CN106315238A - Intelligent robot used for goods stacking - Google Patents
Intelligent robot used for goods stacking Download PDFInfo
- Publication number
- CN106315238A CN106315238A CN201610744581.9A CN201610744581A CN106315238A CN 106315238 A CN106315238 A CN 106315238A CN 201610744581 A CN201610744581 A CN 201610744581A CN 106315238 A CN106315238 A CN 106315238A
- Authority
- CN
- China
- Prior art keywords
- goods
- aisle
- lifter plate
- stacking
- connecting rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
The invention discloses an intelligent robot used for goods stacking. The intelligent robot comprises a guide gangway and a stacking mechanism; the stacking mechanism comprises a supporting plate arranged on a bulge; a plurality of rollers are mounted on the bottom of the supporting plate; a motor and two stand columns are arranged on the supporting plate; rectangular slots are formed in opposite side walls of the two stand columns; the output end of the motor is connected with a connecting rod; the connecting rod penetrates through the side wall of any one of the two stand columns, and is arranged in the rectangular slots; an upper gear is mounted at the upper ends of the rectangular slots; two lower gears are mounted on the end part of the connecting rod; the upper gear is connected with the lower gears through toothed belts; two air cylinders which are reversely mounted are arranged on the upper wall of a lifting plate; pushing plates are mounted on the output ends of the air cylinders; and a travel switch is electrically connected with the motor through a controller. In a lifting process, goods on the lifting plate ascend or descend at relatively stable speed, so that the goods are prevented from shifting as a result of shaking on the lifting plate, and therefore, goods lifting safety reliability is improved.
Description
Technical field
The present invention relates to logistic storage field, specifically refer to the intelligent robot piled up for goods.
Background technology
Along with the development of market economy, the living standard of people improves day by day, and pursuing material variation has become society
Can prevailing custom.Consequently, it is possible to the product category meeting the market demand is various, the situation of selling well type that especially those consumer groups are huge produces
Product, lay in a number of stock the most in advance in warehouse.In order to save space, these products with outer package are usual
Depositing in warehouse with way of stacking, and manage for convenience, three-dimensional intelligent warehouse arises at the historic moment, typically the most in this case
For, tiered warehouse facility is that a kind of one set up to improve warehouse savings ability has multiple row, multilamellar, many lattice, stores more
The storage structures of unit, in stacking procedure, it is generally necessary to utilize stacking apparatus to carry between the shelf of storage
And stacking.On the other hand, some stacking apparatus existing includes lifting mechanism and horizontal displacement mechanism, wherein, utilizes this lifting
Device carrys out the goods of lifting stacking, and by shuttle machine, the goods treating stacking is moved horizontally to predetermined stacked location (such as this
The position at the original place of stacking goods).In stacking procedure, these stacking apparatus need the goods of stacking by hydraulic cylinder
Thing vertically moves to certain altitude, then by horizontal shuttle machine, the goods treating stacking is positioned over ground predetermined stacking position
Putting, last hydraulic cylinder moves straight down thus completes stacking.But, the equipment of this type is typically rising or declining
Time, easily there is a certain degree of swing in goods so that the phenomenon of tenesmus easily occurs when stacking in goods, easily leads time serious
Cause security incident.
Summary of the invention
It is an object of the invention to provide the intelligent robot piled up for goods, to solve lacking in above-mentioned background technology
Fall into.
The purpose of the present invention is achieved through the following technical solutions:
The intelligent robot piled up for goods, including guiding aisle and matched stacking mechanism, guides aisle to include
The straight line aisle being arranged between adjacent shelf and connect adjacent straight line aisle semicircular transition aisle, different aisle it
Between smooth splicing being fixed by connector, described straight line aisle and transition aisle are provided with continuous print projection, described
Stacking mechanism includes the gripper shoe being placed in projection, is provided with multiple roller being positioned at projection both sides in the bottom of gripper shoe,
Gripper shoe is provided with motor and two columns, has rectangular channel, motor output end on the sidewall that two columns are oppositely arranged
Connect and have connecting rod, connecting rod to run through the sidewall of any one among two columns to be placed in rectangular channel, install in the upper end of rectangular channel
Having gear, be provided with two lower gears in the end of connecting rod, described gear is connected with lower gear, in cingulum by cingulum
Being fixed with lasso on sidewall, the end of lifter plate is fixed in lasso, is provided with the cylinder of two reverse installations at lifter plate upper wall,
The direction of motion of cylinder outfan is identical with the direction of goods removal lifter plate, and is provided with push pedal on cylinder outfan.
During use, stacking mechanism is placed in the projection guided on aisle, can be to adjacent two by traction stacking mechanism
Carrying out goods stacking between shelf, what wherein stacking mechanism used cingulum and gear coordinates the lifting realizing lifter plate, and shows
Some hydraulic pressure or pressure liftable mode are compared, while ensureing that goods normally rises so that goods rise stability is significantly
Increase, it is to avoid goods drops and causes the generation of security incident.During stacking, gripper shoe is moved into appointed place, starts motor,
Make lower gear drive cingulum and gear to rotate, and be fixed on the lifter plate on cingulum medial wall and realize lifting the most therewith,
Compared with existing hydraulic verticallifting, cingulum is higher with the transmission efficiency of gear, and acts on axle and the effect on bearing
Power is little, and i.e. in lifting process, the goods on lifter plate keeps rising with metastable velocity interpolation or declining, and then keeps away
Exempt from goods therefore to rock on lifter plate and produce displacement, improve the safety reliability of goods lifting；Wherein rise at goods
During the stacking place specified, according to the shelf in different orientation, start the cylinder that its outfan is identical with goods removal direction, logical
Cross the promotion of push pedal so that on goods movement to corresponding stacked location, then cylinder outfan retraction, drive push pedal to reset,
Motor rotates backward so that lifter plate moves down, to facilitate and then secondary stacking.
It is coated with resilient rubbber cushion in described push pedal lateral wall.As preferably, push pedal lateral wall is installed gum elastic
Pad, can make push pedal with cargo contacts avoid when interacting aggravating the damage of goods outer wall because of stress suddenly, and then
Improve stacking efficiency.
The length of described push pedal is identical with the width of lifter plate.As preferably, the length phase of the length of push pedal and lifter plate
With so that the goods on lifter plate either prevents from, at lifter plate center or edge, all within the scope of the promotion of push pedal, keeping away
Exempt from goods local pressure when being promoted, and remainder does not stresses, it is to avoid in stacking procedure, occur that what goods disorderly put shows
As.
The present invention compared with prior art, has such advantages as and beneficial effect:
1, in the present invention, gripper shoe is moved into appointed place, starts motor so that lower gear drives cingulum and gear to turn
Dynamic, and be fixed on the lifter plate on cingulum medial wall and realize lifting the most therewith, compared with existing hydraulic verticallifting, cingulum with
The transmission efficiency of gear is higher, and it is little with the active force on bearing to act on axle, the goods i.e. in lifting process, on lifter plate
Thing keeps rising with metastable velocity interpolation or declining, and then avoids goods therefore to rock on lifter plate and produce position
Move, improve the safety reliability of goods lifting；Wherein when goods rises to the stacking place specified, according to different orientation
Shelf, start the cylinder that its outfan is identical with goods removal direction, by the promotion of push pedal so that goods movement is to accordingly
In stacked location, then cylinder outfan retraction, drive push pedal to reset, motor rotates backward so that lifter plate moves down, with convenient
And then secondary stacking；
2, the present invention installs resilient rubbber cushion on push pedal lateral wall, and push pedal can be made keeping away with cargo contacts and when interacting
Exempt to aggravate the damage of goods outer wall because of stress suddenly, and then improve stacking efficiency；
3, the length of push pedal is arranged to identical with the length of lifter plate by the present invention so that the goods on lifter plate either prevents
At lifter plate center or edge, all within the scope of the promotion of push pedal, it is to avoid goods is local pressure when being promoted, and remains
Part does not stresses, it is to avoid occur the phenomenon that goods is disorderly put in stacking procedure.
Accompanying drawing explanation
Accompanying drawing described herein is used for providing being further appreciated by the embodiment of the present invention, constitutes of the application
Point, it is not intended that the restriction to the embodiment of the present invention.In the accompanying drawings:
Fig. 1 is the installation diagram of the present invention；
Fig. 2 is the structural representation of the present invention.
Labelling and corresponding parts title in accompanying drawing:
1-stacking mechanism, 2-guide aisle, 3-shelf, 4-gear, 5-cingulum, 6-column, 7-cylinder, 8-push pedal, 9-lifting
Plate, 10-lower gear, 11-connecting rod, 12-motor, 13-gripper shoe, 14-projection, 15-roller.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with embodiment and accompanying drawing, to this
Invention is described in further detail, and the exemplary embodiment of the present invention and explanation thereof are only used for explaining the present invention, do not make
For limitation of the invention.
Embodiment 1
As depicted in figs. 1 and 2, the present embodiment includes guiding aisle 2 and matched stacking mechanism 1, guides aisle 2 to include
The straight line aisle being arranged between adjacent shelf 3 and the semicircular transition aisle connecting adjacent straight line aisle, different aisle
Between smooth splicing being fixed by connector, described straight line aisle and transition aisle are provided with continuous print projection 14,
Described stacking mechanism 1 includes the gripper shoe 13 being placed in projection 14, is provided with in the bottom of gripper shoe 13 and multiple is positioned at projection
The roller 15 of 14 both sides, gripper shoe 13 is provided with motor 12 and two columns 6, on the sidewall that two columns 6 are oppositely arranged
Having a rectangular channel, motor 12 outfan connects to be had connecting rod 11, connecting rod 11 to run through the sidewall of any one among two columns 6 to be placed in
In rectangular channel, in the upper end of rectangular channel, gear 4 is installed, two lower gears 10 is installed in the end of connecting rod 11, described on
Gear 4 is connected with lower gear 10 by cingulum 5, is fixed with lasso on cingulum 5 medial wall, and the end of lifter plate 9 is fixed on set
In circle, it is provided with the cylinder 7 of two reverse installations, the direction of motion of cylinder 7 outfan and goods removal lifting at lifter plate 9 upper wall
The direction of plate 9 is identical, and is provided with push pedal 8 on cylinder 7 outfan.
During use, stacking mechanism 1 is placed in the projection 14 guided on aisle 2, can be to adjacent by traction stacking mechanism 1
Carrying out goods stacking between two shelf 3, what wherein stacking mechanism 1 used cingulum 5 and gear coordinates the liter realizing lifter plate 9
Fall, compared with existing hydraulic pressure or pressure liftable mode, while ensureing that goods normally rises so that goods rises stable
Property be greatly increased, it is to avoid goods tenesmus and cause the generation of security incident.During stacking, gripper shoe 13 is moved into appointed place,
Start motor 12 so that lower gear 10 drives cingulum 5 and gear 4 to rotate, and is fixed on the lifter plate on cingulum 5 medial wall
9 realize lifting the most therewith, and compared with existing hydraulic verticallifting, cingulum 5 is higher with the transmission efficiency of gear, and acts on
Axle is little with the active force on bearing, and i.e. in lifting process, the goods on lifter plate 9 keeps with on metastable velocity interpolation
Rise or decline, and then avoiding goods therefore to rock on lifter plate 9 and produce displacement, improving the safe and reliable of goods lifting
Degree；Wherein when goods rises to the stacking place specified, according to the shelf 3 in different orientation, start its outfan and goods
The cylinder 7 that removal direction is identical, by the promotion of push pedal 8 so that on goods movement to corresponding stacked location, then cylinder 7
Outfan bounces back, and drives push pedal 8 to reset, and motor 12 rotates backward so that lifter plate 9 moves down, to facilitate and then secondary stacking.
As preferably, push pedal 8 lateral wall is installed resilient rubbber cushion, push pedal 8 can be made with cargo contacts the most mutually
Avoid during effect aggravating the damage of goods outer wall because of stress suddenly, and then improve stacking efficiency.
As preferably, the length of push pedal 8 is identical with the length of lifter plate 9 so that the goods on lifter plate 9 either prevents
At lifter plate 9 center or edge, all within the scope of the promotion of push pedal 8, it is to avoid goods is local pressure when being promoted, and remains
Remaining part is divided and is not stressed, it is to avoid occur the phenomenon that goods is disorderly put in stacking procedure.
Above-described detailed description of the invention, has been carried out the purpose of the present invention, technical scheme and beneficial effect further
Describe in detail, be it should be understood that the detailed description of the invention that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, all within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. done, all should comprise
Within protection scope of the present invention.
Claims (3)
1. the intelligent robot piled up for goods, including guiding aisle (2) and matched stacking mechanism (1), guides
Aisle (2) includes that the straight line aisle being arranged between adjacent shelf (3) is walked with the semicircular transition connecting adjacent straight line aisle
Road, smooth splicing being fixed by connector between different aisle, described straight line aisle and transition aisle are provided with
Continuous print projection (14), it is characterised in that: described stacking mechanism (1) includes the gripper shoe (13) being placed in projection (14),
The bottom of gripper shoe (13) is provided with multiple roller (15) being positioned at projection (14) both sides, and gripper shoe (13) is provided with motor (12)
And two columns (6), the sidewall that two columns (6) are oppositely arranged has rectangular channel, motor (12) outfan connects to be had
Connecting rod (11), connecting rod (11) runs through the sidewall of any one among two columns (6) and is placed in rectangular channel, in the upper end of rectangular channel
Gear (4) is installed, lower gear (10) is installed in the end of connecting rod (11), described gear (4) by cingulum (5) with under
Gear (10) connects, and is fixed with lasso on cingulum (5) medial wall, and the end of lifter plate (9) is fixed in lasso, at lifter plate
(9) upper wall is provided with the cylinder (7) of two reverse installations, the direction of motion of cylinder (7) outfan and goods removal lifter plate (9)
Direction is identical, and is provided with push pedal (8) on cylinder (7) outfan.
The intelligent robot piled up for goods the most according to claim 1, it is characterised in that: in described push pedal (8) outward
Sidewall is coated with resilient rubbber cushion.
The intelligent robot piled up for goods the most according to claim 1, it is characterised in that: the length of described push pedal (8)
Spend identical with the width of lifter plate (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610744581.9A CN106315238A (en) | 2016-08-29 | 2016-08-29 | Intelligent robot used for goods stacking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610744581.9A CN106315238A (en) | 2016-08-29 | 2016-08-29 | Intelligent robot used for goods stacking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106315238A true CN106315238A (en) | 2017-01-11 |
Family
ID=57791313
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610744581.9A Pending CN106315238A (en) | 2016-08-29 | 2016-08-29 | Intelligent robot used for goods stacking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106315238A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4358239A (en) * | 1980-09-26 | 1982-11-09 | Harnischfeger Corporation | Warehouse crane including inclinable tote pan puller |
| CN1749131A (en) * | 2004-09-17 | 2006-03-22 | 系统股份公司 | An automatic storing device |
| CN101139035A (en) * | 2007-10-17 | 2008-03-12 | 郑卫星 | Self-storing wheel pair storage and stacking device with function of directly adopting and placing left and right goods shelves |
| CN101734460A (en) * | 2009-11-04 | 2010-06-16 | 何平 | Automatic management shelf and driving method |
| CN202063473U (en) * | 2011-04-28 | 2011-12-07 | 陆道宏 | Three-dimensional warehouse intelligent stacking machine |
| CN202116249U (en) * | 2011-06-27 | 2012-01-18 | 陆道宏 | Goods fork mechanism for stacking machine |
| CN102887320A (en) * | 2012-11-05 | 2013-01-23 | 长沙丰达智能科技有限公司 | Intelligent warehouse robot with function of self adaption of coordinate position |
| CN103991817A (en) * | 2013-02-15 | 2014-08-20 | 萨比股份公司 | Electric lifter |
| CN103991664A (en) * | 2014-06-03 | 2014-08-20 | 金陵科技学院 | Intelligent book management support and management method thereof |
| CN104884369A (en) * | 2013-02-20 | 2015-09-02 | 村田机械株式会社 | Stacker crane and method for operating same |
-
2016
- 2016-08-29 CN CN201610744581.9A patent/CN106315238A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4358239A (en) * | 1980-09-26 | 1982-11-09 | Harnischfeger Corporation | Warehouse crane including inclinable tote pan puller |
| CN1749131A (en) * | 2004-09-17 | 2006-03-22 | 系统股份公司 | An automatic storing device |
| CN101139035A (en) * | 2007-10-17 | 2008-03-12 | 郑卫星 | Self-storing wheel pair storage and stacking device with function of directly adopting and placing left and right goods shelves |
| CN101734460A (en) * | 2009-11-04 | 2010-06-16 | 何平 | Automatic management shelf and driving method |
| CN202063473U (en) * | 2011-04-28 | 2011-12-07 | 陆道宏 | Three-dimensional warehouse intelligent stacking machine |
| CN202116249U (en) * | 2011-06-27 | 2012-01-18 | 陆道宏 | Goods fork mechanism for stacking machine |
| CN102887320A (en) * | 2012-11-05 | 2013-01-23 | 长沙丰达智能科技有限公司 | Intelligent warehouse robot with function of self adaption of coordinate position |
| CN103991817A (en) * | 2013-02-15 | 2014-08-20 | 萨比股份公司 | Electric lifter |
| CN104884369A (en) * | 2013-02-20 | 2015-09-02 | 村田机械株式会社 | Stacker crane and method for operating same |
| CN103991664A (en) * | 2014-06-03 | 2014-08-20 | 金陵科技学院 | Intelligent book management support and management method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170111 |