a first swing link 221 and a second swing link 222, the first swing link 221 is fixedly connected to the first rotating shaft of the first motor 23, one end of the second swing link 222 is rotatably connected to the first swing link 221, and the other end is rotatably connected to the jacking member 21.

In order to control the lifting displacement of the jacking member 21 more accurately, preferably, in a specific embodiment, as shown in fig. 7 and 8, the jacking limiting assembly 20 further includes a first detecting assembly 25 for detecting the position of the jacking member 21, the first detecting assembly 25 is disposed below or on one side of the jacking member 21, and the first detecting assembly 25 is in communication connection with the control assembly 50.

Specifically, the first detecting assembly 25 includes a blocking piece 251, a detecting circuit board 252 and two slot-type photoelectric switches 253, the blocking piece 251 is fixedly connected with the jacking member 21, the detecting circuit board 252 is fixed in the inner cavity 13 of the cantilever shaft 10, the two slot-type photoelectric switches 253 are vertically arranged on the detecting circuit board 252 and are electrically connected with the detecting circuit board 252, the blocking piece 251 moves up and down along with the jacking member 21 to enable the corresponding slot-type photoelectric switches 253 to generate signals, and the control assembly 50 can receive the signals of the two slot-type photoelectric switches 253 and control the jacking limiting assembly 20.

The specific structure of the side top limiting assembly 40 is various, in the specific example shown in fig. 4 to fig. 6, the cantilever shaft 10 includes a second limiting hole 16, the side top limiting assembly 40 includes two side top pieces 41 and a second telescopic mechanism, which are symmetrically arranged about the axis of the cantilever shaft 10 and are respectively connected with the second telescopic mechanism, and the second telescopic mechanism drives the two side top pieces 41 to respectively extend and retract in the second limiting holes 16 on the left side and the right side of the cantilever shaft 10 to prop against or loosen the inner wall of the hollow charging barrel of the material; the second telescoping mechanism is electrically connected to the control assembly 50.

Specifically, the second telescopic mechanism comprises a second connecting rod assembly 42, a second motor 43 and a second mounting seat 44, the second connecting rod assembly 42, the second motor 43 and the second mounting seat 44 are located in the inner cavity 13 of the cantilever shaft 10, the side ejecting pieces 41 are respectively connected with the second connecting rod assembly 42, the second motor 43 is connected with the second connecting rod assembly 42, and the two side ejecting pieces 41 are driven to respectively extend and retract in the second limiting holes 16 on the left side and the right side of the cantilever shaft 10 so as to abut against or loosen the inner wall of the hollow material barrel of the material.

As shown in fig. 4 and fig. 6, the second mounting seat 44 is fixedly connected to the inner cavity 13 of the cantilever shaft 10, the second mounting seat 44 is of a U-shaped structure, the second link assembly 42 is located in the cavity 441 of the second mounting seat 44, the second motor 43 is fixed to the outer side of the second mounting seat 44, and the second rotating shaft of the second motor 43 passes through the sidewall of the second mounting seat 44 and enters the cavity 441 to be connected to the second link assembly 42;

the second connecting rod assembly 42 includes a first connecting rod 421 and a second connecting rod 422, the first connecting rod 421 is fixedly connected to the second rotating shaft, and the two second connecting rods 422 are respectively connected to two ends of the first connecting rod 421 and are respectively connected to the top member 41 on one side.

Because the space of the inner cavity 13 of the cantilever shaft 10 is small, and a motor with a larger size cannot be installed, the second motor 43 provides a smaller thrust force to the two side top members 41, while the mass of the material is generally heavier, and the pressure to the side top members 41 generated by the shaking is also larger, so as to prevent the side top members 41 from being pushed back into the inner cavity 13 by the material, and cannot play a good positioning role, the side top limiting assembly 40 includes a limiting member, which includes a dead point limiting member 443, and the dead point limiting member 443 is used to limit the side top members 41 to pass through the second limiting hole 16 and retract. Specifically, as shown in fig. 5, the dead-point limiting part 443 is disposed at a position where it can abut against the first link 421 when the first link 421 rotates to make the side top part 41 pass through the second limiting hole 16 and then rotate for a set angle. In practical operation, the second motor 43 drives the first link 421 to rotate, the side ejecting member 41 extends out of the second limiting hole 16 and abuts against the inner wall of the hollow material cylinder of the material, the second motor 43 continues to rotate for a certain angle along the original rotation direction, so that the first link 421 is relatively close to the dead point limiting part 443, if the material shakes, pressure is applied to the side ejecting member 41, the first link 421 can rotate along the original rotation direction and abuts against the dead point limiting part 443, rotation cannot be performed, and the side ejecting member 41 cannot retract into the second limiting hole 16. When the side top member 41 needs to be retracted, the second motor 43 drives the first link 421 to rotate in the direction opposite to the original rotation direction, the first link 421 is far away from the dead-point limiting member 443, and the side top member 41 gradually retracts into the second limiting hole 16.

Since the length of the side top member 41 and the depth of the second limiting hole 16 are limited, in order to prevent the second motor 43 from rotating and transiting to cause the side top member 41 to be completely separated from the second limiting hole 16, the limiting member further includes a rotation limiting member 442, and the rotation limiting member 442 is used for limiting the extension range of the second extension mechanism. Specifically, as shown in fig. 6, the rotation limiting member 442 is disposed at the opening of the cavity 441 and is eccentrically disposed with respect to the center of the second rotation shaft, so as to limit the rotation angle of the first link 421.

In a specific embodiment, as shown in fig. 5, one end of the side ejecting member 41 facing the material is provided with a supporting surface 411 for being attached to the inner wall of the material barrel, so that the circumferential limit of the side ejecting member 41 on the material is more stable. The support surface 411 may be a sloped surface or an arc surface to conform to the curvature of the inner wall of the hollow cartridge. Preferably, a chamfer surface 412 arranged at an angle with the supporting surface 411 is further arranged at one end of the side top piece 41 facing the material, the chamfer surface 412 mainly has the function of ensuring that a sufficient retraction stroke exists between the side top piece 41 and the inner wall of the hollow charging barrel, and the chamfer surface 412 plays a role in avoiding and shortening the length of the side top piece 41.

In a specific embodiment, the lateral propping limiting assembly 40 further includes a second detecting assembly 45 for detecting the moving position of the lateral propping element 41, the second detecting assembly 45 is disposed on one side of the lateral propping element 41, the second detecting assembly 45 is in communication connection with the control assembly 50, and the displacement of the lateral propping element 41 is accurately fed back to the control assembly 50, so that the control assembly 50 can more accurately control the movement of the lateral propping element 41.

Specifically, the second detection assembly 45 includes a first distance sensor 451 corresponding to the side top 41, and a second distance sensor 452 corresponding to the second link assembly 42; the first distance sensor 451 and the second distance sensor 452 are in signal connection with the control assembly 50, and the control assembly 50 can receive signals of the first distance sensor 451 and the second distance sensor 452 and control the side top limit assembly 40. When the second link 422 is rotated to the right position, the second distance sensor 452 sends a signal to the control unit 50, and when the side top 41 is moved to the right position, the first distance sensor 451 sends a signal to the control unit 50, and the control unit 50 controls the second motor 43 to stop rotating.

The pushing assembly 30 has various specific structures, and in the specific example shown in fig. 10 and 11, the pushing assembly 30 includes a pushing member 31, a transmission assembly 32 and a pushing motor 33, the transmission assembly 32 is connected with the pushing member 31, and the pushing motor 33 is connected with the transmission assembly 32; the pushing member 31 includes a pushing structure 311, as shown in fig. 1, the pushing structure 311 is symmetric about the cantilever shaft 10, and moves along the axial direction of the cantilever shaft 10 under the action of the pushing motor 33 and the transmission assembly 32, and the pushing motor 33 is electrically connected to the control assembly 50.

In an actual use scene, the diameter of the cantilever shaft 10 is smaller than the inner diameter of the material barrel, the central point of the material is not on the central axis of the cantilever shaft 10, and only the upper part of the material barrel actually contacts with the cantilever shaft 10; compare single push rod in the prior patent, pushing away material structure 311 in this embodiment has two at least application of force points, as long as keep pushing away material structure 311 about cantilever axle 10 bilateral symmetry, and to the material application of force can guarantee that the material atress is even simultaneously to reduce the material and promote the rocking of in-process pushing, steadily promote the material and move along cantilever axle 10.

The pushing structure 311 has various specific forms, and can be symmetrical left and right about the cantilever shaft 10 to apply force uniformly to the material. Several types of pusher structures 311 are briefly described below by way of example.

In one embodiment, the pushing structure 311 is a one-piece hollow frame, as shown in fig. 11, the pushing structure 311 is a circular ring structure with a through slot in the middle. As shown in fig. 1, when the pushing member 31 is mounted on the cantilever shaft 10, the cantilever shaft 10 passes through the through slot in the middle of the pushing structure 311, so that the circular ring structure surrounds the cantilever shaft 10 and is bilaterally symmetric about the cantilever shaft 10. The diameter of the through groove is larger than that of the cantilever shaft 10 and smaller than that of the material, meanwhile, the outer diameter of the circular ring structure is smaller than that of the material, the planar circular ring structure ensures that the pushing structure 311 is in full contact with the side face of the material, uniform thrust is applied, and the material is kept stable in the moving process.

In other embodiments, the pushing structure 311 may also be a square frame structure, and the middle of the pushing structure has a through slot, and the through slot may be circular or square, so that the cantilever shaft 10 can pass through the through slot. Of course, the pushing structure 311 may be other regular or irregular hollow frame structure, and the main structure of the hollow frame is disposed around the cantilever shaft 10, and preferably, the main structure of the hollow frame is a structure symmetrical to the cantilever shaft 10.

Based on the pushing structure 311 of the integrated hollow frame structure, the pushing member 31 further includes a connecting member 312, and the pushing structure 311 is fixedly connected with the transmission assembly 32 through the connecting member 312; the coupling member 312 is disposed along the axial direction of the cantilever shaft 10.

Specifically, as shown in fig. 3 and 11, the connection member 312 has a first connection portion 313 and is fixedly connected to the pushing structure 311 through the first connection portion 313, the first connection portion 313 has at least two first fixing holes 314 arranged vertically, the pushing structure 311 has a connection boss 3111, the connection boss 3111 has a first fastening hole 3112 corresponding to the first fixing hole 314, the first fastening hole 3112 is aligned with the first fixing hole 314, and a fastening member passes through the first fastening hole 3112 and the first fixing hole 314 to fixedly connect the pushing structure 311 to the connection member 312. When the pushing structure 311 contacts with a material and pushes the material, the pushing structure 311 receives a reaction force of the material, the reaction force is along the axis direction of the cantilever shaft 10, the stress at the joint of the first connecting portion 313 and the pushing structure 311 is large, and a larger stress area is required, so that the connecting boss 3111 is additionally arranged on the pushing structure 311, the connecting boss 3111 is arranged along the radial direction of the cantilever shaft 10, which is beneficial to dispersing the stress and improving the connection strength of the pushing structure 311 and the connecting piece 312.

In the specific example shown in fig. 3, the number of the first fixing holes 314 is two, the first fixing holes are arranged side by side up and down, and the connecting boss 3111 protrudes toward the through groove. In other embodiments, the number of first fixing holes 314 may be 1, 3, 4, or more. The length of the connecting boss 3111 does not affect the normal movement of the pushing structure 311 on the cantilever shaft 10.

As shown in fig. 3 and 10, the connecting member 312 has a second connecting portion 315 and is fixedly connected to the transmission assembly 32 through the second connecting portion 315, the second connecting portion 315 has at least two second fixing holes 316 arranged in the axial direction of the cantilever shaft 10, the second connecting portion 315 is fixedly connected to the connecting block 324 in the transmission assembly 32, the connecting block 324 has a second fastening hole 3241 corresponding to the second fixing hole 316, the second fastening hole 3241 is aligned with the second fixing hole 316, and a fastening member passes through the second fixing hole 316 and the second fastening hole 3241 to fixedly connect the connecting member 312 to the connecting block 324 in the transmission assembly 32. When the pushing assembly 30 contacts with the material and pushes the material, the pushing structure 311 receives a reaction force of the material, the reaction force is along the axial direction of the cantilever shaft 10, at this time, a joint between the second connecting portion 315 and the connecting block 324 receives a shearing force, and a direction of the shearing force is along the axial direction, so that the second fixing hole 316 is axially arranged, and the connection strength between the connecting piece 312 and the connecting block 324 can be enhanced.

In the specific example shown in fig. 3, the number of the second fixing holes 316 is three, two are through holes, and one is a blind hole, two fasteners respectively penetrate through the second fixing holes 316 into the second fastening holes 3241 and are fastened and fixed, and one fastener penetrates through the blind hole from the second fastening hole 3241 and is fastened and fixed, so that multi-angle fastening is realized, and the connection strength is further improved. In other embodiments, the number of second fixing holes 316 may be 1, 2, 4, or more. The number of the second fastening holes 3241 corresponds to the number of the second fixing holes 316, and the structural strength of the connection block 324 is not affected.

The fasteners may be bolts or other conventional fastening structures.

In another embodiment, the pushing structure 311 is a split plate-shaped structure, and includes at least two separated parts, and the parts form the pushing structure 311 that is symmetrical about the cantilever shaft 10. Gaps for the cantilever shaft 10 to pass through are formed among the plurality of sections, and when the pushing piece 31 is installed on the cantilever shaft 10, the cantilever shaft 10 passes through the gaps, so that the plurality of sections surround the periphery or the left side and the right side of the cantilever shaft 10 and are bilaterally symmetrical about the cantilever shaft 10. The pushing structure 311 is divided into plate-shaped structures, so that the pushing structure is ensured to be fully contacted with the side surfaces of the materials, uniform thrust is applied, and the materials are kept stable in the moving process. The subsection can be in a straight plate structure, an arc plate structure or an angle plate structure, or in other regular or irregular shapes, so that the contact surface of the subsection and the material is in a plane structure, and the formed pushing structure 311 is in a symmetrical structure or a centrosymmetric structure as a whole. The number of sections may be two, three, four or more.

Based on the pushing structure 311 of the split plate-shaped structure, the pushing member 31 further includes a connecting member 312, and the pushing structure 311 is fixedly connected to the transmission assembly 32 through the connecting member 312; the coupling member 312 is disposed along the axial direction of the cantilever shaft 10. The number of links 312 corresponds to the number of sections, and each link 312 has one end fixedly connected to a section and the other end fixedly connected to a connecting block 324 in the drive assembly 32. The specific connection method can refer to the description of the above embodiment, and other conventional connection methods can be adopted to ensure that the sub-section is stably connected with the transmission assembly 32.

As shown in fig. 10 and 11, the transmission assembly 32 includes a guide shaft 321, a material pushing screw rod 322, a screw rod nut 323, and a connection block 324, the guide shaft 321 is parallel to the material pushing screw rod 322, the screw rod nut 323 is sleeved on the material pushing screw rod 322, one end of the connection block 324 is sleeved outside the screw rod nut 323, the other end is sleeved on the guide shaft 321, and the connection block 324 is fixedly connected to the connection member 312 of the material pushing member 31.

Specifically, two ends of the guide shaft 321 and the pushing screw rod 322 are fixed on the connecting plate 17 and fixedly connected with the cantilever shaft 10 through the connecting plate 17, the pushing screw rod 322 rotates under the action of the pushing motor 33, so that the screw nut 323 on the pushing screw rod moves along the pushing screw rod 322 to drive the connecting block 324 to move, the guide shaft 321 has the function of ensuring that the connecting block 324 connected with the pushing element 31 moves along a straight line, and the guide shaft 321 and the pushing screw rod 322 are arranged in parallel to ensure that the connecting block 324 can move normally.

Preferably, in order to shorten the overall length of the pushing assembly 30, the pushing motor 33 and the pushing screw 322 are arranged side by side, the pushing motor 33 has a belt transmission assembly 34, the belt transmission assembly 34 is used for transmitting the rotation of the pushing motor 33 to the pushing screw 322, as shown in fig. 10, the belt transmission assembly 34 includes a first transmission wheel 341, a second transmission wheel 342 and a transmission belt 343, the first transmission wheel 341 is fixedly connected with an output shaft of the pushing motor 33, the second transmission wheel 342 is fixedly connected with an end of the pushing screw 322, the output shaft drives the first transmission wheel 341 to rotate, the second transmission wheel 342 is driven to rotate by the transmission belt 343, and the pushing screw 322 is further rotated.

In the specific example shown in fig. 10, the pushing motor 33 is located above the pushing screw 322, and an output shaft of the pushing motor 33 passes through a fixing block 131 and is fixedly connected to the first driving wheel 341 to drive the first driving wheel 341 to rotate. The fixing block 131 and the connecting plate 17 for fixing the end of the pushing screw rod 322 are arranged side by side up and down, so that the relative positions of the pushing motor 33 and the pushing screw rod 322 are kept unchanged.

Preferably, as shown in fig. 11, the pushing assembly 30 includes a third detecting assembly 35 for detecting the position of the pushing member 31, the third detecting assembly 35 includes a mounting bracket 351 and a third distance sensor 352, and the third distance sensor 352 is fixed on the mounting bracket 351 and is disposed toward the pushing structure 311 for detecting the position of the pushing structure 311. The mounting bracket 351 and the third distance sensor 352 are located outside the moving range of the pushing structure 311, so that the mounting bracket 351 or the third distance sensor 352 is prevented from being damaged by the impact of the pushing structure 311 in the moving process. The third distance sensor 352 is in signal connection with the pushing motor 33, and the pushing motor 33 can control the movement of the pushing structure 311 according to the signal of the third distance sensor 352. The third distance sensor 352 may be a laser range finder, an infrared distance sensor, or an ultrasonic distance sensor.

As shown in fig. 1 and 2, the cantilever shaft 10 is mounted on a cantilever shaft mounting base 60, the cantilever shaft mounting base 60 is mounted on a moving vehicle body (not shown), the moving vehicle body moves integrally, the cantilever shaft mounting base 60 moves back and forth and up and down on the moving vehicle body, and the cantilever shaft 10 can move left and right relative to the cantilever shaft mounting base 60, so as to realize alignment, automatic feeding and automatic blanking. A laser alignment device and a visual recognition device can be mounted on the cantilever shaft 10 to further assist in accurately aligning the cantilever shaft 10 with the material cartridge and the receiving shaft. Because the cantilever shaft 10 and the cantilever shaft mounting seat 60 can move relatively, in order to ensure that the pushing assembly 30 and the cantilever shaft 10 are relatively static, the pushing assembly 30 is mounted on the cantilever shaft 10, wherein the pushing element 31 is movably connected with the cantilever shaft 10, and the pushing structure 311 of the pushing element 31 is bilaterally symmetrical about the cantilever shaft 10 and moves along the axial direction of the cantilever shaft 10 under the action of the pushing motor 33 and the transmission assembly 32, so that the material on the cantilever shaft 10 is pushed to move and be discharged along the cantilever shaft 10.

The pushing assembly 30 may be disposed entirely outside the cantilever shaft 10, or partially inside the cantilever shaft 10, so as to reduce the overall size of the mobile robot.

Specifically, as shown in fig. 2 and fig. 3, the cantilever shaft 10 has an inner cavity 13 and a sliding fit groove 14 communicated with the inner cavity 13, the guide shaft 321, the pushing screw rod 322 and the screw nut 323 in the transmission assembly 32 are located in the inner cavity 13, and the connecting block 324 passes through the sliding fit groove 14 to be connected with the connecting piece 312 of the pushing element 31, and part of the pushing assembly 30 is disposed in the inner cavity 13 of the cantilever shaft 10, so that not only is the inner space of the cantilever shaft 10 fully utilized, but also the transmission assembly 32 can be protected, and the guide shaft 321, the pushing screw rod 322 and the screw nut 323 and other components are prevented from being polluted or interfered by the outside.

As shown in fig. 3, the length of the sliding fit groove 14 corresponds to the moving stroke of the pushing structure 311, the sliding fit groove 14 is formed along the axial direction of the cantilever shaft 10, the starting end is relatively close to the cantilever shaft mounting base 60, the tail end is relatively close to the end of the cantilever shaft 10, and when the pushing motor 33 rotates the pushing screw 322, the end of the connecting block 324 or the connection between the connecting block 324 and the second connecting portion 315 moves in the sliding fit groove 14. When the connection point of the connection block 324 and the second connection portion 315 is located below the cantilever shaft 10, the slip-fit groove 14 is provided at the lower portion of the cantilever shaft 10. Of course, in other embodiments, the slip fit grooves 14 may be provided on the left and right sides or the upper portion of the cantilever shaft 10, and other structures may be modified adaptively.

Preferably, the second connecting portion 315 of the connecting member 312 has two stoppers 317, the stoppers 317 are respectively disposed on the front side and the rear side of the second connecting portion 315 and disposed toward the start end or the end of the sliding fit groove 14, and the stoppers 317 are configured to limit the moving stroke of the pushing structure 311 to be smaller than the length of the sliding fit groove 14, so as to prevent the end of the connecting block 324 or the joint between the connecting block 324 and the second connecting portion 315 from colliding with the sliding fit groove 14. The material of the stopper 317 may be rubber or plastic, and the stopper 317 may be fixed to the front and rear sides of the second connecting portion 315 by bonding or screwing.

Preferably, a plurality of rollers 18 for engaging with the inner wall of the material barrel are axially disposed on the outer surface of the cantilever shaft 10, so as to reduce the friction between the material barrel and the cantilever shaft 10, and the material pushing assembly can push the material more easily. The rollers 18 are uniformly distributed on the upper part of the cantilever shaft 10 and are positioned in the moving range of the pushing structure 311. Considering that the diameter of the cantilever shaft 10 is smaller than the inner diameter of the barrel of the material, the center point of the material is not on the central axis of the cantilever shaft 10, and only the upper portion of the barrel actually contacts the cantilever shaft 10, specifically, the rollers 18 include two sets of top rollers 18 disposed at an angle at both sides of the top end of the cantilever shaft 10, and side rollers 18 disposed at both sides of the cantilever shaft 10.

Preferably, in order to enhance the connection strength between the cantilever axle 10 and the cantilever axle mounting base 60, the cantilever axle 10 has a supporting component 19 thereon, and the supporting component 19 connects the cantilever axle 10 and the cantilever axle mounting base 60. Support assembly 19 is mounted on the upper portion of boom shaft 10 adjacent boom shaft mount 60. Specifically, as shown in fig. 1 and fig. 3, the support assembly 19 includes a diagonal support frame 191 and a diagonal support cover 192, one of the right-angled sides of the diagonal support frame 191 is fixedly connected to the cantilever shaft 10, the other right-angled side of the diagonal support frame 191 is fixedly connected to the cantilever shaft mounting base 60, the diagonal support cover 192 is fixedly connected to the diagonal support frame 191 and covers the diagonal support frame 191, and the cavity 194 is formed in the diagonal support cover 192. The inclined strut tripod 191 has strong structural strength, and can effectively improve the connection stability of the cantilever shaft 10 and the cantilever shaft mounting base 60. Of course, other conventional configurations for support assembly 19 are possible, as long as cantilever shaft 10 and cantilever shaft mount 60 can be connected.

Preferably, in order to save space and to store and protect the pushing motor 33, the pushing motor 33 is located above the cantilever shaft 10 and in the accommodating cavity 194; the output shaft of the pushing motor 33 penetrates through the accommodating cavity 194 to be rotatably connected with the transmission assembly 32, and meanwhile, the belt transmission assembly 34 is positioned in the cantilever shaft mounting seat 60.

As shown in fig. 1, one surface of the inclined strut cover 192 facing the pushing structure 311 has a window 193, the mounting bracket 351 of the detection component is fixed on the inclined strut tripod 191 or the cantilever shaft 10, and the distance sensor is fixed on the mounting bracket 351 and exposed in the window 193, so that the position of the pushing structure 311 can be normally detected. By adopting the structure, the distance between the distance sensor and the pushing motor 33 is closer, the wiring is more convenient, meanwhile, the exposure of the wire harness is avoided, and the use is safer.

The embodiment of the invention also provides a material loading and unloading method of the cantilever shaft 10 type mobile robot based on the material loading and unloading device, which comprises the following steps:

a charging step:

the cantilever shaft 10 is controlled to be inserted in alignment with a hollow material barrel of a material;

controlling the jacking limiting assembly 20, the pushing assembly 30 and the side jacking limiting assembly 40 to position the materials together;

unloading;

controlling the butt joint of the cantilever shaft 10 and the receiving shaft;

controlling the jacking limiting assembly 20 and the side jacking limiting assembly 40 to act, and removing the limitation on the materials;

the pushing assembly 30 is controlled to push the material to move to the receiving shaft.

In a specific embodiment, the step of controlling the jacking assembly 20, the pushing assembly 30 and the side jacking assembly 40 to co-locate the material further includes:

judging that the material is positioned in a preset range on the cantilever shaft 10;

controlling the jacking limiting assembly 20 to work, and axially limiting the materials sleeved on the cantilever shaft 10;

controlling the cantilever shaft 10 to move until the materials are taken out;

controlling the material pushing assembly 30 to push the material;

judging that the material is positioned at a preset position on the cantilever shaft 10;

the side top limiting assembly 40 is controlled to work to push against the inner wall of the material barrel in the material sleeved on the cantilever shaft 10, so that the material is limited in the circumferential direction.

Specifically, the control assembly 50 includes a controller, a first position detector 51 and a second position detector 52;

the step of judging that the material is located in the preset range on the cantilever shaft 10 further comprises:

judging whether only the second signal of the second position detector 52 is received through the controller, and determining that the material is positioned in a preset range on the cantilever shaft 10;

the step of judging the material is located at the preset position on the cantilever shaft 10 further comprises:

the controller determines whether the first signal of the first position detector 51 and the second signal of the second position detector 52 are received at the same time, and then determines that the material is located at the preset position on the cantilever shaft 10.

Based on the above embodiment, the material loading and unloading method of the embodiment of the invention comprises the following steps:

a charging step:

the material loading and unloading device moves to a goods taking position, the cantilever shaft 10 is aligned with the hollow material cylinder of the material, and the cantilever shaft 10 integrally moves towards the material direction and is inserted into the hollow material cylinder;

judging whether only a second signal of the second position detector 52 is received through the controller, determining that the material is located in a preset range on the cantilever shaft 10, controlling the jacking limiting assembly 20 to work, enabling the jacking piece 21 to extend out of the first limiting hole 15, and axially limiting the material sleeved on the cantilever shaft 10;

the cantilever shaft 10 is controlled to move upwards integrally, and the material is separated from the goods shelf;

judging whether only the second signal of the second position detector 52 is received through the controller, determining that the material is located in a preset range on the cantilever shaft 10, controlling the material pushing assembly 30 to work, and pushing the material to a preset position;

judging whether a first signal of a first position detector 51 and a second signal of a second position detector 52 are received at the same time through a controller, determining that the material is located at a preset position on the cantilever shaft 10, controlling the material pushing assembly 30 to stop working, controlling the side top limiting assembly 40 to work, and enabling the side top piece 41 to extend out of the second limiting hole 16 and abut against the inner wall of the hollow charging barrel to limit the material in the circumferential direction; at this point, the jacking limiting assembly 20, the pushing assembly 30 and the side jacking limiting assembly 40 locate the materials together;

step of discharging

The material loading and unloading device moves to a discharging position, a receiving shaft for receiving materials is arranged at the discharging position, and the cantilever shaft 10 is controlled to be in butt joint with the receiving shaft;

controlling the actions of the jacking limiting assembly 20 and the side jacking limiting assembly 40, retracting the jacking piece 21 into the first limiting hole 15, retracting the side jacking piece 41 into the second limiting hole 16, and releasing the limitation on the material;

The above-mentioned embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention should not be limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.

Claims

1. A material handling device of a cantilever shaft type mobile robot, comprising:

the cantilever shaft is used for bearing materials;

2. The material handling apparatus of claim 1, wherein the control assembly comprises a first position detector and a second position detector, the first position detector and the second position detector are disposed along an axial direction of the cantilever shaft, and an upper end of each of the first position detector and the second position detector is not higher than a surface of the cantilever shaft;

3. The material handling apparatus of a cantilever-axis type mobile robot according to claim 2, wherein the distance between the first position detector and the second position detector is smaller than the length of the material in the axial direction of the cantilever axis.

4. The material handling apparatus of a cantilever-axis type mobile robot according to claim 2,

the control assembly further comprises a controller, and the controller is in communication connection with the first position detector and the second position detector;

the controller includes:

5. The material handling apparatus of a cantilever-axis type mobile robot according to claim 1,

the jacking limiting assembly comprises a jacking piece and a first telescopic mechanism, and the first telescopic mechanism drives the jacking piece to move up and down in the first limiting hole on the upper side of the cantilever shaft; the first telescopic mechanism is electrically connected with the control assembly.

6. The material handling device of claim 5, wherein the jacking position limiting assembly further comprises a first detecting assembly for detecting the position of the jacking member, the first detecting assembly is arranged below or on one side of the jacking member, and the first detecting assembly is in communication connection with the control assembly.

7. The material handling apparatus of a cantilever-axis type mobile robot according to claim 1,

the cantilever shaft comprises a second limiting hole, the side ejection limiting assembly comprises two side ejection pieces and a second telescopic mechanism, the side ejection pieces and the second telescopic mechanism are symmetrically arranged about the axis of the cantilever shaft and are respectively connected with the second telescopic mechanism, and the second telescopic mechanism drives the two side ejection pieces to respectively extend and retract in the second limiting hole on the left side and the right side of the cantilever shaft so as to eject or loosen the inner wall of the hollow material barrel of the material; the second telescopic mechanism is electrically connected with the control assembly.

8. The material handling apparatus of a cantilever-axis type mobile robot according to claim 7,

the side top limiting assembly comprises a limiting part, the limiting part comprises a dead point limiting part and a rotating limiting part, the dead point limiting part is used for limiting the side top part to penetrate out of the second limiting hole to retract, and the rotating limiting part is used for limiting the expansion range of the second expansion mechanism.

9. The material handling apparatus of a cantilever-axis type mobile robot according to claim 7,

the side top piece faces towards one end of the material, and a supporting surface used for being attached to the inner wall of the material cylinder is arranged at one end of the material.

10. The material handling apparatus of a cantilever-axis type mobile robot according to claim 7,

the side top limiting assembly further comprises a second detection assembly used for detecting the moving position of the side top piece, the second detection assembly is arranged on one side of the side top piece, and the second detection assembly is in communication connection with the control assembly.

11. The material handling apparatus of a cantilever-axis type mobile robot according to claim 1,

the pushing assembly comprises a pushing piece, a transmission assembly and a pushing motor, the transmission assembly is connected with the pushing piece, and the pushing motor is connected with the transmission assembly; the pushing component comprises pushing structures which are bilaterally symmetrical about the cantilever shaft and move along the axial direction of the cantilever shaft under the action of the pushing motor and the transmission component, and the pushing motor is electrically connected with the control component.

12. The material handling device of claim 11, wherein the transmission assembly comprises a guide shaft, a material pushing screw, a screw nut, and a connecting block, the guide shaft is parallel to the material pushing screw, the screw nut is sleeved on the material pushing screw, one end of the connecting block is sleeved outside the screw nut, the other end of the connecting block is sleeved on the guide shaft, and the connecting block is fixedly connected to the connecting member of the material pushing member.

13. The material handling apparatus of claim 11, wherein the pushing assembly comprises a third detecting assembly for detecting a position of the pushing member, the third detecting assembly is located outside a moving range of the pushing member, and the third detecting assembly is in communication with the control assembly.

14. A material handling method of a cantilevered axis mobile robot, comprising the material handling apparatus of any of claims 1 to 13, the method comprising the steps of:

a charging step:

unloading;

controlling the butt joint of the cantilever shaft and the receiving shaft;

15. The material handling method of a cantilever-axis type mobile robot according to claim 14,

the step of controlling jacking spacing subassembly, push away the material subassembly with the spacing subassembly of side top is fixed a position jointly the material still includes:

controlling the cantilever shaft to move until the material is taken out;

controlling the material pushing assembly to push the material;

16. The material handling method of a cantilever-axis type mobile robot according to claim 15, wherein:

the control assembly comprises a controller, a first position detector and a second position detector;