CN102616703B - Track-free intelligent moving device of goods shelf warehouse - Google Patents

Track-free intelligent moving device of goods shelf warehouse Download PDF

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Publication number
CN102616703B
CN102616703B CN201210110978.4A CN201210110978A CN102616703B CN 102616703 B CN102616703 B CN 102616703B CN 201210110978 A CN201210110978 A CN 201210110978A CN 102616703 B CN102616703 B CN 102616703B
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China
Prior art keywords
car
connects
shelf warehouse
wheel
door frame
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CN201210110978.4A
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Chinese (zh)
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CN102616703A (en
Inventor
缪慰时
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缪慰时
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Priority to CN201210110978.4A priority Critical patent/CN102616703B/en
Publication of CN102616703A publication Critical patent/CN102616703A/en
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Publication of CN102616703B publication Critical patent/CN102616703B/en

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Abstract

The invention relates to a track-free intelligent moving device of a goods shelf warehouse, which is particularly used for moving work of goods in the goods shelf warehouse and belongs to the technical field of logistics. The track-free intelligent moving device comprises a car body and a door frame, and the door frame is arranged in the front of the car body. A storage battery, a hydraulic power pack and a master controller are arranged in the car body. Four corners of the lower end of the car body are sequentially connected with a driving wheel, a steering wheel and a two follower wheel. The door frame comprises a front moving support, an outer door frame, an inner door frame and a sliding support. A push-out oil cylinder is connected with the car body, and a piston rod of the push-out oil cylinder is connected with the front moving support. A guide track is further arranged in the front of the car body, the front moving support is pushed by the push-out oil cylinder and slides in the guide track through a roller arranged at the lower end of the front moving support. The track-free intelligent moving is simple, compact and reasonable in structure, intelligent access of the goods shelf warehouse is achieved, cost is low, and working efficiency is greatly improved. Working burden of work staff is reduced, and continuous operation of the goods shelf warehouse is achieved.

Description

The intelligent Handling device of trackless of shelf warehouse
Technical field
The intelligent Handling device of trackless that the present invention relates to a kind of shelf warehouse, specifically, for the carrying work of goods in shelf warehouse, belongs to logistlcs technology field.
Background technology
In logistics system, current various lots of storage facilities remains general cargo posture warehouse, relies on the warehouse of manpower selection semi-mechanization transportation tray goods.
The application in automatic material flow warehouse is increasingly extensive in recent years.The most employing of supporting and mode of management of its Automatic Warehouse recognized location sheet and is identified as the automatic selection technology on basis and sails formula lane stacker shelf into photoelectric pulse signal counting.According to the statistics of 2010, the recoverable amount of whole nation Automatic Warehouse is about 1000,90 of newly-built large-sized automated warehouses in 2010, more than 95% be to sail formula lane stacker shelf into, be characterized in, in the centre of both sides High Level Rack, piler passage is set, by the lane stacker of rail mounted and photoelectrometer numerical expression location identification system, form and sail formula access system into.But the construction requirements of this system is very high: it is all millimetre-sized that the row of shelf itself and the levelness of row, straightness accuracy and squareness require, the passage width of piler is generally between 1.0-2m, track and day rail are set in passage, and the required distance error between line of centers and the shelf of passage is not more than 5mm.And common shelf warehouse does not generally have accuracy requirement, building of shelf is extensive, and general passage width is between 2-4m, by manually-operated order-picking trucks or fork truck, completes access goods task.Both difference are huge, are therefore difficult to common shelf warehouse directly to transform as the automated warehouse of lane stacker system.
Remove original shelf, layout rail type warehousing system also will expend a large amount of human and material resources, financial resources and time again.
Summary of the invention
The object of the invention is to overcome above-mentioned weak point, thereby the intelligent Handling device of the trackless that a kind of shelf warehouse is provided, on the basis of original shelf warehouse, realizing common trackless intellectuality transports goods, the cost of transformation is low, and can realize the continuous running of shelf warehouse, work efficiency significantly promotes.
According to technical scheme provided by the invention, the intelligent Handling device of the trackless of shelf warehouse mainly comprises car body and door frame, and door frame is arranged on the front of car body.Storage battery, hydraulic power bag and primary controller are installed in described car body.Si Ge angle, described car body lower end connects driving wheel, wheel flutter and two flower wheels successively.
On the adapter plate of described car body below, connect support, in support, by clutch shaft bearing, connect movable motor, movable motor lower end connects the first retarder, connects and drive wheel on the first retarder.The first driven gear is installed on described movable motor.On described adapter plate, turning rack is installed, is connected steer motor on turning rack, connect the second retarder in steer motor, connect the first driving gear on the second retarder, the first driving gear engages with the first driven gear on movable motor.Described steer motor drives the first driving gear to rotate, and the first driving gear drives the first driven gear of engagement to rotate, and the first driven gear drives the driving vehicle wheel rotation of movable motor and lower end.
Described door frame comprises reach frame, outer mast, inner upright mounting and balladeur train.On described car body, connect ejection cylinder, the piston rod of ejection cylinder connects reach frame; Car body front is also provided with guide rail, and reach frame is promoted by ejection cylinder, and the roller of installing by lower end slides in guide rail.
On described reach frame, outer mast, inner upright mounting and balladeur train are installed.Described inner upright mounting outside connects the first guide wheel, and the first guide wheel is arranged on the inner side of outer mast, and inner upright mounting slides on outer mast by the first guide wheel.Elevating ram is installed in described outer mast both sides, and the piston rod of elevating ram is connected on the upper beam of inner upright mounting, by piston rod, promotes inner upright mounting lifting.Described balladeur train both sides connect the second guide wheel, and the second guide wheel is arranged on the inner side of inner upright mounting.Described balladeur train one end connects lifting chain, and the lifting chain other end is walked around reverse wheel and is fixed on inner upright mounting upper beam.On the upper beam of described balladeur train, connect two pallet forks, the distance between two pallet forks can be adjusted.
Connecting sensor installation frame on described balladeur train, establishes the first servomotor in installation of sensors framework.Described the first servomotor upper end is by enhancing screw connecting sensor installation frame.In described installation of sensors framework, be also provided with laser rangefinder and the imager that can identify RFID tag, on laser rangefinder, connect the second driven gear.The second servomotor one end that is arranged on laser rangefinder side connects the second driving gear, and the second driving gear engages with the second driven gear.The other communication antenna that is also provided with of described laser rangefinder.
Compared with the prior art the present invention has the following advantages:
The present invention is simple, compact and reasonable for structure; Realized the intelligent access of shelf warehouse, cost is low, and work efficiency significantly promotes; Alleviated staff's work load; Realized the continuous running of shelf warehouse.
Accompanying drawing explanation
Fig. 1 is front view of the present invention.
Fig. 2 is birds-eye view of the present invention.
Fig. 3 is the structural representation that drives wheel.
Fig. 4 is the front view of door frame.
Fig. 5 is the lateral plan of door frame.
Fig. 6 is the birds-eye view of door frame.
Fig. 7 is installation of sensors framework front view.
Fig. 8 is installation of sensors frame side view.
Fig. 9 is installation of sensors framework block diagram.
Description of reference numerals: 1-car body, 2-door frame, 3-drives wheel, 4-wheel flutter, 5-flower wheel, 6-storage battery, 7-hydraulic power bag, 8-primary controller, 9-guide rail, 10-adapter plate, 11-movable motor, 12-the first retarder, 13-turning rack, 14-clutch shaft bearing, 15-support, 16-the second retarder, 17-steer motor, 18-the first driving gear, 19-the first driven gear, 20-outer mast, 21-inner upright mounting, 22-elevating ram, 23-balladeur train, the 24-frame that moves forward, 25-the first guide wheel, 26-the second guide wheel, 27-lifting chain, 28-reverse wheel, 29-pallet fork, 30-roller, 31-ejection cylinder, 32-installation of sensors framework, 33-enhancing screw, 34-the first servomotor, 35-laser rangefinder, 36-imager, 37-the second servomotor, 38-the second driving gear, 39-the second driven gear, 40-communication antenna.
The specific embodiment
The present invention is below further described in connection with the embodiment in accompanying drawing:
As shown in Figure 1 and 2, the present invention mainly comprises car body 1 and door frame 2, and door frame 2 is arranged on the front of car body 1.The interior installation storage battery 6 of described car body 1, hydraulic power bag 7 and primary controller 8.Described car body 1 Si Ge angle, lower end connects driving wheel 3, wheel flutter 4 and two flower wheels 5 successively.Described storage battery 6 adopts three groups of lithium dynamical batteries or four groups of maintenance-free lead-acid batteries that whole work and control electric power are provided.
As shown in Figure 3, on the adapter plate 10 of described car body 1 below, connect support 15, in support 15, by clutch shaft bearing 14, connect movable motor 11, movable motor 11 lower ends connect on the first retarder 12, the first retarders 12 and connect and drive wheel 3.The first driven gear 19 is installed on described movable motor 11.On described adapter plate 10, turning rack 13 is installed, on turning rack 13, connect steer motor 17, in steer motor 17, connect and on the second retarder 16, the second retarders 16, connect the first driving gear 18, the first driving gears 18 and engage with the first driven gear 19 on movable motor 11.Described steer motor 17 drives the first driving gear 18 to rotate, and the first driving gear 18 drives the first driven gear 19 of engagement to rotate, and the first driven gear 19 drives the driving wheel 3 of movable motor 11 and lower end to rotate.
As shown in Fig. 4 ~ 6, described door frame 2 comprises reach frame 24, outer mast 20, inner upright mounting 21 and balladeur train 23.On described car body 1, connect ejection cylinder 31, the piston rod of ejection cylinder 31 connects reach frame 24; Car body 1 front is also provided with guide rail 9, and reach frame 24 is promoted by ejection cylinder 31, and the roller 30 of installing by lower end is in the interior slip of guide rail 9.Described door frame 2 relies on the ejection cylinder 31 of car body 1 below, side can release 1.2 meters, thereby the pallet fork 29 in door frame 2 fronts can be pitched in the pallet hole on appointment warehouse compartment.
Outer mast 20, inner upright mounting 21 and balladeur train 23 are installed on described reach frame 24.Described inner upright mounting 21 outsides connect the first guide wheel 25, the first guide wheels 25 and are arranged on the inner side of outer mast 20, and inner upright mounting 21 slides on outer mast 20 by the first guide wheel 25.Elevating ram 22 is installed in described outer mast 20 both sides, and the piston rod of elevating ram 22 is connected on the upper beam of inner upright mounting 21, by piston rod, promotes inner upright mounting 21 liftings.Described balladeur train 23 both sides connect the second guide wheel 26, the second guide wheels 26 and are arranged on the inner side of inner upright mounting 21, and balladeur train 23 slides in the interior realization of inner upright mounting 21 by the second guide wheel 26.Described balladeur train 23 one end connect lifting chain 27, and lifting chain 27 other ends are walked around reverse wheel 28 and are fixed on inner upright mounting 21 upper beams.The distance connecting on the upper beam of described balladeur train 23 between 29, two pallet forks 29 of two pallet forks can be adjusted.The every promotion inner upright mounting 21 of piston rod of elevating ram 22 promotes one meter, and the relative ground of balladeur train 23 promotes two meters.
As shown in Fig. 7 ~ 9, connecting sensor installation frame 32 on described balladeur train 23, establishes the first servomotor 34 in installation of sensors framework 32.Described the first servomotor 34 upper ends, by enhancing screw 33 connecting sensor installation frames 32, drive installation of sensors framework 32 to realize up-and-down movement by enhancing screw 33 and adjust position.In described installation of sensors framework 32, be also provided with laser rangefinder 35 and the imager 36 that can identify RFID tag, on laser rangefinder 35, connect the second driven gear 39.Second servomotor 37 one end that are arranged on laser rangefinder 35 sides connect the second driving gear 38, the second driving gears 38 and engage with the second driven gear 39.Described the second servomotor 37 drives laser rangefinder 35 to do hunting motion by the second driven gear 39.Described laser rangefinder 35 is other is also provided with communication antenna 40, and transducing signal is dealt into primary controller 8 and upper computer by communication antenna 40.Because laser rangefinder 35 itself has the function of uninterrupted transverse scan, add mechanical swinging up and down, reach the ability of comprehensive scanning range finding.
RFID tag is set on shelf warehouse, in shelf warehouse passage, arranges laser reflection sheet.On door frame 2, be provided with laser rangefinder 35 and imager 36, by real-time data acquisition and primary controller 8 information processing apparatus link, thereby determine self position and attitude with respect to external environment condition.In the cartographic information at scene, primary controller 8 interior storing goods shelf warehouse and the reference model feature of object.When work, upper computer flows to primary controller 8 by task.The cartographic information that primary controller 8 is installed according to inside and outside laser steering signal arrive assigned address along the passage in shelf.Information realization on reading rfid tags is accurately located, and then by primary controller 8, controls pallet fork and transports goods.
When transporting goods, ejection cylinder 31 promotes reach framves 24 and controls pallet fork to access goods on shelf.Elevating ram 22 promotes inner upright mounting 21 and in outer mast 20, slides up and down the descending operation of realizing goods.

Claims (7)

1. the intelligent Handling device of the trackless of a shelf warehouse, it is characterized in that: comprise car body (1) and door frame (2), door frame (2) is arranged on the front of car body (1), storage battery (6), hydraulic power bag (7) and primary controller (8) are installed in described car body (1), and Si Ge angle, car body (1) lower end connects driving wheel (3), wheel flutter (4) and two flower wheels (5) successively; The upper support (15) that connects of adapter plate (10) of described car body (1) below, in support (15), by clutch shaft bearing (14), connect movable motor (11), movable motor (11) lower end connects the first retarder (12), and upper connection of the first retarder (12) drives wheel (3); Upper the first driven gear (19) of installing of described movable motor (11); The upper turning rack (13) of installing of described adapter plate (10), the upper steer motor (17) that connects of turning rack (13), upper the second retarder (16) that connects of steer motor (17), upper the first driving gear (18) that connects of the second retarder (16); Described door frame (2) comprises reach frame (24), outer mast (20), inner upright mounting (21) and balladeur train (23); The upper ejection cylinder (31) that connects of described car body (1), the piston rod of ejection cylinder (31) connects reach frame (24); Upper outer mast (20), inner upright mounting (21) and the balladeur train (23) installed of described reach frame (24), inner upright mounting (21) outside connects the first guide wheel (25); Elevating ram (22) is installed in described outer mast (20) both sides, and the piston rod of elevating ram (22) is connected on the upper beam of inner upright mounting (21); Described balladeur train (23) both sides connect the second guide wheel (26), balladeur train (23) one end connects lifting chain (27), and lifting chain (27) other end is walked around reverse wheel (28) and is fixed on inner upright mounting (21) upper beam; The upper connecting sensor installation frame (32) of described balladeur train (23), in installation of sensors framework (32), establish the first servomotor (34), the first servomotor (34) upper end is by enhancing screw (33) connecting sensor installation frame (32); In described installation of sensors framework (32), be provided with laser rangefinder (35) and the imager (36) that can identify RFID tag, the second servomotor (37) one end that is arranged on laser rangefinder (35) side connects the second driving gear (38);
Described car body (1) front is provided with guide rail (9), and reach frame (24) is promoted by ejection cylinder (31), and the roller (30) of installing by lower end slides in guide rail (9).
2. the intelligent Handling device of the trackless of shelf warehouse as claimed in claim 1, is characterized in that: described the first driving gear (18) is connected with a joggle with the first driven gear (19).
3. the intelligent Handling device of the trackless of shelf warehouse as claimed in claim 1, is characterized in that: described the second guide wheel (26) is arranged on the inner side of inner upright mounting (21).
4. the intelligent Handling device of the trackless of shelf warehouse as claimed in claim 1, is characterized in that: described the first guide wheel (25) is arranged on the inner side of outer mast (20).
5. the intelligent Handling device of the trackless of shelf warehouse as claimed in claim 1, it is characterized in that: upper the second driven gear (39) that connects of described laser rangefinder (35), the second driven gear (39) is connected with a joggle with the second driving gear (38).
6. the intelligent Handling device of the trackless of shelf warehouse as claimed in claim 1, is characterized in that: on the upper beam of described balladeur train (23), connect two pallet forks (29), the distance between two pallet forks (29) can be adjusted.
7. the intelligent Handling device of the trackless of shelf warehouse as claimed in claim 1, is characterized in that: the other communication antenna (40) that is also provided with of described laser rangefinder (35).
CN201210110978.4A 2012-04-16 2012-04-16 Track-free intelligent moving device of goods shelf warehouse CN102616703B (en)

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Application Number Priority Date Filing Date Title
CN201210110978.4A CN102616703B (en) 2012-04-16 2012-04-16 Track-free intelligent moving device of goods shelf warehouse

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Application Number Priority Date Filing Date Title
CN201210110978.4A CN102616703B (en) 2012-04-16 2012-04-16 Track-free intelligent moving device of goods shelf warehouse

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CN102616703B true CN102616703B (en) 2014-04-30

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Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102838056B (en) * 2012-09-10 2016-02-10 宁波力达物流设备有限公司 The hydraulic pressure lowering means of electri forklift
CN103288010B (en) * 2013-05-30 2016-06-15 安徽德摩新能源叉车股份有限公司 A kind of fork lift truck structure
CN103382004B (en) * 2013-06-27 2016-03-23 宁波海迈克动力科技有限公司 A kind of jack up unit of electri forklift
CN103663285A (en) * 2013-12-02 2014-03-26 苏州先锋物流装备科技有限公司 Carriage and mast mounting structure
CN105819181A (en) * 2016-04-27 2016-08-03 广东工业大学 Lifting carrier vehicle
CN106044622A (en) * 2016-06-30 2016-10-26 南京卓基工业设备有限公司 Lifting device
JP2020055684A (en) * 2018-10-04 2020-04-09 トヨタ自動車株式会社 Conveyance device
CN109987550A (en) * 2019-04-04 2019-07-09 北京极智嘉科技有限公司 A kind of high position forklift, the calibration method and storage medium for giving back storage container

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4128183A (en) * 1976-12-16 1978-12-05 Allis-Chalmers Corporation Straddle-type lift truck with a apparatus for handling loads at the front and sides thereof
DE3112419A1 (en) * 1981-03-28 1982-10-07 Jungheinrich Kg Rack stacker
CN201311734Y (en) * 2008-11-20 2009-09-16 浙江天煌科技实业有限公司 Carrying and stacking device
CN202016826U (en) * 2011-04-21 2011-10-26 傅汉元 Industrial hoisting transporter

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4128183A (en) * 1976-12-16 1978-12-05 Allis-Chalmers Corporation Straddle-type lift truck with a apparatus for handling loads at the front and sides thereof
DE3112419A1 (en) * 1981-03-28 1982-10-07 Jungheinrich Kg Rack stacker
CN201311734Y (en) * 2008-11-20 2009-09-16 浙江天煌科技实业有限公司 Carrying and stacking device
CN202016826U (en) * 2011-04-21 2011-10-26 傅汉元 Industrial hoisting transporter

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