CN101712404A - Double pallet fork rectangular coordinate robot stereoscopic warehouse - Google Patents
Double pallet fork rectangular coordinate robot stereoscopic warehouse Download PDFInfo
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- CN101712404A CN101712404A CN200910219077A CN200910219077A CN101712404A CN 101712404 A CN101712404 A CN 101712404A CN 200910219077 A CN200910219077 A CN 200910219077A CN 200910219077 A CN200910219077 A CN 200910219077A CN 101712404 A CN101712404 A CN 101712404A
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- crossbeam
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- vertical beam
- rectangular coordinate
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Abstract
The invention discloses a double pallet fork rectangular coordinate robot stereoscopic warehouse. The warehouse comprises multilayer goods shelves, a stacking crane kinematic system and a stock in/out mechanism, wherein the goods shelves are arranged in a single-roadway double-row goods shelves manner, the stacking crane kinematic system comprises vertical beams arranged on the two ends of the roadway, cross beams arranged between the vertical beams and a stacking crane, the two ends of each cross beam are separately latched on the vertical beams and slide vertically along the axial direction of the vertical beams, the cross beams are provided with over two stacking cranes and a crane driving mechanism, and the crane driving mechanism drives the stacking cranes to slide along the cross beams. The invention is also characterized in that the MCS structure in the current automatic stereoscopic warehouse can be changed and the number of the stacking cranes can be increased to significantly increase the overall operating efficiency of the warehouse and ensure the stability of the system in higher operating condition, thus the increase of the height of the stereoscopic warehouse can be realized.
Description
Technical field
The invention belongs to the Storage of Goods transport field, relate to a kind of tiered warehouse facility, especially a kind of double pallet fork rectangular coordinate robot stereoscopic warehouse.
Background technology
Existing automatic stereowarehouse can be divided into unit load form, through, horizontal cyclic formula and Vertical Circulating by the shelf construction form.Wherein extensive with the use of unit load form warehouse, it is the stronger warehouse form of a kind of applicability.Following mask body is introduced this warehouse form:
To be shelf be divided into plurality of rows along the Width in warehouse to the characteristics in unit load form warehouse, and per two row's shelf are one group, a tunnel are arranged for stakcer crane or other crane job therebetween.Unit load form automatic stereowarehouse is that each tunnel has a tunnel car basically, the last lower guideway of tunnel car forms gigantic large rectangle for girder steel and the ground rail that sets up in the air, so tall and big object, be subjected to overall design constraints, its speed of travel is generally 4～120m/min, and hoisting speed is generally 3～30m/min.The design height major part of existing unit load form automatic stereowarehouse is between 15m～20m.Owing to be subjected to the restriction of height, in order to guarantee storage capacity, certainly will be cost to increase floor area, the space efficiency of tiered warehouse facility is not well embodied.And the principal element of restriction warehouse height is the efficient of warehouse accumulating machinery.Promptly when the shelf height increased, if the efficient of warehouse accumulating machinery can not improve synchronously, so whole warehouse accumulating efficient still can not improve.Therefore, in order to improve the warehouse height, save floor area greatly, must be prerequisite with the efficient that improves accumulating machinery, just to improve the speed of travel and the stability of stakcer crane or other hoisting cranes, and then improve the operating efficiency in three-dimensional storehouse, but must greatly improve fund input (to improve its stability) like this, be unfavorable for again controlling cost.
In sum, in order to control cost and to improve the operating efficiency of unit load form tiered warehouse facility, must fundamentally improve the structure of existing tunnel car.
Summary of the invention
The objective of the invention is to overcome the shortcoming of above-mentioned prior art, a kind of double pallet fork rectangular coordinate robot stereoscopic warehouse is provided, the present invention is by improving warehouse height and warehouse accumulating mechanical structures, the space availability ratio in warehouse and the operating efficiency of warehouse accumulating machinery have not only effectively been improved, and promoted tiered warehouse facility single-piece stability and safety, thereby improve enterprise profit.
The objective of the invention is to solve by the following technical programs:
This double pallet fork rectangular coordinate robot stereoscopic warehouse, comprise the multilayer shelf, stakcer crane kinematic scheme and turnover cargo aircraft structure, described shelf adopt the double shelf arranged in form in single tunnel, described stakcer crane kinematic scheme comprises the vertical beam of being located at two ends, single tunnel and is located at crossbeam and stakcer crane between the vertical beam, the two ends of described crossbeam are detained respectively to be located on the vertical beam and also can be slided along the axially vertical of vertical beam, described crossbeam is provided with two above stakcer cranes, also be provided with hoist drive mechanism on the crossbeam, described hoist drive mechanism drives stakcer crane and slides along crossbeam.
Above-mentioned hoist drive mechanism is made up of many groups of synchronous tape drive mechanisms side by side, every group of synchronous tape drive mechanism is equipped with a dolly transmission and is with synchronously, every dolly transmission is with synchronously and is connected with a stakcer crane, and described stakcer crane is buckled on the crossbeam and can be free to slide along the crossbeam level.
Above-mentioned synchronous tape drive mechanism comprises electrical motor and two drive wheels, and two drive wheels are located at the crossbeam two ends respectively relatively, and is provided with the dolly transmission between two drive wheels and is with synchronously, and the output shaft of first electrical motor is connected with one of them live axle.
Above-mentioned vertical beam is provided with cross-rail-elevating mechanism, described cross-rail-elevating mechanism comprises is located at the vertical beam locating wheel and the 3rd motor at two ends up and down respectively, described the 3rd motor is provided with main drive wheel, is wound with hoisting wirerope between described main drive wheel and the locating wheel, and hoisting wirerope is connected with crossbeam.
Above-mentioned vertical beam is provided with synchronous tape drive mechanism, and described synchronous tape drive mechanism is connected with the crossbeam two ends and drives crossbeam and slides along vertical beam is vertical.
Above-mentioned stakcer crane is made up of crossbeam slide block and three grades of fork mechanisms that are fixed on the crossbeam slide block, the crossbeam slide block is buckled on the crossbeam, described three grades of fork mechanisms comprise second motor and the one-level pallet fork of being located at the bottom, the top of one-level pallet fork is connected with the secondary pallet fork through slide rail, and the top of secondary pallet fork is connected with three grades of pallet forks through slide rail; Described second motor is connected with three grades of pallet forks with the secondary pallet fork by driver train.
Above-mentioned vertical beam and crossbeam are industrial guide rail.
The present invention has following beneficial effect:
Compare with general unit load form warehouse, the present invention is when finishing the coupled cycle operation of once depositing and getting, and what deposit in simultaneously is that two what take stock thing and taking-up also is two things of taking stock, and the thing of can only each access one under existing mode taking stock.At the single homework circulation time of relatively depositing or getting, situation is similar.By such process of depositing and getting, as can be seen, owing to changed integral form, the operating efficiency in three-dimensional storehouse has obtained very big raising.Especially under the situation of " the transfer cycle is short, loading and unloading capacity big, operation often ", power of the present invention will be embodied to greatest extent.
Outstanding feature of the present invention also is by changing the moving architecture in the existing automated three-dimensional storehouse, the quantity of increase stakcer crane, can significantly improve the efficient of existing warehouse overall operation, and the stability of assurance system under higher operating condition, thereby make the increase of three-dimensional storehouse height become possibility.
Description of drawings
Fig. 1 is a spatial structure sketch of the present invention;
Fig. 2 is the structural representation of stakcer crane 3 of the present invention;
Fig. 3 is the structural representation of synchronous tape drive mechanism of the present invention;
Fig. 4 is the birds-eye view of Fig. 3;
Fig. 5 is the A-A cutaway view of Fig. 3;
Fig. 6 is the B-B cutaway view of Fig. 3;
Fig. 7 is of the present invention hanging (directly) beam type drive mechanism scheme drawing.
Wherein: 1 is vertical beam; 2 is crossbeam; 3 is stakcer crane; 4 is shelf; 5 is the crossbeam slide block; 6 is first motor; 7 is three grades of fork mechanisms; 8 is drive wheel; 9 are with synchronously for the dolly transmission; 10 is second motor; 11 is the one-level pallet fork; 12 is the secondary pallet fork; 13 is three grades of pallet forks; 14 is slide rail; 15 is goods; 16 are the auxiliary positioning wheel; 17 is to be with jig synchronously; 18 is three-motor; 19 is hoisting wirerope; 20 is locating wheel.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is done and to describe in further detail:
Referring to Fig. 1, this double pallet fork rectangular coordinate robot stereoscopic warehouse of the present invention comprises multilayer shelf 4, stakcer crane kinematic scheme and turnover cargo aircraft structure, and shelf 4 adopt the double shelf arranged in form in single tunnel.The stakcer crane kinematic scheme comprises the vertical beam 1 of being located at two ends, single tunnel and is located at crossbeam 2 and stakcer crane 3 between the vertical beam 1, the two ends of crossbeam 2 are detained respectively to be located on the vertical beam 1 and also can be slided along the axially vertical of vertical beam 1, crossbeam 2 is provided with two above stakcer cranes 3, also be provided with hoist drive mechanism on the crossbeam 2, hoist drive mechanism drives stakcer crane 3 and slides along crossbeam 2.Described vertical beam 1 and crossbeam 2 are industrial guide rail.
Referring to Fig. 2 and Fig. 3, described stakcer crane 3 is made up of crossbeam slide block 5 and three grades of fork mechanisms 7 that are fixed on the crossbeam slide block 5, crossbeam slide block 5 is buckled on the crossbeam 2, three grades of fork mechanisms 7 comprise second motor 10 and the one-level pallet fork 11 of being located at the bottom, the top of one-level pallet fork 11 is connected with secondary pallet fork 12 through slide rail 14, and the top of secondary pallet fork 12 is connected with three grades of pallet forks 13 through slide rail 14; Second motor 10 is connected with three grades of pallet forks 13 with secondary pallet fork 12 by driver train.
Referring to Fig. 3, Fig. 4, Fig. 5 and Fig. 6, above-described hoist drive mechanism is made up of many groups of synchronous tape drive mechanisms side by side, every group of synchronous tape drive mechanism is equipped with a dolly transmission and is with synchronously, every dolly transmission is with synchronously and is connected with a stakcer crane 3, and stakcer crane 3 is buckled on the crossbeam 2 and can be free to slide along crossbeam 2 levels.Synchronously tape drive mechanism comprises that electrical motor 6 and 8, two drive wheels 8 of two drive wheels are located at crossbeam 2 two ends respectively relatively, and is provided with the dolly transmission between two drive wheels 8 and is with the output shaft of 9, the first electrical motors 6 to be connected with 8 of one of them drive wheels synchronously.
Referring to Fig. 7, vertical beam 1 is provided with cross-rail-elevating mechanism, cross-rail-elevating mechanism comprises locating wheel 20 and the 3rd motor 18 of being located at vertical beam two ends about in the of 1 respectively, wherein the 3rd motor 18 is provided with main drive wheel, be wound with hoisting wirerope 19 between main drive wheel and the locating wheel 20, hoisting wirerope 19 is connected with crossbeam 2.
Alternative:
The present invention can change the form of cross-rail-elevating mechanism into the lifting that synchronous tape drive mechanism drives crossbeam 2, be specially setting and the identical synchronous band driving machine of composition hoist drive mechanism on vertical beam 1, tape drive mechanism is connected with crossbeam 2 two ends and drives crossbeam 2 along vertical beam 1 vertical slip synchronously.
No matter the present invention when stakcer crane 3 carries out operation, is once " depositing the circulation of (getting) single homework " or " depositing-get the multiple working circulation " when work usually, all can only take stock to one and operate.What not only can be wasted in out the plenty of time, put in storage moves, and can't be competent at the harsh requirement of " the transfer cycle is short, loading and unloading capacity is big, operation often " especially.And the present invention has been owing to adopted two forms of carrying (also can be overloading) stakcer crane 3, once goes out, put can be simultaneously two things 15 (even more) of taking stock to be operated, and so just saved the processing time to consignment 15 greatly.In the ordinary course of things, in double pallet fork rectangular coordinate robot stereoscopic warehouse when operation,, two following equatioies can think to set up,
T＝t×(M÷m)①；
t＝k×(H÷v)②；
Wherein in the following formula, T is the operation total time, and t is average operating turnaround, and M is total kinds of goods number, and m is average each kinds of goods number of handling, and H is a three-dimensional storehouse height, and v is a hoisting speed, and k is a statistical constant.And advance of the present invention is, for equation 2., because the present invention adopts the mode (perhaps steel rope type of drive) of synchronous strap drive to promote crossbeam, hoisting speed v is increased, so when three-dimensional storehouse height H increased, (H ÷ v) can remain unchanged substantially.Under statistical constant k unmodified condition, average operating turnaround t is basic unmodified.Again for equation 1., under M unmodified situation, t is constant because m increases, and operation total time T will reduce, and that is to say that efficient has obtained raising.It more than is the basic assumption that adopts the present invention to raise the efficiency.For enterprise, reduced the logistics connecting time, just can in the same time, capture the market bigger than the adversary, obtain than the more profit of adversary, thereby create the bigger performance of enterprises, improve the market competitiveness of enterprise.
The above technical scheme of the present invention has only provided the simplest a kind of situation---and moving fastening loads two stakcer cranes in system.In actual application, can reach the synchronized operation of many stakcer cranes by the improvement of structure and Control Software, make tiered warehouse facility obtain higher operation performance.Thereby not only can make enterprise's cost of saving the area, and further additional income.
Claims (7)
1. double pallet fork rectangular coordinate robot stereoscopic warehouse, comprise multilayer shelf (4), stakcer crane kinematic scheme and turnover cargo aircraft structure, described shelf (4) adopt the double shelf arranged in form in single tunnel, it is characterized in that: described stakcer crane kinematic scheme comprises the vertical beam (1) of being located at two ends, single tunnel and is located at crossbeam (2) and stakcer crane (3) between the vertical beam (1), the two ends of described crossbeam (2) are detained respectively and are located at that vertical beam (1) is gone up and can slide along the axially vertical of vertical beam (1), described crossbeam (2) is provided with two above stakcer cranes (3), crossbeam also is provided with hoist drive mechanism on (2), and described hoist drive mechanism drives stakcer crane (3) and slides along crossbeam (2).
2. double pallet fork rectangular coordinate robot stereoscopic warehouse according to claim 1, it is characterized in that: described hoist drive mechanism is made up of many groups of synchronous tape drive mechanisms side by side, every group of synchronous tape drive mechanism is equipped with a dolly transmission and is with (9) synchronously, every dolly transmission is with synchronously and is connected with a stakcer crane (3), and described stakcer crane (3) is buckled in crossbeam (2) and goes up and can be free to slide along crossbeam (2) level.
3. double pallet fork rectangular coordinate robot stereoscopic warehouse according to claim 2, it is characterized in that: described synchronous tape drive mechanism comprises first electrical motor (6) and two drive wheels (8), two drive wheels (8) are located at crossbeam (2) two ends respectively relatively, and be provided with the dolly transmission between two drive wheels (8) and be with (9) synchronously, the output shaft of first electrical motor (6) is connected with one of them drive wheel (8) axle.
4. double pallet fork rectangular coordinate robot stereoscopic warehouse according to claim 1, it is characterized in that: described vertical beam (1) is provided with cross-rail-elevating mechanism, described cross-rail-elevating mechanism comprises is located at vertical beam (1) locating wheel at two ends (20) and the 3rd motor (18) up and down respectively, described the 3rd motor (18) is provided with main drive wheel, be wound with hoisting wirerope (19) between described main drive wheel and the locating wheel (20), hoisting wirerope (19) is connected with crossbeam (2).
5. double pallet fork rectangular coordinate robot stereoscopic warehouse according to claim 1, it is characterized in that: described vertical beam (1) is provided with synchronous tape drive mechanism, and described synchronous tape drive mechanism is connected with crossbeam (2) two ends and drives crossbeam (2) along the vertical slip of vertical beam (1).
6. double pallet fork rectangular coordinate robot stereoscopic warehouse according to claim 1, it is characterized in that: described stakcer crane (3) is made up of crossbeam slide block (5) and three grades of fork mechanisms (7) of being fixed on the crossbeam slide block (5), crossbeam slide block (5) is buckled on the crossbeam (2), described three grades of fork mechanisms (7) comprise second motor (10) and the one-level pallet fork (11) of being located at the bottom, the top of one-level pallet fork (11) is connected with secondary pallet fork (12) through slide rail (14), and the top of secondary pallet fork (12) is connected with three grades of pallet forks (13) through slide rail (14); Described second motor (10) is connected with three grades of pallet forks (13) with secondary pallet fork (12) by driver train.
7. double pallet fork rectangular coordinate robot stereoscopic warehouse according to claim 1 is characterized in that: described vertical beam (1) and crossbeam (2) are industrial guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910219077A CN101712404A (en) | 2009-11-20 | 2009-11-20 | Double pallet fork rectangular coordinate robot stereoscopic warehouse |
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| Application Number | Priority Date | Filing Date | Title |
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| CN200910219077A CN101712404A (en) | 2009-11-20 | 2009-11-20 | Double pallet fork rectangular coordinate robot stereoscopic warehouse |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102030169A (en) * | 2010-11-16 | 2011-04-27 | 南京康尼科技实业有限公司 | Multilayer piler storage device |
| CN103010648A (en) * | 2012-12-25 | 2013-04-03 | 云南财经大学 | Three-dimensional warehousing method for automatic virtual storage bin and warehousing system |
| CN103803228A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Lifting device |
| CN105059804A (en) * | 2015-07-17 | 2015-11-18 | 济南大学 | Automatic bar warehouse |
| CN105730957A (en) * | 2016-03-31 | 2016-07-06 | 安徽理工大学 | Intelligent expressage storing and taking device |
| CN106219117A (en) * | 2016-08-25 | 2016-12-14 | 宁波朝平智能科技有限公司 | The layer of full-automatic compact shelving thesaurus moves car body |
| CN106347914A (en) * | 2016-10-28 | 2017-01-25 | 天津城建大学 | Three-dimensional warehouse cargo storage and taking device |
| CN107021314A (en) * | 2017-05-16 | 2017-08-08 | 苏州必威物流装备有限公司 | It is a kind of can across shelf picking tiered warehouse facility |
| CN112006444A (en) * | 2020-09-04 | 2020-12-01 | 常州工学院 | Attic type goods shelf based on space conversion of upper-layer floor trolley |
| CN112678386A (en) * | 2019-10-18 | 2021-04-20 | 塞弗拉合作社 | Apparatus and method for selectively removing panels having different surface treatments |
| CN113060490A (en) * | 2021-03-31 | 2021-07-02 | 昆山精讯电子技术有限公司 | Liquid crystal display panel carrying trolley |
| CN113557207A (en) * | 2019-02-06 | 2021-10-26 | 克朗设备公司 | System and method for vehicle position calibration using rack post identification and mast swing compensation |
| CN114572602A (en) * | 2022-04-08 | 2022-06-03 | 卜文涛 | Stereoscopic warehouse with automatic stacking function |
-
2009
- 2009-11-20 CN CN200910219077A patent/CN101712404A/en active Pending
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102030169A (en) * | 2010-11-16 | 2011-04-27 | 南京康尼科技实业有限公司 | Multilayer piler storage device |
| CN103803228A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Lifting device |
| CN103803228B (en) * | 2012-11-08 | 2015-11-18 | 沈阳新松机器人自动化股份有限公司 | Jacking system |
| CN103010648A (en) * | 2012-12-25 | 2013-04-03 | 云南财经大学 | Three-dimensional warehousing method for automatic virtual storage bin and warehousing system |
| CN103010648B (en) * | 2012-12-25 | 2015-05-20 | 云南财经大学 | Three-dimensional warehousing method for automatic virtual storage bin and warehousing system |
| CN105059804A (en) * | 2015-07-17 | 2015-11-18 | 济南大学 | Automatic bar warehouse |
| CN105730957B (en) * | 2016-03-31 | 2017-12-19 | 安徽理工大学 | A kind of intelligent express delivery access device |
| CN105730957A (en) * | 2016-03-31 | 2016-07-06 | 安徽理工大学 | Intelligent expressage storing and taking device |
| CN106219117A (en) * | 2016-08-25 | 2016-12-14 | 宁波朝平智能科技有限公司 | The layer of full-automatic compact shelving thesaurus moves car body |
| CN106219117B (en) * | 2016-08-25 | 2018-06-26 | 宁波朝平智能科技有限公司 | The layer of full-automatic compact shelving repository moves car body |
| CN106347914A (en) * | 2016-10-28 | 2017-01-25 | 天津城建大学 | Three-dimensional warehouse cargo storage and taking device |
| CN107021314A (en) * | 2017-05-16 | 2017-08-08 | 苏州必威物流装备有限公司 | It is a kind of can across shelf picking tiered warehouse facility |
| CN113557207A (en) * | 2019-02-06 | 2021-10-26 | 克朗设备公司 | System and method for vehicle position calibration using rack post identification and mast swing compensation |
| CN113557207B (en) * | 2019-02-06 | 2022-10-21 | 克朗设备公司 | System and method for vehicle position calibration using shelf post identification and gantry swing compensation |
| CN112678386A (en) * | 2019-10-18 | 2021-04-20 | 塞弗拉合作社 | Apparatus and method for selectively removing panels having different surface treatments |
| CN112006444B (en) * | 2020-09-04 | 2021-08-13 | 常州工学院 | Attic type goods shelf based on space conversion of upper-layer floor trolley |
| CN112006444A (en) * | 2020-09-04 | 2020-12-01 | 常州工学院 | Attic type goods shelf based on space conversion of upper-layer floor trolley |
| CN113060490A (en) * | 2021-03-31 | 2021-07-02 | 昆山精讯电子技术有限公司 | Liquid crystal display panel carrying trolley |
| CN113060490B (en) * | 2021-03-31 | 2022-08-16 | 昆山精讯电子技术有限公司 | Liquid crystal display panel carrying trolley |
| CN114572602A (en) * | 2022-04-08 | 2022-06-03 | 卜文涛 | Stereoscopic warehouse with automatic stacking function |
| CN114572602B (en) * | 2022-04-08 | 2024-04-09 | 东莞市源晟仓储设备有限公司 | Stereoscopic warehouse with automatic stacking function |
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Open date: 20100526 |