CN113859837A

CN113859837A - Vertical surface carrying device and automatic multi-task access system

Info

Publication number: CN113859837A
Application number: CN202111218155.9A
Authority: CN
Inventors: 白晶斐; 门正兴; 岳太文; 唐越; 郝崟栋; 王杰
Original assignee: Chengdu Aeronautic Polytechnic
Current assignee: Chengdu Aeronautic Polytechnic
Priority date: 2021-10-20
Filing date: 2021-10-20
Publication date: 2021-12-31
Anticipated expiration: 2041-10-20
Also published as: CN113859837B

Abstract

The invention discloses a vertical surface carrying device and an automatic multi-task access system, comprising a goods shelf, an access point and a plurality of vertical surface carrying devices; the goods shelf and the access point are both provided with a plurality of goods storage frames, and grid tracks are distributed on the goods storage frame body; the vertical surface carrying device moves transversely or vertically on the goods shelf and the grid tracks of the goods storage frames of the access points so as to realize the storage, movement or taking out of the goods. The vertical carrying device can move transversely and vertically on the surface of the stock frame to carry goods stored and taken to the goods shelf for placement, and when the goods need to be taken out, the vertical carrying device directly takes the goods box with the goods from the goods shelf and carries the goods to the access point, and when the goods need to be taken out, the goods need to wait at the goods taking point; the invention can fully utilize the height space of the stock site to increase the stock quantity of the automatic multi-task access system, correspondingly can also reduce the area of the stock site and reduce the cost of the site.

Description

Vertical surface carrying device and automatic multi-task access system

Technical Field

The invention belongs to the technical field of article storage devices, and particularly relates to a vertical surface carrying device and an automatic multi-task access system.

Background

At present, small articles belonging to an individual are usually stored manually or by self (for example, scenes of warehousing, storage, taking out and delivery of individual packages, temporary storage of individual articles in public places and the like by express stations), a lot of time is spent in the storage process to search the articles belonging to the individual, workers rush back and forth between article placement places and cross-connection points, and when an access point faces a large number of objects needing to be stored, the access point is often disordered; or the operation is convenient when considering people to deposit, to many required article storage space arrangements, the direction is extended to the length width direction mostly, and the space of direction of height is wasted mostly.

Disclosure of Invention

The invention aims to provide a vertical surface carrying device and an automatic multi-task access system aiming at the defects in the prior art, and aims to solve the problems that the existing small articles belonging to individuals are large in access amount, workers are difficult to move back and forth and find the articles belonging to the individuals, and the storage space of the articles needs to be expanded when the large-batch small articles belonging to the individuals are stored, but the space in height cannot be effectively utilized, so that the space waste is caused, the expansion in long-distance space is needed, and the higher site cost is spent.

In order to achieve the purpose, the invention adopts the technical scheme that:

a vertical surface carrying device and an automatic multi-task access system comprise a goods shelf, an access point and a plurality of vertical surface carrying devices; the goods shelf and the access point are both provided with a plurality of stock frames, and the stock frame bodies are distributed with grid tracks; the vertical surface carrying device moves transversely or vertically on the goods shelf and the grid tracks of the goods storage frames of the access points so as to realize the storage, the movement or the taking out of the goods.

The vertical surface carrying device can move transversely and vertically on the surface of the stock frame to carry goods placed on the storage rack, and when the goods need to be taken out, the vertical surface carrying device directly takes the goods box with the goods out of the storage rack and carries the goods to the access point, and when the goods need to be taken out, the goods need to wait at the goods taking point.

Furthermore, the vertical surface carrying device comprises a frame, four groups of clamping crawling wheels arranged on one side of the frame close to the grid track, a reversing mechanism for switching the tracks clamped by the clamping crawling wheels, a cargo carrying mechanism arranged in the frame and a reversing stabilizing mechanism for stabilizing the reversing of the vertical surface carrying device; and each vertical surface carrying device is provided with an independent movement mechanism which does not interfere with each other during movement, so that automatic multi-task operation is realized.

Furthermore, the frame is of a hexahedral structure, and a space for accommodating carried articles is arranged in the hexahedral structure; each group of clamping crawling wheels corresponds to the staggered part of one grid track; the grid tracks are distributed on the goods shelf and the access point, and the tracks at the intersection are disconnected and used for switching the clamping tracks when the vertical face carrying device is reversed.

Four groups of clamping crawling wheels rotate simultaneously when being clamped on the track to move, and move transversely and vertically, and the four groups of clamping reversing wheels can change the clamped track when reversing is needed, so that the moving direction is changed.

Furthermore, the clamping crawling wheels comprise two wheels clamped in crawling grooves on two sides of the track, and rotating shafts of the two wheels are respectively sleeved on two opposite tail ends of the connecting rod; the middle part of the connecting rod is rotatably arranged on the central shaft and can rotate along the central shaft; one end of the rotating shaft, which is far away from the wheel, is sleeved with a driven fluted disc for transmitting power; the central shaft is sleeved with a first transmission fluted disc and a second transmission fluted disc, and the first transmission fluted disc and the second transmission fluted disc are oppositely arranged at two ends of the central shaft; two sides of the second transmission fluted disc are connected with bevel gears, and the two bevel gears are meshed with a reversing bevel gear vertical to the same axis; the first transmission fluted disc is connected with a driven gear, and the driven gear is meshed with a driving gear connected with a mobile motor.

Furthermore, the clamping crawling wheel also comprises a clamping auxiliary spring; one end of the clamping auxiliary spring is hinged with the rotating shaft, and the other end of the clamping auxiliary spring is hinged on the supporting column; the support column is arranged on the crossed track section of the vertical tracks opposite to the connected rotating shaft.

Furthermore, one reversing mechanism is used for controlling the clamping track directions of the two groups of clamping crawling wheels which are oppositely arranged left and right; the reversing mechanism comprises two reversing pieces which are oppositely arranged and provided with reversing grooves, and one rotating shaft of each of the two groups of clamping crawling wheels is inserted into the reversing groove on each reversing piece; the reversing groove is arranged in an inclined shape.

Furthermore, the commutator segment comprises two moving parts which are oppositely arranged and overlapped up and down; the moving part is provided with a reverse moving groove; the side wall of the reverse moving groove is provided with a reverse rack, and the reverse racks of the upper reverse moving groove and the lower reverse moving groove are oppositely arranged; the two reverse racks are respectively meshed and connected with two sides of the reversing gear, and the reversing gear rotates to drive the two reversing pieces to move along opposite directions; a stopper is provided around the moving part.

Furthermore, the cargo carrying mechanism comprises two conveyor belts which rotate synchronously and are arranged at two sides in the frame and a cargo carrying box which is placed on the conveyor belts; a magnetic attraction structure is fixed on the conveyor belt, the magnetic attraction mechanism is in a strip shape, and the tail part of the magnetic attraction mechanism is fixedly connected with the surface of the conveyor belt; the conveying belts are toothed belts, the conveying belts on the two sides are connected through a conveying shaft, and the two conveying belts are driven to move through a conveying motor;

the magnetic attraction structure is an electromagnet which comprises an iron core and a conductive coil wound on the iron core; when the magnetic pole of the electromagnet after being electrified is opposite to the permanent magnet pole of the cargo carrying box, the electromagnet can generate adsorption force on the cargo carrying box; when the cargo box body is pushed out, the power supplies in the opposite directions are switched on, and the same stage repels each other to push the cargo box away.

Furthermore, the cargo carrying box is a rectangular box body with an opening at the upper end, the opening is provided with an outward protruding edge, the protruding edges at two sides can be placed on the conveying belts at two sides of the connecting frame, the cargo carrying box driven by the conveying belts moves, one side, close to or far away from the track, of the cargo carrying box is provided with a permanent magnet corresponding to the magnetic attraction structure, and the magnetic pole directions of one side, far away from the cargo carrying box, of the permanent magnet are uniform.

Furthermore, the reversing stabilizing mechanisms are arranged on two side surfaces of the frame, are inserted into a crawling goods shelf during reversing and are clamped on a placing frame of the goods carrying box to increase connecting points of the vertical surface carrying device and the goods shelf;

the reversing stabilizing mechanism comprises a stabilizing plate; the stabilizing plate drives the stabilizing rack on the stabilizing plate to move through the rotation of the stabilizing gear; the connecting shaft of the stabilizing gear is connected with the supporting shaft of the conveying belt on the cargo carrying mechanism; the connecting shaft is provided with a soft connecting key which is in interference contact with the stabilizing gear, and the soft connecting key passes over the gear after being extruded and deformed after the movement stroke of the reversing stabilizing mechanism is finished;

the front end of the reversing stabilizing plate is provided with a slot matched with the carrying box placing frame, and the front end of the groove body is an inclined chamfer angle for alignment when the stabilizing plate is connected with the placing frame; two limiting grooves are further formed in the reversing stabilizing plate, and two limiting pins are arranged in the limiting grooves and used for limiting horizontal relative movement of the reversing stabilizing plate.

The vertical surface carrying device and the automatic multi-task access system provided by the invention have the following beneficial effects:

the vertical carrying device can move transversely and vertically on the surface of the stock frame to carry goods placed on the storage rack, and when the goods need to be taken out, the vertical carrying device directly takes the goods box with the goods out of the storage rack and carries the goods to the access point, and when the goods need to be taken out, the goods need to wait at the goods taking point. The facade carrying devices move on the goods shelves and the access points through the clamping crawling wheels, each facade carrying device has independent power, a plurality of facade carrying devices can simultaneously run on one goods shelf to carry out independent tasks, and the storage speed of goods is improved.

The invention reduces the height direction of the goods shelf after manually storing goods without considering the link of human participation, can fully utilize the height space of the stock site to increase the stock quantity of the automatic multi-task storage and retrieval system, correspondingly can also reduce the area of the stock site and reduce the cost of the site.

Drawings

FIG. 1 is a schematic view of a facade carrier and an automated multi-tasking system.

FIG. 2 is a general schematic view of the elevation carrier and the automated multi-tasking system from another perspective.

FIG. 3 is a schematic diagram of a track structure of the vertical carrier and the automatic multi-task access system.

FIG. 4 is a schematic view of the entire elevation carrier and the automated multi-tasking system.

Fig. 5 is another view of fig. 4.

Fig. 6 is another view of fig. 4.

FIG. 7 is a schematic view of the lateral movement of the elevation carrier and the automated multi-tasking system.

Fig. 8 is a schematic view of the vertical crawling state of the vertical carrier and the automatic multi-task access system.

FIG. 9 is a schematic view of the connection between the reversing mechanism and the clamping crawling wheel of the vertical carrier and the automatic multi-task accessing system.

Fig. 10 is a layout structure diagram of clamping crawl wheels of the vertical carrier and the automatic multi-task access system.

FIG. 11 is a schematic view of the same direction arrangement of the gripping and crawling wheels of the elevation carrying device and the automatic multi-task accessing system.

FIG. 12 is a schematic view of the arrangement of the gripping and crawling wheels of the elevation carrier and the automated multi-task accessing system in the same direction.

FIG. 13 is a schematic view of a single set of gripping crawler wheels of the elevation vehicle and automated multi-tasking access system.

FIG. 14 is a schematic view of the clamp-clamp guard spring of the elevation carriage and automated multiple access system.

Fig. 15 is an exploded view of the gripping crawler of the elevation carrier and the automated multi-tasking access system.

FIG. 16 is a schematic view of the reversing mechanism and the clamping assist spring of the elevation carriage and the automated multi-tasking system.

Fig. 17 is a schematic view of the entire reversing mechanism of the vertical carrier and the automatic multi-task access system.

FIG. 18 is a schematic view of the reversing mechanism of the elevation carriage and the automated multi-tasking system.

Fig. 19 is another view of fig. 18.

FIG. 20 is a general schematic view of the load carrying mechanism of the upright vehicle and automated multiple access system.

FIG. 21 is a schematic view of the reversing assist mechanism of the elevation carriage and the automated multi-tasking access system.

Fig. 22 is a schematic view of the vertical carrier and the cargo box of the automated multi-tasking system.

FIG. 23 is a schematic view of the connection between the conveyor belt and the magnetic attraction structure of the vertical carrier and the automatic multi-task accessing system.

FIG. 24 is a schematic view of a magnetic attraction structure of the vertical carrier and the automatic multi-task accessing system.

Wherein, 1, a vertical surface carrying device; 11. a frame; 12. clamping the crawling wheel; 121. a wheel; 122. a connecting rod; 1211. a rotating shaft; 123. a central shaft; 1212. a driven fluted disc; 124. a first transmission fluted disc; 125. a second transmission fluted disc; 1241. a driven gear; 1242. a driving gear; 1243. a moving motor; 125. a reversing bevel gear; 126. a clamping assist spring; 1261. a support pillar; 13. a reversing mechanism; 131. a commutator segment; 1311. a reversing slot; 132. a moving part; 1321. a reverse movement groove; 1322. a reverse rack; 133. a reversing gear; 14. a cargo carrying mechanism; 141. a conveyor belt; 142. a transfer shaft; 143. a transfer motor; 144. a magnetic attraction structure; 15. a cargo carrying box; 151. a permanent magnet; 16. a reversing stabilizing mechanism; 161. a stabilizing plate; 162. a stabilizing gear; 163. a soft connecting key; 164. stabilizing the rack; 2. an access point; 3. a shelf; 31. a back plate; 4. a grid track; 5. placing a rack; 6. a sensor.

Detailed Description

The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.

According to an embodiment of the present application, referring to fig. 1-24, the elevation carrier 1 and the automatic multi-task access system of the present solution comprise a rack 3, an access point 2 and a plurality of elevation carriers 1; the goods shelf 3 and the access point 2 are both provided with a plurality of stock frames, and the frame bodies of the stock frames are distributed with grid tracks 4; the facade carriers 1 are moved laterally or vertically on the racks 3 and the grid tracks 4 of the storage frames of the access points 2 for the storage, movement or removal of goods.

A shelf 3;

the goods shelf 3 is provided with a plurality of goods storage frames which are square frames, the edges of the frames are distributed with tracks, and the vertical surface carrying device 1 can correspond to each goods storage frame when moving on the goods storage frames to take goods or store goods.

The two sides in the storage frame are provided with placing frames 5 for loading containers 15, the opening bulge parts of the loading containers 15 can move and be placed on the placing frames 5, and the surface height of the placing frames 5 is flush with the surface of the conveyor belt 141 in the aligning process. The side of the goods shelf 3 opposite to the rail is provided with a back plate 31 for plugging the stock frame, and meanwhile, the permanent magnet 151 on the goods carrying frame can be adsorbed on the back plate 31 to prevent the goods carrying frame from falling.

An access point 2;

the rail end structure of the access point 2 is the same as that of the goods shelf 3, the vertical carrying device can be directly moved to the access point 2 from the goods shelf 3 to carry out the goods handing over, the other side of the access point 2 is not provided with a back plate 31, and a worker can place the carrying box 15 with goods in the storage frame of the access point 2, take the carrying box away from the vertical carrying device 1 for storage, or take the carrying box 15 with the vertical carrying device 1 placed in the carrying box out taking.

The access point 2 inventory frames are preferably arranged in three rows, which ensure that the access point 2 of the first and third rows can be simultaneously operated by the facade carrier 1, since the individual facade carrier 1 reversing mechanism 13 is out of the range of the inventory frames.

A facade carrier 1;

the positioning of the facade carrier 1 at the access point 2 is completed by adopting the sensor 6, the sensor 6 is arranged on the central shaft 123 of the clamping crawling wheel 12, and the cross-shaped intersection point of the storage frames of the goods shelf 3 can be identified by adopting the image sensor 6; alternatively, a sensor device is embedded at each intersection, and the sensor 6 on the central shaft 123 recognizes the sensor device and reads the mark information.

Specifically, the facade carrier 1 will be described in detail below;

the vertical surface carrying device 1 comprises a frame 11, four groups of clamping crawling wheels 12 arranged on one side of the frame 11 close to the grid track 4, a reversing mechanism 13 used for switching tracks clamped by the clamping crawling wheels 12, a loading mechanism 14 arranged in the frame 11 and a reversing stabilizing mechanism 16 used for stabilizing reversing of the vertical surface carrying device 1.

The facade carrying device 1 can move vertically and horizontally on the vertically arranged grid track 4, the criss-cross joints of the grid track 4 are provided with cross-shaped breaks, and the two side faces of a single track are provided with crawling grooves.

Referring to fig. 1-3, the grid tracks 4 are distributed around the shelves 3 and the access points 2, and the tracks at the intersections are broken, so that the direction of the vertical surface carrying device 1 can be switched by switching the clamped tracks when reversing.

A connecting frame 11;

the whole hexahedral structure of the connecting frame 11 is internally provided with a space for accommodating articles, four groups of clamping crawling wheels 12 are arranged on one side of the connecting frame 11 close to the grid tracks 4, and the staggered positions of the clamping crawling wheels 12 and one grid track 4 correspond to each other.

Referring to fig. 4-8, four sets of clamping crawl wheels 12 are clamped on the track and rotate simultaneously during moving, and when the transverse and vertical movement needs reversing, the four sets of clamping reverse wheels can change the clamped track, so that the moving direction is changed.

Clamping the crawling wheel 12;

the clamping crawling wheel 12 comprises two wheels 121 clamped in crawling grooves on two sides of the track, and rotating shafts 1211 of the two wheels 121 are respectively sleeved on two opposite tail ends of the connecting rod 122; the middle part of the connecting rod 122 is rotatably arranged on the central shaft 123 and can rotate along the central shaft 123; one end of the rotating shaft 1211, which is far away from the wheel 121, is sleeved with a driven fluted disc 1212 for transmitting power; the central shaft 123 is sleeved with a first transmission fluted disc 124 and a second transmission fluted disc 125, and the first transmission fluted disc 124 and the second transmission fluted disc 125 are oppositely arranged at two ends of the central shaft 123; both sides of the second transmission fluted disc 125 are connected with bevel gears, and the two bevel gears are meshed with a reversing bevel gear 125 which is vertical to the same axis; the first transmission gear plate 124 is connected to a driven gear 1241, and the driven gear 1241 is engaged with a driving gear 1242 connected to a moving motor 1243.

Specifically, a set of clamping crawl wheels 12 includes that two wheels 121 clamp in the crawl groove of track both sides, and the opposite two sets of clamping crawl wheels 12 that set up press from both sides the track opposite direction, and the pivot 1211 of two wheels 121 overlaps respectively and establishes the end at a connecting rod 122, and wheel 121 keeps away from the space of frame 11 when arranging, and the connecting rod 122 middle part is passed and is established and can be followed center pin 123 and rotate on center pin 123, and the pot head that the pivot 1211 kept away from wheel 121 is equipped with a driven fluted disc 1212 and transmits power for the transmission of wheel 121.

Referring to fig. 10, four sets of clamping crawl wheels 12 are arranged in a manner of left, right, up and down, respectively, relative to the mirror image, so that the clamping manner can ensure that the vertical surface crawling device does not fall off when reversing and moving across the intersection of the rails.

Referring to fig. 10, if the clamping directions of the wheels 121 at the left end and the right end are the same, the whole device can directly fall down without the wheels 121 hanging on the rail when passing through the rail break.

Referring to fig. 12, the vertical crawling over the broken part may also fall down due to the fact that the vertical rail cannot be clamped, and the clamping crawling wheels 12 which are opposite from each other in the left-right direction and the up-down direction always have wheels 121 to clamp the rail regardless of the horizontal movement or the vertical crawling. Meanwhile, in order to prevent the clamping crawling wheel 12 from interfering with the storage space inside the frame 11, the clamping crawling wheel 12 can only be arranged as shown in fig. 10, and the connecting rod 122 is rotated to switch the transverse or longitudinal rail. In addition, the connecting rod 122 can rotate to facilitate the clamping of the wheel 121, so as to facilitate the movement of the clamping crawling wheel 12.

Two sets of oppositely arranged transmission fluted discs are further sleeved on the central shaft 123, two sides of the transmission fluted discs close to each other are connected with a coaxial bevel gear, the two bevel gears are meshed with a reversing bevel gear 125 vertical to the same axis, the first transmission fluted disc 124 is further connected with a driven gear 1241, and the driven gear 1241 is meshed with a driving gear 1242 connected with a moving motor 1243.

When the moving motor 1243 drives the driving gear 1242 to rotate, the driven gear 1241 drives the first driving gear 124 to rotate, the bevel gear of the first driving gear 124 drives the second driving gear 125 to rotate reversely through the reversing bevel gear 125, and finally the two wheels 121 of the set of clamping climbing wheels 12 rotate reversely, the wheels 121 are clamped in the climbing grooves on the two sides of the rail respectively, and the wheels 121 can rotate along the rail direction when rotating.

As shown in fig. 13 and 15, the first transmission gear disk 124 and the second transmission gear disk 125 are respectively connected to and driven by a chain with respect to the driven gear disk 1212 of the two wheels 121 of the set of clamping crawling wheels 12, the transmission gear disks drive the driven gear disk 1212 and the wheels 121 to rotate when connected, the two transmission gear disks are both sleeved on the central shaft 123 and rotate along the central shaft 123, meanwhile, the two transmission gear disks are both connected to bevel gears near the two transmission gear disks, and the two bevel gears are engaged with the reversing bevel gears 125 perpendicular to the axis, so as to change the shape and direction of the two transmission gear disks, thereby changing the rotation direction of the two wheels 121 of the set of clamping crawling wheels 12, because the two clamping crawling wheels 12 are clamped on two sides of a track and are different from the contact side of the track, and at this time, it is necessary to move in one direction that the two wheels 121 rotate in the opposite direction. Two wheels 121 clamp in the track both sides, rotate the back and to the track application of force simultaneously can also increase the track and facade carrier 1's contact point, let facade carrier 1's motion more stable.

The clamping crawling wheel 12 further comprises a clamping auxiliary spring 126, the clamping crawling wheel 12 is pulled towards the clamped track direction by the clamping auxiliary spring 126, an auxiliary clamping force is provided for crawling of the clamping crawling wheel 12, one end of the clamping auxiliary spring 126 is hinged to a rotating shaft 1211 of the clamping crawling wheel 12, the other end of the clamping auxiliary spring 126 is hinged to a supporting column 1261, the supporting column 1261 is arranged in a vertical track cross track section opposite to the connected rotating shaft 1211, the pulling direction of the clamping auxiliary spring 126 can be changed after the clamping auxiliary spring 126 crosses a track cross point, and the clamping crawling wheel 12 can still be tensioned after reversing as shown in fig. 9, fig. 14 and fig. 16. The clamping assist spring 126 pulls the wheel 121 towards the rail, increasing the friction between the wheel 121 and the clamping surface of the rail when it rotates, so that the weight of the facade carrier 1 and the load carried thereby can be overcome when the facade carrier 1 climbs on the vertical rail.

A reversing mechanism 13;

the reversing mechanism 13 is used for controlling the clamping track of the clamping crawling wheel 12, and can control the clamping crawling wheel 12 to switch the clamped track, so as to change the moving direction of the vertical surface carrying device 1, one reversing mechanism 13 controls two groups of clamping crawling wheels 12, the reversing mechanism 13 comprises two reversing sheets 131 which are oppositely provided with reversing grooves 1311, one rotating shaft 1211 of one group of clamping crawling wheels 12 is inserted into the reversing sheet 131 in the reversing groove 1311, after the reversing sheet 131 moves, the connecting rod 122 of the clamping crawling wheel 12 can be pushed to rotate along the central shaft 123, so that the clamped track is changed, and the reversing groove 1311 is obliquely arranged, so that the clamping crawling wheel 12 can be pushed or pulled more easily when the clamping track is changed.

Referring to fig. 16-19, since the clamping crawl wheel 12 is rotated by the connecting rod 122 during reversing, the moving tracks of the wheel 121 and the rotating shaft 1211 are arc-shaped, so that the circular reversing groove 1311 is used to change the clamping track of the clamping crawl wheel 12, and the rotating shaft 1211 can slide on the reversing groove 1311 relatively, so that the clamping crawl wheel 12 can be reversed by the movement of the reversing sheet 131. In order to ensure the stability during reversing, the two groups of clamping crawling wheels 12 at the upper end or the lower end can be reversed firstly during reversing, and then the two groups of clamping crawling wheels 12 at the lower end or the upper end are reversed.

Referring to fig. 16, the clamping auxiliary spring 126 is engaged with the reversing groove 1311, and the reversing groove 1311 can push the wheel 121 toward the rail, but cannot push the wheel 121 toward the rail, otherwise a large friction force is generated, and the wheel 121 is prevented from rotating, and for this case, the present invention widens the width of the reversing groove 1311 to be larger than the diameter of the rotation shaft 1211, so that the reversing piece 131 does not push the wheel 121 completely against the rail when moving, but pulls the auxiliary clamping wheel toward the rail by the clamping auxiliary spring 126 through the allowance of the width of the reversing groove 1311.

The commutator segment 131 comprises a moving part 132, the two oppositely arranged moving parts 132 are overlapped up and down, a reverse moving groove 1321 is further formed in the moving part 132, a reverse rack 1322 is arranged on one side wall of the reverse moving groove 1321, the reverse racks 1322 of the upper reverse moving groove 1321 and the lower reverse moving groove 1321 are oppositely arranged, a commutator gear 133 penetrates between the two reverse racks 1322, and the commutator gear 133 drives the two commutator segments 131 to move in opposite directions when rotating.

A reversing motor is used to control the rotation of the reversing gear 133, and a limiting member is disposed around the moving portion 132 of the two segments 131 to ensure the stable movement of the segments 131. That is, the racks of the upper and lower moving grooves are respectively engaged with two sides of the reversing gear 133, so that the two moving portions 132 can move in opposite directions when the gear rotates, and the direction of the clamping track of the two sets of clamping crawl wheels 12 can be controlled by using one reversing mechanism 13 in combination with the arrangement mode of the two sets of clamping crawl wheels 12 oppositely arranged left and right. In addition, the reversing carrying mechanism can avoid abnormal rotation of the clamping crawling wheel 12.

A cargo carrying mechanism 14;

the cargo carrying mechanism 14 is disposed inside the connecting frame 11, and specifically includes two conveyor belts 141 disposed on two sides of the cavity of the connecting frame 11, the two conveyor belts 141 rotate synchronously, a magnetic attraction structure 144 is further fixed on the conveyor belts 141, the magnetic attraction structure is in a strip shape, and the tail portion of the magnetic attraction structure is fixedly connected with the surfaces of the conveyor belts 141. The conveyor belts 141 can be toothed belts, and the conveyor belts 141 on both sides can be connected in the axial direction through the conveyor shaft 142, so that the synchronism of the conveyor belts 141 on both ends is ensured, and at the moment, one conveyor motor 143 can drive the two conveyor belts 141 to move.

Referring to fig. 20 and 21, the two belts rotate to drive the magnetic structure 144 thereon to move simultaneously, the magnetic structure 144 protrudes forward from the range of the belts during the forward pushing process to be combined with the cargo box 15, and then the conveyor belt 141 rotates back to drag the cargo box 15 onto the conveyor belt 141 to move together with the conveyor belt 141.

Referring to fig. 23 and 24, the magnetic attraction structure 144 can change magnetic poles by changing the direction of the power supply, the magnetic attraction structure 144 is specifically an electromagnet, a conductive coil is wound on an iron core, when the magnetic poles after being electrified are opposite to the magnetic poles of the permanent magnets 151 of the cargo box 15, the magnetic attraction structure can generate attraction force on the cargo box 15, the cargo box 15 is pulled into the connecting frame 11 by combining the conveying belt 141, the power supply in the opposite direction is switched on when the cargo box 15 is pushed out, and the cargo box 15 is pushed away by the repulsion of the same level so that the cargo box 15 is placed in the access point 2 or the goods shelf 3.

The cargo carrying mechanism 14 further comprises a cargo carrying box 15, the cargo carrying box 15 is a rectangular box body with an opening at the upper end, an outward protruding edge is arranged at the opening, the protruding edges at two sides can be placed on the conveying belts 141 at two sides of the connecting frame 11, the conveying belts 141 can drive the cargo carrying box 15 on the conveying belts to move, permanent magnets 151 corresponding to the magnetic attraction structures 144 are arranged on one sides of the cargo carrying box 15 close to or far away from the rails, and the magnetic pole directions of one sides of the permanent magnets 151 far away from the cargo carrying box 15 are uniform.

Referring to fig. 22, the cargo box 15 is used for the standardized cargo placement process, and bagged, boxed, and scattered articles can be placed in the cargo box 15 and transported, placed, and removed in a standardized manner. Both ends of the container 15 in the same direction are provided with magnets, and the magnets close to the back plate 31 of the shelf 3 are adsorbed on the back plate 31 when the container is placed in the storage frame, so that the container 15 is prevented from falling.

A commutation stabilizing mechanism 16;

the reversing stabilizing mechanism 16 is used for ensuring that the vertical surface carrying device 1 cannot fall off when one end of the clamping crawling wheel 12 is temporarily separated in the reversing process of the vertical surface carrying device 1. The reversing stabilizing mechanisms 16 are arranged on two side surfaces of the connecting frame 11, and the reversing stabilizing mechanisms 16 are inserted into the crawling goods shelves 3 during reversing and clamped on the goods carrying boxes 15 and the placing frames 5, so that connecting points of the vertical surface carrying device 1 and the goods shelves 3 are increased, and stability in the reversing process is guaranteed. Because two groups of reversing clamping wheels are always separated from the track during reversing, in order to ensure that the vertical surface carrying device 1 cannot fall off during reversing, the reversing stabilizing mechanism 16 is additionally arranged to increase connecting points during reversing.

The main body of the reversing stabilizing mechanism 16 is a stabilizing plate 161, the stabilizing plate 161 can move back and forth on the connecting frame 11, the stabilizing rack 164 on the band-pass stabilizing plate 161 is rotated by the stabilizing gear 162 to move, the connecting shaft of the stabilizing gear 162 is connected with the supporting shaft of the conveyor belt 141 of the cargo carrying mechanism 14, namely, the stabilizing plate 161 can be driven to move when the supporting conveyor belt 141 rotates, because the strokes of the cargo carrying mechanism 14 and the reversing stabilizing mechanism 16 are different, a slipping structure is arranged between the connecting shaft of the stabilizing gear 162 and the stabilizing shaft, the connecting shaft is provided with a soft connecting key 162 which is in certain interference contact with the stabilizing gear 162, and after the moving stroke of the reversing stabilizing mechanism 16 is finished, the soft connecting key 162 is extruded and deformed to pass over the gear, so that the rotation of the conveyor belt 141 is not hindered.

The front end of the reversing stabilizing plate 161 is provided with a slot matched with the carrying box 15 placing frame 5, and the front end of the trough body is provided with an inclined chamfer, so that the stabilizing plate 161 can be conveniently aligned when being connected with the placing frame 5. The reversing stabilizing plate 161 is further provided with two limiting grooves, and two limiting pins are arranged in the limiting grooves to limit the reversing stabilizing plate 161 to move horizontally relative to the frame 11 of the vertical surface carrying device 1.

Compared with the horizontal plane, the vertical surface carrying device 1 of the invention is an AGV trolley used for moving on the horizontal plane in the prior art, and can realize multi-task transportation, however, how to perform vertical and horizontal movement after a crawling object is changed to a vertical surface, namely a vertical plane is a difficult problem, and a mature horizontal and vertical moving means in the prior art is a moving structure similar to a vertical screw rod and a horizontal screw rod, however, the installation range of the moving structure in such a way is large, and only a single task can be realized. According to the multiple vertical surface carrying devices 1, each vertical surface carrying device 1 is provided with an independent movement mechanism, and the independent movement mechanisms do not interfere with each other during movement, so that automatic multi-task operation is realized.

The vertical carrying device 1 can move transversely and vertically on the surface of the stock frame to carry goods placed on the storage rack 3, when the goods need to be taken out, the vertical carrying device 1 directly takes the goods box 15 with the goods out of the storage rack 3 and carries the goods to the access point 2, and when the goods need to be taken out, the goods need to wait at the goods taking point. The vertical surface carrying devices 1 move on the goods shelves 3 and the access point 2 through the clamping crawling wheels 12, each vertical surface carrying device 1 has independent power, a plurality of vertical surface carrying devices 1 can simultaneously run on one goods shelf 3 to perform independent tasks, and the storage speed of goods is improved.

The invention reduces the height direction of the goods shelf 3 after manually storing goods without considering the link of human participation, can fully utilize the height space of the stock site to increase the stock quantity of the automatic multi-task storage and retrieval system, correspondingly can also reduce the area of the stock site and reduce the cost of the site.

While the embodiments of the invention have been described in detail in connection with the accompanying drawings, it is not intended to limit the scope of the invention. Various modifications and changes may be made by those skilled in the art without inventive step within the scope of the appended claims.

Claims

1. A facade carrying device and an automatic multi-task access system are characterized in that: comprises a goods shelf, an access point and a plurality of vertical surface carrying devices; the goods shelf and the access point are both provided with a plurality of stock frames, and grid tracks are distributed on the stock frame body; the vertical surface carrying device moves transversely or vertically on the goods shelf and the grid tracks of the goods storage frames of the access points so as to realize the storage, movement or taking out of the goods.

2. The facade carrier and automated multi-tasking access system according to claim 1, wherein: the vertical surface carrying device comprises a frame, four groups of clamping crawling wheels arranged on one side of the frame close to the grid track, a reversing mechanism used for switching the tracks clamped by the clamping crawling wheels, a cargo carrying mechanism arranged in the frame and a reversing stabilizing mechanism used for stabilizing the reversing of the vertical surface carrying device.

3. The facade carrier and automated multi-tasking access system according to claim 2, wherein: the frame is of a hexahedral structure, and a space for accommodating carried articles is arranged in the hexahedral structure; each group of clamping crawling wheels corresponds to the staggered part of one grid track; the grid tracks are distributed on the goods shelf and the access point, and the tracks at the intersection are disconnected and used for switching the clamping tracks when the vertical face carrying device is reversed.

4. The facade carrier and automated multi-tasking access system according to claim 2, wherein: the clamping crawling wheels comprise two wheels which are clamped in crawling grooves on two sides of the track, and rotating shafts of the two wheels are respectively sleeved on two opposite tail ends of the connecting rod; the middle part of the connecting rod is rotatably arranged on the central shaft and can rotate along the central shaft; one end of the rotating shaft, which is far away from the wheels, is sleeved with a driven fluted disc for transmitting power; the central shaft is sleeved with a first transmission fluted disc and a second transmission fluted disc, and the first transmission fluted disc and the second transmission fluted disc are oppositely arranged at two ends of the central shaft; two sides of the second transmission fluted disc are connected with bevel gears, and the two bevel gears are meshed with a reversing bevel gear vertical to the same axis; the first transmission fluted disc is connected with a driven gear, and the driven gear is meshed with a driving gear connected with a mobile motor.

5. The facade carrier and automated multi-tasking access system according to claim 4, wherein: the clamping crawling wheel further comprises a clamping auxiliary spring; one end of the clamping auxiliary spring is hinged with the rotating shaft, and the other end of the clamping auxiliary spring is hinged on the supporting column; the support columns are arranged on the crossed track sections of the vertical tracks opposite to the connected rotating shafts.

6. The facade carrier and automated multi-tasking access system according to claim 2, wherein: the reversing mechanism is used for controlling the clamping track directions of the two groups of clamping crawling wheels which are oppositely arranged left and right; the reversing mechanism comprises two reversing pieces which are oppositely arranged and provided with reversing grooves, and one rotating shaft of each of the two groups of clamping crawling wheels is inserted into the reversing groove on each reversing piece; the reversing groove is arranged in an inclined shape.

7. The facade carrier and automated multi-tasking access system according to claim 6, wherein: the commutator segment comprises two oppositely arranged moving parts which are overlapped up and down; the moving part is provided with a reverse moving groove; the side wall of the reverse moving groove is provided with a reverse rack, and the reverse racks of the upper reverse moving groove and the lower reverse moving groove are oppositely arranged; the two reverse racks are respectively meshed and connected with two sides of the reversing gear, and the reversing gear rotates to drive the two reversing pieces to move along opposite directions; a limiting piece is arranged around the moving part.

8. The facade carrier and automated multi-tasking access system according to claim 2, wherein: the goods carrying mechanism comprises two conveyor belts which are arranged at two sides in the frame and rotate synchronously and a goods carrying box which is arranged on the conveyor belts; the magnetic attraction structure is fixed on the conveying belt, the magnetic attraction mechanism is in a long strip shape, and the tail part of the magnetic attraction mechanism is fixedly connected with the surface of the conveying belt; the conveying belts are toothed belts, the conveying belts on the two sides are connected through a conveying shaft, and the two conveying belts are driven to move through a conveying motor;

9. The facade carrier and automated multi-tasking access system according to claim 8, wherein: the cargo carrying box is a rectangular box body with an opening at the upper end, the opening is provided with an outward protruding edge, the protruding edges at two sides can be placed on the conveying belts at two sides of the connecting frame, the cargo carrying box driven by the conveying belts moves, permanent magnets corresponding to the magnetic attraction structure are arranged on one side of the cargo carrying box close to or far away from the track, and the magnetic pole directions of the permanent magnets far away from one side of the cargo carrying box are uniform.

10. The facade carrier and automated multi-tasking access system according to claim 2, wherein: the reversing stabilizing mechanisms are arranged on two side surfaces of the frame, are inserted into a crawling goods shelf during reversing and are clamped on a placing frame of the goods carrying box to increase connecting points of the vertical surface carrying device and the goods shelf;

the reversing stabilizing mechanism comprises a stabilizing plate; the stabilizing plate drives the stabilizing rack on the stabilizing plate to move through the rotation of the stabilizing gear; the connecting shaft of the stabilizing gear is connected with the supporting shaft of the conveying belt on the cargo carrying mechanism; the flexible connecting key is arranged on the connecting shaft and is in interference contact with the stabilizing gear, and the flexible connecting key passes over the gear after being extruded and deformed after the movement stroke of the reversing stabilizing mechanism is finished;