CN107150875A - The circular warehouse of solid and access method of a kind of polar coordinates layout - Google Patents
The circular warehouse of solid and access method of a kind of polar coordinates layout Download PDFInfo
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- CN107150875A CN107150875A CN201710428137.0A CN201710428137A CN107150875A CN 107150875 A CN107150875 A CN 107150875A CN 201710428137 A CN201710428137 A CN 201710428137A CN 107150875 A CN107150875 A CN 107150875A
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- gin pole
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- storage
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000003860 storage Methods 0.000 claims abstract description 148
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- 230000008676 import Effects 0.000 claims description 13
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- 238000000429 assembly Methods 0.000 claims description 11
- 238000005096 rolling process Methods 0.000 claims description 4
- 238000013519 translation Methods 0.000 claims description 3
- 230000014616 translation Effects 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 description 18
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- 238000010276 construction Methods 0.000 description 2
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- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
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- 238000004458 analytical method Methods 0.000 description 1
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/045—Storage devices mechanical in a circular arrangement, e.g. towers
-
- 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
- B65G1/026—Racks equipped with a displaceable load carrying surface to facilitate loading or unloading
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The circular warehouse of solid and access method of a kind of polar coordinates layout.In existing tiered warehouse facility, wrapped the warehouse stacked naturally with general shelf, this warehouse needs to reserve the passage of equivalent area, so as to haulage vehicle, carrying machines and tool and staff by and operation, general storing stacks limited height, storing access is inconvenient, so the utilization rate in space is relatively low.Warehousing management level is difficult to improve, pure people's manual task, error rate is high, labor intensity is big, also can not thoroughly take on a new look even if common handling machinery instrument is increased, high the invention reside in a kind of space availability ratio is provided, and the fully automatic stereo warehouse with higher operational efficiency, including storing bin, the storing bin side is connected with least one access device, and the storing bin includes circle bin bracket, storage rotating disk, storage drawer and floppy drive；The access device includes lifting framework, push-pull device at fixed, grabbing device and pairing guide rail.
Description
Technical field
The present invention relates to storage and parking equipment technical field, the circular warehouse of solid of more particularly to a kind of polar coordinates layout
And access method
Background technology
In existing tiered warehouse facility, the warehouse stacked naturally with general shelf was wrapped, this warehouse needs to reserve quite
The passage of area, so as to haulage vehicle, carrying machines and tool and staff by and operation, general storing stacks limited height,
Storing access is inconvenient, so the utilization rate in space is relatively low.Warehousing management level is difficult to improve, pure people's manual task, mistake
Rate is high, and labor intensity is big, also can not thoroughly take on a new look even if common handling machinery instrument is increased.
For it is such the problem of, some existing settling modes are, such as stack type stereo warehouse, and this is automated three-dimensional storehouse
The basic model in storehouse, function is addressed with automation, can set up tall and big tiered warehouse facility, and piler replaces the carrying labor of manpower
It is dynamic, it is a much progress of storage technique.It is empty but it is shelf that piler, which needs to reserve the tunnel of operation, i.e. both sides, and centre is tunnel
Between utilization rate it is still less high.Other piler takes into account the motion of three-dimensional operation simultaneously, there is the possibility being too busy to do it, if increase
The quantity of piler, one carrys out cost of equipment costliness, and two, which come same tunnel, will cause the congestion of piler, it is impossible to realize mutual
The operation for avoiding and passing through.
Such as shuttle type layer stereo warehouse, this is a kind of intensive Multi-layer matrix tiered warehouse facility, the profit of pure shelf portion
It is 100% with rate.But the region that must enter shipment in one or two reserves the ground of equivalent area for high-rise fork truck operation,
Comprehensive space availability ratio is nor too high.Per a line, (all storage spaces are also that storing operation is logical to each layer of matrix shelf
Road) there is 1 automation lifting handling device, reserve fixed passage per the bottom of crudely-made articles frame arbitrarily transports by lifting carrier
OK, lifting device is automation equipment.After its lifting storing, storing can automatically be moved into and taken out of, problem is that direction of advance can not
Storing " first-in last-out " or the order of " first in first out " week must be used by having other storings to block, therefore limiting the tiered warehouse facility
Rotary-die type, being deposited in the storing in the middle of passage can not arbitrarily be recalled, and logistic storage in general sense and week can not be adapted to completely
Turn.
Such as unmanned carrier (AGV), this is a kind of advanced automated handling system, but is failed directly and effectively
Solve storing and stack height, high-altitude access storing and shared by operation passage itself the problem of space.
Such as verticallifting stereo garage (tower), this is one of advanced garage mode of domestic contrast, takes up an area three parking stalls,
Centre is the passage of vertical lift, and price is higher, and popularity rate is subject to certain restrictions.
Such as the multi-storied garage that multilayer planar is moved, this is the mode derived from the structure of stack type, operational efficiency
Higher than stack type.Piler is replaced by the automatic transportation equipment of each layer garage, can multiple computer desk operation, the automatic transporting of each layer simultaneously
Equipment is each independent, do not interfere with each other, and operating efficiency is greatly improved, and this mode must coordinate automobile lifting equipment just can be normal
Work.This garage still needs the tunnel of equipment operation, and space availability ratio is not high.
The content of the invention
The invention reside in providing, a kind of space availability ratio is high, and the fully automatic stereo warehouse with higher operational efficiency；
On the outside of a kind of circular warehouse of solid of polar coordinates layout described in technical scheme 1, including storing bin, the storing bin
It is connected with least one access device, it is characterised in that：The storing bin include circle bin bracket, storage rotating disk, storage drawer and
Floppy drive；
The round bin bracket includes gin pole, all edge columns, circuit orbit and lifting column, and the gin pole is located at
The center of the storing bin, it is vertical that multiple all edge columns are located at center centered on the axis of gin pole, radially equidistantly
Around post, multiple all edge columns connect the circuit orbit, multiple circles simultaneously close to the side of gin pole
Track is vertically set on multiple all edge columns, and all edge columns close to access device side are stood to away from center
The side of post connects up lifting column；
Gap between two all edge columns of access device side forms storing bin and imported and exported；
Be arranged with the gin pole with circuit orbit quantity identical store in a warehouse rotating disk, it is multiple it is described storage rotating disks in
Vertically set on the column of centre, the storage rotating disk is rotated with gin pole to be connected, and the storage rotating disk is vertical away from center
The edge of post is rolled with circuit orbit and is connected, and multiple storage drawers are arranged adjacent on storage rotating disk；
The storing bin drives between importing and exporting at least two weeks edge columns beyond all edge columns of both sides provided with rotating disk
Device, the floppy drive driving storage rotating disk is rotated around gin pole.
It is preferred that, the storage rotating disk includes flange assembly, radial guidance and supporting wheeling assembly, and the flange assembly is arranged
On gin pole, and the edge away from gin pole connects multiple radial guidances, and the radial guidance is away from gin pole
One end be provided with outer side pole, the upper surface of the outer side pole is provided with supporting wheeling assembly, institute provided with positioning taper hole, the outer side pole
Supporting wheeling assembly is stated to be connected with circuit orbit rolling；
It is preferred that, one end lower surface of the storage drawer away from gin pole is provided with the locating cone coordinated with positioning taper hole
Pin, one end end face of the storage drawer away from gin pole is shaken hands provided with outer end, and the bottom of the storage drawer is vertical close to center
Hold wheel provided with wheel, the inner guide pulley and Inner is held at least one inner guide pulley and at least one pair of and rolled with radial guidance in the direction of post
Connection；
The storage drawer is radially provided with multiple storing freight spaces along storage rotating disk.
It is preferred that, floppy drive includes cabinet, A chain wheel sets, B chain wheel sets, C chain wheel sets, long pin shaft chain and ball wheel group
Part, the A chain wheel sets, B chain wheel sets and C chain wheel sets are triangularly arranged in cabinet inside, and the long pin shaft chain for passing through closure
Bar is connected；
Multiple ball wheel assemblies are connected on the long pin shaft chain at regular intervals, multiple ball wheel assemblies are in long pin shaft
A chain wheel sets are surrounded under the drive of chain, B chain wheel sets and C chain wheel sets are rotated, movement locus and the bogie wheel group of the ball wheel assembly
Movement locus of the part on circuit orbit it is tangent intersecting or it is slight from, make ball wheel assembly promote supporting wheeling assembly around center
Column rotates.
It is preferred that, the access device includes lifting framework, push-pull device at fixed, grabbing device and pairing guide rail；
The lifting column is provided with vertically moving lifting framework, and the lifting framework is provided with along level side
To the push-pull device at fixed of motion, the lifting framework connects grabbing device close to the side of storing bin, and the grabbing device is in lifting
Vertically moving on framework, the lifting framework below the grabbing device is provided with pairing guide rail, the pairing guide rail
Provided with translating rails, the translating rails are moved in the horizontal direction on lifting framework, the grabbing device, push-pull device at fixed and right
Guide rail is closed to rise or fall with the vertical motion of lifting framework.
It is preferred that, it is described lifting framework include lifting idler pulley frame, horizontal guide rail and horizontal rack, the lifting idler pulley frame with
The lifting column rolls or is slidably connected, and vertically moving on lifting column, is set on the lifting idler pulley frame
There are horizontal guide rail and horizontal rack.
It is preferred that, the push-pull device at fixed includes pushing-pulling-rack, fixed claw and movable claw, and the pushing-pulling-rack is rolled with horizontal guide rail
Or be slidably connected, and moved in the horizontal direction on horizontal guide rail, the pushing-pulling-rack is set close to the side that storing bin is imported and exported
There is the pushing-pulling-rack below fixed claw, the fixed claw to be provided with movable claw, the movable claw is rotated with the pushing-pulling-rack and is connected.
It is preferred that, the grabbing device includes guide-rail plate and takes thing pawl, and the guide-rail plate close to storing bin with importing and exporting one
The lifting idler pulley frame of side is slidably connected, and is vertically slided on lifting idler pulley frame, and the guide-rail plate lower end is provided with and taken
Thing pawl, it is described to take thing pawl to be connected with guide-rail plate slip or rotation.
It is preferred that, the pairing guide rail includes two translating rails, and two translating rails are located at close to storing bin one
On the horizontal guide rail of side, two translating rails are moved in the horizontal direction on horizontal guide rail, and two translations are led
When rail is to close to the movement of the direction of storing bin, two translating rails are moved in parallel to direction adjacent to each other simultaneously, to away from storage
When thing storehouse direction is moved, two translating rails are moved in parallel to direction away from each other simultaneously.
A kind of circular warehouse access storing of solid of polar coordinates layout as described in technical scheme 1 described in technical scheme 2
Method, it is characterised in that：
(1) what storing was stored in concretely comprises the following steps：
Translating rails are moved on lifting framework to the direction imported and exported away from storing bin, and lifting is framed on lifting column
Vertically rise to enough height；
The storing is when lifting frame underneath, and lifting framework vertically drops to the position that can be captured, and captures
Device is vertically dropped to above storing on lifting framework, and storing is captured, and grabbing device rises after crawl storing
To peak, then lift framework and rise or fall to the height and position where the storage rotating disk of storing needs placement；
The storing needs the storage rotating disk placed, under the driving of floppy drive, rotated around gin pole, until
Storing stops when needing the target storage drawer placed just to be imported and exported to storing bin；
Translating rails are moved on horizontal guide rail to the direction imported and exported close to storing bin, and are docked with radial guidance；
Push-pull device at fixed is moved to the direction close to gin pole, is engaged with storage drawer and is lifted, now, push-and-pull dress
Put to the direction away from gin pole and move, drive storage drawer to be moved to the direction away from gin pole, storage drawer is pushed away
Drawing device is driven to outside storing bin, is stopped when the storing freight space on storage drawer is reached below storing；
Grabbing device declines, and storing is placed wherein, and grabbing device rises to peak afterwards, and push-pull device at fixed will be placed
The storage drawer of storing is promoted to the direction close to gin pole, when storage drawer enters the extreme position on radial guidance
Stop；
Push-pull device at fixed puts down storage drawer, and is moved to storing bin periphery along the direction away from gin pole；
(2) what storing took out concretely comprises the following steps：
The rotating disk driving of storage rotating disk where lifting framework rises or falls to where storing the height of storage rotating disk, storing
Device driving storage rotating disk rotates around gin pole, stops when the storage drawer where storing is just imported and exported to storing bin；
Translating rails are moved to the direction close to gin pole, and are docked with radial guidance, and grabbing device rises to highest
Point, push-pull device at fixed is moved to the direction close to gin pole, is engaged with storage drawer and is lifted, and push-pull device at fixed is to remote afterwards
Direction from gin pole is moved, and storage drawer is driven to outside storing bin, is stopped when storing is reached below grabbing device；
Grabbing device is dropped to above storing, and storing is captured, and grabbing device rises to peak afterwards, and push-pull device at fixed will
Storage drawer is promoted to the direction close to gin pole, is stopped when storage drawer enters the extreme position on radial guidance,
Push-pull device at fixed puts down storage drawer, and is moved to storing bin periphery along the direction away from gin pole；
Now, translating rails are moved to the direction away from gin pole, and lifting framework rises or falls to storing and can put
The position put, grabbing device vertically declines on lifting framework, and grabbing device rises to peak after storing is discharged.
Beneficial effect
The space availability ratio of above-mentioned tiered warehouse facility storage storing is very high, and store interior need not specially leave storing and fortune
The passage of load instrument turnover or the tunnel of special equipment operation, need not also reserve the space that storing or storage utensil are transferred to other use.
Above-mentioned tiered warehouse facility has certain number of plies, and one can improve the space availability ratio in warehouse or garage, and two can share
The expense of basic facilities and control system, the final equipment cost for reducing unit storage storing or parking cars.
Simultaneously from radius, angle of revolution and the floor height of storage rotating disk, three dimensions can realize very big space availability ratio.
And with higher automatization level, higher operational efficiency on the one hand can be realized, two aspects can be realized
Accurately position is accessed, while employing rational work pattern, is improved operation and is smoothly spent, reduce fault rate, improve
Operating efficiency.
It is unattended inside storage area, it is to avoid personnel's walking about in warehouse or garage, realize the safety fortune of equipment
OK.The manufacturing cost of equipment is also reduced, the power and set-up of control system of above-mentioned tiered warehouse facility are in the periphery of storing bin, storing
Storehouse inside is no or has seldom power source, detection component, pipeline and actuating mechanism etc., facilitates the maintenance and maintenance of equipment.
Brief description of the drawings
Fig. 1 is the profile for the circular warehouse front view of solid for representing embodiment
Fig. 2 is the profile for the circular warehouse top view of solid for representing embodiment
Fig. 3 is the profile for the circle bin bracket front view for representing embodiment
Fig. 4 is the top view for the circle bin bracket for representing embodiment
Fig. 5 is the profile for the radial guidance front view for representing embodiment
Fig. 6 is the profile in the B-B directions for representing embodiment
Fig. 7 is the enlarged drawing for the I for representing embodiment
Fig. 8 is the enlarged drawing for the II for representing embodiment
Fig. 9 is the enlarged drawing for the III for representing embodiment
Figure 10 is the front view for the radial guidance for representing embodiment
Figure 11 is the top view for the radial guidance for representing embodiment
Figure 12 is the front view for the storage drawer for representing embodiment
Figure 13 is the top view for the storage drawer for representing embodiment
Figure 14 is the C-C directional profile figures for representing embodiment
Figure 15 is the D-D directional profile figures for representing embodiment
Figure 16 is the profile for representing the front view that the storage drawer of embodiment is placed on radial guidance
Figure 17 is the profile for the floppy drive top view for representing embodiment
Figure 18 is the profile of the expanded view in the E-E directions for representing embodiment
Figure 19 is the front view for the lifting framework for representing embodiment
Figure 20 is the top view for the lifting framework for representing embodiment
Figure 21 is the profile for the push-pull device at fixed front view for representing embodiment
Figure 22 is the top view for the push-pull device at fixed for representing embodiment
Figure 23 is the step profile figure in the F-F directions for representing embodiment
Figure 24 is the profile for the grabbing device front view for representing embodiment
Figure 25 is the left view for the grabbing device for representing embodiment
Figure 26 is the right view for the grabbing device for representing embodiment
Figure 27 is to represent the top view that the pairing guide rail of embodiment is moved to close gin pole direction
Figure 28 is to represent the top view that the pairing guide rail of embodiment is moved to remote gin pole direction
Figure 29 is to represent the profile that the H-H directions of embodiment are rotated by 90 °
Figure 30 is the front view for the ball wheel assembly for representing embodiment
Figure 31 is the profile in the G-G directions for representing embodiment
Figure 32 is the left view for the storing carrier for representing embodiment
Description of reference numerals
1 circle bin bracket
2 storage rotating disks
3 storage drawers
4 floppy drives
5 lifting frameworks
6 push-pull device at fixed
7 grabbing devices
8 pairing guide rails
9 storing carriers
11 gin poles
12 weeks edge columns
13 circuit orbits
14 radial direction pull bars
15 circle storehouse coaming plates
16 lifting columns
17 column connecting rods
21 flange assemblies
22 radial guidances
23 connection rings
24 storing bins are imported and exported
25 supporting wheeling assemblies
26 pull bars
31 storing freight spaces
Shake hands 32 outer ends
33 Inner hold wheel
34 inner guide pulleys
35 locating taper pins
41 cabinets
42 first electric reducers
43 shaft couplings
44 A chain wheel sets
45 B chain wheel sets
46 C chain wheel sets
47 long pin shaft chains
48 ball wheel assemblies
51 lifting idler pulley framves
52 horizontal guide rails
53 horizontal racks
54 rod assemblies
55 second electric reducers
56 lifter wheels
61 pushing-pulling-racks
62 the 3rd electric reducers
63 horizontal gears
64 fixed claws
65 movable claws
66 push-and-pull cylinders
67 push-and-pull guide wheels
71 guide-rail plates
72 lifting sliders
73 lift cylinders
74 folding guide rails
75 crawl cylinders
76 take thing pawl
77 guide-rail plates erect rail
81 translating rails
82 swing arms
83 swing arms seat
84 pairing cylinders
85 pairing cylinder blocks
91 horizontal rails
92 lifting platforms
93 carriers
111 grooves
161 vertical tooth racks
211 overcoat flanges
211a lower flanges
211b upper flanges
212 radial bearings
213 thrust bearings
214 divided rings
215 ring sets
221 guide rail poles
222 guide rail interior bars
223 rod end inclined-planes
224 outer side poles
225 connecting plates
226 positioning taper holes
251 gyroscope wheels
252 revolution wheel shafts
253 side connecting plates
441 A wheel shafts
A sprocket wheels on 442
443 times A sprocket wheels
451 B wheel shafts
B sprocket wheels on 452
453 times B sprocket wheels
461 C wheel shafts
C wheel shafts on 462
463 times C wheel shafts
Long pin shaft chain on 471
472 times long pin shaft chains
Long pin shaft chain link on 473
474 times long pin shaft chain links
481 ball wheel carriers
The upper pin-and-holes of 481a
Pin-and-hole under 481b
482 ball wheels
483 ball wheel shafts
484 bearings
511 side arms
512 after-frames
515 side arm lifting idler pulleys
516 after-frame lifting idler pulleys
Stator ring on 517
518 times stator rings
541 drag links
542 longitudinal ties
543 braces
611 push-and-pull guide wheels
641 fixing grooves
651 fixing axles
652 loose slots
811 plurality of ramps
812 spaces
Embodiment
The embodiment to the present invention is described further below in conjunction with the accompanying drawings：
In the present embodiment, horizontal direction is direction parallel to the ground, and vertical direction is perpendicular to the direction on ground；
Top, upper top or upper surface are the direction away from ground, and lower section, lower end or bottom or lower surface are close
The direction on ground.
Storing is storage or the object or utensil that take out, such as goods, vehicle in the present embodiment.
The quantity for being described as at least more than one of " multiple " in the present embodiment, and such description has no effect on implementation
The implementation of example technical scheme.
A kind of circular warehouse of solid of polar coordinates layout shown in Fig. 1 to 2, including storing bin, the storing bin side connects
An access device is connected to, the storing bin includes circle bin bracket 1, storage rotating disk 2, storage drawer 3 and floppy drive 4；Institute
Stating access device includes lifting framework 5, push-pull device at fixed 6, grabbing device 7 and pairing guide rail 8；
As shown in Figs. 3-4, circle bin bracket 1 includes gin pole 11, all edge columns 12, circuit orbit 13 and lifting column
16, the gin pole 11 is located at the center of the storing bin, multiple all edge columns 12 using the axis of gin pole 11 as
Center, is located at around gin pole 11 radially equidistantly, and multiple all edge columns 12 are same close to the side of gin pole 11
When connect the circuit orbit 13, multiple circuit orbits 13 are vertically distributed on multiple all edge columns 12；
The gin pole 11 is the vertical distance phase between cylinder perpendicular to the ground, multiple circuit orbits 13
Deng；
Two are connected respectively on the direction away from gin pole 11 close to two of access device side all edge columns 12
Lifting column 16；
Gap between two all edge columns 12 of access device side forms storing bin and imports and exports 24；
Two lifting columns 16 are erected on the ground for importing and exporting 24 sides close to storing bin, and two liftings are vertical
The phase dorsal part of post 16 is provided with column connecting rod 17, and the one end of the column connecting rod 17 away from lifting column 16 imports and exports 24 with storing bin
All edge columns 12 of both sides are connected；
It is such to connect the stability for effectively improving lifting column 16.
All edge columns 12 of the top of circuit orbit 13 are provided with radial direction pull bar 14, and the radial direction pull bar 14 is away from periphery
The other end connection gin pole 11 of column 12, the quantity of the radial direction pull bar 14 is identical with all edge columns 12；
Gin pole 11 is connected by radial direction pull bar 14 with all edge columns 12, further forms more stable and globality stronger
Mechanics construction, i.e. storing bin based on columnar structure, establish with bottom surface, top surface or intermediate surface composition it is complete
Mechanical structure, such mechanical structure is all excellent to engineering practice of construction in Strength Calculation, structural stability check
Good form.
It is arranged with and turns with the quantity identical of circuit orbit 13 storage rotating disk 2, multiple storages on the gin pole 11
Disk 2 is vertically set on gin pole 11, and the storage rotating disk 2 is rotated with gin pole 11 to be connected, and the storage turns
Outer rim of the disk 2 away from gin pole 11 is rolled with circuit orbit 13 and is connected, and multiple storage drawers 3 are arranged adjacent in storage and turned
On disk 2；
Rotating disk 2, storage drawer 3 store in a warehouse with certain weight, makes gin pole 11 as the accurate revolution of storage rotating disk 2
Axle, therefore circuit orbit 13 only needs to weight of the carrying from the storage vertical direction of rotating disk 2, it is not necessary to the work(of revolution centering is provided
Can, greatly reduce the accuracy of manufacture requirement to circuit orbit 13.
The storing bin is provided with floppy drive 4 between importing and exporting two all edge columns 12 beyond 24, and the rotating disk drives
The dynamic driving of device 4 storage rotating disk 2 is rotated around gin pole 11；
The quantity of the floppy drive 4 with storage rotating disk 2 it is identical, and with each layer of height and position pair of storage rotating disk 2
Answer, and each layer of storage rotating disk 2 can be rotated individually；
The lifting column 16 is provided with vertically moving lifting framework 5, and the lifting framework 5 is provided with along water
Square to motion push-pull device at fixed 6, it is described lifting framework 5 close to storing bin side connect grabbing device 7, the grabbing device
7 is vertically moving on lifting framework 5, and the lifting framework 5 of the lower section of grabbing device 7 is provided with pairing guide rail 8, described
Pairing guide rail 8 is provided with translating rails 81, and the translating rails 81 are moved in the horizontal direction on lifting framework 5, the push-and-pull
Device 6, grabbing device 7 and pairing guide rail 8 rise or fall with the vertical motion of lifting framework 5；
The side of all edge columns 12 away from gin pole 11 is provided with circle storehouse coaming plate 15, and the round storehouse coaming plate 15 will be except
All edge columns 12 that the storing bin imports and exports beyond 24 and floppy drive 4 are enclosed.
All edge columns 12 coordinate the structure of circuit orbit 13, and the structure of framework anyhow is formed in storing bin periphery, while and
Circle storehouse coaming plate 15 is combined, and produces more perfect cylindrical shape mechanical structure.
As shown in FIG. 5 and 6, storage rotating disk 2 includes flange assembly 21, radial guidance 22 and supporting wheeling assembly 25, the method
Blue component 21 is set on gin pole 11, and the outer rim away from gin pole 11 connects multiple radial guidances 22, the footpath
The one end of direction guiding rail 22 away from gin pole 11 is provided with outer side pole 224, and the upper surface of the outer side pole 224 is provided with positioning taper hole
226, the outer side pole 224 is provided with supporting wheeling assembly 15, and the supporting wheeling assembly 15 is rolled with the circuit orbit 13 to be connected
Connect；
As shown in fig. 7, flange assembly 21 includes overcoat flange 211, lower flange 211a and upper flange 211b, the overcoat method
Blue 211 lower ends connect up thrust bearing provided with lower flange 211a, the lower flange 211a to the side close to gin pole 11
213, the gin pole 11 of the lower section of thrust bearing 213 is provided with divided ring 214, and the divided ring 214 is away from gin pole
11 outer rim is arranged with ring set 215；
The upper end of overcoat flange 211 is provided with upper flange 211b, the upper flange 211b to the side close to gin pole 11
Connect up radial bearing 212, the flange assembly 21 by connecting the thrust bearing 213 and radial bearing 212 so that with
Gin pole 11 rotates connection；
Divided ring 214 is made up of two semicircular rings, is respectively put into the radial groove corresponding with divided ring of gin pole 11
In 111, complete circle is formed, is arranged on divided ring 214 and the stable knot that can bear vertical downward load is constituted after ring set 215
Structure, such structure can allow the body outer diameter of gin pole 11 consistent, form the load-carrying members of multilayer in vertical direction, simultaneously
The component parts of flange assembly 21 on each layer can all realize standardization.
As shown in Figure 10 to 11, radial guidance 22 includes two guide rail poles 221 parallel to each other, two guide rail poles
221 connect guide rail interior bar 222 close to one end of gin pole 11, and one end away from gin pole 11 is provided with rod end inclined-plane 223,
Two guide rail poles 221 connect outer side pole 224 close to the side on rod end inclined-plane 223, and the guide rail interior bar 222 is vertical close to center
One end of post 11 is connected with lower flange 211a；
The radial guidance 22 also includes connecting plate 225, and the connecting plate 225 connects two guide rail poles 221 simultaneously,
Connecting plate 225 on multiple radial guidances 22 is connected with connection ring 23 simultaneously；
The arranged adjacent of radial guidance 22 forms discoid storage rotating disk 2, and the outer rim close to storage rotating disk 2 can be produced
Larger space, in order to improve the space availability ratio in warehouse, is arranged with the radial guidance of different length in these larger spaces
22, the one end of radial guidance 22 connection supporting wheeling assembly 25 of these different lengths, the other end is connected with connection ring 23, and by drawing
Bar 26 connects upper flange 211b, and these pull bars 26 constitute the closure force structure of umbrella, saves substantial amounts of on storage rotating disk 2
Structural material and storage space；
As shown in Figure 8-9, supporting wheeling assembly 25 includes the side connecting plate 253 for connecting the outer side pole 224, and the side connects
Fishplate bar 253 is provided with revolution wheel shaft 252, one end connection gyroscope wheel 251 of the revolution wheel shaft 252 away from gin pole 11, institute
State gyroscope wheel 251 and rolled with circuit orbit 13 and coordinated；
The movement locus of the central point of gyroscope wheel 251 is fixed circular arc between every two all edge columns 12, and is phase
To the circular arc of smaller curvature.
Supporting wheeling assembly 25 is consistent with the quantity of radial guidance 22, i.e., provided with a bogie wheel between two radial guidances 22
Weight on component 25, storage rotating disk 2 is delivered on each all edge column 12 by supporting wheeling assembly 25, is effectively carried out
Weight is shared.
Multiple radial guidances 22 form discoid storage and turned under the connection of connection ring 23 and side connecting plate 253
Disk 2.
As shown in Figure 12 to 16, one end lower surface of the storage drawer 3 away from gin pole 11 is provided with and positioning taper hole
226 locating taper pins 35 coordinated, one end end face of the storage drawer 3 away from gin pole 11 is provided with outer end handle 32, the storage
The bottom of thing drawer 3 is provided with least one inner guide pulley 33 close to the direction of gin pole 11 and holds wheel 34, institute at least one pair of
State inner guide pulley 33 and Inner holds wheel 34 and is connected with the rolling of radial guidance 22；
The locating taper pin 35 is corresponding with the positioning taper hole 226, prevents storage rotating disk 2 from starting, turn round and braking
Cheng Zhong, causes the radial displacement of the circumferentially displaced or whole storage drawer 3 of storage drawer 3.
Inner described in a pair holds the both sides that wheel 34 is located at inner guide pulley 33, and the axis vertical of inner guide pulley 33 is set, and the Inner is held
Take turns the setting of 34 axis horizontals；
The inner guide pulley 33 and the surface scrolls of two opposite sides of guide rail pole 221 coordinate, and Inner described in a pair holds wheel 34
Roll and coordinate with two upper surfaces of guide rail pole 221；
Inner guide pulley 33 has position-limiting action simultaneously, makes circumferentially displaced also effectively being limited of the inner of storage drawer 3.Institute
So that during in normal storage state, each storage drawer 3 is effectively limited on defined position.
The storage drawer 3 also includes multiple storing freight spaces 31, side of the storing freight space 31 along remote gin pole 11
To being sequentially arranged on storage drawer 3.
The quantity of storage drawer 3 is identical with the quantity of radial guidance 22 on each layer of storage rotating disk 2, and is turned according to storage
The length of the geometrical feature of disk 2, radial guidance 22 and storage drawer 3 will have different degrees of change, be improved with maximum limit
Space availability ratio；
Storage drawer 3 can bear itself and carry the weight of storing, with certain structural strength and rigidity, storing
The top of drawer 3 is opened wide, and other directions are enclosed by structural slab, while being gone out the radial separations of storage drawer 3 with some dividing plates multiple
Storing freight space 31, the need for meeting storing access.According further to the geometric features of storage rotating disk 2, storage drawer 3 is leaned on
The narrower width of storing freight space 31 of nearly gin pole, the wider width of storing freight space 31 away from gin pole 11, to improve storage
The utilization rate and the larger-size storing needs of satisfaction storage in space.
As shown in Figure 17 to 18, floppy drive 4 include cabinet 41, A chain wheel sets 44, B chain wheel sets 45, C chain wheel sets 46,
Long pin shaft chain 47 and ball wheel assembly 48, the cabinet 41 are fixedly connected on all edge columns 12, the A chain wheel sets 44, B sprocket wheels
45 and C of group chain wheel sets 46 are triangularly arranged inside cabinet 41, and are connected by the long pin shaft chain 47 of closure；
The casing is provided with the first electric reducer 42 and shaft coupling 43, the output end of first electric reducer 42
Connect shaft coupling 43, one end driving link A chain wheel set 44 of the shaft coupling 43 away from the first electric reducer 42, A chain wheel sets
44 as power input shaft, and B chain wheel sets 45 are used as chain tension axle as function steering spindle, C chain wheel sets 46.
The A chain wheel sets 44 and B chain wheel sets 45 are located at close to the side of all edge columns 12, and the C chain wheel sets 46 are in A chains
Between wheel group 44 and B chain wheel sets 45, the side away from all edge columns 12 is located at；
Multiple ball wheel assemblies 48 are connected on the long pin shaft chain 47 at regular intervals, multiple ball wheel assemblies 48 exist
A chain wheel sets 44 are surrounded under the drive of long pin shaft chain 47, B chain wheel sets 45 and C chain wheel sets 46 are rotated, the ball wheel assembly 48
Movement locus of the movement locus with supporting wheeling assembly 25 on circuit orbit 13 is tangent or intersects or slight from making ball wheel assembly
48 promotion supporting wheeling assemblies 25 rotate around gin pole 11.
The A chain wheel sets 44 include A wheel shafts 441, and the upper A sprocket wheels 442 and lower A that the two ends of A wheel shafts 441 are connected
Sprocket wheel 443, the B chain wheel sets 45 include B wheel shafts 451, and the upper B sprocket wheels 452 and lower B chains that the two ends of B wheel shafts 451 are connected
Wheel 453, the C chain wheel sets 46 include C wheel shafts 461, and the upper C sprocket wheels 462 and lower C chains that the two ends of C wheel shafts 461 are connected
Wheel 463；
The long pin shaft chain 47 include upper long pin shaft chain 471 and lower long pin shaft chain 472, the upper A sprocket wheels 442,
Upper B sprocket wheels 452 and upper C sprocket wheels 462 are connected by upper long pin shaft chain 471, the lower A sprocket wheels 443, the lower He of B sprocket wheels 453
Lower C sprocket wheels 463 are connected by lower long pin shaft chain 472, at regular intervals provided with many on the upper long pin shaft chain 471
Individual upper long pin shaft chain link 473, the lower long pin shaft chain 472 is provided with lower long pin shaft chain corresponding with upper long pin shaft chain link 473
Section 474, remaining chain link is the driving-chain of common standard；
As shown in Figure 30 to 31, ball wheel assembly 48 includes ball wheel carrier 481, and the ball wheel carrier 481 is close to upper long pin shaft chain
471 one end is provided with upper pin-and-hole 481a corresponding with upper long pin shaft chain link 473, and the ball wheel carrier is close to lower long pin shaft chain 472
One end be provided with lower pin-and-hole 481b corresponding with lower long pin shaft chain link 474；
Ball wheel shaft 483 is provided with close to the side of the upper pin-and-hole 481a on the ball wheel carrier 481, the ball wheel shaft 483 is remote
One end from ball wheel carrier 481 passes through the rotation connected ball of bearing 484 wheel 482, movement locus and the gyroscope wheel 251 of the ball wheel 482
The circular movement trajectory tangential of central point it is intersecting or it is slight from；
It is to allow long pin shaft chain 471 and lower long pin shaft chain 472 at the two that A chain wheel sets 44 and B chain wheel sets 45, which are acted on,
Linear state is strained between chain wheel set and power is exported.A chain wheel sets 44 and the distance of B chain wheel sets 45 are sufficiently large, with
Ensure that long pin shaft chain 47 is tightened up the requirement that straight length reaches normal work.
The center of circle of ball wheel 482 must fall in the plane where upper pin-and-hole 481a and lower pin-and-hole 481b axis.Ball wheel 482 is held
The load stress received will be fully fallen on center line between upper long pin shaft chain 471 and lower long pin shaft chain 472, and structure is more
Rationally, the clearance between ball wheel 482 should be slightly bigger than the diameter of gyroscope wheel 251, make ball wheel 482 promote gyroscope wheel 251 to move
Continue and uninterrupted, ball wheel 482 switchs to pure rolling certainly in operation, reduces the friction with gyroscope wheel 251, makes promotion more suitable
Freely.
As shown in Figure 19 to 20, lifting framework 5 includes lifting idler pulley frame 51, horizontal guide rail 52 and horizontal rack 53, described
Lifting idler pulley frame 51 is rolled with the lifting column 16 and is connected, and vertically moving on lifting column 16, the liter
Drop wheel frame 51 and be provided with two horizontal guide rails 52 and horizontal rack 53；
The horizontal guide rail 52 is vertical with the lifting idler pulley frame 51 to be connected；
The lifting idler pulley frame 51 includes side arm 511 and after-frame 512, and the side arm 511 is with lifting column 16 close to storing
The side roll connection that storehouse is imported and exported, the after-frame 512 is connected with lifting column 16 away from the side roll that storing bin is imported and exported,
The side arm 511 is parallel with the after-frame 512；
The both sides of the side arm 511 are provided with side arm lifting idler pulley 515, and the both sides of the after-frame 512 are led provided with after-frame lifting
Wheel 516, is provided between the side arm lifting idler pulley 515 of the upper end of side arm 511 and the after-frame lifting idler pulley 516 of the upper end of after-frame 512
Upper stator ring 517, the side arm lifting idler pulley 515 of the lower end of side arm 511 and the after-frame lifting idler pulley 516 of the lower end of after-frame 512
Between be provided with lower stator ring 518；
The lifting column 16 is provided with vertical tooth rack 161, the side arm 511 close to the side that storing bin imports and exports 24 and set
There are connection lifter wheel 56, the lifter wheel 56 on the second electric reducer 55, the output shaft of the second electric reducer 55
Engaged with the vertical tooth rack 161；Under the driving of the second electric reducer 55, the edge on vertical tooth rack 161 of lifter wheel 56
Vertical direction is moved, so as to drive lifting idler pulley frame 51 to be moved along lifting column 16 as vertical direction；
On the side arm 511 and after-frame 512 vertically connection two horizontal guide rails 52, two horizontal guide rails 52 it is parallel and
Level.
The lifting framework 5 also includes rod assembly 54, and the rod assembly 54 connects horizontal guide rail 52 and lifting simultaneously
Wheel frame 51；
The rod assembly 54 includes drag link 541, longitudinal tie 542 and brace 543, and the longitudinal tie 542 vertically connects
Two horizontal guide rails 52 are connect, described one end of drag link 541 connects after-frame 512, and the other end vertically connects longitudinal tie 542, institute
State the one end of brace 543 to be connected with the upper end of after-frame 512, the other end is connected with longitudinal tie 542 close to the side of horizontal guide rail 52；Institute
State brace 543 positioned at two horizontal guide rails 52 to away from side；
Lifting idler pulley frame 51 and horizontal guide rail 52 Stability Analysis of Structures under the connection of rod assembly 54.
As shown in Figure 21 to 23, push-pull device at fixed 6 includes pushing-pulling-rack 61, fixed claw 64 and movable claw 65, the pushing-pulling-rack 61
Roll and be connected with horizontal guide rail 52, and moved in the horizontal direction on horizontal guide rail 52, the pushing-pulling-rack 61 is close to storing bin
The side for importing and exporting 24 is provided with fixed claw 64, and the pushing-pulling-rack 61 of the lower section of fixed claw 64 is provided with movable claw 65, the activity
Pawl 64 is rotated with the pushing-pulling-rack 61 and is connected.
The pushing-pulling-rack 61 close to the side of horizontal guide rail 52 provided with six push-and-pull guide wheels 611, the push-and-pull guide wheel 611 with
Horizontal guide rail 52, which is rolled, to be coordinated, and the 3rd electric reducer 62, institute are provided with close to the side of horizontal rack 53 on the pushing-pulling-rack 61
The output end for stating the 3rd electric reducer 62 is provided with horizontal gear 63, and the horizontal gear 63 engages with horizontal rack 53, the
Under the driving of three electric reducers 62, under the engagement with horizontal rack 53 of horizontal gear 63, pushing-pulling-rack 61 is driven in horizontal guide rail
Moved in the horizontal direction on 52；
The pushing-pulling-rack 61 is provided with 65 turns of fixing axle 651, the fixing axle 651 and movable claw close to the side of movable claw 65
Dynamic connection, the side of the pushing-pulling-rack 61 away from fixing axle 651 is provided with push-and-pull cylinder 66, the output end of push-and-pull cylinder 66 connection
Movable claw 65, the movable claw 65 is rotated in the presence of push-and-pull cylinder 66 around fixing axle 651；
The lower section of fixed claw 64 is provided with to be provided with outer end 32 corresponding fixing grooves 641 of handle, the top of movable claw 65
Loose slot 652 corresponding with fixing groove 641；
Fixed claw 64 plays a part of spacing and improves operational reliability, and movable claw 65 can make the upper bottom around fixing axle 651
It is dynamic, realize lifting and putting down to outer end handle 32.
As shown in Figure 24 to 26, the grabbing device 7 includes guide-rail plate 71, the guide-rail plate 71 with being passed in and out close to storing bin
The lifting idler pulley frame 51 of 24 sides of mouth is slidably connected, and is vertically moved on lifting idler pulley frame 51, the guide-rail plate
71 lower ends are described to take thing pawl 76 to be slidably connected with guide-rail plate 71 provided with thing pawl 76 is taken；
The guide-rail plate 71 vertically erects rail 77 away from the side that storing bin imports and exports 24 provided with guide-rail plate, described to lead
Rail plate erects rail 77 and is slidably connected lifting slider 72, and the lifting slider 72 erects the side of rail 77 away from guide-rail plate, and close to storing
The side arm 511 that 24 sides are imported and exported in storehouse is connected, and the side arm 511 for connecting the lifting slider 72 is provided with lift cylinder 73, described
The output end of lift cylinder 73 is connected with guide-rail plate 71, and guide-rail plate 71 is under the driving of the lift cylinder 73, with lifting slider
72 are slidably matched, and are vertically slided on the side arm 511 for importing and exporting 24 sides close to storing bin；
The guide-rail plate 71 is provided with the folding guide rail 74 of horizontal direction close to the lower section that storing bin imports and exports 24 sides, described
It is slidably connected on folding guide rail 74 two and takes thing pawl 76, it is described to take thing pawl 76 provided with crawl cylinder 75, thing pawl is taken described in two
76 under the driving of crawl cylinder 75, is slided on folding guide rail 74, realizes the state opened or closed up.
The effect of lift cylinder 73 is that driving guide-rail plate 71 is raised above making storage drawer 3 and push-pull device at fixed 6 from guide-rail plate
71 lower sections pass through, and the driving guide-rail plate 71 of lift cylinder 73 declines, and enables to take thing pawl 76 to capture or put down storing.
As shown in Figure 27 to 29, the pairing guide rail 8 includes two translating rails 81, and two translating rails 81 are distinguished
It is located on the horizontal guide rail 52 for importing and exporting 24 sides close to storing bin, two translating rails 81 are in the horizontal guide rail 52
On move in the horizontal direction, and two translating rails 81 to close to storing bin import and export 24 direction move when, two
Translating rails 81 are moved in parallel to direction adjacent to each other simultaneously, when 24 direction movement is imported and exported away from storing bin, and two are put down
Guide rail 81 is moved to move in parallel to direction away from each other simultaneously.
The phase dorsal part of two translating rails 81 rotates connection swing arm 82, the swing arm 82 away from translating rails 81 one
Side rotates connection swing arm seat 83, and the swing arm seat 83 is fixedly connected with horizontal guide rail 52, and two translating rails 81 are away from storage
One end that thing storehouse imports and exports 24 connects two pairing cylinders 84 respectively, and two pairing cylinders 84 are imported and exported away from storing bin
24 one end is fastened on the pairing cylinder block 85 on the drag link 541；
The translating rails 81 are moved in the horizontal direction under the driving of pairing cylinder 84 on horizontal guide rail 52, wherein, put down
Guide rail 81 is moved to realize under the traction of swing arm 82：During to close to the movement of storing bin direction, two translating rails 81 are to adjacent to each other
Direction move in parallel, to away from storing bin direction move when, two translating rails 81 are moved in parallel to direction away from each other；
Two translating rails 81 are provided with corresponding with the rod end inclined-plane 223 close to one end that storing bin imports and exports 24
Plurality of ramps 811, when two translating rails 81 import and export 24 by storing bin to be contacted with radial guidance 22, the plurality of ramps
811 contact and abut with rod end inclined-plane 223, are simultaneously effective docked and are positioned with radial guidance 22.
After two translating rails 81 are moved in parallel to direction away from each other, formd between translating rails certain
Space 812, allow storing from the space 812 to pass through, and be crawled device 7 to capture, translating rails 81 will not be hampered
Grabbing device 7 is hindered to decline crawl storing.
Also include control system in above-described embodiment, described control system respectively with the floppy drive 4, lifting structure
Frame 5, push-pull device at fixed 6, grabbing device 7 and pairing guide rail 8 are connected, and control floppy drive 4, lifting framework 5, push-pull device at fixed
6th, grabbing device 7 and pairing guide rail 8 work.
The control system can implement that the action to each cylinder or oil cylinder sends control instruction and motion state is entered automatically
Row detection；Rotation direction and rotational angle to every electric reducer are controlled and recorded；Control system can be implemented automatically
The state of storage storing is whether there is to the storing freight space 31 of each storage drawer 3 in whole storing bin and the coding of storing has been deposited
Recorded；Control system can be implemented to need the storing freight space 31 of each storage drawer 3 in whole storing bin access automatically
The state recording of selection, control and operation involved by storing；
Also include storing carrier 9, described storing carrier 9 in the present embodiment, the present embodiment to preferably explain
On the ground on the outside of all edge columns, storing can be carried and be conveyed in the job area of grabbing device 7, will can also be stored up
Thing is lifted in certain height.
As shown in figure 32, storing carrier 9 includes lifting platform 92, and the lifting platform 92 is provided with carrier 93, described to hold
Load plate 93 is vertically movable on lifting platform 92, and the lower end of lifting platform 92 is provided with horizontal rail 91, the lifting platform
92 are slidably matched with horizontal rail 91, and the horizontal rail 91 track pass through grabbing device 7 lower section.
It is preferred that, push-and-pull cylinder 66 can also be substituted as power source with oil cylinder or motor；
Lift cylinder 73 and crawl cylinder 75 can also be substituted as power source with oil cylinder or motor；
Pairing cylinder 84 can also be substituted as power source with oil cylinder or motor.
With reference to embodiment, storing access method is illustrated
(1) what storing was stored in concretely comprises the following steps：
Two translating rails 81 import and export 24 on horizontal guide rail 52 under the driving of pairing cylinder 84 to away from storing bin
Direction movement, lifting framework 5 under the driving of the second electric reducer 55, vertically risen on lifting column 16
Enough highly；
Storing is moved to below grabbing device 7 on storing carrier 9 by horizontal rail 91；Now two translating rails
81 are moved in parallel in the direction away from each other under the traction of swing arm 82, and certain space is formd between two translating rails
812, storing is risen by lifting platform 92 and by the space 812 between translating rails；
Framework 5 is lifted under the driving of the second electric reducer 55, is vertically dropped to above the storing, guide rail
Plate 71 is under the driving of lift cylinder 73, and 51 vertically drop to and can capture the position of storing on lifting idler pulley frame,
Under the driving of crawl cylinder 75, two take thing pawl 76 to close up to capture storing, and guide-rail plate 71 captures storing taking thing pawl 76
After rise to peak, then lifting platform 92 declines, and is moved to lifting framework 5 outside by horizontal rail 91, then lifts
Wheel frame 51 rises or falls the height and position where needing the storage rotating disk 2 of placement to storing；
The storing needs the floppy drive 4 for the storage rotating disk 2 placed under the driving of the first electric reducer 42, makes
A chain wheel sets 44 are rotated, and being driven with the long pin shaft chain 47 that A chain wheel sets 44 are connected makes ball wheel assembly 48 surround A chain wheel sets
44th, B chain wheel sets 45, C chain wheel sets 46 are moved, when ball wheel 482 passes through the curve movement of gyroscope wheel 251, promote gyroscope wheel 251,
Under the drive of gyroscope wheel 251, radial guidance 22 rotates around gin pole, until storing needs the target storage drawer 3 of placement
Stop when just importing and exporting 24 to storing bin；
Translating rails 81 are under the driving of pairing cylinder 84, to the side that 24 are imported and exported close to storing bin on horizontal guide rail 52
To movement, now two translating rails 81 are moved in parallel under the traction of swing arm 82 to direction close to each other, until translation is led
Plurality of ramps 811 on rail 81 is docked with the rod end inclined-plane 223 on radial guidance 22；
Pushing-pulling-rack 61 is under the driving of the 3rd electric reducer 62, to the side close to gin pole 11 on horizontal guide rail 52
To movement, after being contacted with storage drawer 3, movable claw 65 is rotated up under the driving of push-and-pull cylinder 66 around fixing axle 651,
Loose slot 652 and outer end handle 32 engages, and movable claw 65 continues up rotation, and storage drawer 3 is lifted, make locating taper pin 35 from
Position in taper hole 226 and depart from, until movable claw 65 is contacted with fixed claw 64, fixing groove 641 and loose slot 652 and outer end handle 32
It is connected together；
Now, pushing-pulling-rack 61 is moved under the driving of the 3rd electric reducer 62 to the direction away from gin pole 11, band
Dynamic storage drawer 3 is radially moved storage rotating disk 2 to the direction away from gin pole 11, is stored up until storing freight space 31 is reached
Pushing-pulling-rack 61 stops movement when below thing；
Guide-rail plate 71 declines, and two take thing pawl 76 to be opened under the driving of crawl cylinder 75, and storing is placed on into storing bin
In position 31, guide-rail plate 71 rises to peak afterwards；
Pushing-pulling-rack 61 is moved to the direction close to gin pole 11, until storage drawer 3 is moved on radial guidance 22
Stop during extreme position, movable claw 65 is rotated down, outer end handle 32 is put down, locating taper pin 35 falls into dowel hole 226
In, make the horizontal of storage drawer 3 and fixation；
Pushing-pulling-rack 61 is moved to storing bin periphery to the direction away from gin pole 11；
(2) what storing took out concretely comprises the following steps：
It is consistent in driving part and step one in this step, therefore repeat no more；
Storage rotating disk 2 turns where lifting idler pulley frame 51 rises or falls to where storing the height of storage rotating disk 2, storing
The driving A of disk drive 4 chain wheel sets 44 are rotated, and drive ball wheel assembly 48 to enclose with the long pin shaft chain 47 that A chain wheel sets 44 are connected
Moved around A chain wheel sets 44, B chain wheel sets 45, C chain wheel sets 46, ball wheel 482 promotes gyroscope wheel 251, gyroscope wheel 251 drives radial guiding
Rail 22 is rotated around gin pole, is stopped when the storage drawer 3 where storing just imports and exports 24 to storing bin；
Translating rails 81 are moved to the direction close to gin pole 11, and make 223 pairs of plurality of ramps 811 and rod end inclined-plane
Connect, guide-rail plate 71 rises to peak, pushing-pulling-rack 61 is moved to the direction close to gin pole 11, and movable claw 65 is rotated up making
Loose slot 652 engages with outer end handle 32, continues up rotation and lifts storage drawer 3, makes locating taper pin 35 from positioning taper hole
Depart from 226, until movable claw 65 is contacted with fixed claw 64, loose slot 652 and fixing groove 641 are with the card of outer end handle 32 and even
Connect；
Pushing-pulling-rack 61 is moved to the direction away from gin pole 11 afterwards, and storage drawer 3 is driven to outside storing bin, until
Storing freight space 31 where storing is reached to be stopped when taking thing 76 lower section of pawl；
Guide-rail plate 71 is dropped to above storing, and two take thing pawl 76 to close to capture storing, and guide-rail plate 71 rises to afterwards
Peak；
Pushing-pulling-rack 61 is moved to the direction close to gin pole 11, until storage drawer 3 is moved on radial guidance 22
Stop during extreme position, movable claw 65, which is rotated down, puts down outer end handle 32, locating taper pin 35 is fallen into positioning taper hole 226
In, make the horizontal of storage drawer 3 and fixation, pushing-pulling-rack 61 is moved to storing bin periphery to the direction away from gin pole 11；
Now, translating rails 81 are moved to the direction away from gin pole 11, and in pendulum between two translating rails 81
Moved in parallel in the direction away from each other under the traction of arm 82, space 812 is formed between two translating rails 81；
Now storing carrier 9 is moved to takes the lower section of thing pawl 76, and lifting idler pulley frame 51 is risen or fallen to properly capturing
Highly, lifting platform 92 rises and by the space 812 between two translating rails 81, the edge on lifting idler pulley frame 51 of guide-rail plate 71
Vertical direction drops to the position that storing can be placed, two take thing pawl 76 open storing is placed on carrier 93 after rising
To peak；
Lifting platform 92 declines, and storing is moved to the periphery of lifting framework 5 with storing carrier 9.
The announcement and teaching of book according to the above description, those skilled in the art in the invention can also be to above-mentioned embodiment party
Formula is changed and changed.Therefore, the invention is not limited in embodiment disclosed and described above, to the one of invention
A little modifications and changes should also be as falling into the scope of the claims of the present invention.Although in addition, being used in this specification
Some specific terms, but these terms are merely for convenience of description, do not constitute any limitation to the present invention.
Claims (10)
1. on the outside of a kind of circular warehouse of solid of polar coordinates layout, including storing bin, the storing bin at least one is connected with to deposit
Take device, it is characterised in that：The storing bin includes circle bin bracket, storage rotating disk, storage drawer and floppy drive；
The round bin bracket includes gin pole, all edge columns, circuit orbit and lifting column, and the gin pole is located at described
The center of storing bin, multiple all edge columns are located at gin pole radially equidistantly centered on the axis of gin pole
Around, multiple all edge columns connect the circuit orbit, multiple circuit orbits simultaneously close to the side of gin pole
Vertically set on multiple all edge columns, all edge columns close to access device side are to away from gin pole
Side connects up lifting column；
Gap between two all edge columns of access device side forms storing bin and imported and exported；
It is arranged with and is stood with circuit orbit quantity identical storage rotating disk, multiple storage rotating disks in center on the gin pole
Vertically set on post, the storage rotating disk is rotated with gin pole to be connected, the storage rotating disk is away from gin pole
Edge is rolled with circuit orbit and is connected, and multiple storage drawers are arranged adjacent on storage rotating disk；
The storing bin is provided with floppy drive, institute between importing and exporting at least two weeks edge columns beyond all edge columns of both sides
Floppy drive driving storage rotating disk is stated to rotate around gin pole.
2. a kind of circular warehouse of solid of polar coordinates layout according to claim 1, it is characterised in that：The storage rotating disk
Including flange assembly, radial guidance and supporting wheeling assembly, the flange assembly is set on gin pole, and vertical away from center
The edge of post connects multiple radial guidances, and the one end of the radial guidance away from gin pole is provided with outer side pole, the outer side pole
Upper surface provided with positioning taper hole, the outer side pole is provided with supporting wheeling assembly, the supporting wheeling assembly and the circuit orbit
Roll connection.
3. a kind of circular warehouse of solid of polar coordinates layout according to claim 2, it is characterised in that：The storage drawer
Away from gin pole one end lower surface be provided with positioning taper hole coordinate locating taper pin, storage drawer away from gin pole one
End face is held to be shaken hands provided with outer end, the bottom of the storage drawer is provided with least one inner guide pulley close to the direction of gin pole
With hold wheel at least one pair of, the inner guide pulley and Inner hold wheel and are connected with radial guidance rolling；
The storage drawer is radially provided with multiple storing freight spaces along storage rotating disk.
4. a kind of circular warehouse of solid of polar coordinates layout according to claim 2, it is characterised in that：Floppy drive bag
Include cabinet, A chain wheel sets, B chain wheel sets, C chain wheel sets, long pin shaft chain and ball wheel assembly, the A chain wheel sets, B chain wheel sets and C chains
Wheel group is triangularly arranged in cabinet inside, and is connected by the long pin shaft chain drive of closure；
Multiple ball wheel assemblies are connected on the long pin shaft chain at regular intervals, multiple ball wheel assemblies are in long pin shaft chain
Drive under surround A chain wheel sets, B chain wheel sets and C chain wheel sets are rotated, and movement locus and the supporting wheeling assembly of the ball wheel assembly exist
Movement locus on circuit orbit it is tangent intersecting or it is slight from, make ball wheel assembly promote supporting wheeling assembly surround gin pole
Rotation.
5. a kind of circular warehouse of solid of polar coordinates layout according to claim 1, it is characterised in that：The access device
Including lifting framework, push-pull device at fixed, grabbing device and pairing guide rail；
The lifting column is provided with vertically moving lifting framework, and the lifting framework is provided with and transported in the horizontal direction
Dynamic push-pull device at fixed, the lifting framework connects grabbing device close to the side of storing bin, and the grabbing device is in lifting framework
Upper vertically moving, the lifting framework below the grabbing device is provided with pairing guide rail, and the pairing guide rail is provided with
Translating rails, the translating rails are moved in the horizontal direction on lifting framework, and the grabbing device, push-pull device at fixed and pairing are led
Rail rises or falls with the vertical motion of lifting framework.
6. a kind of circular warehouse of solid of polar coordinates layout according to claim 5, it is characterised in that：The lifting framework
Including lifting idler pulley frame, horizontal guide rail and horizontal rack, the lifting idler pulley frame is rolled or is slidably connected with the lifting column,
And vertically moving on lifting column, the lifting idler pulley frame is provided with horizontal guide rail and horizontal rack.
7. a kind of circular warehouse of solid of polar coordinates layout according to claim 6, it is characterised in that：The push-pull device at fixed
Including pushing-pulling-rack, fixed claw and movable claw, the pushing-pulling-rack is rolled or is slidably connected with horizontal guide rail, and on horizontal guide rail
Move in the horizontal direction, the pushing-pulling-rack is provided with pushing away below fixed claw, the fixed claw close to the side that storing bin is imported and exported
Try to stop people from fighting each other provided with movable claw, the movable claw is rotated with the pushing-pulling-rack and is connected.
8. a kind of circular warehouse of solid of polar coordinates layout according to claim 6, it is characterised in that：The grabbing device
Including guide-rail plate and take thing pawl, the guide-rail plate is slidably connected with the lifting idler pulley frame close to storing bin import and export side, and
Vertically slided on lifting idler pulley frame, the guide-rail plate lower end is described to take thing pawl to be slided with guide-rail plate provided with thing pawl is taken
Or rotate connection.
9. a kind of circular warehouse of solid of polar coordinates layout according to claim 6, it is characterised in that：The pairing guide rail
Including two translating rails, two translating rails are located on the horizontal guide rail of storing bin side, two translations
Guide rail is moved in the horizontal direction on horizontal guide rail, and two translating rails to close to storing bin direction move when,
Two translating rails are moved in parallel to direction adjacent to each other simultaneously, during to away from the movement of storing bin direction, two translating rails
Moved in parallel simultaneously to direction away from each other.
10. the method that a kind of circular warehouse of solid of the polar coordinates layout described in application claim 1 accesses storing, its feature exists
In：
(1) what storing was stored in concretely comprises the following steps：
Translating rails are moved on lifting framework to the direction imported and exported away from storing bin, and lifting is framed on lifting column along perpendicular
The upward raised sufficiently high degree of Nogata；
The storing is when lifting frame underneath, and lifting framework vertically drops to the position that can be captured, grabbing device
Vertically dropped on lifting framework above storing, storing is captured, grabbing device rises to most after crawl storing
High point, then lifts framework and rises or falls to the height and position where the storage rotating disk of storing needs placement；
The storing needs the storage rotating disk placed, under the driving of floppy drive, around gin pole rotation, until storing
Stop when needing the target storage drawer placed just to be imported and exported to storing bin；
Translating rails are moved on horizontal guide rail to the direction imported and exported close to storing bin, and are docked with radial guidance；
Push-pull device at fixed to close to gin pole direction move, engage with storage drawer and lifted, now, push-pull device at fixed to
Direction away from gin pole is moved, and drives storage drawer to be moved to the direction away from gin pole, and storage drawer is filled by push-and-pull
Put outside drive to storing bin, stop when the target storing freight space on storage drawer is reached below storing；
Grabbing device declines, and storing is placed wherein, and grabbing device rises to peak afterwards, and push-pull device at fixed will place storing
Storage drawer to close to gin pole direction promote, until storage drawer enter radial guidance on extreme position when stop
Only；
Push-pull device at fixed puts down storage drawer, and is moved to storing bin periphery along the direction away from gin pole；
(2) what storing took out concretely comprises the following steps：
The floppy drive of storage rotating disk drives where lifting framework rises or falls to where storing the height of storage rotating disk, storing
Dynamic storage rotating disk rotates around gin pole, stops when the storage drawer where storing is just imported and exported to storing bin；
Translating rails are moved to the direction close to gin pole, and are docked with radial guidance, and grabbing device rises to peak, pushes away
Drawing device is moved to the direction close to gin pole, is engaged with storage drawer and is lifted, and push-pull device at fixed is to away from afterwards
The direction movement of column is entreated, storage drawer is driven to outside storing bin, stopped when storing is reached below grabbing device；
Grabbing device is dropped to above storing, and storing is captured, and grabbing device rises to peak afterwards, and push-pull device at fixed is by storing
Drawer is promoted to the direction close to gin pole, is stopped when storage drawer enters the extreme position on radial guidance, push-and-pull
Device puts down storage drawer, and is moved to storing bin periphery along the direction away from gin pole；
Now, translating rails are moved to the direction away from gin pole, and lifting framework rises or falls what can be placed to storing
Position, grabbing device vertically declines on lifting framework, and grabbing device rises to peak after storing is discharged.
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| CN201710428137.0A CN107150875B (en) | 2017-06-08 | 2017-06-08 | Three-dimensional circular warehouse with polar coordinate layout and storing and taking method |
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| CN201710428137.0A CN107150875B (en) | 2017-06-08 | 2017-06-08 | Three-dimensional circular warehouse with polar coordinate layout and storing and taking method |
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| Publication Number | Publication Date |
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| CN107150875A true CN107150875A (en) | 2017-09-12 |
| CN107150875B CN107150875B (en) | 2022-10-11 |
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| CN107763921A (en) * | 2017-10-13 | 2018-03-06 | 成都智宸科技有限公司 | A kind of medical refrigerator with intellectual access sample function |
| CN108045765A (en) * | 2017-12-19 | 2018-05-18 | 上海原能细胞生物低温设备有限公司 | A kind of rotating disc type low temperature accesses integrated device |
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