CN102910559A - Stacking equipment for storage logistics system - Google Patents
Stacking equipment for storage logistics system Download PDFInfo
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- CN102910559A CN102910559A CN2011102188384A CN201110218838A CN102910559A CN 102910559 A CN102910559 A CN 102910559A CN 2011102188384 A CN2011102188384 A CN 2011102188384A CN 201110218838 A CN201110218838 A CN 201110218838A CN 102910559 A CN102910559 A CN 102910559A
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Abstract
The invention provides stacking equipment which is suitable for stacking or picking up goods in a storage logistics system. The stacking equipment comprises a first lifting device, a second lifting device, a moving and positioning device and a level tray, wherein the first lifting device is used for lifting stacked goods in a vertical direction, and two main door frames, a first hydraulic cylinder and a main fork are arranged at the first lifting device; the second lifting device is used for lifting goods to be stacked in the vertical direction, and two auxiliary door frames, a second hydraulic cylinder and an auxiliary fork are arranged at the second lifting device; the moving and positioning device is arranged at the lower part of the stacking equipment and is used for causing the stacking equipment to move to a preset stacking position or to be positioned in the stacking position; and the level tray moves in a horizontal direction to convey the goods to be stacked to the auxiliary fork. When a handling device outside the stacking equipment is close to the stacking equipment, the level tray moves in the horizontal direction to convey the goods to be stacked to the auxiliary fork, and then the auxiliary fork executes stacking or picking up operation. Thus, the goods to be stacked are not directly sent into the stacking equipment by the handling device, and further the collision situation in the goods stacking or picking up process is avoided.
Description
Technical field
The present invention relates to a kind of stacking apparatus, relate in particular to a kind of for the stacking apparatus of large stereo without the shelf warehouse.
Background technology
Along with the development of market economy, people's living standard improves day by day, and pursuing the material variation has become social morals.Thus, the product category of meeting the need of market is various, and especially the huge situation of selling well type product of those consumer groups tends to the in advance stock of deposit some in the warehouse.In order to save the space, these products with external packing are stacked with way of stacking usually, in stacking procedure, usually are necessary to utilize stacking apparatus to carry and stack.
Take the finishing usefulness flooring material as example, it is that each cubical weight is about 2 tons in 1.2 meters the cube that flooring material is put into specification, when putting these cubes into warehouse and take care of, for example, realize stacking with the direct stack of the cube of 5 formed objects.In the prior art, common way of stacking is, carry first cube as ground floor by stacking apparatus, then carry and second cube of lifting, be stacked in the top of this ground floor, stacking upwards successively is until stacking apparatus is with the 5th cube lifting and overlay the 4th layer top.Yet, this way of stacking requires stacking apparatus must be able to realize very large diff-H (for example five cubical stack height), and require this equipment to bear the larger torque of leaning forward, stacking apparatus chassis based on above-mentioned requirements is huge, certainly will cause great energy dissipation because overcoming the cube gravity acting.In addition, this stacking procedure is slow in action, and efficient is lower.
On the other hand, existing some stacking apparatus comprises lifting apparatus and horizontal shuttle machine, wherein, utilizes this lifting apparatus to come the goods of stacking of lifting, and by shuttle machine will treat the goods of stacking be moved horizontally to predetermined stacked location (as, this is the position at the original place of stacking goods).In stacking procedure, these stacking apparatuss need to vertically move to certain altitude by the hydraulic actuating cylinder goods of stacking, then will treat that by horizontal shuttle machine the goods of stacking is positioned over ground predetermined stacked location, finish stacking thereby last hydraulic actuating cylinder moves straight down.But in this course, horizontal shuttle machine still needs certain moment that leans forward it could be positioned over the desired location reposefully when placing this and treat the stacking goods, and can't guarantee the stacking goods and treat that stacking goods in the vertical direction aims at.In addition, treat that the stacking goods need enter stacking apparatus inside continually, certain part of this goods and equipment is bumped, cause unnecessary damage.
In view of this, how designing that a kind of volume is little, stacking efficient is high, the good stacking apparatus of positioning performance, with problem and the energy savings that solves high-rise stacking, is a problem facing of person skilled in the industry.
Summary of the invention
For the stacking apparatus of prior art existing defects at pile or when extracting goods in the high-rise stacking, the invention provides a kind of novel reverse stacking device.
According to one aspect of the present invention, a kind of stacking apparatus is provided, be applicable to goods pile or extraction in the products storage circulation system, wherein, this stacking apparatus comprises:
The first lifting apparatus is used for the goods of stacking of vertically lifting, has:
Two main door frames are relatively arranged on the two ends of a tie-beam;
Two the first hydraulic actuating cylinders, each first hydraulic actuating cylinder is captiveed joint with corresponding main door frame, thus the hydraulic stem that is used for stretching the first hydraulic actuating cylinder raises main door frame; And
Two main forks, each main fork is connected with main door frame by chain, and chain moves to raise main fork clockwise or counterclockwise, and then the lifting goods of stacking;
The second lifting apparatus is used for the goods that stacking is treated in vertically lifting, has:
Two secondary door frames, each secondary door frame is arranged at the inside of corresponding main door frame, captives joint with main door frame;
Two the second hydraulic actuating cylinders, each second hydraulic actuating cylinder is captiveed joint with corresponding secondary door frame, is used for the hydraulic stem of stretching the second hydraulic actuating cylinder to raise corresponding secondary pallet fork; And
Two secondary pallet forks, each secondary pallet fork is captiveed joint with corresponding the second hydraulic actuating cylinder, is used for the goods that stacking is treated in lifting;
Move and registration device, be arranged at the bottom of stacking apparatus, be used for making stacking apparatus move to predetermined stacked location or being positioned this stacked location; And
Level tray, to main door frame, when the Handling device of stacking apparatus outside is close, thereby this level tray along continuous straight runs motion will treat that the goods of stacking is sent to secondary pallet fork via the rail module sliding block joint.
Preferably, this tie-beam has fixed end and free end, and its fixed end is fixedly attached to a main door frame and tie-beam can be around this fixed end rotation, and its free end is attached to another main door frame when stacking apparatus carries out stacking or extracts operation.
Preferably, this moves with registration device and comprises: mobile unit comprises drive wheel and the drive motor that is connected with described drive wheel, so that described stacking apparatus is mobile in the horizontal direction; Rotary unit comprises wheel flutter and the steer motor that is connected with described wheel flutter, so that described wheel flutter rotates when contacting with ground; And hydraulic pressure unit, have the 3rd hydraulic actuating cylinder and the 4th hydraulic actuating cylinder, wherein, by described the 3rd hydraulic actuating cylinder corresponding hydraulic stem that stretches or retract, described drive wheel is moved at vertical direction; And by described the 4th hydraulic actuating cylinder corresponding hydraulic stem that stretches or retract, thereby described wheel flutter is moved at vertical direction.More preferably, drive motor will move required tractive force by chain and be passed to described drive wheel.More preferably, steer motor will be rotated the S. A. that required rotational force is passed to described wheel flutter by gear cluster, so that described wheel flutter is rotated.
In one embodiment, stacking apparatus also comprises Electric Appliance Cabinet and hydraulic power unit, wherein, required electric energy when described Electric Appliance Cabinet is used for providing described drive motor and the operation of described steer motor, and described hydraulic power unit is used for providing the separately hydraulic coupling of hydraulic circuit of described the first hydraulic actuating cylinder, the second hydraulic actuating cylinder, the 3rd hydraulic actuating cylinder and the 4th hydraulic actuating cylinder.Further, stacking apparatus also comprises hydraulic control device, be used for controlling between described two the first hydraulic actuating cylinders, between two the second hydraulic actuating cylinders, between two the 3rd hydraulic actuating cylinders and between two the 4th hydraulic actuating cylinders separately the hydraulic coupling of hydraulic circuit reach balance.
In another specific embodiment, hydraulic control device also comprises the first change-over valve and the second change-over valve, wherein: described the first change-over valve is used for switching described the first hydraulic circuit to the five hydraulic circuits, so that the hydraulic stem of described the first hydraulic actuating cylinder shrinks, thereby be stacked in above the described goods for the treatment of stacking by the goods that described main fork will described stacking; And described the second change-over valve so that the hydraulic stem of described the second hydraulic actuating cylinder shrinks, thereby is placed in ground by described secondary pallet fork with the described goods of stacking for the treatment of for switching described the second hydraulic circuit to the six hydraulic circuits.
Preferably, the first lifting apparatus and described the second lifting apparatus are made as the mode of removably connecting, to realize the pile for the treatment of the stacking goods or the extraction of Different Weight and/or different size.
Preferably, the fork pawl of main fork and the fork pawl of secondary pallet fork all are arranged to the rotary extension mode, when described main fork or secondary pallet fork enter the goods below, pitch accordingly the pawl rotation and stretch out; And after described goods is finished stacking or extracted operation, pitch accordingly the pawl rotation and retract, thereby reduce taking up room of described stacking apparatus.
Adopt stacking apparatus of the present invention, than prior art, have the following advantages at least:
1) stacking apparatus of the present invention comprises two lifting apparatus, be respectively applied to the lifting goods and the goods for the treatment of stacking of stacking, and these lifting apparatus in the vertical directions are designed to respectively main door frame and secondary door frame, the volume of its whole stacking apparatus is less, saved cost, made things convenient for the stacking of large cargo or extract operation;
2) stacking apparatus of the present invention is provided with turnover goods device specially, namely, level tray, via the rail module sliding block joint to main door frame, when the Handling device of stacking apparatus outside is close, thereby the motion of this level tray along continuous straight runs will treat that the goods of stacking is sent to secondary pallet fork, thereby treat that the stacking goods can't directly be sent in the stacking apparatus by Handling device, and then can avoid the situation that bumps in stacking or the discharging of goods process;
3) stacking apparatus of the present invention also comprises mobile and registration device, can move it to predetermined stacked location or is positioned this stacked location.Particularly, this moves with registration device and comprises mobile unit and rotary unit, wherein, mobile unit can make stacking apparatus mobile in the horizontal direction based on drive wheel and the drive motor that is connected with described drive wheel, and rotary unit can make wheel flutter rotate when contacting with ground based on wheel flutter and the steer motor that is connected with described wheel flutter, thereby locates better this stacking apparatus.
Description of drawings
The reader will become apparent various aspects of the present invention after the reference accompanying drawing has been read the specific embodiment of the present invention.Wherein,
Fig. 1 illustrates existing stacking apparatus and adopts way of stacking forward to carry out the constitution diagram of stacking;
Fig. 2 A illustrates the front view according to the reverse stacking device of one aspect of the invention; And Fig. 2 B illustrates the lateral plan of the reverse stacking device among Fig. 2 A;
Fig. 3 A illustrates the structural representation of the main lifting apparatus of the reverse stacking device among Fig. 2 A; And Fig. 3 B and Fig. 3 C are respectively the fork pawl rotating shrinking of main fork in the main lifting apparatus shown in Fig. 3 A and the constitution diagram that rotation is stretched out;
Fig. 4 A illustrates the structural representation of the secondary lifting apparatus of the reverse stacking device among Fig. 2 A; And Fig. 4 B and Fig. 4 C are respectively the fork pawl rotating shrinking of secondary pallet fork in the secondary lifting apparatus shown in Fig. 4 A and the constitution diagram that rotation is stretched out;
Constitution diagram when the mobile unit that Fig. 5 A illustrates the movement of the reverse stacking device among Fig. 2 A and registration device contacts with ground; And Fig. 5 B illustrates the mobile unit of Fig. 5 A at the constitution diagram of vertical direction motion;
Constitution diagram when the rotary unit that Fig. 6 A illustrates the movement of the reverse stacking device among Fig. 2 A and registration device contacts with ground; And Fig. 6 B illustrates the rotary unit of Fig. 6 A at the constitution diagram of vertical direction motion and the anglec of rotation;
Fig. 7 A illustrates the first view of the level tray of the reverse stacking device among Fig. 2 B; And Fig. 7 B illustrates the second view of the level tray of the reverse stacking device among Fig. 2 B;
The tie-beam that Fig. 8 A illustrates the reverse stacking device among Fig. 2 B is attached to the constitution diagram of two main door frames; Fig. 8 B illustrates tie-beam its free-ended mechanical connection constitution diagram when being attached to main door frame of Fig. 8 A; Fig. 8 C illustrates the scheme drawing of tie-beam under open mode of Fig. 8 A; And
Fig. 9 illustrates the constitution diagram that carries out reverse stacking according to reverse stacking device of the present invention.
The specific embodiment
With reference to the accompanying drawings, the specific embodiment of the present invention is described in further detail.Those of ordinary skill in the art is to be understood that, embodiment hereinafter just schematically illustrates technical scheme of the present invention, and preferably introduce the main operating process of the specific embodiment of the present invention and stacking apparatus, but the present invention has more than and is confined to this.
Fig. 1 illustrates existing stacking apparatus and adopts way of stacking forward to carry out the constitution diagram of stacking.With reference to Fig. 1, the goods that stacking is good comprises ground floor (flag F 1), the second layer (flag F 2) and the 3rd layer (flag F 3), for the goods layer (flag F N) for the treatment of stacking, shown in the direction of arrow, stacking apparatus at first needs this goods layer FN is lifted to the position that is equivalent at least 3 times of single goods layer heights, and then this goods layer FN leaned forward, to overlay on the goods layer F3.By this constitution diagram as can be known, a goods layer for the treatment of stacking is placed in the every increase of stacking apparatus, its lifting power just is equivalent to increase the lifting force when single goods layer upwards lifted the height of a goods layer, be understood that, this is for the large-scale stacking with multilayer goods, the base volume of its stacking apparatus is larger, and the lifting power that produces during its work also must be enough greatly.Because the goods layer for the treatment of stacking that increases newly does not change the original position of each layer of goods layer of stacking, its way of stacking can be called " forward stacking " yet.By the stacking procedure of above-mentioned forward stacking as can be known, when finishing the stacking of the goods layer that increases newly, the lifting power of stacking apparatus can constantly increase, thereby equipment energy consumption is larger, and stacking efficient is lower.
Corresponding with " forward stacking " mode is, in stacking procedure, originally the goods layer F1 that was positioned at bottom become the second layer, and the F2 and the F3 that originally laid respectively at the second layer and the 3rd layer correspondingly become the 3rd layer and the 4th layer, that is to say that the stacking goods layer for the treatment of that at every turn increases newly always is positioned at the bottom of this large-scale stacking.Because the goods layer FN that treats stacking that increase newly changed the position of each layer of goods layer of stacking, so this way of stacking is called " reverse stacking ".
In order to overcome the existing defects of Fig. 1, the present invention proposes a kind of brand-new reverse stacking device.More specifically, Fig. 2 A illustrates the front view according to the reverse stacking device of one aspect of the invention, and Fig. 2 B illustrates the lateral plan of the reverse stacking device among Fig. 2 A.With reference to Fig. 2 A, this reverse stacking device comprises main lifting apparatus, secondary lifting apparatus, movement and registration device, level tray.Wherein, main lifting apparatus is used for the goods along vertical direction lifting stacking, secondary lifting apparatus is used for treating along the vertical direction lifting goods of stacking, mobile and registration device is arranged at the bottom of stacking apparatus, be used for making this stacking apparatus move to predetermined stacked location or being positioned this stacked location, and level tray via the rail module sliding block joint to main door frame, when the Handling device of stacking apparatus outside is close, thereby this level tray along continuous straight runs motion will treat that the goods of stacking is sent to the secondary pallet fork of secondary lifting apparatus, and then carry out the stacking operation that this treats the stacking goods by this pair pallet fork.
It is to be noted, this stacking apparatus is when carrying out goods stacking or Cargo Claim, the secondary lifting apparatus that is arranged in the main lifting apparatus of stacking apparatus top and is positioned at the stacking apparatus below operates respectively the stacking goods of large-scale stacking and treats the stacking goods, preferably, thereby two main door frames are oppositely arranged stacking goods of lifting, and thereby two secondary door frames are oppositely arranged lifting and treat the stacking goods, the operation that can make stacking apparatus more flexibly, convenient.
Main lifting apparatus comprises two main door frames 3, two large hydraulic actuating cylinders 1 and two main forks 2.Wherein, two main door frames 3 are relatively arranged on the two ends of a tie-beam 15, and for example, tie-beam 15 is fixedly connected on the first main door frame by its fixed end, and is removably connected to the second main door frame by its free end.Two large hydraulic actuating cylinders 1 are captiveed joint with corresponding main door frame respectively, thus the hydraulic stem lifting of the large hydraulic actuating cylinder that is used for stretching corresponding main door frame with it.And each main fork in two main forks 2 is connected with main door frame by chain 20, and chain 20 along clockwise direction or anticlockwise direction move to raise main fork 2, and then the lifting goods of stacking.
Secondary lifting apparatus comprises two secondary door frames 6, two small cylinders 4 and two secondary pallet forks 5.Wherein, each the secondary door frame in two secondary door frames 6 is arranged at the inside of corresponding main door frame 3, and captives joint with this main door frame.Small cylinder 4 and corresponding secondary door frame 6 captive joints, thereby the corresponding secondary pallet fork 5 of hydraulic stem lifting of this small cylinder 4 that is used for stretching.For example, when the hydraulic stem of small cylinder 4 stretched, the goods of stacking was treated in lifting thereby secondary pallet fork vertically moves; And when the hydraulic stem of small cylinder 4 shrinks, thereby secondary pallet fork vertically moves this is treated that the stacking goods is positioned over ground.
Mobile and registration device is arranged at the bottom of stacking apparatus, is used for making stacking apparatus move to predetermined stacked location or being positioned this stacked location.For example, stacking apparatus can be realized ground running by drive motor and drive wheel thereof.Perhaps, stacking apparatus can be realized turning to by steer motor and wheel flutter thereof, and this steering mode is similar to automobile, both can turn to while walking, and also can stop to turn to after the walking again.
Level tray 12 via the rail module sliding block joint to main door frame 3, when the Handling device of stacking apparatus outside is close, thereby this level tray 12 along continuous straight runs motion will treat that the goods of stacking is sent to secondary pallet fork 5, and will treat that by secondary pallet fork 5 the stacking goods movement shifts out from this stacked location to stacked location or with goods to be extracted, thereby treat that the stacking goods can't directly be sent in the stacking apparatus by Handling device, and then can avoid the situation that bumps in stacking or the discharging of goods process, this will make stacking apparatus of the present invention have high safety and stacking reliability.
In addition, this stacking apparatus also can comprise Auxiliary Control Device, and for example, the first Electric Appliance Cabinet 17, hydraulic power unit 18 and the second Electric Appliance Cabinet 19 are used for providing the required electric energy of each drive motor work and each hydraulic actuating cylinder hydraulic stem to stretch out or shrink required hydraulic coupling respectively.
In addition, the first lifting apparatus and described the second lifting apparatus are made as the mode of removably connecting, to realize the pile for the treatment of the stacking goods or the extraction to Different Weight and/or different size.
Fig. 3 A illustrates the structural representation of the main lifting apparatus of the reverse stacking device among Fig. 2 A.With reference to Fig. 3 A, main door frame 3 is captiveed joint with large hydraulic actuating cylinder 1, and main lifting apparatus boosts main door frame 3 by large hydraulic actuating cylinder 1, drives chain 20 when then main door frame 3 vertically moves with cw or rotates counterclockwise, and then promote main fork 2.Preferably, main fork 2 is installed on the inside of main door frame 3 by track adjusting wheel 30.Fig. 3 B and Fig. 3 C are respectively the fork pawl rotating shrinking of main fork in the main lifting apparatus shown in Fig. 3 A and the constitution diagram that rotation is stretched out.In Fig. 3 B, drive motor 21 and chain 22 match, and can make fork pawl 23 rotating shrinkings of main fork 2; And in Fig. 3 C, drive motor 21 and chain 22 match, and fork pawl 23 rotations of main fork 2 are stretched out.Preferably, drive motor 21 clockwise rotates rotating shaft, thereby drives chain 22 motions, so that fork pawl 23 rotating shrinkings of main fork 2 are in the below of main fork; And drive motor 21 rotates counterclockwise rotating shaft, thereby drives chain 22 motions, so that the fork pawl 23 of main fork 2 stretches out from the below rotation of main fork.
Fig. 4 A illustrates the structural representation of the secondary lifting apparatus of the reverse stacking device among Fig. 2 A.With reference to Fig. 4 A, small cylinder 4 is captiveed joint with secondary pallet fork 5, and secondary lifting apparatus boosts secondary pallet fork 5 by small cylinder 4, and then makes and treat the motion of stacking goods in the vertical direction on the fork pawl 26 of secondary pallet fork 5.Preferably, secondary pallet fork 5 is installed on the inside of secondary door frame 6 by track adjusting wheel 31.Fig. 4 B and Fig. 4 C are respectively the fork pawl rotating shrinking of secondary pallet fork in the secondary lifting apparatus shown in Fig. 4 A and the constitution diagram that rotation is stretched out.Be similar to Fig. 3 B and Fig. 3 C, in Fig. 4 B, drive motor 24 and chain 25 match, and can make fork pawl 26 rotating shrinkings of secondary pallet fork 5; And in Fig. 4 C, drive motor 24 and chain 25 match, and fork pawl 26 rotations of secondary pallet fork 5 are stretched out.Preferably, drive motor 24 clockwise rotates rotating shaft, thereby drives chain 25 motions, so that fork pawl 26 rotating shrinkings of secondary pallet fork 5 are in the below of secondary pallet fork 5; And drive motor 24 rotates counterclockwise rotating shaft, thereby drives chain 25 motions, so that the fork pawl 26 of secondary pallet fork 5 stretches out from the below rotation of secondary pallet fork 5.
Set-up mode from the fork of the main fork shown in Fig. 3 B and Fig. 3 C pawl, and the set-up mode of the secondary pallet fork fork pawl shown in Fig. 4 B and Fig. 4 C as can be known, the fork pawl of main fork 2 and secondary pallet fork 5 can be according to concrete stacking process, be configured to rotating shrinking neatly or state is stretched out in rotation, thereby need not to depend on whole equipment moving as transportation fork-truck makes the fork pawl stretch into the goods below, therefore but energy savings to a great extent improves handling efficiency.
Constitution diagram when the mobile unit that Fig. 5 A illustrates the movement of the reverse stacking device among Fig. 2 A and registration device contacts with ground, and Fig. 5 B illustrates the mobile unit of Fig. 5 A at the constitution diagram of vertical direction motion.With reference to Fig. 5 A and Fig. 5 B, mobile unit comprises drive wheel 7 and the drive motor 8 that is connected with drive wheel 7.Drive motor 8 passes to drive wheel 7 by chain 27 with propulsive effort, so that this stacking apparatus can be subjected to displacement in the horizontal direction.In addition, this mobile unit also disposes the hydraulic actuating cylinder 11 corresponding with drive wheel 7, and the hydraulic stem by hydraulic actuating cylinder 11 stretches out or retracts, thereby drive wheel 7 is contacted with ground (shown in Fig. 5 A) or breaks away from ground (shown in Fig. 5 B).Preferably, chain 27 uses sprocket wheel to cooperate with the drive motor axle.
Constitution diagram when the rotary unit that Fig. 6 A illustrates the movement of the reverse stacking device among Fig. 2 A and registration device contacts with ground, and Fig. 6 B illustrates the rotary unit of Fig. 6 A at the constitution diagram of vertical direction motion and the anglec of rotation.With reference to Fig. 6 A and Fig. 6 B, rotary unit comprises wheel flutter 9 and the steer motor 10 that is connected with wheel flutter 9.Steer motor 10 passes to the S. A. 29 of wheel flutter 9 by gear cluster 28 with steering effort, in order to realize rotation, to locate this stacking apparatus.When wheel flutter 9 rotation, be similar to motor turning, while both can be to walk to rotate, also can be to stop to be rotated again after the walking.It is pointed out that wheel flutter 9 is rotated all realizations when contacting with ground.In addition, this rotary unit also disposes the hydraulic actuating cylinder 11 corresponding with wheel flutter 9, and the hydraulic stem by hydraulic actuating cylinder 11 stretches out or retracts, thereby wheel flutter 9 is contacted with ground (shown in Fig. 6 A) or breaks away from ground (shown in Fig. 6 B).It will be understood by those of skill in the art that drive wheel 7 vertically moves and wheel flutter 9 vertically moves can adopt same hydraulic actuating cylinder, and namely hydraulic actuating cylinder 11, four hydraulic circuits realize that but the present invention has more than and is confined to this.For example, can adopt a hydraulic actuating cylinder to control state of kinematic motion and the displacement of drive wheel 7 vertical directions, and adopt another hydraulic actuating cylinder to control state of kinematic motion and the displacement of wheel flutter 9 vertical directions.
Fig. 7 A illustrates the first view of the level tray of the reverse stacking device among Fig. 2 B, and Fig. 7 B illustrates the second view of the level tray of the reverse stacking device among Fig. 2 B.In conjunction with Fig. 7 A and Fig. 7 B, for level tray 12, the drive motor 14 of its below is fixed in the body of level tray 12, and transmits the horizontal actuator force that drive motor 14 produces by chain 40.In addition, chain 40 is fixed with fixed part 32 and is connected, shown such as the circle part among Fig. 7 A, thereby drive motor 14, chain 40 and sprocket wheel 33 realization closed loops, so that level tray 12 along continuous straight runs enter stacking apparatus inside or shift out from this stacking apparatus.In one embodiment, the motion guide of level tray 12 uses groove 34, groove 35 to finish with cooperating jointly of support wheel 13.For example, when the Handling device (such as fork truck) of detection signal explanation stacking apparatus outside will treat that the goods of stacking is transported to the position of close this level tray 12, the propulsive effort that level tray produces by drive motor 14 shifted out this stacking apparatus.Preferably, this detection signal uses electrical signal to send by this Handling device.
The tie-beam that Fig. 8 A illustrates the reverse stacking device among Fig. 2 B is attached to the constitution diagram of two main door frames, Fig. 8 B illustrates tie-beam its free-ended mechanical connection constitution diagram when being attached to main door frame of Fig. 8 A, and Fig. 8 C illustrates the scheme drawing of tie-beam under open mode of Fig. 8 A.With reference to Fig. 8 A, tie-beam 15 has a fixed end and a free end, wherein, fixed end is fixedly attached to a main door frame and this tie-beam 15 can rotate around this fixed end, and free end is attached to another main door frame when stacking apparatus carries out goods stacking or Cargo Claim operation.For describing for simplicity, the state that the free end of tie-beam might as well be attached to main door frame is called closure state, and the state that the free end of tie-beam breaks away from this main door frame is called open mode.More specifically, drive motor 16 will rotate required transmission of power to tie-beam 15 by gear cluster 39, thereby this tie-beam 15 is rotated around its fixed end in perpendicular.When tie-beam 15 during from open mode to closure state, thereby the hydraulic stem of hydraulic actuating cylinder 36 stretches out pin 37 is inserted in the hole 38 (shown in the dotted line frame among Fig. 8 A), is attached to main door frame with the free end with tie-beam 15.
With reference to Fig. 8 C, when stacking apparatus entered predetermined stacked location, tie-beam 15 was open mode, entered stacking apparatus when inner in order to treat the goods of stacking, did not interfere with tie-beam 15.
Fig. 9 illustrates the constitution diagram that carries out reverse stacking according to reverse stacking device of the present invention, wherein, stacking apparatus is used for operating the stacking goods and treats that the parts of stacking goods or structure are not shown specifically, and the design sketch when only describing stacking apparatus of the present invention and carrying out goods stacking or Cargo Claim.Specifically, the goods that stacking is good comprises ground floor (flag F 1), the second layer (flag F 2) and the 3rd layer (flag F 3), for the goods layer (flag F N) for the treatment of stacking, shown in the direction of arrow, main lifting apparatus of the present invention is stacking goods layer F1 at first, F2 and F3 are lifted to the position that is equivalent to single goods layer height, then will treat that by Handling device (fork truck) stacking goods layer FN is positioned on the level tray, and then will treat that by level tray stacking goods layer FN is transplanted on the original position of F1, and then utilize secondary lifting apparatus lifting certain altitude from the level tray, the goods leaving water flat pallet of FN layer, shift out the level tray along continuous straight runs this moment, so that secondary lifting apparatus places ground with goods layer FN, at last main lifting apparatus the goods layer F1～F3 of stacking be superimposed upon on the goods layer FN, to finish reverse stacking.
Adopt stacking apparatus of the present invention, than prior art, have the following advantages at least:
1) stacking apparatus of the present invention comprises two lifting apparatus, be respectively applied to the lifting goods and the goods for the treatment of stacking of stacking, and these lifting apparatus in the vertical directions are designed to respectively main door frame and secondary door frame, the volume of its whole stacking apparatus is less, saved cost, made things convenient for the stacking of large cargo or extract operation;
2) stacking apparatus of the present invention is provided with turnover goods device specially, namely, level tray, via the rail module sliding block joint to main door frame, when the Handling device of stacking apparatus outside is close, the motion of this level tray along continuous straight runs is sent to secondary pallet fork with the goods that will treat stacking, thereby treats that the stacking goods can't directly be sent in the stacking apparatus by Handling device, and then can avoid the situation that bumps in stacking or the discharging of goods process;
3) stacking apparatus of the present invention also comprises mobile and registration device, can move it to predetermined stacked location or is positioned this stacked location.Particularly, this moves with registration device and comprises mobile unit and rotary unit, wherein, mobile unit can make stacking apparatus mobile in the horizontal direction based on drive wheel and the drive motor that is connected with described drive wheel, and rotary unit can make wheel flutter rotate when contacting with ground based on wheel flutter and the steer motor that is connected with described wheel flutter, thereby locates better this stacking apparatus.
Above, describe the specific embodiment of the present invention with reference to the accompanying drawings.But those skilled in the art can understand, and in situation without departing from the spirit and scope of the present invention, can also do various changes and replacement to the specific embodiment of the present invention.These changes and replacement all drop in claims limited range of the present invention.
Claims (10)
1. a stacking apparatus is applicable to goods pile or extraction in the products storage circulation system, it is characterized in that described stacking apparatus comprises:
The first lifting apparatus is used for the goods of stacking of vertically lifting, has:
Two main door frames are relatively arranged on the two ends of a tie-beam;
Two the first hydraulic actuating cylinders, each first hydraulic actuating cylinder is captiveed joint with corresponding main door frame, thereby raises described main door frame for the hydraulic stem of described the first hydraulic actuating cylinder that stretches; And
Two main forks, each main fork is connected with described main door frame by chain, and described chain moves to raise described main fork clockwise or counterclockwise, and then the goods of the described stacking of lifting;
The second lifting apparatus is used for the goods that stacking is treated in vertically lifting, has:
Two secondary door frames, each secondary door frame is arranged at the inside of corresponding main door frame, captives joint with described main door frame;
Two the second hydraulic actuating cylinders, each second hydraulic actuating cylinder is captiveed joint with corresponding secondary door frame, thereby raises corresponding secondary pallet fork for the hydraulic stem of described the second hydraulic actuating cylinder that stretches; And
Two secondary pallet forks, each secondary pallet fork is captiveed joint with corresponding the second hydraulic actuating cylinder, is used for the described goods for the treatment of stacking of lifting;
Move and registration device, be arranged at the bottom of described stacking apparatus, be used for making described stacking apparatus move to predetermined stacked location or being positioned described stacked location; And
Level tray, to described main door frame, when the Handling device of described stacking apparatus outside is close, thereby the motion of described level tray along continuous straight runs is sent to described secondary pallet fork with the described goods of stacking for the treatment of via the rail module sliding block joint.
2. method according to claim 1, it is characterized in that, described tie-beam has fixed end and free end, wherein, described fixed end is fixedly attached to a main door frame and described tie-beam can rotate around this fixed end, and described free end is attached to another main door frame when described stacking apparatus carries out stacking or extracts operation.
3. stacking apparatus according to claim 1 is characterized in that, described movement and registration device comprise:
Mobile unit comprises drive wheel and the drive motor that is connected with described drive wheel, so that described stacking apparatus is mobile in the horizontal direction;
Rotary unit comprises wheel flutter and the steer motor that is connected with described wheel flutter, so that described wheel flutter rotates when contacting with ground; And
Hydraulic pressure unit has the 3rd hydraulic actuating cylinder and the 4th hydraulic actuating cylinder, wherein, by described the 3rd hydraulic actuating cylinder corresponding hydraulic stem that stretches or retract, described drive wheel is moved at vertical direction; And by described the 4th hydraulic actuating cylinder corresponding hydraulic stem that stretches or retract, thereby described wheel flutter is moved at vertical direction.
4. stacking apparatus according to claim 3 is characterized in that, described drive motor will move required tractive force by chain and be passed to described drive wheel.
5. stacking apparatus according to claim 3 is characterized in that, described steer motor will be rotated the S. A. that required rotational force is passed to described wheel flutter by gear cluster, so that described wheel flutter is rotated.
6. stacking apparatus according to claim 3, it is characterized in that, described stacking apparatus also comprises Electric Appliance Cabinet and hydraulic power unit, wherein, required electric energy when described Electric Appliance Cabinet is used for providing described drive motor and the operation of described steer motor, and described hydraulic power unit is used for providing the separately hydraulic coupling of hydraulic circuit of described the first hydraulic actuating cylinder, the second hydraulic actuating cylinder, the 3rd hydraulic actuating cylinder and the 4th hydraulic actuating cylinder.
7. stacking apparatus according to claim 6, it is characterized in that, described stacking apparatus also comprises hydraulic control device, be used for controlling between described two the first hydraulic actuating cylinders, between two the second hydraulic actuating cylinders, between two the 3rd hydraulic actuating cylinders and between two the 4th hydraulic actuating cylinders separately the hydraulic coupling of hydraulic circuit reach balance.
8. stacking apparatus according to claim 7 is characterized in that, described hydraulic control device also comprises the first change-over valve and the second change-over valve, wherein:
Described the first change-over valve is used for switching described the first hydraulic circuit to the five hydraulic circuits, so that the hydraulic stem of described the first hydraulic actuating cylinder shrinks, thereby is stacked in above the described goods for the treatment of stacking by the goods that described main fork will described stacking; And
Described the second change-over valve is used for switching described the second hydraulic circuit to the six hydraulic circuits, so that the hydraulic stem of described the second hydraulic actuating cylinder shrinks, thereby by described secondary pallet fork the described goods of stacking for the treatment of is placed in ground.
9. stacking apparatus according to claim 1 is characterized in that, described the first lifting apparatus and described the second lifting apparatus are made as the mode of removably connecting, to realize the pile for the treatment of the stacking goods or the extraction for Different Weight and/or different size.
10. stacking apparatus according to claim 1 is characterized in that, described main fork and secondary pallet fork fork pawl separately all is arranged to the rotary extension mode, when described main fork or secondary pallet fork enter the goods below, pitches accordingly the pawl rotation and stretches out; And after described goods is finished stacking or extracted operation, pitch accordingly the pawl rotation and retract, thereby reduce taking up room of described stacking apparatus.
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| CN201110218838.4A CN102910559B (en) | 2011-08-01 | 2011-08-01 | Stacking equipment for storage logistics system |
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| CN201110218838.4A CN102910559B (en) | 2011-08-01 | 2011-08-01 | Stacking equipment for storage logistics system |
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| CN108249360A (en) * | 2016-12-29 | 2018-07-06 | 长春北方化工灌装设备股份有限公司 | A kind of walking mechanism and assemble method based on modular structure |
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| CN111315542A (en) * | 2017-08-31 | 2020-06-19 | 移动博特公司 | Method and robot for retrieving target item |
| CN112357836A (en) * | 2020-11-25 | 2021-02-12 | 中钞长城金融设备控股有限公司 | Automatic alignment control method and device for hydraulic fork |
| CN113515110A (en) * | 2020-03-25 | 2021-10-19 | 北京极智嘉科技股份有限公司 | Method and device for controlling robot stacking |
| CN116040189A (en) * | 2023-03-31 | 2023-05-02 | 广东东软学院 | Storage transfer robot |
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