CN106219125B - Full-automatic compact shelving repository - Google Patents

Abstract

The invention discloses a kind of full-automatic compact shelving repositories, access disengaging transfering channel, accessing operation window and compact shelving including article, the layer with box taking machine tool hand is set at compact shelving front passage and moves car body and row shifting axis, manipulator lifting control mechanism is set on car body, compact shelving both sides fix row top and set up parallel section shifting axis separately；Row shifting axis saves movement on shifting axis two and box taking machine tool hand is driven to pass in and out simultaneously access article automatically in open channel；It is docked respectively with box taking machine tool hand and accessing operation window phase transfer at article access disengaging transfering channel both ends；Row move and the driving motor that the section that section shifting axis power transmits moves axis transmission shaft are set on axis；Section, which is moved on axis, sets the coaster with coaster driving mechanism, and coaster drives layer to move car body and passed in and out in open compact shelving channel, realizes automatic access article of the box taking machine tool hand on compact shelving.Disengaging access and window access management can be automatically performed by entering in compact shelving channel without personnel, and the efficiency of management is high, and cost of labor is low.

Description

Full-automatic compact shelving repository

Technical field

The present invention relates to a kind of compact shelving repositories, full-automatic close on electric compact shelving more particularly, to a kind of use Collect frame repository.

Background technology

Traditional electric compact shelving is typically that one kind places several groups of rail on ground, by the fixed row framves of one or more and several groups Electronic movable row is combined as a combination compact shelving row, then the steel wheel by being located at bottom shelf rolls on rail, will be close The channel collected between frame adjacent column is opened, then is manually entered in channel by administrative staff or user of service and is carried out article storage or look into A kind of high density storage storehouse taken.Since traditional electric compact shelving also needs to, by being manually entered in storehouse, find corresponding Storage area city, finding needs open frame body between compact shelving adjacent column, after opening frame body, then manually using cart, push-in The channel of opening carries out article storage or looks into take；And if encountering storage laminate in higher position, then it also needs to use Step ladder can operate eminence position, cause management using it is upper it is cumbersome with it is cumbersome.And since personnel need To enter storehouse and enter in open channel, be operated even with to step ladder, this also undoubtedly increases management Hidden danger safe to use；Additionally, due to traditional electric compact shelving, need using manually being accessed, so the frame body of entire compact shelving Highly setting will not usually be accomplished too high, and this also causes to waste a part of available height space of storehouse.

Invention content

The present invention for solve existing electric compact shelving there is management using it is upper it is cumbersome with it is cumbersome, manage manually into This height, there are hidden danger safe to use, the present situations such as space availability ratio is not high enough and providing one kind can make depositary management personnel that need not enter In channel between compact shelving storage reservoir area frame row, it is possible to easily carry out the access of object, management uses easy to operate, pipe It is low to manage personnel cost, safe and reliable, the high full-automatic compact shelving repository of space availability ratio.

The used to solve above-mentioned technical problem specific technical solution of the present invention is：A kind of full-automatic compact shelving storage Library, including multiple row compact shelving, it is characterised in that：Article access disengaging transfering channel and article accessing operation window are further included, The layer shifting car body with box taking machine tool hand is equipped at multiple row compact shelving front end inlet escape way and lifting driving layer moves car body more The row of row compact shelving front passage shift position move axis, and layer moves car body and is equipped with box taking machine tool hand and driving box taking machine tool hand in vehicle The lifting control mechanism being freely lifted in vivo above the fixed row of multiple row compact shelving two sides is respectively equipped with connection and erects row and moves The section at axis both ends moves axis, and two sections move that axis are mutually parallel and compact shelving channel between each adjacent column is parallel；Adjacent column is close After collecting the channel opening between frame, row shifting axis is moved in the position that two sections are moved on axis drives layer shifting car body in open compact shelving Channel and automatic access article are freed in and out in channel；Article access disengaging transfering channel one end moves the box taking machine tool of car body with layer Palmistry transfer docking, the other end are docked with article accessing operation window phase transfer；Row move axis and are being beaten equipped with driving layer shifting car body Mobile driving servo motor and driving speed reducer for servo motor are freed in and out in the compact shelving channel opened, driving servo motor subtracts Fast machine is equipped with the section shifting axis transmission shaft for moving axis power with section and transmitting；Section moves axis and is equipped with driving synchronous belt and for the company of installation The coaster for arranging and moving that axis and envoy's shifting axis are moved along shifting shaft length direction is saved is connect, coaster, which is equipped with and saves, moves axis transmission shaft phase power biography The coaster driving mechanism of connection is passed, coaster driving mechanism is equipped with main driving synchronous pulley and main drive wheel axis, main drive wheel axis The section moved on axis with row moves axis transmission shaft phase power and transmits connection, and main driving drive shaft drives main driving synchronous pulley driving It is moved on synchronous belt, row is driven to move the layer shifting car body that axis is lifted and are passed in and out in open adjacent column compact shelving channel, realization takes Automatic access article of the box manipulator on compact shelving.Full-automatic dense storage library of the invention is on the basis of former electric compact shelving On, increase the layer shifting car body of a cuff Full-automatic picking part manipulator, one group of key-course shifting car body is lifted on compact shelving repository The row automatically moved move axis and section moves axis, one group of article access disengaging transfering channel and article accessing operation window, layer and moves car body It takes to be lifted on and moves the lifting day rail that axis and section shifting axis form by row, improve the freedom that layer moves the disengaging compact shelving repository of car body Flexible convenience, ground passability are high.Access way can connect the full-automatic taking mechanical hand of multigroup different zones Sorting, final collection are bonded on one or several action panes；Make depositary management personnel do not have to enter storage reservoir area, it is possible to easily into The access of row object；Because overall process is all completed by machine, information records automatically, makes compact shelving storage management degree completeer It is kind；And without step ladder etc auxiliary climbing tool is reused, this also largely reduces and avoids library depositary management personnel Operating safety risks of the pipe personnel in management occur；Simultaneously because compact shelving frame body is artificial without considering in height design Storage and managenent operation factors are carried out, thus the height design of compact shelving frame body can then be allowed to the greatest extent in storehouse height again It is possible to do more, and this can also effectively increase the memory space utilization rate in storehouse height, thus height space utilizes Rate can be more taller than what traditional electric compact shelving was done, is effectively saved place space capital construction cost, and this in land used increasingly Under the higher and higher existing land use situation of nervous land price, make full use of storehouse height space itself particularly important.Management makes With easy to operate, administrative staff are at low cost, safe and reliable, and space availability ratio is high.

Preferably, the lifting control mechanism includes lifting synchronous belt device and lifting driving motor, the lifting Synchronous belt device includes lifting the linear guide, lifting synchronous belt, lifting driving synchronous pulley and lifting driving motor, lifts straight line Guide rail is equipped with lifting slider, and lifting synchronous belt is equipped with synchronous belt pressing plate, and synchronous belt pressing plate is equipped with to install box taking machine The slider connecting plate of tool hand, body post section bar upper end outside are equipped with lifting driving motor, and body post section bar lower end outside is set There is support castor, lifting driving motor is equipped with lifting driving synchronous pulley, and lifting driving synchronous pulley is equipped with lifting and synchronizes Band, lifting driving motor drive control lifting driving synchronous pulley.Improving can to the lifting Synchronization Control stabilization of box taking machine tool hand It by property, improves and supporting role is shared to the gravity of layer shifting car body, the gravity that car body is moved to layer for reducing row shifting axis and section shifting axis is made With.

Preferably, the row, which move axis, includes row bogie, row bogie is equipped with the driving that driving section moves axis work Servo motor and driving speed reducer for servo motor, driving speed reducer for servo motor are equipped with section and move axis transmission shaft, and section moves axis transmission Equipped with shifting axis power transmission outer end universal joint is saved at axis external end head, the section shifting axis power transmission belt of section shifting axis transmission shaft, which moves, to be equipped with The layer of box taking machine tool hand moves car body and frees in and out movement in channel between compact shelving repository adjacent column；Row bogie side is set There is section to move driving synchronous belt, section shifting driving motor and for installing the section moving block frame that the layer equipped with box taking machine tool hand moves car body, It saves moving block frame and moves driving motor equipped with main driving synchronous pulley and section, it is main that synchronous pulley driving section is driven to move driving synchronization Band drives section moving block frame to move the movement on shaft length direction in row, realizes that layer moves car body each movement before compact shelving repository Position movement between row.It is convenient reliable effective to improve automatically disengaging of the layer shifting car body in open compact shelving adjacent column channel Property, it is manually entered in channel without pipe library personnel, you can access way accessing operation management is automatically performed, it is efficient, safely may be used It leans on.

Preferably, the section, which moves axis, includes section shifting guide rail and driving synchronous belt, section moves guide rail and is synchronized equipped with driving Band, power supply guide frame and coaster, coaster include coaster main body frame, coaster driving vehicle frame and coaster driving mechanism, coaster and drive Motor-car frame is equipped with coaster driving mechanism, and it is synchronous with coaster driving that coaster driving mechanism includes the synchronous tape drive mechanism of coaster driving Band idle wheel mechanism, the synchronous tape drive mechanism of coaster driving are equipped with main driving drive shaft and main driving synchronous pulley, main driving Drive shaft is mutually transmitted with the section shifting axis transmission shaft external end head that row are moved on axis and is docked, and driving synchronous belt passes through coaster to drive synchronous belt Idle wheel mechanism is connected to section with the synchronous tape drive mechanism of coaster driving and moves at the tip position of rail length direction both ends, main drive wheel Axis drives main driving synchronous pulley, and the section movement with fly block on driving synchronous belt is realized and led between adjacent compact shelving row Disengaging movement in road.Improve the mobile convenience of automatic slip that coaster is moved in section on axis.

Preferably, the box taking machine tool hand includes telescoping mechanism and folds up mechanism, telescoping mechanism is included successively from upper And flexible upper fork, flexible middle fork and the telescoping mechanism pedestal that lower flexible overlapping is set together, when telescoping mechanism pulls open, stretch Upper fork stretches elongation along the same direction with flexible middle fork on telescoping mechanism pedestal, flexible to get in stocks when telescoping mechanism folds Fork is shunk with flexible middle fork to be superimposed on telescoping mechanism pedestal；Telescoping mechanism chassis side be equipped with driving it is flexible in pitch stretching out or Shrink the flexible middle fork driving motor folded；Fold up mechanism include it is a pair of mutually towards clamping or that unclamps folds up lateral body component, it is single It is a fold up lateral body component and include article fold up side clamp arm and fold up the straight line slide unit connecting plate that side clamp arm is connected, straight line with article It is equipped with above slide unit connecting plate both ends and folds up sliding track mechanism, straight line slide unit connecting plate both ends back is equipped with and folds up synchronous gear transport Mechanism, one piece of straight line slide unit connecting plate end point, which is equipped with, wherein folds up driving device and folds up hunting gear, folds up driving dress It puts task driven and folds up hunting gear, the lateral body component that folds up of a pair of opposite direction is driven to collapse gripping article each other or open and put Open article.The effective reliability of automatic access simple operation to the archives or file of compact shelving repository is improved, efficient, safety Property it is high, cost of labor is low, and higher position securely and reliably can be operated.

Preferably, the telescoping mechanism includes manipulator telescoping mechanism pedestal, set on manipulator telescoping mechanism pedestal There is middle fork activity-oriented slot, for middle fork activity-oriented slot equipped with being pitched in stretching, middle pitch of stretching is equipped with flexible upper fork, and flexible Upper fork, flexible middle fork form top-down telescopic folding structure successively with manipulator telescoping mechanism pedestal three；Manipulator Telescoping mechanism chassis side is equipped with flexible middle fork driving motor, and fork driving motor is equipped with middle fork drive gear, middle fork in stretching Drive gear be located at it is flexible in the middle fork drive rack at fork back be meshed driving, driving drive it is flexible in fork stretchs out or receives Contracting folds.It improves different depth archives or file of the box taking machine tool hand on compact shelving row and carries out accessing operation, it is convenient reliable.

Preferably, the driving device that folds up includes folding up driving motor and drive gear, hunting gear packet is folded up Include be meshed with drive gear fold up drive rack and fold up cunning in the A that one piece of straight line slide unit connecting plate end is equipped with Rail and A fold up sliding block, are equipped in another piece of straight line slide unit connecting plate both ends end point and fold up sliding rail with A and A folds up sliding block phase Chimeric B folds up sliding block and B folds up sliding rail；It folds up driving device task driven and folds up hunting gear, drive a pair of opposite direction Fold up lateral body component open each other decontrol article or collapse gripping article.Improving the synchronous driving for folding up operation automatically reliably has Effect property.

Preferably, the layer, which moves car body both sides, is equipped with the support castor servo-drive system that layer moves car body, support castor is watched Dress system includes flexible electric cylinders, and the flexible electric cylinders for being respectively fixedly connected with one group of servo motor driving are moved on the outside of car body two in layer, And the telescopic end of two groups of electric cylinders of stretching vertically is set downward, is connected with support castor in flexible electric cylinders lower end, support castor with It realizes support castor with the flexible of flexible electric cylinders and the weight support of car body is moved to the layer of hanging.The support feet wheel system of bilateral can More effectively so that the weight support of moving body is shared, sharing, which reduces moving body, is suspended on row shifting axis to row shifting axis Generated gravity, that improves row shifting axis uses reliability and stability, and simultaneous retractable electric cylinders are also convenient to effectively raise locomotive Body on the ground be moved through flexibility, encounter have raised track when protrusions when, can it is convenient by promotion support feet It takes turns to obtain fast solving passability, is moved through flexibility and reliability, a day rail box taking machine tool hand can be made to obtain more effective ground branch Support property and passability effectively share layer and move gravity of the car body to day rail, improve the safety and reliability that rail row in day move axis.

Preferably, the section, which moves axis, is equipped with power supply guide frame, coaster is equipped with electricity getting device, for being electrically directed to knot Structure is electrically directed to insulation tank and the long row of power supply conduction including being located at the confession that section is moved on guide rail, and the conductive length row that powers is arranged on for being electrically directed to In insulating space in insulation tank, electricity getting device, which is equipped with, to be extend into for being electrically directed in insulation tank and connecting with the conductive long row of power supply Touch take electricity take torch, coaster while section is moved on guide rail and is slided, on electricity getting device take torch front end with for conductance The long row of electricity is in contact and obtain power supply it is conductive it is long arrange accessed electric energy, electricity getting device will take the electric energy acquired by torch transfer into It is extremely equipped with and the section of object manipulator is taken to move axis in electric driver.The power supply for improving compact shelving repository takes electric safe and convenient reliable Property, reducing security risk phenomenon occurs, and power supply takes electricity easy to use reliable.

It is moved at the diagonally opposing corner position in two outside of car body preferably, two groups of electric cylinders of stretching are located at layer, electric cylinders of stretching Lift servo motor, speed reducer for servo motor and lifting electric cylinders including the setting of position from top to bottom, support castor is in branch During support state, foreign steamer bottom position moves vehicle bottom position less than layer, support castor in pass through track when state, support Castor rises to its foreign steamer bottom position under the action of flexible electric cylinders and moves vehicle bottom position higher than layer upwards.The support feet of bilateral Wheel system can be more effectively so that the weight support of moving body be shared, and sharing, which reduces moving body, is suspended on row shifting axis Gravity caused by axis is moved to row, that improves row shifting axis uses reliability and stability, the also convenient effective raising of simultaneous retractable electric cylinders Moving body on the ground be moved through flexibility, encounter have raised track when protrusions when, can it is convenient by carry Ascending branch spike wheel obtains fast solving passability, is moved through flexibility and reliability, a day rail box taking machine tool hand can be made to obtain more effectively Ground supports and passability, effectively share layer and move car body to the gravity of day rail, improve day rail row move the safe to use of axis can By property.

The beneficial effects of the invention are as follows：Full-automatic dense storage library of the invention is on the basis of former electric compact shelving, is increased Layer shifting car body, the one group of key-course of a cuff Full-automatic picking part manipulator has been added to move what car body was automatically moved in compact shelving repository Row move axis and section moves axis, one group of article access disengaging transfering channel and article accessing operation window.Access way can will be multigroup The full-automatic taking mechanical hand of different zones carries out connection sorting, and final collection is bonded on one or several action panes；Make depositary management Personnel do not have to enter storage reservoir area, it is possible to easily carry out the access of object；Because overall process is all completed by machine, letter The automatic record of breath, makes the level of informatization more perfect；And step ladder etc auxiliary tool need not be manually reused, is greatly reduced The operating safety risks of depositary management personnel；Compact shelving frame body height manually carries out storage and managenent operation without considering simultaneously, thus close The higher that collection frame frame body can be done, thus the storage space availability ratio in height can be effectively increased；Height space utilization rate can With more taller than what traditional electric compact shelving was done, it is effectively saved place space capital construction cost.Management uses easy to operate, management Personnel cost is low, safe and reliable, and space availability ratio is high.

Description of the drawings：

The present invention is described in further detail with reference to the accompanying drawings and detailed description.

Fig. 1 is the structure diagram of full-automatic compact shelving repository of the invention.

Fig. 2 is the overlooking the structure diagram of full-automatic compact shelving repository of the invention.

Fig. 3 is the partial enlargement structural representation of full-automatic compact shelving repository of the invention.

Fig. 4 is that the layer of full-automatic compact shelving repository of the invention moves body construction schematic diagram.

Fig. 5 is the lateral parts observation structure schematic diagram of full-automatic compact shelving repository of the invention.

Fig. 6 is that the layer of full-automatic compact shelving repository of the invention moves car body by track above ground level or uneven site preparation A kind of working state structure schematic diagram during face.

Fig. 7 is that the layer of full-automatic compact shelving repository of the invention moves car body by track above ground level or uneven site preparation Another working state structure schematic diagram during face.

Fig. 8 is that the row in full-automatic compact shelving repository of the invention move axle construction schematic diagram.

Fig. 9 is the section moving block structure diagram that row move on axis in full-automatic compact shelving repository of the invention.

Figure 10 is the enlarged structure schematic diagram at D in Fig. 2.

Figure 11 is that the section in full-automatic compact shelving repository of the invention moves axle construction schematic diagram.

Figure 12 is that the section in full-automatic compact shelving repository of the invention moves shaft cross section structure diagram.

Figure 13 is the electricity getting device section view enlarged structure schematic diagram that section moves on axis in full-automatic compact shelving repository of the invention.

Figure 14 is that the flexible of box taking machine tool hand folds up structure diagram in full-automatic compact shelving repository of the invention.

Figure 15 is the stretching structure schematic diagram of box taking machine tool hand in full-automatic compact shelving repository of the invention.

Figure 16 is the stretching structure schematic cross-sectional view of box taking machine tool hand in full-automatic compact shelving repository of the invention.

Structure when Figure 17 is the stretching structure extended state of box taking machine tool hand in full-automatic compact shelving repository of the invention Schematic diagram.

Figure 18 is that box taking machine tool hand folds up structure diagram in compact shelving repository of the invention full-automatic.

Figure 19 is that the structure that folds up of box taking machine tool hand in full-automatic compact shelving repository of the invention is shown from back observation structure It is intended to.

Specific embodiment

Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, Figure 15, figure 16th, in the embodiment shown in Figure 17, Figure 18, Figure 19 figure, a kind of full-automatic compact shelving repository including multiple row compact shelving 1, also wraps Article access disengaging transfering channel 1D and article accessing operation window 1C is included, at 1 front end inlet escape way of multiple row compact shelving The layer for being provided with box taking machine tool hand moves car body 4 and lifting driving layer shifting car body 4 in 1 front passage shift position of multiple row compact shelving Row move axis 2, layer, which moves car body 4 and moves axis direction along row at the escape way of multiple row compact shelving front end, moves arrow at A as shown in Figure 1 Head direction, layer move the elevating control that box taking machine tool hand is equipped on car body 4 and box taking machine tool hand is driven to be freely lifted in car body Mechanism, A is equipped with connection and erects row and move the section at axis both ends and moves axis 3 respectively above the fixed row 1A of multiple row compact shelving two sides, Two sections move that axis 3 are mutually parallel and compact shelving channel 1E between each adjacent column is parallel；Two section move axis 3 be mutually parallel and Axis 2 is moved with row to be arranged in a mutually vertical manner；After channel between adjacent column compact shelving is opened, row move axis 2 and are moved on axis 3 in two sections Position movement drives layer to move car body 4 and channel and automatic access article is freed in and out in open compact shelving channel 1E, and layer moves vehicle Body 4 follows row to move axis 2 and move direction in the section that section is moved on axis 3 direction to see in Fig. 1 at B shown in arrow into outgoing direction；Article access into The box taking machine tool palmistry transfer for going out transfering channel 1D one end with layer shifting car body 4 is docked, the other end and article accessing operation window 1C Phase transfer is docked；Row, which move to be equipped on axis 2, drives layer to move in the compact shelving channel 1E that car body 4 is opened in compact shelving movement row 1B certainly By the mobile driving servo motor 2B2 of disengaging and driving speed reducer for servo motor 2B1, driving speed reducer for servo motor be equipped with Section moves the section that axis power transmits and moves axis transmission shaft 22；Section, which is moved on axis 3, to be equipped with driving synchronous belt 32 and moves axis for mounting row And envoy moves axis edge section and moves the coaster 31 that shaft length direction is moved, and is equipped on coaster 31 and moves 22 phase power biography of axis transmission shaft with section The coaster driving mechanism of connection is passed, main driving synchronous pulley 331 and main drive wheel axis 332 are installed in coaster driving mechanism, it is main The section that drive shaft 332 is moved with row on axis 3 moves 22 phase power of axis transmission shaft and transmits connection, and main driving drive shaft 332 drives master Driving synchronous pulley 331 moves on driving synchronous belt 32, and row is driven to move the layer that is lifted of axis 2 and move car body 4 open adjacent It is passed in and out in row compact shelving channel 1E, realizes automatic access article of the box taking machine tool hand on compact shelving.Lifting control mechanism includes Lift synchronous belt device and lifting driving motor 4A, the lifting synchronous belt device 7（See Fig. 4）Including lifting the linear guide 70, Synchronous belt 71, lifting driving synchronous pulley 46 and lifting driving motor 4A are lifted, being equipped with lifting in lifting the linear guide 70 slides Block 72 lifts and is equipped with synchronous belt pressing plate 74 on synchronous belt 71, is equipped with to install box taking machine tool hand on synchronous belt pressing plate 74 Slider connecting plate 73, form layer and move the main component of car body and installed and is formed by connecting using four vertical body post section bars 41, Unilateral car body uses two vertical body post section bars 41, is installed on two vertical 41 lateral surfaces of body post section bar and is connected with vehicle Frame strengthens crosspiece 4D, further improves integral strength and firm reliability that entire layer moves car body 4；Vertical body post section bar 41 Lifting driving motor 4A and power control cabinet 4C is installed, lifting driving motor 4A and power control cabinet 4C is separately mounted to layer shifting on the outside of upper end At 4 upper end of car body, two side position, more using the car body weight balance for sharing equalizing layer shifting car body, improve mobile working and stablize Property, vertical 41 lower end outside of body post section bar, which is equipped with, supports castor, lifts and lifting driving synchronous belt is equipped on driving motor Wheel 46, lifting drive and lifting synchronous belt 71 are equipped on synchronous pulley 46, the drive control lifting driving synchronization of lifting driving motor Belt wheel.Row move axis 2（See Fig. 8）Including row bogie 21, the driving motor that driving section moves axis work is installed on row bogie 21 Section is installed on 2A1 and driving speed reducer for servo motor 2A, driving speed reducer for servo motor 2A and moves axis transmission shaft 22, section moves axis and passes Section shifting axis power is equipped at 22 external end head of moving axis and transmits outer end universal joint 23, the section that section moves axis transmission shaft 22 moves the transmission of axis power The layer for being equipped with box taking machine tool hand is driven to move car body 4 and frees in and out movement in channel 1E between compact shelving repository adjacent column； 21 side of row bogie is equipped with section and moves driving synchronous belt 25, section shifting driving motor and for installing the layer equipped with box taking machine tool hand Move the section moving block frame 2B of car body 4, be equipped on section moving block frame 2B section moving block stent 2B5, main driving synchronous pulley 2B3 and Section moves driving motor, and main driving synchronous pulley 2B3 driving sections move driving synchronous belt 25, section moving block frame 21 is driven to move axis 2 in row Movement on length direction realizes that layer moves position movement of the car body 4 before 1 repository of compact shelving between each mobile row.Section, which moves, to be driven Dynamic motor includes driving servo motor 2B2 and driving speed reducer for servo motor 2B1（See Fig. 9）.Save the driving of moving block driving motor Main driving synchronous pulley 3,3 lower section of section shifting driving synchronous belt are equipped with section and move synchronous belt supporting plate 32, improve and move synchronous belt to saving The Auxiliary support effect of lifting.21 adjacency of row bogie is equipped with section and moves driving synchronous belt 25, saves moving block sliding rail 252 and save to move and slide Vehicle frame 2B, section, which moves below driving synchronous belt 25 to be equipped with to save, moves synchronous belt supporting plate 251, improves the auxiliary moved to section and drive synchronous belt Support the effect of lifting.Main driving synchronous pulley 2B3 is installed on driving speed reducer for servo motor 2B1.Main driving synchronous pulley 2B3 Two sides, which are separately installed with, drives synchronous belt idle wheel 2B4, and two driving synchronous belt idle wheel 2B4 are pressed downward touching and move driving together in section It walks on band 25, the wheel body outer diameter of two driving synchronous belt idle wheel 2B4 is less than the wheel body outer diameter of main driving synchronous pulley 2B3. 21 side of row bogie is equipped with row at two ends and moves limit switch 28, and section moving block frame 2B both sides are equipped with moves limiting with row It switchs 28 matched sections and moves limit sensor block 2B6.Section at 21 side two ends of row bogie is installed and moves synchronous belt tensioning tune Mechanism 26 is saved, improves the tensioning regulating effect to driving synchronous belt.Row at 21 side two ends of row bogie are installed and move the limit Cushion pad 27, row move limit buffer pad 14 and are mounted at 28 front position of row shifting limit switch.It improves section moving block and improves section shifting The security reliability of coaster sliding and running on row bogie, prevents phenomenon of damaging or wound.Servo motor is driven to slow down Installation moves axis power there are two section and transmits inner end universal joint 24 on machine 2A, and each section moves axis power and transmits inner end universal joint 24 It moves axis transmission shaft 22 by section respectively to be mutually sequentially connected with section shifting axis power transmission outer end universal joint 23, two sections move axis power It transmits outer end universal joint 23 and passes on from one to another graduating with the section shifting axis moved on axis connection stent 29 mounted on 2 both ends cephalomere of row bogie Power, driving row move axis section move axis on moves, so as to drive moving body in open adjacent column compact shelving channel freely into Go out mobile progress accessing operation.Section moves axis transmission shaft 22 on row bogie 2 into being obliquely installed, and section moves axis transmission shaft 22 in level It tilts and is connected between driving speed reducer for servo motor 2A and section shifting axis power transmission outer end universal joint 23 at position on direction. It improves section and moves space availability ratio of the axis transmission shaft on row bogie, preferably move on axis and obtained more in the row of useful space length The section of long size moves axis transmission shaft size, obtains and movement speed control validity steady to the power of section shifting axis.Section moves axis 3 （See Figure 10, Figure 11）Guide rail 3A and driving synchronous belt 32 are moved including section, section, which is moved on guide rail 3A, is equipped with driving synchronous belt 32, power supply Guide frame and coaster 31, coaster 31 include coaster main body frame, coaster driving vehicle frame 33 and coaster driving mechanism, coaster driving Coaster driving mechanism is installed, coaster driving mechanism includes the synchronous tape drive mechanism of coaster driving and coaster driving is same on vehicle frame 33 Step band idle wheel mechanism, the synchronous tape drive mechanism of coaster driving is equipped with main drive wheel axis 332 and main driving synchronous pulley 331, main Driving drive shaft 332 moves the 23 phase transmission of axis transmission shaft external end head with the section that row are moved on axis and docks, and driving synchronous belt 32, which passes through, to be slided Vehicle drives synchronous belt idle wheel mechanism to be connected to section with the synchronous tape drive mechanism of coaster driving and moves rail length direction both ends end position Place is put, main driving drive shaft 332 drives main driving synchronous pulley 331, and the section with fly block 31 on driving synchronous belt 32 moves It is dynamic, realize the disengaging movement in channel between adjacent compact shelving row.Drive synchronous belt 32 that coaster is passed through to drive synchronous belt idle wheel Mechanism is connected to section with the synchronous tape drive mechanism of coaster driving and moves at the tip position of guide rail 3A length directions both ends, main driving driving Wheel shaft 332 drives main driving synchronous pulley 331, and the section movement with fly block on driving synchronous belt 32 is realized adjacent intensive Disengaging movement between frame row in channel；Box taking machine tool hand includes telescoping mechanism 8 and folds up mechanism 9（See Figure 14, Figure 15, Figure 16, Figure 17, Figure 18, Figure 19）, telescoping mechanism includes manipulator connecting bracket 8A, stretch from top to bottom overlaps what is be set together successively Flexible upper fork 81, stretch middle fork 82 and telescoping mechanism pedestal 83, when telescoping mechanism pulls open, stretch upper fork 81 and middle pitch of stretching 82 stretch elongation along the same direction on telescoping mechanism pedestal 83, and when telescoping mechanism folds, the upper fork that stretches in stretching with pitching Contraction is superimposed on telescoping mechanism pedestal；Telescoping mechanism chassis side be equipped with driving it is flexible in fork 82 stretch out or shrink folding It is flexible in fork driving motor；Fold up mechanism include it is a pair of mutually towards clamping or that unclamps folds up lateral body component, it is single to fold up side Body component includes article and folds up side clamp arm 91 and fold up the straight line slide unit connecting plate 93 that side clamp arm is connected, straight line slide unit with article It is equipped with above 93 both ends of connecting plate and folds up sliding track mechanism, straight line slide unit connecting plate both ends back is equipped with and folds up synchronous gear transport Mechanism, one piece of straight line slide unit connecting plate end point, which is equipped with, wherein folds up driving device and folds up hunting gear, folds up driving Device task driven folds up hunting gear, and the lateral body component that folds up of a pair of opposite direction is driven to collapse gripping article or opening each other Decontrol article.Telescoping mechanism includes manipulator connecting bracket 8A, manipulator telescoping mechanism pedestal 83, manipulator telescoping mechanism pedestal Middle fork activity-oriented slot on 83 is installed, fork 82 in stretching on middle fork activity-oriented slot is installed, pitches in flexible and is equipped on 82 Flexible upper fork 81, and flexible upper fork 81, flexible middle fork 82 are formed with 83 three of manipulator telescoping mechanism pedestal successively from upper Telescopic folding structure under and；Manipulator telescoping mechanism chassis side is equipped with flexible middle fork driving motor, and fork drives electricity in stretching Middle fork drive gear 852, middle fork drive gear 852 and the middle fork drive rack 824 for being located at flexible middle fork back are installed on machine Be meshed driving, driving drive it is flexible in fork 82 stretch out or shrink folding.Fold up driving device include fold up driving motor and Drive gear 942 folds up driving motor and includes folding up driving servo motor 941 and fold up driving servo deceleration machine 94, fold up with Drive rack 931 that dynamic device included being meshed with drive gear 942 fold up and equal one piece of straight line slide unit connecting plate end The A being equipped with folds up sliding rail 933 and A folds up sliding block 932, is mounted in another piece of straight line slide unit connecting plate both ends end point and A It folds up sliding rail 933 and A folds up that the B that 932 phase of sliding block is fitted into folds up sliding block 935 and B folds up sliding rail 934；Fold up driving device work Driving folds up hunting gear, and the lateral body component that folds up of a pair of opposite direction is driven to open relieving article each other or collapse gripping object Product.Fork driving motor drives servo motor 851 and middle fork driving servo deceleration machine 85 including middle fork in flexible, in improving to stretching The drive control of fork stablizes validity, more flattens out steady.Middle fork driving servo deceleration machine 85 is mounted on motor mounting rack 853. Fork in the upper fork directive wheel 822 and guide extension of guide extension upper fork 81 is installed to live in middle fork on fork 82 in flexible The middle fork directive wheel 821 of telescopic slide in action-oriented slot.It leads the side that middle fork activity-oriented slot includes being located at flexible middle fork two sides To slot 84 and be located at it is flexible in fork lower section middle guide groove 841, side guide groove 84 realizes with middle guide groove 841 jointly in flexible The flexible limition orientation of fork 82.Flexible 81 back of upper fork is equipped with upper fork drive rack 811, and middle fork is equipped on flexible middle fork 82 Jie's moving gear 86, manipulator telescoping mechanism pedestal 83 are equipped with Jie's moving teeth wheel drive item 831, and middle fork Jie moving gear 86 engages simultaneously Between upper fork drive rack 811 and Jie's moving teeth wheel drive item 831 at position, flexible middle fork 82 is pitched in being driven in flexible open Engagement rotation of Jie's moving gear 86 on Jie's moving teeth wheel drive item 831, and then flexible upper fork 81 is made to follow fork drive rack 811 to stretch out direction engaged transmission.During middle fork Jie moving gear 86 is installed on fork Jie movable gear shaft 861, middle fork Jie movable gear shaft 861 Jie's moving gear bearing 862 is installed between middle fork Jie moving gear 86,861 liang of outer ends of middle fork Jie's movable gear shaft are mounted on Jie's moving teeth On wheel shaft fixed block 863.It stretches limit sensors 832 equipped with pallet fork at 83 two ends of manipulator telescoping mechanism pedestal.Manipulator Telescoping mechanism pedestal 83 is equipped with the middle guide groove 841 of fork activity in limit telescopic, and fork 82 sets into lower groove in flexible There is idler wheel guiding axis vertically downward, idler wheel guiding axis is equipped with limition orientation idler wheel 823, during limition orientation idler wheel 823 is located at In guide groove 841.There are two the combinations that upward groove is combined with one to lower groove for tool using on cross section for fork 82 in flexible Groove pitches body structure, is located between two upward grooves at position to lower groove.Two upward grooves are set on wall respectively on the outside There are one perpendicular to lateral wall and outside idler wheel guiding axis and one perpendicular to lateral wall and inside idler wheel guiding axis, each It is mounted on idler wheel on idler wheel guiding axis, idler wheel limition orientation is stretched 82 rolling in the side guide groove 84 on both sides of middle fork； Bottom is equipped with idler wheel guiding axis vertically upward in the slot of one of them upward groove, and idler wheel guiding axis is equipped with idler wheel, shape Into the upper fork idler wheel 825 of 82 pairs of flexible upper forks 81 of flexible middle fork.Manipulator drag chain is installed in 84 outside wall surface of side guide groove Movable end stent 87, manipulator drag chain movable end stent 87 match installation with manipulator drag chain movable end anchor ear 871.Manipulator Limit spacing screw 833 is equipped at telescoping mechanism pedestal two ends.Straight line slide unit connecting plate 93 and article fold up side clamp arm 91 it Between be connected with clamp arm connecting bracket 92, clamp arm connecting bracket 92 is formed using multiple independent L fonts connection curved booms, and L fonts connect The one end for connecing curved boom is mutually fixedly connected with straight line slide unit connecting plate, and the other end folds up 91 phase of side clamp arm with article and is fixedly connected, more A L fonts connection curved boom interval is connected to straight line slide unit connecting plate and article is folded up between the clamp arm of side at position.Article folds up side 92 outside of clamp arm is equipped with clamp arm and folds up activity thresholds sensing chip 911, and sensing article folder is equipped in clamp arm connecting bracket 92 Put the inductive pick-up 921 of upper sensing chip on the outside of the clamp arm of side.Linear movement guide is mounted in each clamp arm connecting bracket 92 Axis 922, set is equipped with movable reset spring 912 on linear movement guide axis 922, and 912 sets of activity limit spring is mounted on straight line On motion guide axis 922,923 one end of activity limit spring and 92 interior side contacts of clamp arm connecting bracket, the other end are folded up with article Clamp arm 91 lateral surface in side contacts.923 both sides of activity limit spring are equipped with movable gag lever post 912, and movable 912 one end of gag lever post is consolidated Article is scheduled on to fold up at 91 lateral surface of side clamp arm.It is respectively mounted and is fixed at two pieces of 32 end back positions of straight line slide unit connecting plate Fold up synchronous rack 96, two of each end point fold up synchronous rack 96 between synchro-meshing fold up synchromesh gear idle pulley 95.It is equipped on two pieces of straight line slide unit connecting plates 93 and folds up movement cabling drag chain 97 and drag chain fixing bracket, improve electrical traces Cloth line traffic control security reliability and kinematic dexterity fold up and rack idler bearing 952 and tooth are equipped on synchromesh gear idle pulley 95 Idle pulley installation axle 951, rack idle pulley installation axle 951 are projected upwardly to above two pieces of straight line slide unit connecting plates, fold up synchronous gear Wheel idle pulley 95 is mutually fixedly connected by rack idle pulley installation axle 951 with the back side of telescoping mechanism pedestal 83.Layer moves car body both sides and sets There is layer to move car body support castor servo-drive system 6, layer moves car body support castor servo-drive system 6 and includes flexible electric cylinders, and car body is moved in layer Two outsides are respectively fixedly connected with the flexible electric cylinders of one group of servo motor driving, and the vertical court of the telescopic end of two groups of electric cylinders of stretching Lower setting, support castor 66 is connected in flexible electric cylinders lower end, and support castor 66 follows the flexible of flexible electric cylinders and realizes support Castor 66 moves the layer of hanging the weight support of car body.The flexible electric cylinders of two groups of servo motor drivings are respectively provided at layer and move car body 4 At the diagonally opposing corner position in two outsides namely the flexible electric cylinders of one of which servo motor driving are mounted on the left outside side of moving body Forward position, and the flexible electric cylinders of another group of servo motor driving are mounted at the rear positions of the right lateral surface of moving body； The flexible electric cylinders of either one of which servo motor driving are mounted on the rear positions of the left outside side of moving body, and another group The flexible electric cylinders of servo motor driving are mounted on the forward position of the right lateral surface of moving body.The flexible electricity of servo motor driving Cylinder 6 includes the lift servo motor 61, speed reducer for servo motor 62 and lifting electric cylinders 63 of sequence of positions setting from top to bottom, lifting 63 upper end of electric cylinders is connected with speed reducer for servo motor 62, and lifting 63 lower end of electric cylinders is connected with support castor 66.Lift electric cylinders The lifting connecting rod 641 in downward direction lifted is installed, support castor 66 is mounted in castor mounting base 65, castor installation on 63 65 upper ends of seat are connected with the lifting connecting rod 641 of lifting electric cylinders lower end.Layer moves 4 liang of outsides of car body and has been respectively fixedly connected with support The electric cylinders fixing bracket 24 of castor, 23 bottom end of speed reducer for servo motor are fixedly connected on by connecting flange 64 on the outside of moving body At lower end position.Flange through-hole is provided on connecting flange 64, lifting connecting rod 641 passes freely through downwards flange through-hole and foot 65 upper end of wheel mounting base links together, and elevating movement of the lifting connecting rod 641 in flange through-hole drives and be mounted on castor peace Support castor on dress seat 65 follows oscilaltion campaign, and castor uses universal caster wheel, improves castor to support moving body Gravity support improves the flexible convenience rotated simultaneously, and relatively reliable effective raising passes through reliability.Two groups of servo electricity The flexible electric cylinders 6 of machine driving go out the power of 750N down with moment pattern simultaneously, and two combinations are calculated as the power of 1500N, and usually move Motor vehicles bodies are about 160Kg plus load, and it is about 1560N to generate gravity, if whole gravity move axis to bear by row, are had May be that the rigidity that row is caused to move axis is not achieved securely and reliably；And after present invention support castor servo-drive system is increased, due to Support castor bears gravity most absolutely, and final row move the gravity that axis is only subjected to 60N, carrying largely High row move the security reliability of axis.Secondly operating mode two, compact shelving need on the ground set up rail come allow frame body into Row translation, manipulator need to carry out the control to electric cylinders 6 of stretching as shown in Fig. 6, Fig. 7 in the track 6A being laid on by ground System promotes 66 height of support castor, meanwhile, when only one group stretch electric cylinders stress when, servo-drive system can increase power output, The stress that row move axis is maintained to equal perseverance.In addition operating mode three, flexible electric cylinders are worked with constant moment of force pattern, when there is out-of-flatness on ground When height rises and falls, itself can be compensated automatically, and the stress that row move axis is maintained to equal perseverance.Section moves axis and is equipped with for being electrically directed to knot Structure, coaster are equipped with electricity getting device 35（See Figure 13）, power supply guide frame, which includes being located at the confession that section is moved on guide rail 3A, to be electrically directed to absolutely Edge slot and the conductive long row 37 of power supply, the conductive long row 37 that powers are arranged on for being electrically directed in the insulating space in insulation tank, take Denso Put be equipped on 35 extend into for be electrically directed in insulation tank and be in contact with the conductive long row 37 of power supply take electricity take torch 351, it is sliding While being slided on Che Jie shifting guide rails, 351 front end of torch is taken to connect with the conductive long row 37 of power supply on electricity getting device 35 It touches and obtains that power supply is conductive long to arrange accessed electric energy, electricity getting device will take the electric energy acquired by torch to turn to access to equipped with taking object The section of manipulator moves axis in electric driver.Main driving idle wheel 331, main drive are installed on the synchronous tape drive mechanism of coaster driving Dynamic idle wheel 331 is mounted in coaster driving vehicle frame 33, is distributed at main driving 331 liang of side positions of synchronous pulley and is equipped with two masters Idle wheel 333 is driven, the acoustic filed that driving synchronous belt 32 moves towards between two unilateral main driving idle wheels 333 into S-shaped is oriented to Structure, and two main driving idle wheels 333 close to main driving synchronous pulley both sides are pressed downward touching and be taken in driving synchronous 32, main drive Dynamic synchronous pulley 331 jack up contact upwards in driving synchronous belt 32 in the following, and the wheel body outer diameter of main driving idle wheel 333 be less than The wheel body outer diameter of main driving synchronous pulley 331.It is same that the synchronous tape drive mechanism both sides of coaster driving are mounted on coaster driving For step with idle wheel mechanism, coaster driving synchronous belt idle wheel mechanism includes servo-actuated idle wheel 341 and servo-actuated idle wheel stent 34, two servo-actuated Jie Wheel support 34 is separately mounted at the synchronous tape drive mechanism both sides position of coaster driving, is each equipped on servo-actuated idle wheel stent 34 Two servo-actuated idle wheels 341, driving synchronous belt 32 move towards between two unilateral servo-actuated idle wheels 341 into S-shaped, drive synchronous belt 32 One end extends to section and moves 31 end point of guide rail, and the other end and the active drive extended in coaster driving synchronous belt idle wheel mechanism are situated between It takes turns at 333.One row's coaster main carrying roller 3B is installed, the main carrying roller 3B of coaster passes through two end-rack of wheel shaft in coaster main body frame 33 In coaster main body frame.The guide rail indent guide groove for being mounted on section shifting guide rail side itself for insulation tank is electrically directed to include 361 and the ambroin guide groove 36 at guide rail indent guide groove inner wall, the outer wall of ambroin guide groove 36 is with leading Rail indent guide groove internal face fits.The cross section of ambroin guide groove 36 is the T that there is T fonts to keep flat being inwardly recessed Font guide groove structure, the T words end of the T font guide grooves after keeping flat are set inwardly, and the conductive long row 37 that powers is mounted on T fonts The inner end groove of guide groove.Ambroin guide groove 36 has the ambroin lip care 362 turned down outward, ambroin lip care 362 folds are fitted in section and move on guide rail 3A lateral surfaces outside, improve the conductive long row to power supply and take the insulation safety of torch reliable Property.It is equipped on electricity getting device 35 and torch is taken to stretch guide pad 352, torch is taken to stretch to be provided in guide pad 352 torch is taken to stretch Directed cavity is equipped in flexible directed cavity and takes torch and take torch ejector spring 353,351 one end of torch is taken to stretch out and is taking torch Flexible directed cavity is outer to be in contact with the conductive long row 37 of power supply, and the other end, which is withstood on, to be taken in torch ejector spring 353, and torch is taken to eject bullet Spring 353, which is mounted on, takes torch to stretch at directed cavity inner end.Torch 351 is taken to prolong with the torch inner end that torch ejector spring is taken to be in contact Stretch the circular step 355 for being connected with protrusion.Two groups of electricity getting devices 35 are installed, two groups of electricity getting devices 35 are installed set respectively on coaster It puts with moving at the two ends position of guide rail 3A length directions along saving in coaster main body, two groups of electricity getting devices 35 take torch 351 It stretches to and takes electricity for being electrically directed in insulation tank and being in contact with the conductive long row 37 of same root power supply, be equipped with outside electricity getting device 35 Plastic insulation outer cover 354 improves the security reliability that torch is taken to take electricity, avoid it is single take torch occur once in a while electricity is taken bad to lead Entire power supply trouble phenomenon is caused to occur, the reliable validity of guarantee power supply to a greater extent.Further improve entire electricity getting device Insulation safety reliability.Section moves guide rail 3A and the limit that sensing coaster slides extreme position is equipped at close two ends position Position sensor 391, coaster both ends are equipped with to be saved with 391 matched sensing chip 312 of extreme position inductor, raising coaster The operation troubles such as move the sliding security reliability on length direction on guide rail, avoid damaging or break occur.Coaster Coaster directive wheel 311 is installed, coaster main body frame is mounted on section by coaster directive wheel 311 and moves guide rail in main body frame On the guiding wheel track of 3A.Section, which is moved at the two ends of guide rail 3A length directions, is equipped with driving synchronous belt tensioning regulating mechanism 38, carries Height is to the tensioning regulating effect of driving synchronous belt.Section moves guide rail 3A and uses 9090 section material guide rails, and installation maintenance is easy to operate simple and direct, Production efficiency is high, and support strength is high.Section moves guide rail 3A both ends side edge and is equipped with coaster limit damper 39, improves coaster and exists Gliding motility is moved to close to section at guide rail 3A two ends, plays better buffer limit effect, protection coaster to a greater extent The security reliability of sliding avoids occurring to hit to damage to wait interruption of services.Guide rail is installed in coaster main body frame Fixing bracket improves the movement fixed guide effect to coaster.Coaster main body frame bottom is equipped with multiple arses and is oriented to Wheel 313, coaster main body frame are mounted on section by arse directive wheel 313 and move on the guiding wheel track of guide rail 3A, improve coaster The sliding guide reliability and stability on guide rail is moved in section.Two groups of electric cylinders of stretching are located at the diagonally opposing corner position that layer moves two outside of car body Place, electric cylinders of stretching include the lift servo motor 61, speed reducer for servo motor 62 and lifting electric cylinders 63 of position setting from top to bottom, Castor 66 is supported when in holding state, foreign steamer bottom position moves vehicle bottom position less than layer, and support castor 66 is being located State when track is passed through, support castor 66 rise to its foreign steamer bottom position under the action of flexible electric cylinders and move vehicle higher than layer upwards Body bottom position.Layer moves car body 4 when being moved on being equipped with the ground of raised track 6A（Moving direction is shown in Fig. 6, Fig. 7 arrow C institutes Show direction）.Support castor 66 is according to the ground protrusion situation automatic adjustment adjustable height encountered.Layer moves the installation of 4 top of car body There is the vehicle frame upper plate 4B that the lifting connection of axis 2 is moved with row；It lifts driving motor 4A and includes lift servo motor 43 and lift servo Motor reducer 42 is equipped with lift drive shaft 44 on lift servo motor reducer 42, liter is equipped on lift drive shaft 44 Drop driving synchronous pulley 46, lifting synchronous belt 71 are mounted on lifting driving synchronous pulley 46, and lift drive shaft 44 is erected at layer Move the both sides upper end of car body 4 and vehicle frame upper plate 4B lower positions.The lift drive shaft 44 of lift servo motor reducer 42 On lift drive shaft bearing 45 is installed, lift drive shaft bearing 45 is mounted on vertical three-dimensional 41 upper end of section bar that layer moves car body 4 It is synchronous in lifting driving for lifting synchronous belt 71 there are height between lift drive shaft 44 and vehicle frame upper plate 4B bottom surfaces at position The height space distance of lifting is freely driven on belt wheel 46.Layer moves 4 inside of car body and is mounted on rising at upper and lower end position Lower limit bit switch 47 and limiting buffer pad 48.Cabling backplate 49 and lifting dee are installed on 41 side of vertical solid section bar 491, lifting dee 491 side is equipped with lifting drag chain 492, improve the automatically controlled wiring lead of elevating control install concentratedly and its Safe and reliable property.Layer move each body post section bar 41 of car body 4 by three-dimensional section bar connecting angle pieces 4E and car body pedestal and Car body top installation is fixed together, and is improved layer and is moved that the whole firm reliability of car body 4, structure be simplicity and installation maintenance Convenience.It lifts 7 bottom end of synchronous belt device and is equipped with synchronous belt tightening regulator 7A（See Figure 10）, synchronous belt tightening regulator It is synchronous with lifting that 7A includes tensioning adjustable plate 75, tension wheel shaft 76, tensioning synchronous belt idle pulley 78, tensioning synchronous belt idler bearing 77 Band backstand 79, lifting synchronous belt backstand 79 are fixedly connected at vehicle bottom inside, are tensioned on adjustable plate 75 and are provided with tensioning Adjustment hole 751, tensioning synchronous belt idle pulley 77 are mounted on by tension wheel shaft 76 on lifting synchronous belt backstand 79, tension wheel shaft 76 Both ends are each provided at tensioning 751 lower position of adjustment hole, and tensioning is equipped between tensioning synchronous belt idle pulley 78 and tension wheel shaft 76 Synchronous belt idler bearing 77,71 bottom end of lifting synchronous belt are mounted on tensioning synchronous belt idle pulley 78.Improve of lifting synchronous belt Tight regulating effect, adjusting is convenient effectively, improves steady elevating control effect of the lifting synchronous belt to box taking machine tool hand.

Operating process：User logs into system by user name, can obtain the operation in extent of competence；User, which passes through, is The information in database in system finds the article information that needs is looked for look for, and is taken out operation.System is according to object institute at this time Position, first detect taking mechanical hand whether be located at compact shelving escape way among, if including taking mechanical hand is Words, can first allow taking mechanical hand to operate present instruction, and move in escape way, then pair by compact shelving in the corresponding region Channel is answered to open, while taking mechanical hand is if in an idle state, the column direction of taking mechanical hand is in servo motor Driving under moved, be moved to corresponding compact shelving and open passway；The pickup of taking mechanical hand promotes hand and is watching simultaneously It takes and is moved on corresponding compact shelving the floor height position for taking object under the drive drive of motor；Taking mechanical hand is moved to compact shelving to open Passway；And after compact shelving is also opened, the section direction of taking mechanical hand is moved under the driving of servo motor, is moved It moves to the corresponding section position that object is taken on compact shelving；After sensor all test position, taking mechanical hand by object from It takes out, is placed in manipulator inside body on compact shelving, after being in place, folding up device can be clamping by object, is fixed on machinery Inside hand；Then the section direction of taking mechanical hand can be moved, and be moved back on compact shelving escape way, then taking mechanical hand Two, the layer direction of column direction, servo motor works at the same time, and will be moved to the interface position of access way, manipulator is again by object Part is placed on the interface of access way；After manipulator puts object well, Hou You mechanisms are resetted, and operation are completed, under waiting Once command；Object on interface is delivered to action pane position by access way, is used for user.

Claims (10)

1. a kind of full-automatic compact shelving repository, including multiple row compact shelving, it is characterised in that：Further include article access disengaging transfer Channel and article accessing operation window are equipped with the layer shifting vehicle with box taking machine tool hand at multiple row compact shelving front end inlet escape way Body and lifting driving layer move row of the car body in multiple row compact shelving front passage shift position and move axis, and layer moves car body and is equipped with box taking machine The lifting control mechanism that tool hand and driving box taking machine tool hand are freely lifted in car body, the fixed row in multiple row compact shelving two sides Top, which is respectively equipped with connection, erects row and moves the section at axis both ends and move axis, and two sections move axis and are mutually parallel and close between each adjacent column It is parallel to collect frame channel；After channel between adjacent column compact shelving is opened, row move axis and move band in the position that two sections are moved on axis Dynamic layer moves car body and channel and automatic access article is freed in and out in open compact shelving channel；Article access disengaging transfering channel The box taking machine tool palmistry transfer that one end moves car body with layer is docked, and the other end is docked with article accessing operation window phase transfer；Row move Axis is equipped with driving layer shifting car body and mobile driving servo motor and driving servo is freed in and out in open compact shelving channel Motor reducer, driving speed reducer for servo motor are equipped with the section transmitted with section shifting axis power and move axis transmission shaft；Section is moved on axis and is set There is driving synchronous belt and move the coaster moved in shaft length direction along section for installing to connect row and move axis and envoy and move axis, on coaster The coaster driving mechanism connected is transmitted equipped with axis transmission shaft phase power is moved with section, coaster driving mechanism is equipped with main driving synchronous belt Wheel and main drive wheel axis, the section shifting axis transmission shaft phase power that main drive wheel axis is moved with row on axis, which transmits, to be connected, main driving driving wheel Axis drives main driving synchronous pulley to be moved on driving synchronous belt, and row is driven to move the layer that is lifted of axis and move car body open adjacent It is passed in and out in row compact shelving channel, realizes automatic access article of the box taking machine tool hand on compact shelving.

2. full-automatic compact shelving repository described in accordance with the claim 1, it is characterised in that：The lifting control mechanism includes Synchronous belt device and lifting driving motor are lifted, the lifting synchronous belt device includes lifting the linear guide, lifting synchronous belt, rises Drop driving synchronous pulley and lifting driving motor, lifting the linear guide are equipped with lifting slider, and lifting synchronous belt, which is equipped with, to be synchronized Band pressing plate, synchronous belt pressing plate are equipped with the slider connecting plate for installing box taking machine tool hand, are set on the outside of body post section bar upper end There is lifting driving motor, body post section bar lower end outside, which is equipped with, supports castor, and it is same that lifting driving motor is equipped with lifting driving Belt wheel is walked, lifting driving synchronous pulley is equipped with lifting synchronous belt, lifting driving motor drive control lifting driving synchronous pulley.

3. full-automatic compact shelving repository described in accordance with the claim 1, it is characterised in that：The row move axis and include row shifting vehicle Frame, row bogie are equipped with driving section and move the driving servo motor of axis work and driving speed reducer for servo motor, driving servo electricity Machine speed reducer is equipped with section shifting axis transmission shaft, and section shifting axis power is equipped at section shifting axis transmission shaft external end head and transmits outer end Universal connector Head, the section that section moves axis transmission shaft move axis power transmission belt and move layer equipped with box taking machine tool hand to move car body adjacent in compact shelving repository Movement is freed in and out between row in channel；Row bogie side is equipped with section and moves driving synchronous belt, saves and move driving motor and for pacifying The layer for being installed with box taking machine tool hand moves the section moving block frame of car body, and section moving block frame is equipped with main driving synchronous pulley and section is moved and driven Dynamic motor, main driving synchronous pulley driving section move driving synchronous belt, section moving block frame are driven to move the shifting on shaft length direction in row It is dynamic, realize that layer moves position movement of the car body before compact shelving repository between each mobile row.

4. full-automatic compact shelving repository described in accordance with the claim 1, it is characterised in that：The section moves axis and is led including section shifting Rail and driving synchronous belt, section move guide rail and are equipped with driving synchronous belt, power supply guide frame and coaster, and coaster includes coaster main body vehicle Frame, coaster driving vehicle frame and coaster driving mechanism, coaster driving vehicle frame are equipped with coaster driving mechanism, and coaster driving mechanism includes The synchronous tape drive mechanism of coaster driving and coaster driving synchronous belt idle wheel mechanism, the synchronous tape drive mechanism of coaster driving are equipped with master Drive shaft and main driving synchronous pulley are driven, the section shifting axis transmission shaft external end head that main drive wheel axis is moved with row on axis mutually transmits pair It connects, driving synchronous belt passes through coaster driving synchronous belt idle wheel mechanism to be connected to section with the synchronous tape drive mechanism of coaster driving and moves guide rail At the tip position of length direction both ends, main driving drive shaft drives main driving synchronous pulley, and band fly block is in driving synchronous belt On section movement, realize the disengaging movement in channel between adjacent compact shelving row.

5. full-automatic compact shelving repository described in accordance with the claim 1, it is characterised in that：The box taking machine tool hand includes stretching Contracting mechanism includes the flexible upper fork that flexible overlapping is set together from top to bottom successively, stretches with mechanism, telescoping mechanism is folded up Middle fork and telescoping mechanism pedestal, when telescoping mechanism pulls open, the upper fork that stretches in stretching with pitching along the same direction in telescoping mechanism Elongation is stretched on pedestal, when telescoping mechanism folds, flexible upper fork is shunk with flexible middle fork to be superimposed on telescoping mechanism pedestal；It stretches What contracting mechanism base side was pitched in stretching equipped with driving stretching out or shrinking the flexible middle fork driving motor of folding；It folds up mechanism and includes one Mutually direction is clamped or that unclamps folds up lateral body component, the single lateral body component that folds up folds up side clamp arm and and article including article The straight line slide unit connecting plate that side clamp arm is connected is folded up, is equipped with above straight line slide unit connecting plate both ends and folds up sliding track mechanism, straight line Slide unit connecting plate both ends back is equipped with and folds up synchronous gear transport mechanism, and one piece of straight line slide unit connecting plate end point is equipped with wherein It folds up driving device and folds up hunting gear, fold up driving device task driven and fold up hunting gear, drive a pair of opposite direction Fold up lateral body component collapse each other gripping article or open decontrol article.

6. according to the full-automatic compact shelving repository described in claim 5, it is characterised in that：The telescoping mechanism includes machinery Hand telescoping mechanism pedestal, manipulator telescoping mechanism pedestal are equipped with middle fork activity-oriented slot, and middle fork activity-oriented slot, which is equipped with, to be stretched It is pitched in contracting, is pitched in stretching and be equipped with flexible upper fork, and flexible upper fork, flexible middle fork and manipulator telescoping mechanism pedestal three Form top-down telescopic folding structure successively；Manipulator telescoping mechanism chassis side is equipped with flexible middle fork driving motor, stretches Fork driving motor is equipped with middle fork drive gear, middle fork drive gear and the middle fork drive rack for being located at flexible middle fork back in contracting Be meshed driving, and what driving drive was pitched in stretching stretchs out or shrink folding.

7. according to the full-automatic compact shelving repository described in claim 5, it is characterised in that：The driving device that folds up includes Driving motor and drive gear are folded up, hunting gear is folded up and folds up drive rack, Yi Ji including what is be meshed with drive gear The A that one piece of straight line slide unit connecting plate end is equipped with folds up sliding rail and A folds up sliding block, at another piece of straight line slide unit connecting plate both ends End point is equipped with folds up sliding rail and A folds up that the mutually chimeric B of sliding block folds up sliding block and B folds up sliding rail with A；Fold up driving device work Work driving folds up hunting gear, and the lateral body component that folds up of a pair of opposite direction is driven to open relieving article each other or collapse gripping object Product.

8. full-automatic compact shelving repository described in accordance with the claim 1, it is characterised in that：The layer moves car body both sides and is equipped with Layer moves the support castor servo-drive system of car body, and support castor servo-drive system includes flexible electric cylinders, and two outside of car body is moved respectively in layer The flexible electric cylinders of one group of servo motor driving are fixedly connected with, and the telescopic end of two groups of electric cylinders of stretching vertically is set downward, Flexible electric cylinders lower end is connected with support castor, and support castor follows the flexible of flexible electric cylinders and realizes layer of the support castor to hanging Move the weight support of car body.

9. according to the full-automatic compact shelving repository described in claim 4, it is characterised in that：The section moves axis and is equipped with power supply Guide frame, coaster be equipped with electricity getting device, power supply guide frame include be located at section move guide rail on confession be electrically directed to insulation tank and The conductive long row of power supply, the conductive long row that powers are arranged on for being electrically directed in the insulating space in insulation tank, and electricity getting device, which is equipped with, to be stretched Enter to for being electrically directed in insulation tank and being in contact with the conductive long row of power supply and take the torch that takes of electricity, coaster moves what is slided on guide rail in section Meanwhile torch front end being taken to be in contact with the conductive long row of power supply and obtains what the conductive long row of power supply was accessed on electricity getting device Electric energy, electricity getting device will take the electric energy turn acquired by torch to access to and be equipped with the section shifting axis for taking object manipulator for electric driver In.

10. according to full-automatic compact shelving repository according to any one of claims 8, it is characterised in that：Two groups of electric cylinders of stretching are set It is moved at the diagonally opposing corner position in two outside of car body in layer, flexible electric cylinders include the lift servo motor of position setting from top to bottom, watch Motor reducer and lifting electric cylinders are taken, for support castor when in holding state, foreign steamer bottom position moves car body bottom less than layer Portion position, support castor in pass through track when state, support castor rises to its foreign steamer upwards under the action of flexible electric cylinders Bottom position moves vehicle bottom position higher than layer.