CN108100652A - It is a kind of automate get in stocks, the warehouse logistics manipulator of heap goods and joint strip code - Google Patents

Abstract

The present invention relates to it is a kind of automate get in stocks, the warehouse logistics manipulator of heap goods and joint strip code, including U-shaped sub-frame, heap goods device, patch code device and goods loading device, heap goods device is installed on the right side of the upper end of the U-shaped sub-frame, patch code device is installed, the rear end of U-shaped sub-frame is equipped with goods loading device on the left of the upper end of U-shaped sub-frame.The present invention can solve staff is needed to get in stocks cargo respectively during existing warehouse logistics, heap goods and joint strip code, when getting in stocks, personnel move cargo to designated position by artificial mode, during heap goods, personnel need to put cargo to designated position by ladder, during joint strip code, staff needs own rotation direction that could paste positive bar code on cargo, process spent time is long, labor intensity greatly and the problems such as efficiency is low, can realize carried out in storehouse automation get in stocks, the function of heap goods and joint strip code.

Description

It is a kind of automate get in stocks, the warehouse logistics manipulator of heap goods and joint strip code

Technical field

The present invention relates to warehouse logistics field, more particularly to it is a kind of automate get in stocks, the stored goods of heap goods and joint strip code Flow manipulator.

Background technology

Warehouse logistics are exactly to utilize self-built or lease storehouse, place, storage, keeping, handling, dispatching cargo, still, Staff is needed to get in stocks cargo respectively during warehouse logistics of today, heap goods and joint strip code, process complexity is cumbersome, on During goods, personnel move cargo to designated position by artificial mode, inefficient, and during heap goods, personnel need will by ladder Cargo is put to designated position, and people may fall down initiation security risk when working on ladder because of ladder shakiness, due to cargo shape Shape differs, and efficiency when staff carries also can be different, meanwhile, artificial stack goods are irregular, cause the space of storage not Enough, during joint strip code, staff needs own rotation direction that could paste positive bar code on cargo, since the shape of cargo differs, Personnel in joint strip code because no fixed cargo due to paste wrong position, personnel since work of bending over for a long time may trigger security risk, Manual work process spent time is long, and labor intensity is low with efficiency greatly.

The content of the invention

To solve the above-mentioned problems, the present invention provides it is a kind of automate get in stocks, the warehouse logistics of heap goods and joint strip code Manipulator can solve staff is needed to get in stocks cargo respectively during existing warehouse logistics, heap goods and joint strip code, mistake Journey complexity is cumbersome, and when getting in stocks, personnel move cargo to designated position by artificial mode, inefficient, during heap goods, Ren Yuanxu Cargo is put to designated position by ladder, it is hidden that people may fall down initiation safety when working on ladder because of ladder shakiness Suffer from, since cargo shape differs, efficiency when staff carries also can be different, meanwhile, artificial stack goods are irregular, cause The space of storage is inadequate, and during joint strip code, staff needs own rotation direction that could paste positive bar code on cargo, due to cargo Shape differ, personnel in joint strip code because no fixed cargo due to paste wrong position, personnel may be drawn due to work of bending over for a long time Send out security risk, the problems such as manual work process spent time is long, and labor intensity is big and efficiency is low, can realize in storehouse into Row automation is got in stocks, the function of heap goods and joint strip code, and automation is got in stocks, heap goods and joint strip code, without human intervention, it is ensured that people Member's safety, the fixed different cargo of automation gripping, stack goods are neat, save space, and it is short to expend the time, and with operation Simply, the advantages that labor intensity is small high with work efficiency.

To achieve these goals, the present invention uses following technical scheme：One kind can automate get in stocks, heap goods and joint strip code Warehouse logistics manipulator, including U-shaped sub-frame, heap goods device, patch code device and goods loading device, heap goods device carries out cargo whole Reason, patch code device carry out cargo joint strip code, and goods loading device drives cargo to be elevated to designated position, the U-shaped sub-frame it is upper End right side is equipped with heap goods device, patch code device is equipped on the left of the upper end of U-shaped sub-frame, the rear end of U-shaped sub-frame, which is equipped with, gets in stocks Device.

The heap goods device includes moving mechanism, adjusting mechanism, grasping mechanism, two one mechanisms of folder, two two machines of folder Structure and arranging mechanism, moving mechanism are mounted on the middle part of U-shaped sub-frame, adjusting mechanism are equipped in moving mechanism, adjusting mechanism Right end is equipped with grasping mechanism, and the front end of grasping mechanism is symmetrically installed there are two one mechanism of folder, and the rear end of grasping mechanism is symmetrically pacified Dress is there are two two mechanisms of folder, and two one mechanisms of folder arrange that arranging mechanism is mounted on U-shaped sub-frame in opposite directions with two two mechanisms of folder Rear end, moving mechanism drive heap goods device to be moved, and adjusting mechanism drives grasping mechanism to adjust to suitable angle, gripper Structure drives two one mechanisms of folder to be gripped with two two mechanisms of folder to cargo, and the cargo that arranging mechanism puts heap well is put Just, carry out automation crawl to cargo of different shapes, automate the neat cargo of heap, save space, without artificial stack goods, Ensure personnel safety, it is easy to operate, it is time-consuming short, labor intensity is reduced, is improved work efficiency.

The patch code device includes adjusting mechanism, two fixed mechanisms and patch ink recorder structure, adjusting mechanism and is mounted on U-shaped auxiliary On frame, two fixed mechanisms are mounted on adjusting mechanism, and adjusting mechanism is arranged in opposite directions, and patch ink recorder structure is mounted on adjusting mechanism Left end, patch ink recorder structure are mounted on the left end of adjusting mechanism, and two fixed mechanisms grip cargo, and patch ink recorder structure will be fixed Cargo carry out joint strip code, adjusting mechanism with drive two fixed mechanisms cargo is fixed, paste ink recorder structure to cargo into Row automation joint strip code, patch code is turned round without personnel, it is ensured that personnel safety, the personnel that avoid paste wrong position, easy to operate, consumption When it is short, reduce labor intensity, improve work efficiency.

The goods loading device includes get in stocks plate, two pushing mechanisms and propulsive mechanism, and plate of getting in stocks is mounted on U-shaped sub-frame On, two pushing mechanisms, which are mounted on, gets in stocks on plate, and two pushing mechanisms are arranged symmetrically, and pass through propulsion between two pushing mechanisms Mechanism is connected, and two pushing mechanisms carry out cargo to scoop up fixation, and propulsive mechanism carries out secondary fixation to cargo, and it is suitable to be elevated to During position, cargo is released and is kept completely separate until with goods loading device by propulsive mechanism, and two pushing mechanisms carry out cargo lifting and remove Fortune, propulsive mechanism carry out secondary fixation to cargo, and after being transported to designated position, propulsive mechanism pushes away away cargo, nothing It need to manually carry, it is ensured that personnel safety, it is time-consuming short, labor intensity is reduced, is improved work efficiency.

As a preferred technical solution of the present invention, the moving mechanism includes two main expansion plates, master cylinder, consolidates Determine motor, rotating threaded shaft, auxiliary movable block, L-type and move frame, multi-stage expansion plate, auxiliary slider and auxiliary chute, two main expansion plate peaces On U-shaped sub-frame, and two main expansion plates are arranged symmetrically, and the lower end of the main expansion plate of front side is equipped with master cylinder, master cylinder Top be mounted on the upper end of the main expansion plate in front side, the main expansion plate of rear end is equipped with fixed motor, fixed electricity by motor cabinet The output shaft of machine is connected by shaft coupling with the rear end of rotating threaded shaft, and the front end of rotating threaded shaft is stretched by bearing mounted on front side master Auxiliary movable block is provided on contracting plate, on rotating threaded shaft, be equipped on auxiliary movable block L-type move frame, L-type move frame right end be equipped with it is more Grade expansion plate, the lower end of multi-stage expansion plate are equipped with auxiliary slider, and auxiliary slider is by way of being slidably matched and auxiliary chute It is connected, auxiliary chute is mounted on U-shaped sub-frame, and moving mechanism drives heap goods device to carry out left and right shifting and lifting, reduces labor Fatigue resistance improves work efficiency.

As a preferred technical solution of the present invention, the adjusting mechanism includes regulation motor, ring flat-plate, rotates and slide Bar, sliding slot, two to plate, electric rotating machine, main shaft, flap, turn telescopic rod, fixture block, solid block, annulus frame, clamping branch, annulus Plate, two faggings, mobile jib, from bar, drive cylinder, electronic straight telescopic rod and cooperation cylinder, regulation motor existed by floor installation In moving mechanism, annulate lamella is installed on the output shaft of regulation motor, the lower end of ring flat-plate is uniformly equipped with rotation slide bar, rotates slide bar It is connected by way of being slidably matched with sliding slot, sliding slot is mounted in moving mechanism, and two are mounted in moving mechanism plate, and Two are arranged symmetrically plate, two to being equipped with main shaft by bearing between plate, the rear end of main shaft passes through shaft coupling and rotation The output shaft of rotating motor is connected, and electric rotating machine is by floor installation on ring flat-plate, and the front end of main shaft is mounted on flap, flap Solid block is uniformly circumferentially installed along it, Gu the outside of block is mounted on annulus frame inner wall, and sliding groove is provided on annulus frame, turned Plate is circumferentially uniformly equipped with along it and turns telescopic rod, and the top for turning telescopic rod is mounted on fixture block, and fixture block passes through the side that is slidably matched Formula is connected with sliding groove, and two faggings are mounted on ring flat-plate, and two faggings are arranged symmetrically, and the upper end of two faggings is mounted on circle On ring flat-plate, the inner wall of Circular Plate is circumferentially uniformly equipped with clamping branch along it, mobile jib is equipped on main shaft, the lower end of mobile jib leads to It crosses axis pin and is provided with cylinder of taking offence, the top of cylinder is driven to be mounted on by axis pin from bar, is pacified from the left end of bar by axis pin On mobile jib, cooperation cylinder is equipped with by axis pin from the side wall of bar, the top of cylinder is coordinated to be mounted on electricity by axis pin Move on straight telescopic rod, the upper end of electronic straight telescopic rod is mounted on by axis pin from the right side of bar, regulation motor rotate slide bar with The auxiliary lower band rotating ring plate of sliding slot is rotated, and electric rotating machine drives mobile jib to be rotated, and cylinder drive is driven to be adjusted from bar Section, electronic straight telescopic rod automatic telescopic to suitable position while rotation, turn telescopic rod and drive fixture block and the progress of clamping branch Clamping prevents regulation motor from ring flat-plate being driven loosened after rotating to designated position, when needing to rotate again, clamping branch Chain is adjusted outward allows fixture block to be smoothed out rotating, easy to operate, time-consuming short, reduces labor intensity, improves work Make efficiency.

As a preferred technical solution of the present invention, the clamping branch includes clamping cylinder, arc plate and clamping block, Clamping cylinder is mounted on the inner wall of Circular Plate, and the top of clamping cylinder is mounted on by flange on arc plate, is equipped on arc plate Clamping block, clamping cylinder drive arc plate to carry out telescopic adjustment, and clamping block plays the role of /V to fixture block, improve work effect Rate.

As a preferred technical solution of the present invention, the grasping mechanism includes square plate, rotary chute, rotary column, steady Rack, crawl gear, stand-by motor, bi-directional expansion plate, two telescopic cylinders, two reciprocating air cylinders, two strip plates, permanent tooth item With two solid sliding slots, square plate is mounted on the lower end of adjusting mechanism, and rotary chute is equipped in square plate, and rotary chute is matched somebody with somebody by sliding The mode of conjunction is connected with rotary column, and steady rack is equipped on the outer wall of rotary column, and crawl gear, crawl gear peace are engaged on steady rack On the output shaft of stand-by motor, for stand-by motor by floor installation in square plate, the lower end of rotary column is mounted on bi-directional expansion On plate, and circular trough is symmetrically arranged on bi-directional expansion plate, the installation of the right side of bi-directional expansion plate is there are two telescopic cylinder, and two Telescopic cylinder is arranged symmetrically, and the top of telescopic cylinder is mounted on the outside of bi-directional expansion plate by flange, pacifies on bi-directional expansion plate Dress is there are two reciprocating air cylinder, and two reciprocating air cylinders are arranged symmetrically, and the top of each reciprocating air cylinder is mounted on strip by flange On plate, strip plate is connected by way of being slidably matched with solid sliding slot, Gu sliding slot is mounted on bi-directional expansion plate, and the two of strip plate Side is equipped with permanent tooth item, and according to the pattern of cargo, grasping mechanism is adjusted, and stand-by motor drives crawl gear to be rotated, Crawl gear drives steady rack to be rotated on rotary chute, and two telescopic cylinders drive bi-directional expansion plate to stretch to both sides, Two reciprocating air cylinders drive permanent tooth item to be moved under the auxiliary of two solid sliding slots, are adjusted according to size automation to suitable Angle and length, without human intervention, it is ensured that personnel safety, it is easy to operate, it is time-consuming short, labor intensity is reduced, is improved Work efficiency.

As a preferred technical solution of the present invention, one mechanism of folder and two mechanisms of folder are structure, size is homogeneous The same mechanism of cause, one mechanism of folder include circular block, adjustment gear, connecting plate, grasping plate, working cylinder, gripping pawl, connection Cylinder, a flexible bar and fine adjustment block, circular block are connected by way of being slidably matched with circular trough, and the upper end of circular block is equipped with Adjustment gear is engaged with permanent tooth item in adjustment gear, and the lower end of circular block is equipped with connecting plate, and the lower end of connecting plate is installed by axis pin There is working cylinder, the top of working cylinder is mounted on by axis pin in grasping plate, and the upper end of grasping plate is mounted on by axis pin on connecting plate, Connection cylinder is equipped with by axis pin on the side wall of grasping plate, the top for connecting cylinder is mounted on by axis pin on gripping pawl, gripping The upper end of pawl is mounted on by axis pin in grasping plate, grips and a flexible bar is uniformly equipped on the side wall of pawl, the top for the bar that stretches In fine adjustment block, as requested, the reciprocating air cylinder on grasping mechanism drives permanent tooth item to be moved under the auxiliary of solid sliding slot Dynamic, Gu rack drives adjustment gear carries out angular adjustment, adjustment gear drives circular block to be rotated, and working cylinder drives grasping plate It is adjusted, connection cylinder drives gripping pawl to carry out angular adjustment, and according to the shape of cargo, the bar that stretches drives fine adjustment block to goods Object surface is clamped, and automation crawl is carried out to cargo of different shapes, time-consuming short, is reduced labor intensity, is improved work Make efficiency.

As a preferred technical solution of the present invention, the arranging mechanism includes two electronic sliding blocks, square slide, electricity Dynamic support telescopic rod, electronic auxiliary telescopic rod, T-shaped solid frame, operation cylinder and two ajust branch, and two electronic sliding blocks are mounted on U-shaped On sub-frame, square slide is provided on two electronic sliding blocks, the upper end of square slide is equipped with electronic support telescopic rod, electronic support telescopic rod On electronic auxiliary telescopic rod is installed, the right end of electronic auxiliary telescopic rod is equipped with operation cylinder by axis pin, operates the top of cylinder It is mounted on by axis pin on T-shaped solid frame, T-shaped solid frame is mounted on by axis pin on electronic auxiliary telescopic rod, and two are equipped on T-shaped solid frame It is a to ajust branch, and two are ajusted unbranched symmetric arrangement, two electronic sliding blocks drive arranging mechanism to be moved, and electronic support is stretched Bar is adjusted with electronic auxiliary telescopic rod drives arranging mechanism to be moved to suitable position, after two are ajusted branch gripping stacking Cargo, operation cylinder drive T-shaped solid frame progress angular adjustment that the cargo after stacking is ajusted into type, and two electronic sliding blocks drive Cargo carries out being moved to designated position, automates the neat cargo of heap, saves space, time-consuming short, reduces labor intensity, improves Work efficiency.

As a preferred technical solution of the present invention, the branch of ajusting includes symmetrical cylinder, L-type balladeur train, grabs surely Plate is mounted on steady cylinder, symmetrical cylinder is grabbed on T-shaped solid frame, and the top of symmetrical cylinder is mounted on by flange on L-type balladeur train, L Type balladeur train is connected by way of being slidably matched with T-shaped solid frame, is equipped on the side wall of L-type balladeur train by axis pin and is grabbed steady cylinder, It grabs the top of steady cylinder and is mounted on by axis pin and grab steady plate, grab steady plate and be mounted on by hinge on L-type balladeur train, symmetrical cylinder drives L-type balladeur train stretches, and grabs steady cylinder drive and grabs steady plate progress angular adjustment, automates fixed cargo, reduce labor intensity, It improves work efficiency.

As a preferred technical solution of the present invention, the adjusting mechanism include angle motor, upper plate, auxiliary slide bar, Auxiliary sliding slot, connection slide bar, electronic connection expansion link, electronic fixed telescopic rod, angle adjustment plate, arc-shaped rack, are matched somebody with somebody at arc chute Close gear, micro-machine, linking board and square connecting plate, angle motor by floor installation on U-shaped sub-frame, the output of angle motor Upper plate is installed on axis, the lower end of upper plate is uniformly equipped with auxiliary slide bar, auxiliary slide bar by way of being slidably matched with auxiliary sliding slot phase Even, auxiliary sliding slot is mounted on U-shaped sub-frame, and the upper end of upper plate is equipped with electronic connection expansion link, the right end of electronic connection expansion link Connection slide bar is installed, connection slide bar is connected by way of being slidably matched with arc chute, and arc chute is mounted on U-shaped sub-frame On, the left end of electronic connection expansion link is equipped with electronic fixed telescopic rod, and the lower end of electronic fixed telescopic rod is installed by axis pin Angled adjustable plate, the right end of angle adjustment plate are equipped with arc-shaped rack, mate gear, mate gear are engaged on arc-shaped rack On the output shaft of micro-machine, micro-machine by floor installation on electronic fixed telescopic rod, on angle adjustment plate Linking board is installed, square connecting plate is installed, angle motor is in auxiliary slide bar with being driven under the auxiliary of auxiliary sliding slot on the side wall of linking board Upper plate is rotated, and connection slide bar plays the role of connection with sliding, and electronic connection expansion link is carried out with electronic fixed telescopic rod Telescopic adjustment, micro-machine drive mate gear to be rotated, and mate gear drives arc-shaped rack to be rotated, as requested, Adjusting mechanism drives two fixed mechanisms to adjust to suitable position, without human intervention, reduces labor intensity, improves work Make efficiency.

As a preferred technical solution of the present invention, the fixed mechanism include No.1 bar, No. two bars, No. three bars, Hydraulic cylinder, fixed plate and multijaw branch are adjusted, hydraulic cylinder is adjusted and is mounted on by axis pin on linking board, adjust the top of hydraulic cylinder It is mounted on by axis pin on No.1 bar, the right end of No.1 bar is mounted on by axis pin on linking board, and the left end of No.1 bar passes through pin Axis is mounted on the right end of No. two bars, and the left ends of No. two bars is connected by axis pin and No. three bars, and the right end of No. three bars passes through axis pin On square connecting plate, the left end of No. two bars is mounted in fixed plate, and multijaw branch, and multijaw branch are uniformly equipped in fixed plate Chain arranges in opposite directions, and two adjust hydraulic cylinders and two No.1 bars driven to be adjusted so that two fixed mechanisms are moved toward one another, Multijaw branch carries out cargo crawl fixation, and two fixed mechanisms fix cargo, turn round patch code without personnel, really Personnel safety has been protected, personnel has been avoided and pastes wrong position, reduce labor intensity, improve work efficiency.

As a preferred technical solution of the present invention, the multijaw branch includes small cylinder and V-type pawl, small-sized gas Cylinder is mounted on by axis pin in fixed plate, and the top of small cylinder is mounted on by axis pin on the side wall of V-type pawl, and V-type pawl passes through Hinge is mounted in fixed plate, and small cylinder drives V-type pawl to carry out crawl to cargo and has been fixed conveniently patch ink recorder structure to cargo patch Bar code reduces labor intensity, improves work efficiency.

As a preferred technical solution of the present invention, the patch ink recorder structure is moved including electronic cooperation telescopic rod, two Strength cylinder, firm plate, two No.1 plates, No.1 idler wheel, two No. two plates, No. two idler wheels, No. two motors, two No. three plates, three Number idler wheel, No. three motors, ladder type frame, patch code cylinder, patch code plate, cutter, patch code-bar, lower air cylinder and lower lock block, electronic cooperation Telescopic rod is mounted on angle adjustment plate, actuating cylinder there are two installations on electronic cooperation telescopic rod, and two actuating cylinders pair Claim arrangement, the top of two actuating cylinders is mounted on by flange on firm plate, and two are symmetrically installed in the middle part of the lower end of firm plate A No.1 plate is equipped with No.1 idler wheel between the inner wall of two No.1 plates by bearing, is symmetrically installed on front side of the lower end of firm plate There are two No. two plates, No. two idler wheels are equipped with by bearing between the inner wall of two No. two plates, the left end of No. two idler wheels passes through connection Axis device is connected with No. two motors, and No. two motors on No. two plates in left side, are consolidated symmetrical on rear side of the lower end of plate by floor installation Installation is equipped with No. three idler wheels, the left end of No. three idler wheels leads to there are two No. three plates between the inner wall of two No. three plates by bearing It crosses shaft coupling with No. three motors to be connected, No. three motors on No. three plates in left side, are equipped with by floor installation on No.1 idler wheel Code-bar is pasted, the base stock for pasting code-bar is wrapped on No. three idler wheels, and the paster for pasting code-bar is wrapped in by ladder type frame on No. two idler wheels, surely The lower end of solid plate is equipped with ladder type frame, and mating groove is provided on ladder type frame, and the lower end of firm plate is symmetrically installed with patch code cylinder, The top for pasting code cylinder is mounted on by flange on patch code plate, and pastes and auxiliary tank is provided on code plate, the lower end installation of patch code plate There is cutter, the lower end of firm plate is equipped with lower air cylinder, and the top of lower air cylinder is mounted on by flange on lower lock block, and is pushed Block is located in auxiliary tank, and as requested, electronic cooperation telescopic rod and two actuating cylinders drive firm plate to adjust to suitable position It puts, No. two motors drive No. two idler wheels to be rotated, No. two idler wheels drive the paster of patch code-bar to be rotated, No. three motor bands It moves No. three idler wheels to be rotated, No. three idler wheels drive the base stock of patch code-bar to be rotated, and patch code cylinder drives cutter to pasting code-bar Paster cut, simultaneously as patch code-bar paster have stickiness, lower air cylinder drive lower lock block to paste code-bar paster Push so that the paster of patch code-bar is pasted onto on cargo, automation joint strip code without human intervention, it is strong to reduce work Degree, improves work efficiency.

The pushing mechanism includes two symmetrical sliding slots, two symmetrical slide bars, promotes rack, pushing motor, promotes tooth Wheel, U-shaped push bracket, limit sliding chutes, position limiting slide block drive motor, promote leading screw, pushing block, promote shovel, to shovel, mobile cylinder, promotion Expansion plate and gripping plate, two symmetrical sliding slots, which are mounted on, gets in stocks on plate, and symmetrical sliding slot is by way of being slidably matched and symmetrical sliding Bar is connected, and two symmetrical slide bars have pushing motor on the front end of U-shaped push bracket, the side wall of U-shaped push bracket by floor installation, Promotion gear on the output shaft of pushing motor is installed, promotes and promotion rack is engaged on gear, rack is promoted to be mounted on and is got in stocks On plate, there is drive motor in the lower end of U-shaped push bracket by floor installation, drives on the output shaft of motor through shaft coupling with promoting silk Thick stick is connected, and the upper end of leading screw is promoted to be mounted on by bearing in U-shaped push bracket, promotes and is provided with pushing block, the front end of pushing block on leading screw Position limiting slide block is installed, position limiting slide block is connected by way of being slidably matched with limit sliding chutes, and limit sliding chutes are mounted on U-shaped push bracket On, the rear end of pushing block is equipped with promotion shovel, promotes and is equipped on the inside of shovel to shovel, promotes and mobile cylinder is equipped on the outside of shovel, The top of mobile cylinder is mounted on by flange and promoted on expansion plate, promotes and gripping plate is equipped on the outside of expansion plate, promotes electricity Machine is moved by the kind of drive of wheel and rack, and pushing motor is in the auxiliary of two symmetrical sliding slots and two symmetrical slide bars It is lower that U-shaped push bracket is driven to be moved, motor is driven to drive, leading screw is promoted to be rotated, pushing block is being pushed away by the kind of drive of screw thread It is lifted on dynamic leading screw, pushing block, which drives, promotes shovel to be lifted after being scooped up to cargo, and mobile cylinder drives gripping plate to cargo Both sides are fixed, and two pushing mechanisms carry out cargo automation lifting and carry, without manually carrying, it is ensured that Ren Yuanan Entirely, it is time-consuming short, labor intensity is reduced, is improved work efficiency.

As a preferred technical solution of the present invention, the propulsive mechanism includes two to expansion plate, slab, propulsion gas Cylinder, pushing plate, longitudinal cylinder and two cooperation branches, two between expansion plate is mounted on two pushing mechanisms, and two to expansion plate Front end slab is installed, slab is mounted on and gets in stocks on plate, and two are uniformly equipped with propulsion cylinder to the rear end of expansion plate, promote gas The top of cylinder is mounted on by flange on pushing plate, and the both ends installation of pushing plate is there are two cooperation branch, and two coordinate branches It is arranged symmetrically, longitudinal cylinder is installed on pushing plate, the top of longitudinal cylinder is mounted on by flange on cooperation branch, promotes gas Cylinder drives pushing plate to be moved to suitable position, and longitudinal cylinder drives cooperation branch to carry out secondary fixation to cargo, and two to flexible Plate plays the role of connection support, and propulsive mechanism carries out secondary fixation to cargo, and after being transported to designated position, propulsive mechanism is to goods Object pushes away away, time-consuming short, reduces labor intensity, improves work efficiency.

As a preferred technical solution of the present invention, the cooperation branch includes stretching plate, L-type clamping plate, sliding cylinder And movable pulley, it stretches plate and is connected by way of being slidably matched with pushing plate, and stretch and square groove is provided on plate, it stretches and is equipped on plate Sliding cylinder, the top of sliding cylinder is mounted on by flange on L-type clamping plate, and auxiliary slot is provided on L-type clamping plate, is led in auxiliary slot It crosses axis pin and movable pulley is uniformly installed, L-type clamping plate is connected by way of being slidably matched with square groove, sliding when needing fixed Cylinder of taking offence drives L-type clamping plate to move backward, and two longitudinal cylinders drive two to stretch plate and are adjusted so that two L-type clamping plates are to goods Object carries out secondary fixation, and when needing to push away cargo, sliding cylinder drives L-type clamping plate to move forward, the longitudinal cylinder band of upside Dynamic upper side extending plate is adjusted up, and since movable pulley reduces the frictional force between cargo and L-type clamping plate, propulsion cylinder drives cooperation Branch is adjusted forward coordinates branch to be away from cargo until two, and automation is fixed with pushing away, time-consuming short, and it is strong to reduce work Degree, improves work efficiency.

During work, first, the present invention is placed into existing mobile equipment by artificial mode, second step, pastes code Adjusting mechanism on device is started to work, and the angle motor on adjusting mechanism drives upper plate under the auxiliary of auxiliary slide bar and auxiliary sliding slot It is rotated, connection slide bar plays the role of connection with sliding, and electronic connection expansion link stretches with electronic fixed telescopic rod It adjusting, micro-machine drives mate gear to be rotated, and mate gear drives arc-shaped rack to be rotated, afterwards, two fixations Mechanism starts to work, and two on fixed mechanism adjust hydraulic cylinder and two No.1 bars is driven to be adjusted so that two fixed mechanisms It is moved toward one another, multijaw branch carries out cargo crawl fixation, and multijaw branch is started to work, the small cylinder on multijaw branch V-type pawl is driven to carry out crawl to cargo and has been fixed conveniently patch ink recorder structure to cargo joint strip code, afterwards, patch ink recorder structure is started to work, As requested, electronic cooperation telescopic rod and two actuating cylinders drive firm plate to adjust to suitable position, No. two motors drives No. two idler wheels are rotated, No. two idler wheels drive the paster of patch code-bar to be rotated, and No. three motors drive No. three idler wheels to be turned Dynamic, No. three idler wheels drive the base stock of patch code-bar to be rotated, and patch code cylinder drives cutter to cut the paster for pasting code-bar, together When, since the paster of patch code-bar has stickiness, lower lock block is driven to the paster for pasting code-bar push for lower air cylinder so that patch code The paster of item is pasted onto on cargo, the 3rd step, and heap goods device is started to work, and moving mechanism drives heap goods device to be moved, and is adjusted Saving mechanism drives grasping mechanism to adjust to suitable angle, and two one mechanisms of folder of grasping mechanism drive are with two two mechanisms of folder to goods Object is gripped, and the cargo that arranging mechanism puts heap well is ajusted, and afterwards, moving mechanism starts to work, and moving mechanism drives Heap goods device carries out left and right shifting and lifting, and afterwards, adjusting mechanism is started to work, and the regulation motor on adjusting mechanism is rotating cunning The auxiliary lower band rotating ring plate of bar and sliding slot is rotated, electric rotating machine drive mobile jib rotated, drive cylinder drive from bar into Row is adjusted, electronic straight telescopic rod automatic telescopic to suitable position, while rotation, is turned telescopic rod and is driven fixture block and clamping branch Carrying out clamping prevents regulation motor from ring flat-plate being driven loosened after rotating to designated position, when needing to rotate again, card Tight branch is adjusted outward allow fixture block to be smoothed out rotating, and clamping branch is started to work, clamping cylinder drive arc plate into Row telescopic adjustment, clamping block play the role of fixture block /V, and afterwards, grasping mechanism is started to work, and according to the pattern of cargo, is grabbed Mechanism is taken to be adjusted, stand-by motor drives crawl gear to be rotated, and crawl gear drives steady rack enterprising in rotary chute Row rotates, and two telescopic cylinders drive bi-directional expansion plate to stretch to both sides, and two reciprocating air cylinders are under the auxiliary of two solid sliding slots Permanent tooth item is driven to be moved, afterwards, two one mechanisms of folder are cooperated with each other with two two mechanisms of folder, as requested, crawl Reciprocating air cylinder in mechanism drives permanent tooth item to be moved under the auxiliary of solid sliding slot, Gu rack drives adjustment gear carries out angle Adjust, adjustment gear drive circular block rotated, working cylinder drive grasping plate be adjusted, connection cylinder drive gripping pawl into Row angular adjustment, according to the shape of cargo, a flexible bar drives fine adjustment block to be clamped cargo surfaces, afterwards, arranging mechanism It starts to work, the electronic sliding blocks of two on arranging mechanism drive arranging mechanisms to be moved, and electronic support telescopic rod auxiliary is stretched with electronic Contracting bar, which is adjusted, drives arranging mechanism to be moved to suitable position, and two are ajusted the cargo after branch gripping is stacked, and operate gas Cylinder drives T-shaped solid frame progress angular adjustment that the cargo after stacking is ajusted into type, and two electronic sliding blocks drive cargos to be moved It moves to designated position, ajusts branch start-up operation, symmetrical cylinder drives L-type balladeur train to stretch, and grabs steady cylinder drive and grabs steady plate Angular adjustment, the 4th step are carried out, two pushing mechanisms of goods loading device are started to work, and the pushing motor on pushing mechanism passes through tooth The kind of drive of wheel and rack is moved, and pushing motor drives U under the auxiliary of two symmetrical sliding slots and two symmetrical slide bars Type push bracket is moved, and motor is driven to drive, leading screw is promoted to be rotated, and pushing block is promoting leading screw by the kind of drive of screw thread On lifted, pushing block drive promote shovel cargo is scooped up after lift, mobile cylinder drive gripping plate to cargo both sides into Row is fixed, and propulsive mechanism is started to work, and the propulsion cylinder on propulsive mechanism drives pushing plate to be moved to suitable position, longitudinal gas Cylinder drives cooperation branch to carry out secondary fixation to cargo, and two play the role of connection support to expansion plate, and cooperation branch starts work Make, when needing fixed, sliding cylinder drives L-type clamping plate to move backward, and two longitudinal cylinders drive two to stretch plate and are adjusted So that two L-type clamping plates carry out secondary fixation to cargo, when needing to push away cargo, sliding cylinder drives L-type clamping plate to Forward Dynamic, the longitudinal cylinder of upside drives upper side extending plate to be adjusted up, since movable pulley reduces the friction between cargo and L-type clamping plate Power, propulsion cylinder drive cooperation branch adjust forward until two coordinate branches be away from cargo, can realize in storehouse into Row automation is got in stocks, the function of heap goods and joint strip code.

The beneficial effects of the present invention are：

1st, the present invention can solve staff is needed to get in stocks cargo respectively during existing warehouse logistics, heap goods and Joint strip code, process complexity is cumbersome, and when getting in stocks, personnel move cargo to designated position by artificial mode, inefficient, heap goods When, personnel need to put cargo to designated position by ladder, and people may fall down when working on ladder because of ladder shakiness to draw Security risk is sent out, since cargo shape differs, efficiency when staff carries also can be different, meanwhile, artificial stack goods are not Neatly, the space for causing storage is inadequate, and during joint strip code, staff needs own rotation direction that could paste positive item on cargo Code, since the shape of cargo differs, personnel in joint strip code because no fixed cargo due to paste wrong position, personnel due to bending over for a long time The problems such as work may trigger security risk, and manual work process spent time is long, and labor intensity is big and efficiency is low, can realize Carried out in storehouse automation get in stocks, the function of heap goods and joint strip code, automation is got in stocks, heap goods and joint strip code, without manually grasping Make, it is ensured that personnel safety, the fixed different cargo of automation gripping, stack goods are neat, save space, expend the time It is short, and have many advantages, such as that easy to operate, labor intensity is small high with work efficiency；

2nd, the present invention is provided with heap goods device, and automation crawl is carried out to cargo of different shapes, automates the neat cargo of heap, Space is saved, without artificial stack goods, it is ensured that personnel safety, it is easy to operate, it is time-consuming short, labor intensity is reduced, is carried High work efficiency；

3rd, the present invention is provided with patch code device, and two fixed mechanisms of adjusting mechanism and drive fix cargo, Patch ink recorder structure carries out cargo automation joint strip code, and patch code is turned round without personnel, it is ensured that personnel safety, the personnel that avoid paste wrong Position, it is easy to operate, it is time-consuming short, labor intensity is reduced, is improved work efficiency；

4th, the present invention is provided with goods loading device, and two pushing mechanisms carry out lifting carrying to cargo, and propulsive mechanism is to cargo Secondary fixation is carried out, after being transported to designated position, propulsive mechanism pushes away away cargo, without manually carrying, it is ensured that Personnel safety, it is time-consuming short, labor intensity is reduced, is improved work efficiency.

Description of the drawings

The present invention is further described with reference to the accompanying drawings and examples.

Fig. 1 is the structure diagram of the present invention；

Fig. 2 is the first structure schematic diagram between heap goods device of the present invention and U-shaped sub-frame；

Fig. 3 is the second structure diagram between heap goods device of the present invention and U-shaped sub-frame；

Fig. 4 is the structure diagram between present invention patch code device and U-shaped sub-frame；

Fig. 5 is the structure diagram of present invention patch ink recorder structure；

Fig. 6 is the sectional view of Fig. 5 of the present invention；

Fig. 7 is the structure diagram of goods loading device of the present invention；

The structure diagram that Fig. 8 is pushing mechanism of the present invention between plate of getting in stocks；

Fig. 9 is the structure diagram of propulsive mechanism of the present invention；

Figure 10 is the Y-direction partial enlarged view of Fig. 2 of the present invention；

Figure 11 is the Z-direction partial enlarged view of Fig. 2 of the present invention.

Specific embodiment

In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below Conjunction is specifically illustrating, and the present invention is further explained.It should be noted that in the case where there is no conflict, embodiment in the application and Feature in embodiment can be combined with each other.

As shown in Figure 1 to 11, to achieve these goals, the present invention uses following technical scheme：One kind can automate It gets in stocks, the warehouse logistics manipulator of heap goods and joint strip code, including U-shaped sub-frame 115, heap goods device 2, patch code device 3 and dress of getting in stocks 4 are put, heap goods device 2 arranges cargo, and patch code device 3 carries out cargo joint strip code, and goods loading device 4 drives cargo to be elevated to Designated position, the upper end right side of the U-shaped sub-frame 115 are equipped with heap goods device 2, are equipped on the left of the upper end of U-shaped sub-frame 115 Code device 3 is pasted, the rear end of U-shaped sub-frame 115 is equipped with goods loading device 4.

The heap goods device 2 includes 24, two moving mechanism 21, adjusting mechanism 22, grasping mechanism one mechanisms 26, two of folder Two mechanisms 27 of a folder and arranging mechanism 28, moving mechanism 21 are mounted on the middle part of U-shaped sub-frame 115, are equipped in moving mechanism 21 Adjusting mechanism 22, the right end of adjusting mechanism 22 are equipped with grasping mechanism 24, and the front end of grasping mechanism 24 is symmetrically installed that there are two folders One mechanism 26, the rear end of grasping mechanism 24 is symmetrically installed there are two two mechanisms 27 of folder, and two press from both sides a mechanisms 26 and two folders two Mechanism 27 arranges that arranging mechanism 28 is mounted on the rear end of U-shaped sub-frame 115 in opposite directions, and moving mechanism 21 drives heap goods device 2 to be moved Dynamic, adjusting mechanism 22 drives grasping mechanism 24 to adjust to suitable angle, two one mechanisms 26 and two of folder of the drive of grasping mechanism 24 Two mechanisms 27 of a folder grip cargo, and the cargo that arranging mechanism 28 puts heap well is ajusted, to cargo of different shapes Automation crawl is carried out, the neat cargo of heap is automated, space is saved, without artificial stack goods, it is ensured that personnel safety, operation Simply, it is time-consuming short, labor intensity is reduced, is improved work efficiency.

The patch code device 3 includes 31, two fixed mechanisms 33 of adjusting mechanism and patch ink recorder structure 34, and adjusting mechanism 31 is pacified On U-shaped sub-frame 115, two fixed mechanisms 33 are mounted on adjusting mechanism 31, and adjusting mechanism 31 is arranged in opposite directions, paste ink recorder Structure 34 is mounted on the left end of adjusting mechanism 31, and patch ink recorder structure 34 is mounted on the left end of adjusting mechanism 31, and two fixed mechanisms 33 are right Cargo is gripped, and fixed cargo is carried out joint strip code by patch ink recorder structure 34, and adjusting mechanism 31 is with driving two fixed mechanisms 33 Cargo is fixed, patch ink recorder structure 34 carries out cargo automation joint strip code, turns round patch code without personnel, it is ensured that people Member's safety, the personnel that avoid paste wrong position, easy to operate, time-consuming short, reduce labor intensity, improve work efficiency.

The goods loading device 4 includes getting in stocks 44, two pushing mechanisms 41 of plate and propulsive mechanism 43, plate 44 of getting in stocks are mounted on On U-shaped sub-frame 115, two pushing mechanisms 41, which are mounted on, gets in stocks on plate 44, and two pushing mechanisms 41 are arranged symmetrically, two promotions It is connected between mechanism 41 by propulsive mechanism 43, two pushing mechanisms 41 carry out cargo to scoop up fixation, and propulsive mechanism 43 is to goods Object carries out secondary fixation, and when being elevated to suitable position, cargo is released and is kept completely separate until with goods loading device 4 by propulsive mechanism 43, Two pushing mechanisms 41 carry out cargo lifting carrying, and propulsive mechanism 43 carries out secondary fixation to cargo, is transported to designated position Afterwards, propulsive mechanism 43 pushes away away cargo, without manually carrying, it is ensured that personnel safety, it is time-consuming short, and reduce work Intensity improves work efficiency.

The moving mechanism 21 includes two main expansion plates 211, master cylinder 212, fixed motor 213, rotating threaded shaft 214th, auxiliary movable block 215, L-type move frame 216, multi-stage expansion plate 217, auxiliary slider 218 and auxiliary chute 219, and two masters are flexible Plate 211 is mounted on U-shaped sub-frame 115, and two main expansion plates 211 are arranged symmetrically, the lower end installation of the main expansion plate 211 of front side There is master cylinder 212, the top of master cylinder 212 is mounted on the upper end of the main expansion plate 211 in front side, and the main expansion plate 211 of rear end passes through Motor cabinet is equipped with fixed motor 213, and the output shaft of fixed motor 213 is connected by shaft coupling with the rear end of rotating threaded shaft 214, The front end of rotating threaded shaft 214 is mounted on by bearing on the main expansion plate 211 in front side, and auxiliary movable block is provided on rotating threaded shaft 214 215, L-type is installed on auxiliary movable block 215 and moves frame 216, the right end that L-type moves frame 216 is equipped with multi-stage expansion plate 217, and multistage is stretched The lower end of contracting plate 217 is equipped with auxiliary slider 218, auxiliary slider 218 by way of being slidably matched with 219 phase of auxiliary chute Even, auxiliary chute 219 is mounted on U-shaped sub-frame 115, and moving mechanism 21 drives heap goods device 2 to carry out left and right shifting and lifting, subtracts Small labor intensity, improves work efficiency.

The adjusting mechanism 22 includes regulation motor 221, ring flat-plate 222, rotates slide bar 223, sliding slot 224, two to plate 225th, electric rotating machine 226, main shaft 227, flap 228, turn telescopic rod 229, fixture block 230, solid block 231, annulus frame 232, clamping Branch 233,234, two faggings 235 of Circular Plate, mobile jib 236, from bar 237, drive and cylinder 238, electronic straight telescopic rod 239 and match somebody with somebody Cylinder 240 is closed, in moving mechanism 21, ring is equipped on the output shaft of regulation motor 221 by floor installation for regulation motor 221 Plate 222, the lower end of ring flat-plate 222, which is uniformly equipped with, rotates slide bar 223, rotates slide bar 223 by way of being slidably matched and sliding slot 224 are connected, and sliding slot 224 is mounted in moving mechanism 21, and two are mounted in moving mechanism 21 plate 225, and two to plate 225 Be arranged symmetrically, two to being equipped with main shaft 227 by bearing between plate 225, the rear end of main shaft 227 passes through shaft coupling and rotation The output shaft of rotating motor 226 is connected, and electric rotating machine 226 by floor installation on ring flat-plate 222, install by the front end of main shaft 227 On flap 228, flap 228 is circumferentially uniformly equipped with solid block 231 along it, Gu the outside of block 231 is mounted on 232 inner wall of annulus frame On, and sliding groove is provided on annulus frame 232, flap 228 is circumferentially uniformly equipped with along it turns telescopic rod 229, turns telescopic rod 229 Top be mounted on fixture block 230 on, fixture block 230 is connected by way of being slidably matched with sliding groove, and two faggings 235 are mounted on On ring flat-plate 222, and two faggings 235 are arranged symmetrically, and the upper end of two faggings 235 is mounted in Circular Plate 234, Circular Plate 234 Inner wall along its circumferentially clamping branch 233 is uniformly installed, mobile jib 236 is installed, the lower end of mobile jib 236 leads on main shaft 227 It crosses axis pin and is provided with cylinder 238 of taking offence, the top of cylinder 238 is driven to be mounted on by axis pin from bar 237, from a left side for bar 237 End is mounted on by axis pin on mobile jib 236, is equipped with cooperation cylinder 240 by axis pin from the side wall of bar 237, is coordinated cylinder 240 top is mounted on by axis pin on electronic straight telescopic rod 239, and the upper end of electronic straight telescopic rod 239 is mounted on by axis pin From the right side of bar 237, regulation motor 221 is rotated in rotation slide bar 223 and the auxiliary lower band rotating ring plate 222 of sliding slot 224, is revolved Rotating motor 226 drives mobile jib 236 to be rotated, and cylinder 238 is driven to drive from bar 237 and is adjusted, and electronic straight telescopic rod 239 is certainly It is dynamic to stretch to suitable position, while rotation, turn telescopic rod 229 and fixture block 230 is driven to be prevented with the progress clamping of clamping branch 233 Regulation motor 221 drives ring flat-plate 222 loosened after rotating to designated position, when needing to rotate again, clamping branch 233 adjustings outward allow fixture block 230 to be smoothed out rotating, easy to operate, time-consuming short, reduce labor intensity, improve Work efficiency.

The clamping branch 233 includes clamping cylinder 2331, arc plate 2332 and clamping block 2333, and clamping cylinder 2331 is pacified On the inner wall of Circular Plate 234, the top of clamping cylinder 2331 is mounted on by flange on arc plate 2332, is pacified on arc plate 2332 Equipped with clamping block 2333, clamping cylinder 2331 drives arc plate 2332 to carry out telescopic adjustment, and clamping block 2333 plays limit to fixture block 230 The effect of position, improves work efficiency.

The grasping mechanism 24 includes square plate 241, rotary chute 242, rotary column 243, steady rack 244, crawl gear 245th, stand-by motor 246,249, two strip plates 250 of the reciprocating air cylinder of telescopic cylinder 248, two of bi-directional expansion plate 247, two, Permanent tooth item 251 and two solid sliding slots 252, square plate 241 are mounted on the lower end of adjusting mechanism 22, and rotation is equipped in square plate 241 and is slided Slot 242, rotary chute 242 are connected by way of being slidably matched with rotary column 243, and steady rack is equipped on the outer wall of rotary column 243 244, crawl gear 245 is engaged on steady rack 244, crawl gear 245 is mounted on the output shaft of stand-by motor 246, auxiliary Motor 246 is by floor installation in square plate 241, and the lower end of rotary column 243 is mounted on bi-directional expansion plate 247, and bi-directional expansion It is symmetrically arranged with circular trough on plate 247, the right side installation of bi-directional expansion plate 247 is there are two telescopic cylinder 248, and two flexible gas Cylinder 248 is arranged symmetrically, and the top of telescopic cylinder 248 is mounted on the outside of bi-directional expansion plate 247, bi-directional expansion plate by flange Installation is there are two reciprocating air cylinder 249 on 247, and two reciprocating air cylinders 249 are arranged symmetrically, and the top of each reciprocating air cylinder 249 leads to Flange is crossed on strip plate 250, strip plate 250 is connected by way of being slidably matched with solid sliding slot 252, Gu sliding slot 252 On bi-directional expansion plate 247, the both sides of strip plate 250 are equipped with permanent tooth item 251, according to the pattern of cargo, grasping mechanism 24 are adjusted, and stand-by motor 246 drives crawl gear 245 to be rotated, and crawl gear 245 drives steady rack 244 rotating It is rotated on sliding slot 242, two telescopic cylinders 248 drive bi-directional expansion plate 247 to stretch to both sides, two reciprocating air cylinders 249 Under the auxiliary of two solid sliding slots 252 permanent tooth item 251 is driven to be moved, according to size automation adjust to suitable angle with Length, without human intervention, it is ensured that personnel safety, it is easy to operate, it is time-consuming short, labor intensity is reduced, improves work effect Rate.

One mechanism 26 of folder and two mechanisms 27 of folder are structure, the consistent same mechanism of size, one machine of folder Structure 26 includes circular block 261, adjustment gear 262, connecting plate 263, grasping plate 264, working cylinder 265, gripping pawl 266, connection cylinder 267th, a flexible bar 268 and fine adjustment block 269, circular block 261 are connected by way of being slidably matched with circular trough, circular block 261 Upper end adjustment gear 262 is installed, permanent tooth item 251 is engaged in adjustment gear 262, the lower end of circular block 261 is equipped with company Plate 263, the lower end of connecting plate 263 are equipped with working cylinder 265 by axis pin, and the top of working cylinder 265 is mounted on by axis pin In grasping plate 264, the upper end of grasping plate 264 is mounted on by axis pin on connecting plate 263, is equipped on the side wall of grasping plate 264 by axis pin Cylinder 267 is connected, the top for connecting cylinder 267 is mounted on by axis pin on gripping pawl 266, and the upper end of gripping pawl 266 passes through pin Axis is mounted in grasping plate 264, is gripped and is uniformly equipped with a flexible bar 268 on the side wall of pawl 266, the top peace for the bar 268 that stretches In fine adjustment block 269, as requested, the reciprocating air cylinder 249 on grasping mechanism 24 drives permanent tooth under the auxiliary of solid sliding slot 252 Item 251 is moved, permanent tooth item 251 drive adjustment gear 262 carry out angular adjustment, adjustment gear 262 drive circular block 261 into Row rotates, and working cylinder 265 drives grasping plate 264 to be adjusted, and connection cylinder 267 drives gripping pawl 266 to carry out angular adjustment, root According to the shape of cargo, a flexible bar 268 drives fine adjustment block 269 to be clamped cargo surfaces, and cargo of different shapes is carried out Automation crawl, it is time-consuming short, labor intensity is reduced, is improved work efficiency.

The arranging mechanism 28 includes two electronic sliding blocks 281, square slide 282, electronic support telescopic rod 283, electronic auxiliary Telescopic rod 284, T-shaped solid frame 285, operation cylinder 286 and two ajust branch 287, and two electronic sliding blocks 281 are mounted on U-shaped auxiliary On frame 115, square slide 282 is provided on two electronic sliding blocks 281, the upper end of square slide 282 is equipped with electronic support telescopic rod 283, electronic auxiliary telescopic rod 284 is installed on electronic support telescopic rod 283, the right end of electronic auxiliary telescopic rod 284 is installed by axis pin There is operation cylinder 286, the top for operating cylinder 286 is mounted on by axis pin on T-shaped solid frame 285, and T-shaped solid frame 285 passes through axis pin On electronic auxiliary telescopic rod 284, on T-shaped solid frame 285 installation there are two ajusting branch 287, and two to ajust branch 287 right Claim arrangement, two electronic sliding blocks 281 drive arranging mechanism 28 to be moved, electronic support telescopic rod 283 and electronic auxiliary telescopic rod 284 It is adjusted and arranging mechanism 28 is driven to be moved to suitable position, two are ajusted the cargo after the gripping of branch 287 is stacked, and operate gas Cylinder 286 drives T-shaped solid frame 285 to carry out angular adjustment so that the cargo after stacking is ajusted into type, and two electronic sliding blocks 281 drive goods Object carries out being moved to designated position, automates the neat cargo of heap, saves space, time-consuming short, reduces labor intensity, improves work Make efficiency.

The branch 287 of ajusting includes symmetrical cylinder 2871, L-type balladeur train 2872, grabs steady plate 2873 and grab steady cylinder 2874, symmetrical cylinder 2871 is mounted on T-shaped solid frame 285, and the top of symmetrical cylinder 2871 is mounted on L-type balladeur train by flange On 2872, L-type balladeur train 2872 is connected by way of being slidably matched with T-shaped solid frame 285, is passed through on the side wall of L-type balladeur train 2872 Axis pin, which is equipped with, grabs steady cylinder 2874, grabs the top of steady cylinder 2874 and is mounted on by axis pin and grab steady plate 2873, grabs steady plate 2873 It is mounted on by hinge on L-type balladeur train 2872, symmetrical cylinder 2871 drives L-type balladeur train 2872 to stretch, and grabs steady cylinder 2874 Drive grabs steady plate 2873 and carries out angular adjustment, automates fixed cargo, reduces labor intensity, improve work efficiency.

The adjusting mechanism 31 includes angle motor 311, upper plate 312, auxiliary slide bar 313, auxiliary sliding slot 314, connection slide bar 315th, arc chute 316, electronic connection expansion link 317, electronic fixed telescopic rod 318, angle adjustment plate 319, arc-shaped rack 320th, mate gear 321, micro-machine 322, linking board 323 and square connecting plate 324, angle motor 311 is by floor installation U-shaped On sub-frame 115, upper plate 312 is installed on the output shaft of angle motor 311, the lower end of upper plate 312 is uniformly equipped with auxiliary slide bar 313, auxiliary slide bar 313 is connected by way of being slidably matched with auxiliary sliding slot 314, and auxiliary sliding slot 314 is mounted on U-shaped sub-frame 115, on The upper end of plate 312 is equipped with electronic connection expansion link 317, and the right end of electronic connection expansion link 317 is equipped with connection slide bar 315, Connection slide bar 315 is connected by way of being slidably matched with arc chute 316, and arc chute 316 is mounted on U-shaped sub-frame 115, The left end of electronic connection expansion link 317 is equipped with electronic fixed telescopic rod 318, and the lower end of electronic fixed telescopic rod 318 passes through pin Axis is equipped with angle adjustment plate 319, and the right end of angle adjustment plate 319 is equipped with arc-shaped rack 320, is engaged on arc-shaped rack 320 There is mate gear 321, mate gear 321 is mounted on the output shaft of micro-machine 322, and micro-machine 322 passes through floor installation On electronic fixed telescopic rod 318, linking board 323 on angle adjustment plate 319 is installed, is equipped on the side wall of linking board 323 Square connecting plate 324, angle motor 311 in auxiliary slide bar 313 under the auxiliary of auxiliary sliding slot 314 upper plate 312 being driven to be rotated, slide by connection Bar 315 plays the role of connection with sliding, and electronic connection expansion link 317 carries out telescopic adjustment with electronic fixed telescopic rod 318, small Type motor 322 drives mate gear 321 to be rotated, and mate gear 321 drives arc-shaped rack 320 to be rotated, as requested, Adjusting mechanism 31 drives two fixed mechanisms 33 to adjust to suitable position, without human intervention, reduces labor intensity, improves Work efficiency.

The fixed mechanism 33 includes the bar 332, three of No.1 bar 331, two bar 333, adjusts hydraulic cylinder 334, is fixed Plate 335 and multijaw branch 336 adjust hydraulic cylinder 334 and are mounted on by axis pin on linking board 323, adjust the top of hydraulic cylinder 334 It is mounted on by axis pin on No.1 bar 331, the right end of No.1 bar 331 is mounted on by axis pin on linking board 323, No.1 bar 331 Left end be mounted on the right ends of No. two bars 332 by axis pin, the left ends of No. two bars 332 is connected by axis pin and No. three bars 333, The right end of No. three bars 333 is mounted on by axis pin on square connecting plate 324, and the left end of No. two bars 332 is mounted in fixed plate 335, Gu Multijaw branch 336 is uniformly installed on fixed board 335, and multijaw branch 336 is arranged in opposite directions, two adjust hydraulic cylinder 334 and drive two A No.1 bar 331 is adjusted so that two fixed mechanisms 33 are moved toward one another, and multijaw branch 336 to cargo capture solid Fixed, two fixed mechanisms 33 fix cargo, turn round patch code without personnel, it is ensured that personnel safety avoids people Member's patch wrong position, reduces labor intensity, improves work efficiency.

The multijaw branch 336 includes small cylinder 3361 and V-type pawl 3362, and small cylinder 3361 is installed by axis pin In fixed plate 335, the top of small cylinder 3361 is mounted on by axis pin on the side wall of V-type pawl 3362, and V-type pawl 3362 passes through Hinge is mounted in fixed plate 335, and small cylinder 3361 drives V-type pawl 3362 to carry out capturing the patch ink recorder that has been fixed conveniently to cargo Structure 34 reduces labor intensity, improves work efficiency to cargo joint strip code.

The patch ink recorder structure 34 includes electronic 341, two actuating cylinders 342 of cooperation telescopic rod, firm plate 343, two No.1 plate 344,345, two, No.1 idler wheel, 348, two, motor No. three plates 349, three of idler wheel 347, two of No. two plates 346, two Number 350, No. three motors 351 of idler wheel, ladder type frame 352, patch code plate 354, cutter 355, patch code-bar 358, push patch code cylinder 353 Cylinder 356 and lower lock block 357, electronic cooperation telescopic rod 341 is mounted on angle adjustment plate 319, on electronic cooperation telescopic rod 341 Installation is there are two actuating cylinder 342, and two actuating cylinders 342 are arranged symmetrically, and the top of two actuating cylinders 342 passes through flange On firm plate 343, it is symmetrically installed in the middle part of the lower end of firm plate 343 there are two No.1 plate 344, two No.1 plates 344 No.1 idler wheel 345 is equipped with by bearing between inner wall, is symmetrically installed on front side of the lower end of firm plate 343 there are two No. two plates 346, No. two idler wheels 347 are equipped with by bearing between the inner wall of two No. two plates 346, the left end of No. two idler wheels 347 passes through shaft coupling It is connected with No. two motors 348, No. two motors 348 on No. two plates 346 in left side, consolidate the lower end of plate 343 by floor installation Rear side is symmetrically installed there are two No. three plates 349, and No. three idler wheels 350 are equipped with by bearing between the inner wall of two No. three plates 349, The left end of No. three idler wheels 350 is connected by shaft coupling with No. three motors 351, and No. three motors 351 are by floor installation in left side On No. three plates 349, patch code-bar 358 being installed on No.1 idler wheel 345, the base stock of patch code-bar 358 is wrapped on No. three idler wheels 350, The paster of patch code-bar 358 is wrapped in by ladder type frame 352 on No. two idler wheels 347, and the lower end of firm plate 343 is equipped with ladder type frame 352, and mating groove is provided on ladder type frame 352, the lower end of firm plate 343 is symmetrically installed with patch code cylinder 353, pastes code cylinder 353 top is mounted on by flange on patch code plate 354, and pastes and auxiliary tank is provided on code plate 354, the lower end of patch code plate 354 Cutter 355 is installed, the lower end of firm plate 343 is equipped with lower air cylinder 356, and the top of lower air cylinder 356 is installed by flange On lower lock block 357, and lower lock block 357 is located in auxiliary tank, as requested, electronic cooperation telescopic rod 341 and two power gas Cylinder 342 drives firm plate 343 to adjust and arrives suitable position, and No. two motors 348 drive No. two idler wheels 347 to be rotated, No. two rollings Wheel 347 drives the paster of patch code-bar 358 to be rotated, and No. three motors 351 drive No. three idler wheels 350 to be rotated, No. three idler wheels 350 drive the base stock of patch code-bar 358 to be rotated, and patch code cylinder 353 drives cutter 355 to cut the paster for pasting code-bar 358 It opens, simultaneously as the paster of patch code-bar 358 has stickiness, lower air cylinder 356 drives paster of the lower lock block 357 to patch code-bar 358 Push so that the paster of patch code-bar 358 is pasted onto on cargo, automation joint strip code without human intervention, reduces work Intensity improves work efficiency.

The pushing mechanism 41 includes the symmetrical slide bar 412 of two symmetrical sliding slots 411, two, promotion rack 423, promotion Motor 424 promotes gear 425, U-shaped push bracket 413, limit sliding chutes 414, position limiting slide block 415, drive motor 416, promotion leading screw 417th, pushing block 426, promotion shovel 418, to shovel 419, mobile cylinder 420, promotion expansion plate 421 and gripping plate 422, and two symmetrically slide Slot 411 is mounted on and gets in stocks on plate 44, and symmetrical sliding slot 411 is connected by way of being slidably matched with symmetrical slide bar 412, and two symmetrical Slide bar 412 has pushing motor 424 on the front end of U-shaped push bracket 413, the side wall of U-shaped push bracket 413 by floor installation, pushes away It is equipped on the output shaft of dynamic motor 424 and promotes gear 425, promoted to be engaged with promoting rack 423 on gear 425, promote rack 423 mounted on getting in stocks on plate 44, and the lower end of U-shaped push bracket 413 has by floor installation drives motor 416, drives the defeated of motor 416 With leading screw 417 is promoted to be connected the upper end of leading screw 417 is promoted to be mounted on U-shaped push bracket 413 by bearing by shaft coupling on shaft On, it promotes and is provided with pushing block 426 on leading screw 417, the front end of pushing block 426 is equipped with position limiting slide block 415, and position limiting slide block 415 passes through The mode being slidably matched is connected with limit sliding chutes 414, and limit sliding chutes 414 are mounted in U-shaped push bracket 413, the rear end peace of pushing block 426 Equipped with shovel 418 is promoted, the inside of shovel 418 is promoted to be equipped with and promotes the outside of shovel 418 that mobile cylinder 420 is installed to shovel 419, The top of mobile cylinder 420 is mounted on by flange and promoted on expansion plate 421, and the outside of expansion plate 421 is promoted to be equipped with gripping Plate 422, pushing motor 424 are moved by the kind of drive of wheel and rack, and pushing motor 424 is in two symmetrical sliding slots 411, under the auxiliary of two symmetrical slide bars 412 U-shaped push bracket 413 being driven to be moved, drive motor 416 to drive and promote leading screw 417 It is rotated, pushing block 426 is lifted by the kind of drive of screw thread on leading screw 417 is promoted, and pushing block 426, which drives, promotes shovel 418 pairs of cargos lift after scooping up, and mobile cylinder 420 drives gripping plate 422 that cargo both sides are fixed, two promotion machines Structure 41 carries out cargo automation lifting and carries, without manually carrying, it is ensured that personnel safety, it is time-consuming short, and it is strong to reduce work Degree, improves work efficiency.

The propulsive mechanism 43 includes two to expansion plate 431, slab 432, propulsion cylinder 433, pushing plate 434, longitudinal direction Cylinder 436 and two cooperation branches 435, two between expansion plate 431 is mounted on two pushing mechanisms 41, and two to expansion plate 431 Front end slab 432 is installed, slab 432 is mounted on and gets in stocks on plate 44, and two are uniformly equipped with propulsion to the rear end of expansion plate 431 Cylinder 433, the top of propulsion cylinder 433 are mounted on by flange on pushing plate 434, and there are two the both ends installations of pushing plate 434 Coordinate branch 435, and two cooperation branches 435 are arranged symmetrically, and longitudinal cylinder 436, longitudinal cylinder are equipped on pushing plate 434 436 top is mounted on by flange on cooperation branch 435, and propulsion cylinder 433 drives pushing plate 434 to be moved to suitable position It puts, longitudinal cylinder 436 drives cooperation branch 435 to carry out secondary fixation to cargo, and two play the work of connection support to expansion plate 431 With propulsive mechanism 43 carries out secondary fixation to cargo, and after being transported to designated position, propulsive mechanism 43 pushes away out cargo It goes, it is time-consuming short, labor intensity is reduced, is improved work efficiency.

The cooperation branch 435 includes stretching plate 4351, L-type clamping plate 4352, sliding cylinder 4353 and movable pulley 4354, stretches Plate 4351 is connected by way of being slidably matched with pushing plate 434, and is stretched and be provided with square groove on plate 4351, is stretched and is pacified on plate 4351 Equipped with sliding cylinder 4353, the top of sliding cylinder 4353 is mounted on by flange on L-type clamping plate 4352, and L-type clamping plate 4352 On be provided with auxiliary slot, movable pulley 4354 is uniformly installed by axis pin in auxiliary slot, L-type clamping plate 4352 is by way of being slidably matched It is connected with square groove, when needing fixed, sliding cylinder 4353 drives L-type clamping plate 4352 to move backward, two longitudinal cylinders 436 It drives two to stretch plate 4351 to be adjusted so that two L-type clamping plates 4352 are to the secondary fixation of cargo progress, when needing to push away cargo When, sliding cylinder 4353 drives L-type clamping plate 4352 to move forward, and the longitudinal cylinder 436 of upside drives upper side extending plate 4351 upward It adjusts, since movable pulley 4354 reduces the frictional force between cargo and L-type clamping plate 4352, propulsion cylinder 433 drives cooperation branch Chain 435 is adjusted forward coordinates branch 435 to be away from cargo until two, and automation is fixed with pushing away, time-consuming short, reduces work Intensity improves work efficiency.

During work, first, the present invention is placed into existing mobile equipment by artificial mode, second step, pastes code Adjusting mechanism 31 on device 3 is started to work, and the angle motor 311 on adjusting mechanism 31 is in auxiliary slide bar 313 and auxiliary sliding slot 314 Auxiliary is lower to drive upper plate 312 to be rotated, and connection slide bar 315 plays the role of connection with sliding, electronic connection expansion link 317 with Electronic fixed telescopic rod 318 carries out telescopic adjustment, and micro-machine 322 drives mate gear 321 to be rotated, mate gear 321 Arc-shaped rack 320 is driven to be rotated, afterwards, two fixed mechanisms 33 are started to work, and two on fixed mechanism 33 adjust liquid Cylinder pressure 334 drives two No.1 bars 331 to be adjusted so that two fixed mechanisms 33 are moved toward one another, and multijaw branch 336 is right Cargo carries out crawl fixation, and multijaw branch 336 is started to work, and the small cylinder 3361 on multijaw branch 336 drives V-type pawl 3362 Crawl is carried out to cargo and has been fixed conveniently patch ink recorder structure 34 to cargo joint strip code, afterwards, patch ink recorder structure 34 is started to work, according to will It asks, electronic cooperation telescopic rod 341 and two actuating cylinders 342 drive firm plate 343 to adjust to suitable position, No. two motors 348 No. two idler wheels 347 of drive are rotated, No. two idler wheels 347 drive the paster of patch code-bar 358 to be rotated, No. three motors 351 No. three idler wheels 350 of drive are rotated, and No. three idler wheels 350 drive the base stock of patch code-bar 358 to be rotated, patch code cylinder 353 Drive cutter 355 to paste code-bar 358 paster cut, simultaneously as patch code-bar 358 paster have stickiness, under calm the anger Lower lock block 357 is driven to the paster for pasting code-bar 358 push for cylinder 356 so that the paster for pasting code-bar 358 is pasted onto on cargo, and the Three steps, heap goods device 2 are started to work, and moving mechanism 21 drives heap goods device 2 to be moved, and adjusting mechanism 22 drives grasping mechanism Suitable angle is arrived in 24 adjustings, and grasping mechanism 24 drives two one mechanisms 26 of folder to be pressed from both sides with two two mechanisms 27 of folder to cargo It takes, the cargo that arranging mechanism 28 puts heap well is ajusted, and afterwards, moving mechanism 21 starts to work, and moving mechanism 21 drives heap Goods device 2 carries out left and right shifting and lifting, and afterwards, adjusting mechanism 22 is started to work, and the regulation motor 221 on adjusting mechanism 22 exists It rotates slide bar 223 and the auxiliary lower band rotating ring plate 222 of sliding slot 224 is rotated, electric rotating machine 226 drives mobile jib 236 to be revolved Turn, cylinder 238 is driven to drive from bar 237 and is adjusted, electronic straight 239 automatic telescopic of telescopic rod to suitable position, rotation Meanwhile turn telescopic rod 229 drive fixture block 230 and clamping branch 233 carry out clamping prevent regulation motor 221 drive ring flat-plate 222 into Row loosens after rotating to designated position, and when needing to rotate again, clamping branch 233 adjusts outward so that fixture block 230 It can be smoothed out rotating, clamping branch 233 is started to work, and clamping cylinder 2331 drives arc plate 2332 to carry out telescopic adjustment, card Tight block 2333 plays the role of /V to fixture block 230, and afterwards, grasping mechanism 24 is started to work, according to the pattern of cargo, gripper Structure 24 is adjusted, and stand-by motor 246 drives crawl gear 245 to be rotated, and crawl gear 245 drives steady rack 244 revolving Turn to be rotated on sliding slot 242, two telescopic cylinders 248 drive bi-directional expansion plate 247 to stretch to both sides, two reciprocating air cylinders 249 drive permanent tooth item 251 to be moved under the auxiliary of two solid sliding slots 252, afterwards, two one mechanisms 26 of folder and two folders two Mechanism 27 cooperates with each other, and as requested, the reciprocating air cylinder 249 on grasping mechanism 24 drives under the auxiliary of solid sliding slot 252 Permanent tooth item 251 is moved, and permanent tooth item 251 drives adjustment gear 262 to carry out angular adjustment, and adjustment gear 262 drives circular block 261 are rotated, and working cylinder 265 drives grasping plate 264 to be adjusted, and connection cylinder 267 drives gripping pawl 266 to carry out angle tune Section, according to the shape of cargo, a flexible bar 268 drives fine adjustment block 269 to be clamped cargo surfaces, afterwards, arranging mechanism 28 It starts to work, the electronic sliding block 281 of two on arranging mechanism 28 drives arranging mechanism 28 to be moved, electronic support telescopic rod 283 It is adjusted with electronic auxiliary telescopic rod 284 and arranging mechanism 28 is driven to be moved to suitable position, ajusted branch 287 for two and grip heap Cargo after putting, T-shaped solid frame 285 is driven to carry out angular adjustment for operation cylinder 286 so that the cargo after stacking is ajusted into type, two Electronic sliding block 281 drives cargo to carry out being moved to designated position, ajusts branch 287 and starts to work, and symmetrical cylinder 2871 drives L-type Balladeur train 2872 stretches, and grabs the drive of steady cylinder 2874 and grabs steady plate 2873 and carries out angular adjustment, the 4th step, and the two of goods loading device 4 A pushing mechanism 41 is started to work, and the pushing motor 424 on pushing mechanism 41 is moved by the kind of drive of wheel and rack Dynamic, pushing motor 424 drives U-shaped push bracket 413 to be moved under auxiliary of two symmetrical sliding slots 411 with two symmetrical slide bars 412 It is dynamic, motor 416 is driven to drive, leading screw 417 is promoted to be rotated, pushing block 426 is promoting leading screw 417 by the kind of drive of screw thread On lifted, pushing block 426 drive promote shovel 418 pairs of cargos scoop up after lifts, mobile cylinder 420 drive gripping plate 422 Cargo both sides are fixed, propulsive mechanism 43 is started to work, and the propulsion cylinder 433 on propulsive mechanism 43 drives pushing plate 434 Suitable position is moved to, longitudinal cylinder 436 drives cooperation branch 435 to carry out secondary fixation to cargo, and two rise to expansion plate 431 To the effect of connection support, cooperation branch 435 is started to work, and when needing fixed, sliding cylinder 4353 drives L-type clamping plate 4352 It moves backward, two longitudinal cylinders 436 drive two to stretch plate 4351 and are adjusted so that two L-type clamping plates 4352 carry out cargo Secondary fixation, when needing to push away cargo, sliding cylinder 4353 drives L-type clamping plate 4352 to move forward, the longitudinal cylinder of upside 436 drive upper side extending plate 4351 to be adjusted up, since movable pulley 4354 reduces the friction between cargo and L-type clamping plate 4352 Power, propulsion cylinder 433 drive cooperation branch 435 adjust forward until two coordinate branches 435 be away from cargo, realize in storehouse Carried out in room automation get in stocks, the function of heap goods and joint strip code, staff is needed when solving existing warehouse logistics to cargo It is got in stocks respectively, heap goods and joint strip code, process complexity is cumbersome, and when getting in stocks, personnel are moved to cargo by artificial mode Designated position, inefficient, during heap goods, personnel need to put cargo to designated position by ladder, and people works on ladder Shi Keneng is because ladder shakiness falls down initiation security risk, and since cargo shape differs, efficiency when staff carries can not yet Together, meanwhile, artificial stack goods are irregular, and the space for causing storage is inadequate, and during joint strip code, staff needs own rotation side To positive bar code could be pasted on cargo, since the shape of cargo differs, personnel in joint strip code because no fixed cargo due to paste mistake Position, for personnel since work of bending over for a long time may trigger security risk, manual work process spent time is long, labor intensity greatly and The problems such as efficiency is low, have reached purpose.

The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description simply illustrates the present invention Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and change Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent It defines.

Claims (10)

1. it is a kind of automate get in stocks, the warehouse logistics manipulator of heap goods and joint strip code, including U-shaped sub-frame (115), heap goods device (2), code device (3) and goods loading device (4) are pasted, it is characterised in that:Heap is installed on the right side of the upper end of the U-shaped sub-frame (115) Goods device (2), the upper end left side of U-shaped sub-frame (115) are equipped with patch code device (3), and the rear end of U-shaped sub-frame (115) is equipped with Goods device (4)；

The heap goods device (2) includes moving mechanism (21), adjusting mechanism (22), grasping mechanism (24), two one mechanisms of folder (26), two two mechanisms of folder (27) and arranging mechanism (28), moving mechanism (21) is mounted on the middle part of U-shaped sub-frame (115), mobile Adjusting mechanism (22) is installed, the right end of adjusting mechanism (22) is equipped with grasping mechanism (24), grasping mechanism in mechanism (21) (24) front end is symmetrically installed there are two one mechanism of folder (26), and the rear end of grasping mechanism (24) is symmetrically installed that there are two two mechanisms of folder (27), and two one mechanisms of folder (26) arrange that arranging mechanism (28) is mounted on U-shaped sub-frame in opposite directions with two two mechanisms of folder (27) (115) rear end；

The patch code device (3) includes adjusting mechanism (31), two fixed mechanisms (33) and patch ink recorder structure (34), adjusting mechanism (31) it is mounted on U-shaped sub-frame (115), two fixed mechanisms (33) are mounted on adjusting mechanism (31), and adjusting mechanism (31) Opposite arrangement, patch ink recorder structure (34) are mounted on the left end of adjusting mechanism (31)；

The goods loading device (4) includes get in stocks plate (44), two pushing mechanisms (41) and propulsive mechanism (43), plate of getting in stocks (44) On U-shaped sub-frame (115), two pushing mechanisms (41), which are mounted on, to be got in stocks on plate (44), and two pushing mechanisms (41) are right Claim arrangement, be connected between two pushing mechanisms (41) by propulsive mechanism (43).

2. it is according to claim 1 it is a kind of automate get in stocks, the warehouse logistics manipulator of heap goods and joint strip code, feature It is：The moving mechanism (21) includes two main expansion plates (211), master cylinder (212), fixed motor (213), rotating wire Thick stick (214), auxiliary movable block (215), L-type move frame (216), multi-stage expansion plate (217), auxiliary slider (218) and auxiliary chute (219), two main expansion plates (211) are mounted on U-shaped sub-frame (115), and two main expansion plates (211) are arranged symmetrically, front side The lower end of main expansion plate (211) master cylinder (212) is installed, the top of master cylinder (212) is mounted on the main expansion plate in front side (211) upper end, the main expansion plate (211) of rear end are equipped with fixed motor (213) by motor cabinet, fixed motor (213) Output shaft is connected by shaft coupling with the rear end of rotating threaded shaft (214), before the front end of rotating threaded shaft (214) is mounted on by bearing On the main expansion plate in side (211), auxiliary movable block (215) is provided on rotating threaded shaft (214), L-type is installed on auxiliary movable block (215) Frame (216) is moved, the right end that L-type moves frame (216) is equipped with multi-stage expansion plate (217), and the lower end of multi-stage expansion plate (217) is equipped with Auxiliary slider (218), auxiliary slider (218) are connected by way of being slidably matched with auxiliary chute (219), auxiliary chute (219) it is mounted on U-shaped sub-frame (115)；

The adjusting mechanism (22) includes regulation motor (221), ring flat-plate (222), rotates slide bar (223), sliding slot (224), two It is a to plate (225), electric rotating machine (226), main shaft (227), flap (228), turn telescopic rod (229), fixture block (230), solid block (231), annulus frame (232), clamping branch (233), Circular Plate (234), two faggings (235), mobile jib (236), from bar (237), cylinder (238), electronic straight telescopic rod (239) and cooperation cylinder (240), regulation motor (221) is driven to pacify by pedestal In moving mechanism (21), annulate lamella (222) is installed on the output shaft of regulation motor (221), the lower end of ring flat-plate (222) is uniform It is equipped with and rotates slide bar (223), rotate slide bar (223) and be connected by way of being slidably matched with sliding slot (224), sliding slot (224) In moving mechanism (21), two are mounted in moving mechanism (21) plate (225), and two to plate (225) symmetrical cloth Put, two to being equipped with main shaft (227) by bearing between plate (225), the rear end of main shaft (227) passes through shaft coupling and rotation The output shaft of rotating motor (226) is connected, electric rotating machine (226) by floor installation on ring flat-plate (222), main shaft (227) Front end is mounted on flap (228), and flap (228) is circumferentially uniformly equipped with solid block (231) along it, Gu the outside peace of block (231) On annulus frame (232) inner wall, and sliding groove is provided on annulus frame (232), flap (228) is circumferentially uniformly equipped with along it Turn telescopic rod (229), the top for turning telescopic rod (229) is mounted on fixture block (230), and fixture block (230) passes through the side that is slidably matched Formula is connected with sliding groove, and two faggings (235) are mounted on ring flat-plate (222), and two faggings (235) are arranged symmetrically, two supports The upper end of plate (235) is mounted in Circular Plate (234), and the inner wall of Circular Plate (234) is circumferentially uniformly equipped with clamping branch along it (233), mobile jib (236) is installed, the lower end of mobile jib (236) is provided with cylinder of taking offence by axis pin on main shaft (227) (238), the top of cylinder (238) is driven to be mounted on by axis pin from bar (237), is pacified from the left end of bar (237) by axis pin On mobile jib (236), cooperation cylinder (240) is equipped with by axis pin from the side wall of bar (237), cooperation cylinder (240) Top is mounted on by axis pin on electronic straight telescopic rod (239), the upper end of electronic straight telescopic rod (239) by axis pin be mounted on from The right side of bar (237)；

The clamping branch (233) includes clamping cylinder (2331), arc plate (2332) and clamping block (2333), clamping cylinder (2331) on the inner wall of Circular Plate (234), the top of clamping cylinder (2331) is mounted on arc plate (2332) by flange On, clamping block (2333) is installed on arc plate (2332).

3. it is according to claim 1 it is a kind of automate get in stocks, the warehouse logistics manipulator of heap goods and joint strip code, feature It is：The grasping mechanism (24) includes square plate (241), rotary chute (242), rotary column (243), steady rack (244), crawl Gear (245), stand-by motor (246), bi-directional expansion plate (247), two telescopic cylinders (248), two reciprocating air cylinders (249), The solid sliding slot (252) of two strip plates (250), permanent tooth item (251) and two, square plate (241) are mounted under adjusting mechanism (22) End, is equipped with rotary chute (242) in square plate (241), rotary chute (242) by way of being slidably matched with rotary column (243) It is connected, steady rack (244) is installed on the outer wall of rotary column (243), crawl gear (245), crawl is engaged on steady rack (244) Gear (245) is mounted on the output shaft of stand-by motor (246), and stand-by motor (246) is by floor installation in square plate (241) On, the lower end of rotary column (243) is mounted on bi-directional expansion plate (247), and is symmetrically arranged with circle on bi-directional expansion plate (247) Slot, the right side installation of bi-directional expansion plate (247) is there are two telescopic cylinder (248), and two telescopic cylinders (248) are arranged symmetrically, The top of telescopic cylinder (248) is mounted on the outside of bi-directional expansion plate (247) by flange, and bi-directional expansion plate is installed on (247) There are two reciprocating air cylinder (249), and two reciprocating air cylinders (249) are arranged symmetrically, and the top of each reciprocating air cylinder (249) passes through method Orchid is mounted on strip plate (250), and strip plate (250) is connected by way of being slidably matched with solid sliding slot (252), Gu sliding slot (252) it is mounted on bi-directional expansion plate (247), the both sides of strip plate (250) are equipped with permanent tooth item (251)；

One mechanism of folder (26) and two mechanisms of folder (27) are structure, the consistent same mechanism of size, one machine of folder Structure (26) includes circular block (261), adjustment gear (262), connecting plate (263), grasping plate (264), working cylinder (265), gripping pawl (266), cylinder (267), a flexible bar (268) and fine adjustment block (269) are connected, circular block (261) is by way of being slidably matched It is connected with circular trough, the upper end of circular block (261) is equipped with adjustment gear (262), and adjustment gear is engaged with permanent tooth item on (262) (251), the lower end of circular block (261) is equipped with connecting plate (263), and the lower end of connecting plate (263) is equipped with working cylinder by axis pin (265), the top of working cylinder (265) is mounted on by axis pin in grasping plate (264), and the upper end of grasping plate (264) is pacified by axis pin On connecting plate (263), connection cylinder (267) is equipped with by axis pin on the side wall of grasping plate (264), connection cylinder (267) Top is mounted on by axis pin on gripping pawl (266), and the upper end of gripping pawl (266) is mounted on by axis pin in grasping plate (264), folder It takes and a flexible bar (268) is uniformly installed on the side wall of pawl (266), the top for the bar (268) that stretches is mounted on fine adjustment block (269) On.

4. it is according to claim 1 it is a kind of automate get in stocks, the warehouse logistics manipulator of heap goods and joint strip code, feature It is：The arranging mechanism (28) includes two electronic sliding blocks (281), square slide (282), electronic support telescopic rod (283), electricity Dynamic auxiliary telescopic rod (284), T-shaped solid frame (285), operation cylinder (286) and two ajust branch (287), two electronic sliding blocks (281) it is mounted on U-shaped sub-frame (115), square slide (282) is provided on two electronic sliding blocks (281), square slide (282) Upper end is equipped with electronic support telescopic rod (283), and electronic auxiliary telescopic rod (284) is equipped on electronic support telescopic rod (283), electronic auxiliary The right end of telescopic rod (284) is equipped with operation cylinder (286) by axis pin, and the top of operation cylinder (286) is installed by axis pin On T-shaped solid frame (285), T-shaped solid frame (285) is mounted on by axis pin on electronic auxiliary telescopic rod (284), on T-shaped solid frame (285) There are two installations ajusts branch (287), and two are ajusted branch (287) and are arranged symmetrically；

The branch (287) of ajusting includes symmetrical cylinder (2871), L-type balladeur train (2872), grabs steady plate (2873) and grab steady gas Cylinder (2874), symmetrical cylinder (2871) are mounted on T-shaped solid frame (285), and the top of symmetrical cylinder (2871) is installed by flange On L-type balladeur train (2872), L-type balladeur train (2872) is connected by way of being slidably matched with T-shaped solid frame (285), L-type balladeur train (2872) it is equipped on side wall by axis pin and grabs steady cylinder (2874), the top for grabbing steady cylinder (2874) is mounted on by axis pin Steady plate (2873) is grabbed, steady plate (2873) is grabbed and is mounted on by hinge on L-type balladeur train (2872).

5. it is according to claim 1 it is a kind of automate get in stocks, the warehouse logistics manipulator of heap goods and joint strip code, feature It is：The adjusting mechanism (31) includes angle motor (311), upper plate (312), auxiliary slide bar (313), auxiliary sliding slot (314), company Connect slide bar (315), arc chute (316), electronic connection expansion link (317), electronic fixed telescopic rod (318), angle adjustment plate (319), arc-shaped rack (320), mate gear (321), micro-machine (322), linking board (323) and square connecting plate (324), angle Motor (311) on U-shaped sub-frame (115), is equipped with upper plate (312) by floor installation on the output shaft of angle motor (311), The lower end of upper plate (312) is uniformly equipped with auxiliary slide bar (313), auxiliary slide bar (313) by way of being slidably matched with auxiliary sliding slot (314) it is connected, auxiliary sliding slot (314) is mounted on U-shaped sub-frame (115), and the upper end of upper plate (312) is equipped with electronic connection expansion link (317), the right end of electronic connection expansion link (317) is equipped with connection slide bar (315), and connection slide bar (315) is by being slidably matched Mode be connected with arc chute (316), arc chute (316) be mounted on U-shaped sub-frame (115) on, electronic connection expansion link (317) left end is equipped with electronic fixed telescopic rod (318), and the lower end of electronic fixed telescopic rod (318) is equipped with by axis pin Angle adjustment plate (319), the right end of angle adjustment plate (319) are equipped with arc-shaped rack (320), and arc-shaped rack engages on (320) There is mate gear (321), mate gear (321) is mounted on the output shaft of micro-machine (322), and micro-machine (322) passes through Floor installation is equipped with linking board (323), linking board on electronic fixed telescopic rod (318) on angle adjustment plate (319) (323) square connecting plate (324) is installed on side wall.

6. it is according to claim 1 it is a kind of automate get in stocks, the warehouse logistics manipulator of heap goods and joint strip code, feature It is：The fixed mechanism (33) includes No.1 bar (331), No. two bars (332), No. three bars (333), adjusting hydraulic cylinder (334), fixed plate (335) and multijaw branch (336) adjust hydraulic cylinder (334) and are mounted on by axis pin on linking board (323), The top for adjusting hydraulic cylinder (334) is mounted on by axis pin on No.1 bar (331), and the right end of No.1 bar (331) is pacified by axis pin On linking board (323), the left end of No.1 bar (331) is mounted on the right end of No. two bars (332), No. two bars by axis pin (332) left end is connected by axis pin and No. three bar (333), and the right end of No. three bars (333) is mounted on square connecting plate by axis pin (324) on, the left end of No. two bars (332) is mounted in fixed plate (335), and fixed plate is uniformly equipped with multijaw branch on (335) (336), and multijaw branch (336) is arranged in opposite directions；

The multijaw branch (336) includes small cylinder (3361) and V-type pawl (3362), and small cylinder (3361) passes through axis pin In fixed plate (335), the top of small cylinder (3361) is mounted on by axis pin on the side wall of V-type pawl (3362), V-type Pawl (3362) is mounted on by hinge in fixed plate (335).

7. it is according to claim 1 it is a kind of automate get in stocks, the warehouse logistics manipulator of heap goods and joint strip code, feature It is：The patch ink recorder structure (34) include electronic cooperation telescopic rod (341), two actuating cylinders (342), firm plate (343), Two No.1 plates (344), No.1 idler wheel (345), two No. two plates (346), No. two idler wheels (347), No. two motors (348), two A No. three plates (349), No. three idler wheels (350), No. three motors (351), ladder type frame (352), patch code cylinder (353), patch code plate (354), cutter (355), patch code-bar (358), lower air cylinder (356) and lower lock block (357), electronic cooperation telescopic rod (341) peace On angle adjustment plate (319), actuating cylinder (342) there are two installations on electronic cooperation telescopic rod (341), and two power Cylinder (342) is arranged symmetrically, and the top of two actuating cylinders (342) is mounted on by flange on firm plate (343), consolidates plate (343) it is symmetrically installed in the middle part of lower end there are two No.1 plate (344), is pacified between the inner wall of two No.1 plates (344) by bearing Equipped with No.1 idler wheel (345), No. two plates (346) there are two being symmetrically installed on front side of the lower end of plate (343), two No. two plates are consolidated (346) No. two idler wheels (347) are equipped with by bearing between inner wall, the left end of No. two idler wheels (347) passes through shaft coupling and two Number motor (348) is connected, and No. two motors (348) on No. two plates (346) in left side, consolidate plate (343) by floor installation It is symmetrically installed on rear side of lower end there are two No. three plates (349), No. three is equipped with by bearing between the inner wall of two No. three plates (349) Idler wheel (350), the left end of No. three idler wheels (350) are connected by shaft coupling with No. three motors (351), and No. three motors (351) pass through Floor installation is equipped with patch code-bar (358) on No. three plates (349) in left side on No.1 idler wheel (345), patch code-bar (358) Base stock is wrapped on No. three idler wheels (350), and the paster of patch code-bar (358) is wrapped in No. two idler wheels (347) by ladder type frame (352) On, the lower end of firm plate (343) is equipped with ladder type frame (352), and is provided with mating groove on ladder type frame (352), consolidates plate (343) Lower end be symmetrically installed with patch code cylinder (353), the top of patch code cylinder (353) is mounted on by flange in patch code plate (354), And auxiliary tank is provided on patch code plate (354), the lower end of patch code plate (354) is equipped with cutter (355), consolidates under plate (343) End is equipped with lower air cylinder (356), and the top of lower air cylinder (356) is mounted on by flange on lower lock block (357), and lower lock block (357) it is located in auxiliary tank.

8. it is according to claim 1 it is a kind of automate get in stocks, the warehouse logistics manipulator of heap goods and joint strip code, feature It is：The pushing mechanism (41) include two symmetrical sliding slots (411), two symmetrical slide bars (412), promotion rack (423), Pushing motor (424) promotes gear (425), U-shaped push bracket (413), limit sliding chutes (414), position limiting slide block (415), drive motor (416), leading screw (417), pushing block (426) are promoted, promotes shovel (418), to shovel (419), mobile cylinder (420), promotion expansion plate (421) and plate (422) is gripped, two symmetrical sliding slots (411), which are mounted on, to be got in stocks on plate (44), and symmetrical sliding slot (411) passes through slip The mode of cooperation is connected with symmetrical slide bar (412), and two symmetrical slide bars (412) are mounted on the front end of U-shaped push bracket (413), U-shaped to push away There is pushing motor (424) by floor installation on the side wall of frame (413), promotion is installed on the output shaft of pushing motor (424) Gear (425) promotes to be engaged with promoting rack (423) on gear (425), rack (423) is promoted to be mounted on and is got in stocks on plate (44), There is drive motor (416) in the lower end of U-shaped push bracket (413) by floor installation, drives and passes through shaft coupling on the output shaft of motor (416) Device promotes the upper end of leading screw (417) to be mounted on by bearing in U-shaped push bracket (413), promotes silk with leading screw (417) is promoted to be connected Pushing block (426) is provided on thick stick (417), the front end of pushing block (426) is equipped with position limiting slide block (415), and position limiting slide block (415) passes through The mode being slidably matched is connected with limit sliding chutes (414), and limit sliding chutes (414) are mounted in U-shaped push bracket (413), pushing block (426) Rear end be equipped with promotion shovel (418), promote shovel (418) on the inside of being equipped with to shovel (419), promote shovel (418) outside peace Equipped with mobile cylinder (420), the top of mobile cylinder (420) is mounted on by flange to promote on expansion plate (421), promotes flexible Gripping plate (422) is installed on the outside of plate (421).

9. it is according to claim 1 it is a kind of automate get in stocks, the warehouse logistics manipulator of heap goods and joint strip code, feature It is：The propulsive mechanism (43) includes two to expansion plate (431), slab (432), propulsion cylinder (433), pushing plate (434), longitudinal cylinder (436) and two cooperation branches (435), two are mounted on two pushing mechanisms (41) to expansion plate (431) Between, two are equipped with slab (432) to the front end of expansion plate (431), and slab (432) is mounted on and gets in stocks on plate (44), and two to stretching The rear end of contracting plate (431) is uniformly equipped with propulsion cylinder (433), and the top of propulsion cylinder (433) is mounted on by flange to be promoted On plate (434), the both ends installation of pushing plate (434) is there are two cooperation branch (435), and two coordinate branch (435) symmetrical cloth It puts, longitudinal cylinder (436) is installed on pushing plate (434), the top of longitudinal cylinder (436) is mounted on cooperation branch by flange (435) on.

10. it is according to claim 9 it is a kind of automate get in stocks, the warehouse logistics manipulator of heap goods and joint strip code, it is special Sign is：The cooperation branch (435) includes stretching plate (4351), L-type clamping plate (4352), sliding cylinder (4353) and movable pulley (4354), plate (4351) is stretched by way of being slidably matched with pushing plate (434) to be connected, and stretch be provided on plate (4351) it is square Slot is stretched and sliding cylinder (4353) is equipped on plate (4351), and the top of sliding cylinder (4353) is mounted on L-type clamping plate by flange (4352) on, and auxiliary slot is provided on L-type clamping plate (4352), movable pulley (4354), L-type is uniformly installed by axis pin in auxiliary slot Clamping plate (4352) is connected by way of being slidably matched with square groove.