CN107826590A - One kind storage intelligent sorting system - Google Patents

One kind storage intelligent sorting system Download PDF

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Publication number
CN107826590A
CN107826590A CN201711263649.2A CN201711263649A CN107826590A CN 107826590 A CN107826590 A CN 107826590A CN 201711263649 A CN201711263649 A CN 201711263649A CN 107826590 A CN107826590 A CN 107826590A
Authority
CN
China
Prior art keywords
sheet material
conveying assembly
fork
plate
lifting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN201711263649.2A
Other languages
Chinese (zh)
Inventor
刘扬珍
杨厚德
聂鑫磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Friend Intelligent Technology Co Ltd
Original Assignee
Guangdong Friend Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangdong Friend Intelligent Technology Co Ltd filed Critical Guangdong Friend Intelligent Technology Co Ltd
Priority to CN201711263649.2A priority Critical patent/CN107826590A/en
Publication of CN107826590A publication Critical patent/CN107826590A/en
Withdrawn legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30Arranging and feeding articles in groups
    • B65B35/50Stacking one article, or group of articles, upon another before packaging
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00Automatic control, checking, warning, or safety devices
    • B65B57/10Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
    • B65B57/14Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/137Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02Control or detection
    • B65G2203/0208Control or detection relating to the transported articles
    • B65G2203/0216Codes or marks on the article
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04Detection means

Abstract

The invention discloses one kind storage intelligent sorting system, including being sequentially connected the sheet material pipeline formed by some sheet material track separation mechanisms, the sheet material being made up of the three-dimensional storage mechanism for sorting of some sheet materials located at each sheet material track separation mechanism both sides stores sorting line, sheet material stacking machine structure, the discharging mechanism circuit controller of sorting line end are stored located at sheet material pipeline and sheet material, and the three-dimensional storage mechanism for sorting of the sheet material track separation mechanism, sheet material, sheet material stacking machine structure, discharging mechanism electrically connect with circuit controller;Compared with prior art, the present invention is simple in construction, rationally distributed, realizes the full-automation of sheet material sorting, saves a large amount of human and material resources;Sheet material sorting amount is big, and system is repeatedly decoded, checked oneself, so as to prevent Shao Bao, wrong bag and bottom pour ladle situation substantially.

Description

One kind storage intelligent sorting system
Technical field
The present invention relates to storage intelligent sorting systems technology field, more particularly to a kind of storage intelligent sorting system.
Background technology
Assembled furniture is very common in life, and assembled furniture is usually that client is issued in a manner of furniture-plates, then client Voluntarily assembled;These are assembled into the sheet material of furniture because size is different, so needing to incite somebody to action according to sheet material size in packing process Its stacking is together and then entirety is packed;Sheet material feeding process is unordered, but if all sheet material heaps that will form furniture Put and pack, need to sort storage in sheet material course of conveying, be sequentially output according to stacking sequence, so just can guarantee that till soleplate Material by reasonable stacking and is packed according to the sheet material of composition furniture group.
The content of the invention
Based on technical problem existing for background technology, the present invention proposes a kind of storage intelligent sorting system, solves not Sorting storage can be carried out according to the course of conveying of sheet material, and can not be exported in sequence, waste of manpower and material resources are asked Topic.
The present invention provides following technical scheme:One kind storage intelligent sorting system, including by some sheet material track separation mechanisms according to It is secondary connection composition sheet material pipeline, located at each sheet material track separation mechanism both sides by the three-dimensional storage mechanism for sorting of some sheet materials Sheet material storage sorting line, sheet material stacking machine structure, the discharging machine located at sheet material pipeline and sheet material storage sorting line end of composition Structure and circuit controller, the three-dimensional storage mechanism for sorting of the sheet material track separation mechanism, sheet material, sheet material stacking machine structure, discharging mechanism Electrically connected with circuit controller;
The sheet material track separation mechanism include along sheet material conveying direction be sequentially connected the first straight rolling conveying assembly, first tiltedly roll it is defeated Sending component, in length and breadth conveying assembly, second directly roll conveying assembly, the sheet material located at the second straight rolling conveying assembly both sides keeps in stand, The first sheet material grabbing assembly above the second straight rolling conveying assembly;The discharge end of described first oblique rolling conveying assembly is provided with the One code reader, the roller lower section of the end of conveying assembly in length and breadth are provided with photoelectric sensor switch, the described second straight rolling conveying assembly Discharging port is provided with backgauge component, and the second straight rolling conveying assembly feed end both sides are provided with the second code reader, the conveying group in length and breadth Part forms by the 3rd straight rolling conveying assembly and located at the first lateral transfer component below;
The three-dimensional storage mechanism for sorting of the sheet material includes shelf, keeps in located at sheet material and is used between stand and shelf by plate The sheet material storage that material is kept on stand takes feeding material component to first on shelf, is used for located at shelf opposite side by sheet material from shelf It is upper take out and be transported to the second of stacking mechanism take feeding material component, take the sheet material of feeding material component side to translate conveying group located at second Part, the second lateral transfer component being connected with sheet material translation conveying assembly, the 4th straight rolling being connected with the second lateral transfer component Conveying assembly, the 5th straight rolling conveying assembly being connected with the 4th straight rolling conveying assembly;The three-dimensional storage sorter of each sheet material The straight rolling conveying assembly of the 5th of structure is sequentially connected;
The sheet material stacking machine structure includes directly rolling conveying assembly with the second of sheet material pipeline end and sheet material storage is sorted The the second oblique rolling conveying assembly that directly rolling conveying assembly connects of the five of line end, the second plate above the second oblique rolling conveying assembly Material grabbing assembly, the lifting assembly located at the second sheet material grabbing assembly both sides form;
The discharging mechanism includes directly rolling conveying assembly located at the 6th of lifting assembly rear;
Tiltedly rolling conveying assembly includes carriage, located at conveying for described first to the 6th straight rolling conveying assembly, first, second The roller seat of frame both sides, the roller being articulated on roller seat, the motor below carriage, below the carriage with Drum drive axle, the column that leans on by being set up in by column above roller of motor drive connection, the drum drive axle pass through Small flat belt is connected with drum drive, and the roller seat of the described first to the 6th straight rolling conveying assembly is symmetrically located at carriage two Side, the roller seat of described first, second oblique rolling conveying assembly are asymmetrical located at the both sides of carriage;
The first, second lateral transfer component is included located at the 3rd straight rolling conveying assembly and the 4th straight rolling conveying assembly Carriage below jacking chassis, slide on jacking chassis on lifting-up support, driving lifting-up support along jacking chassis slide Jacking cylinder, the jacking frame being connected with lifting-up support, the transverse onveyer group, each transverse direction of drive connection that are arranged on jacking frame The conveyer belt power transmission shaft of conveyer belt group, the lateral transfer motor being connected on jacking frame with conveyer belt transmission shaft driven;It is described Jacking chassis is provided with cylinder frame, and the lifting-up support is provided with cylinder bending plate, and jacking cylinder cylinder post is consolidated with cylinder bending plate Connect, jacking cylinder afterbody is rotatablely connected by cylinder pin and cylinder frame;The lifting-up support is provided with roller mount, the jacking Frame is provided with and rolled in the jacking roller in roller mount;The jacking chassis is provided with jacking chute, and lifting-up support bottom is provided with The jacking scooter slided in jacking chute;The jacking chassis is provided with guide plate, and jacking frame is provided with can be along guide plate The guide roller of lower slider;
The sheet material translation conveying assembly includes translation carriage, the translation conveyer belt group on translation carriage, passed That moves and connect the translation carry power transmission shaft of each translation conveyer belt group, is connected on translation carriage with translation carry transmission shaft driven puts down Move feeder motor;
Described first, second take feeding material component include take stock support, located at the goods shelf taken on stock support, be located at Retractable fork on goods shelf, it is described to take stock support to be provided with driving goods shelf along the lifting dress for taking stock support to move up and down Put, the goods shelf is provided with the translating device that driving retractable fork moves forward and backward along goods shelf, under the retractable fork includes The middle fork that pitch, slides on lower fork, slide on the upper fork on middle fork, the servomotor on lower fork, on lower fork with watching Take the first driving member of motor drive connection, the second driving member on middle fork with the drive connection of the first driving member, located at upper The 3rd driving member being connected on fork with the second driving member;
The lifting assembly includes lifting pedestal, lifting crotch, lifter plate, Belt Conveying component and hoist cylinder, described Lifting crotch one end is installed in the other end on lifting pedestal and slided on lifter plate, and the Belt Conveying component is located at lifter plate On, in the hoist cylinder driving lifting crotch slip and lifter plate, and drive lifter plate to rise or fall, lift and set on crotch There is scroll wheel, lifter plate is provided with roller backing plate.
First, which tiltedly rolls the front and rear of conveying assembly, is mounted on horizontal slide rail, and the top slide of the horizontal slide rail is connected with master Board, the top left and right sides of the main board are welded with longitudinal rail, stacking are installed between two longitudinal rails Robot.
The one side of two longitudinal rails away from each other, which slides up and down, is connected with engagement movable plate, the engagement movable plate Positioned at the top of main board, the engagement one side of the movable plate away from longitudinal rail is installed with longitudinal driving device, institute The clutch end for stating longitudinal driving device is hinged with rotatable driving runner, is provided with below the longitudinal driving device Tourelle, the tourelle are fixedly connected close to the one side of longitudinal driving device with main board, the tourelle Back side is installed with lateral driver device, and the clutch end of the lateral driver device is fixedly connected with shaft coupling, The one end of the shaft coupling away from lateral driver device is fixedly connected through tourelle and with the roller bearing on tourelle.
The bottom of tourelle is simultaneously provided through bolt positioned at the both sides of horizontal slide rail, and the bolt fills positioned at rolling One end rotation for putting lower section is socketed with roller, and the wheel face of the roller contacts with horizontal slide rail, and the bolt is located at tourelle The threaded one end of top is connected with nut.
The top of two longitudinal rails is fixedly connected by clamping bar, and the bottom of the clamping bar is simultaneously led positioned at two longitudinal directions The two sides of rail have been fixedly connected with clamping block, and the clamping block welds with longitudinal rail.
Lower section between two longitudinal rails is fixedly connected by stacking robot mounting bracket, stacking robot installation The top of frame is symmetrically fixedly connected with two balance bases.
Preferably, first driving member includes being connected with servo motor transmission on the lower fork power transmission shaft, located at biography Driving gear on moving axis, the first gear group on lower fork with driving gear drive connection, the first tooth on lower fork Bar;
Second driving member includes the second rack on middle fork, the second gear group on the second rack, institute State the second rack to be connected with first gear group, the second gear group is connected with the first rack-driving;
3rd driving member is the 3rd rack on upper fork, and the 3rd rack connects with the transmission of second gear group Connect.
Preferably, the lower fork is equipped with roller group with upper fork, and the middle fork side wall both sides, which are equipped with, can accommodate the rolling The slot rolling of wheel group, the roller group are rolled in the slot rolling of middle fork side wall both sides.
Preferably, it is described take stock support include sill, entablature and by column fixed plate located at sill with it is upper Bracket upright post between crossbeam, the sill upper bracket column both sides are provided with bending plate;
The lowering or hoisting gear is wound with including the lifting motor on bending plate, with what lifting motor rotating shaft transmission was connected The cable drum of steel wire rope, the wire rope pulley on entablature, the steel wire rope bypass the wire rope pulley and goods shelf Connection;
The translating device includes the translation motor on goods shelf, the active synchronization band with translation motor drive connection Belt wheel, the driven belt wheel carrier located at goods shelf opposite side, the driven Toothed belt pulley on driven belt wheel carrier, located at actively same Step is connected with the timing belt between belt wheel and driven Toothed belt pulley, the retractable fork by connector with toothed belt transmission.
Preferably, the goods shelf is provided with lifting roller, and the bracket upright post, which is provided with, can accommodate the lifting roller Chute, it is described lifting roller-coaster in the chute;
The goods shelf both sides are provided with translation slide rail, and the lower fork is provided with the sliding block that can be slided along the translation slide rail;
The first pallet fork protection switch, the first pallet fork anti-collision switch, the second pallet fork are sequentially provided with below the translation slide rail to prevent Rush open pass, the second pallet fork protection switch;
The goods shelf is provided with the 3rd code reader, and the bracket upright post is provided with barcode strip;
The goods shelf both sides are provided with the U-shaped photoelectricity of sensing bending plate;Bracket upright post is provided with reduction carrier;
The column fixed plate of the entablature is provided with upper limit and fixes cushion block, in the column fixed plate on the sill Cushion block is fixed provided with lower limit;The translation slide rail both ends are provided with pallet fork anticollison block.
Preferably, the sheet material grabbing assembly is planer-type, including crawl chassis, the crossbeam installation on crawl chassis Plate, the first crossbeam connected by crossbeam installing plate, second cross beam, the first drive that driving crossbeam installing plate vertically moves along chassis Dynamic motor, the first drive gear being connected with the first motor rotating shaft, the support between first crossbeam, second cross beam Plate, driving supporting plate are connected along first crossbeam, the second motor of second cross beam transverse shifting, with the second motor The second drive gear, the sucker rotary components in supporting plate, with sucker rotary components drive connection Suction cup assembly, institute State crawl chassis and be provided with longitudinal rack, first drive gear engages with longitudinal rack;The first crossbeam is provided with horizontal stroke To rack, second drive gear engages with horizontal tooth bar;
The sucker rotary components include the Rotary cloumn plate in supporting plate, the electric rotating on Rotary cloumn plate Machine, active rotation gear, the axle sleeve below Rotary cloumn plate, the axle in axle sleeve with electric rotating machine drive connection The rotary shaft held, rotated around bearing, the Suction cup assembly is affixed with rotary shaft, is connected with active rotation gear drive;
The Suction cup assembly includes sucker installing plate, the driven rotation gear on sucker installing plate, pacified located at sucker Sucker stand below loading board, symmetrical lift cylinder located at sucker stand both sides, the sucker being connected with lift cylinder cylinder post, The vacuum generator being connected with sucker, the sucker installing plate and rotary shaft are affixed, the driven rotation gear and active rotation Gear engages.
Preferably, the crawl chassis is provided with longitudinal rail, and the crossbeam installing plate is provided with and can slided along longitudinal rail Dynamic longitudinal sliding block;
The first crossbeam and second cross beam are provided with cross slide way, and the supporting plate, which is provided with, transversely guide rail to be slided Transverse slider;
Longitudinal rail both ends, first crossbeam both ends, second cross beam both ends are equipped with anticollison block on the crawl chassis.
Preferably, longitudinal drag chain bracket is provided with below longitudinal rack on the crawl chassis, is provided with longitudinal drag chain bracket Longitudinal drag chain, the first crossbeam are provided with horizontal drag chain bracket, horizontal drag chain are provided with horizontal drag chain bracket.
Preferably, the sheet material grabbing assembly is robot type, including its manipulator base, in manipulator base First mechanical arm, the second mechanical arm being rotatablely connected by connecting shaft and the first mechanical arm, located at the second mechanical arm On sucker, second mechanical arm is provided with lift assembly, and the lift assembly includes what is be connected with the second mechanical arm Axle bottom plate, the riser guide on axle bottom plate, slide on the axle sliding shoe on riser guide, the sucker on axle sliding shoe Runner assembly, the sucker are connected with sucker runner assembly;The riser guide is provided with the first inductive switch, and the axle slides Block is provided with the first origin sensing chip for starting inductive switch, and first mechanical arm is provided with the second inductive switch, described Second mechanical arm is provided with the second origin sensing chip for starting the second inductive switch, is provided with and eliminates the noise in the steam vent of the sucker Device.
Preferably, the robot type grasping mechanism can be SCARA robot types or degree of freedom robot formula.
The invention provides one kind storage intelligent sorting system, compared with prior art, storage intelligent sorting of the invention System has advantages below:
1. the storage intelligent sorting system, the random feeding from sheet material pipeline of the sheet material of bar code or Quick Response Code is posted Port inputs, and when tiltedly rolling conveying assembly through first, the discharging port that conveying assembly is tiltedly rolled first obtains plate by the first code reader Material model, then conveying or keep right and be transported to the second straight rolling conveying assembly point being kept left on conveying assembly in length and breadth, it is straight second Roll to be intercepted by stock stop at conveying assembly and stop, board dimension, the first sheet material grasping mechanism are obtained by the second code reader reading code Center crawl is carried out to sheet material, then is accurately placed into the centre position of sheet material pallet, then takes feeding material component to move by first Deliver to shelf corresponding position to be stored, when sheet material needs to be sorted stacking, second takes feeding material component by circuit controller Control, from sheet material needed for the taking-up of shelf relative position, and sheet material translation conveying assembly is delivered to, through sheet material translation conveying assembly conveying To the second lateral transfer component, and the 4th straight rolling conveying assembly is delivered to by the second lateral transfer component and then is stored along sheet material Sorting line is transported to sheet material stacking machine structure, after sheet material stacking machine structure is by stacking, is exported by discharging mechanism;Structure letter of the present invention It is single, it is rationally distributed, the full-automation of sheet material sorting is realized, saves a large amount of human and material resources;Sheet material sorting amount is big.
2. the storage intelligent sorting system, the first discharging port for tiltedly rolling conveying assembly is provided with the first code reader, can be right Sheet material carries out first time reading code, determines whether sheet material belongs to the sheet material that this track separation mechanism should store classifiedly, if being not belonging to this shunting The sheet material of mechanism shunting storage, then sheet material continue to convey to next track separation mechanism through the second straight rolling conveying assembly;Sheet material enters During the second straight rolling conveying assembly, the second code reader of the second sheet material conveying assembly charging port carries out second of reading code to sheet material, Multiple reading code, which can avoid the occurrence of, mispronounces code, the situation of skip code, and reading code information can also be sent to rear process, is easy to follow-up Sheet material is stored in ad-hoc location by process, is repeatedly decoded, is checked oneself, and can avoid Shao Bao, wrong bag and bottom pour ladle situation.
3. the storage intelligent sorting system, photoelectric sensor switch is provided with below the roller of conveying assembly end in length and breadth, only When sheet material is sensed by photoelectric sensor switch, and sheet material by the first code reader judge to need to be kept right conveying when, circuit controller Just start the right side that sheet material is transported to conveying assembly in length and breadth by lateral transfer component, so both sides can to the left and right by sheet material point in advance To leave the time of abundance to grasping mechanism.
4. the storage intelligent sorting system, packetized form is generated by packing optimization software, then sorted by electrical control sheet material The corresponding storage warehouse compartment of input, is stored into each layer, so-called nearby principle is exactly root when input stores shelf by nearby principle Sheet material is stored into from retractable fork position recently and on one layer of room according to retractable fork during storage, finally root again According to the packetized form order of Software Create sheet material and stacking are exported from storage shelf.
5. the storage intelligent sorting system, the mode that grabbing assembly captures using sheet material center, by by column and gear Plate determines the relative position of sheet material, and sheet material is obtained as origin, then by code reader using the corner end points for being close to column and baffle plate Dimensional parameters find sheet material central point, so as to realize that the center of sheet material captures.
6. the storage intelligent sorting system, simple in construction, easy to operate, pass through when sorting packaging is carried out to product The startup of longitudinal driving device, and drive driving runner to be operated tourelle, it can be carried out up and down to stacking robot Driving work, be advantageous to the packaging that the product different to height carries out diversification.
Brief description of the drawings
Fig. 1 is a kind of structural representation for intelligent sorting system of storing in a warehouse of the present invention;
Fig. 2 is the structural representation of another embodiment of the present invention;
Fig. 3 is the structural representation that conveying assembly is tiltedly rolled in Fig. 1;
Fig. 4 is the structural representation of Fig. 3 other directions;
Fig. 5 is the structural representation of conveying assembly in length and breadth in Fig. 1;
Fig. 6 is the second straight rolling conveying assembly in Fig. 1
Fig. 7 is the structural representation of the first embodiment of sheet material grabbing assembly in Fig. 1;
Fig. 8 is the structural representation of Fig. 7 other directions;
Fig. 9 is the structural representation of sucker rotary components in Fig. 7;
Figure 10 is the structural representation of Suction cup assembly in Fig. 7;
Figure 11 be Fig. 1 in sheet material it is three-dimensional storage mechanism for sorting in shelf and first, second take feeding material component structure and Position relationship schematic diagram;
Figure 12 is the structure and position relationship schematic diagram that stock support and lowering or hoisting gear are taken in Figure 11;
Figure 13 is the structure and position relationship schematic diagram of retractable fork and translating device in Figure 11;
Figure 14 is that Figure 13 removes the structural representation after retractable fork;
Figure 15 is the structural representation of retractable fork in Figure 11;
Figure 16 is the structure and position relationship schematic diagram of lower fork and the first driving member in Figure 15;
Figure 17 is that lower fork removes the structural representation after a side plate in Figure 16;
The structure and position relationship schematic diagram of Figure 18 middle fork and the second driving member in being 15;
The structure and position relationship schematic diagram of Figure 19 upper fork and the 3rd driving member in being 15;
Figure 20 is that sheet material translates conveying assembly, the second lateral transfer component in the three-dimensional storage mechanism for sorting of sheet material in Fig. 1 And the 4th straight rolling conveying assembly structure and position relationship schematic diagram;
Figure 21 is the structural representation of the second lateral transfer component in Figure 20;
Figure 22 is that chassis, lifting-up support, the structure and position relationship schematic diagram of jacking cylinder are jacked in Figure 20;
Figure 23 is the structural representation of lifting-up support in Figure 22;
Figure 24 is the structural representation of jacking frame in Figure 22;
Figure 25 is the structural representation of second of embodiment of sheet material grabbing assembly in Fig. 2;
Figure 26 is the second mechanical arm, lift assembly, the structure and position relationship schematic diagram of sucker in Figure 25;
Figure 27 is the structural representation of lifting assembly in Fig. 1;
Figure 28 is the structure schematic top plan view with lateral means;
Figure 29 is the structural representation with lateral means;
Figure 30 is lateral means structural representation of the present invention;
Figure 31 is structural representation at A in Figure 30.
In figure:1. sheet material track separation mechanism, 11. first straight rolling conveying assemblies, 111. carriages, 112. roller seats, 113. rollings Cylinder, 114. motors, 115. drum drive axles, 116. are tiltedly rolled defeated by column frame, 117. by column, 118. small flat belts, 12. first Sending component, 121. first code readers, 13. the 3rd straight rolling conveying assemblies, 14. first lateral transfer components, 141. jacking chassis, 1411. cylinder frames, 1412. jacking chutes, 1413. guide plates, 142. lifting-up supports, 1421. cylinder bending plates, 1422. jackings Slide plate, 1423. roller mounts, 143. jacking frames, 1431. jacking rollers, 1432. guide rollers, 144. jacking cylinders, 145. are laterally Conveyer belt group, 146. conveyer belt power transmission shafts, 147. lateral transfer motors, 15. second straight rolling conveying assemblies, 151. backgauge components, 152. second code readers, 16. first sheet material grabbing assemblies, 161. crawl chassis, 1611. longitudinal rails, 1612. anticollison blocks, 1613. longitudinal drag chain brackets, 1614. longitudinal drag chains, 1615. longitudinal racks, 162. first crossbeams, 1621. horizontal tooth bars, 1622. cross slide ways, 1623. horizontal drag chain brackets, 1624. horizontal drag chains, 163. second cross beams, 164. crossbeam installing plates, 165. first motors, 166. second motors, 167. supporting plates, 168. Suction cup assemblies, 1681. sucker installing plates, 1682. lift cylinders, 1683. suckers, 1684. vacuum generators, 1685. sucker stands, 1686. driven rotation gears, 169. Sucker rotary components, 1691. Rotary cloumn plates, 1692. electric rotating machines, 1693. active rotation gears, 1694. axle sleeves, 1695. Rotary shaft, 17. sheet materials keep in the three-dimensional storage mechanism for sorting of stand, 2. sheet materials, 21. shelf, 22. first take feeding material component, 221. take stock support, 2211. sills, 22111. lower limits fix cushion block, 22112. bending plates, 2212. entablatures, 22121. upper limits fix cushion block, 2213. bracket upright posts, 22131. barcode strip, 22132. reduction carriers, 222. goods shelfs, 2221. lifting rollers, 2222. translation slide rails, 2223. first pallet fork protection switch, 2224. second pallet fork protection switch, 2225. First pallet fork anti-collision switch, 2226. second pallet fork anti-collision switch, 2227. the 3rd code readers, 2228.U types photoelectricity, 2229. pallet forks Fork in anticollison block, 223. retractable forks, 2231. lower forks, 22311. roller groups, 2232., 22321. slot rollings, fork on 2233., 2234. servomotors, 2235. first driving members, 22351. power transmission shafts, 22352. driving gears, 22353. first gear groups, 22354. first racks, 2236. second driving members, 22361. second racks, 22362. second gear groups, 2237. the 3rd transmissions Part, 224. lowering or hoisting gears, 2241. lifting motors, 2242. cable drums, 2243. wire rope pulleys, 225. translating devices, It is 2251. translation motors, 2252. active synchronizations band belt wheel, 2253. driven Toothed belt pulleys, 2254. driven belt wheel carriers, 2255. same Step band, 23. second take feeding material component, 24. sheet materials translation conveying assembly, 241. translation carriages, 242. translation conveyer belt groups, 243. translation carry power transmission shafts, 244. translation feeder motors, 25. second lateral transfer components, 26. the 4th straight rolling conveying assemblies, 27. Conveying assembly, 32. second sheet material grabbing assemblies, 321. are tiltedly rolled in 5th straight rolling conveying assembly, 3. sheet material stacking machine structures, 31. second Manipulator base, 322. first mechanical arms, 323. second mechanical arms, 324. lift assemblies, 3241. axle bottom plates, 3242. liters Guide rail, 3243. axle sliding shoes, 3244. first origin sensing chips, 3245. second origin sensing chips, 3246. sucker rotating groups drop Part, 33. lifting assemblies, 331. lifting pedestals, 332. lifting crotch, 3321. scroll wheels, 333. lifter plates, 3331. roller pads Plate, 334. Belt Conveying components, 335. hoist cylinders, 4. the 6th straight rolling conveying assemblies, 34. horizontal slide rails, 51. main boards make into Main board, 35. stack robots, 36. engagement movable plates, 37. longitudinal driving devices, 38. driving runners, 39. tourelles, 40. lateral driver device, 41. shaft couplings, 42. lateral driver devices, 43. roller bearings, 44. bolts, 45. rollers, 46. nuts, 47. Clamping bar, 48. clamping blocks, 49. stack robot mounting bracket, 50. balance bases.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made Embodiment, belong to the scope of protection of the invention.
Fig. 1-31 are referred to, the present invention provides a kind of technical scheme:A kind of storage intelligent sorting system storage intelligence point System is picked, including the sheet material pipeline formed is sequentially connected, located at each sheet material track separation mechanism 1 by some sheet material track separation mechanisms 1 The sheet material being made up of the three-dimensional storage mechanism for sorting 2 of some sheet materials of both sides stores sorting line, located at sheet material pipeline and sheet material Sheet material stacking machine structure 3, the discharging mechanism circuit controller of sorting line end are stored, the sheet material track separation mechanism 1, sheet material are three-dimensional Storage mechanism for sorting 2, sheet material stacking machine structure 3, discharging mechanism electrically connect with circuit controller.
The sheet material track separation mechanism 1 is oblique including being sequentially connected the first straight rolling conveying assembly 11, first along sheet material conveying direction Roll conveying assembly 12, in length and breadth conveying assembly, the second straight rolling conveying assembly 15, the sheet material located at the second straight rolling conveying assembly 15 both sides Temporary stand 17, the first sheet material grabbing assembly 16 above the second straight rolling conveying assembly 15;Described first tiltedly rolls conveying group The discharge end of part 12 is provided with the first code reader 121, and the lower section of roller 113 of the end of conveying assembly in length and breadth is opened provided with optoelectronic induction Close, the described second straight rolling conveying assembly 15 feeds port and is provided with backgauge component 151, the second straight rolling conveying assembly 15 feed end both sides Provided with the second code reader 152, the conveying assembly in length and breadth is horizontal by the 3rd straight rolling conveying assembly 12 and located at first below Conveying assembly 14 forms.
The three-dimensional storage mechanism for sorting 2 of sheet material includes shelf 21, kept in located at sheet material between stand 17 and shelf 21 For sheet material to be kept in the storage of the sheet material on stand 17 feeding material component 22 is taken to first on shelf 21, located at the opposite side of shelf 21 The second of packing mechanism take feeding material component 23 for sheet material to be taken out and be transported to from shelf 21, take feeding material component located at second The sheet material translation conveying assembly 24 of 23 sides, the second lateral transfer component 25 and the being connected with sheet material translation conveying assembly 24 4th straight rolling conveying assembly 26 of two lateral transfer components 25 linking, the 5th be connected with the 4th straight rolling conveying assembly 26 directly roll defeated Sending component 27;5th straight rolling conveying assembly 27 of the three-dimensional storage mechanism for sorting 2 of each sheet material is sequentially connected.
The sheet material stacking machine structure 3 includes directly rolling conveying assembly 15 and sheet material storage point with the second of sheet material pipeline end Pick the 5th straight the second oblique rolling conveying assembly 31 for rolling the connection of conveying assembly 27 of line end, tiltedly rolled located at second on conveying assembly 31 The second sheet material grabbing assembly 32, the lifting assembly 33 located at the both sides of the second sheet material grabbing assembly 32 of side form.
The discharging mechanism includes directly rolling conveying assembly 4 located at the 6th of the rear of lifting assembly 33.
Tiltedly rolling conveying assembly 31 includes carriage 111, set described first to the 6th straight rolling conveying assembly 4, first, second Roller seat 112 in the both sides of carriage 111, the roller 113 being pivotally connected on roller seat 112, located at the lower section of carriage 111 Motor 114, the drum drive axle 115 being connected located at the lower section of carriage 111 with motor 114, by by column frame 116 lean on column 117 located at the top of roller 113, and the drum drive axle 115 is connected by small flat belt 118 and the transmission of roller 113 Connecing, the roller seat 112 of the described first to the 6th straight rolling conveying assembly is symmetrically located at the both sides of carriage 111, and described first, second Tiltedly the roller seat 112 of rolling conveying assembly is asymmetrical located at the both sides of carriage 111.
The first, second lateral transfer component is included located at the 3rd straight straight rolling conveying group of rolling conveying assembly 12 and the 4th The jacking chassis 141 of the lower section of carriage 111 of part 26, the lifting-up support 142 slided on jacking chassis 141, driving jacking branch Frame 142 along jacking chassis 141 slide jacking cylinder 144, be connected with lifting-up support 142 jacking frame 143, be distributed in jacking frame Transverse onveyer group 145 on 143, the conveyer belt power transmission shaft 146 of each transverse onveyer group 145 of drive connection, located at jacking frame The lateral transfer motor 147 being connected on 143 with conveyer belt power transmission shaft 146;The jacking chassis 141 is provided with cylinder frame 1411, the lifting-up support 142 is provided with cylinder bending plate 1421, and the cylinder post of jacking cylinder 144 and cylinder bending plate 1421 are affixed, The afterbody of jacking cylinder 144 is rotatablely connected by cylinder pin and cylinder frame 1411;The lifting-up support 142 is provided with roller mount 1423, the jacking frame 143 is provided with and rolled in the jacking roller 1431 in roller mount 1423.
The lifting assembly 33 include lifting pedestal 331, lifting crotch 332, lifter plate 333, Belt Conveying component 334 and Hoist cylinder 335, described lifting crotch 332 one end are installed in the other end on lifting pedestal 331 and slided on lifter plate 333, institute Belt Conveying component 334 is stated on lifter plate 333, the driving of the hoist cylinder 335 lifting crotch 332 slides and lifter plate On 333, and lifter plate 333 is driven to rise or fall, lifting crotch 332 is provided with scroll wheel 3321, and lifter plate 333 is provided with rolling Take turns backing plate 3331.
First, which tiltedly rolls the front and rear of conveying assembly 11, is mounted on horizontal slide rail 34, and the top slide of horizontal slide rail 34 is connected with Main board 51, the top left and right sides of main board 51 are welded with longitudinal rail 1611, and the top of two longitudinal rails 1611 leads to Cross clamping bar 47 to be fixedly connected, the bottom of clamping bar 47 has simultaneously been fixedly connected with card positioned at the two sides of two longitudinal rails 1611 Tight block 48, clamping block 48 are welded with longitudinal rail 1611, and the lower section between two longitudinal rails 1611 is pacified by stacking robot Shelve 49 to be fixedly connected, the top for stacking robot mounting bracket 49 is symmetrically fixedly connected with two balance bases 50, two longitudinal directions It is installed between guide rail 1611 and stacks robot 35.
The one side of two longitudinal rails 1611 away from each other, which slides up and down, is connected with engagement movable plate 36, engagement movement Plate 36 is located at the top of main board 51, and engagement one side of the movable plate 36 away from longitudinal rail 1611 is installed with zigzag tread patterns Device 37, the clutch end of longitudinal driving device 37 are hinged with rotatable driving runner 38, under longitudinal driving device 37 Side is provided with tourelle 39, and tourelle 39 is fixedly connected close to the one side of longitudinal driving device 37 with main board 51, rolling The bottom of dynamic device 39 is simultaneously provided through bolt 44 positioned at the both sides of horizontal slide rail 34, and bolt 44 is located under tourelle 39 One end of side rotates and is socketed with roller 45, and the wheel face of roller 45 contacts with horizontal slide rail 34, and bolt 44 is located on tourelle 39 The threaded one end of side is connected with nut 46, and the back side of tourelle 39 is installed with lateral driver device 40, laterally driven The clutch end of dynamic device 40 is fixedly connected with shaft coupling 41, and the one end of shaft coupling 41 away from lateral driver device 42 is through rolling Dynamic device 39 is simultaneously fixedly connected with the roller bearing 43 on tourelle 39.
Preferably, jack chassis 141 and be provided with jacking chute 1412, the bottom of lifting-up support 142 is provided with to slide on to jack and slided Jacking scooter 1422 in groove 1412;When jacking cylinder 144 acts, the jacking scooter 1422 of lifting-up support 142 will be along jacking The jacking chute 1412 of chassis 141 moves, and makes jacking process more smooth.
Preferably, jacking chassis 141 is provided with guide plate 1413, and jacking frame 143 is provided with can be along guide plate about 1413 The guide roller 1432 of slip;Jacking cylinder 144 start when, jacking roller 1431 along roller mount 1423 roll when, make orienting roll Wheel 1432 moves along guide plate 1413, and guide plate 1413 can play guide effect.
The sheet material translation conveying assembly 24 includes translation carriage 241, the translation conveying on translation carriage 241 With group 242, the translation carry power transmission shaft 243 of each translation conveyer belt group 242 of drive connection, on translation carriage 241 with translation The translation feeder motor 244 that V belt translation axle 243 is connected.
Described first, second takes feeding material component to include taking stock support 221, located at the pallet fork taken on stock support 221 Frame 222, the retractable fork 223 on goods shelf 222, it is described to take stock support 221 to be provided with driving goods shelf 222 along fetching and delivering The lowering or hoisting gear 224 that material support 221 moves up and down, the goods shelf 222 are provided with driving retractable fork 223 along goods shelf 222 Movable translating device 225, the retractable fork 223 include lower fork 2231, slide on lower fork 2231 middle fork 2232, Slide on fork 2232 on upper fork 2233, the servomotor 2234 on lower fork 2231, on lower fork 2231 with servo First driving member 2235 of the drive connection of motor 2234, second to be connected on middle fork 2232 with the first driving member 2235 Driving member 2236, the 3rd driving member 2237 on upper fork 2233 with the drive connection of the second driving member 2236.
Preferably, the first driving member 2235 includes the power transmission shaft being connected on lower fork 2231 with servomotor 2234 22351st, the driving gear 22352 on power transmission shaft 22351, be connected on lower fork 2231 with driving gear 22352 First gear group 22353, the first rack 22354 on lower fork 2231;Second driving member 2236 is included in being located at The second rack 22361 on fork 2232, the second gear group 22362 on the second rack 22361, second rack 22361 are connected with first gear group 22353, and the second gear group 22362 is connected with the first rack 22354;Institute It is the 3rd rack on upper fork 2233 to state the 3rd driving member 2237, and the 3rd rack is driven with second gear group 22362 Connection;It is by gear train and rack-driving between each driving member, it is ensured that the accuracy and stability of transmission.
Preferably, lower fork 2231 is all provided with being equipped with roller group 22311,2232 side wall both sides of the middle fork on upper fork 2233 The slot rolling 22321 of the roller group 22311 can be accommodated by having, and the roller group 22311 is rolled in the rolling of 2232 side wall both sides of middle fork In groove 22321;2232 moved along middle fork in upper fork 2233, middle fork 2232 along lower fork 2231 move when, roller group 22311 is in slot rolling Moved in 22321, moving process can be made steady, while slot rolling 22321 can play a part of guiding in moving process.
It is described to take stock support 221 to include sill 2211, entablature 2212 and be located at sill by column fixed plate Bracket upright post 2213 between 2211 and entablature 2212, the both sides of 2211 upper bracket column of sill 2213 are provided with bending plate 22112。
The lowering or hoisting gear 224 includes lifting motor 2241 and the rotating shaft of lifting motor 2241 on bending plate 22112 Drive connection is wound with the cable drum 2242 of steel wire rope, the wire rope pulley 2243 on entablature 2212, the steel Cord is connected around the wire rope pulley 2243 with goods shelf 222.
The translating device 225 includes translation motor 2251 and the transmission of translation motor 2251 company on goods shelf 222 The active synchronization band belt wheel 2252 connect, driven belt wheel carrier 2254 located at the opposite side of goods shelf 222, located at driven belt wheel carrier 2254 On driven Toothed belt pulley 2253, located at active synchronization with the timing belt between belt wheel 2252 and driven Toothed belt pulley 2253 2255, the retractable fork 223 is connected by connector and timing belt 2255.
Preferably, goods shelf 222 is provided with lifting roller 2221, and the bracket upright post 2213, which is provided with, can accommodate the liter The chute of roller 2221 is dropped, and the lifting roller 2221 is slided in the chute;Lowering or hoisting gear 224 is driven on goods shelf 222 During rising, the lifting roller 2221 on goods shelf 222 moves along the chute in bracket upright post 2213, can not only avoid goods The uphill process of crotch 222 is swung, and uphill process can also be made more smooth, saves power.
Preferably, the both sides of goods shelf 222 are provided with translation slide rail 2222, and the lower fork 2231, which is provided with, to be slided along the translation The sliding block that rail 2222 slides;Translation slide rail 2222 can play a supporting role to retractable fork 223, and it is right to mitigate retractable fork 223 The pressure of timing belt 2255, make retractable fork 223 more stable along moving for timing belt 2255.
Preferably, translate the lower section of slide rail 2222 and be sequentially provided with the first pallet fork protection switch 2223, the first pallet fork anti-collision switch 2225th, the second pallet fork anti-collision switch 2226, the second pallet fork protection switch 2224;When retractable fork 223 is with the edge of translating device 225 When goods shelf 222 moves, the first pallet fork anti-collision switch 2225 and the second pallet fork anti-collision switch 2226 can move in retractable fork 223 Force to stop translating device 225 when moving translation 2222 end of slide rail, avoid retractable fork 223 from bumping against on goods shelf 222;Two When retractable fork 223 moves towards, when one retractable fork 223 of any of which is close to pallet fork anti-collision switch, pallet fork is anti-to be rushed open Guan Douhui forces to stop translating device 225, avoids two retractable forks 223 to collision.
Preferably, goods shelf 222 is provided with the 3rd code reader 2227, and the bracket upright post 2213 is provided with barcode strip 22131;Code reader can be understood to bar code in barcode strip 22131, be set when the bar code that code reader is understood with system When position is consistent, signal is fed back to circuit controller by the 3rd code reader 2227, and circuit controller can stop lowering or hoisting gear 224 Only move.
Preferably, the both sides of goods shelf 222 are provided with the U-shaped photoelectricity 2228 of sensing bending plate 22112;When the 3rd code reader 2227 During decoding failure, lowering or hoisting gear 224 is in invalid decline state, when U-shaped photoelectricity 2228 detects bending plate 22112, U-shaped light Signal is fed back to circuit controller by electricity 2228, and circuit controller will be forced to stop lowering or hoisting gear 224.
Preferably, bracket upright post 2213 is provided with reduction carrier 22132;Reduction carrier 22132 is to strong by circuit controller The inertia force for the goods shelf 222 that row stops rising or falling plays cushioning effect.
Preferably, the column fixed plate of entablature 2212 is provided with upper limit and fixes cushion block 22121, the sill 2211 On column fixed plate be provided with lower limit fix cushion block 22111;Upper limit fixes cushion block 22121 and lower limit fixes cushion block 22111 pairs of entablatures 2212, sill 2211 and goods play a protective role, and avoid retractable fork 223 during system exception from bumping against On crossbeam 2212 or sill 2211, cause to damage each other.
Preferably, translation slide rail 2222 both ends are provided with pallet fork anticollison block 2229;When the first pallet fork protection switch 2223 Or during the second failure of pallet fork protection switch 2224, pallet fork anticollison block 2229 can prevent retractable fork 223 from being lost in translating device 225 Bumped against during control in bracket upright post 2213.
As a kind of embodiment of the present invention, such as Fig. 7 to Figure 10, the sheet material grabbing assembly is planer-type, including crawl Chassis 161, located at crawl chassis 161 on crossbeam installing plate 164, by crossbeam installing plate 164 connect first crossbeam 162, Second cross beam 163, the first motor 165 and the first motor that driving crossbeam installing plate 164 vertically moves along chassis First drive gear of 165 rotating shafts connection, the supporting plate 167 between first crossbeam 162, second cross beam 163, driving support Plate 167 is driven along first crossbeam 162, the second motor 166 of the transverse shifting of second cross beam 163, with the second motor 166 Second drive gear of connection, the sucker rotary components 169 in supporting plate 167, it is connected with sucker rotary components 769 Suction cup assembly 168, it is described crawl chassis 161 be provided with longitudinal rack 1615, first drive gear and longitudinal rack 1615 engagements;The first crossbeam 162 is provided with horizontal tooth bar 1621, and second drive gear is nibbled with horizontal tooth bar 1621 Close.
The sucker rotary components 169 include Rotary cloumn plate 1691 in the supporting plate 167, located at Rotary cloumn plate Electric rotating machine 1692 on 1691, the active rotation gear 1693 being connected with electric rotating machine 1692, located at Rotary cloumn plate The axle sleeve 1694 of 1691 lower sections, the bearing in axle sleeve 1694, the rotary shaft 1695 rotated around bearing, the Suction cup assembly 168 with rotary shaft 1695 it is affixed, be connected with active rotation gear 1693.
The Suction cup assembly 168 includes sucker installing plate 1681, the driven rotation gear on sucker installing plate 1681 1686th, the sucker stand 1685 located at the lower section of sucker installing plate 1681, the symmetrical lifting air for being located at the both sides of sucker stand 1685 Cylinder 1682, the sucker 1683 being connected with the cylinder post of lift cylinder 1682, the vacuum generator 1684 being connected with sucker 1683, the suction Disk installing plate 1681 and rotary shaft are affixed, and the driven rotation gear 1686 engages with active rotation gear 1693.
Preferably, crawl chassis 161 is provided with longitudinal rail 1611, and the crossbeam installing plate 164 is provided with can be along longitudinal direction The longitudinal sliding block that guide rail 1611 slides, longitudinal rail 1611 can drive first crossbeam 162, second in the first motor 165 Crossbeam 163 plays guide effect during vertically moving, can not only make moving process smooth, can also save power.
Preferably, first crossbeam 162 and second cross beam 163 are provided with cross slide way 1622, and the supporting plate 167 is provided with Can transversely guide rail 1622 slide transverse slider;Direction guiding rail can drive supporting plate 167 laterally to move in the second motor 166 Guide effect is played in dynamic process, can not only make moving process smooth, power can also be saved.
Preferably, the both ends of longitudinal rail 1611, the both ends of first crossbeam 162, the both ends of second cross beam 163 on chassis 161 are captured It is equipped with anticollison block 1612;Anticollison block 1612 is made of elastomeric material, can limit first crossbeam 162, second cross beam 163 bottom of along Frame vertically moves displacement and supporting plate 167 along first crossbeam 162, the lateral distance of second cross beam 163, and to first Crossbeam 162, second cross beam 163 and supporting plate 167 play a protective role.
Preferably, capture the lower section of longitudinal rack 1615 on chassis 161 and be provided with longitudinal drag chain bracket 1613, longitudinal drag chain bracket Longitudinal drag chain 1614 is provided with 1613, the first crossbeam 162 is provided with horizontal drag chain bracket 1623, horizontal drag chain bracket 1623 Interior to be provided with horizontal drag chain 1624, drag chain can convey the first motor 165, the second motor 166, the rotation group of sucker 1683 The electrical control lines of part and Suction cup assembly 168 avoid the electrical control lines multilated in moving process in being hidden in.
Another embodiment as the present invention:Such as Figure 25, Figure 26, the sheet material grabbing assembly is robot type, including Its manipulator base 321, the first mechanical arm 322 in manipulator base 321, pass through connecting shaft and the first mechanical arm The second mechanical arm 323, the sucker 1683 on the second mechanical arm 323 of 322 rotation connections, second mechanical arm 323 are provided with lift assembly 324, axle bottom plate 3241 that the lift assembly 324 includes being connected with the second mechanical arm 323, set In the riser guide 3242 on axle bottom plate 3241, the axle sliding shoe 3243 slided on riser guide 3242, located at axle sliding shoe Sucker runner assembly 3246 on 3243, the sucker 1683 are connected with sucker runner assembly 3246;
Preferably, riser guide 3242 is provided with the first inductive switch, and the axle sliding shoe 3243 should provided with start feeling First origin sensing chip 3244 of switch, first mechanical arm 322 are provided with the second inductive switch, second manipulator Arm 323 is provided with the second origin sensing chip 3245 for starting the second inductive switch;After sheet material is transferred, mechanical arm needs multiple Position, during the drive sucker 1683 of axle sliding shoe 3243 resets along riser guide 3242, when the first origin sensing chip 3244 moves When moving the highest point of riser guide 3242, the first origin sensing chip 3244 starts to the first inductive switch, and circuit controller will Axle sliding shoe 3243 stops rising;Second mechanical arm 323 rotates in the horizontal direction in reseting procedure around connecting shaft, after reset, When the second origin sensing chip 3245 starts the second inductive switch, circuit controller will control the second mechanical arm 323 to stop operating; First origin sensing chip 3244 and the second origin sensing chip 3245 may determine that machinery during axle sliding shoe 3243 resets Whether hand resets completely.
Preferably, it is provided with silencer in the steam vent of sucker 1683;During sucker 1683 decontrols sheet material, silencer Noise, Optimization Work environment can be reduced.
Preferably, robot type grasping mechanism can be SCARA robot types or degree of freedom robot formula.
Operation principle:The present invention operation principle be:During work, the sheet material of bar code or Quick Response Code will be posted by the first straight rolling The feeding of conveying assembly 11, sheet material enter through the first straight rolling conveying assembly 11, and are transported to first by the first straight rolling conveying assembly 11 Tiltedly rolling conveying assembly 12, the roller 113 that conveying assembly 12 is tiltedly rolled due to first are obliquely installed, and sheet material is in the first oblique rolling conveying assembly Moved on 12 to left front, after sheet material front end is touched by column 117, due to the resistance by column 117, the rear end of sheet material is also gradual To close by the direction of column 117, final whole piece sheet material is defeated to conveying assembly in length and breadth by column 117 close to the first oblique rolling conveying assembly 12 Send, and conveyed via conveying assembly in length and breadth to the second straight rolling conveying assembly 15.
When sheet material enters through the oblique end for rolling conveying assembly and conveyed to conveying assembly in length and breadth, located at the first oblique rolling conveying group First code reader 121 of the end of part 12 is read out to the bar code on sheet material, and circuit controller exports according to the first code reader 121 Signal make analysis, when sheet material needs to be stored on the left side of shunting system, the first lateral transfer component 14 does not start, plate Material continues to be transported to the second straight rolling conveying assembly 15 along the left side of the 3rd straight rolling conveying assembly 12;When sheet material needs to be stored on When assigning to the right side of system, along after the conveying of conveying assembly in length and breadth and being sensed by photoelectric sensor switch, circuit controller opens sheet material Dynamic first lateral transfer component 14, jacking cylinder 144 start, and the cylinder post recovery of jacking cylinder 144, drive the edge of lifting-up support 142 Jacking chassis 141 moves, and during lifting-up support 142 moves along jacking chassis 141, jacks roller 1431 along lifting-up support Roller mount 1423 on 142 is moved, and jacking frame 143 is jacked up, and transverse onveyer group 145 is higher by the rolling of straight rolling conveying assembly Cylinder 113, lateral transfer motor 147 starts, and transverse onveyer group 145 rotates and sheet material is directly rolled into the right side of conveying assembly 12 to the 3rd Conveyed by column 117, when sheet material is transported to the low order end of the 3rd straight rolling conveying assembly 12 by the first lateral transfer component 14, the One lateral transfer motor 147 is stopped, and jacking cylinder 144 drives transverse onveyer group 145 to reset, and sheet material is transported to the 3rd The low order end of straight rolling component, and conveyed close to the 3rd straight rolling conveying assembly 12 by column 117 to the second straight rolling conveying assembly 15.
Conveyed when sheet material enters the second straight rolling conveying assembly 15 and directly rolls conveying assembly 15 along second, when sheet material is read by second After the code reading code of device 152, circuit controller starts backgauge component 151, prevents the sheet material in length and breadth on conveying assembly from continuing straight to second Rolling conveying assembly 15 conveys, and the bar code information that circuit controller is read according to the second code reader 152, starts sheet material grabbing assembly, Sheet material is captured and sheet material is placed on located at the second straight rolling conveying assembly 15 according to the control that circuit controls by sheet material grabbing assembly The sheet material on left side or right side is kept on platform;After sheet material is crawled away, photoelectric sensor switch sensing is fed back less than sheet material, and by signal To circuit controller, under the control of circuit controller, backgauge component 151 resets, in length and breadth the sheet material on conveying assembly continue to Second straight rolling conveying assembly 15 inputs.
Sheet material is when the first code reader 121 is by reading code, if the reading code of the first code reader 121 fails, or the first code reader 121 sheet materials read encode non-batch sheet material, and sheet material is directly transported to next sheet material conveyer along sheet material track separation mechanism 1 Structure.
Stand 17 is kept in due to sheet material to arrange by the loose mode in middle intensive both ends, and sheet material keeps in the crossbeam of stand 17 The distance between calculated, the arrangement mode of support beam is also what is calculated on shelf 21, and stand 17 is kept in sheet material Corresponding, the bar code of each sheet material is also unique, so after the reading code of the second code reader 152, sheet material grasping mechanism can be by plate Material is put into sheet material and keeps in the relative position of stand 17, and sorting line classified storage and sorting heap are stored by sheet material with process sheet material after an action of the bowels Pile.
Kept in when sheet material is individually positioned in the 3rd straight sheet material for rolling the both sides of conveying assembly 12 by the first sheet material grabbing assembly 16 After on stand 17, that keeps in the side of stand 17 located at sheet material first takes feeding material component 22 to start working, and circuit controller is according to Two code readers 152 feedback sheet material model adjustment goods shelf 222 on two retractable forks 223 to adjusting the distance, in translating device 225 In the presence of, the distance between two retractable forks 223 are adapted with panel length;Then the transmission of the driving of servomotor 2,234 first Part 2235 works, and the first driving member 2235 drives the second driving member 2236 middle fork 2232 is deployed along the slip of lower fork 2231, and second Driving member 2236 drives the 3rd driving member 2237 fork 2233 is slided expansion along middle fork 2232, and the retractable fork 223 of expansion is stretched To be stored in sheet material keep in stand 17 on sheet material, by sheet material pick and place it is upper fork 2233 on after, it is upper fork 2233 along it is middle fork 2232 to Opposite direction is moved, and middle fork 2232 is moved round about along lower fork 2231, and sheet material is transported to storage relative on shelf 21 During position, lowering or hoisting gear 224 is started by the control of circuit controller, and lifting motor 2241 starts, the steel being connected with goods shelf 222 Cord is wound in the presence of lifting motor 2241 on cable drum 2242, and goods shelf 222 declines in the presence of steel wire rope, Roller 2221 is lifted along the chute in bracket upright post 2213 to decline;When sheet material leave it is upper fork 2233, be precisely placed in shelf 21 After on ad-hoc location, the vertical storage of sheet material is completed;In the first driving member 2235, the second driving member 2236, the 3rd driving member Under 2237 interaction, upper fork 2233, middle fork 2232 reset;Control band goods shelf of the lowering or hoisting gear 224 by circuit controller 222 rise, and retractable fork 223 is again to sheet material feeding area feeding;
Before sheet material is sorted, the second lateral transfer component 25 is in jacking state, and transverse onveyer group 145 and translation Conveyer belt group 242 flushes;When needing to sort sheet material, the torch of feeding material component 23 is taken positioned at the second of the opposite side of shelf 21 The sheet material being stored on shelf 21 is taken out in the control of road controller, and is placed on sheet material translation conveying assembly 24, and sheet material is put down The translation feeder motor 244 of conveying assembly 24 is moved, by sheet material to the lateral transfer of the second lateral transfer component 25, when the second transverse direction is defeated After sending component 25 receives sheet material, the cylinder post recovery of jacking cylinder 144, jacking frame 143 declines and less than the 4th straight rolling conveying group The roller 113 of part 26, sheet material are placed on the roller 113 of the 4th straight rolling conveying assembly 26 and stored along and then along sheet material and sorted Line is transported to sheet material stacking machine structure 3;
The 5th straight rolling conveying assembly 27 that sheet material stores sorting line end through sheet material is transported to the second oblique of stacking mechanism Roll on conveying assembly 31, and captured successively by the second sheet material grasping mechanism 32, and lowering or hoisting gear 224 is placed on according to output is suitable On, after all sheet materials for forming a set of furniture are all placed on lowering or hoisting gear 224 and complete stacking, lowering or hoisting gear 224 The good blank assemblies of stacking are transported to the 6th straight rolling conveying assembly 4, and exported by the 6th straight rolling conveying assembly 4.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto, Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.

Claims (10)

1. one kind storage intelligent sorting system, it is characterised in that:Including being sequentially connected the plate formed by some sheet material track separation mechanisms Material pipeline, the sheet material being made up of the three-dimensional storage mechanism for sorting of some sheet materials located at each sheet material track separation mechanism both sides store Sorting line, sheet material stacking machine structure, discharging mechanism and circuit controller located at sheet material pipeline and sheet material storage sorting line end, The three-dimensional storage mechanism for sorting of the sheet material track separation mechanism, sheet material, sheet material stacking machine structure, discharging mechanism are electric with circuit controller Connection;
The sheet material track separation mechanism includes being sequentially connected the tiltedly rolling conveying group of the first straight rolling conveying assembly, first along sheet material conveying direction Part, in length and breadth conveying assembly, the second straight rolling conveying assembly, the sheet material located at the second straight rolling conveying assembly both sides are kept in stand, are located at The first sheet material grabbing assembly above second straight rolling conveying assembly;Described first discharge end for tiltedly rolling conveying assembly is provided with first and read Code device, the roller lower section of the end of conveying assembly in length and breadth are provided with photoelectric sensor switch, the described second straight rolling conveying assembly discharging Port is provided with backgauge component, and the second straight rolling conveying assembly feed end both sides are provided with the second code reader, the conveying assembly in length and breadth by 3rd directly rolls conveying assembly and located at the first lateral transfer component composition below;
The three-dimensional storage mechanism for sorting of sheet material includes shelf, kept in located at sheet material between stand and shelf for sheet material is temporary The storage of the sheet material on stand is deposited to take feeding material component to first on shelf, be used to take sheet material from shelf located at shelf opposite side Go out and be transported to the second of stacking mechanism take feeding material component, taken located at second feeding material component side sheet material translate conveying assembly, The second lateral transfer component being connected with sheet material translation conveying assembly, the 4th straight rolling being connected with the second lateral transfer component convey Component, the 5th straight rolling conveying assembly being connected with the 4th straight rolling conveying assembly;The three-dimensional storage mechanism for sorting of each sheet material 5th straight rolling conveying assembly is sequentially connected;
The sheet material stacking machine structure includes directly rolling conveying assembly and sheet material storage sorting line end with the second of sheet material pipeline end The five of end directly grab by the second oblique rolling conveying assembly of rolling conveying assembly connection, the second sheet material above the second oblique rolling conveying assembly Component, the lifting assembly located at the second sheet material grabbing assembly both sides is taken to form;
The discharging mechanism includes directly rolling conveying assembly located at the 6th of lifting assembly rear;
Tiltedly rolling conveying assembly includes carriage, located at carriage two for described first to the 6th straight rolling conveying assembly, first, second The roller seat of side, the roller being articulated on roller seat, the motor below carriage, below the carriage with driving Drum drive axle, the column that leans on by being set up in by column above roller of motor drive connection, the drum drive axle pass through small flat Belt is connected with drum drive, and the roller seat of the described first to the 6th straight rolling conveying assembly is symmetrically located at carriage both sides, institute The roller seat for stating first, second oblique rolling conveying assembly is asymmetrical located at the both sides of carriage;
The first, second lateral transfer component located at the 3rd straight rolling conveying assembly and the 4th including directly rolling the defeated of conveying assembly The top for sending the jacking chassis below frame, the lifting-up support slided on jacking chassis, driving lifting-up support to be slided along jacking chassis The jacking frame for rise cylinder, being connected with lifting-up support, the transverse onveyer group, each lateral transfer of drive connection that are arranged on jacking frame Conveyer belt power transmission shaft with group, the lateral transfer motor being connected on jacking frame with conveyer belt transmission shaft driven;The jacking Chassis is provided with cylinder frame, and the lifting-up support is provided with cylinder bending plate, and jacking cylinder cylinder post and cylinder bending plate are affixed, top Tail cylinder is risen to be rotatablely connected by cylinder pin and cylinder frame;The lifting-up support is provided with roller mount, on the jacking frame Provided with rolling in the jacking roller in roller mount;The jacking chassis is provided with jacking chute, and lifting-up support bottom, which is provided with, to be slided Jacking scooter in jacking chute;The jacking chassis is provided with guide plate, and jacking frame is provided with and can glided along guide plate Dynamic guide roller;
The sheet material translation conveying assembly includes translation carriage, the translation conveyer belt group on translation carriage, the company of transmission Translation carry power transmission shaft, the translation being connected on translation carriage with translation carry transmission shaft driven for connecing each translation conveyer belt group are defeated Power transmission machine;
Described first, second take feeding material component include take stock support, located at the goods shelf taken on stock support, located at pallet fork Retractable fork on frame, it is described to take stock support to be provided with the lowering or hoisting gear that driving goods shelf edge takes stock support to move up and down, The goods shelf be provided with driving retractable fork along goods shelf move forward and backward translating device, the retractable fork include lower fork, The middle fork that slides on lower fork, slide on the upper fork on middle fork, the servomotor on lower fork, on lower fork with servo electricity Machine drive connection the first driving member, on middle fork with the first driving member drive connection the second driving member, on upper fork With the 3rd driving member of the second driving member drive connection;
The lifting assembly includes lifting pedestal, lifting crotch, lifter plate, Belt Conveying component and hoist cylinder, the lifting Crotch one end is installed in the other end on lifting pedestal and slided on lifter plate, and the Belt Conveying component is on lifter plate, institute State on hoist cylinder driving lifting crotch slip and lifter plate, and drive lifter plate to rise or fall, lifting crotch is provided with rolling Driving wheel, lifter plate are provided with roller backing plate.
First, which tiltedly rolls the front and rear of conveying assembly, is mounted on horizontal slide rail, and the top slide of the horizontal slide rail is connected with master and held Plate, the top left and right sides of the main board are welded with longitudinal rail, stacker are installed between two longitudinal rails Device people.
The one side of two longitudinal rails away from each other, which slides up and down, is connected with engagement movable plate, and the engagement movable plate is located at The top of main board, the engagement one side of the movable plate away from longitudinal rail is installed with longitudinal driving device, described vertical Rotatable driving runner is hinged with to the clutch end of drive device, rolling is provided with below the longitudinal driving device Device, the tourelle are fixedly connected close to the one side of longitudinal driving device with main board, the back side of the tourelle Top is installed with lateral driver device, and the clutch end of the lateral driver device is fixedly connected with shaft coupling, described The one end of shaft coupling away from lateral driver device is fixedly connected through tourelle and with the roller bearing on tourelle.
The bottom of tourelle is simultaneously provided through bolt positioned at the both sides of horizontal slide rail, and the bolt is located under tourelle One end of side rotates and is socketed with roller, and the wheel face of the roller contacts with horizontal slide rail, and the bolt is located above tourelle Threaded one end be connected with nut.
The top of two longitudinal rails is fixedly connected by clamping bar, the bottom of the clamping bar and positioned at two longitudinal rails Two sides have been fixedly connected with clamping block, and the clamping block welds with longitudinal rail.
Lower section between two longitudinal rails is fixedly connected by stacking robot mounting bracket, stacking robot mounting bracket Top is symmetrically fixedly connected with two balance bases.
A kind of 2. storage intelligent sorting system according to claim 1, it is characterised in that:First driving member includes setting In the power transmission shaft being connected on lower fork with servo motor transmission, the driving gear on power transmission shaft, on lower fork with driving tooth Take turns the first gear group of drive connection, the first rack on lower fork;
Second driving member includes the second rack on the middle fork, the second gear group on the second rack, and described the Two racks are connected with first gear group, and the second gear group is connected with the first rack-driving;
3rd driving member is the 3rd rack on upper fork, and the 3rd rack is connected with second gear group.
A kind of 3. storage intelligent sorting system according to claim 1, it is characterised in that:The lower fork is equipped with upper fork Roller group, the middle fork side wall both sides are equipped with the slot rolling that can accommodate the roller group, and the roller group is rolled in middle fork side wall In the slot rolling of both sides.
A kind of 4. storage intelligent sorting system according to claim 1, it is characterised in that:It is described to take under stock support includes Crossbeam, entablature and the bracket upright post being located at by column fixed plate between sill and entablature, the sill upper bracket Column both sides are provided with bending plate;
The lowering or hoisting gear is wound with steel wire including the lifting motor on bending plate, with what lifting motor rotating shaft transmission was connected The cable drum of rope, the wire rope pulley on entablature, the steel wire rope are connected around the wire rope pulley with goods shelf;
The translating device includes the translation motor on goods shelf, the active synchronization band band with translation motor drive connection Wheel, the driven belt wheel carrier located at goods shelf opposite side, the driven Toothed belt pulley on driven belt wheel carrier, located at active synchronization With the timing belt between belt wheel and driven Toothed belt pulley, the retractable fork is connected by connector with toothed belt transmission.
A kind of 5. storage intelligent sorting system according to claim 1, it is characterised in that:The goods shelf is provided with lifting Roller, the bracket upright post are provided with the chute that can accommodate the lifting roller, and the lifting roller-coaster is in the chute;
The goods shelf both sides are provided with translation slide rail, and the lower fork is provided with the sliding block that can be slided along the translation slide rail;
The first pallet fork protection switch, the first pallet fork anti-collision switch, the second pallet fork is sequentially provided with below the translation slide rail to prevent rushing open Close, the second pallet fork protection switch;
The goods shelf is provided with the 3rd code reader, and the bracket upright post is provided with barcode strip;
The goods shelf both sides are provided with the U-shaped photoelectricity of sensing bending plate;Bracket upright post is provided with reduction carrier;
The column fixed plate of the entablature is provided with upper limit and fixes cushion block, and the column fixed plate on the sill is provided with Lower limit fixes cushion block;The translation slide rail both ends are provided with pallet fork anticollison block.
A kind of 6. storage intelligent sorting system according to claim 1, it is characterised in that:The sheet material grabbing assembly is dragon Gate-type, including crawl chassis, the crossbeam installing plate on crawl chassis, the first crossbeam connected by crossbeam installing plate, the Two crossbeams, the first motor that driving crossbeam installing plate vertically moves along chassis, the be connected with the first motor rotating shaft One drive gear, the supporting plate between first crossbeam, second cross beam, driving supporting plate are horizontal along first crossbeam, second cross beam The second drive gear, the sucker in supporting plate to the second mobile motor, with the drive connection of the second motor Rotary components, the Suction cup assembly with the drive connection of sucker rotary components, the crawl chassis are provided with longitudinal rack, and described first Drive gear engages with longitudinal rack;The first crossbeam is provided with horizontal tooth bar, second drive gear and horizontal tooth bar Engagement;
The sucker rotary components include the Rotary cloumn plate in the supporting plate, the electric rotating machine on Rotary cloumn plate, With electric rotating machine drive connection active rotation gear, the axle sleeve below Rotary cloumn plate, the bearing in axle sleeve, around The rotary shaft that bearing rotates, the Suction cup assembly is affixed with rotary shaft, is connected with active rotation gear drive;
The Suction cup assembly includes sucker installing plate, the driven rotation gear on sucker installing plate, located at sucker installing plate The sucker stand of lower section, the symmetrical lift cylinder for being located at sucker stand both sides, the sucker being connected with lift cylinder cylinder post and suction The vacuum generator of disk connection, the sucker installing plate and rotary shaft are affixed, the driven rotation gear and active rotation gear Engagement.
A kind of 7. storage intelligent sorting system according to claim 1, it is characterised in that:The crawl chassis is provided with vertical Direction guiding rail, the crossbeam installing plate are provided with the longitudinal sliding block that can be slided along longitudinal rail;
The first crossbeam and second cross beam are provided with cross slide way, and the supporting plate is provided with can horizontal stroke that transversely guide rail slides To sliding block;
Longitudinal rail both ends, first crossbeam both ends, second cross beam both ends are equipped with anticollison block on the crawl chassis.
A kind of 8. storage intelligent sorting system according to claim 1, it is characterised in that:Longitudinal tooth on the crawl chassis Longitudinal drag chain bracket is provided with below bar, is provided with longitudinal drag chain in longitudinal drag chain bracket, the first crossbeam is provided with horizontal drag chain Bracket, horizontal drag chain bracket is interior to be provided with horizontal drag chain.
A kind of 9. storage intelligent sorting system according to claim 1, it is characterised in that:The sheet material grabbing assembly is machine Device people's formula, including its manipulator base, the first mechanical arm in manipulator base, pass through connecting shaft and the first manipulator The second mechanical arm, the sucker on the second mechanical arm of arm rotation connection, second mechanical arm are provided with lifting Assembly, axle bottom plate that the lift assembly includes being connected with the second mechanical arm, the riser guide on axle bottom plate, slide on Axle sliding shoe on riser guide, the sucker runner assembly on axle sliding shoe, the sucker are connected with sucker runner assembly; The riser guide is provided with the first inductive switch, and the axle sliding shoe is provided with the first origin sensing for starting inductive switch Piece, first mechanical arm are provided with the second inductive switch, and second mechanical arm, which is provided with, starts the second inductive switch The second origin sensing chip, is provided with silencer in the steam vent of the sucker.
10. according to a kind of storage intelligent sorting system described in claim 1, it is characterised in that:The robot type grasping mechanism Can be SCARA robot types or degree of freedom robot formula.
CN201711263649.2A 2017-12-04 2017-12-04 One kind storage intelligent sorting system Withdrawn CN107826590A (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108816770A (en) * 2018-06-06 2018-11-16 郑文豪 A kind of warehouse logistics sorting device and its sort process
CN109676632A (en) * 2019-03-08 2019-04-26 张学河 A kind of heavy steel plate chamfering machine people
CN110179256A (en) * 2019-05-30 2019-08-30 烟台烟知企业管理咨询有限公司 It is a kind of for put cargo can intelligent control steel storage rack device
WO2019218271A1 (en) * 2018-05-16 2019-11-21 深圳蓝胖子机器人有限公司 Caching apparatus, goods-sorting apparatus and goods-sorting system
CN112158509A (en) * 2020-11-05 2021-01-01 西安磁林电气有限公司 Intelligent warehouse access system and method
CN113031615A (en) * 2021-03-11 2021-06-25 京东数科海益信息科技有限公司 Inspection robot
CN113134474A (en) * 2021-05-12 2021-07-20 佛山市祥源家具制造有限公司 Automatic sorting equipment and method for plate-type furniture components

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019218271A1 (en) * 2018-05-16 2019-11-21 深圳蓝胖子机器人有限公司 Caching apparatus, goods-sorting apparatus and goods-sorting system
CN108816770A (en) * 2018-06-06 2018-11-16 郑文豪 A kind of warehouse logistics sorting device and its sort process
CN108816770B (en) * 2018-06-06 2020-04-21 乐禾食品集团股份有限公司 Warehouse material flow sorting equipment and sorting process thereof
CN109676632A (en) * 2019-03-08 2019-04-26 张学河 A kind of heavy steel plate chamfering machine people
CN110179256A (en) * 2019-05-30 2019-08-30 烟台烟知企业管理咨询有限公司 It is a kind of for put cargo can intelligent control steel storage rack device
CN112158509A (en) * 2020-11-05 2021-01-01 西安磁林电气有限公司 Intelligent warehouse access system and method
CN112158509B (en) * 2020-11-05 2021-10-19 西安磁林电气有限公司 Intelligent warehouse access system and method
CN113031615A (en) * 2021-03-11 2021-06-25 京东数科海益信息科技有限公司 Inspection robot
CN113134474A (en) * 2021-05-12 2021-07-20 佛山市祥源家具制造有限公司 Automatic sorting equipment and method for plate-type furniture components

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