CN207121391U - A kind of Cha Ju robots for taking position detecting mechanism to - Google Patents
A kind of Cha Ju robots for taking position detecting mechanism to Download PDFInfo
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- CN207121391U CN207121391U CN201721826505.9U CN201721826505U CN207121391U CN 207121391 U CN207121391 U CN 207121391U CN 201721826505 U CN201721826505 U CN 201721826505U CN 207121391 U CN207121391 U CN 207121391U
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- swing rod
- installing plate
- position detecting
- detecting mechanism
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Abstract
A kind of Cha Ju robots for taking position detecting mechanism to, including robot body are the utility model is related to, position detecting mechanism is arrived located at robot body；The installing plate included to position detecting mechanism located at robot body, it is articulated with the swing rod of installing plate；The swing rod be distal to be hinged one end by provided with elastic component couple with installing plate；The swing rod is provided with travel switch in the side of swaying direction, so that swing rod swings triggering travel switch.The utility model Cha Ju formulas robot pallet is to position detecting mechanism, it is simple and compact for structure, ensure that mobile robot can be forked correctly all the time when forking and pitching goods putting thing, ensure the positional precision between goods and goods shelf, robot can be made to stop forking action when pallet detects goods to position detecting mechanism simultaneously, prevent the generation of collision accident.
Description
Technical field
Automatic transportation equipment is the utility model is related to, more specifically refers to that a kind of fork for taking position detecting mechanism to lifts machine
People.
Background technology
Robot field is lifted in fork, the fork movement of robot is made to fork pallet or other workpiece mainly by crotch, and acts
During can not confirm whether goods is correctly forked, the positional precision between goods and crotch can not also ensure.In machine
In device people's operation process, it is easy to there is goods and do not forked correctly, and the error accumulation phenomenon of cargo location.So to protect
Card goods ensures the positional precision of goods while correctly being forked, it would be desirable to increase pallet to position detecting mechanism.
Utility model content
The defects of the purpose of this utility model is to overcome prior art, there is provided a kind of fork for taking position detecting mechanism to lifts machine
Device people.
To achieve the above object, the utility model uses following technical scheme：
A kind of Cha Ju robots for taking position detecting mechanism to, including robot body, located at the inspection in place of robot body
Survey mechanism；The installing plate included to position detecting mechanism located at robot body, it is articulated with the swing rod of installing plate；The swing rod
Be distal to be hinged one end by provided with elastic component couple with installing plate；The swing rod is opened in the side of swaying direction provided with stroke
Close, so that swing rod swings triggering travel switch.
Its further technical scheme is：The elastic component is spring；The spring one end is only butted on swing rod, and the other end stops
It is butted on the support that installing plate is provided with.
Its further technical scheme is：The swing rod is in the presence of elastic component, with forming 20-80 ° on vertical direction
Angle.
Its further technical scheme is：The swing rod by provided with hinge couple with installing plate.
Its further technical scheme is：The installing plate is located at robot body front end, and installing plate is provided with mounting hole；Institute
State swing rod to be articulated with the top of mounting hole, and extend on rear side of installing plate；The travel switch is located on front side of mounting hole, and by setting
Some feeler levers contact with swing rod；The support being provided with is fixed on front side of installing plate in described elastic component one end, and the other end is through installation
Hole is only butted on swing rod.
Its further technical scheme is：One end that the feeler lever contacts with swing rod is provided with roller.
Its further technical scheme is：The swing rod is distal to be hinged one end and is provided with gag lever post；The gag lever post is bordering on peace
One end of loading board is provided with hook, and the hook couples with the stay hook that installing plate is provided with.
The beneficial effect of the utility model compared with prior art is：The utility model Cha Ju formulas robot pallet is examined in place
Mechanism is surveyed, it is simple and compact for structure, ensure that mobile robot can be forked correctly all the time when forking and pitching goods putting thing, ensure goods
Positional precision between thing and goods shelf, at the same can make when pallet detects goods to position detecting mechanism robot stop forking it is dynamic
Make, prevent the generation of collision accident.
The utility model is further described with specific embodiment below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is a kind of three-dimensional structure diagram for the Cha Ju robots for taking position detecting mechanism to of the utility model；
Fig. 2 is enlarged drawing at Fig. 1 A；
Fig. 3 is a kind of front view for the Cha Ju robots for taking position detecting mechanism to of the utility model；
Fig. 4 is a kind of side view for the Cha Ju robots for taking position detecting mechanism to of the utility model；
Fig. 5 is the sectional view at Fig. 3 B-B.
Embodiment
In order to more fully understand technology contents of the present utility model, with reference to specific embodiment to skill of the present utility model
Art scheme is further described and illustrated, but is not limited to this.
Such as the drawing that Fig. 1 to Fig. 5 is the utility model embodiment.
A kind of Cha Ju robots for taking position detecting mechanism to, including robot body 10, located at arriving for robot body 10
Position detecting mechanism 20.Include the installing plate 21 located at robot body 10 to position detecting mechanism 20, be articulated with the pendulum of installing plate 21
Bar 22.Swing rod 22 be distal to be hinged one end by provided with elastic component 23 couple with installing plate 21.Swing rod 22 is in swaying direction
Side is provided with travel switch 30, so that swing rod 22 swings triggering travel switch 30.
Specifically, elastic component 23 is spring, and spring one end is only butted on swing rod 22, and the other end is only butted on installing plate 21 and set
Some supports 24.
Spring one end is connected with swing rod 22, and one end is connected with spring support 24, it is ensured that swing rod 22 when pushing by
Reverse active force, ensure that swing rod 22 can return to initial position when goods unloads.Spring, which can elongate or shorten, allows pendulum
Bar 22 possesses the ability for recovering initial position after goods unloading, does not influence to use.
When forking goods to correct position, swing rod 22 is pressed down and triggers travel switch 30 travel switch 30, gives simultaneously
Robot feedback signal.When pitching goods putting thing, swing rod 22 is recovered initial position by the active force of spring, and feedback signal disappears, really
Thing of knowing goods is laid down.
Further, swing rod 22 push triggering travel switch 30, can by the position of travel switch 30 to adjust triggering when swing rod
22 angles pushed, to ensure pallet to the regulating power of position detecting mechanism
Spring can elongate or shorten according to the pressure requirements that swing rod 22 is subject to, under spring action to adjust swing rod 22
Power, its specification can determine according to the demand of different product.Spring is used for the damping for increasing swing rod 22, when taking out pallet, swing rod
22 can return to initial position under the elastic force of spring, release the triggering of travel switch 30.
Swing rod 22 angle with forming 20-80 ° on vertical direction, is easy to robot pitching in the presence of elastic component 23
Touched when lifting goods.
Swing rod 22 by provided with hinge 25 couple with installing plate 21.Pass through the shape of hinge 25 between swing rod 22 and installing plate 21
Into being hinged, ensure the smooth rotation of the energy of swing rod 22, there is certain activity point of view between swing rod 22 and installing plate, while also possess certain
Impact resistance.
Installing plate 21 is located at the front end of robot body 10, and installing plate 21 is provided with mounting hole 211.Swing rod 22 is articulated with installation
The top of hole 211, and extend to the rear side of installing plate 21.Travel switch 30 located at the front side of mounting hole 211, and by provided with feeler lever 31
Contacted with swing rod 22.The support 24 that the front side of installing plate 21 is provided with, and other end penetrating mounting holes 211 are fixed in the one end of elastic component 23
Only it is butted on swing rod 22.Such layout,
Preferably, one end that feeler lever 31 contacts with swing rod 22 is provided with roller 32.Roller 32 is used between feeler lever 31 and swing rod 22
Formed and roll connection, improve the sensitivity of the conduction motion between feeler lever 31 and swing rod 22.
Swing rod 22 is distal to be hinged one end and is provided with gag lever post 26.One end that gag lever post 26 is bordering on installing plate 21 is provided with hook,
And the stay hook being provided with installing plate 21 of linking up with couples.When laying down goods, swing rod 22 under the action of the spring resilience so that
Swing rod 22 playbacks；But some goods are after unloading, it is possible to can be caught on by goods, if unloaded soon, it is possible to will put
Bar or spring draw bad.So gag lever post 26 has the function that protection.
In summary, the utility model Cha Ju formulas robot pallet is to position detecting mechanism, and simple and compact for structure, guarantee is moved
Robot can be forked correctly all the time when forking and pitching goods putting thing, ensure the positional precision between goods and goods shelf, together
When pallet robot can be made to stop forking action when detecting goods to position detecting mechanism, prevent the generation of collision accident.
It is above-mentioned that technology contents of the present utility model are only further illustrated with embodiment, in order to reader is easier to understand,
But embodiment of the present utility model is not represented is only limitted to this, any technology extension or recreation done according to the utility model,
By protection of the present utility model.The scope of protection of the utility model is defined by claims.
Claims (7)
1. a kind of Cha Ju robots for taking position detecting mechanism to, including robot body, located at the detection in place of robot body
Mechanism；Characterized in that, described include the installing plate located at robot body to position detecting mechanism, the pendulum of installing plate is articulated with
Bar；The swing rod be distal to be hinged one end by provided with elastic component couple with installing plate；The swing rod in swaying direction one
Side is provided with travel switch, so that swing rod swings triggering travel switch.
A kind of 2. Cha Ju robots for taking position detecting mechanism to according to claim 1, it is characterised in that the elastic component
For spring；The spring one end is only butted on swing rod, and the other end is only butted on the support that installing plate is provided with.
A kind of 3. Cha Ju robots for taking position detecting mechanism to according to claim 1, it is characterised in that the swing rod in
In the presence of elastic component, the angle with forming 20-80 ° on vertical direction.
4. a kind of Cha Ju robots for taking position detecting mechanism to according to claim 1, it is characterised in that the swing rod leads to
The hinge being provided with is crossed with installing plate to couple.
A kind of 5. Cha Ju robots for taking position detecting mechanism to according to claim 1, it is characterised in that the installing plate
Located at robot body front end, and installing plate is provided with mounting hole；The swing rod is articulated with the top of mounting hole, and extends to installing plate
Rear side；The travel switch on front side of the mounting hole, and by provided with feeler lever contacted with swing rod；Described elastic component one end is fixed
The support being provided with front side of installing plate, and other end penetrating mounting holes are only butted on swing rod.
A kind of 6. Cha Ju robots for taking position detecting mechanism to according to claim 5, it is characterised in that the feeler lever with
One end of swing rod contact is provided with roller.
7. a kind of Cha Ju robots for taking position detecting mechanism to according to claim 1, it is characterised in that the swing rod is remote
Gag lever post is provided be hinged one end；One end that the gag lever post is bordering on installing plate is provided with hook, and the hook and installing plate
The stay hook connection being provided with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721826505.9U CN207121391U (en) | 2017-12-22 | 2017-12-22 | A kind of Cha Ju robots for taking position detecting mechanism to |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721826505.9U CN207121391U (en) | 2017-12-22 | 2017-12-22 | A kind of Cha Ju robots for taking position detecting mechanism to |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207121391U true CN207121391U (en) | 2018-03-20 |
Family
ID=61602114
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721826505.9U Active CN207121391U (en) | 2017-12-22 | 2017-12-22 | A kind of Cha Ju robots for taking position detecting mechanism to |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207121391U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110775889A (en) * | 2019-12-03 | 2020-02-11 | 广州市吉特智能科技有限公司 | Depth and stroke detection control switch for forklift pallet fork of unmanned forklift |
| CN114376022A (en) * | 2021-12-22 | 2022-04-22 | 上海拉法叶投资有限公司 | Automatic integrated tea fermentation method and device |
-
2017
- 2017-12-22 CN CN201721826505.9U patent/CN207121391U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110775889A (en) * | 2019-12-03 | 2020-02-11 | 广州市吉特智能科技有限公司 | Depth and stroke detection control switch for forklift pallet fork of unmanned forklift |
| CN114376022A (en) * | 2021-12-22 | 2022-04-22 | 上海拉法叶投资有限公司 | Automatic integrated tea fermentation method and device |
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