CN105416945B - Goods fetching device and the cargo handling equipment using the device - Google Patents
Goods fetching device and the cargo handling equipment using the device Download PDFInfo
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- CN105416945B CN105416945B CN201510869502.2A CN201510869502A CN105416945B CN 105416945 B CN105416945 B CN 105416945B CN 201510869502 A CN201510869502 A CN 201510869502A CN 105416945 B CN105416945 B CN 105416945B
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- 230000003028 elevating effect Effects 0.000 claims abstract description 11
- 238000003780 insertion Methods 0.000 claims description 9
- 230000037431 insertion Effects 0.000 claims description 9
- 244000309464 bull Species 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 3
- 230000005611 electricity Effects 0.000 description 5
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Abstract
The invention discloses goods fetching device and using the cargo handling equipment of the device, belong to the technical field for picking and placeing cargo facility.Goods fetching device includes the support plate for placing goods, the opposite sides of the support plate top surface, which is provided with, to be parallel to each other and symmetrical picking arm, and picking arm includes the fetching device for being located at the substrate of support plate top surface, the travel mechanism on substrate and being used to pick and place goods in travel mechanism.Cargo handling equipment, including base, elevating mechanism, platen and above-mentioned goods fetching device, platen are arranged on base by elevating mechanism, and goods fetching device is rotatably installed in the top of platen.The goods fetching device that the present invention is provided, overall structure is simple, reasonable in design, and picking arm is made up of travel mechanism and fetching device, and travel mechanism drives fetching device movement, goods is pushed or pull in moving process, so as to transport out of or remove to support plate goods.
Description
Technical field
The present invention relates to the technical field for picking and placeing cargo facility, more particularly to a kind of goods fetching device, in addition, of the invention
Further relate to the cargo handling equipment using such a goods fetching device.
Background technology
Smart three-dimensional warehousing system was achieving larger development in recent years, and goods pattern is picked and placeed due to traditional pallet fork,
Stack machine efficiency when picking and placeing goods is more low.In order to improve the operating efficiency for picking and placeing goods, so as to improve smart three-dimensional storage system
The whole work efficiency of system, it is very necessary to design a kind of goods device that picks and places suitable for stereo warehouse counter.
The content of the invention
In order to solve the shortcoming and defect that above-mentioned prior art is present, electricity box and meter are arranged on the invention provides one kind
It is used for the plug-type goods fetching device of automatic clamping and placing electricity box or meter on the three-dimensional container of storage type.
In order to reach above-mentioned technical purpose, the goods fetching device that the present invention is provided, including the support plate for placing goods,
The opposite sides of the support plate top surface, which is provided with, to be parallel to each other and symmetrical picking arm, and picking arm includes the base located at support plate top surface
Plate, the travel mechanism on substrate and it is used to pick and place the fetching device of goods in travel mechanism.
During by goods handling to support plate, travel mechanism drives fetching device to be moved towards the direction away from support plate, moves to
Behind position, fetching device holds goods, and then travel mechanism moves backward, and drives fetching device backhaul that goods is pulled on support plate.
When goods on support plate is transported out of into support plate, travel mechanism drives fetching device to be moved towards the direction away from support plate, and fetching device will
Goods pushes away support plate, and goods is left after support plate, and travel mechanism's reverse movement drives fetching device return.
It is preferred that, rack and slide plate that the travel mechanism includes the first motor, gear, engaged with gear, the first motor
Including power output shaft, gear is on the power output shaft of the first motor, and rack is fixed on slide plate and engaged with gear, tooth
The length direction of bar, the length direction of slide plate are consistent with the length direction of substrate, and the first motor passes through gear, rack drives slide plate
Move back and forth along the length direction of substrate relative to substrate.
First motor driven gear rotate, during pinion rotation by engagement band carry-over bar in zig direction back and forth
Mobile, because rack is fixed on slide plate, rack drives slide plate moves back and forth on zig direction relative to substrate, so that
Slide plate is driven closer or far from support plate.Preferably, the first motor uses stepper motor.
It is preferred that, the slide plate slides are arranged on substrate, and substrate is fixed with least one in the side towards slide plate directly
Line guide rail one, and the length direction of line slideway one and the length direction of substrate are consistent；Slide plate is fixed towards the side of substrate
There is the sliding block one coordinated with line slideway one..
Slide plate can be slidably mounted on substrate by the cooperation of sliding block one and line slideway one, the length side of line slideway one
To consistent with the length direction of substrate, it is easy to ensure that slide plate, relative to the linearity and stability that substrate moves back and forth, improves dress
Put overall operation stability.
It is preferred that, the rack is fixed on slide plate and is located towards the side of substrate, and the slide plate is in dorsad substrate
Line slideway two of the side provided with strip and the sliding block two with the cooperation of line slideway two, the length direction and cunning of line slideway two
Plate length direction is consistent, and the top of line slideway two is fixed with another rack engaged with gear.
Two racks that are parallel and being engaged with gear are set above and below gear, and two toothed racks are located at cunning respectively
The both sides of plate, improve slide plate the moving stability.
It is preferred that, the fetching device located at slide plate towards on the side of opposite side picking arm, and slide plate length direction
Both sides are arranged with fetching device；Fetching device includes the first push-rod electric machine, connecting rod, the rotating shaft for drivening rod reciprocating rotation
And draw back plate, the first push-rod electric machine is fixed on slide plate, and the first push-rod electric machine includes the first expansion link；The axial direction of rotating shaft is hollow,
In one end insertion rotating shaft of connecting rod, draw back plate is fixed on the other end of connecting rod, one end of connecting rod insertion rotating shaft and the first expansion link
End away from the first push-rod electric machine is connected, and the axial direction of the axial direction of the first expansion link, the axial direction of rotating shaft and bull stick is parallel to each other, and
The length direction of first expansion link is parallel with the length direction of slide plate.
Rotating shaft drivening rod reciprocating rotation, so as to drive draw back plate to be rotated in perpendicular, the first push-rod electric machine passes through
First expansion link, connecting rod drive push-and-pull plate level to move back and forth, and draw back plate is realized when moving back and forth pushes or pull on goods.
It is preferred that, the fetching device also includes the second motor for being used to drive rotating shaft reciprocating rotation, and the second motor includes
Driving shaft, driving shaft is provided with driving wheel or active teeth portion, and rotating shaft is provided with the driven pulley engaged with driving wheel or active teeth portion
Or driven teeth portion, the axial direction of driving shaft and rotating shaft it is axially in parallel；The support base for supporting rotating shaft is fixed with slide plate, is supported
Seat is provided with the through hole coordinated with rotating shaft, and rotating shaft is rotatably installed on support base by the cooperation with through hole.
Driving shaft on second motor is coordinated by gear or tooth form coordinates drive rotating shaft reciprocating rotation, preferably, the
Two motors use stepper motor.
It is preferred that, the connecting rod is axially hollow, and connecting rod is provided with the spacing of annular in the end being connected with the first expansion link
Portion, the centre of limiting section is provided with the hole clipping coordinated with the first expansion link, the first expansion link away from the first push-rod electric machine
In end insertion connecting rod, and the first expansion link is provided with the fixture block coordinated with limiting section, the first expansion link in the end of insertion connecting rod
Connecting rod and the boss at the position of limiting section provided with external diameter less than rotating shaft internal diameter are being left, fixture block and boss are located at limit respectively
The both sides in position portion
One end of first expansion link is inserted in hollow connecting rod, and when rotating shaft drivening rod is rotated, the first expansion link is not by shadow
Ring.When first push-rod electric machine drives the stretching of the first expansion link, the first expansion link passes through boss and the cooperation drivening rod of limiting section
Motion.When first push-rod electric machine drives the first expansion link retraction, the first expansion link is driven by the cooperation of fixture block and limiting section to be connected
Bar backhaul.
It is preferred that, the goods fetching device also includes being used to drive both sides picking arm rest close or remote from opposite side picking arm
The second push-rod electric machine, the second push-rod electric machine includes the second expansion link, the end away from the second push-rod electric machine on the second expansion link
Picking arm is connected to, the second push-rod electric machine is fixed on the top surface of support plate；The bottom of picking arm is provided with the top of sliding block three, support plate and set
There is the line slideway three coordinated with sliding block three, and the length direction of line slideway three and the length direction of slide plate are vertical.
Second push-rod electric machine by the second expansion link drive picking arm rest close or remote from, be easy to according to goods size adjust two
The distance between side draw goods arm, improves the overall versatility of device.
Picked and placeed present invention also offers a kind of cargo handling equipment, including base, elevating mechanism, platen and above-mentioned goods
Device, platen is arranged on base by elevating mechanism, and goods fetching device is rotatably installed in the top of platen.
It is preferred that, the table top is provided with the supporting plate parallel with platen, provided with the 3rd electricity between supporting plate and platen
Include rotary shaft axially vertical with supporting plate on machine, the 3rd motor, the centre of supporting plate is provided with what is coordinated with rotary shaft
Bearing, rotary shaft is fixed with linkage board, linkage board and supporting plate by being passed through with bearing fit at the top of supporting plate, rotary shaft
Between be provided with plane bearing.
Goods fetching device is rotated on platen, and platen on base, is easy to be taken according to goods by elevating mechanism
Put height and direction requires to be adjusted, use demand is met comprehensively.When needing adjustment, the rotary shaft rotation on the 3rd motor,
Goods fetching device is driven to rotate by linkage board.It is preferred that, the 3rd motor uses stepper motor.
The goods fetching device that the present invention is provided, overall structure is simple, reasonable in design, and picking arm is by travel mechanism and picks and places
Mechanism is constituted, and travel mechanism drives fetching device movement, and goods is pushed or pull in moving process, thus goods is transported out of or
Remove to support plate, effectively improve goods and pick and place efficiency, and it is more neat during goods placement.Second push-rod electric machine can drive picking arm
Closer or far from, be easy to be adjusted according to goods size, improve versatility.
The both sides of slide plate are equipped with the rack engaged with gear, can effectively improve the transmission stability of travel mechanism, make dress
Put operation more steady.
The cargo handling equipment that the present invention is provided, goods fetching device is rotatably installed on platen, and platen passes through lift
Structure is arranged on base, and the height of goods fetching device can be adjusted according to access position, and goods fetching device is picked and placeed
Goods direction can also be adjusted, and versatility is good, wide using scope.
Brief description of the drawings
Fig. 1 is the overall structure diagram of goods fetching device embodiment of the present invention；
Fig. 2 is the structural representation of picking arm in goods fetching device embodiment of the present invention；
Fig. 3 is the side view of travel mechanism in goods fetching device embodiment of the present invention；
Fig. 4 is the stereogram of fetching device in goods fetching device embodiment of the present invention；
Fig. 5 is the side view of fetching device in goods fetching device embodiment of the present invention；
Fig. 6 is connecting rod and the schematic diagram of rotating shaft cooperation in goods fetching device embodiment of the present invention；
Fig. 7 is the structural representation of another embodiment of goods fetching device of the present invention；
Fig. 8 is picking arm and the structural representation of support plate cooperation in another embodiment of goods fetching device of the present invention；
Fig. 9 is the structural representation of cargo handling equipment embodiment of the present invention.
In figure, 1- support plates, 11- line slideways three, 2- picking arms, 21- substrates, 22- line slideways one, 23- sliding blocks three,
24- cover plates, 25- housings, 3- travel mechanisms, the motors of 31- first, 32- gears, 33- racks, 34- slide plates, 35- sliding blocks one, 36-
Line slideway two, 37- sliding blocks two, 4- fetching devices, the push-rod electric machines of 41- first, the expansion links of 411- first, 412- fixture blocks, 413-
Boss, 42- connecting rods, 421- limiting sections, 43- rotating shafts, the driven teeth portion of 431-, 44- draw back plates, the motors of 45- second, 451- is actively
Axle, 452- driving wheels, 46- support bases, the push-rod electric machines of 5- second, the expansion links of 51- second, 6- bases, 61- rollers, 7- lifts
Structure, 71- adjusting rods, 72- connecting rods, 73- bearing pins, 74- cylinders, 8- platens, 81- supporting plates, 82- support bars, the electricity of 91- the 3rd
Machine, 92- rotary shafts, 92- linkage boards, 94- plane bearings.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings, following term position only referring to and be not limited to shown in accompanying drawing
Direction.
As shown in Figure 1, 2, goods fetching device provided in an embodiment of the present invention, including the support plate 1 for placing goods, are carried
The opposite sides of plate top surface, which is provided with, to be parallel to each other and symmetrical picking arm 2, and picking arm includes being located at the substrate 21 of support plate top surface, set
It is used in the travel mechanism 3 on substrate and in travel mechanism to pick and place the fetching device 4 of goods.
As shown in figure 3, travel mechanism 3 includes the first motor 31, gear 32, the rack 33 engaged with gear and rack drives
Slide plate 34.First motor 31 includes the power output shaft for being axially perpendicular to the length direction of substrate 21, and gear is fixed on the first electricity
On the power output shaft of machine, slide plate is fixed with a toothed rack 33 in the side towards substrate, the length direction of rack and slide plate
Length direction is consistent with the length direction of substrate.In order to ensure that travel mechanism can two-way equidistant movement, the first motor and gear
Located at support plate in center upward X.
Slide plate 34 is slidably installed on the base plate (21, and substrate is respectively fixed with directly in the upper and lower part of the side towards slide plate
Line guide rail 1, slide plate is respectively and fixedly provided with the sliding block one coordinated with line slideway one in the upper and lower part of the side towards substrate
35, and the length direction of guide rail first and the length direction of slide plate are consistent.
In order to improve the stability of travel mechanism's operation, slide plate 34 is provided with line slideway 2 36 in the side of dorsad substrate 21
And the sliding block 2 37 coordinated with line slideway two, and the length direction of line slideway two is consistent with slide plate length direction, sliding block two
Top be fixed with another rack engaged with gear.
Fetching device 4 is located at slide plate 34 towards on the side of opposite side picking arm 2, and the both sides of slide plate length direction are symmetrical
Provided with fetching device.
As shown in Figure 4,5, 6, fetching device 4 includes the first push-rod electric machine 41, connecting rod 42, for drivening rod reciprocating rotation
Rotating shaft 43, draw back plate 44 and the second motor 45 for driving rotating shaft reciprocating rotation, the first push-rod electric machine 41 is fixed on slide plate
On 34, the first push-rod electric machine includes the first expansion link 411, the axial phase of the axial direction of the first expansion link, the axial direction of rotating shaft and bull stick
It is mutually parallel, and the length direction of the first expansion link and the length direction of slide plate are parallel.
The axial direction of rotating shaft 43 is hollow, and one end of connecting rod is connected with the first expansion link, and draw back plate is fixed on connecting rod away from first
One end of expansion link.
Connecting rod 42 is in limiting section 421 of the end being connected with the first expansion link provided with annular, and the centre of limiting section is set
There is the end away from the first push-rod electric machine 41 on the hole clipping coordinated with the first expansion link, the first expansion link 411 to be inserted through hole clipping
In connecting rod, the first expansion link is provided with the fixture block 412 coordinated with limiting section in the end of insertion connecting rod, and the external diameter of fixture block is more than hole clipping
Diameter and the internal diameter for being less than connecting rod.First expansion link is leaving connecting rod and boss 413, boss is provided with the position of limiting section
External diameter be more than hole clipping internal diameter and less than the internal diameter of rotating shaft, fixture block and boss are located at the both sides of limiting section respectively.
Be uniformly provided with the locating piece 422 of some bar shapeds on the outer wall of connecting rod 42, and locating piece length direction parallel to even
The axial direction of bar, the inwall of rotating shaft 43 is uniformly provided with the neck coordinated with locating piece vertically, passes through positioning between connecting rod and rotating shaft
Block is together with the cooperation location and installation of neck, and the transmission area of power is big between rotating shaft and connecting rod, rotating shaft can drivening rod it is steady
Rotate.
Second motor 45 include driving shaft 451, driving shaft be provided with driving wheel 452 or active teeth portion, rotating shaft be provided with
Driving wheel or the driven pulley or driven teeth portion 431 of the engagement of active teeth portion, the axial direction of driving shaft and rotating shaft it is axially in parallel.Slide plate 21
On be fixed with support base 46 for supporting rotating shaft, support base is provided with the through hole coordinated with rotating shaft, rotating shaft by with through hole
Cooperation is rotatably installed on support base.
In order to improve versatility, the distance between both sides picking arm is set to be adjusted according to goods size, goods takes
Put device also include be used for drive both sides picking arm 2 closer or far from the second push-rod electric machine 5.
As shown in Figure 7,8, the second push-rod electric machine is included on the second expansion link 51, the second expansion link away from the second push-rod electric machine
End be connected to picking arm 2, the second push-rod electric machine is fixed on the top surface of support plate 1；The bottom of picking arm is provided with sliding block 3 23, carries
The top of plate is provided with the line slideway 3 11 coordinated with sliding block three, and the length direction and the length direction of slide plate of line slideway three
Vertically.
Second push-rod electric machine can set one or two according to need of work, when the second push-rod electric machine sets one, band
Dynamic side picking arm rest is close or remote from opposite side picking arm.When the second push-rod electric machine sets two, two the second push-rod electric machines
Drive corresponding picking arm close to each other or remote respectively.
In order to protect fetching device to make it operationally not with being taken for covering in being fixed with one piece on cargo contacts, substrate
The cover plate 24 of laying mechanism.In order that picking arm profile is neat, picking arm also includes being arranged on substrate dorsad transmission mechanism side
Housing 25, housing is fixedly connected with substrate.When substrate is in plate shaped, sliding block three is fixed on the bottom of housing.Substrate end-face shape
When L-shaped, sliding block three is fixed on the bottom of substrate.
The both sides of line slideway one, line slideway two and line slideway three are all provided with the spacing of restricted each sliding block shift motion
Device, the first motor, the second motor and the 3rd motor use stepper motor, and rotating and the setting of rotational angle can be achieved.
In order to improve the automaticity of goods fetching device, goods fetching device can integrally be entered using PLC
Row control, sets on the first motor, the second motor, the first push-rod electric machine and the second push-rod electric machine and is electrically connected with PLC
Controlling switch, the inductor that is electrically connected with PLC is set on support plate, substrate and draw back plate.
Picking arm 2 is driven to be moved to two side draws after signal from X to when moving away from support plate, the second push-rod electric machine 5 is received goods
The distance between goods arm Y-direction is slightly larger than the width of goods.After picking arm is moved into place, on fetching device of the both sides away from Y-direction
Two motors 45 are rotated, and driving shaft is coordinated by gear or tooth form coordinates 90 ° of 43 axial rotation of drive rotating shaft, and rotating shaft passes through connecting rod band
Dynamic draw back plate is rotated, and draw back plate turns to length direction level from length direction vertically.Then, the first motor 31 is rotated, and is passed through
Gear, rack-driving drive slide plate 34 along X to moving.Travel mechanism is along X to when being moved at range, and goods is pushed to load
Plate boundary or part are ridden on support plate border, and subsequent first push-rod electric machine 41 is moved, and passes through the first expansion link 411, connecting rod 42
Drive draw back plate 44 that goods is pushed away into support plate completely along X to moving.Goods is left after support plate, and the first push-rod electric machine drives reverse fortune
It is dynamic, draw back plate is recovered to initial position by the first expansion link, connecting rod, the second motor 45 is rotated backward, drive draw back plate from
Length direction level recovers vertical to length direction, and last first motor 31 is rotated backward, and is driven and slided by gear 32, rack 33
Plate 34 is along-X to moving back into original position.
By goods along-X to when being carried on support plate 1, the first motor 31 is rotated, and passes through gear 32, the transmission belt of rack 33
Dynamic slide plate 34 is moved to corresponding with goods, and the second push-rod electric machine 5 passes through the second expansion link according to the goods high low signal received
51 drive picking arms 2 are moved to the distance between both sides picking arm Y-direction slightly larger than goods width.Then the second motor 45 is rotated,
Driving shaft 451 is coordinated by gear or tooth form coordinates 90 ° of 43 axial rotation of drive rotating shaft, and rotating shaft passes through connecting rod 42 and drives draw back plate
44 rotate, and draw back plate is from length direction by turning to level vertically.First motor rotates backward drive slide plate backhaul, and slide plate drives
Goods is pulled to support plate boundary by picking arm backhaul, draw back plate outside support plate.After slide plate backhaul terminates, the first push-rod electric machine 41
Motion, drives the first expansion link 411 to bounce back, and the first expansion link continues goods being pushed into support plate center by connecting rod, draw back plate.
Also can be by goods along-X to pushing away support plate or being carried to along X to by goods on support plate, the above-mentioned goods process that picks and places can root
Specifically set according to the concrete condition for picking and placeing goods.
As shown in Figure 8,9, cargo handling equipment provided in an embodiment of the present invention, including base 6, elevating mechanism 7, platen 8
And above-mentioned goods fetching device, platen is by elevating mechanism installed in the top of base, and goods fetching device is rotatably installed in
The top of platen.
The top of platen 8 is provided with one piece of supporting plate 81 parallel with platen by support bar 82, between supporting plate and platen
Provided with the 3rd motor 91, include rotary shaft 911 axially vertical with supporting plate on the 3rd motor, the centre of supporting plate is provided with
The bearing coordinated with rotary shaft, rotary shaft is fixed with linkage board by being passed through with bearing fit at the top of supporting plate, rotary shaft
92, plane bearing 93 is provided between linkage board and supporting plate.
The bottom of base is provided with roller 61, and elevating mechanism 7 uses the structure of similar existing fork type elevator, many
The adjusting rod 71 of interconnection together, the connecting rod 72 for connecting both sides adjusting rod, the regulation for connecting two intersections
The bearing pin 73 of the middle part of bar and for driving adjusting rod to carry out the cylinder 74 of back rotation.
During haulage equipment, the height of goods fetching device is adjusted by elevating mechanism 7 according to the height for picking and placeing goods.Highly
After being adjusted in place, require to be adjusted according to the direction for picking and placeing goods, the 3rd motor 91 is rotated, and passes through rotary shaft 911, linkage board
92 drive goods fetching device to rotate.After rotation terminates, goods fetching device carries out picking or goods putting.
In addition to above preferred embodiment, the present invention also has other embodiments, and those skilled in the art can be according to this
Invention is variously modified and deformed, and without departing from the spirit of the present invention, all should belong in claims of the present invention and determine
The scope of justice.
Claims (7)
1. goods fetching device, including the support plate (1) for placing goods, it is characterised in that relative the two of the support plate top surface
Side, which is provided with, to be parallel to each other and symmetrical picking arm (2), and picking arm is including the substrate (21) located at support plate top surface, on substrate
Travel mechanism (3) and it is used to pick and place the fetching device (4) of goods in travel mechanism；The travel mechanism (3) includes first
Motor (31), gear (32), the rack (33) engaged with gear and slide plate (34), the first motor include power output shaft, gear
On the power output shaft of the first motor, rack is fixed on slide plate (34) and engaged with gear, the length direction of rack, cunning
The length direction of plate is consistent with the length direction of substrate, length side of first motor by gear, rack drives slide plate along substrate
Move back and forth to relative to substrate；The fetching device (4) located at slide plate (34) towards on the side of opposite side picking arm (2),
And the both sides of slide plate length direction are arranged with fetching device；Fetching device includes the first push-rod electric machine (41), connecting rod (42), used
Rotating shaft (43) and draw back plate (44) in drivening rod reciprocating rotation；First push-rod electric machine is fixed on slide plate (34), and first pushes away
Bar motor includes the first expansion link (411)；The axial direction of rotating shaft is hollow, and in one end insertion rotating shaft of connecting rod, draw back plate is fixed on company
The other end of bar, one end of connecting rod insertion rotating shaft is connected with end of first expansion link away from the first push-rod electric machine, and first stretches
The axial direction of the axial direction of bar, the axial direction of rotating shaft and bull stick is parallel to each other, and length direction and the length side of slide plate of the first expansion link
To parallel；The slide plate (34) is slidably mounted on substrate (21), and substrate is fixed with least one in the side towards slide plate directly
Line guide rail one (22), and the length direction of line slideway one and the length direction of substrate are consistent；Slide plate is in the side towards substrate
It is fixed with the sliding block one (35) coordinated with line slideway one.
2. goods fetching device according to claim 1, it is characterised in that the rack is fixed on slide plate (34) and position
In the side towards substrate (21), the slide plate (34) the side of dorsad substrate (21) provided with line slideway two (36) and with it is straight
The sliding block two (37) that line guide rail two coordinates, and the length direction of line slideway two and the length direction of slide plate are consistent, sliding block two
Top is fixed with another rack engaged with gear.
3. goods fetching device according to claim 1, it is characterised in that the fetching device (4) also includes being used for band
Second motor (45) of dynamic rotating shaft (43) reciprocating rotation, the second motor includes driving shaft (451), and driving shaft is provided with driving wheel
(452) or active teeth portion, rotating shaft is provided with driven pulley engage with driving wheel or active teeth portion or driven teeth portion (431), active
The axial direction of axle and rotating shaft it is axially in parallel；It is fixed with the support base (46) for supporting rotating shaft, support base and sets on slide plate (34)
There is the through hole coordinated with rotating shaft, rotating shaft is rotatably installed on support base by the cooperation with through hole.
4. goods fetching device according to claim 3, it is characterised in that the connecting rod (42) is axially hollow, and connecting rod
In limiting section (421) of the end being connected with the first expansion link provided with annular, the centre of limiting section is provided with stretches with first
On the hole clipping that bar coordinates, the first expansion link (411) in the end insertion connecting rod away from the first push-rod electric machine (41), the first expansion link
The fixture block (412) coordinated with limiting section is provided with the end of insertion connecting rod, the first expansion link is leaving connecting rod and close limiting section
Position at be less than the boss (413) of rotating shaft internal diameter provided with external diameter, fixture block and boss are located at the both sides of limiting section respectively.
5. goods fetching device according to claim 4, it is characterised in that the goods fetching device also includes being used for band
Dynamic both sides picking arm (2) closer or far from the second push-rod electric machine (5), the second push-rod electric machine includes the second expansion link (51), the
The end away from the second push-rod electric machine is connected to picking arm (2) on two expansion links, and the second push-rod electric machine is fixed on the top of support plate (1)
Face；The bottom of picking arm is provided with sliding block three (23), and the top of support plate is provided with the line slideway three (11) coordinated with sliding block three, and directly
The length direction of line guide rail three is vertical with the length direction of substrate (21).
6. a kind of cargo handling equipment, including base (6), it is characterised in that also including elevating mechanism (7), platen (8) and right
It is required that the goods fetching device described in 4 or 5, platen is arranged on base by elevating mechanism, the rotational installation of goods fetching device
At the top of platen.
7. cargo handling equipment according to claim 6, it is characterised in that be provided with flat with platen at the top of the platen (8)
Capable supporting plate (81), being provided between supporting plate and platen on the 3rd motor (91), the 3rd motor includes axially hanging down with supporting plate
Straight rotary shaft (911), the centre of supporting plate is provided with the bearing coordinated with rotary shaft, and rotary shaft with bearing fit by wearing
Cross and linkage board (92) is fixed with the top of supporting plate, rotary shaft, plane bearing (93) is provided between linkage board and supporting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510869502.2A CN105416945B (en) | 2015-12-02 | 2015-12-02 | Goods fetching device and the cargo handling equipment using the device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510869502.2A CN105416945B (en) | 2015-12-02 | 2015-12-02 | Goods fetching device and the cargo handling equipment using the device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105416945A CN105416945A (en) | 2016-03-23 |
| CN105416945B true CN105416945B (en) | 2017-09-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510869502.2A Active CN105416945B (en) | 2015-12-02 | 2015-12-02 | Goods fetching device and the cargo handling equipment using the device |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09278118A (en) * | 1996-04-05 | 1997-10-28 | Mitsubishi Heavy Ind Ltd | Stacker crane |
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| CN105416945A (en) | 2016-03-23 |
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