CN104326202B - A kind of tiered warehouse facility - Google Patents

Abstract

The invention relates to a three-dimensional warehouse, which includes a transport vehicle and a material rack arranged on the left side of the transport vehicle. The transport vehicle includes a vertical guide rail and a mobile frame that guides and moves and is assembled on the vertical guide rail. The mobile frame is provided with a transport frame. There is a lifting angle device on the frame corresponding to the plate angle of the corresponding metal plate. The lifting angle device includes a device frame and a lifting angle suction cup. A swing arm driving mechanism is provided to drive the tilt angle swing arm to swing around the axis of the rotating connection structure, and the lift angle suction cup is arranged on the lift angle swing arm. The invention solves the problem that two adjacent metal plates are not easy to separate in the existing three-dimensional warehouse.

Description

a three-dimensional warehouse

technical field

The invention relates to a three-dimensional warehouse.

Background technique

The existing three-dimensional warehouse includes a plurality of material racks arranged sequentially along the front and rear directions, each material rack is equipped with a metal plate, and a truck guide rail extending along the front and rear direction is provided on the right side of the material rack, and the truck guide rail The upper guiding movement is equipped with a carrier, and the carrier includes a vertical guide rail whose guiding direction extends along the up and down direction, and a moving frame is installed on the vertical guiding rail, and a moving frame is provided on the moving frame, and a metal plate hoisting structure is arranged on the moving frame . When in use, the transporter moves to the side of the corresponding material rack along the guide rail of the transporter, and the transporter moves to the top of the corresponding metal plate, and the metal plate is hoisted by the metal plate hoisting structure. The lifting of metal plates has always been a difficult point in the field of lifting, because when the metal plates are stored, there will be a lot of viscosity between the metal plates due to oil, water vapor, etc., that is to say, the gap between two adjacent metal plates It is not easy to separate. There are two traditional hoisting modes. One is single-sheet hoisting. When the transport frame reaches the metal plate, the uppermost metal plate is manually separated, and then the metal plate is transported away by the transport frame. , the process of manual separation is time-consuming and laborious, the work efficiency is low, and the thinner metal plate is easy to cut the staff; the other is to directly lift the metal plate through the suction cup, without the process of manual separation of the metal plate, this form Although the lifting efficiency is increased to a certain extent, when the suction cup sucks the uppermost metal plate, due to the adhesive force between the adjacent metal plates, there are still several metal plates stuck under the metal plate sucked by the suction cup. During the lifting process, the lower metal plates may be separated from the first metal plate due to gravity. There is a danger of the metal plates falling during the lifting process, causing a huge safety hazard to normal production. The problems in the above two hoisting forms are all caused by the difficulty in separating two adjacent metal plates.

Contents of the invention

The object of the present invention is to provide a three-dimensional warehouse to solve the problem that two adjacent metal plates are not easy to separate in the existing three-dimensional warehouse.

In order to solve the above problems, the technical solution of the present invention is:

A three-dimensional warehouse, including a transport vehicle and a material rack arranged on the left side of the transport vehicle. The transport vehicle includes a vertical guide rail and a mobile frame that guides and moves and is assembled on the vertical guide rail. The mobile frame is provided with a transport frame. The angle corresponding to the plate angle of the corresponding metal plate is provided with a lift angle device. The lift angle device includes a device frame and a lift angle suction cup. The device frame is equipped with a lift angle swing arm that can swing up and down through a rotating connection structure. A swing arm driving mechanism for swinging the angled swing arm around the axis of the rotating connection structure, and the angled lift suction cup is arranged on the angled swing arm.

The rotating connection structure includes a connecting cross bar with one end hingedly connected to the lower end of the tilting swing arm, and the other end of the connecting cross bar is provided with a long hole extending in a direction perpendicular to the extension direction of the hinge axis of the tilting swing arm. A cross-bar pin shaft is provided on the top of the long hole, and the swing arm driving mechanism includes a drive cylinder whose one end is hingedly connected to the device frame, and the other end is hingedly connected to the upper end of the angled swing arm.

A blowing pipe is arranged on the swing arm of the lifting angle, and the air outlet of the blowing pipe faces the suction cup of the lifting angle.

A plurality of transport suction cups are arranged on the transport frame, and springs are arranged between each transport suction cup and the transport frame.

The moving frame is provided with a linear guide rail whose guiding direction extends along the left and right directions, and the moving frame is guided and assembled on the linear guide rail, and the moving frame and/or the moving frame is provided with a moving frame that drives the moving frame to reciprocate along the linear guide rail Drive mechanism.

The right side of the transport vehicle is provided with a jacking machine, the first transfer roller with the axis of rotation extending along the front-to-back direction and the first transfer motor driving the rotation of the first transfer roller are arranged on the jacking machine, and the transport vehicle is provided with a rotating The axis extends along the front-to-back direction of the second transfer roller and the second transfer motor that drives the second transfer roller to rotate, and a transfer frame is placed on the first transfer roller or the second transfer roller.

The beneficial effects of the present invention are: when the carrier frame of the present invention is hoisting the uppermost metal plate, the angled suction cup in the angled angle device first sucks the angle of the metal plate, and the swing arm drive mechanism drives the angled swing arm to rotate The axis of the connecting structure swings, and the lift-angle swing arm moves with the lift-angle suction cup. Due to the force applied at the corner of the plate, the bonding force between the metal plates on the adjacent two sides is not very large, and the lift-angle suction cup moves the corner of the metal plate Lift up, the lift-angle suction cup rotates around the axis of the rotating connection structure with the lift-angle swing arm, and the movement track of the lift-angle suction cup is consistent with the plate angle deformation track of the metal plate, so that the adsorption surface of the lift-angle suction cup can always be firmly attached to the surface of the metal plate Contact, to ensure the reliability of the lifting process. After the uppermost metal plate is lifted, air enters the gap between the two adjacent metal plates, making the adjacent two metal plates very easy to separate, and then the transport frame Moving with the metal plate can realize the smooth separation of two adjacent metal plates, so that the carrier only carries one metal plate at a time, which ensures the safety of the lifting process, saves manpower and improves work efficiency .

Description of drawings

Fig. 1 is the structural representation of an embodiment of three-dimensional warehouse in the present invention;

Fig. 2 is the structural representation of jacking machine among Fig. 1;

Fig. 3 is the use state diagram of Fig. 2;

Fig. 4 is a schematic diagram of cooperation between the carrier and the guide rail of the carrier in Fig. 1;

Fig. 5 is a schematic diagram of cooperation between the transport frame and the mobile frame in Fig. 1;

Fig. 6 is a schematic structural view of the material rack in Fig. 1;

Fig. 7 is a schematic structural view of the cantilever in Fig. 5;

Fig. 8 is a schematic structural view of the lift angle device in Fig. 5;

Figure 9 is a top view of Figure 8;

Figure 10 is a perspective view of Figure 9;

Figure 11 is a schematic structural view of the walking beam in Figure 5

Fig. 12 is a schematic diagram of when the carrier frame in Fig. 5 moves to the bottom of the mobile frame;

Fig. 13 is the left view of Fig. 2;

Fig. 14 is a schematic structural view of the jack base in Fig. 2;

Figure 15 is a perspective view of Figure 14;

Fig. 16 is a schematic diagram of cooperation between the jacking cylinder and the scissor jacking arm in Fig. 2;

Fig. 17 is a schematic structural view of the jacking platform in Fig. 2 .

Detailed ways

The embodiment of the three-dimensional warehouse is shown in Figures 1 to 17: it includes a plurality of material racks 9 arranged sequentially along the front and rear directions, each material rack is a three-layer structure arranged up and down, metal plates can be placed on each layer of material racks, and materials The right side of the frame is provided with the truck guide rail 8 that guide direction extends along the front-to-back direction, and the guide rail 8 on the truck guide rail is equipped with a truck for guiding and moving. The transport vehicle includes a vertical guide rail 7 and a mobile frame 4 that guides and moves on the vertical guide rail. The transport vehicle is also provided with a lifting motor 13 that drives the mobile frame 4 to lift up and down along the vertical guide rail through a chain. The mobile frame is provided with a horizontal Arranged linear guide rail 4-1, the guiding direction of the linear guide rail extends along the left and right directions, a rack 4-2 is arranged beside the linear guide rail 4-1, and a carrier frame 1 is installed on the linear guide rail for guiding movement, and a carrier frame 1 is provided on the carrier frame to be connected with the linear guide rail 4-1. The sliding block 3-4 is guided by the guide rail, and the transport frame is provided with a transport frame drive mechanism that drives the transport frame to reciprocate along the linear guide rail guiding direction. The transport frame drive mechanism includes a travel motor 3-2 and is connected to the travel motor through a transmission belt. The rotating shaft 3-3 on the power output end of 3-2, the rotating shaft is arranged on the carrier frame through the bearing seat, two ends of the rotating shaft are provided with two gears 3-5, and each gear is engaged with the corresponding rack 4-2 for transmission. When in use, the travel motor drives the gear to rotate. Through the engagement of the gear and the rack, the transport frame 1 can reciprocate along the linear guide rail. A travel switch is installed on the middle beam of the mobile frame. The travel switch is used to limit the reciprocating motion of the transport frame along the linear guide rail. Location. The transport frame comprises a walking beam 3 and a plurality of cantilevers 1-1 arranged at intervals along the extending direction of the walking beam. The traveling motor 3-2 and the rotating shaft 3-3 are all arranged on the walking beam 3, and each cantilever 1-1 is fixed to the walking beam by bolts. On the beam, each cantilever is provided with a plurality of transport suction cups 1-2, and the transport suction cups are arranged in the suction cup installation holes provided on the corresponding cantilever, and a spring is arranged between the transport suction cup and the corresponding cantilever, and through the setting of the spring, each transport suction cup All can move in a small range along the up and down direction. The cantilever is a hollow structure. The first vacuum generator 1-3 connected to each transport suction cup through the air pipe is also arranged on the transport frame. in the hole. A displacement sensor 1-4 is also arranged at the lower end of the corresponding cantilever, and the lowest position of the transport suction cup is lower than the displacement sensor, so that when the transport frame moves down with the mobile frame, the transport suction cup 1-2 first touches the metal plate, and the spring is compressed. After a certain amount of compression, the displacement sensor senses the position of the metal plate, and the lowering action of the mobile frame stops. The height difference between the displacement sensor and the handling suction cups and the spring ensure that all the handling suction cups can be completely attached to the metal plate, and then the first The vacuum generator works, and a large air pressure difference is formed between each handling suction cup and the metal plate through the air pipe. There is an angled device 2 on the transport frame corresponding to the corners of the corresponding metal plates. The corners refer to the joints between two adjacent sides of the metal plate. A rectangular metal plate has four corners, and a triangular metal plate There are three plate angles. In this embodiment, the tilting device is arranged on the overhanging end of the first cantilever. The tilting device includes a device frame and a tilting suction cup 2-4, and the device frame includes bolts fixed on the corresponding cantilever. The mounting plate 2-2 of the device frame is equipped with a lift-angle swing arm 2-9 that can swing up and down through a rotating connection structure, and the device frame is also provided with a swing arm drive that drives the lift-angle swing arm to swing around the axis of the rotation connection structure. Mechanism, the lifting angle suction cup 2-4 is arranged on the lifting angle swing arm, and the rotating connection structure includes one end hingedly connected with the lower end of the lifting angle swing arm, and the connecting cross bar 2-5 provided with a long hole at the other end, and the length extension direction of the long hole is Perpendicular to the extension direction of the axis of the tilting swing arm, the mounting plate 2-2 is provided with a crossbar pin shaft pierced in the long hole 2-10. Lift the drive cylinder 2-1 that the upper end of the angle swing arm is hingedly connected to each other, and the drive cylinder is a pneumatic cylinder in the present embodiment. The device frame is also provided with the second vacuum generator 2-3 that links to each other with the lifting angle suction cup by trachea, and the blowing angle swing arm is provided with blowing pipe 2-6, and the air outlet of blowing pipe is towards the lifting angle suction cup. The transport suction cup, lift-angle suction cup and the air outlet of the blowing pipe are on the same plane. When the displacement sensor on the transport frame receives the signal, the second vacuum generator works, and the lift-angle suction cup firmly holds the corner of the metal plate and drives it at the same time. The piston rod of the cylinder is retracted, and the angled swing arm swings around its hinge axis, driving the angled suction cup to turn up a corner of the metal plate, connecting the cross bar to ensure the stability of the swinging process, and then the blowing pipe works, and blows the blowing pipe to the Air is blown from the lower side of the lift plate angle to blow away the oil on the metal plate. During the rising process, the air blowing pipe continues to work until the two metal plates are completely separated. The air blowing pipe can further ensure the smooth separation of the two metal plates and at the same time purify Metal plate.

The three-dimensional warehouse also includes a jacking machine arranged on the right side of the transport vehicle. The jacking machine includes a jacking machine base and a jacking platform 18 arranged on the jacking machine base through a scissor-type lifting arm. The jacking machine base is provided with a useful The hydraulic system for driving the action of the scissor jacking arm includes a hydraulic oil tank 12 and a jacking cylinder 13, and the scissor jacking arm includes a yoke 11 hinged together and a yoke connection between the corresponding two yokes. Shaft 21, the connecting shaft of the yoke and the hinge shaft of the yoke are arranged eccentrically. The bottom of the arm is hingedly connected with the base of the jacking machine, and the bottom of the other yoke is provided with a roller, which guides and moves with the yoke guide rail 20 on the base of the jacking machine. On the jacking platform, there are many pairs of first transfer rollers 10 whose rotation axes extend along the front and rear directions at intervals along the left and right directions. The first transfer rollers 10 are driven to rotate by the first transfer motor 19 arranged on the jacking machine. The transfer rollers are connected by rotating shafts, the output shaft of the first transfer motor is connected with one of the rotating shafts through a chain, and the two adjacent rotating shafts are connected through a chain transmission. The transport vehicle is provided with a second transfer roller whose rotation axis extends in the front-rear direction and a second transfer motor that drives the rotation of the second transfer roller. The setting form of the transfer motor is the same, and will not be described in detail here. The three-dimensional warehouse also includes a transfer frame for placing on the first transfer roller or the second transfer roller. The transfer frame is used to support the metal plate. A transfer roller moves onto the second transfer roller, and can also be moved from the second transfer roller to the first transfer roller. The base of the jacking machine includes a bottom frame 14 and four leveling nuts 15 fixed on the bottom frame. An anchor 16 is provided, and the leveling of the jacking machine can be realized by adjusting the supporting screw rod. Item 22 in the figure indicates the guide column for guiding the transfer frame; item 23 indicates the chain connected between the first transfer motor and the corresponding rotating shaft; item 24 indicates the sprocket arranged on the corresponding rotating shaft.

When the three-dimensional warehouse is in use, when it is necessary to take materials from a certain layer on a certain material rack, the transfer rack is first transported to the truck by the operating station through the jacking machine, and the truck moves to the side of the corresponding material rack, and then The mobile frame moves to the corresponding layer of the material shelf, and the transport frame extends from the mobile frame to the top of the corresponding metal plate. At this time, the angle lifting device is located above a corner of the metal plate to be transported, and then the transport frame is lowered together with the mobile frame. Move until the displacement sensor receives the signal from the metal plate and stop. At this time, the lift angle device works. The lift angle swing arm drives the lift angle suction cup to lift the corner of the first metal plate, and the air blowing pipe blows air to the bottom of the first metal plate. , and finally the suction cup works, and the suction cup absorbs the first metal plate, and the transport frame moves up together with the moving frame. During the upward movement, because a corner of the metal plate is lifted, the two metal plates can be separated smoothly. During the upward movement of the moving frame, the air blowing pipe continues to blow air between the two metal plates to blow away the oil and other impurities between the two metal plates. The bonding force between the two metal plates makes the separation of the two metal plates more smooth, avoiding the phenomenon of grabbing multiple metal plates on one side, and then the traveling motor drives the transport frame to move to the bottom of the mobile frame to realize the metal plate handling. The whole operation process does not need to manually separate the two metal plates, the separation process is simple and reliable, saves a lot of manpower, and improves work efficiency at the same time. Then the transport frame moves to the bottom of the mobile frame, and the mobile frame drives the transport frame to move down. The jacking machine will bring the operating station to complete the material retrieving, and the operator can control the whole system through the PLC to complete docking, transfer, grabbing, placing and other actions.

In other embodiments of the present invention: when the material rack is a single-layer structure and only needs to transport metal plates between the material racks, no jacking machine is required at this time, and the transport rack can be fixed on the mobile rack; when the material rack There is only one. When only the metal plate needs to be transported in the left and right directions, the guide rail of the transport vehicle can also be omitted, and the displacement sensor on the transport frame can also be omitted. At this time, it can be judged by the operator's visual inspection when the lifting angle suction cup works, When to carry the suction cup to work; the transportation frame can also adopt other structures, for example, the transportation frame is a grid frame; The metal plate is lifted by the suction device, C-shaped claws or ring-shaped steel wire rope, the magnetic suction device sucks the metal plate, the C-shaped claws clamp the two ends of the metal plate or the ring-shaped steel wire rope is sleeved on both ends of the metal plate, at this time The metal plate hoisting structure is composed of a magnetic suction device, a C-shaped claw or a ring-shaped steel wire rope; the second vacuum generator may not be arranged on the device frame, for example, on a transport frame or a moving frame; the blowing pipe may not be provided; the driving The cylinder can also be a hydraulic cylinder; the connecting cross bar can also be omitted, and now the swing arm of the lift angle is directly hinged on the mounting plate, and the rotating connection structure includes a pin shaft that realizes the hinge connection of the swing arm of the lift angle and the mounting plate; The swinging driving mechanism of the swing arm can also be a rotating motor, at this time, the angle swing arm is connected with the power output end of the rotating motor; the device frame can also be a frame or other structures; Integral molding, that is to say, the lifting angle suction cup and the lifting angle swing arm are directly set on the transport frame; the travel motor can also be replaced by other transport frame driving mechanisms such as pneumatic cylinders, hydraulic cylinders, etc., which can drive the transport frame to reciprocate along the linear guide rail. When the driving mechanism of the transport frame is a pneumatic cylinder or a hydraulic cylinder, the pneumatic cylinder or hydraulic cylinder is arranged between the transport frame and the mobile frame; the jacking machine may not be equipped with a scissor jack, such as a cam jack, a jacking platform The cam is arranged on the base of the jacking machine, and the cam can bring the jacking platform up or down during the rotation process.

Claims (5)

1. A three-dimensional warehouse, comprising a transport vehicle and a material rack arranged on the left side of the transport vehicle, the transport vehicle includes a vertical guide rail and a mobile frame that guides and moves and is assembled on the vertical guide rail, and the mobile frame is provided with a transport frame, which is characterized in The reason is that: the lifting angle device is arranged on the transport frame corresponding to the plate angle of the corresponding metal plate. The lifting angle device includes a device frame and a lifting angle suction cup. The frame is also provided with a swing arm drive mechanism that drives the tilting swing arm to swing around the axis of the rotating connection structure. Linear guide rail, the carrier frame guides and moves and is assembled on the linear guide rail, the carrier frame and/or the mobile frame are provided with a carrier frame driving mechanism that drives the carrier frame to reciprocate along the linear guide rail, and the carrier frame includes a walking beam and a walking beam A plurality of cantilevers arranged at intervals in the extending direction, each cantilever is provided with a plurality of transport suction cups, the transport suction cups are located on the lower side of each cantilever so that the transport suction cups can hold the metal plate from above the metal plate, and the periphery of the mobile frame is equipped with Corresponding to the walking wheels guided by the vertical guide rail, the lower part of the moving frame has accommodating space for the moving frame and the metal plate to retract and extend in the left and right directions. When in use, the moving frame protrudes from the bottom of the moving frame in the left and right direction To the top of the corresponding metal plate, the transport suction cup absorbs the first metal plate, and the transport frame moves up together with the mobile frame to separate the two metal plates, and then the transport frame moves to the bottom of the mobile frame, and the mobile frame drives the transport frame to move down . 2. The three-dimensional warehouse according to claim 1, characterized in that: the rotating connection structure includes a connecting cross bar whose one end is hingedly connected to the lower end of the tilting swing arm, and the other end of the connecting cross bar is provided with the direction of extension and the lifting angle. The extension direction of the hinge axis of the angular swing arm is a long hole perpendicular to the extending direction. The device frame is provided with a cross bar pin that passes through the long hole. The swing arm driving mechanism includes one end that is hingedly connected with the device frame and another A drive cylinder with one end hingedly connected to the upper end of the swing arm. 3 . The three-dimensional warehouse according to claim 1 , wherein an air blowing pipe is arranged on the tilting swing arm, and the air outlet of the blowing tube faces the tilting suction cup. 4 . 4. The three-dimensional warehouse according to claim 1, wherein a plurality of transport suction cups are provided on the transport frame, and springs are provided between each transport suction cup and the transport frame. 5. The three-dimensional warehouse according to any one of claims 1-4, characterized in that: a jacking machine is provided on the right side of the transport vehicle, and a first transfer roller whose rotation axis extends along the front and rear directions is provided on the jacking machine and a first transfer motor that drives the first transfer roller to rotate, and the transfer vehicle is provided with a second transfer roller whose rotation axis extends in the front-to-back direction and a second transfer motor that drives the second transfer roller to rotate. A transfer rack is placed on the second transfer roller.