CN114056921B

CN114056921B - Material loading and unloading device and method for cantilever shaft type mobile robot

Info

Publication number: CN114056921B
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: 2023-11-17
Anticipated expiration: 2041-11-04
Also published as: CN114056921A

Abstract

The invention relates to a material handling device and a material handling method of a cantilever shaft type mobile robot, wherein the material handling device comprises a cantilever shaft, a jacking limiting assembly, a pushing assembly, a side jacking limiting assembly and a control assembly, wherein 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 position or unlock the material. Its advantage lies in, control assembly detects the position of material, through pushing away the position of material subassembly adjustment material, utilizes jacking spacing subassembly, pushing away the material subassembly simultaneously and carries out the front and back axial spacing to the material, utilizes the side to push up spacing subassembly and controls circumference spacing to the material, realizes spacing in the whole direction to the 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 method of a cantilever shaft type mobile robot.

Background

Existing cantilever-axis mobile robots can be used to handle materials. The existing cantilever shaft is simpler, the automatic material loading and unloading actions cannot be completed, the materials can be transported only by manually placing the materials on the cantilever shaft in the material transporting process, and after the materials are transported to a designated place, the materials are manually taken down, so that a great amount of manpower waste is caused; even can realize going up the unloading, the stability of material on the cantilever shaft still can not guarantee. For example, when the material is heavier, if the material appears rocking, it is unstable to lead to cantilever shaft type mobile robot easily, influences normal work.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, thereby providing 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, which comprises:

the cantilever shaft is used for bearing materials;

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

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

the side top limiting assembly is arranged on the cantilever shaft and used for supporting the inner wall of the material cylinder in the material sleeved on the cantilever shaft and circumferentially limiting the material;

The material lifting device comprises a cantilever shaft, a lifting limiting assembly, a pushing assembly, a side pushing limiting assembly, a control assembly and a material lifting mechanism, wherein the lifting limiting assembly is in communication connection with the pushing assembly and the side pushing limiting assembly, and can detect the position of the material on the cantilever shaft and control the lifting limiting assembly, the pushing assembly and the side pushing limiting assembly to position or unlock the material.

Preferably, the control assembly includes a first position detector and a second position detector, the first position detector and the second position detector are disposed along the axial direction of the cantilever shaft, and the upper end of the first position detector is not higher than the surface of the cantilever shaft;

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

Preferably, 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 shaft.

Preferably, the control assembly further comprises a controller, each of which is communicatively connected to 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 component to act when judging that the material is positioned in a preset range on the cantilever shaft and controlling the pushing component to push the material to a preset position; and when the material is judged to be positioned at the preset position, controlling the pushing assembly to stop moving, and controlling the side top limiting assembly to move.

Preferably, the cantilever shaft comprises a first limiting hole, the jacking limiting component 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 at the upper side of the cantilever shaft; the first telescopic mechanism is electrically connected with the control assembly.

Preferably, the lifting limiting assembly further comprises a first detecting assembly for detecting the position of the lifting member, the first detecting assembly is arranged below or at one side of the lifting member, and the first detecting assembly is in communication connection with the control assembly.

Preferably, the cantilever shaft comprises a second limiting hole, the side top limiting assembly comprises two side top pieces and a second telescopic mechanism, the side top limiting assembly 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 top pieces to respectively stretch and retract in the second limiting holes on the left side and the right side of the cantilever shaft so as to prop against or loosen the inner wall of the hollow material cylinder of the material; the second telescopic mechanism is electrically connected with the control assembly.

Preferably, the side top limiting component comprises a limiting piece, the limiting piece comprises a dead point limiting piece and a rotation limiting piece, the dead point limiting piece is used for limiting the side top piece to penetrate out of the second limiting piece Kong Huisu, and the rotation limiting piece is used for limiting the expansion amplitude of the second expansion mechanism.

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

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

Preferably, the pushing assembly comprises a pushing piece, a transmission assembly and a pushing motor, wherein the transmission assembly is connected with the pushing piece, and the pushing motor is connected with the transmission assembly; the pushing piece comprises a pushing structure which is bilaterally symmetrical to the cantilever shaft and moves along the axial direction of the cantilever shaft under the action of the pushing motor and the transmission assembly, and the pushing motor is electrically connected with the control assembly.

Preferably, the transmission assembly comprises a guide shaft, a pushing screw rod, a screw nut and a connecting block, wherein the guide shaft is parallel to the pushing screw rod, the screw nut is sleeved on the 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 pushing piece.

Preferably, the pushing component comprises a third detecting component for detecting the position of the pushing component, the third detecting component is located outside the moving range of the pushing component, and the third detecting component is in communication connection with the control component.

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:

And (3) charging:

the cantilever shaft is controlled to be aligned and spliced with a hollow charging barrel of the material;

controlling the jacking limiting assembly, the pushing assembly and the side jacking limiting assembly to jointly position the materials;

a discharging step;

the control cantilever shaft is in butt joint with the receiving shaft;

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

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

Preferably, the step of controlling the jacking limiting assembly, the pushing assembly and the side jacking limiting 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 material sleeved on the cantilever shaft;

controlling the cantilever shaft to move to take out the material;

controlling the pushing component to push materials;

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

the control side top limiting component works to prop against the inner wall of the charging barrel in the material sleeved on the cantilever shaft and circumferentially limit the material.

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

the step of determining that the material is located within a predetermined range on the cantilever shaft further includes:

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

the step of determining that the material is located at a preset position on the cantilever shaft further includes:

and judging whether the first signal of the first position detector and the second signal of the second position detector are received simultaneously or not by 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 method of a cantilever shaft type mobile robot, wherein a jacking limiting assembly, a pushing assembly and a side jacking limiting assembly are arranged on a cantilever shaft, a control assembly detects the position of a material, the pushing assembly is used for adjusting the position of the material, meanwhile, the jacking limiting assembly and the pushing assembly are used for limiting the material in the front-back axial direction, and the side jacking limiting assembly is used for limiting the material in the left-right circumferential direction, so that the full-scale limiting of the material is realized, the stability of the material in the transportation process is ensured, and meanwhile, the influence of shaking of the material on the normal operation of the mobile robot is avoided.

Drawings

In order to more clearly illustrate the specific embodiments of the present invention or the solutions in the prior art, the drawings that are required in the description of the specific embodiments or the prior art will be briefly described, and it is apparent that the drawings in the following description are some embodiments of the present invention and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

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 apparatus shown in fig. 1 from another angle.

Fig. 3 is a schematic cross-sectional view of a material handling apparatus according to an embodiment of the present invention, wherein a pushing assembly is located at a start position.

Fig. 4 is a schematic view of a side roof limit assembly in a cantilever shaft provided in an embodiment of the present invention.

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

Fig. 6 is a schematic view of another angle of the side roof restraint assembly shown in fig. 4.

Fig. 7 is a schematic view of a lift stop assembly in a cantilever shaft according to an embodiment of the present invention.

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

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

Fig. 10 is an exploded view of a lift-off limiting assembly according to an embodiment of the present invention.

Fig. 11 is a schematic structural diagram of a pushing assembly according to an embodiment of the present invention.

Reference numerals illustrate:

10. a cantilever shaft; 11. a first groove; 12. a second groove; 13. an inner cavity; 131. a fixed block; 14. a slip fit groove; 15. a first limiting hole; 16. a second limiting hole; 17. a connecting plate; 18. a roller; 19. a support assembly; 191. a diagonal tripod; 192. a diagonal bracing cover; 193. a window; 194. a cavity; 20. a jacking limit assembly; 21. a jacking member; 22. a first link assembly; 221. a first swing rod; 222. the second swing rod; 23. a first motor; 24. a first mount; 241. an inner backing plate; 242. jacking the motor frame; 25. a first detection assembly; 251. a baffle; 252. a detection circuit board; 253. a slot type photoelectric switch; 30. a pushing component; 31. a pushing piece; 311. a pushing structure; 3111. a connecting boss; 3112. a first fastening hole; 312. a connecting piece; 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 the material screw rod; 323. a screw nut; 324. a connecting block; 3241. a second fastening hole; 33. a pushing motor; 34. a belt drive assembly; 341. a first driving wheel; 342. a second driving wheel; 343. a drive belt; 35. a third detection assembly; 351. a mounting bracket; 352. a third distance sensor; 40. a side roof limit assembly; 41. a side top piece; 411. a support surface; 412. chamfering the surface; 42. a second link assembly; 421. a first link; 422. a second link; 43. a second motor; 44. a second mounting base; 441. a cavity; 442. rotating the limiting piece; 443. dead point limiting parts; 45. a second detection assembly; 451. a first distance sensor; 452. a second distance sensor; 50. a control assembly; 51. a first position detector; 52. a second position detector; 60. and a cantilever shaft mounting seat.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific 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 explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

As shown in fig. 1 to 3, an embodiment of the present invention provides a material handling device of a cantilever-axis mobile robot, which includes a cantilever shaft 10, a jacking and limiting component 20, a pushing component 30, a side-jacking and limiting component 40, and a control component 50, where the cantilever shaft 10 is used for carrying a material, and the material is placed on the cantilever shaft 10 during transportation; the jacking limiting component 20 is arranged on the cantilever shaft 10 and is used for axially limiting materials sleeved on the cantilever shaft 10; the pushing component 30 is arranged on the cantilever shaft 10 and is used for pushing materials; the side top limiting assembly 40 is arranged on the cantilever shaft 10 and is used for supporting the inner wall of a material cylinder in the material sleeved on the cantilever shaft 10 and circumferentially limiting the material; 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, can detect the position of a material on the cantilever shaft 10 and control the jacking limiting assembly 20, the pushing assembly 30 and the side jacking limiting assembly 40 to position or unlock the material, realize the full-scale limiting of the material, ensure the stability of the material in the transportation process, and simultaneously avoid the material shaking to influence the normal work of the mobile robot.

Cantilever shaft 10 is installed on cantilever shaft mount 60, cantilever shaft mount 60 is installed on the mobile vehicle body (not shown), the mobile vehicle body moves integrally, cantilever shaft mount 60 moves back and forth and moves up and down on the mobile vehicle body, cantilever shaft 10 can move left and right relative to cantilever shaft mount 60, and therefore alignment, automatic feeding and automatic discharging are achieved. The cantilever shaft 10 may be provided with a laser alignment device and a visual recognition device to further assist in precise alignment of the cantilever shaft 10 with the material cartridge and the receiving shaft.

The control assembly 50 controls the operation of the jacking restraint assembly 20, the pushing assembly 30, and the side jacking restraint assembly 40 based on the location of the material on the cantilever shaft 10. Specifically, the control assembly 50 includes a first position detector 51 and a second position detector 52, the first position detector 51 and the second position detector 52 being configured to detect a position of the material on the cantilever shaft 10, and the first position detector 51 and the second position detector 52 being also disposed along an axial direction of the cantilever shaft 10 due to the cantilever shaft 10 being axially abutted with a hollow cylinder of the material.

In a specific embodiment, the first position detector 51 and the second position detector 52 are located at the upper portion of the cantilever shaft 10, and when the material is placed on the cantilever shaft 10, the inner wall of the hollow cylinder presses against the upper surface of the cantilever shaft 10, and in order to avoid damaging the first position detector 51 and the second position detector 52 by heavy material, 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 groove 11 for the fitted mounting of the first position detector 51 and a second groove 12 for the fitted mounting of the second position detector 52, the openings of the first groove 11 and the second groove 12 are directed upward, and the detection directions of the first position detector 51 and the second position detector 52 are directed 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 barrel of the material, the center point of the material is not located on the center axis of the cantilever shaft 10, and only the upper part of the barrel is actually in contact with the cantilever shaft 10, so that the detection surfaces of the first position detector 51 and the second position detector 52 may be higher than the surface of the cantilever shaft 10, may be even with the surface of the cantilever shaft 10, or may 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, and the cantilever shaft 10 has a first groove 11 for the embedded mounting of the first position detector 51 and a second groove 12 for the embedded mounting of the second position detector 52, the openings of the first groove 11 and the second groove 12 are downward, and the detection directions of the first position detector 51 and the second position detector 52 are downward.

Preferably, the first position detector 51 and the second position detector 52 may be diffuse reflective photoelectric switches with a larger detection angle, reduced assembly costs 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 starting positions of the jacking restraint assembly 20 and the pushing assembly 30. As shown in the specific example of fig. 3, the jacking restraint assembly 20 is located at the front end portion of the cantilever shaft 10, and the start position of the pusher assembly 30 is located at the rear end portion of the cantilever shaft 10, so that the first position detector 51 is disposed at a side of the jacking restraint assembly 20 facing the pusher assembly 30, and the second position detector 52 is disposed between the first position detector 51 and the start position of the pusher 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 comprises a hollow barrel, the length of the material is the length of the longer hollow barrel, and if the material does not comprise a hollow barrel, the length of the material is the length of the material itself.

The principle of position setting of the first position detector 51 and the second position detector 52 is: taking an actual use scenario that the material comprises 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 starts to extend into the hollow material cylinder from the front end part and continues to extend in the axial direction, in order to ensure that the material is actually placed on the cantilever shaft 10, the arm length of the cantilever shaft 10 inserted into the hollow material cylinder is generally larger, the position of the material on the cantilever shaft 10 is close to the middle part of the cantilever shaft 10, therefore, the jacking limiting component 20 positioned at the front end part firstly penetrates out of the hollow material cylinder, then the first position detector 51 penetrates out of the hollow material cylinder until the surface of the material facing the cantilever shaft 10 is close to the initial position of the pushing component 30, at this time, the second position detector 52 is positioned in the hollow material cylinder of the material, the first position detector 51 does not send a first signal, the second position detector 52 detects and sends a second signal, the control component 50 judges that the material moves to a position, and is positioned in a preset range, and the jacking limiting component 20 is controlled to work, and the axis is limited; then, the pushing assembly 30 is required to push out the material for a certain distance, so that two sides of the material are respectively propped against the pushing assembly 30 and the jacking limiting assembly 20, at this time, the first position detector 51 and the second position detector 52 are covered, respectively send out a first signal and a second signal, the control assembly 50 judges that the material moves to a preset position, controls the side jacking limiting assembly 40 to work, and limits circumferential shaking of the material, thereby realizing full-aspect positioning of the material by the jacking limiting assembly 20, the pushing assembly 30 and the side jacking limiting assembly 40.

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

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

a position judging unit for judging that the material is located in a preset range on the cantilever shaft 10 when only the second signal is received, and judging that the material is located 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 component 20 to act when the material is judged to be positioned in a preset range on the cantilever shaft 10, and controlling the pushing component 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 top limiting assembly 40 is controlled to act.

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

Specifically, the first telescopic mechanism includes 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 member 21 is connected with the first link assembly 22, the first motor 23 is connected with the first link assembly 22, and the jacking member 21 is driven to move up and down in the first limiting hole 15 on the upper side of the cantilever shaft 10.

To fully utilize the inner space of the cantilever shaft 10, as shown in fig. 7, the first mount 24 is obliquely installed at the upper portion of the inner chamber 13. As shown in fig. 8, the first mounting seat 24 includes an inner pad 241 and a lifting motor frame 242, the inner pad 241 is fixedly connected with the wall of the inner cavity 13 of the cantilever shaft 10, the lifting motor frame 242 is an L-shaped plate, one side is fixedly connected with the inner pad 241, the other side is fixedly connected with the first motor 23, and the first motor 23 is arranged 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 with a first rotation shaft of the first motor 23, one end of the second swing link 222 is rotatably connected with the first swing link 221, and the other end is rotatably connected with the jack-up member 21.

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

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

The specific structure of the side top limiting assembly 40 is of various types, in the specific examples shown in fig. 4 to 6, the cantilever shaft 10 comprises a second limiting hole 16, the side top limiting assembly 40 comprises two side top pieces 41 and a second telescopic mechanism, the side top limiting assembly 40 is symmetrically arranged about the axis of the cantilever shaft 10 and is respectively connected with the second telescopic mechanism, and the second telescopic mechanism drives the two side top pieces 41 to respectively telescopic in the second limiting holes 16 on the left side and the right side of the cantilever shaft 10 so as to prop against or loosen the inner wall of the hollow material cylinder of the material; the second telescopic mechanism is electrically connected to the control assembly 50.

Specifically, the second telescopic mechanism includes a second link assembly 42, a second motor 43 and a second mounting seat 44, the second link 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 top pieces 41 are respectively connected with the second link assembly 42, the second motor 43 is connected with the second link assembly 42, and the two side top pieces 41 are driven to respectively move in telescopic motion in the second limiting holes 16 on the left side and the right side of the cantilever shaft 10 so as to prop against or loosen the inner wall of the hollow material cylinder of the material.

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

The second link assembly 42 includes a first link 421 and a second link 422, the first link 421 is fixedly connected with the second rotation, and the two second links 422 are respectively connected with two ends of the first link 421 in a rotation manner and are respectively connected with the side top piece 41 in a rotation manner.

Because the space of the inner cavity 13 of the cantilever shaft 10 is smaller, a larger-sized motor cannot be installed, so that the thrust provided by the second motor 43 to the two side top pieces 41 is smaller, the mass of the material is generally heavier, the pressure on the side top pieces 41 generated by shaking is also larger, in order to prevent the side top pieces 41 from being pushed back into the inner cavity 13 by the material, a good positioning effect cannot be achieved, the side top limiting assembly 40 comprises limiting pieces, each limiting piece comprises a dead point limiting piece 443, and the dead point limiting piece 443 is used for limiting the side top pieces 41 to penetrate out of the second limiting holes 16 to retract. Specifically, as shown in fig. 5, the dead center limiting member 443 is disposed at a position that can abut against the first link 421 when the first link 421 rotates to make the side top member 41 pass through the second limiting hole 16 and then continue to rotate by a set angle. In actual operation, the second motor 43 drives the first connecting rod 421 to rotate, the side top piece 41 extends out of the second limiting hole 16 and abuts against the inner wall of the hollow cylinder of the material, the second motor 43 continues to rotate for a certain angle along the original rotation direction, so that the first connecting rod 421 is relatively close to the dead point limiting piece 443, if the material shakes, the side top piece 41 applies pressure, the first connecting rod 421 can rotate along the original rotation direction and further abuts against the dead point limiting piece 443, rotation cannot be performed, and the side top piece 41 cannot retract into the second limiting hole 16. When the side top piece 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 away from the dead point limiting piece 443, and the side top piece 41 gradually retracts into the second limiting hole 16.

Because the length of the side top piece 41 and the depth of the second limiting hole 16 are limited, in order to avoid that the side top piece 41 is completely separated from the second limiting hole 16 due to the rotation transition of the second motor 43, the limiting piece further comprises a rotation limiting piece 442, and the rotation limiting piece 442 is used for limiting the expansion and contraction amplitude of the second expansion and contraction mechanism. Specifically, as shown in fig. 6, a 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, for limiting the rotation angle of the first connecting rod 421.

In a specific embodiment, as shown in fig. 5, a supporting surface 411 is disposed at an end of the side top piece 41 facing the material and is used for fitting with the inner wall of the material barrel, so that the circumferential limitation of the side top piece 41 on the material is more stable. The supporting surface 411 may be an inclined surface or an arc surface to conform to the arc of the inner wall of the hollow barrel. Preferably, the end of the side top piece 41 facing the material is further provided with a chamfer surface 412 which is arranged at an angle to the supporting surface 411, and the chamfer surface 412 has the main function of ensuring that a sufficient retraction stroke is provided between the side top piece 41 and the inner wall of the hollow barrel, and the chamfer surface 412 has the function of avoiding and shortening the length of the side top piece 41.

In a specific embodiment, the side top limiting assembly 40 further includes a second detecting assembly 45 for detecting the moving position of the side top member 41, the second detecting assembly 45 is disposed on one side of the side top member 41, and the second detecting assembly 45 is communicatively connected to the control assembly 50, so that the displacement of the side top member 41 is accurately fed back to the control assembly 50, and the control assembly 50 can more accurately control the movement of the side top member 41.

Specifically, the second detecting assembly 45 includes a first distance sensor 451 corresponding to the side roof 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 is capable of receiving the signals of the first distance sensor 451 and the second distance sensor 452 and controlling the side roof limit assembly 40. If the second link 422 is rotated in place, the second distance sensor 452 sends a signal to the control unit 50, and if the side roof 41 is moved in place, 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 specific structure of the pushing assembly 30 is various, 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 a pushing motor 33 and a transmission assembly 32, where the pushing motor 33 is electrically connected with the control assembly 50.

In an actual use scene, the diameter of the cantilever shaft 10 is smaller than the inner diameter of a material cylinder, the center point of the material is not on the center axis of the cantilever shaft 10, and only the upper part of the material cylinder is actually contacted with the cantilever shaft 10; compared with a single push rod in the prior patent, the pushing structure 311 in the embodiment has at least two force application points, so long as the pushing structure 311 is kept bilaterally symmetrical about the cantilever shaft 10, and force application is performed on the material at the same time, the material can be ensured to be uniformly stressed, thereby reducing shaking of the material in the pushing process, and stably pushing the material to move along the cantilever shaft 10.

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

In one embodiment, the pushing structure 311 is an integral 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 a through slot in the middle of the pushing structure 311, so that the ring structure surrounds the cantilever shaft 10 and is symmetrical 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 fully contacted with the side surface 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 be a square frame structure, and a through slot is formed in the middle, and the through slot may be circular or square, so long as the cantilever shaft 10 can pass through. Of course, the pushing structure 311 may be another regular or irregular hollow frame structure, and the main body structure of the hollow frame is disposed around the cantilever shaft 10, preferably, the main body structure of the hollow frame is a structure that is symmetric about the cantilever shaft 10.

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

Specifically, as shown in fig. 3 and 11, the connecting piece 312 has a first connecting portion 313, and is fixedly connected with the pushing structure 311 through the first connecting portion 313, the first connecting portion 313 has at least two first fixing holes 314 vertically arranged, the pushing structure 311 has a connection boss 3111, the connection boss 3111 has a first fastening hole 3112 corresponding to the first fixing holes 314, the first fastening hole 3112 is aligned with the first fixing hole 314, and a fastener passes through the first fastening hole 3112 and the first fixing hole 314 to fixedly connect the pushing structure 311 with the connecting piece 312. When the pushing structure 311 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, the stress of the connection part of the first connection part 313 and the pushing structure 311 is larger, and a larger stress area is required, so that the pushing structure 311 is additionally provided with the connection boss 3111, the connection boss 3111 is arranged along the radial direction of the cantilever shaft 10, the force is dispersed, and the connection strength of the pushing structure 311 and the connecting piece 312 is improved.

In the specific example shown in fig. 3, the number of the first fixing holes 314 is two, and the connection bosses 3111 are disposed side by side up and down to protrude in the through-slot direction. In other embodiments, the number of first fixing holes 314 may be 1, 3, 4, or more. The length of the connection 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 aligned 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 the 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 component 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, the connection part between the second connection part 315 and the connection block 324 receives a shearing force, and the direction of the shearing force is along the axial direction, so that the second fixing hole 316 is disposed along the axial direction, and the connection strength between the connection piece 312 and the connection 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, one is a blind hole, two fasteners respectively penetrate into the second fastening holes 3241 from the second fixing holes 316 and are locked and fixed, and one fastener penetrates into the blind hole from the second fastening holes 3241 and is locked and fixed, so that multi-angle fixing 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 structure, which includes at least two split branches, and the branches form the pushing structure 311 that is symmetric about the cantilever shaft 10. The cantilever shaft 10 is provided with a gap between the sections, when the pushing piece 31 is installed on the cantilever shaft 10, the cantilever shaft 10 passes through the gap, so that the sections surround the circumference or the left side and the right side of the cantilever shaft 10 and are symmetrical to the cantilever shaft 10. The material pushing structure 311 is guaranteed to be fully contacted with the side surface of the material, and uniform pushing force is applied, so that the material is stable in the moving process. The subsection can be a straight plate structure, an arc plate structure or a corner plate structure, and can also be in other regular or irregular shapes, so that the contact surface of the subsection and the material is ensured to be a plane structure, and the whole formed pushing structure 311 is ensured to be a symmetrical structure or a central symmetrical structure. The number of subdivisions may be two, three, four or more.

Based on the pushing structure 311 with the split plate structure, the pushing piece 31 further comprises a connecting piece 312, and the pushing structure 311 is fixedly connected with the transmission assembly 32 through the connecting piece 312; the connection member 312 is disposed along the axial direction of the cantilever shaft 10. The number of connectors 312 corresponds to the number of segments, with one end of each connector 312 being fixedly connected to a segment and the other end being fixedly connected to a connection block 324 in the drive assembly 32. The specific connection may be as described in the above embodiments, or other conventional connection may be used to ensure that the segments are stably connected to the transmission assembly 32.

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

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

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 up and down, the pushing motor 33 is provided with 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 comprises 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 part of the pushing screw 322, the output shaft drives the first transmission wheel 341 to rotate, and the transmission belt 343 drives the second transmission wheel 342 to rotate, so as to rotate the pushing screw 322.

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 fixed block 131 and is fixedly connected with the first driving wheel 341, so as to drive the first driving wheel 341 to rotate. The fixing block 131 and the connecting plate 17 for fixing the end part of the pushing screw 322 are arranged side by side up and down, so that the relative positions of the pushing motor 33 and the pushing screw 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 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 pushing structure 311 is prevented from damaging the mounting bracket 351 or the third distance sensor 352 due to impact during moving. The third distance sensor 352 is connected with the pushing motor 33 in a signal manner, 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 seat 60, the cantilever shaft mounting seat 60 is mounted on a moving vehicle body (not shown), the moving vehicle body moves integrally, the cantilever shaft mounting seat 60 moves back and forth and moves up and down on the moving vehicle body, and the cantilever shaft 10 can move left and right relative to the cantilever shaft mounting seat 60, so that alignment, automatic feeding and automatic discharging are realized. The cantilever shaft 10 may be provided with a laser alignment device and a visual recognition device to further assist in precise alignment of 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 the relative stillness of the pushing assembly 30 and the cantilever shaft 10, the pushing assembly 30 is mounted on the cantilever shaft 10, the pushing member 31 is movably connected with the cantilever shaft 10, and the pushing structure 311 of the pushing member 31 is symmetrical left and right with respect to 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 as to push the material on the cantilever shaft 10 to move along the cantilever shaft 10 and discharge.

The pushing assembly 30 may be disposed entirely outside the cantilever shaft 10, or may be partially disposed inside the cantilever shaft 10, so as to reduce the overall volume 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, a guide shaft 321, a pushing screw 322 and a screw nut 323 in the transmission assembly 32 are located in the inner cavity 13, and a connecting block 324 passes through the sliding fit groove 14 to be connected with a connecting piece 312 of the pushing piece 31, so that a part of the pushing assembly 30 is arranged in the inner cavity 13 of the cantilever shaft 10, the inner space of the cantilever shaft 10 is fully utilized, and the transmission assembly 32 can be protected, so that the guide shaft 321, the pushing screw 322, the screw nut 323 and other components are prevented from being polluted or disturbed 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 opened along the axial direction of the cantilever shaft 10, the initial end is relatively close to the cantilever shaft mounting seat 60, the final end is relatively close to the end of the cantilever shaft 10, when the pushing motor 33 rotates the pushing screw 322, and 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 of the connection block 324 with 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 upper portion of the cantilever shaft 10, with other structures being adapted.

Preferably, the second connecting portion 315 of the connecting piece 312 has two limiting blocks 317, the number of the limiting blocks 317 is two, and the limiting blocks 317 are respectively disposed at the front side and the rear side of the second connecting portion 315 and are disposed towards the beginning end or the end of the sliding fit groove 14, and the limiting blocks 317 are used for limiting the moving stroke of the pushing structure 311 to be smaller than the length of the sliding fit groove 14, so as to avoid the end of the connecting block 324 or the connection part 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 on the front and rear sides of the second connection portion 315 by bonding or screw fixing.

Preferably, a plurality of rollers 18 are axially arranged on the outer surface of the cantilever shaft 10 and are used for being attached to the inner wall of the material rolling cylinder, so that the friction force between the material rolling cylinder and the cantilever shaft 10 is reduced, and the pushing group can push the materials 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. In view of the fact 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 is actually in contact with the cantilever shaft 10, specifically, the rollers 18 include two sets of top rollers 18 disposed at angles on both sides of the top end of the cantilever shaft 10, and side rollers 18 disposed on both sides of the cantilever shaft 10.

Preferably, in order to enhance the connection strength between the cantilever shaft 10 and the cantilever shaft mount 60, the cantilever shaft 10 has a support assembly 19 thereon, and the support assembly 19 connects the cantilever shaft 10 and the cantilever shaft mount 60. The support assembly 19 is mounted on the upper portion of the cantilever shaft 10, adjacent the cantilever shaft mount 60. Specifically, as shown in fig. 1 and fig. 3, the supporting component 19 includes a diagonal tripod 191 and a diagonal cover 192, one of right-angle sides of the diagonal tripod 191 is fixedly connected with the cantilever shaft 10, the other right-angle side is fixedly connected with the cantilever shaft mounting seat 60, the diagonal cover 192 is fixedly connected with the diagonal tripod 191, and covers the diagonal tripod 191, and a cavity 194 is formed in the diagonal cover 192. The diagonal bracing tripod 191 has stronger structural strength, and can effectively improve the connection stability of the cantilever shaft 10 and the cantilever shaft mounting seat 60. Of course, the support assembly 19 may have other conventional structures that can connect the cantilever shaft 10 and the cantilever shaft mount 60.

Preferably, to save space, the pushing motor 33 is accommodated and protected, and 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 passes through the accommodating cavity 194 and is rotationally 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, a window 193 is formed on a surface of the diagonal support cover 192 facing the pushing structure 311, a mounting bracket 351 of the detection assembly is fixed on the diagonal support tripod 191 or the cantilever shaft 10, and a 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, the wiring harness is prevented from being exposed, 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:

and (3) charging:

the cantilever shaft 10 is controlled to be aligned and spliced with a hollow cylinder of the material;

the control jacking limiting component 20, the pushing component 30 and the side jacking limiting component 40 are used for jointly positioning materials;

a discharging step;

the control cantilever shaft 10 is in butt joint with the receiving shaft;

the jacking limiting component 20 and the side jacking limiting component 40 are controlled to act, so that the limitation on materials is relieved;

the control pusher assembly 30 pushes the material to the receiving shaft.

In one embodiment, the step of controlling the jacking restraint assembly 20, the pushing assembly 30, and the side jacking restraint assembly 40 to co-locate the material further comprises:

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

the jacking limiting component 20 is controlled to work, and materials sleeved on the cantilever shaft 10 are axially limited;

controlling the cantilever shaft 10 to move to take out materials;

controlling the pushing assembly 30 to push the material;

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

the control side ejection limiting assembly 40 works to push against the inner wall of the material cylinder in the material sleeved on the cantilever shaft 10 and circumferentially limit the material.

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

the step of determining that the material is located within the predetermined range on the cantilever shaft 10 further includes:

determining, by the controller, whether only the second signal of the second position detector 52 is received, that the material is located within a preset range on the cantilever shaft 10;

the step of determining that the material is located at the predetermined position on the cantilever shaft 10 further includes:

by the controller judging 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, it is determined 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 according to the embodiment of the present invention includes the following steps:

and (3) charging:

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

judging whether only the second signal of the second position detector 52 is received or not by the controller, determining that the material is positioned in a preset range on the cantilever shaft 10, controlling the jacking limiting component 20 to work, and axially limiting the material sleeved on the cantilever shaft 10 by the jacking component 21 extending out of the first limiting hole 15;

controlling the cantilever shaft 10 to move upwards as a whole, and separating materials from a shelf;

judging whether only the second signal of the second position detector 52 is received or not by the controller, determining that the material is positioned in a preset range on the cantilever shaft 10, controlling the pushing assembly 30 to work, and pushing the material to a preset position;

judging whether the first signal of the first position detector 51 and the second signal of the second position detector 52 are received simultaneously or not by the controller, determining that the material is positioned at a preset position on the cantilever shaft 10, controlling the pushing assembly 30 to stop working, controlling the side top limiting assembly 40 to work, enabling the side top piece 41 to extend out of the second limiting hole 16 and abut against the inner wall of the hollow material cylinder, and circumferentially limiting the material; so far, the jacking and limiting assembly 20, the pushing assembly 30 and the side jacking and limiting assembly 40 are used for jointly positioning materials;

Discharging step

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;

the jacking limiting component 20 and the side jacking limiting component 40 are controlled to act, the jacking component 21 is retracted into the first limiting hole 15, the side jacking component 41 is retracted into the second limiting hole 16, and the limitation on materials is relieved;

the control pusher assembly 30 pushes the material to the receiving shaft.

The above embodiments are only preferred embodiments of the present invention, and should not be construed as limiting the scope of the present invention, and any insubstantial changes and substitutions made by those skilled in the art on the basis of the present invention are intended to be within the scope of the present invention as claimed.

Claims

1. A material handling apparatus for a cantilever-type mobile robot, comprising:

the cantilever shaft is used for bearing materials;

the side top limiting assembly is arranged on the cantilever shaft and used for supporting the inner wall of the hollow material cylinder sleeved on the cantilever shaft and circumferentially limiting the material;

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 the material on the cantilever shaft and control the jacking limiting assembly, the pushing assembly and the side jacking limiting assembly to position or unlock the material;

the cantilever shaft comprises a second limiting hole, the side top limiting assembly comprises two side top pieces and a second telescopic mechanism, the side top pieces and the second telescopic mechanism are symmetrically arranged about the axis of the cantilever shaft, the two side top pieces are respectively connected with the second telescopic mechanism, the second telescopic mechanism comprises a second connecting rod assembly, a second motor and a second mounting seat, the second connecting rod assembly, the second motor and the second mounting seat are positioned in an inner cavity of the cantilever shaft, the side top pieces are respectively connected with the second connecting rod assembly, the second motor is connected with the second connecting rod assembly, and the two side top pieces are driven to respectively stretch and retract in the second limiting holes on the left side and the right side of the cantilever shaft so as to prop against or loosen the inner wall of the hollow material cylinder of the material; the second telescopic mechanism is electrically connected with the control assembly;

The second mounting seat is fixedly connected with the inner cavity of the cantilever shaft, the second mounting seat is of a U-shaped structure, the second connecting rod assembly is located in the concave cavity of the second mounting seat and comprises a first connecting rod and a second connecting rod, the first connecting rod is rotationally connected with the second mounting seat, and the two second connecting rods are rotationally connected with each other

The first connecting rod is respectively connected with two ends of the first connecting rod in a rotating way, and is respectively connected with one side top piece in a rotating way;

the side top limiting assembly further comprises a limiting piece, wherein the limiting piece comprises a dead point limiting piece, and the dead point limiting piece is used for limiting the side top piece to retract after penetrating out of the second limiting hole; the dead point limiting piece is positioned on the side wall of the concave cavity of the second mounting seat and is arranged at a position which can be abutted against the first connecting rod when the first connecting rod rotates to enable the side top piece to pass through the second limiting hole and then continue to rotate for a set angle.

2. The material handling apparatus of the cantilever-axis mobile robot of claim 1, wherein the control assembly includes a first position detector and a second position detector, the first position detector and the second position detector being disposed along an axial direction of the cantilever axis, and neither upper end being higher than a surface of the cantilever axis;

3. The material handling apparatus of the cantilever-type mobile robot according to claim 2, wherein 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.

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

the control assembly further comprises a controller, wherein 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-type mobile robot according to claim 1, wherein,

the cantilever shaft comprises a first limiting hole, the jacking limiting component 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 at the upper side of the cantilever shaft; the first telescopic mechanism is electrically connected with the control assembly.

6. The material handling apparatus of claim 5, wherein the lift stop assembly further comprises a first detection assembly for detecting a position of the lift, the first detection assembly being disposed below or to one side of the lift, the first detection assembly being communicatively coupled to the control assembly.

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

The limiting piece further comprises a rotation limiting piece, the rotation limiting piece is used for limiting the expansion amplitude of the second expansion mechanism, the rotation limiting piece is arranged at the opening of the concave cavity and is eccentrically arranged relative to the center of the second rotating shaft of the second motor and used for limiting the rotation angle of the first connecting rod.

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

the side top piece is towards the one end of material is equipped with the holding surface that is used for laminating with material feed cylinder inner wall.

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

the side roof limit assembly further comprises a second detection assembly for detecting the movement position of the side roof member,

the second detection assembly is arranged on one side of the side top piece and is in communication connection with the control assembly.

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

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 piece comprises a pushing structure which is bilaterally symmetrical to the cantilever shaft and moves along the axial direction of the cantilever shaft under the action of the pushing motor and the transmission assembly, and the pushing motor is electrically connected with the control assembly.

11. The material handling apparatus of the cantilever-shaft type mobile robot according to claim 10, wherein the transmission assembly comprises a guide shaft, a pushing screw, a screw nut and a connection block, the guide shaft is arranged in parallel with the pushing screw, the screw nut is sleeved on the pushing screw, one end of the connection block is sleeved outside the screw nut, the other end of the connection block is sleeved on the guide shaft, and the connection block is fixedly connected with the connection piece of the pushing piece.

12. The material handling apparatus of claim 10, wherein the pusher assembly includes a third detection assembly for detecting a position of the pusher, the third detection assembly being located outside a range of movement of the pusher, and the third detection assembly being communicatively coupled to the control assembly.

13. A method of loading and unloading materials from a cantilever-type mobile robot, comprising the material loading and unloading apparatus according to any one of claims 1 to 12, the method comprising the steps of:

and (3) charging:

A discharging step;

the control cantilever shaft is in butt joint with the receiving shaft;

14. The method for loading and unloading materials into and from a cantilever-type mobile robot according to claim 13,

the step of controlling the jacking limiting assembly, the pushing assembly and the side jacking limiting assembly to jointly position the material further comprises the steps of:

controlling the cantilever shaft to move to take out the material;

controlling the pushing component to push materials;

the side top limiting component is controlled to work, the inner wall of the hollow material cylinder sleeved on the cantilever shaft is propped against, and materials are circumferentially limited.

15. The material handling method of the cantilever-type mobile robot according to claim 14, wherein:

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

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

and judging whether the first signal of the first position detector and the second signal of the second position detector are received simultaneously or not through the controller, and if yes, determining that the material is positioned at a preset position on the cantilever shaft.