CN216736378U

CN216736378U - Cantilever shaft with material blocking function and cantilever shaft type mobile robot

Info

Publication number: CN216736378U
Application number: CN202122706006.9U
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: 2022-06-14
Anticipated expiration: 2031-11-04

Abstract

The utility model relates to a cantilever shaft with a material blocking function and a cantilever shaft type mobile robot, which are used for bearing and blocking materials borne on the cantilever shaft, and comprise: a shaft body having a circumferential side surface; the driving mechanism is fixedly arranged on the shaft body; the stopping mechanism is movably arranged on the shaft body; the stopping mechanism comprises a transmission part and a stopping part; the transmission piece is in driving connection with the output end of the driving mechanism, and the other end of the transmission piece is movably connected with the blocking part; the guide mechanism is arranged on the shaft body and used for restraining the moving direction of the stop part; the stopping part can move between a first position and a second position relative to the shaft body under the action of the transmission part; when the stopping part moves to the first position, the stopping part retracts to the circumferential side surface of the shaft body and within the extension range of the circumferential side surface; when the stopping part moves to the second position, the stopping part extends out of the circumferential side surface and the extension range of the shaft body. The utility model is used for blocking the materials loaded on the cantilever shaft and preventing the materials from falling off from the cantilever shaft.

Description

Cantilever shaft with material blocking function and cantilever shaft type mobile robot

Technical Field

The utility model relates to the field of mobile robots, in particular to a cantilever shaft with a material blocking function and a cantilever shaft type mobile robot.

Background

In the fields of the existing warehousing industry, the manufacturing industry and the like, as an automatic industrial chain is gradually popularized, the scene of carrying materials by adopting a mobile robot is more and more applied. The mobile robot can travel along a predetermined route, and has safety protection and various transfer functions.

The existing cantilever shaft type mobile robots all comprise a cantilever shaft, and materials can be loaded on the cantilever shaft. The mobile robot can load the material through the cantilever shaft at a specific position and move to the specific position to unload the material through the cantilever shaft. However, the existing cantilever shafts are not provided with blocking structures, when materials are transported, the materials are easy to fall off from the cantilever shafts, the stability is poor, and the transportation of the materials is influenced.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a cantilever shaft with a material blocking function, which has the characteristics of preventing materials from falling off from the cantilever shaft and the like and has better applicability.

In order to achieve the purpose, the utility model adopts the following technical scheme:

in a first aspect, the present invention relates to a cantilever shaft with a material stopping function, for bearing and stopping a material borne on the cantilever shaft, comprising:

a shaft body having a circumferential side surface;

the driving mechanism is fixedly arranged on the shaft body;

the stopping mechanism is movably arranged on the shaft body; the stopping mechanism comprises a transmission part and a stopping part; the transmission part is in driving connection with the output end of the driving mechanism, and the other end of the transmission part is movably connected with the blocking part;

a guide mechanism mounted on the shaft body; the stopper part is matched with the stop part to restrain the moving direction of the stop part;

the stopping part can move between a first position and a second position relative to the shaft body under the action of the transmission part; when the stopping part moves to the first position, the stopping part retracts to the circumferential side surface of the shaft body and within the extension range of the circumferential side surface; when the stopping part moves to the second position, the stopping part extends out of the circumferential side face and the extension range of the shaft body and is used for stopping the material loaded on the cantilever shaft.

Preferably, the stopper has a rail, and the rail includes a first point location and a second point location;

the stopping mechanism further comprises a rotating part, and the rotating part is rotatably connected to the first mounting position of the transmission part; the output end of the driving mechanism is connected to a second mounting position of the transmission piece, and the first mounting position and the second mounting position are spaced; the rotating piece can roll along the track in a reciprocating way under the action of the transmission piece;

when the rotating piece is located at the first point position, the stopping part is located at the first position; when the rotating piece is located at the second point position, the stopping part is located at the second position.

Preferably, the rail is eccentrically disposed on the stopper.

Preferably, the guide mechanism restricts the stop part from moving along a first direction;

the track is arranged in a second direction,

the second direction and the first direction are arranged at an included angle.

Preferably, the track is a sliding chute, and the length of the sliding chute is greater than the diameter of the rotating member; the rotating piece is rotatably inserted into the sliding groove and can reciprocate along the length direction of the sliding groove.

Preferably, an installation cavity is formed in the shaft body, an opening is formed in the shaft body, and the opening is communicated with the installation cavity;

the driving mechanism and the guide mechanism are arranged in the mounting cavity of the shaft body; the stopping part can penetrate through the opening to move.

Preferably, the guide mechanism includes:

one end of the guide piece is fixedly arranged in the mounting cavity, and the other end of the guide piece extends towards the opening;

and the guide block and the stop part are fixedly arranged and sleeved on the guide piece, and the guide block can move along the guide piece.

Preferably, the guide mechanism further comprises a limit connecting plate fixedly mounted on the guide member to limit the stroke of the guide block.

Preferably, the cantilever shaft further comprises a driving mechanism fixing frame and two sensors, the driving mechanism fixing frame is fixedly arranged on the shaft body, and the driving mechanism and the two sensors are both fixedly arranged on the driving mechanism fixing frame; when the stopping part is located at the first position, the transmission part triggers one sensor, and when the stopping part is located at the second position, the transmission part triggers the other sensor.

Preferably, the stopper portion has a stopper plane perpendicular to the circumferential side surface.

In a second aspect, the present invention relates to a cantilever-shaft type mobile robot, including a mobile chassis and a cantilever shaft fixedly disposed on the mobile chassis, where the cantilever shaft is the cantilever shaft with a material stopping function as in any one of the first aspect.

Compared with the prior art, the utility model has the beneficial effects that:

in the technical scheme, the blocking part can move between a first position and a second position relative to the shaft body under the action of the transmission part; the structure is simple. When the stopping part moves to the first position, the stopping part retracts to the circumferential side face of the shaft body and within the extension range of the shaft body, so that the influence on the axial feeding and discharging of the cantilever shaft is reduced; when the stopping part moves to the second position, the stopping part extends out of the circumferential side face and the extension range of the shaft body and is used for stopping the material borne on the cantilever shaft, and the stopping part can be abutted against the material to prevent the material from falling off from the cantilever shaft.

Drawings

FIG. 1 is an assembly view of a cantilevered shaft and material provided by an embodiment of the present invention.

Fig. 2 is an assembly view of the shaft, the driving mechanism, the stopping mechanism, the guiding mechanism, the driving mechanism fixing frame and the sensor according to the embodiment of the present invention.

Fig. 3 is a schematic view of a shaft according to an embodiment of the present invention.

Fig. 4 is an assembly view of the driving mechanism, the stopping mechanism, the guiding mechanism, the driving mechanism fixing frame and the sensor according to the embodiment of the present invention.

Fig. 5 is an assembly view of the driving mechanism, the stopping mechanism, the driving mechanism fixing frame and the sensor according to the embodiment of the present invention.

Fig. 6 is a schematic view of a guide mechanism according to an embodiment of the present invention.

Fig. 7 is a schematic view of a stopping mechanism according to an embodiment of the utility model.

Fig. 8 is a schematic view of a stopper according to an embodiment of the utility model.

1. A shaft body; 11. a mounting cavity; 12. an opening; 2. a drive mechanism; 3. a stopping mechanism; 31. a transmission member; 32. a stopper portion; 321. a chute; 33. a rotating member; 4. a guide mechanism; 41. a guide member; 42. a guide block; 43. a limiting connecting plate; 5. feeding; 6. a drive mechanism mount; 7. a sensor.

Detailed Description

The present invention will now be described in more detail with reference to the accompanying drawings, in which the description of the utility model is given by way of illustration and not of limitation. The various embodiments may be combined with each other to form other embodiments not shown in the following description.

Referring to fig. 1, in a first aspect, an embodiment of the present invention provides a cantilever shaft with a material stopping function, for bearing and stopping a material 5 borne on the cantilever shaft, including: the device comprises a shaft body 1, a driving mechanism 2, a stopping mechanism 3, a guiding mechanism 4, a driving mechanism fixing frame 6 and a sensor 7.

Wherein, the shaft body 1 is provided with a circumferential side surface; the driving mechanism 2 is fixedly arranged on the shaft body 1; the stopping mechanism 3 is movably arranged on the shaft body 1; the stopping mechanism 3 comprises a transmission member 31 and a stopping part 32; the transmission piece 31 is in driving connection with the output end of the driving mechanism 2, and the other end of the transmission piece is movably connected with the stopping part 32; a guide mechanism 4 attached to the shaft body 1; cooperates with the stopping part 32 to restrain the moving direction of the stopping part 32; the stopping part 32 can move between a first position and a second position relative to the shaft body 1 under the action of the transmission member 31; when the stopping part 32 moves to the first position, it retracts to the circumferential side surface of the shaft body 1 and within the extending range thereof; when the stopping part 32 moves to the second position, it extends out of the circumferential side surface and the extending range of the shaft body 1 to stop the material 5 carried on the cantilever shaft.

The circumferential side surface refers to an outer surface arranged along the circumferential direction of the shaft body 1 and is arranged between two end surfaces of the shaft body 1. The circumferential side surface and the extension range thereof refer to a range formed by the circumferential side surface extending along the axial direction of the shaft body 1. The circumferential side surface and the extension range thereof include a case where the end surface of the stopper portion 32 overlaps with the circumferential side surface and the extension range thereof. The end face of the stopper 32 does not overlap the circumferential side face and the extension range thereof except the circumferential side face and the extension range thereof.

The driving mechanism 2 can adopt a motor or other conventional power devices capable of realizing pivoting.

The transmission member 31 may be a connecting rod, a cam, or another transmission member 31, and is used for converting the rotation of the pivot of the output end of the driving mechanism 2 into the reciprocating motion of the stop portion 32 movably connected to the output end of the driving mechanism.

The movable connection is not limited to one or more of a sliding connection and a rolling connection.

The shaft body 1 is provided with a first end face, and the first end face is an end face through which the material 5 passes when the cantilever shaft is assembled and disassembled. The stopper 32 may be mounted outside the first end surface, or may be mounted inside the shaft body 1.

The number of the stoppers 32 may be one or more. When there is one stop 32, the second position is preferably located directly above the mounted cantilever shaft.

In this embodiment, the stopping portion 32 is movably connected to the transmission member 31, and the guiding mechanism 4 has a function of enhancing the stable installation of the stopping portion 32, so that the shape and the moving manner of the stopping portion 32 have a larger design space to further enhance the stopping effect.

In some embodiments, the stop 32 has a track that includes a first point and a second point; the stopping mechanism 3 further comprises a rotating part 33, and the rotating part 33 is arranged on the end part of the transmission part 31 far away from the driving mechanism 2; the rotating part 33 can roll back and forth along the track; when the rotating member 33 is located at the first position, the stopping portion 32 is located at the first position; when the rotating member 33 is located at the second position, the stopping portion 32 is located at the second position.

In some embodiments, a mounting cavity 11 is formed inside the shaft body 1, an opening 12 is formed in the shaft body 1, and the opening 12 is communicated with the mounting cavity 11; the driving mechanism 2 and the guide mechanism 4 are arranged in the mounting cavity 11 of the shaft body 1; the stop part 32 can penetrate through the opening 12 to move; the first position is located in the mounting cavity 11; the second position is located outside the shaft body 1.

Referring to fig. 2-3, the shaft body 1 is hollow to form a mounting cavity 11, an opening 12 is provided on an outer side surface of the shaft body 1, and the opening 12 is communicated with the mounting cavity 11. The driving mechanism 2, the stopping mechanism 3, the guiding mechanism 4, the driving mechanism fixing frame 6 and the sensor 7 are all arranged in the installation cavity 11.

Referring to fig. 4-8, the mounting cavity 11 is cylindrical, the shape of the driving mechanism fixing frame 6 is matched with the cavity of the mounting cavity 11, and the section of the driving mechanism fixing frame 6 is preferably circular. The driving mechanism fixing frame 6 is provided with a threaded hole, and can be detachably connected to the inside of the mounting cavity 11 through a fastener. Of course, the driving mechanism fixing frame 6 may also be fixed in the installation cavity 11 by other means, such as clamping and the like.

In a preferred embodiment, the driving mechanism 2 is fixedly arranged on one side of the driving mechanism fixing frame 6 through a fastener. The output end of the driving mechanism 2 penetrates through the driving mechanism fixing frame 6 and extends to the other side of the driving mechanism fixing frame 6.

In some embodiments, the stop 32 has a track that includes a first point and a second point; the stopping mechanism 3 further comprises a rotating part 33, the rotating part 33 is rotatably connected to a first installation position of the transmission part 31, wherein the output end of the driving mechanism 2 is connected to a second installation position of the transmission part 31, and the first installation position and the second installation position are spaced; the rotating piece 33 can roll back and forth along the track under the action of the transmission piece 31; when the rotating member 33 is located at the first position, the stopping portion 32 is located at the first position; when the rotating member 33 is located at the second position, the stopping portion 32 is located at the second position.

More specifically, the transmission member 31 rotates together with the output end of the drive mechanism 2. The rotating member 33 is preferably cylindrical, one end face of the rotating member 33 is a mounting face for mounting the transmission member 31, a straight line from the first mounting position to the second mounting position of the transmission member 31 is a first straight line, and a rotating shaft of the rotating member 33 is vertically arranged with the first straight line in space. The circumferential side of the rotating member 33 is engaged with the track.

In some embodiments, the track is eccentrically disposed on the stop 32.

In some embodiments, the stopper 32 is disposed in left-right symmetry along a center line in the vertical direction. And the vertical center line of the stopper 32 is collinear with the vertical center line of the driving mechanism 2. The distance between one end of the rail and the vertical center line of the stopper 32 is greater than the distance between the other end of the rail and the vertical center line of the stopper 32.

In some embodiments, the guiding mechanism 4 restricts the movement of the stop portion 32 in a first direction; the track sets up along the second direction, the second direction with the first direction be the contained angle setting.

It is noted that in a preferred embodiment, the length direction of the guide 41 is perpendicular to the length direction of the sliding slot 321, i.e. at an angle of 90 °. Of course, in other embodiments, the longitudinal direction of the guide 41 and the longitudinal direction of the sliding slot 321 may be at another angle, but the longitudinal direction of the guide 41 and the longitudinal direction of the sliding slot 321 may not be parallel. In general, as long as the rotating element 33 reciprocates in the sliding slot 321, the stopping element 32 can be driven to move along the guiding element 41.

In some embodiments, the track is a sliding slot 321, and the length of the sliding slot 321 is greater than the diameter of the rotating member 33; the rotating member 33 is rotatably inserted into the sliding groove 321, and can reciprocate along the length direction of the sliding groove 321.

The stopping portion 32 is provided with a sliding slot 321, a width of the sliding slot 321 may be equal to or slightly larger than a diameter of the rotating member 33, and a length of the sliding slot 321 is larger than the diameter of the rotating member 33. When the driving mechanism 2 is a driving motor, the driving motor rotates forward or backward and drives the transmission member 31 to rotate, and the rotating member 33 can reciprocate along the length direction of the sliding groove 321.

The upper end of the stopper 32 is an arc surface, and the arc surface has the same radian as the arc surface of the circumferential side surface of the shaft body 1. When the material 5 needs to be loaded and unloaded, the material coincides with the circumferential side surface of the shaft body 1, so that the moving range of the stop part 32 can be reduced, and the effect of reducing the influence on the axial loading and unloading of the cantilever shaft is realized. And the arc-shaped shape can enable the edge or sharp corner of the stop part 32 to be protruded out of the shaft body 1, so that the loading and unloading of the material 5 are reduced to the minimum.

In a specific implementation process, when the driving mechanism 2 rotates forward to drive the transmission member 31 to rotate, the rotating member 33 moves along the length direction of the sliding slot 321 until the rotating member 33 moves to the end of the sliding slot 321 in the length direction, and the rotating member 33 cannot move continuously, that is, the stopping portion 32 cannot move continuously, at this time, the stopping portion 32 is located in the installation cavity 11 completely, that is, the stopping portion 32 is located at the first position. When the driving mechanism 2 rotates reversely and drives the transmission member 31 to rotate, the rotating member 33 moves along the length direction of the sliding slot 321 until the rotating member 33 moves to the other end portion of the sliding slot 321 in the length direction, the rotating member 33 cannot move continuously, that is, the stopping portion 32 cannot move continuously, at this time, the upper end of the stopping portion 32 extends out of the installation cavity 11 and abuts against the material 5, that is, the stopping portion 32 is located at the second position.

In some embodiments, the guiding mechanism 4 comprises: one end of the guide 41 is fixedly arranged in the mounting cavity 11, and the other end of the guide 41 extends towards the opening 12; and a guide block 42, wherein the guide block 42 is fixedly installed with the stopper 32, and is sleeved on the guide 41, and the guide block 42 can move along the guide 41.

In a preferred embodiment, the guide blocks 42 are provided in one or more, preferably two, and two guide blocks 42 are arranged at intervals and can be fixedly arranged on the side of the stop portion 32 away from the transmission member 31 through a fastening member. The guide block 42 is provided with a through hole, and the extending direction of the through hole is the same as the length direction of the guide piece 41.

More preferably, the number of the guide members 41 is the same as the number of the guide blocks 42, and the guide members 41 are preferably guide shafts. One end of the guide 41 may be fixedly connected to the shaft body 1 through a fastening member, and the other end passes through a through hole of the guide block 42 and extends toward the opening 12. It is to be noted that the guide 41 is fixed from the beginning to the end when the stop mechanism 3 and the guide block 42 move.

In some embodiments, the guiding mechanism 4 further includes a limit connecting plate 43 fixedly mounted on the guiding element 41 to limit the stroke of the guiding block 42.

More preferably, the limit connecting plates 43 are located at the upper side of the guide blocks 42 and are respectively fixedly connected with the ends of the guide members 41 extending toward the opening 12. When the stopping portion 32 moves to the highest position toward the opening 12, the stopping portion 32 can abut against the limit connecting plate 43, that is, the limit connecting plate 43 can prevent the stopping portion 32 from falling off from the guide 41, so that the reciprocating motion of the stopping portion 32 along the guide 41 is more stable and effective.

Of course, in another embodiment, the number and connection manner of the guide members 41 and the guide blocks 42 are not limited to the above, for example, one guide block 42 is provided, two through holes are provided on the guide block 42 at intervals, and two guide members 41 are provided and extend toward the opening 12 through the through holes respectively. For example, instead of providing the guide block 42, a through hole may be provided directly in the stopper 32, and one end of the guide 41 may be provided to extend toward the opening 12 directly through the through hole in the stopper 32. In general, any means may be used as long as the stopper 32 can be moved along the guide 41.

In some embodiments, the cantilever shaft further comprises a driving mechanism fixing frame 6 and two sensors 7, the driving mechanism fixing frame 6 is fixedly arranged on the shaft body 1, and the driving mechanism 2 and the two sensors 7 are both fixedly arranged on the driving mechanism fixing frame 6; when the stopping part 32 is located at the first position, the transmission part 31 triggers one of the sensors 7, and when the stopping part 32 is located at the second position, the transmission part 31 triggers the other sensor 7.

In a preferred embodiment, two of said sensors 7 are arranged at intervals and correspond to said transmission members 31 in said first position and in said second position, respectively. Specifically, when the stopping portion 32 is located at the first position, the transmission member 31 triggers one of the sensors 7; when the stop portion 32 is located at the second position, the transmission member 31 triggers another sensor 7.

The type of the sensor 7 is not limited, and may be a position sensor, a magnetic sensor, or the like.

The stopper 32 has a stopper plane perpendicular to the circumferential side surface.

The shaft body 1 is provided with a first end face, and the first end face is an end face through which the material 5 passes when the cantilever shaft is assembled and disassembled. The stop plane is positioned on one side far away from the first end surface. The stop portion 32 can abut against the material 5 through the stop plane to prevent the material 5 from sliding down.

On the other hand, the utility model further provides a cantilever shaft type mobile robot, which comprises a mobile chassis and a cantilever shaft fixedly arranged on the mobile chassis, wherein the cantilever shaft is the cantilever shaft with the material stopping function in any embodiment of the first aspect.

To sum up, the driving mechanism 2 rotates forward to drive the transmission member 31 to rotate, the rotating member 33 moves to an end of the sliding slot 321 along the length direction of the sliding slot 321, the stopping portion 32 moves toward the installation cavity 11 along the guiding member 41, and when the stopping portion 32 is located in the installation cavity 11 as a whole, the stopping portion 32 is located at the first position. The driving mechanism 2 rotates reversely and drives the transmission member 31 to rotate, the rotating member 33 moves to the other end of the sliding slot 321 along the length direction of the sliding slot 321, the stopping portion 32 moves towards the outside of the opening 12 along the guiding member 41, and when the upper end of the stopping portion 32 extends out of the opening 12 and abuts against the material 5, the stopping portion 32 is located at the first position.

The cantilever shaft described in this embodiment is common to the technical features and technical effects in the embodiments of the first aspect, and the principle is the same, so that the details are not described herein.

The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not 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 cantilever shaft with material blocking function for carrying and blocking a material (5) carried on the cantilever shaft, comprising:

the shaft body (1), the said shaft body (1) has peripheral side;

a drive mechanism (2) fixedly arranged on the shaft body (1);

a stopper mechanism (3) movably mounted on the shaft body (1); the stop mechanism (3) comprises a transmission piece (31) and a stop part (32); the transmission piece (31) is in driving connection with the output end of the driving mechanism (2), and the other end of the transmission piece is movably connected with the stopping part (32);

a guide mechanism (4) attached to the shaft body (1); is matched with the stopping part (32) to restrain the moving direction of the stopping part (32);

the stopping part (32) can move between a first position and a second position relative to the shaft body (1) under the action of the transmission piece (31); when the stopping part (32) moves to the first position, the stopping part retracts to the circumferential side surface of the shaft body (1) and within the extension range of the circumferential side surface; when the stopping part (32) moves to the second position, the stopping part extends out of the circumferential side surface and the extending range of the shaft body (1) and is used for stopping the material (5) borne on the cantilever shaft.

2. The cantilevered shaft of claim 1,

the stopping part (32) is provided with a track, and the track comprises a first point position and a second point position;

the stopping mechanism (3) further comprises a rotating part (33), and the rotating part (33) is rotatably connected to a first mounting position of the transmission part (31); the output end of the driving mechanism (2) is connected to a second mounting position of the transmission piece (31), and the first mounting position and the second mounting position are spaced; the rotating piece (33) can roll back and forth along the track under the action of the transmission piece (31);

when the rotating part (33) is located at the first point position, the stopping part (32) is located at the first position; when the rotating part (33) is located at the second point, the stopping part (32) is located at the second position.

3. The cantilevered shaft of claim 2,

the track is eccentrically arranged on the stop part (32).

4. The cantilevered shaft of claim 3,

the guide mechanism (4) restrains the stop part (32) from moving along a first direction;

the track is arranged in a second direction,

the second direction and the first direction are arranged at an included angle.

5. The cantilever shaft of claim 2, 3 or 4,

the track is a sliding chute (321), and the length of the sliding chute (321) is greater than the diameter of the rotating part (33); the rotating piece (33) is rotatably inserted into the sliding groove (321) and can reciprocate along the length direction of the sliding groove (321).

6. The cantilevered shaft of claim 1,

an installation cavity (11) is formed in the shaft body (1), an opening (12) is formed in the shaft body (1), and the opening (12) is communicated with the installation cavity (11);

the driving mechanism (2) and the guide mechanism (4) are arranged in an installation cavity (11) of the shaft body (1); the stop part (32) can penetrate through the opening (12) to move.

7. Cantilever shaft according to claim 6, characterized in that the guiding mechanism (4) comprises:

one end of the guide piece (41) is fixedly arranged in the mounting cavity (11), and the other end of the guide piece (41) extends towards the opening (12);

and the guide block (42) and the stop part (32) are fixedly arranged and sleeved on the guide piece (41), and the guide block (42) can move along the guide piece (41).

8. Cantilever shaft according to claim 7, characterized in that the guiding mechanism (4) further comprises a limit stop web (43) fixedly mounted on the guide (41) to limit the travel of the guide block (42).

9. The cantilever shaft according to claim 1, wherein the cantilever shaft further comprises a driving mechanism fixing frame (6) and two sensors (7), the driving mechanism fixing frame (6) is fixedly arranged on the shaft body (1), and the driving mechanism (2) and the two sensors (7) are both fixedly arranged on the driving mechanism fixing frame (6); when the stopping part (32) is located at the first position, the transmission part (31) triggers one sensor (7), and when the stopping part (32) is located at the second position, the transmission part (31) triggers the other sensor (7).

10. Cantilever shaft according to claim 1, characterized in that the stop portion (32) has a stop plane perpendicular to the circumferential side.

11. A cantilever shaft type mobile robot, comprising a mobile chassis and a cantilever shaft fixedly arranged on the mobile chassis, wherein the cantilever shaft is the cantilever shaft with a material stopping function as claimed in any one of claims 1 to 10.