CN207645139U - Automated tridimensional warehousing system - Google Patents
Automated tridimensional warehousing system Download PDFInfo
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- CN207645139U CN207645139U CN201721452375.7U CN201721452375U CN207645139U CN 207645139 U CN207645139 U CN 207645139U CN 201721452375 U CN201721452375 U CN 201721452375U CN 207645139 U CN207645139 U CN 207645139U
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Abstract
The utility model discloses a kind of Automated tridimensional warehousing systems, including freight lifting rehandling facilities, cargo disengaging position in storehouse rehandling facilities, position in storehouse material rest device and electric control gear.This Automated tridimensional warehousing system carried out by the way of delivering in relays cargo put in storage and export, coordinate the automated guided vehicle of Intelligent logistics that fully digitalization warehousing and export may be implemented；The insertion of freight lifting rehandling facilities is arranged in the inside of position in storehouse material rest device rear and front end, pallet be oriented to lifting piece be left, right, front or behind open three face open architectures, the position in storehouse that cargo passes in and out above or below pallet, which may be implemented, by the work compound of control promotion pallet and transport reprinting trolley can access cargo, improve space availability ratio to greatest extent；Since position in storehouse material rest device is simple multilayer position in storehouse material frame structure, inside be not provided with actuating unit, therefore it is simple in structure, easy to maintain, especially suitable for Intelligent logistics.
Description
Technical field
The utility model is related to a kind of stereoscopic warehousing system, specifically a kind of stereoscopic warehousing system for automating access,
Belong to Intelligent logistics technical equipment field.
Background technology
Intelligent logistics are exactly to utilize the advanced Internet of Things such as bar code, Radio Frequency Identification Technology, sensor, global positioning system
Technology is widely used in logistics transport, storage, dispatching, packaging, handling etc. by information processing and network communication technology platform
Basic activity link realizes automatic operation and the high efficiency optimum management of cargo transport process, improves the service of logistic industry
Level reduces cost, reduces natural resources and social resources consumption, and the development of Intelligent logistics will promote the development of regional economy
It distributed rationally with world resource, realize socialization.
Logistic storage is the key link in modern Intelligent logistics, is played in links such as connection, transfer, storage, keepings
Important function, and warehousing management is also to be generally comprised in occupation of the status of core, accurate warehouse process in logistic storage simultaneously
It receives, restocking, picks up goods, replenishes, delivering, several flows of making an inventory, to realize intelligent distribution, occurring homing guidance fortune in the prior art
Defeated vehicle is equipped with electricity and magnetically or optically waits homing guidances device, the transport vehicle with safeguard protection and various transfer functions, object
It is not required to driver in stream storage application, with rechargeable battery for its power resources, generally can control its traveling road by computer
Line and behavior set up its travelling route to realize the allocation and transportation of warehoused cargo using electromagnetic path.
Existing stereoscopic warehousing system is typically the both sides for being layered the position in storehouse rack being arranged and being arranged in piler operation channel,
By piler along operation channel by goods handling in place, and promoted by the lifting gear of the piler itself to storing the cargo
The height of position in storehouse, then will be on cargo translating to position in storehouse by the traverse displacement unit on piler.
Each bin level of existing stereoscopic warehousing system feed bin usually has actuating unit, is usually additionally provided with various automatically controlled
Lift mechanism, travel switch, position-limit mechanism etc. realize the allocation and transportation of automated warehousing cargo to coordinate, and this has dynamic position in storehouse
Keep the setting of feed bin integrated model more complex, not only failure rate is higher, but also safeguards more difficult；In addition, existing stereo warehouse system
The lifting gear of the piler of system itself is normally located at the outside of the position in storehouse rack of layering setting, needs additional occupied space,
Even if being provided in the inside of the position in storehouse rack of layering setting, the position in storehouse at left and right sides of piler lifting gear can not generally also make
With sacrificing parking space.
Invention content
In view of the above-mentioned problems of the prior art, the utility model provides a kind of Automated tridimensional warehousing system, automatically
Change degree is high, the allocation and transportation of warehoused cargo can be realized under the premise of the position in storehouse rack of layering setting is not provided with actuating unit, together
When can realize and make full use of space, especially suitable for Intelligent logistics.
To achieve the goals above, this Automated tridimensional warehousing system includes freight lifting rehandling facilities, cargo into export
Position rehandling facilities, position in storehouse material rest device and electric control gear；
The position in storehouse material rest device is multilayer position in storehouse material frame structure, the middle part of multilayer position in storehouse material frame structure in left and right directions
Small vehicle passage is reprinted through the transport of multilayer position in storehouse material frame structure equipped with front-rear direction, transport reprints small vehicle passage by multilayer position in storehouse
Material frame structure is divided into left and right two parts, and the transport of every layer of position in storehouse material frame structure is reprinted to be equipped on small vehicle passage and be set along the longitudinal direction
Vehicle guide is reprinted in the transport set, and every layer of position in storehouse material frame structure is equipped with multiple compartments in the longitudinal direction, and each compartment is one
Bin level is equipped with longitudinal supports be arranged at section that roll setting in left-right direction, multiple on the plate upper surface per bin level
Roller；
The freight lifting rehandling facilities is arranged in the end of the small vehicle passage of transport reprinting of position in storehouse material rest device, and goods
Object promotes rehandling facilities insertion and is arranged in the inside of position in storehouse material rest device rear and front end, and freight lifting rehandling facilities includes that cargo carries
It rises mechanism and cargo and passes in and out pallet, cargo disengaging pallet is set as two pieces, the symmetrical freight lifting mechanism that is fixed at
The left and right sides, cargo disengaging pallet are located at the end position in storehouse position of the ground floor of position in storehouse material rest device multilayer position in storehouse material frame structure
It sets and the end position in storehouse is structure that front end face or rear end face open；
Cargo disengaging pallet includes that reprinting frame I is lifted in multiple left and right, and left and right is lifted reprinting frame I and is horizontally disposed in left-right direction
Inside cargo disengaging pallet, it includes that the transfer of head lifting part peace carries component that left and right, which lifts and reprints frame I, and head lifting part can lift a left side
The right side, which is lifted, reprints the upper surface that frame I makes its upper surface higher than cargo disengaging pallet, and component is reprinted in translation can make the left and right after lifting
It lifts and reprints the translational movement in left-right direction of frame I；
Freight lifting mechanism includes that the pallet guiding for promoting pallet and promotion pallet being made vertically to move up and down carries
Ascending part part, it includes braced frame and the hoistway that is arranged inside braced frame that pallet, which is oriented to lifting piece, braced frame be left,
The three face open architectures that right, front or behind open promote pallet and are arranged in hoistway；The upper surface for promoting pallet is equipped with
Setting, multiple longitudinal carrying rollers at section setting are rolled in left-right direction；It is promoted and corresponds to cargo disengaging support on the upper surface of pallet
The left and right of disk lift reprint frame I position be additionally provided with left and right directions setting left and right lift reprint frame by bit port and the left and right
Reprinting frame is lifted by bit port to be located between each section of the longitudinal carrying roller being arranged at section；It is additionally provided with inside promotion pallet multiple front and back
Lift reprinting frame, it is front and back lift reprint frame be horizontally set on along the longitudinal direction it is inside the promotion pallet between longitudinal carrying roller and preceding
It lifts afterwards and reprints the lower section that frame lifts reprinting frame by bit port positioned at left and right, front and back reprinting frame of lifting includes head lifting part and translation
Component is reprinted, head lifting part can lift front and back lift and reprint the upper rolling surface that frame makes its upper surface be higher than longitudinal carrying roller, and translation turns
Carrying component can make front and back lift after lifting reprint frame translational movement along the longitudinal direction；
The cargo disengaging position in storehouse rehandling facilities includes that erection is small mounted on the transport reprinting of every layer of position in storehouse material frame structure
Trolley is reprinted in transport on vehicle guide rail；It includes with the idler wheel of transport reprinting vehicle guide cooperation and mounted on rolling that trolley is reprinted in transport
Idler wheel driving on wheel；Transport reprint trolley upper surface be equipped with along the longitudinal direction roll setting, it is multiple at section setting
Lateral carrying roller；It transports the corresponding front and back position for lifting reprinting frame for promoting pallet on the upper surface for reprinting trolley and is additionally provided with front and back
Lifted before and after to setting reprint frame by bit port and this it is front and back lift reprint frame by bit port be located at transport reprint trolley at
Between each section of the lateral carrying roller of section setting；Transport reprints car interior and lifts reprinting frame II equipped with multiple left and right, and left and right is lifted
Reprinting frame II is horizontally set on the reprinting car interior of the transport between lateral carrying roller in left-right direction and left and right lifts and reprints frame II
Positioned at the front and back lower section lifted and reprint frame by bit port；Respective transfer on the plate upper surface of every bin level of position in storehouse material rest device
Reprint trolley left and right lift reprint frame II position be additionally provided with left and right directions setting left and right lift reprint frame by bit port and
Lift each section of the longitudinal carrying roller being arranged at section for reprinting every bin level that frame is located at position in storehouse material rest device by bit port in the left and right
Between；
The electric control gear includes industrial control computer, cargo warehouse entry control loop and cargo export control loop,
Industrial control computer is built-in with position in storehouse coordinate information, position in storehouse loads information and position in storehouse option program, industrial control computer point
The head lifting part peace transfer for not lifting reprinting frame I with left and right carries component, the pallet of freight lifting mechanism is oriented to lifting piece, preceding
The head lifting part peace transfer for lifting reprinting frame afterwards carries component, the idler wheel of transport reprinting trolley drives, left and right lifts and reprints frame II
Head lifting part peace transfer carry component electrical connection.
As further improvement of the utility model scheme, the left and right of every bin level, which is lifted, reprints in frame recessing groove
Formula position-limit mechanism is overwhelmed equipped with elasticity, and elasticity, which overwhelms formula position-limit mechanism and is arranged to lift in the left and right of position in storehouse, reprints frame recessing groove and correspond to
The end position of position in storehouse Hatch Opening, it includes limiting plate, Flexible Reset component and upright angle limit portion that elasticity, which overwhelms formula position-limit mechanism,
Part, limiting plate lift the length direction fold setting for reprinting frame recessing groove along the left and right of position in storehouse, and limiting plate bottom end is hingedly mounted on
The slot bottom for reprinting frame recessing groove is lifted in the left and right of position in storehouse, and the left and right of Flexible Reset component one end and position in storehouse, which is lifted, reprints frame recessing groove
Slot bottom connection, the other end and limiting plate connect, the articulated position in limiting plate is arranged in upright angle limit component.
As further improvement of the utility model scheme, the top of the limiting plate is equipped with lifts along the left and right of position in storehouse
Reprint the support load roller that frame rolls setting by the length direction of bit port.
As further improvement of the utility model scheme, the upper surface upper edge or so of the promotion pallet lifts reprinting
Reprinting frame recessing groove is lifted in the left and right that perforation promotion tray upper surface is additionally provided in frame resigning channel-length direction, and left and right, which is lifted, to be turned
Carrier recessing groove is located at left and right and lifts underface, the front and back top for lifting reprinting frame for reprinting frame by bit port；Transport is reprinted small
It lifts to reprint to be additionally provided in frame resigning channel-length direction before and after the upper surface upper edge of vehicle and reprints trolley upper surface through transport
Front and back lift reprints frame recessing groove, it is front and back lift reprint frame recessing groove be located at it is front and back lift reprint frame by bit port underface,
Lift the top for reprinting frame II in left and right；Plate upper surface upper edge of every bin level of position in storehouse material rest device or so is lifted reprinting frame and is allowed
Be additionally provided on bit port length direction left and right lift reprint frame recessing groove, left and right lift reprint frame recessing groove be located at left and right lift turn
Carrier by bit port underface.
As further improvement of the utility model scheme, the upper surface that the cargo passes in and out pallet is equipped with along front and back
Direction rolls multiple lateral carrying rollers of setting, and the left and right, which is lifted, reprints the setting of frame I between lateral carrying roller.
As the preferred embodiment of the utility model, the head lifting part peace transfer load portion for reprinting frame I is lifted in the left and right
Part, it is front and back lift reprint frame head lifting part peace transfer carry component, left and right lift reprint frame II head lifting part peace transfer
It is electric screw rod structure to carry component.
As further improvement of the utility model scheme, the promotion pallet and transport reprint trolley and are all made of contact
Formula automatic power taking mode, promotes pallet and transport reprints trolley and carries out taking electricity by taking pantograph structure to contact with power lead.
Compared with prior art, this Automated tridimensional warehousing system is fully digitalization control unit, can be with intelligent object
The number bus of stream, which is seamlessly connected, to be realized and concentrates digital management, and putting in storage and going out for cargo is carried out by the way of delivering in relays
Storehouse coordinates the automated guided vehicle of Intelligent logistics that fully digitalization warehousing and export may be implemented；Due to freight lifting
Rehandling facilities insertion is arranged in the inside of position in storehouse material rest device rear and front end, and two pieces cargo passes in and out the symmetrical fixed setting of pallet
In the left and right sides of freight lifting mechanism, cargo disengaging pallet is located at the ground one of position in storehouse material rest device multilayer position in storehouse material frame structure
The end position in storehouse position and the end position in storehouse of layer are the structures that front end face or rear end face open, therefore before and after position in storehouse material rest device
The position at both ends passes in and out other positions outside the position of pallet except cargo and can be used as position in storehouse use, improves space profit to greatest extent
With rate；Include braced frame and the hoistway that is arranged inside braced frame since pallet is oriented to lifting piece, braced frame is left
The three face open architectures that side, right, front or behind open promote pallet and are arranged in hoistway, therefore promote support by controlling
The position in storehouse that the work compound of disk and transport reprinting trolley may be implemented above or below cargo disengaging pallet can access cargo；By
In position in storehouse material rest device be simple multilayer position in storehouse material frame structure, inside be not provided with actuating unit, therefore simple in structure, dimension
Shield is convenient；This Automated tridimensional warehousing system, high degree of automation can be not provided with engine in the position in storehouse rack of layering setting
The allocation and transportation of warehoused cargo are realized under the premise of structure, while can realize and make full use of space, especially suitable for Intelligent logistics.
Description of the drawings
Fig. 1 is the three dimensional structure diagram of the utility model；
Fig. 2 is the overlooking structure diagram of the utility model ground floor；
Fig. 3 is the overlooking structure diagram of other layers of the utility model in addition to ground floor；
Fig. 4 is the side structure schematic view of the utility model cargo disengaging pallet；
Fig. 5 is the side structure schematic view that the utility model promotes pallet；
Fig. 6 is the side structure schematic view that trolley is reprinted in the utility model transport；
Fig. 7 is the side structure schematic view of the utility model fortune position in storehouse bottom plate；
Fig. 8 is the A-A sectional views of Fig. 7.
In figure：1, freight lifting rehandling facilities, 11, freight lifting mechanism, 111, promote pallet, 112, front and back lift reprinting
Frame, 12, cargo pass in and out pallet, 121, left and right lift reprint frame I, 2, cargo pass in and out position in storehouse rehandling facilities, 21, transport reprint it is small
Vehicle, 211, left and right lift and reprint frame II, 3, position in storehouse material rest device, 31, elasticity overwhelm formula position-limit mechanism.
Specific implementation mode
The utility model is described further (below with the fortune of cargo disengaging position in storehouse rehandling facilities 2 below in conjunction with the accompanying drawings
Line direction describes for front-rear direction).
As shown in Figure 1, this Automated tridimensional warehousing system includes freight lifting rehandling facilities 1, cargo disengaging position in storehouse reprinting
Device 2, position in storehouse material rest device 3 and electric control gear.
The position in storehouse material rest device 3 is multilayer position in storehouse material frame structure, multilayer position in storehouse material frame structure in left and right directions in
Portion is equipped with front-rear direction and reprints small vehicle passage through the transport of multilayer position in storehouse material frame structure, and transport reprints small vehicle passage by multilayer storehouse
Position material frame structure is divided into left and right two parts, and the transport of every layer of position in storehouse material frame structure is reprinted to be equipped with along the longitudinal direction on small vehicle passage
Vehicle guide is reprinted in the transport of setting, and every layer of position in storehouse material frame structure is equipped with multiple compartments in the longitudinal direction, and each compartment is
One bin level is equipped with that rolling in left-right direction is arranged, multiple on the plate upper surface per bin level as shown in Figure 2 and Figure 3
The longitudinal carrying roller being arranged at section.
The freight lifting rehandling facilities 1 is arranged in the end of the small vehicle passage of transport reprinting of position in storehouse material rest device 3, and
The insertion of freight lifting rehandling facilities 1 is arranged in the inside of 3 rear and front end of position in storehouse material rest device, and freight lifting rehandling facilities 1 includes
Freight lifting mechanism 11 and cargo pass in and out pallet 12, and cargo disengaging pallet 12 is set as two pieces, symmetrical is fixed at goods
The left and right sides of object hoisting mechanism 11, cargo disengaging pallet 12 are located at the ground of 3 multilayer position in storehouse material frame structure of position in storehouse material rest device
One layer of end position in storehouse position and the end position in storehouse are the structures that front end face or rear end face open；
As shown in figure 4, cargo passes in and out pallet 12 lifts reprinting frame I 121 including multiple left and right, left and right, which is lifted, reprints frame I 121
It is horizontally set in left-right direction inside cargo disengaging pallet 12, it includes that head lifting part peace transfers that reprinting frame I 121 is lifted in left and right
Component is carried, head lifting part can lift left and right and lift the upper surface that reprinting frame I 121 makes its upper surface higher than cargo disengaging pallet 12,
Component is reprinted in translation can make the left and right after lifting lift the reprinting translational movement in left-right direction of frame I 121；
Freight lifting mechanism 11 includes promoting pallet 111 and can making the support that promotion pallet 111 vertically moves up and down
Disk is oriented to lifting piece, and as shown in Figure 2 and Figure 3, pallet is oriented to lifting piece and includes braced frame and be arranged inside braced frame
Hoistway, braced frame be left, right, front or behind open three face open architectures, promoted pallet 111 be arranged in hoistway
It is interior；As shown in figure 5, the upper surface for promoting pallet 111 is equipped with longitudinal directions being arranged at section that roll setting in left-right direction, multiple
Carrying roller；Promoted pallet 111 upper surface on correspond to cargo disengaging pallet 12 left and right lift reprinting frame I 121 position be additionally provided with
The left and right of left and right directions setting lifts to reprint frame and lift to reprint frame and by bit port be located at by bit port and the left and right to be arranged at section
Between each section of longitudinal carrying roller；It is additionally provided with multiple front and back lift inside promotion pallet 111 and reprints frame 112, it is front and back to lift reprinting frame
112 be horizontally set on along the longitudinal direction inside the promotion pallet 111 between longitudinal carrying roller and it is front and back lift reprint frame 112 be located at
The lower section for reprinting frame by bit port is lifted in left and right, and front and back reprinting frame 112 of lifting includes that the transfer of head lifting part peace carries component, is lifted
Component can lift front and back lift and reprint the upper rolling surface that frame 112 makes its upper surface be higher than longitudinal direction carrying roller, and component is reprinted in translation to be made
Front and back lift after lifting reprints the translational movement along the longitudinal direction of frame 112.
The cargo disengaging position in storehouse rehandling facilities 2 includes that erection is small mounted on the transport reprinting of every layer of position in storehouse material frame structure
Trolley 21 is reprinted in transport on vehicle guide rail；It includes idler wheel and the installation that vehicle guide cooperation is reprinted with transport that trolley 21 is reprinted in transport
Idler wheel driving on idler wheel；As shown in fig. 6, the upper surface that trolley 21 is reprinted in transport is equipped with rolling setting along the longitudinal direction
, it is multiple at section be arranged lateral carrying roller；Transport is reprinted corresponding front and back lift for promoting pallet 111 on the upper surface of trolley 21 and is turned
The front and back reprinting frame of lifting that the position of carrier 112 is additionally provided with front-rear direction setting allows by bit port and the front and back reprinting frame of lifting
Bit port is located between each section of the lateral carrying roller at section setting that trolley 21 is reprinted in transport；Transport is reprinted trolley 21 and is internally provided with
Multiple left and right, which are lifted, reprints frame II 211, and left and right is lifted reprinting frame II 211 and is horizontally set in left-right direction between lateral carrying roller
Transport reprints inside trolley 21 and left and right and lifts reprinting frame II 211 positioned at the front and back lower section lifted and reprint frame by bit port；Position in storehouse
The position for reprinting frame II 211 is lifted in the left and right of respective transfer reprinting trolley 21 on the plate upper surface of every bin level of material rest device 3
Set be additionally provided with left and right directions setting left and right lift reprint frame by bit port and the left and right lift reprint frame be located at storehouse by bit port
Between each section of longitudinal carrying roller at section setting of every bin level of position material rest device 3.
The electric control gear includes industrial control computer, cargo warehouse entry control loop and cargo export control loop,
Industrial control computer is built-in with position in storehouse coordinate information, position in storehouse loads information and position in storehouse option program, industrial control computer point
The pallet for not lifting the head lifting part peace transfer load component, freight lifting mechanism 11 of reprinting frame I 121 with left and right is oriented to lifting parts
Part, the front and back head lifting part peace transfer for lifting reprinting frame 112 carry component, the idler wheel of transport reprinting trolley 21 drives, left and right support
Lift the head lifting part peace transfer load component electrical connection for reprinting frame II 211.
In the initial state, trolley is reprinted in the transport of 3 ground floor of position in storehouse material rest device to this Automated tridimensional warehousing system
21 are stuck in the end coordinate position that transport reprints small vehicle passage close to freight lifting rehandling facilities 1, position in storehouse material rest device 3 its
The coordinate that the transport reprinting trolley 21 that trolley 21 is stuck in front-rear direction and ground floor is reprinted in the transport of his layer stagnates position
Consistent coordinate stagnates position, and left and right lifts reprinting frame I 121 and is in state of the retraction inside cargo disengaging pallet 12, front and back
It lifts to reprint frame 112 and be in retraction and is promoting the state inside pallet 111, control and lift reprinting frame II 211 and be in retraction and transporting
The defeated state reprinted inside trolley 21 promotes pallet 111 and is in the dead state for passing in and out 12 same level of pallet with cargo.
For this Automated tridimensional warehousing system when carrying out the operation of cargo warehouse entry, industrial control computer is first according to built-in
Position in storehouse loads information and position in storehouse option program determines the coordinate information and record storage of target position in storehouse, and then cargo warehouse entry controls
Loop starts：By goods packaging box by manually carry or carrying fork truck or AGV trolley supports carry transport vehicle support carrying it is defeated from
Front-rear direction push-in is placed on the cargo disengaging pallet 12 of left or right side, and it is first to complete the firm postindustrial control computer of placement
First control left and right, which is lifted, reprints the head lifting part rise action of frame I 121 and makes left and right lift to reprint frame I 121 by goods packaging box support
It rises, the upper rolling surface of the lateral carrying roller of the baseplane of goods packaging box disengaging cargo disengaging pallet 12 to setting height, then work
The translation reprinting component actuation that reprinting frame I 121 is lifted in industry control computer control left and right makes the left and right after lifting lift reprinting frame I
121 in left-right direction to 111 direction translational coordination movement of pallet is promoted, and left and right, which is lifted, reprints left and right support in I 121 translation motion of frame
Reprinting frame is lifted by bit port in the left and right for lifting the external part insertion promotion pallet 111 of reprinting frame I 121, and reprinting frame I is lifted in left and right
Even if left and right lifts and reprints the generation overhanging bending of frame I 121 caused by gravity in 121 translation motions, promoted on pallet 111
Rolling support can also occur with goods packaging box baseplane, prevent left and right from lifting the overhanging bending damage for reprinting frame I 121 for longitudinal carrying roller
Wound, left and right lift reprinting I 121 coordinate of frame and are moved to work after the setpoint distance that goods packaging box is located at right over promotion pallet 111
Industry control computer control left and right lift reprint frame I 121 head lifting part fall action make left and right lift reprint I 121 coordinate of frame
It is displaced downwardly to the setpoint distance for being detached from goods packaging box baseplane, goods packaging box is piled up on promoting pallet 111, then industrial
Control computer first control left and right lift reprint frame I 121 translation reprint component actuation make left and right lift reprint frame I 121 first return
Withdraw to cargo disengaging pallet 12 on, again control left and right lift reprint frame I 121 head lifting part action make left and right lift reprint frame I
121, which are reset to original state, completes goods packaging box from cargo disengaging pallet 12 to the handing-over for promoting pallet 111；
Then industrial control computer is carried according to the pallet guiding of target position in storehouse coordinate information control freight lifting mechanism 11
Ascending part part vertical motion (target position in storehouse is located at F2/B2 or more) or lowering action (target position in storehouse it is located underground one layer and
Below) or (target position in storehouse is located at ground floor) action is stagnated in original place that promotion pallet 111 is made to be in and target position in storehouse place layer
The dead state of 21 same level of trolley is reprinted in transport, and then industrial control computer lifts reprinting frame before and after controlling first
112 head lifting part rise action makes front and back reprinting frame 112 of lifting take off the baseplane of goods packaging box picking-up, goods packaging box
Then upper rolling surface from the longitudinal carrying roller for promoting pallet 111 is lifted before and after industrial control computer control and is turned to setting height
Component actuation is reprinted in the translation of carrier 112 makes front and back lift after lifting reprint frame 112 along the longitudinal direction to the transport of this layer turn
21 direction translational coordination movement of trolley is carried, front and back lift reprints the front and back external part for lifting reprinting frame 112 in 112 translation motion of frame
Be inserted into transport and reprint front and back the lifting of trolley 21 and reprint in frame recessing groove, though it is front and back lift reprint in 112 translation motion of frame because
Gravity causes front and back lift to reprint the generation overhanging bending of frame 112, and the lateral carrying roller that transport is reprinted on trolley 21 also can be with goods
Matter packaging box baseplane occurs rolling support, prevents the front and back overhanging Bending Damage lifted and reprint frame 112, front and back to lift reprinting frame
112 coordinates are moved to goods packaging box and are located at the postindustrial control computer control of setpoint distance that 21 surface of trolley is reprinted in transport
The front and back head lifting part for lifting reprinting frame 112, which falls action, makes front and back reprinting 112 coordinate of frame of lifting be displaced downwardly to disengaging goods packing
The setpoint distance of bottom plane, goods packaging box are piled up and are reprinted on trolley 21 in transport, and then industrial control computer is first controlled
The translation reprinting component actuation of reprinting frame 112 is lifted before and after system makes front and back reprinting frame 112 of lifting first withdraw to promotion pallet 111
Above, controlling the front and back head lifting part action for lifting reprinting frame 112 again makes front and back reprinting frame 112 of lifting be reset to original state completion
Goods packaging box controls freight lifting mechanism from handing-over of the pallet 111 to transport reprinting trolley 21, industrial control computer is promoted
11 pallet, which is oriented to lifting piece action, makes promotion pallet 111 be reset to original state；
Then industrial control computer control controls the idler wheel driving that trolley 21 is reprinted in transport according to target position in storehouse coordinate information
Action makes transport reprinting trolley 21 carry the coordinate position that goods packaging box front-rear direction coordinate is moved to face target position in storehouse
After stagnate, complete goods packaging box translation transport；
Then industrial control computer control left and right lift reprint frame II 211 head lifting part rise action make left and right lift
It reprints frame II 211 and the baseplane of goods packaging box picking-up, goods packaging box is detached to the lateral carrying roller for transporting reprinting trolley 21
To setting height, then industrial control computer control left and right is lifted reprints the translation of frame II 211 to reprint component dynamic upper rolling surface
Work makes the left and right after lifting lift reprinting frame II 211 in left-right direction to the movement of target position in storehouse direction translational coordination, and left and right is lifted
Lift reprinting frame in the left and right for reprinting the external part insertion target position in storehouse that reprinting frame II 211 is lifted in left and right in II 211 translation motion of frame
In recessing groove, even if left and right, which lifts to reprint to lift caused by gravity or so in II 211 translation motion of frame, reprints the hair of frame II 211
Rolling support can also occur with goods packaging box baseplane, prevent left and right from holding in the palm for the raw bending that overhangs, longitudinal carrying roller on target position in storehouse
Lift the overhanging Bending Damage for reprinting frame II 211, left and right, which is lifted, reprints II 211 coordinate of frame and be moved to goods packaging box and be located at target bin
Setpoint distance postindustrial control computer control left and right right over the bottom plate of position lift reprint frame II 211 head lifting part fall it is dynamic
Making, which makes left and right lift, reprints the setpoint distance that II 211 coordinate of frame is displaced downwardly to disengaging goods packaging box baseplane, and goods packaging box is
It piles up on the bottom plate of target position in storehouse, then industrial control computer first controls left and right and lifts the translation reprinting for reprinting frame II 211
Component actuation make left and right lift reprint frame II 211 first withdraw to transport reprint trolley 21 on, again control left and right lift reprint frame II
211 head lifting part action makes left and right lift to reprint frame II 211 and be reset to original state and complete goods packaging box from transporting reprinting
Trolley 21 to target position in storehouse handing-over, industrial control computer control transport reprint trolley 21 idler wheel drive actions make transport turn
It carries trolley 21 and is reset to original state, complete entire cargo warehouse entry operation.
Target position in storehouse be located at cargo disengaging pallet 12 surface or underface upper layer position in storehouse or lower layer's position in storehouse when, cargo
Packing case promotes pallet 111 and is first reset to original state from after the completion of promoting pallet 111 to the handing-over of transport reprinting trolley 21,
Then transport reprinting trolley 21 is moved to again promotes 111 surface of pallet or following location directly progress goods packaging box from transport
Reprint handing-over of the trolley 21 to target position in storehouse.
This Automated tridimensional warehousing system is the inverse process of above mentioned goods warehouse entry operation when carrying out cargo export and operating,
This is sketched, is no longer described in detail：Industrial control computer determines target bin according to the goods packaging box identification code of input first
The coordinate information of position, then control transport, which reprints trolley 21 and is moved to the coordinate position of target position in storehouse, carries out goods packaging box from mesh
The handing-over that trolley 21 is reprinted in position in storehouse extremely transport is marked, then control transport reprinting trolley 21 carries goods packaging box and is moved to initial bit
Set, then control freight lifting mechanism 11 pallet be oriented to lifting piece make promotion pallet 111 move up and down to target position in storehouse
Place layer transport reprint 21 same level of trolley dead state, go forward side by side crudely-made articles matter packaging box from transport reprint trolley 21 to
The handing-over of pallet 111 is promoted, then controlling the pallet guiding lifting piece of freight lifting mechanism 11 makes promotion pallet 111 be reset to
Original state, crudely-made articles matter packaging box of going forward side by side complete entire cargo export from handing-over of the pallet 111 to cargo disengaging pallet 12 is promoted
Operation.
This Automated tridimensional warehousing system by control promotes pallet 111 and transport reprint the work compound of trolley 21 can be with
Realize on one side put in storage, while export operation.
In order to prevent be located at position in storehouse in goods packaging box it is improper skid off, as further improvement of the utility model side
Case, as shown in fig. 7, reprinting frame is lifted in the left and right of every bin level overwhelms formula position-limit mechanism by bit port equipped with elasticity
31, elasticity overwhelms formula position-limit mechanism 31 and is arranged lifts the end reprinted frame and corresponds to by bit port position in storehouse Hatch Opening in the left and right of position in storehouse
It sets, as shown in figure 8, it includes limiting plate, Flexible Reset component and upright angle limit component, limit that elasticity, which overwhelms formula position-limit mechanism 31,
Position plate, which is lifted to reprint frame and turn down by the length direction of bit port along the left and right of position in storehouse, to be arranged, and limiting plate bottom end is hingedly mounted on position in storehouse
Plate upper surface on, connection, the other end and limiting plate connect on the plate upper surface of Flexible Reset component one end and position in storehouse, directly
The articulated position in limiting plate is arranged in vertical angle limit component, and upright angle limit component can limit the fold angle of limiting plate
No more than 120 °.Transport reprint trolley 21 on left and right lift reprint frame II 211 be not inserted into position in storehouse left and right lift reprint frame allow
Elasticity overwhelms the closure limit state that formula position-limit mechanism is in upright when in bit port, and the left and right that transport is reprinted on trolley 21 is lifted
Elasticity, which overwhelms formula position-limit mechanism and lifted by left and right, when reprinting frame is lifted by bit port in the left and right that reprinting frame II 211 is inserted into position in storehouse turns
Carrier II 211 is overwhelmed in resigning prevailing state.
In order to reduce abrasion, as further improvement of the utility model scheme, the top of the limiting plate is equipped with edge
The left and right of position in storehouse, which is lifted, reprints the support load roller that frame rolls setting by the length direction of bit port.The left side on trolley 21 is reprinted in transport
The right side lift reprint frame II 211 be inserted into or leave position in storehouse left and right lift reprint frame by when bit port support carry roller roll to form rolling
Friction, and then avoid sliding friction, reduce abrasion.
In order to further realize the steady translational movement of goods packaging box, as further improvement of the utility model side
Case, the upper surface upper edge or so of the promotion pallet 111 lift to reprint and are additionally provided with perforation in frame resigning channel-length direction and carry
Reprinting frame recessing groove is lifted in the left and right for rising 111 upper surface of pallet, and left and right lifts reprinting frame recessing groove and lifts reprinting frame positioned at left and right
Allow bit port underface, it is front and back lift reprint frame 112 top；It lifts and turns before and after the upper surface upper edge of transport reprinting trolley 21
It is additionally provided with front and back lift through 21 upper surface of transport reprinting trolley in carrier resigning channel-length direction and reprints frame recessing groove, it is preceding
Reprinting frame recessing groove is lifted afterwards lifts the upper of reprinting frame II 211 by underface, the left and right of bit port positioned at front and back reprinting frame of lifting
Side；Plate upper surface upper edge of every bin level of position in storehouse material rest device 3 or so, which is lifted, reprints in frame resigning channel-length direction also
Equipped with left and right lift reprint frame recessing groove, left and right lift reprint frame recessing groove be located at left and right lift reprint frame by bit port just under
Side.Reprinting frame recessing groove is lifted in the left and right for promoting pallet 111, front and back lift of transport reprinting trolley 21 reprints frame recessing groove, storehouse
The setting that reprinting frame recessing groove is lifted in the left and right of every bin level of position material rest device 3 can lift stretching for reprinting frame I 121 in left and right
The when of reprinting frame by bit port, is lifted in the left and right that outlet is inserted into promotion pallet 111, the front and back external part for lifting reprinting frame 112 is inserted into
The when of reprinting in frame recessing groove is lifted before and after transport reprinting trolley 21, the external part insertion target for reprinting frame II 211 is lifted in left and right
The left and right of position in storehouse is oriented to when lifting in reprinting frame recessing groove, and then ensures the steady translational movement of goods packaging box.
For the ease of goods packaging box to be placed on cargo disengaging pallet 12, as further improvement of the utility model
Scheme, the upper surface of cargo disengaging pallet 12 is equipped with the multiple lateral carrying rollers for rolling setting along the longitudinal direction, described
Left and right lift reprint frame I 121 be arranged between lateral carrying roller.Goods packaging box is placed on cargo disengaging from front-rear direction push-in
Lateral carrying roller during on pallet 12 on cargo disengaging pallet 12 can carry out auxiliary and be oriented to rolling.
The head lifting part peace transfer load component for reprinting frame I 121 is lifted in the left and right, front and back lift reprints frame 112
It can be hydraulic pressure that head lifting part peace, which transfers and carries component, the head lifting part peace transfer load component of reprinting frame II 211 is lifted in left and right
Control structure or pneumatic control structure or electric control structure, since first two scheme need to additionally configure hydraulic power unit or gas
Pump, it is not only complicated and also for transport reprint trolley 21 be not easy to directly control, therefore preferably the third scheme, that is, make
For the preferred embodiment of the utility model, the left and right, which is lifted, reprints the head lifting part peace transfer of frame I 121 and carries component, front and back
Lift reprint frame 112 head lifting part peace transfer carry component, left and right lift reprint frame II 211 head lifting part peace transfer carry
Component is electric screw rod structure.
Cause system too fat to move for the ease of taking electricity and preventing from excessive circuit-line is arranged, as the utility model into
One step improvement project, the promotion pallet 111 and transport reprint trolley 21 and are all made of contact automatic electricity taking mode, promote support
Disk 111 and transport reprint trolley 21 and carry out taking electricity by taking pantograph structure to contact with power lead.
This Automated tridimensional warehousing system is fully digitalization control unit, can be seamless with the number bus of Intelligent logistics
Connection realize concentrate digital management, carried out by the way of delivering in relays cargo put in storage and export, coordinate Intelligent logistics
Fully digitalization warehousing and export may be implemented in automated guided vehicle；It is arranged since freight lifting rehandling facilities 1 is embedded in
Inside in 3 rear and front end of position in storehouse material rest device, pallet 12 is symmetrical is fixed at cargo hoister for the disengaging of two pieces cargo
The left and right sides of structure 11, cargo disengaging pallet 12 are located at the end of the ground floor of 3 multilayer position in storehouse material frame structure of position in storehouse material rest device
Portion position in storehouse position and the end position in storehouse are the structures that front end face or rear end face open, therefore 3 rear and front end of position in storehouse material rest device
Position passes in and out other positions outside the position of pallet 12 except cargo and can be used as position in storehouse use, improves space utilization to greatest extent
Rate；Include braced frame and the hoistway that is arranged inside braced frame since pallet is oriented to lifting piece, braced frame be left,
The three face open architectures that right, front or behind open promote pallet 111 and are arranged in hoistway, therefore promote support by controlling
The position in storehouse that the work compound of disk 111 and transport reprinting trolley 21 may be implemented above or below cargo disengaging pallet 12 can access
Cargo；Since position in storehouse material rest device 3 is simple multilayer position in storehouse material frame structure, inside be not provided with actuating unit, therefore tie
Structure is simple, easy to maintain；This Automated tridimensional warehousing system, high degree of automation can be layered the position in storehouse rack of setting not
The allocation and transportation of warehoused cargo are realized under the premise of actuating unit is set, while can realize and make full use of space, especially suitable for intelligence
It can logistics.
Claims (7)
1. a kind of Automated tridimensional warehousing system, including freight lifting rehandling facilities (1), cargo disengaging position in storehouse rehandling facilities (2),
Position in storehouse material rest device (3) and electric control gear；It is characterized in that,
The position in storehouse material rest device (3) is multilayer position in storehouse material frame structure, the middle part of multilayer position in storehouse material frame structure in left and right directions
Small vehicle passage is reprinted through the transport of multilayer position in storehouse material frame structure equipped with front-rear direction, transport reprints small vehicle passage by multilayer position in storehouse
Material frame structure is divided into left and right two parts, and the transport of every layer of position in storehouse material frame structure is reprinted to be equipped on small vehicle passage and be set along the longitudinal direction
Vehicle guide is reprinted in the transport set, and every layer of position in storehouse material frame structure is equipped with multiple compartments in the longitudinal direction, and each compartment is one
Bin level is equipped with longitudinal supports be arranged at section that roll setting in left-right direction, multiple on the plate upper surface per bin level
Roller；
The end of small vehicle passage is reprinted in freight lifting rehandling facilities (1) setting in the transport of position in storehouse material rest device (3), and
Freight lifting rehandling facilities (1) is embedded to be arranged in the inside of position in storehouse material rest device (3) rear and front end, freight lifting rehandling facilities
(1) include freight lifting mechanism (11) and cargo disengaging pallet (12), cargo disengaging pallet (12) is set as two pieces, symmetrical
It is fixed at the left and right sides of freight lifting mechanism (11), cargo disengaging pallet (12) is located at position in storehouse material rest device (3) multilayer
The end position in storehouse position of the ground floor of position in storehouse material frame structure and the end position in storehouse are the structures that front end face or rear end face open；
Cargo disengaging pallet (12) includes that reprinting frame I (121) is lifted in multiple left and right, and left and right, which is lifted, reprints frame I (121) along right and left
Internal to cargo disengaging pallet (12) is horizontally set on, it includes head lifting part peace transfer load portion that left and right, which lifts and reprints frame I (121),
Part, head lifting part can lift left and right and lift the upper surface that reprinting frame I (121) makes its upper surface higher than cargo disengaging pallet (12),
Component is reprinted in translation can make the left and right after lifting lift reprinting frame I (121) translational movement in left-right direction；
Freight lifting mechanism (11) includes promoting pallet (111) and promotion pallet (111) being made vertically to move up and down
Pallet is oriented to lifting piece, and it includes braced frame and the hoistway that is arranged inside braced frame that pallet, which is oriented to lifting piece, support
Frame be left, right, front or behind open three face open architectures, promoted pallet (111) be arranged in hoistway；Promote support
The upper surface of disk (111) is equipped with longitudinal carrying rollers being arranged at section that roll setting in left-right direction, multiple；Promote pallet
(111) corresponded on upper surface cargo disengaging pallet (12) left and right lift reprint frame I (121) position be additionally provided with left and right directions
It lifts reprinting frame and lifts reprinting frame by bit port positioned at the longitudinal carrying roller being arranged at section by bit port and the left and right in the left and right of setting
Each section between；It is additionally provided with multiple front and back lift inside promotion pallet (111) and reprints frame (112), front and back lift reprints frame (112)
It is horizontally set on the inside of the promotion pallet (111) between longitudinal carrying roller along the longitudinal direction and front and back reprinting frame (112) of lifting is located at
The lower section for reprinting frame by bit port is lifted in left and right, and front and back reprinting frame (112) of lifting includes that the transfer of head lifting part peace carries component, support
The front and back upper rolling surface lifted reprinting frame (112) and its upper surface is made to be higher than longitudinal carrying roller can be lifted by lifting component, and component is reprinted in translation
Front and back lift after lifting can be made to reprint frame (112) translational movement along the longitudinal direction；
The cargo disengaging position in storehouse rehandling facilities (2) includes setting up the transport reprinting trolley for being mounted on every layer of position in storehouse material frame structure
Trolley (21) is reprinted in transport on guide rail；It includes the idler wheel and peace that vehicle guide cooperation is reprinted with transport that trolley (21) is reprinted in transport
Idler wheel driving on idler wheel；The upper surface that trolley (21) is reprinted in transport is being arranged, multiple equipped with rolling along the longitudinal direction
The lateral carrying roller being arranged at section；Transport reprints the front and back of corresponding promotion pallet (111) on the upper surface of trolley (21) and lifts reprinting
The front and back reprinting frame of lifting that the position of frame (112) is additionally provided with front-rear direction setting allows by bit port and the front and back reprinting frame of lifting
Bit port is located between each section of the lateral carrying roller at section setting that trolley (21) is reprinted in transport；It is internal that trolley (21) is reprinted in transport
It is lifted equipped with multiple left and right and reprints frame II (211), left and right lifts reprinting frame II (211) and is horizontally set on lateral support in left-right direction
Transport reprinting trolley (21) between roller is internal and left and right is lifted to lift to reprint frame and step down before and after reprinting frame II (211) is located at and be led to
The lower section in road；Respective transfer reprints the left and right support of trolley (21) on the plate upper surface of every bin level of position in storehouse material rest device (3)
Lift reprint frame II (211) position be additionally provided with left and right directions setting left and right lift reprint frame lifted by bit port and the left and right
Reprinting frame is located at by bit port between each section of the longitudinal carrying roller of every bin level of position in storehouse material rest device (3) being arranged at section；
The electric control gear includes industrial control computer, cargo warehouse entry control loop and cargo export control loop, industry
Control computer is built-in with position in storehouse coordinate information, position in storehouse loads information and position in storehouse option program, industrial control computer respectively with
The pallet that the head lifting part peace transfer load component, freight lifting mechanism (11) of reprinting frame I (121) are lifted in left and right is oriented to lifting parts
Part, the front and back head lifting part peace transfer for lifting reprinting frame (112) carries component, the idler wheel of transport reprinting trolley (21) drives, is left
Lift the head lifting part peace transfer load component electrical connection for reprinting frame II (211) in the right side.
2. Automated tridimensional warehousing system according to claim 1, which is characterized in that the left and right support of every bin level
It lifts to reprint in frame recessing groove and overwhelms formula position-limit mechanism (31) equipped with elasticity, elasticity overwhelms formula position-limit mechanism (31) and is arranged in position in storehouse
Left and right, which is lifted, reprints frame recessing groove and corresponds to the end position of position in storehouse Hatch Opening, elasticity overwhelm formula position-limit mechanism (31) include limiting plate,
Flexible Reset component and upright angle limit component, the length direction that limiting plate lifts reprinting frame recessing groove along the left and right of position in storehouse turn over
The slot bottom for reprinting frame recessing groove, Flexible Reset component one end are lifted in folding setting, the left and right that limiting plate bottom end is hingedly mounted on position in storehouse
Lifted with the left and right of position in storehouse reprint frame recessing groove slot bottom connect, the connection of the other end and limiting plate, upright angle limit component sets
Set the articulated position in limiting plate.
3. Automated tridimensional warehousing system according to claim 2, which is characterized in that the top of the limiting plate is equipped with
It is lifted along the left and right of position in storehouse and reprints the support load roller that frame rolls setting by the length direction of bit port.
4. Automated tridimensional warehousing system according to claim 1 or 2 or 3, which is characterized in that the promotion pallet
(111) upper surface upper edge or so, which lifts to reprint, is additionally provided with perforation promotion pallet (111) upper table in frame resigning channel-length direction
The left and right in face lift reprint frame recessing groove, left and right lift reprint frame recessing groove be located at left and right lift reprint frame by bit port just under
Side, the front and back top for lifting reprinting frame (112)；It lifts to reprint frame and step down before and after the upper surface upper edge of transport reprinting trolley (21) and lead to
It is additionally provided with front and back lift through transport reprinting trolley (21) upper surface on road length direction and reprints frame recessing groove, front and back lift turns
Carrier recessing groove is located at front and back lift and reprints the top that frame lifts reprinting frame II (211) by underface, the left and right of bit port；Position in storehouse
The plate upper surface upper edge of every bin level or so of material rest device (3) lifts to reprint is additionally provided with a left side in frame resigning channel-length direction
The right side, which is lifted, reprints frame recessing groove, and left and right lifts reprinting frame recessing groove and lifts the underface for reprinting frame by bit port positioned at left and right.
5. Automated tridimensional warehousing system according to claim 1 or 2 or 3, which is characterized in that the cargo disengaging support
The upper surface of disk (12) is equipped with the multiple lateral carrying rollers for rolling setting along the longitudinal direction, and the left and right, which is lifted, reprints frame I
(121) it is arranged between lateral carrying roller.
6. Automated tridimensional warehousing system according to claim 1 or 2 or 3, which is characterized in that the left and right, which is lifted, to be turned
The head lifting part peace transfer of carrier I (121) carries component, the front and back head lifting part peace transfer load portion for lifting reprinting frame (112)
It is electric screw rod structure that part, left and right, which lift and reprint the head lifting part peace transfer load component of frame II (211),.
7. Automated tridimensional warehousing system according to claim 1 or 2 or 3, which is characterized in that the promotion pallet
(111) it reprints trolley (21) with transport and is all made of contact automatic electricity taking mode, promote pallet (111) and trolley is reprinted in transport
(21) it carries out taking electricity by taking pantograph structure to contact with power lead.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721452375.7U CN207645139U (en) | 2017-11-03 | 2017-11-03 | Automated tridimensional warehousing system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721452375.7U CN207645139U (en) | 2017-11-03 | 2017-11-03 | Automated tridimensional warehousing system |
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| CN207645139U true CN207645139U (en) | 2018-07-24 |
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ID=62884997
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107867528A (en) * | 2017-11-03 | 2018-04-03 | 徐州德坤电气科技有限公司 | A kind of Automated tridimensional warehousing system |
| CN109969674A (en) * | 2019-04-01 | 2019-07-05 | 北京极智嘉科技有限公司 | A kind of robot control system and method calculate equipment and storage medium |
| US11365050B2 (en) | 2018-09-12 | 2022-06-21 | Beijing Geekplus Technology Co., Ltd. | Robot control system and method, computing device, and storage medium |
-
2017
- 2017-11-03 CN CN201721452375.7U patent/CN207645139U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107867528A (en) * | 2017-11-03 | 2018-04-03 | 徐州德坤电气科技有限公司 | A kind of Automated tridimensional warehousing system |
| CN107867528B (en) * | 2017-11-03 | 2023-06-30 | 徐州德坤电气科技有限公司 | Automatic stereoscopic warehouse system |
| US11365050B2 (en) | 2018-09-12 | 2022-06-21 | Beijing Geekplus Technology Co., Ltd. | Robot control system and method, computing device, and storage medium |
| CN109969674A (en) * | 2019-04-01 | 2019-07-05 | 北京极智嘉科技有限公司 | A kind of robot control system and method calculate equipment and storage medium |
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