CN102910559B - Stacking equipment for storage logistics system - Google Patents
Stacking equipment for storage logistics system Download PDFInfo
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- CN102910559B CN102910559B CN201110218838.4A CN201110218838A CN102910559B CN 102910559 B CN102910559 B CN 102910559B CN 201110218838 A CN201110218838 A CN 201110218838A CN 102910559 B CN102910559 B CN 102910559B
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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, particularly relate to a kind of for large stereo without the stacking apparatus in shelf warehouse.
Background technology
Along with the development of market economy, the living standard of people improves day by day, and pursuing material variation becomes social morals.Thus, the product category of meeting the need of market is various, and the situation of selling well type product that especially those consumer groups are huge, often lays in the stock of some in advance in warehouse.In order to save space, these products with external packing are stacked with way of stacking usually, in stacking procedure, are usually necessary to utilize stacking apparatus to carry out to carry and stack.
For the flooring material of finishing, flooring material being put into specification is in the cube of 1.2 meters, and each cubical weight is about 2 tons, when these cubes being put into warehouse and carrying out keeping, such as, directly superpose with the cube of 5 formed objects and realize stacking.In prior art, common way of stacking is, first cube is carried as ground floor by stacking apparatus, then carrying also lifting second cube, be stacked in the top of this ground floor, upwards stacking successively, until the 5th cube lifting is overlayed the top of the 4th layer by stacking apparatus.But, this way of stacking requires that stacking apparatus must can realize very large diff-H (such as five cubical superposition height), and require that this equipment bears larger torque of leaning forward, stacking apparatus chassis based on above-mentioned requirements is huge, certainly will cause great energy dissipation because overcoming cube gravity acting.In addition, this stacking procedure is slow in action, and efficiency is lower.
On the other hand, some stacking apparatus existing comprises lifting apparatus and horizontal shuttle machine, wherein, this lifting apparatus is utilized to carry out the goods of lifting stacking, and will treat that the goods of stacking is moved horizontally to predetermined stacked location (e.g., the position at this original place of stacking goods) by shuttle machine.In stacking procedure, these stacking apparatuss need, by hydraulic actuating cylinder, the goods of stacking is vertically moved to certain altitude, then will treat that the goods of stacking is positioned over ground predetermined stacked location by horizontal shuttle machine, last hydraulic actuating cylinder moves straight down thus completes stacking.But in this course, horizontal shuttle machine, when placing this until stacking goods, still needs certain moment that leans forward it could be positioned over desired location reposefully, and cannot guarantee stacking goods and treat that stacking goods in the vertical direction is aimed at.In addition, treat that stacking goods need enter stacking apparatus inside continually, certain part of this goods and equipment may be made to collide, cause unnecessary damage.
In view of this, how designing the stacking apparatus that a kind of volume is little, stacking efficiency is high, positioning performance is excellent, to solve the problem of high-rise stacking and economize energy, is a problem facing of person skilled in the industry.
Summary of the invention
For the above-mentioned defect that the stacking apparatus of prior art is existing at pile or when extracting in high-rise stacking goods, the invention provides a kind of novel reverse stacking device.
According to one aspect of the present invention, provide a kind of stacking apparatus, be applicable to the goods pile in products storage circulation system or extraction, wherein, this stacking apparatus comprises:
First lifting apparatus, for the goods of vertically lifting stacking, 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 fixedly connected with corresponding main door frame, for first hydraulic actuating cylinder that stretches hydraulic stem thus raise 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 goods of lifting stacking;
Second lifting apparatus, treat the goods of stacking for vertically lifting, have:
Two secondary door frames, each secondary door frame is arranged at the inside of corresponding main door frame, is fixedly connected with main door frame;
Two the second hydraulic actuating cylinders, each second hydraulic actuating cylinder is fixedly connected with corresponding secondary door frame, for the hydraulic stem of second hydraulic actuating cylinder that stretches to raise corresponding secondary pallet fork; And
Two secondary pallet forks, each secondary pallet fork is fixedly connected with the second corresponding hydraulic actuating cylinder, treats the goods of stacking for lifting;
Move and registration device, be arranged at the bottom of stacking apparatus, move to predetermined stacked location for making stacking apparatus or be positioned this stacked location; And
Level tray, via rail module sliding block joint to main door frame, when stacking apparatus outside Handling device near time, this level tray moves in the horizontal direction thus will treat that the goods of stacking is sent to secondary pallet fork.
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 rotate around this fixed end, and its free end is attached to another main door frame when stacking apparatus carries out stacking or extracts operation.
Preferably, this moves and comprises with registration device: mobile unit, the drive motor comprising drive wheel and be connected with described drive wheel, so that described stacking apparatus moves in the horizontal direction; Rotary unit, the steer motor comprising wheel flutter and be connected with described wheel flutter, so that described wheel flutter is rotating with during earth surface; And hydraulic pressure unit, there is the 3rd hydraulic actuating cylinder and the 4th hydraulic actuating cylinder, wherein, to be stretched or retract corresponding hydraulic stem by described 3rd hydraulic actuating cylinder, described drive wheel is moved at vertical direction; And to be stretched or retract corresponding hydraulic stem by described 4th hydraulic actuating cylinder, thus described wheel flutter is moved at vertical direction.More preferably, the tractive force needed for movement is passed to described drive wheel by chain by drive motor.More preferably, the rotational force needed for rotation is passed to the S. A. of described wheel flutter by steer motor by gear cluster, so that described wheel flutter rotates.
In one embodiment, stacking apparatus also comprises Electric Appliance Cabinet and hydraulic power unit, wherein, electric energy required when described Electric Appliance Cabinet is for providing described drive motor and described steer motor to run, and described hydraulic power unit is for providing the hydraulic coupling of described first hydraulic actuating cylinder, the second hydraulic actuating cylinder, the 3rd hydraulic actuating cylinder and the 4th hydraulic actuating cylinder hydraulic circuit separately.Further, stacking apparatus also comprises hydraulic control device, and for controlling between described two the first hydraulic actuating cylinders, between two the second hydraulic actuating cylinders, the hydraulic coupling of the 3rd hydraulic actuating cylinder and the 4th hydraulic actuating cylinder hydraulic circuit separately reaches balance.
Preferably, the first lifting apparatus and described second lifting apparatus are set to the mode of removably connecting, to realize the pile treating 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 are all arranged to rotary extension mode, and when described main fork or secondary pallet fork enter below goods, corresponding fork pawl rotates and stretches out; And after described goods completes stacking or extraction operation, corresponding fork pawl rotates retraction, thus reduces taking up room of described stacking apparatus.
Adopt stacking apparatus of the present invention, compared to prior art, at least have the following advantages:
1) stacking apparatus of the present invention comprises two lifting apparatus, be respectively used to lifting stacking goods and treat the goods of stacking, and these lifting apparatus in the vertical directions are designed to main door frame and secondary door frame respectively, the volume of its whole stacking apparatus is less, save cost, facilitated 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 rail module sliding block joint to main door frame, when stacking apparatus outside Handling device near time, this level tray moves in the horizontal direction thus will treat that the goods of stacking is sent to secondary pallet fork, thus treats that stacking goods can't directly be sent in stacking apparatus by Handling device, and then can avoid colliding in stacking or discharging of goods process situation;
3) stacking apparatus of the present invention also comprises mobile and registration device, can move it to predetermined stacked location or be positioned this stacked location.Particularly, this moves and comprises mobile unit and rotary unit with registration device, wherein, mobile unit can make stacking apparatus move 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 rotating with during earth surface based on wheel flutter and the steer motor that is connected with described wheel flutter, thus locate this stacking apparatus better.
Accompanying drawing explanation
Reader, after having read the specific embodiment of the present invention with reference to accompanying drawing, will become apparent various aspects of the present invention.Wherein,
Fig. 1 illustrates that existing stacking apparatus adopts forward way of stacking to carry out the constitution diagram of stacking;
Fig. 2 A illustrates the front view of the reverse stacking device according to one aspect of the invention; And Fig. 2 B illustrates the lateral plan of the reverse stacking device in Fig. 2 A;
Fig. 3 A illustrates the structural representation of the main lifting apparatus of the reverse stacking device in Fig. 2 A; And Fig. 3 B and Fig. 3 C is respectively the fork pawl rotating shrinking of main fork in the main lifting apparatus shown in Fig. 3 A and rotates the constitution diagram stretched out;
Fig. 4 A illustrates the structural representation of the secondary lifting apparatus of the reverse stacking device in Fig. 2 A; And Fig. 4 B and Fig. 4 C is respectively the fork pawl rotating shrinking of secondary pallet fork in the secondary lifting apparatus shown in Fig. 4 A and rotates the constitution diagram stretched out;
Fig. 5 A illustrates the constitution diagram when movement of the reverse stacking device in Fig. 2 A and the mobile unit of registration device and earth surface; And Fig. 5 B illustrates the constitution diagram that the mobile unit of Fig. 5 A moves at vertical direction;
Fig. 6 A illustrates the constitution diagram when movement of the reverse stacking device in Fig. 2 A and the rotary unit of registration device and earth surface; And Fig. 6 B illustrates that the rotary unit of Fig. 6 A moves and the constitution diagram of the anglec of rotation at vertical direction;
Fig. 7 A illustrates the first view of the level tray of the reverse stacking device in Fig. 2 B; And Fig. 7 B illustrates the second view of the level tray of the reverse stacking device in Fig. 2 B;
The tie-beam of the reverse stacking device that Fig. 8 A illustrates in Fig. 2 B is attached to the constitution diagram of two main door frames; Fig. 8 B illustrates the mechanical connection constitution diagram of the tie-beam of Fig. 8 A its free end when being attached to main door frame; Fig. 8 C illustrates the tie-beam schematic diagram in the on-state of Fig. 8 A; And
Fig. 9 illustrates the constitution diagram carrying out reverse stacking according to reverse stacking device of the present invention.
Detailed description of the invention
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 that existing stacking apparatus adopts forward way of stacking 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 third layer (flag F 3), for the cargo layer (flag F N) treating stacking, as shown in the direction of arrow, first stacking apparatus needs this cargo layer FN to be lifted to the position being at least equivalent to single cargo layer height 3 times, and then this cargo layer FN is leaned forward, to overlay on cargo layer F3.From this constitution diagram, stacking apparatus often increases the cargo layer that stacking is treated in placement one, its lifting force is just equivalent to increase lifting force when single cargo layer upwards being lifted the height of a cargo layer, be understood that, this is for the large-scale stacking with multilayer goods, the base volume of its stacking apparatus is comparatively large, and the lifting power produced during its work is also sufficiently large.Because the cargo layer treating stacking newly increased does not change the position of the original each layer of cargo layer of stacking, also its way of stacking can be called " forward stacking ".From the stacking procedure of above-mentioned forward stacking, when completing the stacking of the cargo layer newly increased, the lifting force of stacking apparatus can constantly increase, and thus equipment energy consumption is comparatively large, and stacking efficiency is lower.
Corresponding with " forward stacking " mode is, in stacking procedure, originally the cargo layer F1 being positioned at bottom becomes the second layer, and F2 and F3 originally laying respectively at the second layer and third layer correspondingly becomes third layer and the 4th layer, that is, what newly increase treats that stacking cargo layer is always positioned at the bottom of this large-scale stacking at every turn.Treat that the cargo layer FN of stacking changes the position of each layer of cargo layer of stacking, so be called " reverse stacking " by this way of stacking due to what newly increase.
In order to overcome the above-mentioned defect existing for Fig. 1, the present invention proposes a kind of brand-new reverse stacking device.More specifically, Fig. 2 A illustrates the front view of the reverse stacking device according to one aspect of the invention, and Fig. 2 B illustrates the lateral plan of the reverse stacking device in 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 the goods treating stacking along vertical direction lifting, mobile and registration device is arranged at the bottom of stacking apparatus, move to predetermined stacked location for making this stacking apparatus or be positioned this stacked location, and level tray is via rail module sliding block joint extremely main door frame, when stacking apparatus outside Handling device near time, this level tray moves in the horizontal direction thus will treat that the goods of stacking is sent to the secondary pallet fork of secondary lifting apparatus, and then perform this by this secondary pallet fork and treat that the stacking of stacking goods operates.
It is to be noted, this stacking apparatus is when carrying out goods stacking or Cargo Claim, be arranged in the main lifting apparatus above stacking apparatus and the secondary lifting apparatus be positioned at below stacking apparatus operate the goods of stacking of large-scale stacking respectively and treat stacking goods, preferably, two main door frames are oppositely arranged thus lifting stacking goods, and two secondary door frames are oppositely arranged thus stacking goods is treated in lifting, can make the operation of 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 such as, 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 fixedly connected with corresponding main door frame respectively, for the hydraulic stem of the large hydraulic actuating cylinder that stretches thus the main door frame that corresponds of lifting.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 motion to raise main fork 2, and then the goods of lifting 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 is fixedly connected with this main door frame.Small cylinder 4 is fixedly connected with corresponding secondary door frame 6, for the hydraulic stem of this small cylinder 4 that stretches thus the corresponding secondary pallet fork 5 of lifting.Such as, when the hydraulic stem of small cylinder 4 stretches, secondary pallet fork vertically moves thus the goods of stacking is treated in lifting; And when the hydraulic stem of small cylinder 4 shrinks, secondary pallet fork vertically moves thus this is treated stacking goods is positioned over ground.
Mobile and registration device is arranged at the bottom of stacking apparatus, moves to predetermined stacked location for making stacking apparatus or is positioned this stacked location.Such as, stacking apparatus realizes ground running by drive motor and drive wheel thereof.Or stacking apparatus realizes turning to by steer motor and wheel flutter thereof, and this steering mode is similar to automobile, both can turn on walking limit, limit, turns to after also can stopping walking again.
Level tray 12 is via rail module sliding block joint extremely main door frame 3, when stacking apparatus outside Handling device near time, this level tray 12 moves in the horizontal direction thus will treat that the goods of stacking is sent to secondary pallet fork 5, and will treat that stacking goods movement shifts out from this stacked location to stacked location or by goods to be extracted by secondary pallet fork 5, thus treat that stacking goods can't directly be sent in stacking apparatus by Handling device, and then can avoid colliding in stacking or discharging of goods process situation, this has high safety and stacking reliability by making stacking apparatus of the present invention.
In addition, this stacking apparatus also can comprise Auxiliary Control Device, such as, the first Electric Appliance Cabinet 17, hydraulic power unit 18 and the second Electric Appliance Cabinet 19, for provide respectively hydraulic stem in the electric energy needed for each drive motor work and each hydraulic actuating cylinder stretch out or shrink needed for hydraulic coupling.
In addition, the first lifting apparatus and described second lifting apparatus are set to the mode of removably connecting, to realize the pile treating stacking goods to Different Weight and/or different size or extraction.
Fig. 3 A illustrates the structural representation of the main lifting apparatus of the reverse stacking device in Fig. 2 A.With reference to Fig. 3 A, main door frame 3 is fixedly connected with large hydraulic actuating cylinder 1, and main lifting apparatus boosts main door frame 3 by large hydraulic actuating cylinder 1, drives chain 20 with cw or rotates counterclockwise, and then promote main fork 2 when then main door frame 3 vertically moves.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 is respectively the fork pawl rotating shrinking of main fork in the main lifting apparatus shown in Fig. 3 A and rotates the constitution diagram stretched out.In figure 3b, drive motor 21 and chain 22 match, and can make fork pawl 23 rotating shrinking of main fork 2; And in fig. 3 c, drive motor 21 and chain 22 match, the fork pawl 23 of main fork 2 can be made to rotate and to stretch out.Preferably, drive motor 21 makes rotating shaft rotate clockwise, thus drives chain 22 to move, so that fork pawl 23 rotating shrinking of main fork 2 is in the below of main fork; And drive motor 21 makes rotating shaft rotate counterclockwise, thus drive chain 22 to move, stretch out so that the fork pawl 23 of main fork 2 rotates from the below of main fork.
Fig. 4 A illustrates the structural representation of the secondary lifting apparatus of the reverse stacking device in Fig. 2 A.With reference to Fig. 4 A, small cylinder 4 is fixedly connected with secondary pallet fork 5, and secondary lifting apparatus boosts secondary pallet fork 5 by small cylinder 4, and then makes the fork pawl 26 of secondary pallet fork 5 treats that stacking goods in the vertical direction moves.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 is respectively the fork pawl rotating shrinking of secondary pallet fork in the secondary lifting apparatus shown in Fig. 4 A and rotates the constitution diagram stretched out.Be similar to Fig. 3 B and Fig. 3 C, in figure 4b, drive motor 24 and chain 25 match, and can make fork pawl 26 rotating shrinking of secondary pallet fork 5; And in figure 4 c, drive motor 24 and chain 25 match, the fork pawl 26 of secondary pallet fork 5 can be made to rotate and to stretch out.Preferably, drive motor 24 makes rotating shaft rotate clockwise, thus drives chain 25 to move, so that fork pawl 26 rotating shrinking of secondary pallet fork 5 is in the below of secondary pallet fork 5; And drive motor 24 makes rotating shaft rotate counterclockwise, thus drive chain 25 to move, stretch out so that the fork pawl 26 of secondary pallet fork 5 rotates from the below of secondary pallet fork 5.
From the set-up mode of the main fork fork pawl shown in Fig. 3 B and Fig. 3 C, and the set-up mode of the secondary pallet fork fork pawl shown in Fig. 4 B and Fig. 4 C is known, the fork pawl of main fork 2 and secondary pallet fork 5 can according to concrete stacking process, be configured to rotating shrinking neatly or state is stretched out in rotation, without the need to depending on whole equipment moving as transportation fork-truck thus making fork pawl stretch into below goods, therefore to a great extent can economize energy, improve handling efficiency.
Fig. 5 A illustrates the constitution diagram when movement of the reverse stacking device in Fig. 2 A and the mobile unit of registration device and earth surface, and Fig. 5 B illustrates the constitution diagram that the mobile unit of Fig. 5 A moves at vertical direction.With reference to Fig. 5 A and Fig. 5 B, the drive motor 8 that mobile unit comprises drive wheel 7 and is connected with drive wheel 7.Propulsive effort is passed to drive wheel 7 by chain 27 by drive motor 8, so that this stacking apparatus can be subjected to displacement in the horizontal direction.In addition, this mobile unit is also configured with the hydraulic actuating cylinder 11 corresponding with drive wheel 7, is stretched out or retract by the hydraulic stem of hydraulic actuating cylinder 11, thus makes drive wheel 7 and ground touch (shown in Fig. 5 A) or depart from ground (shown in Fig. 5 B).Preferably, chain 27 and drive motor axle use sprocket wheel to coordinate.
Fig. 6 A illustrates the constitution diagram when movement of the reverse stacking device in Fig. 2 A and the rotary unit of registration device and earth surface, and Fig. 6 B illustrates that the rotary unit of Fig. 6 A is in vertical direction motion and the constitution diagram of the anglec of rotation.With reference to Fig. 6 A and Fig. 6 B, the steer motor 10 that rotary unit comprises wheel flutter 9 and is connected with wheel flutter 9.Steering effort is passed to the S. A. 29 of wheel flutter 9 by steer motor 10 by gear cluster 28, to realize rotating, to locate this stacking apparatus.When wheel flutter 9 rotates, being similar to motor turning, both can be walk to rotate, and also can be to rotate after stopping walking again.It is pointed out that wheel flutter 9 carries out rotating all realizing with during earth surface.In addition, this rotary unit is also configured with the hydraulic actuating cylinder 11 corresponding with wheel flutter 9, is stretched out or retract by the hydraulic stem of hydraulic actuating cylinder 11, thus makes wheel flutter 9 and ground touch (shown in Fig. 6 A) or depart 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 and can adopt same hydraulic actuating cylinder, i.e. hydraulic actuating cylinder 11, four hydraulic circuits realize, but the present invention has more than and is confined to this.Such as, a hydraulic actuating cylinder can be adopted to control state of kinematic motion and the displacement of drive wheel 7 vertical direction, and adopt another hydraulic actuating cylinder to control state of kinematic motion and the displacement of wheel flutter 9 vertical direction.
Fig. 7 A illustrates the first view of the level tray of the reverse stacking device in Fig. 2 B, and Fig. 7 B illustrates the second view of the level tray of the reverse stacking device in Fig. 2 B.Composition graphs 7A and Fig. 7 B, for level tray 12, the drive motor 14 below it is fixed on the body of level tray 12, and transmits by chain 40 horizontal actuator force that drive motor 14 produces.In addition, chain 40 is fixed with fixed part 32 and is connected, shown by the encircled portion in Fig. 7 A, thus drive motor 14, chain 40 and sprocket wheel 33 realize closed loop, so that level tray 12 enters stacking apparatus inside in the horizontal direction or shifts out from this stacking apparatus.In one embodiment, the motion guide of level tray 12 uses groove 34, groove 35 jointly to complete with coordinating of support wheel 13.Such as, when detection signal illustrates that the Handling device (as fork truck) of stacking apparatus outside is by when being transported to the position near this level tray 12 until the goods of stacking, level tray shifts out this stacking apparatus by the propulsive effort that drive motor 14 produces.Preferably, this detection signal uses electrical signal to send by this Handling device.
The tie-beam of the reverse stacking device that Fig. 8 A illustrates in Fig. 2 B is attached to the constitution diagram of two main door frames, Fig. 8 B illustrates the mechanical connection constitution diagram of the tie-beam of Fig. 8 A its free end when being attached to main door frame, and Fig. 8 C illustrates the tie-beam schematic diagram in the on-state 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 free end of tie-beam being departed from this main door frame is called open mode.More specifically, drive motor 16 passes through gear cluster 39 by the transmission of power needed for rotation to tie-beam 15, thus this tie-beam 15 is rotated around its fixed end in perpendicular.When tie-beam 15 is from open mode to closure state, the hydraulic stem of hydraulic actuating cylinder 36 stretches out thus makes pin 37 be inserted in hole 38 (as shown in the dotted line frame in Fig. 8 A), so that the free end of tie-beam 15 is attached to main door frame.
With reference to Fig. 8 C, when stacking apparatus enters predetermined stacked location, tie-beam 15 is open mode, when the goods of stacking enters stacking apparatus inside, not interfere with tie-beam 15.
Fig. 9 illustrates the constitution diagram carrying out reverse stacking according to reverse stacking device of the present invention, wherein, stacking apparatus for operating stacking goods and treat that the parts of stacking goods or structure are not shown specifically, and only describes design sketch when stacking apparatus of the present invention carries 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 third layer (flag F 3), for the cargo layer (flag F N) treating stacking, as shown in the direction of arrow, main lifting apparatus of the present invention is first by stacking cargo layer F1, F2 and F3 is lifted to the position being equivalent to single cargo layer height, then will treat that stacking cargo layer FN is positioned on level tray by Handling device (fork truck), and then will treat that stacking cargo layer FN is transplanted on the original position of F1 by level tray, and then utilize secondary lifting apparatus from lifting certain altitude level tray, the goods of FN layer leaves level tray, now level tray is shifted out in the horizontal direction, so that cargo layer FN is placed in ground by secondary lifting apparatus, finally the cargo layer F1 ~ F3 of stacking is superimposed upon on cargo layer FN by main lifting apparatus, to complete reverse stacking.
Adopt stacking apparatus of the present invention, compared to prior art, at least have the following advantages:
1) stacking apparatus of the present invention comprises two lifting apparatus, be respectively used to lifting stacking goods and treat the goods of stacking, and these lifting apparatus in the vertical directions are designed to main door frame and secondary door frame respectively, the volume of its whole stacking apparatus is less, save cost, facilitated 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 rail module sliding block joint to main door frame, when stacking apparatus outside Handling device near time, this level tray moves to treat that the goods of stacking is sent to secondary pallet fork in the horizontal direction, thus treats that stacking goods can't directly be sent in stacking apparatus by Handling device, and then can avoid colliding in stacking or discharging of goods process situation;
3) stacking apparatus of the present invention also comprises mobile and registration device, can move it to predetermined stacked location or be positioned this stacked location.Particularly, this moves and comprises mobile unit and rotary unit with registration device, wherein, mobile unit can make stacking apparatus move 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 rotating with during earth surface based on wheel flutter and the steer motor that is connected with described wheel flutter, thus locate this stacking apparatus better.
Above, the specific embodiment of the present invention is described with reference to the accompanying drawings.But those skilled in the art can understand, when without departing from the spirit and scope of the present invention, various change and replacement can also be done to the specific embodiment of the present invention.These change and replace and all drop in claims of the present invention limited range.
Claims (9)
1. a stacking apparatus, be applicable to the goods pile in products storage circulation system or extraction, it is characterized in that, described stacking apparatus comprises:
First lifting apparatus, for the goods of vertically lifting stacking, 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 fixedly connected with corresponding main door frame, for described first hydraulic actuating cylinder that stretches hydraulic stem thus raise described main door frame; 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 stacking described in lifting;
Second lifting apparatus, treat the goods of stacking for vertically lifting, have:
Two secondary door frames, each secondary door frame is arranged at the inside of corresponding main door frame, is fixedly connected with described main door frame;
Two the second hydraulic actuating cylinders, each second hydraulic actuating cylinder is fixedly connected with corresponding secondary door frame, for described second hydraulic actuating cylinder that stretches hydraulic stem thus raise corresponding secondary pallet fork; And
Two secondary pallet forks, each secondary pallet fork is fixedly connected with the second corresponding hydraulic actuating cylinder, for treating the goods of stacking described in lifting;
Move and registration device, be arranged at the bottom of described stacking apparatus, move to predetermined stacked location for making described stacking apparatus or be positioned described stacked location; And
Level tray, via rail module sliding block joint to described main door frame, when described stacking apparatus outside Handling device near time, described level tray moves in the horizontal direction thus treats that the goods of stacking is sent to described secondary pallet fork by described.
2. stacking apparatus 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, the drive motor comprising drive wheel and be connected with described drive wheel, so that described stacking apparatus moves in the horizontal direction;
Rotary unit, the steer motor comprising wheel flutter and be connected with described wheel flutter, so that described wheel flutter is rotating with during earth surface; And
Hydraulic pressure unit, has the 3rd hydraulic actuating cylinder and the 4th hydraulic actuating cylinder, wherein, to be stretched or retracts corresponding hydraulic stem, described drive wheel is moved at vertical direction by described 3rd hydraulic actuating cylinder; And to be stretched or retract corresponding hydraulic stem by described 4th hydraulic actuating cylinder, thus described wheel flutter is moved at vertical direction.
4. stacking apparatus according to claim 3, is characterized in that, the tractive force needed for movement is passed to described drive wheel by chain by described drive motor.
5. stacking apparatus according to claim 3, is characterized in that, the rotational force needed for rotation is passed to the S. A. of described wheel flutter by described steer motor by gear cluster, so that described wheel flutter rotates.
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, electric energy required when described Electric Appliance Cabinet is for providing described drive motor and described steer motor to run, and described hydraulic power unit is for providing the hydraulic coupling of described first hydraulic actuating cylinder, the second hydraulic actuating cylinder, the 3rd hydraulic actuating cylinder and the 4th hydraulic actuating cylinder hydraulic circuit separately.
7. stacking apparatus according to claim 6, it is characterized in that, described stacking apparatus also comprises hydraulic control device, and for controlling between described two the first hydraulic actuating cylinders, between two the second hydraulic actuating cylinders, the hydraulic coupling of the 3rd hydraulic actuating cylinder and the 4th hydraulic actuating cylinder hydraulic circuit separately reaches balance.
8. stacking apparatus according to claim 1, is characterized in that, described first lifting apparatus and described second lifting apparatus are set to the mode of removably connecting, to realize the pile treating stacking goods for Different Weight and/or different size or extraction.
9. stacking apparatus according to claim 1, is characterized in that, described main fork and secondary pallet fork fork pawl separately is all arranged to rotary extension mode, and when described main fork or secondary pallet fork enter below goods, corresponding fork pawl rotates and stretches out; And after described goods completes stacking or extraction operation, corresponding fork pawl rotates retraction, thus reduces taking up room of described stacking apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110218838.4A CN102910559B (en) | 2011-08-01 | 2011-08-01 | Stacking equipment for storage logistics system |
Applications Claiming Priority (1)
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| CN201110218838.4A CN102910559B (en) | 2011-08-01 | 2011-08-01 | Stacking equipment for storage logistics system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| MX2018014333A (en) * | 2016-05-23 | 2019-08-21 | Crown Equip Corp | Systems and methods for use of a materials handling vehicle in a warehouse environment. |
| CN106044640A (en) * | 2016-08-01 | 2016-10-26 | 江苏科技大学 | All-directional moving and high-low lifting carrying AGV car with comb teeth |
| 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 |
| WO2019042898A1 (en) * | 2017-08-31 | 2019-03-07 | Movebot Aps | Robot and method for retrieval of a target article |
| CN113515110B (en) * | 2020-03-25 | 2024-05-28 | 北京极智嘉科技股份有限公司 | Method and device for controlling stacking of robots |
| CN112357836B (en) * | 2020-11-25 | 2022-06-21 | 中钞长城金融设备控股有限公司 | Automatic alignment control method and device for hydraulic fork |
| CN116040189B (en) * | 2023-03-31 | 2023-06-30 | 广东东软学院 | Storage transfer robot |
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