CN220392218U - Transmission line and robot - Google Patents

Abstract

The embodiment of the application provides a transmission line and robot, the transmission line includes: the device comprises a base, a goods input section, a first accumulation conveying section, a second accumulation conveying section and a limit baffle, wherein the first accumulation conveying section comprises two first side plates and a first power transmission piece, the first accumulation area of the first accumulation conveying section comprises guide plates which are respectively and movably connected with the two first side plates, and the distance between the two guide plates is gradually reduced; the first centering component of the second accumulation area comprises a first frame, a first driving mechanism and two first clamping plates, wherein the first frame is arranged on the base and spans across the second accumulation area, and the first driving mechanism is used for driving the two first clamping plates to move oppositely or reversely; the limit baffle is arranged at the tail end of the second accumulation zone and can be positioned above the first power transmission piece or below the first power transmission piece; the goods input section is lapped on the power bearing part of the second accumulation conveying section through the lap joint part so as to adapt to the dynamic adjustment between the goods input section and the second accumulation section.

Description

Transmission line and robot

Technical Field

The application relates to the technical field of cargo transportation, in particular to a transmission line and a robot.

Background

In the fields of storage and logistics, goods are stacked in a carriage by adopting a conveying device in a mechanical and automatic mode, so that the goods are becoming a research hot spot at home and abroad. The conveyor is in various forms but has stacking means (e.g., robotic arms and grippers, three-coordinate robots, and stacking platforms) and a cargo transfer line. The goods transmission line obtains goods from conveyor rear end, carries to the stacking device, and the stacking device stacks the goods in the carriage again. The conveying efficiency of the conveying device depends on the action speed of the stacking device, and on the one hand, depends on the speed of the goods conveying line for conveying the goods to the stacking device. The existing cargo transmission line for the conveying device is simple in structure, few in accumulation section, and disordered and unordered in cargo of the accumulation section, so that the cargo in a cargo taking area is difficult to position and grasp by the mechanical arm grippers, and further the condition that the idle state of the mechanical arm grippers waits for the cargo is caused to occur frequently, and the transportation efficiency is affected.

Disclosure of Invention

An aim of the embodiment of the application is to provide a transmission line and robot, solves the unordered disorder of goods of accumulation section for reach the goods in getting the goods district be difficult to by arm tongs location and snatch, and then lead to often appearing the condition that arm tongs idle state waited for goods, influence the problem of conveying efficiency. The specific technical scheme is as follows:

An embodiment of a first aspect of the present application provides a transmission line for conveying goods, including a base, a first accumulation conveying section, a limit baffle. The first accumulation conveying section comprises two first side plates which are arranged on the base at intervals along the direction perpendicular to the cargo conveying direction and a first power transmission piece which is arranged between the first side plates, the first accumulation conveying section comprises a first accumulation area and a second accumulation area which are arranged along the cargo conveying direction, the first accumulation area comprises guide plates which are respectively and movably connected with the two first side plates, and the distance between the two guide plates is gradually reduced along the cargo conveying direction; the second accumulation area comprises a first centering component, the first centering component comprises a first frame, a first driving mechanism and two first clamping plates, the first frame is arranged on the base and spans the second accumulation area, the first driving mechanism is arranged on the first frame, the two first clamping plates are respectively positioned on the inner side of the first side plate, and the first driving mechanism is used for driving the two first clamping plates to move in opposite directions or in opposite directions; the limiting baffle is arranged at the tail end of the second accumulation area along the cargo transportation direction, is movably connected to the base and can be positioned above the first power transmission piece or below the first power transmission piece.

In addition, the transmission line according to the embodiment of the first aspect of the present application may further have the following technical features:

in some embodiments, the first frame includes two edges the first portal that the goods transportation direction set gradually, two the first portal passes through two at top along the first crossbeam that the perpendicular to goods transportation direction interval set up is connected, first actuating mechanism includes first motor and locates respectively two first pivot and second pivot on the first crossbeam and cover are located first annular conveyor belt between first pivot and the second pivot, the main shaft of first motor with first pivot is connected, two first clamping plate connect respectively in the upper band and the lower band of first annular conveyor belt, the upper band with the lower band is located respectively the both sides of first pivot and second pivot junction surface, first motor passes through the drive first annular conveyor belt rotates and then drives two first clamping plate looks or opposite movement.

In some embodiments, the first accumulation conveying section further includes a photoelectric sensor and a controller electrically connected with the photoelectric sensor, and a driving piece for driving the limit baffle to move up and down is further arranged on the base, and the driving piece is electrically connected with the controller.

In some embodiments, the side wall of the guide plate, which is close to the goods, is provided with rolling elements which are arranged in parallel along the goods transportation direction.

In some embodiments, along the cargo transportation direction, the transmission line further includes a cargo input section and a second accumulation conveyor section, the cargo input section is located above the second accumulation conveyor section, the cargo input section is connected with the second accumulation conveyor section through a lap joint, and the second accumulation conveyor section is connected with the first accumulation conveyor section.

In some embodiments, the second accumulation conveyor section includes two second side plates disposed on the base at intervals perpendicular to the direction of cargo conveyance, the second accumulation conveyor section having a third accumulation zone including a power-carrying portion disposed between the second side plates and a fourth accumulation zone including a second power transmission member disposed between the second side plates; the lap joint part comprises a first unpowered roller and connecting side plates respectively arranged at two ends of the first unpowered roller, one end of each connecting side plate is connected with the goods input section, and the other end of each connecting side plate is connected with the third accumulation area, so that the bottommost end of the lap joint part is lapped on the power bearing part by the first unpowered roller.

In some embodiments, a protruding portion is disposed on a side of the connecting side plate away from the transmission surface, the protruding portions are disposed perpendicular to the cargo transportation direction, a second unpowered roller is disposed between the protruding portions, and the second unpowered roller is in rolling lap joint with the power bearing portion.

In some embodiments, the distance between the two second side plates of the second accumulation conveyor section is greater than the distance between the two first side plates of the first accumulation conveyor section; the distance between the two second side plates of the second accumulation conveyor section is greater than the width of the conveying surface of the cargo input section.

In some embodiments, the second accumulation conveyor section includes a second centering component, where the second centering component is disposed above the second accumulation conveyor section, and the second centering component includes a second frame disposed on the base and spanning the fourth accumulation area, a second driving mechanism disposed on the second frame, and two second holding clamping plates respectively disposed on inner sides of the second side plates, where the second driving mechanism is used to drive the two second holding clamping plates to move in opposite directions or in opposite directions.

In some embodiments, the second frame includes two second door frames sequentially arranged along the cargo transportation direction, the two second door frames are connected with a third beam positioned in the middle of the two second beams through two second beams at intervals arranged at the top along the direction perpendicular to the cargo transportation direction, and the second driving mechanism includes two second motors respectively arranged on the two second beams, and a third rotating shaft and a fourth rotating shaft respectively arranged on the two second beams; the third beam is also provided with a fifth rotating shaft and a sixth rotating shaft, the second driving mechanism further comprises a second annular conveying belt and a third annular conveying belt, the second annular conveying belt is sleeved between the third rotating shaft and the fifth rotating shaft, and the third annular conveying belt is sleeved between the fourth rotating shaft and the sixth rotating shaft; the main shafts of the two second motors are respectively connected with the third rotating shaft and the fourth rotating shaft, the two second holding clamping plates are respectively connected to the second annular conveyor belt and the third annular conveyor belt, and the two second motors drive the second annular conveyor belt and the third annular conveyor belt to rotate so as to drive the two second holding clamping plates to move oppositely or reversely.

In some embodiments, the transmission line further includes a separation section, wherein a loading end of the separation section is disposed at a loading end of the second accumulation zone, the separation section includes two third side plates disposed at intervals along a direction perpendicular to the cargo transporting direction, and a third power transmission member connected between the third side plates, and a transmission speed of the third power transmission member is greater than a transmission speed of the first power transmission member.

Embodiments of the second aspect of the present application provide a robot comprising a transmission line as described above.

In this embodiment, when getting in the transmission line and the goods is abundant in the goods district, when need not transport goods forward from first accumulation delivery segment, limit baffle is located first power transmission spare top, limit baffle intercepts the goods at first accumulation delivery segment, realize stopping the accumulation to the goods, the goods is stopped in first accumulation delivery segment promptly, avoid too much goods to get the goods district on the transmission line and lead to getting goods district in goods district and pile up, and then lead to the disordered problem of goods, therefore the transmission line that this embodiment provided can make getting goods district in goods district more neat for the arm tongs can be accurate fix a position and snatch the goods on getting goods district, make the conveying efficiency of transmission line improve greatly. In addition, when the goods are not available in the goods taking area or the goods remain less, the limit baffle can be located below the first power transmission piece, so that the goods timely enter the goods taking area from the first accumulation conveying section, the time for waiting for the goods is reduced by the aid of the external mechanical arm gripper, and the conveying efficiency of the goods is improved. In this embodiment, the first accumulation conveyor section is divided into the first accumulation area and the second accumulation area, and the distance between the two guide plates of the first accumulation area becomes smaller gradually, so that the passage for passing the cargo formed between the two guide plates becomes narrower, and therefore the two guide plates can play a guiding role on the cargo in the first accumulation area, so that the cargo on the transmission line can be more orderly. When goods are transmitted to the second accumulation area from the first accumulation area, the first driving mechanism drives the two first holding clamping plates to move in opposite directions, and the two first holding clamping plates push the goods to be close to the middle from two sides in the opposite directions, so that the two first holding clamping plates in the second accumulation area can further center and arrange the goods, deflection blocking caused by touching the first side plates in the transportation process can be avoided, and the goods cannot be orderly arranged.

Of course, not all of the above-described advantages need be achieved simultaneously in practicing any one of the products or methods of the present application.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will briefly introduce the drawings that are required to be used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other embodiments may also be obtained according to these drawings to those skilled in the art.

Fig. 1 is an isometric view of a transmission line provided in an embodiment of the present application;

FIG. 2 is an isometric view of a transmission line and conveyor assembly provided in accordance with an embodiment of the present application;

FIG. 3 is an enlarged view of a first centering assembly provided in an embodiment of the present application;

FIG. 4 is an enlarged view of an adjusting screw provided in an embodiment of the present application;

FIG. 5 is an enlarged view of a second centering assembly provided in an embodiment of the present application;

FIG. 6 is a schematic view of a partition of a second accumulation conveyor section provided in an embodiment of the present application;

FIG. 7 is an enlarged view of a projection provided in an embodiment of the present application;

fig. 8 to fig. 10 are transmission schematic diagrams of a transmission line according to an embodiment of the present application.

Reference numerals:

A base 10; a first accumulation conveyor section 20; a first accumulation zone 201; a second accumulation zone 202; a first side plate 21; an adjusting screw 211; a connecting column 212; a first power transmission member 22; a guide plate 23; a rolling member 231; a first centering assembly 24; a first frame 241; a first gantry 2411; a first cross member 2412; a first rotation shaft 2413; a second rotation shaft 2414; a guide bar 2415; a first motor 2421; a first endless conveyor 2422; an upper belt 2423; a lower belt 2424; a first clamping plate 243; a moving plate 2431; a connecting rod 2432; a first clamping plate 2433; a limit baffle 30; a cargo input section 40; a second accumulation conveyor section 50; a third accumulation zone 501; a power bearing 5010; a fourth accumulation zone 502; a second power transmission member 5020; a second side plate 51; a second centering assembly 52; a second frame 521; a second door frame 5210; a second cross member 5211; a third cross member 5212; a second motor 5221; a third rotation shaft 5222; a fourth rotation shaft 5223; a fifth rotation shaft 5224; a sixth rotating shaft 5225; a second endless conveyor 5226; a third endless conveyor 5227; a second clamping plate 523; a lap portion 60; a first unpowered roller 61; a connecting side plate 62; a projection 601; a separation section 70; a third side plate 71; a third power transmission member 72; a cargo 80; a pick-up area 81; a conveying device 82; the cargo transportation direction X.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. Based on the embodiments herein, a person of ordinary skill in the art would be able to obtain all other embodiments based on the disclosure herein, which are within the scope of the disclosure herein.

Embodiments of the first aspect of the present application provide a transmission line for transporting cargo 80, as shown in fig. 1 and 2, the transmission line including a base 10, a first accumulation conveyor section 20, and a limit stop 30. The first accumulation conveyor section 20 is arranged at the upper part of the first base 10, the first accumulation conveyor section 20 comprises two first side plates 21 which are arranged on the base 10 at intervals along the direction perpendicular to the cargo conveying direction X and a first power transmission piece 22 which is arranged between the first side plates 21, the first accumulation conveyor section 20 comprises a first accumulation area 201 and a second accumulation area 202 which are arranged along the cargo conveying direction X, the first accumulation area 201 comprises guide plates 23 which are respectively movably connected with the two first side plates 21, and the distance between the two guide plates 23 is gradually reduced along the cargo conveying direction X; the second accumulation area 202 includes a first centering assembly 24, as shown in fig. 1 and 3, the first centering assembly 24 includes a first frame 241 disposed on the base 10 and crossing the second accumulation area 202, a first driving mechanism disposed on the first frame 241, and two first clamping plates 243 respectively located inside the first side plate 21, where the first driving mechanism is used to drive the two first clamping plates 243 to move in opposite directions or opposite directions; the limit stop 30 is disposed at the end of the second accumulation area 202 along the cargo transportation direction X, and the limit stop 30 is movably connected to the base 10 and can be located above the first power transmission member 22 or below the first power transmission member 22.

In this embodiment, as shown in fig. 1 and fig. 2, when the goods 80 in the goods taking area 81 in the transmission line are sufficient, when the goods 80 do not need to be transported forward from the first accumulation conveying section 20, when the limit baffle 30 is located above the first power transmission piece 22, the limit baffle 30 intercepts the goods 80 in the first accumulation conveying section 20, accumulation of the goods 80 is achieved, that is, the goods 80 stays in the first accumulation conveying section 20, excessive goods 80 are prevented from entering the goods taking area 81 on the transmission line, the goods 80 in the goods taking area 81 are accumulated, and further, the disordered problem of the goods 80 is caused, therefore, the transmission line provided by the embodiment of the application can enable the goods 80 in the goods taking area 81 to be more orderly, and the mechanical arm grippers can accurately position and grasp the goods 80 on the goods taking area 81, so that the conveying efficiency of the transmission line is greatly improved. In addition, when the goods 80 do not exist in the goods taking area 81 or the goods 80 remain less, the limit baffle 30 can be located below the first power transmission part 22, so that the goods 80 can timely enter the goods taking area 81 from the first accumulation conveying section 20, the time for waiting for the goods 80 is reduced by the aid of the external mechanical arm gripper, and conveying efficiency of the goods 80 is improved. In the present embodiment, the first accumulation conveyor section 20 is divided into the first accumulation section 201 and the second accumulation section 202, and the distance between the two guide plates 23 of the first accumulation section 201 becomes smaller gradually, so that the passage formed between the two guide plates 23 for the passage of the cargo 80 becomes narrower, and therefore the two guide plates 23 can guide the cargo 80 of the first accumulation section 201, so that the cargo 80 on the transmission line can be more orderly. When the goods 80 are transferred from the first accumulation area 201 to the second accumulation area 202, the first driving mechanism drives the two first holding clamp plates 243 to move in opposite directions, and the two first holding clamp plates 243 push the goods 80 to approach each other from two sides to the middle in the opposite directions, so that the two first holding clamp plates 243 of the second accumulation area 202 can further center and arrange the goods 80, deflection jamming caused by the goods 80 touching the first side plate 21 in the transportation process can be avoided, and the goods 80 cannot be orderly arranged.

Wherein the first side plate 21 can prevent the goods 80 from sliding off from both sides of the first power transmission member 22 during the transmission, and can also support the guide plate 23.

Specifically, the first power transmission member 22 may be a power roller, and the friction between the power roller and the cargo 80 is small, so as to reduce damage of the transmission line to the cargo 80. The first power transmission member 22 may also be a conveyor belt, which has a high friction with the cargo 80 and provides a greater forward transport power to the cargo 80.

In some embodiments of the present application, as shown in fig. 1 and 3, the first frame 241 includes two first gantries 2411 sequentially disposed along a cargo transportation direction X, the two first gantries 2411 are connected through two first crossbeams 2412 disposed at intervals along a direction perpendicular to the cargo transportation direction X on top, the first driving mechanism includes a first motor 2421, a first rotating shaft 2413 and a second rotating shaft 2414 disposed on the two first crossbeams 2412 respectively, and a first endless conveyor belt 2422 sleeved between the first rotating shaft 2413 and the second rotating shaft 2414, a main shaft of the first motor 2421 is connected with the first rotating shaft 2413, the two first holding clamp plates 243 are respectively connected to an upper belt 2423 and a lower belt 2424 of the first endless conveyor belt 2422, the upper belt 2423 and the lower belt 2424 are respectively located at two sides of a connecting surface of the first rotating shaft 2413 and the second rotating shaft 2414, and the first motor 2421 drives the two first holding clamp plates to move in opposite directions or vice versa by driving the first endless conveyor belt 2422.

In this embodiment, as shown in fig. 1 and 3, when the spindle of the first motor 2421 rotates to drive the first rotating shaft 2413 to rotate and further drive the first endless belt 2422 to rotate, the upper belt 2423 and the lower belt 2424 of the first endless belt 2422 move in opposite directions, so that the upper belt 2423 and the lower belt 2424 of the first endless belt 2422 can drive the first clamping plate 243 to move in opposite directions. When the first motor 2421 drives the first endless conveyor 2422 to move in the counterclockwise direction as viewed in the direction opposite to the cargo transportation direction X, the two first clamp plates 243 move in the opposite direction; when the first motor 2421 drives the first endless conveyor 2422 to move in the clockwise direction, the two first clamping plates 243 move in opposite directions. The two first cross beams 2412 and the two first portal frames 2411 together play a role in supporting the first driving mechanism, the distance between the first rotating shaft 2413 and the second rotating shaft 2414 on the two first cross beams 2412 is the farthest distance that the two first clamping plates 243 can generate when moving oppositely, and the distance between the two first cross beams 2412 can be determined according to the actual working condition requirement.

Specifically, as shown in fig. 3, two guide rods 2415 connected to two first cross beams 2412 are further disposed on two sides of the first endless conveyor belt 2422 along the cargo transportation direction X, and the first clamping plate 243 includes a moving plate 2431 sleeved on the two guide rods 2415, where the moving plate 2431 is connected to the first clamping plate 2433 through a connecting rod 2432.

In some embodiments of the present application, as shown in fig. 1 and 4, an adjusting screw 211 is disposed on the first side plate 21, one end of the adjusting screw 211 is in threaded connection with the first side plate 21, and the other end of the adjusting screw 211 is abutted or fixedly connected with the guide plate 23.

In this embodiment, through the one end of rotating adjusting screw 211 for adjusting screw 211's the other end can promote deflector 23 removal, and then realizes that the distance between two deflector 23 can be adjusted according to actual operating mode such as quantity of goods 80.

Specifically, as shown in fig. 1 and fig. 4, the upper wall of the first side plate 21 may be provided with a connecting column 212, a threaded hole is provided on the connecting column 212, the adjusting screw 211 is connected with the threaded hole in a matching manner, and the movement of the guide plates 23 is adjusted by adjusting the movement of the adjusting screw 211 in the through hole, so as to adjust the distance between the two guide plates 23.

More specifically, along the cargo transportation direction X, the upper wall of the first side plate 21 may be provided with two connecting posts 212, and the number of corresponding adjusting screws 211 is also two. The length of the adjusting screw 211 extending into the conveying space of the goods 80 in the transporting direction of the goods 80 becomes large, so that the distance between the two guide plates 23 can be made small. Of course, the number of the adjusting screws 211 may be plural.

In some embodiments of the present application, the first accumulation conveyor section 20 further includes a photoelectric sensor (not shown) and a controller (not shown) electrically connected to the photoelectric sensor, and a driving member (not shown) for driving the limit stop 30 to move up and down is further disposed on the base 10, and the driving member is electrically connected to the controller.

In this embodiment of the application, photoelectric sensor is used for detecting the quantity of leaving the goods 80 that first accumulation transport section 20 left, and the controller is located first power transmission piece 22 top or below according to photoelectric sensor's testing result control limit baffle 30, and photoelectric sensor counts goods 80 and can use manpower sparingly, and can carry out accurate count to goods 80, and photoelectric sensor cooperation controller work makes the transmission line that this embodiment of the application provided more intelligent, more automatic.

Specifically, the driving member may be an air cylinder, an electric cylinder, a hydraulic cylinder, or the like.

The side plates on the cargo input section 40 may also be provided with photoelectric sensors for judging whether the cargo 80 enters or not and counting the cargo 80. A photoelectric sensor may also be provided on the first side plate 21 of the first accumulation conveyor section and used in conjunction with a first drive mechanism, for example, to drive the first clamp plate 243 in a direction opposite when the photoelectric sensor detects that a load 80 enters the first accumulation conveyor section 20. Photoelectric sensors may be disposed at the delivery end and the incoming end of the first accumulation conveyor section 20, for detecting whether the cargo 80 on the first accumulation conveyor section is full, and when no cargo 80 is detected on the first accumulation conveyor section 20, the cargo 80 in the cargo input section 40 is allowed to continue to be transported toward the first accumulation conveyor section 20 in time, and when the cargo 80 on the first accumulation conveyor section is detected to be full, the cargo 80 conveyor section may be allowed to stop transporting the cargo 80.

In some embodiments of the present application, as shown in fig. 2 and 4, the side wall of the guide plate 23 adjacent to the cargo 80 is provided with rolling members 231 arranged side by side along the transport direction of the cargo 80.

In this embodiment of the application, compare in the lateral wall that directly set up deflector 23 to the plane, set up rolling member 231 on deflector 23 can make goods 80 change sliding friction into rolling friction when contacting with the lateral wall, and then make the frictional force between deflector 23 and the goods 80 reduce greatly, guarantee even there is deflector 23 to carry out the direction to goods 80, goods 80 also can not influence the normal transport of goods 80 because of frictional force is too big.

Specifically, the rolling member 231 may be a roller whose axis is perpendicular to the extending direction of the side wall, or may be balls arrayed on the side wall.

Similarly, rolling members 231 arranged in parallel along the transporting direction of the cargo 80 may be disposed on the side wall of the first clamping plate 243 near the cargo 80, so as to reduce the probability that the cargo 80 cannot be transported normally due to the large friction between the cargo 80 and the first clamping plate 243.

In some embodiments of the present application, as shown in fig. 1, 2 and 5, the transmission line further includes a cargo input section 40 and a second accumulation conveyor section 50 along the transport direction of the cargo 80, the cargo input section 40 is located above the second accumulation conveyor section 50, the cargo input section 40 is connected to the second accumulation conveyor section 50 through the overlap 60, and the second accumulation conveyor section 50 is connected to the first accumulation conveyor section 20.

In practice, the receiving end of the loading section 40 will generally abut the delivery end of the conveyor 82 to receive the load 80. However, because the parking position and angle of the truck connected to the infeed end of the conveyor 82 are not determined, the infeed angle may be skewed when the outfeed end of the load input section 40 is connected to the second accumulation conveyor section 50. And during transportation, the height difference between the cargo input section 40 and the second accumulation conveyor section 50 is not a fixed value due to the constant change in truck bed load, and may continuously change.

In the transmission line provided by the embodiment of the application, the cargo input section 40 is connected with the second accumulation conveying section 50 through the lap joint part 60, and the lap joint part 60 can conduct angle adjustment according to the height change of the cargo input section 40, so that the cargo 80 of the cargo input section 40 can be smoothly transported to the second accumulation conveying section 50, and the adaptability of the transmission line is stronger. The cargo input section 40 is arranged above the second accumulation conveying section 50, the cargo 80 can be transited from the cargo input section 40 to the second accumulation conveying section 50 through the lap joint part 60 only by self gravity without using external power, and energy can be saved, so that the transmission line is more environment-friendly. The second accumulation conveyor 50 can further lengthen the portion of the conveyor that accumulates the goods 80 so that more goods 80 can be prepared on the conveyor. Specifically, the connection between the second accumulation conveyor section 50 and the first accumulation conveyor section 20 may also be provided with a limit stop 30.

In some embodiments of the present application, as shown in fig. 1, 5, 6 and 7, the second accumulation conveyor section 50 includes two second side plates 51 provided on the base 10 at intervals perpendicular to the cargo conveyance direction X, the second accumulation conveyor section 50 has a third accumulation region 501 and a fourth accumulation region 502, the third accumulation region 501 includes a power bearing portion 5010 provided between the second side plates 51, and the fourth accumulation region 502 includes a second power transmission member 5020 provided between the second side plates 51; the overlap portion 60 includes a first unpowered roller 61 and connection side plates 62 provided at both ends of the first unpowered roller 61, respectively, one end of the connection side plate 62 is connected to the cargo input section 40, and the other end is connected to the third accumulation section 501, so that the bottommost first unpowered roller 61 in the overlap portion 60 overlaps the power bearing portion 5010.

In this embodiment, as shown in fig. 1, 5, 6 and 7, the power bearing portion 5010 of the third accumulation zone 501 may enable the overlap portion 60 to overlap the second accumulation conveyor section 50 more stably, so that the process of conveying the cargo 80 from the cargo input section 40 to the second accumulation conveyor section 50 is smoother. Specifically, the overlap portion 60 overlaps the upper surface of the power bearing portion 5010.

Specifically, the power bearing portion 5010 may be a power transmission belt, compared to a roller, the power bearing portion 5010 is a power transmission belt, and can prevent the cargo 80 from being jammed or toppled due to the insertion of the roller gap when the cargo input section 40 enters the second accumulation conveying section 50, thereby improving the running stability of the cargo 80 on the conveying line.

Specifically, the power bearing portion 5010 may be in the form of an adjustable telescopic belt conveyor or an adjustable belt line, and the transmission line provided in the embodiment of the present application further includes a three-dimensional ranging sensor (not shown), where the three-dimensional ranging sensor may be disposed at the goods inlet end of the second accumulation conveyor section 50, for detecting a distance between the goods inlet end of the second accumulation conveyor section 50 and the goods outlet end of the goods input section 40. When the distance is larger, the telescopic length of the telescopic belt conveyor or the angle of the belt line can be adjusted, so that the cargo 80 is prevented from being input failure due to the fact that the cargo input section 40 and the second accumulation conveying section 50 are separated due to larger front-rear distance or height difference.

The overlap 60 overlapping the power bearing 5010 can dynamically compensate for small differences in distance and height between the cargo input section 40 and the second accumulation conveyor section 50. Especially when the vibration of the bottom surface of the vehicle cabin causes the power bearing portion 5010 of the second accumulation conveyor section 50 to vibrate randomly, the overlap portion 60 can well adapt to the change of the power bearing portion 5010 of the second accumulation conveyor section 50, so that the cargo 80 smoothly enters the second accumulation conveyor section 50.

In some embodiments of the present application, a protruding portion 601 is disposed on a side of the connecting side plate 62 facing away from the transmission surface, two protruding portions 601 are disposed along a direction perpendicular to the cargo transportation direction, a second unpowered roller (not shown) is disposed between the protruding portions 601, and the second unpowered roller is in rolling lap joint with the power bearing portion 5010.

In this embodiment, under the self gravity of the overlap joint portion 60, the second unpowered roller rolls and overlaps on the power bearing portion 5010, so that the influence of the power bearing portion 5010 on the first unpowered roller 61 during movement can be greatly reduced, and further, cargoes can smoothly slide down from the overlap joint portion 60 to the third accumulation area 501, in addition, the second unpowered roller is arranged to overlap on the power bearing portion 5010, and the connection side plate 62 can also be prevented from directly overlapping on the upper surface of the power bearing portion 5010 due to abrasion of the power bearing portion 5010.

In some embodiments of the present application, the distance between the two second side plates 51 of the second accumulation conveyor section 50 is greater than the distance between the two first side plates 21 of the first accumulation conveyor section 20; the distance between the two second side plates 51 of the second accumulation conveyor section 50 is greater than the width of the conveying surface of the cargo input section 40.

In this embodiment, the distance between the two second side plates 51 of the second accumulating and conveying section 50 is greater than the width of the conveying surface of the cargo input section 40, so as to accommodate the lateral misalignment between the cargo input section 40 and the second accumulating and conveying section 50 caused by the lateral position and the angle change of the conveying device 82 connected to the cargo input end of the cargo input section 40, so that the cargo 80 can smoothly enter the second accumulating and conveying section 50 from the cargo input section 40.

In some embodiments of the present application, as shown in fig. 1 and 5, the second accumulation conveyor section 50 includes a second centering assembly 52, where the second centering assembly 52 is disposed above the second accumulation conveyor section 50, and the second centering assembly 52 includes a second frame 521 disposed on the base 10 and spanning the fourth accumulation area 502, and a second driving mechanism disposed on the second frame 521, and two second holding clamping plates 523 respectively disposed inside the second side plate 51, where the second driving mechanism is used to drive the two second holding clamping plates 523 to move in opposite directions or in opposite directions.

In this embodiment of the present application, the second centering component 52 can carry out preliminary centering arrangement to the goods 80 of the goods input section 40, and the top space of the transportation line is great, so locating the second centering component 52 above the second accumulation conveying section 50 can make the installation and the dismantlement of the second centering component 52 more convenient, and then improves the whole line assembly efficiency of transmission line. The second frame 521 serves as a support and connection in the second centering assembly 52. When the goods 80 are conveyed to the second accumulation conveying section 50, the second driving mechanism drives the two second holding clamp plates 523 to move in opposite directions, so that the two second holding clamp plates 523 push the goods 80 towards the center line of the transmission line, further centering and sorting of the goods 80 are achieved, and the goods 80 can be tidily conveyed to the first accumulation conveying section.

In some embodiments of the present application, as shown in fig. 1 and 5, the second frame 521 includes two second door frames 5210 sequentially disposed along the cargo transportation direction X, the two second door frames 5210 are connected by two top second beams 5211 disposed at intervals along a direction perpendicular to the cargo transportation direction X and a third beam 5212 disposed between the two second beams 5211, and the second driving mechanism includes two second motors 5221 disposed on the two second beams 5211 respectively and third and fourth rotating shafts 5222 and 5223 disposed on the two second beams 5211 respectively; the third beam 5212 is further provided with a fifth rotating shaft 5224 and a sixth rotating shaft 5225, the second driving mechanism further comprises a second annular conveying belt 5226 and a third annular conveying belt 5227, the second annular conveying belt 5226 is sleeved between the third rotating shaft 5222 and the fifth rotating shaft 5224, and the third annular conveying belt 5227 is sleeved between the fourth rotating shaft 5223 and the sixth rotating shaft 5225; the main shafts of the two second motors 5221 are respectively connected with the third rotating shaft 5222 and the fourth rotating shaft 5223, the two second holding clamp plates 523 are respectively connected to the second annular conveyor 5226 and the third annular conveyor 5227, and the two second motors 5221 drive the two second holding clamp plates 523 to move oppositely or reversely by driving the second annular conveyor 5226 and the third annular conveyor 5227 to rotate.

In this embodiment, as shown in fig. 1, 2 and 5, the third beam 5212 is disposed between the two second beams 5211, so that the distance between the third beam 5212 and the second beams 5211 on two sides is equal, so as to ensure that the working distances of the two second holding clamping plates 523 are equal, and further ensure that the cargo 80 can be aligned on the first accumulation conveying section 20 in the middle in the opposite movement process of the two second holding clamping plates 523. The spindles of the two second motors 5221 respectively drive the third rotating shaft 5222 and the fourth rotating shaft 5223 to rotate, so that the second annular conveyor 5226 and the third annular conveyor 5227 are driven to rotate, the goods 80 can be centered and tidied when the two second clamping plates 523 move in opposite directions, and the distance between the two second clamping plates 523 moving in opposite directions or in opposite directions can be adjusted according to the quantity of the goods 80.

In some embodiments of the present application, as shown in fig. 1 and 3, the transmission line further includes a separation section 70, where a loading end of the separation section 70 is disposed at a loading end of the second accumulation area 202, and the separation section 70 includes two third side plates 71 disposed at intervals perpendicular to the cargo transporting direction and a third power transmission member 72 connected between the third side plates 71, and a transmission speed of the third power transmission member 72 is greater than that of the first power transmission member 22.

In this embodiment, there is no gap between the cargoes 80 stacked in the first accumulation conveyor section 20, when the cargoes 80 enter the separation section 70 from the second accumulation area 202, the speed of the third power transmission member 72 of the separation section 70 is greater than the transmission speed of the first power transmission member 22 of the first accumulation conveyor section 20, and the cargoes 80 can be separated by the speed difference formed by the separation section 70 and the first accumulation conveyor section 20, so that two adjacent cargoes 80 can have a gap, and the photoelectric sensor can count the cargoes 80 conveniently.

In particular, the third power transmission member 72 may be a belt, and the first power transmission member 22 may be a power roller, and the friction between the belt and the cargo 80 is greater than that of the power roller, so that the cargo 80 is more easily separated; or conversely the third power transmission member 72 may be a power roller and the first power transmission member 22 may be a belt.

Specifically, the first clamping plate 243 of the second accumulation section 202 may extend to the separation section 70 so that the cargo 80 does not deflect in direction when it is quickly moved from the first accumulation conveyor section into the separation section 70, thereby ensuring that the cargo 80 is neatly conveyed to the pickup section 81.

The specific steps of the transmission line in the embodiment of the present application are as follows, as shown in fig. 8, 9 and 10:

S1: the first power transmission member 22 drives the goods 80 to be transported on the first accumulation conveyor section 20, and the goods 80 sequentially pass through the first accumulation region 201 and the second accumulation region 202; as the goods 80 pass through the first accumulation zone 201, the distance between the two guide plates 23 is gradually reduced in the goods transporting direction X, and the goods 80 are transported along the guide of the guide plates 23; the first drive mechanism drives the two first clamp plates 243 in opposite directions as the cargo 80 passes through the second accumulation region 202.

S2: when the goods taking area 81 of the transmission line does not need to enter the goods 80, the limit baffle 30 is positioned above the first power transmission piece 22 to accumulate the goods 80; when the pick zone 81 of the transfer line is empty or empty of the cargo 80, the limit stop 30 is positioned below the first power transfer 22 so that the cargo 80 can continue to be transported forward from the first accumulation conveyor section 20.

According to the application embodiment of the application method of the transmission line, when the goods 80 in the goods taking area 81 in the transmission line are sufficient, and the goods 80 do not need to be transported forwards from the first accumulation conveying section 20, when the limit baffle 30 is located above the first power transmission piece 22, the goods 80 are intercepted by the limit baffle 30 on the first accumulation conveying section 20, accumulation of the goods 80 is achieved, namely the goods 80 stay in the first accumulation conveying section 20, the goods 80 in the goods taking area 81 on the transmission line are prevented from being accumulated due to the fact that too many goods 80 enter the goods taking area 81 on the transmission line, and further the goods 80 are messy and disordered, therefore the transmission line provided by the application embodiment can enable the goods 80 in the goods taking area 81 to be tidier, and the mechanical arm grippers can accurately position and grasp the goods 80 on the goods taking area 81, so that the conveying efficiency of the transmission line is greatly improved. In addition, when the goods 80 do not exist in the goods taking area 81 or the goods 80 remain less, the limit baffle 30 can be located below the first power transmission part 22, so that the goods 80 can timely enter the goods taking area 81 from the first accumulation conveying section 20, the time for waiting for the goods 80 is reduced by the aid of the external mechanical arm gripper, and conveying efficiency of the goods 80 is improved. In the present embodiment, the first accumulation conveyor section 20 is divided into the first accumulation section 201 and the second accumulation section 202, and the distance between the two guide plates 23 of the first accumulation section 201 becomes smaller gradually, so that the passage formed between the two guide plates 23 for the passage of the cargo 80 becomes narrower, and therefore the two guide plates 23 can guide the cargo 80 of the first accumulation section 201, so that the cargo 80 on the transmission line can be more orderly. When the goods 80 are transferred from the first accumulation area 201 to the second accumulation area 202, the first driving mechanism drives the two first holding clamp plates 243 to move in opposite directions, and the two first holding clamp plates 243 push the goods 80 to approach each other from two sides to the middle in the opposite directions, so that the two first holding clamp plates 243 of the second accumulation area 202 can further center and arrange the goods 80, deflection jamming caused by the goods 80 touching the first side plate 21 in the transportation process can be avoided, and the goods 80 cannot be orderly arranged.

Embodiments of the second aspect of the present application provide a robot comprising a transmission line as described above.

In this embodiment, when getting goods 80 in the goods area 81 in the transmission line is abundant, do not need to transport goods 80 forward from first accumulation delivery segment 20, when limit baffle 30 is located first power transmission piece 22 top, limit baffle 30 intercepts goods 80 at first accumulation delivery segment 20, realize the accumulation to goods 80, namely goods 80 stay in first accumulation delivery segment 20, avoid too much goods 80 to get goods area 81 on getting on the transmission line and lead to getting goods 80 to pile up in the goods area 81, and then lead to goods 80 unordered problem, therefore the transmission line that this application embodiment provided can make getting goods 80 more orderly in the goods area 81, make the arm tongs can be accurate to get goods 80 on the goods area 81 and fix a position and snatch, and then make the work efficiency of robot improve greatly. In addition, when the goods 80 do not exist in the goods taking area 81 or the goods 80 remain less, the limit baffle 30 can be located below the first power transmission piece 22, so that the goods 80 can timely enter the goods taking area 81 from the first accumulation conveying section 20, the time for waiting for the goods 80 is reduced by the mechanical arm gripper, and the working efficiency of the robot is further improved. In the present embodiment, the first accumulation conveyor section 20 is divided into the first accumulation section 201 and the second accumulation section 202, and the distance between the two guide plates 23 of the first accumulation section 201 becomes smaller gradually, so that the passage formed between the two guide plates 23 for the passage of the cargo 80 becomes narrower, and therefore the two guide plates 23 can guide the cargo 80 of the first accumulation section 201, so that the cargo 80 on the transmission line can be more orderly. When the goods 80 are transferred from the first accumulation area 201 to the second accumulation area 202, the first driving mechanism drives the two first holding clamp plates 243 to move in opposite directions, and the two first holding clamp plates 243 push the goods 80 to approach from two sides to the middle in the opposite directions, so that the two first holding clamp plates 243 of the second accumulation area 202 can further center and arrange the goods 80, so that the goods 80 reaching the goods taking area 81 can be more orderly, and the external mechanical arm grippers can be convenient to position and grasp the goods 80 better.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

The foregoing is merely a preferred embodiment of the present application, and is not intended to limit the scope of the present application. Any modifications, equivalent substitutions, improvements, etc. that are within the spirit and principles of the present application are intended to be included within the scope of the present application.

Claims (12)

1. A transmission line for transporting goods (80), comprising:

A base (10);

a first accumulation conveying section (20) arranged at the upper part of the base (10), wherein the first accumulation conveying section (20) comprises two first side plates (21) arranged on the base (10) at intervals along the direction perpendicular to the cargo transportation direction and a first power transmission piece (22) arranged between the first side plates (21), the first accumulation conveying section (20) comprises a first accumulation area (201) and a second accumulation area (202) arranged along the cargo transportation direction, the first accumulation area (201) comprises guide plates (23) respectively movably connected with the two first side plates (21), and the distance between the two guide plates (23) is gradually reduced along the cargo transportation direction;

the second accumulation area (202) comprises a first centering assembly (24), the first centering assembly (24) comprises a first frame (241) arranged on the base (10) and crossing the second accumulation area (202), a first driving mechanism arranged on the first frame (241) and two first holding clamping plates (243) respectively positioned on the inner side of the first side plate (21), and the first driving mechanism is used for driving the two first holding clamping plates (243) to move in opposite directions or opposite directions;

the limiting baffle (30), limiting baffle (30) are located along the goods transportation direction the end in second accumulation district (202), limiting baffle (30) swing joint in on base (10), and can be located first power transmission spare (22) top or be located first power transmission spare (22) below.

2. The transmission line according to claim 1, wherein the first frame (241) includes two first portal frames (2411) that set gradually along the cargo transportation direction, two first portal frames (2411) are connected through two first crossbeams (2412) that set up along perpendicular to the cargo transportation direction interval on top, the first actuating mechanism includes first motor (2421) and locates respectively two first pivot (2413) and second pivot (2414) on first crossbeam (2412) and cover locates first annular conveyor belt (2422) between first pivot (2413) and second pivot (2414), the main shaft of first motor (2421) with first pivot (2413) is connected, two first clamp plates (243) are connected respectively in upper band (2423) and lower band (2424) of first annular conveyor belt (2422), upper band (2423) and lower band (2424) are located respectively first pivot (2413) and second pivot (2414) are connected respectively in order to drive two opposite directions first pivot (2422) through first pivot (2413).

3. The transmission line according to claim 1, characterized in that the first accumulation conveyor section (20) further comprises a photoelectric sensor and a controller electrically connected with the photoelectric sensor, and the base (10) is further provided with a driving member for driving the limit stop (30) to move up and down, and the driving member is electrically connected with the controller.

4. Transmission line according to claim 1, characterized in that the side walls of the guide plates (23) adjacent to the goods (80) are provided with rolling elements (231) arranged side by side in the direction of transport of the goods.

5. The transmission line according to claim 1, characterized in that the transmission line further comprises a cargo input section (40) and a second accumulation conveyor section (50) in the cargo transport direction, the cargo input section (40) being located above the second accumulation conveyor section (50), the cargo input section (40) being connected to the second accumulation conveyor section (50) by a lap joint (60), the second accumulation conveyor section (50) being connected to the first accumulation conveyor section (20).

6. The transmission line according to claim 5, characterized in that the second accumulation conveyor section (50) comprises two second side plates (51) arranged on the base (10) at intervals perpendicular to the direction of cargo transport, the second accumulation conveyor section (50) having a third accumulation zone (501) and a fourth accumulation zone (502), the third accumulation zone (501) comprising a power carrying portion (5010) arranged between the second side plates (51), the fourth accumulation zone (502) comprising a second power transmission member (5020) erected between the second side plates (51);

The lap joint part (60) comprises a first unpowered roller (61) and connecting side plates (62) respectively arranged at two ends of the first unpowered roller (61), one end of each connecting side plate (62) is connected with the goods input section (40), and the other end of each connecting side plate is connected with the third accumulation area (501), so that the first unpowered roller (61) at the bottommost end of the lap joint part (60) is lapped on the power bearing part (5010).

7. The transmission line according to claim 6, characterized in that the side of the connecting side plate (62) facing away from the transmission surface is provided with a bulge (601), two bulge (601) are arranged along a direction perpendicular to the cargo transportation direction, a second unpowered roller is arranged between the bulge (601), and the second unpowered roller is in rolling lap joint with the power bearing part (5010).

8. The transmission line according to claim 6, characterized in that the distance between the two second side plates (51) of the second accumulation conveyor section (50) is greater than the distance between the two first side plates (21) of the first accumulation conveyor section (20); the distance between the two second side plates (51) of the second accumulation conveyor section (50) is greater than the width of the conveyor surface of the goods input section (40).

9. The transmission line according to claim 6, characterized in that the second accumulation conveyor section (50) comprises a second centering assembly (52), the second centering assembly (52) being arranged above the second accumulation conveyor section (50), the second centering assembly (52) comprising a second frame (521) arranged on the base (10) and crossing the fourth accumulation zone (502), and a second driving mechanism arranged on the second frame (521) and two second holding clamp plates (523) respectively arranged inside the second side plates (51), the second driving mechanism being used for driving the two second holding clamp plates (523) to move towards or away from each other.

10. The transmission line according to claim 9, wherein the second frame (521) includes two second door frames (5210) sequentially arranged along the cargo transportation direction, the two second door frames (5210) are connected by two top second beams (5211) arranged at intervals along a direction perpendicular to the cargo transportation direction and a third beam (5212) located in the middle of the two second beams (5211), and the second driving mechanism includes two second motors (5221) respectively arranged on the two second beams (5211) and third and fourth rotating shafts (5222, 5223) respectively arranged on the two second beams (5211);

a fifth rotating shaft (5224) and a sixth rotating shaft (5225) are further arranged on the third cross beam (5212), the second driving mechanism further comprises a second annular conveying belt (5226) and a third annular conveying belt (5227), the second annular conveying belt (5226) is sleeved between the third rotating shaft (5222) and the fifth rotating shaft (5224), and the third annular conveying belt (5227) is sleeved between the fourth rotating shaft (5223) and the sixth rotating shaft (5225);

the main shafts of the second motors (5221) are respectively connected with the third rotating shaft (5222) and the fourth rotating shaft (5223), the second holding clamp plates (523) are respectively connected to the second annular conveying belt (5226) and the third annular conveying belt (5227), and the second motors (5221) drive the second annular conveying belt (5226) and the third annular conveying belt (5227) to rotate so as to drive the second holding clamp plates (523) to move in opposite directions or in opposite directions.

11. The transmission line according to any one of claims 1-10, characterized in that the transmission line further comprises a separation section (70), the infeed end of the separation section (70) being arranged at the outfeed end of the second accumulation zone (202), the separation section (70) comprising two third side plates (71) arranged at intervals perpendicular to the direction of transport of the goods and a third power transmission member (72) connected between the third side plates (71), the transmission speed of the third power transmission member (72) being greater than the transmission speed of the first power transmission member (22).

12. A robot comprising a transmission line according to any one of claims 1-11.