CN106516524A - Storage system and material box storing and taking method - Google Patents
Storage system and material box storing and taking method Download PDFInfo
- Publication number
- CN106516524A CN106516524A CN201610973584.XA CN201610973584A CN106516524A CN 106516524 A CN106516524 A CN 106516524A CN 201610973584 A CN201610973584 A CN 201610973584A CN 106516524 A CN106516524 A CN 106516524A
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- box
- material circulation
- mechanical paw
- manipulator
- sliding unit
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims abstract description 74
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 230000017105 transposition Effects 0.000 claims description 4
- 210000000078 claw Anatomy 0.000 abstract 4
- 238000010586 diagram Methods 0.000 description 9
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 210000003739 neck Anatomy 0.000 description 1
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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a storage system. The warehousing system comprises stacking equipment and goods shelves arranged on two sides of the stacking equipment, wherein the stacking equipment comprises a horizontal movement guide rail, a vertical movement guide rail sliding along the horizontal movement guide rail, and a stacker crane performing lifting movement along the vertical movement guide rail; the stacker crane comprises a support, a plurality of object carrying discs arranged on the support and a plurality of manipulator mechanisms; the manipulator mechanism comprises a sliding unit connected with the support, a manipulator connected with the sliding unit and a power device used for driving the sliding unit to move, wherein the manipulator comprises a first manipulator claw which is arranged oppositely and used for pushing or pulling the logistics box, a second manipulator claw which is correspondingly used for pulling or pushing the logistics box and a driving device used for driving the first manipulator claw or/and the second manipulator claw to rotate. The warehousing system provided by the invention has high working efficiency and high space utilization rate. The invention also discloses a logistics box storing and taking method.
Description
Technical field
The present invention relates to storage technique field, and in particular to a kind of warehousing system and body feed tank access method.
Background technology
Stacking machine is the critical component that outbound in-stockroom operation is performed in modern tiered warehouse facility, and its box for material circulation for picking and placeing is usually
The box for material circulation of standard.Traditional stacking machine picks and places logistics box structure using chain-drive duplication acceleration mechanism, the structural requirement logistics
There is the space for accommodating pallet fork in bottom portion, while the space that stacking machine has volume big, shared is larger, own wt is big and rigidity will
The features such as asking high, and easily occur in actual moving process dangerous；Meanwhile, traditional stacking machine can only once pick and place a thing
Stream case, inefficiency, it is impossible to adapt to the requirement of modern large stereo warehousing management.
Therefore, it is necessary to providing a kind of new warehousing system solves above-mentioned technical problem.
The content of the invention
The purpose of the present invention is to overcome above-mentioned technical problem, there is provided the high storage of a kind of high working efficiency, space availability ratio
System.
Technical scheme is as follows：A kind of warehousing system, including Palletizer and be located at the Palletizer both sides
Shelf, the Palletizer includes horizontal moving guide rail, located at the horizontal moving guide rail and along the horizontal moving guide rail
The vertical movement guide rail of slip, the piling moved up and down located at the vertical movement guide rail and along the vertical movement guide rail
Machine；
The stacking machine includes support, the multiple carrying disks being set up in parallel located at the support and is located at the support simultaneously
Arrange with the carrying disk relative spacing and with the one-to-one multiple manipulator mechanisms of the carrying disk；
The manipulator mechanism includes the manipulator of the sliding unit being connected with the support and sliding unit connection
And for driving the power set of sliding unit motion, the manipulator include being oppositely arranged for pushing or pulling on the thing
First mechanical paw of stream case and to being applied to draw or push away the second mechanical paw of the box for material circulation and for driving described the
The driving means that one mechanical paw or/and the second mechanical paw are rotated.
Preferably, carrying disk position in storehouse linking corresponding with the shelf.
Preferably, the carrying disk includes base plate and is respectively arranged on the cylinder at the base plate two ends, the cylinder with it is described
The corresponding position in storehouse linking of shelf.
Preferably, the driving means include driving first mechanical paw and second mechanical paw to rotate respectively
The first motor and the second motor.
Preferably, the quantity of first mechanical paw is two, and the quantity of second mechanical paw is two.
Preferably, the sliding unit includes located at the slide rail of the support and with the slide rail slide block being connected,
The power set drive the slide block to move along the slide rail, and the manipulator is connected with the slide block.
Preferably, the power set include the 3rd motor, by the 3rd motor-driven drive sprocket and the master
Driven sprocket and the chain being connected with the drive sprocket and driven sprocket engagement that movable sprocket is oppositely arranged, the cunning
Block is connected with the chain.
Preferably, multiple carrying disks are structure as a whole or Split type structure.
Based on the warehousing system, the present invention also provides a kind of box for material circulation access method.The box for material circulation access method bag
Include following steps：
Step one, stacking machine is delivered to into access site corresponding with shelf
The vertical movement guide rail is moved along the horizontal moving guide rail, the stacking machine is displaced to and the shelf pair
The access array answered；The stacking machine is moved up and down along the vertical movement guide rail, the stacking machine is shifted as the goods
Frame correspondence level of access；
Box for material circulation on the carrying disk is deposited to the shelf correspondence position in storehouse by step 2, box for material circulation accessing operation,
Or the box for material circulation that position in storehouse is corresponded on the shelf is pipetted to the carrying disk, wherein the logistics for position in storehouse being corresponded on the shelf
Case is pipetted to the carrying disk and is comprised the steps：
The sliding unit is displaced to first mechanical paw at the box for material circulation of correspondence position in storehouse；
The driving means drive first mechanical paw to block the box for material circulation in the carrying disk side
Side wall；
The sliding unit drives the manipulator movement, makes first mechanical paw pull the box for material circulation to described
Carrying disk direction is moved, by the box for material circulation transposition of partial to the carrying disk；
The sliding unit drives the manipulator reverse movement, makes second mechanical paw arrive at the box for material circulation
The madial wall；
The driving means drive second mechanical paw to block the madial wall of the box for material circulation；
Counter motion drives the manipulator movement to the sliding unit again, promotes second mechanical paw described
Box for material circulation is moved to the carrying disk direction, and the box for material circulation is all displaced to the carrying disk；
Box for material circulation on the carrying disk is deposited to the shelf correspondence position in storehouse to comprise the steps：
The sliding unit by second mechanical paw be displaced to on the carrying disk box for material circulation away from right
Answer the lateral wall of position in storehouse side；
The sliding unit drives the manipulator movement, make second mechanical paw pull the box for material circulation to
Correspondence position in storehouse direction motion, by the box for material circulation transposition of partial to the position in storehouse；
The sliding unit drives the manipulator reverse movement, makes first mechanical paw arrive at the box for material circulation
The lateral wall；
The driving means drive first mechanical paw to block the lateral wall of the box for material circulation；
Counter motion drives the manipulator movement to the sliding unit again, promotes first mechanical paw described
Box for material circulation is moved to the shelf direction, and the box for material circulation is all displaced to the corresponding position in storehouse of the shelf.
Preferably, first mechanical paw pushes or pulls on the stroke of the box for material circulation and draws or push away with second mechanical paw
The stroke sum of the box for material circulation is equal to length of the box for material circulation along movement locus direction.
Compared to prior art, the warehousing system beneficial effect that the present invention is provided is：
First, by the Palletizer between two row's shelf, the Palletizer includes horizontal moving guide rail, along described
The vertical movement guide rail of horizontal moving guide rail movement and the stacking machine moved along the vertical movement lifting rail, realize to shelf
Upper arbitrarily row, the box for material circulation of random layer are taken and deposit box for material circulation to any row, the random layer of the shelf, convenient fast
It is prompt.
2nd, the stacking machine include multiple carrying disks being set up in parallel and with the one-to-one multiple machineries of the carrying disk
Mobile phone structure, arranges the piling and can improve the operating efficiency of the warehousing system while access multiple box for material circulation.
3rd, by the setting of the manipulator mechanism, stacking machine first blocks thing by the first mechanical paw when box for material circulation is taken
The madial wall of stream case, sliding unit driving mechanical hands movement, so that first mechanical paw pulls box for material circulation motion to make which
Part removes shelf；The driving means drive second mechanical paw to pack up, and the sliding unit drives the machinery
Hand counter motion, makes second mechanical paw move to logistics box wall, and it is described second mechanical that the driving means drive
Paw blocks logistics box wall, sliding unit driving mechanical hand counter motion again, so that second mechanical paw is pushed away
Dynamic box for material circulation motion makes which all remove shelf and be located on carrying disk；The action of stacking machine storage box for material circulation is moved with box for material circulation is taken
Make contrary.By the design of the manipulator mechanism, realize it is plug-type pick and place box for material circulation, do not reducing stacking machine reliability and work
On the premise of making efficiency, own wt is greatly reduced, has saved the energy and cost；The work for saving stacking machine simultaneously is empty
Between, make tiered warehouse facility play bigger function.
Description of the drawings
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, below will be to making needed for embodiment description
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, can be obtaining other according to these accompanying drawings
Accompanying drawing, wherein：
The structural representation of the warehousing system that Fig. 1 is provided for the present invention；
Structural representations of the Fig. 2 for Palletizer in the warehousing system shown in Fig. 1；
Fig. 3 is the structural representation of stacking machine in Palletizer shown in Fig. 2；
Part-structure schematic diagrams of the Fig. 4 for stacking machine shown in Fig. 3；
Fig. 5 is the structural representation of manipulator mechanism in stacking machine described in Fig. 4；
Fig. 6 is the first status architecture schematic diagram that stacking machine shown in Fig. 3 takes box for material circulation step；
Fig. 7 is second status architecture schematic diagram that stacking machine shown in Fig. 3 takes box for material circulation step；
Fig. 8 is the third status architecture schematic diagram that stacking machine shown in Fig. 3 takes box for material circulation step；
Fig. 9 is the 4th kind of status architecture schematic diagram that stacking machine shown in Fig. 3 takes box for material circulation step.
Specific embodiment
In order that technical problem solved by the invention, technical scheme and beneficial effect become more apparent, below in conjunction with
Drawings and Examples, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein only to
The present invention is explained, is not intended to limit the present invention.
Fig. 1 is referred to, the structural representation of the warehousing system provided for the present invention.The warehousing system 100 includes relatively
Two row's shelf 1 for arranging and located at the Palletizer 2 described in two rows between shelf 1, the shelf 1 include several for depositing
The position in storehouse 11 of box for material circulation 200, constitutes X row Y Rotating fields.The Palletizer 2 is for the box for material circulation 200 is deposited to the goods
The box for material circulation 200 of correspondence position in storehouse on the shelf 1 is taken out by the corresponding position in storehouse of frame 1.
Fig. 2 is referred to, is the structural representation of Palletizer in the warehousing system shown in Fig. 1.The Palletizer 2 includes
Horizontal moving guide rail 21, vertical movement guide rail 22 and stacking machine 23.
The horizontal moving guide rail 21 is fixedly installed in described in two rows between shelf 1, rule of its length according to the shelf 1
Style is whole；The vertical movement guide rail 22 is located at the horizontal moving guide rail 21, and along the extension of the horizontal moving guide rail 21
Direction is slided, and the vertical movement guide rail 22 is in gantry frame structure, runs the Palletizer 2 more stable；The stacking machine
23 located at the vertical movement guide rail 22, and moves up and down along the vertical movement guide rail 22.Led by the horizontal movement
The stacking machine 23 can be delivered to and the arbitrary position in storehouse 11 on the shelf 1 by rail 21 and the vertical movement guide rail 22
Corresponding position.
Please in conjunction with refering to Fig. 3, Fig. 4, Fig. 5, wherein Fig. 3 is the structural representation of stacking machine in Palletizer shown in Fig. 2；
Part-structure schematic diagrams of the Fig. 4 for stacking machine shown in Fig. 3；Fig. 5 is the structural representation of manipulator mechanism in stacking machine described in Fig. 4
Figure.The stacking machine 23 includes support 231, located at the carrying disk 232 and manipulator mechanism 233 of the support.
The support 231 includes rack body 2311, connecting plate 2312 and fixed plate 2313.The rack body 2311 is
Frame structure, its both sides are connected with the vertical movement guide rail 22；The connecting plate 2312 is fixed on the rack body 2311,
The fixed plate 2313 is fixed on the connecting plate 2312, and the fixed plate 2313 is vertically arranged with the connecting plate 2312.
The quantity of the connecting plate 2312 and the fixed plate 2313 is respectively multiple, corresponding with the manipulator mechanism 233 respectively.
The quantity of the carrying disk 232 is for multiple, and multiple carrying disks 232 are set up in parallel；Multiple carrying disks
232 is Split type structure or integrative-structure, and when which is Split type structure, the Palletizer 2 is using more flexible.
The carrying disk 232 includes floor 2321 and cylinder 2322, the corresponding cylinder number of each described carrying disk 232
Amount 2322 is two, is respectively arranged on two ends of the base plate 2321 along material pipeline direction, the cylinder 2322 for institute
The position in storehouse 11 for stating shelf 1 is connected, while for mitigating bottom friction in 200 motion process of the body feed tank, from
And the power for driving box for material circulation motion can be reduced, energy saving.
The manipulator mechanism 233 is above the carrying disk 232, and 232 relative spacing of the carrying disk is arranged；Institute
The quantity for stating manipulator mechanism 233 is multiple, is corresponded with the carrying disk 232.In present embodiment, the carrying disk
232 and the quantity of the manipulator mechanism 233 be respectively three, corresponding, the connecting plate 2312 and the fixed plate 2313
Quantity be three.The setting of multiple manipulator mechanisms 233, is capable of achieving to access multiple box for material circulation simultaneously, so as to improve
Operating efficiency.
Each manipulator mechanism 233 include manipulator 2331, and the manipulator 2331 connection sliding unit
2332 and the power set 2333 of the sliding unit 2332 motion, the sliding unit 2332 are driven to drive the manipulator
2331 motions.
The manipulator 2331 includes installing plate 23311, the first mechanical paw 23312, the second mechanical paw 23313 and drives
Dynamic device 23314.The driving means 23314 are located at the installing plate 23311, first mechanical paw 23312 and described
Second mechanical paw 23313 is distributed in the opposite sides along material pipeline direction of the installing plate 23311, and by the drive
Dynamic device 23314 drives its rotation.
First mechanical paw 23312 is used to push or pull on the box for material circulation, corresponding, second mechanical paw
23313 are used to draw or push away the box for material circulation.The quantity difference of first mechanical paw 23312 and the second mechanical paw 23313
For two, the active force to box for material circulation is dispersibled, so as to reduce the effect of energy consumption.The driving means 23314 include
One motor 23315 and the second motor (non-label), first motor 23315 and second motor drive described first respectively
Mechanical paw 23312 and the second mechanical paw 23313 are rotated, and make first mechanical paw 23312 and second manipulator
Pawl 23313 is packed up or rotated down is used to block box for material circulation.First motor 23315 and second motor are servo electricity
Machine.
The sliding unit 2332 includes slide rail 23321, slide block 23322.The slide rail 23321 is located at the fixed plate
2313, the slide block 23322 is connected with the slide rail 23321.
The power set 2333 drive the slide block 23322 to move along the bearing of trend of the slide rail 23321.It is described dynamic
Power apparatus 2333 include the 3rd motor 23331, driven by the 3rd motor 23331 drive sprocket 23332, and the active
Driven sprocket 23333 that sprocket wheel 23332 is oppositely arranged, with 23333 company of engagement of the drive sprocket 23332 and the driven sprocket
The chain 23334 for connecing, the chain 23334 drive transmission by the drive sprocket 23332 and the driven sprocket 23333.
One end of the slide block 23322 is connected with the chain 23334, drives which along the cunning by the chain 23334
Rail 23321 is moved.The manipulator 2331 is connected with the other end of the slide block 23322, makes the manipulator 2331 by described
Sliding unit 2332 drives its motion.
Based on the warehousing system 100, the present invention also provides a kind of access method of box for material circulation.
Step S1, stacking machine is delivered to into access site corresponding with shelf
It is described vertical movement guide rail 22 move along the horizontal moving guide rail 21, make the stacking machine 23 be displaced to it is described
1 corresponding access array of shelf；The stacking machine 23 is moved up and down along the vertical movement guide rail 22, moves the stacking machine 23
Position is as 1 corresponding level of access of the shelf；I.e. according to target the stacking machine 23 is delivered to accurate access site, such as X by position
Row Y layers；
Step S2, the stacking machine carry out box for material circulation access action, and the box for material circulation on the carrying disk is deposited to described
Correspondence position in storehouse on shelf, or the box for material circulation of correspondence position in storehouse on the shelf is taken to the carrying disk；
Fig. 6 to Fig. 9 is please referred to, wherein Fig. 6 is the first status architecture that stacking machine shown in Fig. 3 takes box for material circulation step
Schematic diagram；Fig. 7 is second status architecture schematic diagram that stacking machine shown in Fig. 3 takes box for material circulation step；Fig. 8 is piling shown in Fig. 3
Machine takes the third status architecture schematic diagram of box for material circulation step；Fig. 9 is the 4th kind of shape that stacking machine shown in Fig. 3 takes box for material circulation step
State structural representation.By the box for material circulation 200 from the position in storehouse 11 take out the step of it is as follows：
Step S21, first motor 23315 work and pack up first mechanical paw 23312；
Step S21, the work of the sliding unit 2332 drive the manipulator 2331 to move, first mechanical paw
23312 tops for moving to the box for material circulation 200, first motor 23315 rotate again, drive first mechanical paw
23312 rotate, and block the madial wall of the box for material circulation 200；
Step S23, the sliding unit 2332 are moved, and make first mechanical paw 23312 pull the box for material circulation 200
Move to 232 direction of the carrying disk, by the half Length Shift of the box for material circulation 200 to the carrying disk 232, the slip
2332 stop motion of unit；
Second mechanical paw 23313 is packed up by step S24, second motor work；
Step S25,2332 counter motion of the sliding unit drive the manipulator 2331 to move backward, second machine
Tool paw 23313 moves to the top of the box for material circulation 200, and second motor is rotated again, drives second manipulator
Pawl 23313 blocks madial wall (madial wall in the step and first mechanical paw described in previous step of the box for material circulation 200
23312 madial walls for blocking are same madial wall)；
Step S26, the counter motion again of the sliding unit 2332, promote second mechanical paw 23313 described
Box for material circulation is moved to 232 direction of the carrying disk, and the box for material circulation 200 is displaced to the carrying disk 232 all.
The box for material circulation 200 is deposited from the carrying disk 232 to the operation principle and the work for taking box for material circulation of the position in storehouse 11
Make principle similar, comprise the following steps that：
Second mechanical paw 23313 is packed up by S21 ＇, second motor work；
S22 ＇, the work of the sliding unit 2332 drive the manipulator 2331 to move, second mechanical paw 23313
Outside of the box for material circulation 200 away from 11 end of the position in storehouse is moved to, second motor is rotated again, drive second machine
Tool paw 23313 blocks the lateral wall of the box for material circulation；
S23 ＇, the sliding unit 2332 are moved, make second mechanical paw 23313 pull the box for material circulation 200 to
11 direction of the position in storehouse is moved, and the half Length Shift of the box for material circulation to the position in storehouse 11, the sliding unit 2332 are stopped
Only move；
S24 ＇, first motor 23315 work and pack up first mechanical paw 23312；
S25 ＇, 2332 counter motion of the sliding unit drive the manipulator 2331 to move backward, and described first is mechanical
Paw 23312 moves to the top of the box for material circulation lateral wall, and first motor 23315 is rotated again, drives described first
Mechanical paw 23312 blocks lateral wall (lateral wall in the step and second machine described in previous step of the box for material circulation 200
The lateral wall that tool paw 23313 is blocked is same lateral wall)；
S26 ＇, the counter motion again of the sliding unit 2332, make first mechanical paw 23312 promote the logistics
Case 200 is moved to 11 direction of the position in storehouse, and the box for material circulation 200 is pushed into the position in storehouse 11 all.
In present embodiment, the carrying disk 232 is connected with the position in storehouse 11, first mechanical gripper 23312 push away or
The stroke of the box for material circulation 200 is drawn to draw with second mechanical paw 23313 or push away the stroke sum of the box for material circulation 200 to be equal to
Length of the box for material circulation along movement locus direction.By way of using the plug-type movement box for material circulation, the machinery is made
The movement locus of hand 2331 shortens, so as to save the working space of the stacking machine 23.
In addition to the embodiments described above, the driving means 23314 can be a servomotor, be driven by it described first
Mechanical paw 23312 and second mechanical paw 23313 are packed up or rotated down simultaneously so as in a mechanical paw card
Firmly box for material circulation, another mechanical paw do not work.
Compared to prior art, the warehousing system beneficial effect that the present invention is provided is：
First, by the Palletizer 2 between two row's shelf 1, the Palletizer 2 include horizontal moving guide rail 21,
Along the vertical movement guide rail 22 and the piling along vertical movement 22 elevating movement of guide rail of the movement of the horizontal moving guide rail 21
Machine 23, realize on shelf 1 arbitrarily row, random layer box for material circulation take and box for material circulation deposited into any to the shelf
Row, random layer.
2nd, the stacking machine 23 includes multiple carrying disks 232 being set up in parallel and one-to-one with the carrying disk 232
Multiple manipulator mechanisms 232, make the piling arrange 2 and can improve the work of the warehousing system while access multiple box for material circulation
Make efficiency.
3rd, by the setting of the manipulator mechanism 232, stacking machine 23 is when box for material circulation is taken, first by the first mechanical paw
23312 madial walls for blocking box for material circulation, 2332 driving mechanical hand 2331 of sliding unit are moved, so that first mechanical paw
23312 pull the motion of box for material circulation 200 to make its part remove shelf；It is described second mechanical that the driving means 23314 drive
Paw 23313 is packed up, and the sliding unit 2332 drives 2331 counter motion of the manipulator, makes second mechanical paw
23313 move to logistics box wall, and the driving means 23314 drive second mechanical paw 23313 to block box for material circulation
Madial wall, 2332 counter motion again of driving mechanical hand 2331 of sliding unit, so that second mechanical paw 23313 is promoted
The motion of the box for material circulation 200 makes which all remove shelf and be located on carrying disk；Stacking machine deposits the action of the box for material circulation 200
It is contrary with box for material circulation action is taken.By the design of the manipulator mechanism 232, realize it is plug-type pick and place box for material circulation, do not reducing
On the premise of stacking machine reliability and operating efficiency, own wt is greatly reduced, has saved the energy and cost；Save simultaneously
The working space of stacking machine, makes tiered warehouse facility play bigger function.
Embodiments of the invention are the foregoing is only, the scope of the claims of the present invention is not thereby limited, it is every using this
Equivalent structure or equivalent flow conversion that bright description is made, or directly or indirectly it is used in other related technology necks
Domain, is included within the scope of the present invention.
Claims (10)
1. a kind of warehousing system, it is characterised in that including Palletizer and the shelf located at the Palletizer both sides, the code
The vertical movement that pile equipment includes horizontal moving guide rail, slides located at the horizontal moving guide rail and along the horizontal moving guide rail
Guide rail, the stacking machine moved up and down located at the vertical movement guide rail and along the vertical movement guide rail；
The stacking machine include support, the multiple carrying disks being set up in parallel located at the support and located at the support and with institute
State carrying disk relative spacing arrange and with the one-to-one multiple manipulator mechanisms of the carrying disk；
The manipulator mechanism includes the manipulator and use of the sliding unit being connected with the support and sliding unit connection
In the power set for driving sliding unit motion, the manipulator include being oppositely arranged for pushing or pulling on the box for material circulation
The first mechanical paw and to being applied to draw or push away the second mechanical paw of the box for material circulation and for driving first machine
The driving means that tool paw or/and the second mechanical paw are rotated.
2. warehousing system according to claim 1, it is characterised in that carrying disk position in storehouse rank corresponding with the shelf
Connect.
3. warehousing system according to claim 2, it is characterised in that the carrying disk includes base plate and is respectively arranged on described
The cylinder at base plate two ends, cylinder position in storehouse linking corresponding with the shelf.
4. warehousing system according to claim 1, it is characterised in that the driving means include driving described first respectively
The first motor and the second motor that mechanical paw and second mechanical paw are rotated.
5. warehousing system according to claim 1, it is characterised in that the quantity of first mechanical paw is two, institute
The quantity for stating the second mechanical paw is two.
6. warehousing system according to claim 1, it is characterised in that the sliding unit includes the cunning located at the support
Rail and the slide block being connected with the slide rail, the power set drive the slide block to move along the slide rail, the machinery
Hand is connected with the slide block.
7. warehousing system according to claim 6, it is characterised in that the power set include the 3rd motor, by described
Driven sprocket that 3rd motor-driven drive sprocket and the drive sprocket are oppositely arranged and with the drive sprocket and institute
The chain of driven sprocket engagement connection is stated, the slide block is connected with the chain.
8. warehousing system according to any one of claim 1 to 7, it is characterised in that multiple carrying disks are integrated
Structure or Split type structure.
9. a kind of box for material circulation access method, using the warehousing system any one of claim 1-8, it is characterised in that bag
Include following steps：
Step one, stacking machine is delivered to into access site corresponding with shelf
The vertical movement guide rail is moved along the horizontal moving guide rail, is displaced to the stacking machine corresponding with the shelf
Access array；The stacking machine is moved up and down along the vertical movement guide rail, the stacking machine is shifted as the shelf pair
Answer level of access；
Box for material circulation on the carrying disk is deposited to the shelf correspondence position in storehouse by step 2, box for material circulation accessing operation, or will
On the shelf, the box for material circulation of correspondence position in storehouse is pipetted to the carrying disk, wherein the box for material circulation of correspondence position in storehouse on the shelf is moved
Take to the carrying disk and comprise the steps：
The sliding unit is displaced to first mechanical paw at the box for material circulation of correspondence position in storehouse；
The driving means drive first mechanical paw to block madial wall of the box for material circulation near the carrying disk side；
The sliding unit drives the manipulator movement, makes first mechanical paw pull the box for material circulation to the loading
Disk direction is moved, by the box for material circulation transposition of partial to the carrying disk；
The sliding unit drives the manipulator reverse movement, makes second mechanical paw arrive at the described of the box for material circulation
Madial wall；
The driving means drive second mechanical paw to block the madial wall of the box for material circulation；
Counter motion drives the manipulator movement to the sliding unit again, makes second mechanical paw promote the logistics
Case is moved to the carrying disk direction, and the box for material circulation is all displaced to the carrying disk；
Box for material circulation on the carrying disk is deposited to the shelf correspondence position in storehouse to comprise the steps：
The sliding unit by second mechanical paw be displaced to on the carrying disk box for material circulation away from correspondence storehouse
The lateral wall of position side；
The sliding unit drives the manipulator movement, makes second mechanical paw pull the box for material circulation to correspondence
Position in storehouse direction is moved, by the box for material circulation transposition of partial to the position in storehouse；
The sliding unit drives the manipulator reverse movement, makes first mechanical paw arrive at the described of the box for material circulation
Lateral wall；
The driving means drive first mechanical paw to block the lateral wall of the box for material circulation；
Counter motion drives the manipulator movement to the sliding unit again, makes first mechanical paw promote the logistics
Case is moved to the shelf direction, and the box for material circulation is all displaced to the corresponding position in storehouse of the shelf.
10. the box for material circulation access method according to right 9, it is characterised in that first mechanical paw pushes or pulls on the thing
The stroke of stream case is drawn with second mechanical paw or is pushed away the stroke sum of the box for material circulation to be equal to box for material circulation edge and moves rail
The length in mark direction.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510737702.2A CN105236062A (en) | 2015-11-03 | 2015-11-03 | Stacking equipment capable of simultaneously taking and placing logistics boxes on multiple stations |
| CN2015107377022 | 2015-11-03 | ||
| CN201510737656.6A CN105600482A (en) | 2015-11-03 | 2015-11-03 | Push-pull type stacker crane for picking and placing logistics boxes |
| CN2015107376566 | 2015-11-03 |
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| CN107226312A (en) * | 2017-05-04 | 2017-10-03 | 金华职业技术学院 | The stereo garage actual training device and its control method of beer automatic production line |
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| CN107298274A (en) * | 2017-08-04 | 2017-10-27 | 田保林 | A kind of shared bicycle Logistics cyclic access system |
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| CN107472792A (en) * | 2017-09-19 | 2017-12-15 | 苏州翊讯生物科技有限公司 | Blood outlines Input System |
| CN107472792B (en) * | 2017-09-19 | 2023-03-14 | 苏州翊讯生物科技有限公司 | Blood frame warehouse-in and warehouse-out system |
| CN109775210A (en) * | 2017-11-13 | 2019-05-21 | Juki株式会社 | Component warehouse system |
| CN108190343A (en) * | 2018-02-11 | 2018-06-22 | 深圳志合天成科技有限公司 | Kinds of goods backing device and kinds of goods access arrangement |
| CN108190343B (en) * | 2018-02-11 | 2024-03-29 | 深圳志合天成科技有限公司 | Goods support bottom device and goods access equipment |
| WO2019237953A1 (en) * | 2018-06-13 | 2019-12-19 | 菜鸟智能物流控股有限公司 | Goods storage and delivery cabinet, and method for collecting and distributing goods using same |
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| CN109018803A (en) * | 2018-08-16 | 2018-12-18 | 珠海格力智能装备有限公司 | Storage control method, system and device for vertical lifting container |
| CN109018803B (en) * | 2018-08-16 | 2023-12-08 | 珠海格力智能装备有限公司 | Storage control method, system and device for vertical lifting container |
| CN109772717A (en) * | 2019-01-28 | 2019-05-21 | 广州蓝胖子机器人有限公司 | Sorting cabinet, goods sorting method, equipment and computer readable storage medium |
| CN109772717B (en) * | 2019-01-28 | 2021-07-06 | 深圳蓝胖子机器智能有限公司 | Sorting cabinet, goods sorting method, equipment and computer readable storage medium |
| CN110077869A (en) * | 2019-04-30 | 2019-08-02 | 北京云迹科技有限公司 | A kind of operating cabinet |
| CN110104588A (en) * | 2019-05-24 | 2019-08-09 | 苏州智益诚自动化工程有限公司 | Tiered warehouse facility list stretches the operational method of pallet fork |
| CN110127260A (en) * | 2019-06-03 | 2019-08-16 | 珠海创智科技有限公司 | Drawing device, material transportation robot and material transportation method |
| CN110065760A (en) * | 2019-06-03 | 2019-07-30 | 珠海创智科技有限公司 | Drawing device and material transportation robot |
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| CN110342171A (en) * | 2019-07-15 | 2019-10-18 | 北京云迹科技有限公司 | Transfer mechanism and goods transportation system |
| CN110342171B (en) * | 2019-07-15 | 2020-09-25 | 北京云迹科技有限公司 | Transfer mechanism and article transportation system |
| CN110550365A (en) * | 2019-09-04 | 2019-12-10 | 国网冀北综合能源服务有限公司 | Automated storage device for electrical energy components |
| CN110550365B (en) * | 2019-09-04 | 2020-11-20 | 国网冀北综合能源服务有限公司 | Automated storage device for electrical energy components |
| CN110980092A (en) * | 2019-12-26 | 2020-04-10 | 中国科学院沈阳自动化研究所 | Multi-variety product warehousing system for industrial production line |
| CN114735382A (en) * | 2021-01-07 | 2022-07-12 | 中国石油天然气股份有限公司 | Straight pipe section access system |
| CN114735382B (en) * | 2021-01-07 | 2023-09-26 | 中国石油天然气股份有限公司 | Straight pipe section access system |
| CN113927726A (en) * | 2021-11-23 | 2022-01-14 | 江苏金雷建材有限公司 | Frame type stacking device for concrete prefabricated part mould |
| CN114309292A (en) * | 2022-01-15 | 2022-04-12 | 大捷智能科技(广东)有限公司 | Three-dimensional storage bin for heavy die |
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