CN110182512B - Delivery device of roadway stacker and goods picking and delivery method - Google Patents
Delivery device of roadway stacker and goods picking and delivery method Download PDFInfo
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- CN110182512B CN110182512B CN201910392070.9A CN201910392070A CN110182512B CN 110182512 B CN110182512 B CN 110182512B CN 201910392070 A CN201910392070 A CN 201910392070A CN 110182512 B CN110182512 B CN 110182512B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
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Abstract
The invention discloses a delivery device and a picking delivery method of a tunnel stacker, the device comprises a column, a beam, a traveling wheel, a traveling motor, a winch, an electric control cabinet, a vertical sliding rail and a cargo carrying platform, the winch comprises a winch motor, a driving roller and a traction steel cable, one end of the traction steel cable is connected with the cargo carrying platform, the cargo carrying platform is provided with a side rotary plate, a lifting baffle plate and a partition plate, the side rotary plate and the lifting baffle plate are connected with a rotating mechanism and a lifting mechanism, and the partition plate is provided with a clamping telescopic fork. The steps of warehousing operation and ex-warehouse operation are reasonable and orderly, guarantee is provided for high-efficiency transportation of goods, and the goods transportation risk is low.
Description
Technical Field
The invention relates to the field of tunnel stacking machines, in particular to a goods delivery device and a goods picking and delivery method of a tunnel stacking machine.
Background
With the gradual development of factory automation and computer integrated manufacturing system technologies and the wide application of flexible manufacturing systems and automated stereoscopic warehouses, the intelligent material handling equipment is used as a necessary automatic handling and loading and unloading means for connecting and adjusting the discrete logistics management system to enable the operation of the discrete logistics management system to be continuous, and the application range and the technical level of the intelligent material handling equipment are rapidly developed.
The roadway stacker is evolved from a forklift and a bridge stacker. The bridge type stacker is limited in operation speed due to the heavy bridge frame, and is only suitable for warehouses with low warehousing and ex-warehouse frequency or warehouses for storing long raw materials and heavy goods.
The tunnel type stacker has the following characteristics:
(1) the electric control modes include manual, semi-automatic, single machine automatic and computer control. The goods delivery device of the tunnel stacker and the goods picking and delivery method can be selected at will in an electric control mode.
(2) Most of stackers adopt variable frequency speed regulation and photoelectric addressing, and have the characteristics of good speed regulation performance and high parking accuracy.
(3) And a safe sliding contact type power transmission device is adopted, so that the power supply reliability is ensured.
(4) The overload rope loosening and rope breaking protection device is used for ensuring the working safety.
(5) The movable working chamber is equipped, the indoor operating handle and the button are reasonably arranged, and the seat is comfortable.
(6) The stacker frame is light in weight. High bending and torsional rigidity. The lifting guide rail has high precision and good wear resistance, and can be accurately adjusted.
(7) The retractable fork reduces the width requirement on the roadway and improves the utilization rate of the warehouse area.
However, the unloading device of the existing stacker has the following defects:
(1) only one loading platform is arranged on the stacker, so that the goods transported each time are limited, and the transporting efficiency is low;
(2) the telescopic fork of the stacker can only extend to support the goods tray, and when a single or difficultly-supported goods such as cylindrical goods are conveyed, the fork cannot well clamp the goods;
(3) the side of the goods carrying platform is not provided with a protection device, if the movement speed of the stacker is too high or the stacker vibrates, goods stacked on the goods carrying platform are easy to topple over, and the goods carrying fails.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the goods discharging device of the tunnel stacker and the goods picking and discharging method, the goods carrying table has high carrying capacity, the transportation capacity and the transportation efficiency of the stacker are improved, the clamping telescopic fork can not only support piled goods, but also clamp the goods which are not easy to support and take, the practicability is high, the warehousing operation and the ex-warehouse operation steps of the stacker are reasonable and orderly, the guarantee is provided for the high-efficiency transportation of the goods and the high-efficiency production of a production line, the labor and the cost are reduced, the danger of goods falling is reduced by the protection capacity of the side rotary plate and the lifting baffle, and the problems provided by the background technology can be effectively solved.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a goods discharging device of a roadway stacker comprises two parallel upright posts arranged between an upper rail and a lower rail, wherein the top ends and the bottom ends of the two upright posts are connected through a cross beam, walking wheels are arranged on the cross beams at the top ends and the bottom ends of the upright posts, the walking wheels are connected with a walking motor through a gear transmission mechanism, a winch is arranged on the left side of one upright post, an electric control cabinet is arranged on the right side of the other upright post, and vertical slide rails are arranged on the opposite side surfaces of the two upright posts;
a cargo carrying platform is arranged between the two vertical sliding rails, the winch comprises a winch motor, the winch motor is connected with a driving roller through a gear mechanism, two traction steel cables are wound on the outer side of the driving roller, and the other ends of the two traction steel cables are respectively connected with the centers of the left side and the right side of the cargo carrying platform;
the side of carrying cargo bed has four sides to revolve board and two through revolving groove and board groove movable mounting respectively and rise the baffle, the mid-mounting of carrying cargo bed has the baffle, and the side is revolved the board and is risen baffle one side and be connected with rotary mechanism and elevating system respectively, but the flexible fork of centre gripping is all installed to the front side of baffle and rear side bottom.
Further, the left side and the right side of the cargo carrying platform are provided with chutes allowing vertical sliding rails to be inserted, the cargo carrying platform slides up and down between the two vertical sliding rails, and the chutes are embedded with a plurality of balls.
Furthermore, a plurality of guide pulleys are arranged on one of the upright columns and the cross beam at the top end of the upright column, the guide pulleys are provided with two guide cable chutes, and the side surfaces of the traction steel cables are in contact with the guide cable chutes.
Furthermore, the partition board is perpendicular to the cargo carrying platform, the front side face of the partition board is parallel to the axis of the cross beam, the lifting baffle plates are parallel to the partition board, the four side rotating plates and the two lifting baffle plates are evenly distributed on two sides of the partition board, and the angle between the side face of each side rotating plate and the top face of the cargo carrying platform is 90-180 degrees.
Further, rotary mechanism includes that install at the left first motor of year goods platform bottom and insert the swing arm of establishing in the spiral groove through the installation shell, the swing arm is in the same place with side swing plate bottom end fixed connection, and the one end of swing arm stretches out and installs the pinion outward from carrying the goods platform, first motor is connected with the master gear, the master gear meshes with the pinion mutually.
Further, elevating system includes installs the second motor at the platform bottom front side of carrying goods through the motor casing, it installs the rack through the bar groove to rise the baffle side, the output shaft of second motor has the worm, the worm is connected with the worm wheel, the coaxial fixedly connected with drive gear of worm wheel, drive gear and rack mesh mutually.
Further, but the flexible fork of centre gripping is including installing the cross rail in the baffle bottom and the gear motor who is located cross rail one end, the cross rail interpolation is equipped with two sliders, slider internally mounted has the screw, one side of slider is connected with flexible fork arm, gear motor is connected with two-way lead screw, two inside screws of slider respectively with two-way lead screw on two different external screw thread interlock mutually.
In addition, the invention also designs a goods picking and delivering method of the tunnel stacker, which comprises the following steps:
s100, warehousing the stacker, carrying the goods on the conveyor belt to a goods carrying table through a clamping telescopic goods shelf fork, then walking the stacker to a warehouse, and placing the goods at a specified position on a goods shelf;
s200, the stacker is taken out of the warehouse for operation, the goods on the goods shelf can be taken out and carried to a goods carrying table by the aid of the retractable fork, then the stacker walks out of the warehouse, the goods are placed on the conveying belt, and the goods are conveyed to a processing production line along with the conveying belt.
Further, the specific operation flow of the warehousing operation of the stacker comprises the following steps:
s101, before a stacker moves to a cargo on a conveyor belt under the drive of a traveling motor, a cargo carrying platform reaches the height closest to the cargo under the drive of a winch, a lifting baffle plate descends to the lowest position, a side rotating plate rotates to the top surface to be parallel to the top surface of the cargo carrying platform, the lifting baffle plate and the side rotating plate are both located at the initial position, a telescopic fork can be clamped to extend, then the cargo on the conveyor belt is supported or clamped, and then the telescopic fork can be clamped to retract so that the cargo can stably reach the cargo carrying platform;
s102, lifting the lifting baffle plate, rotating the side rotating plate, and protecting the goods from falling out or toppling over by the lifting baffle plate and the side rotating plate;
s103, the stacker walks into the warehouse, stops walking before and after reaching the goods shelf, is driven by the winch to download the goods platform to move to the layer where the target storage position is located, the lifting baffle and the side rotating plate return to the initial position, and goods are lightly put on the target goods shelf through the clamping telescopic fork.
Further, the specific operation flow of the stacker warehouse-out operation comprises the following steps:
s201, the stacker walks to a row where a target storage position in a warehouse is located, then the goods carrying platform rises or falls to a layer where the target goods storage position is located, so that the lifting baffle plate and the side rotary plate are located at initial positions, and the telescopic fork can be clamped to take out goods from the goods shelf and place the goods on the goods carrying platform;
s202, lifting the baffle plate, rotating the side rotating plate, and protecting the goods from being stably transported on the cargo carrying platform;
s203, the stacker is stopped before running to the conveyor belt;
s204, the lifting baffle and the side rotary plate return to the initial positions, and after the cargo carrying platform is moved to the position which is consistent with the height of the conveying belt, the telescopic fork can be clamped to transfer the cargos from the cargo carrying platform to the conveying belt.
Compared with the prior art, the invention has the beneficial effects that:
(1) the object carrying table is divided into two parts by the partition plate, so that goods can be carried on two sides of the object carrying table, the load capacity is increased, and the transportation capacity and the transportation efficiency of the stacker are improved.
(2) When the side rotating plate rotates to the side surface perpendicular to the top surface of the cargo carrying platform and the lifting baffle plate rises to the highest point, the lifting baffle plate and the side rotating plate can prevent the easily rolled or dumped cargo from falling out of the cargo carrying platform, so that the safety and the stability of cargo transportation are effectively improved. When the side whirl board top surface is parallel with the goods carrying platform top surface, if the goods that is difficult for rolling or topples over is carried this moment, the side whirl board can keep the horizontally state of top surface to indirectly increased the top surface support area who carries the goods platform, thereby made the goods carrying platform can bear more, the bigger goods of area, handling efficiency is higher.
(3) The clamping telescopic fork can clamp and unload piled goods like the traditional telescopic fork, the two forks can approach each other to clamp irregular or single goods, the stacking machine can carry more kinds of goods, and the practicability is high.
(4) The warehousing operation and the ex-warehouse operation of the stacker have reasonable and orderly steps, guarantee is provided for high-efficiency carrying of goods and high-efficiency production of a production line, manpower and cost are reduced, and the danger that the goods fall off is reduced due to the protection capability of the side rotary plate and the lifting baffle.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic top view of the pulley of the present invention;
FIG. 3 is a schematic view of a cargo bed of the present invention in a top down cross-sectional configuration;
FIG. 4 is a schematic cross-sectional view of a rotating mechanism of the present invention
FIG. 5 is a schematic cross-sectional view of the lift mechanism of the present invention;
FIG. 6 is a cross-sectional view of the clampable retractable fork of the present invention.
Reference numbers in the figures:
1-upright column; 2-a cross beam; 3-a winch; 4-cargo bed; 5-side spin plate; 6-liter baffle plate; 7-a rotating mechanism; 8-a lifting mechanism; 9-a clamping telescopic fork;
11-a walking motor; 12-an electric control cabinet; 13-vertical slide rail;
21-a travelling wheel; 22-a guide pulley; 23-a guide cable chute;
31-a hoisting motor; 32-a drive roller; 33-a traction wire rope;
41-rotary groove; 42-plate groove; 43-a separator; 44-a chute; 45-a ball bearing;
71-a first motor; 72-rotating rod; 73-pinion gear; 74-main gear;
81-a second motor; 82-a rack; 83-worm; 84-a worm gear; 85-a drive gear;
91-transverse rail; 92-a reduction motor; 93-a slide block; 94-a screw nut; 95-telescopic cargo fork arm; 96-bidirectional screw rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 6, the invention provides a goods discharging device of a tunnel stacker, which comprises two parallel upright posts 1 arranged between an upper rail and a lower rail, wherein the top ends and the bottom ends of the two upright posts 1 are connected through a cross beam 2, walking wheels 21 are arranged on the cross beams 2 at the top ends and the bottom ends of the upright posts 1, the walking wheels 21 are connected with a walking motor 11 through a gear transmission mechanism, and when the walking motor 11 is started, the walking wheels 21 rotate on the upper rail and the lower rail to walk, so that the whole stacker is driven to walk. An electric control cabinet 12 is installed on the right side of the other upright post 1, a single chip microcomputer, a motor controller and a fork controller are installed in the electric control cabinet 12, the single chip microcomputer is responsible for issuing various control commands, and then the controller is responsible for controlling each motor and the fork driving mechanism, so that the stacking machine can take, carry and unload goods in sequence, and the stacking machine can automatically carry the goods.
Hoist engine 3 is installed in the left side of one of them stand 1, all installs vertical slide rail 13 on two stand 1 relative sides, is equipped with cargo bed 4 between two vertical slide rail 13, and hoist engine 3 includes hoist motor 31, and hoist motor 31 is connected with driving drum 32 through gear mechanism, and the winding of driving drum 32 outside has two traction cable 33, and two traction cable 33's the other end is connected with cargo bed 4's left side and right side center respectively.
Carry the left side and the right side of cargo bed 4 and all be equipped with the spout 44 that allows to erect slide rail 13 and insert, carry cargo bed 4 and slide from top to bottom between two perpendicular slide rails 13, the spout 44 is embedded to have a plurality of balls 45, and balls 45 have reduced the friction of carrying cargo bed 4 with perpendicular slide rail 13, make the rising and the decline of carrying cargo bed 4 more smooth and easy. The guide pulleys 22 are arranged on one of the upright posts 1 and the cross beam 2 at the top end of the upright post 1, the guide pulleys 22 are provided with two guide cable chutes 23, the highest point positions of the two traction steel cables 33 are respectively positioned in the two guide cable chutes 23 in the left side guide pulley 22, the two traction steel cables 33 are not interfered with each other, the two steel cables rise or fall at the same length, and the side surfaces of the traction steel cables 33 are contacted with the guide cable chutes 23. The traction cable 33 is guided by the guide pulley 22 to be wound and unwound more easily and quickly, and the friction force is reduced.
The process that the hoist 3 drives the cargo bed 4 to ascend or descend is as follows:
the hoisting motor 31 is started to drive the driving roller 32 to rotate, the driving roller 32 is rotated to roll up the two traction steel cables 33, one ends of the two traction steel cables 33, which are connected with the goods carrying platform 4, start to rise, the goods carrying platform 4 is dragged by the steel cables to start to rise, the goods can be lifted or the goods can rise to the designated layer of the goods shelf, and the goods discharging is facilitated. When the hoisting motor 31 rotates in the reverse direction, the driving roller 32 starts to release the traction cable 33, and at this time, the load platform 4 is pulled by its own weight to pull one end of the traction cable 33 to slowly descend, so that the load platform 4 descends to a proper position.
The side of the cargo carrying platform 4 is respectively and movably provided with four side rotary plates 5 and two lifting baffles 6 through a rotary groove 41 and a plate groove 42, the middle part of the cargo carrying platform 4 is provided with a partition plate 43, one sides of the side rotary plates 5 and the lifting baffles 6 are respectively connected with a rotary mechanism 7 and a lifting mechanism 8, the rotary mechanism 7 comprises a first motor 71 installed on the left side of the bottom end of the cargo carrying platform 4 through an installation shell and a rotary rod 72 inserted in the rotary groove 41, the rotary rod 72 is fixedly connected with the bottom ends of the side rotary plates 5, one end of the rotary rod 72 extends out of the cargo carrying platform 4 and is provided with a pinion 73, the first motor 71 is connected with a main gear 74, and the main gear 74 is meshed with the pinion 73.
The rotation mechanism 7 rotates the side spin plate 5 in the following principle:
when the first motor 71 is started, the output shaft rotates with the main gear 74, the main gear 74 rotates with the pinion gear 73, the pinion gear 73 rotates with the rotating rod 72 fixed coaxially therewith, and the rotating rod 72 rotates with the bottom end of the side rotating plate 5, so that the side rotating plate 5 is adjusted in angle with the cargo bed 4. When carrying goods platform 4 clamp and getting or unloading, the side revolves board 5 and is parallel with the top surface of carrying goods platform 4, and it is more convenient to get goods and unload this moment, and when the stacker transported goods, the side revolves board 5 and is 90-150 with the contained angle that carries between goods platform 4 to make the goods that pile up can not fall apart and fall out and carry goods platform 4.
The lifting mechanism 8 comprises a second motor 81 installed on the front side of the bottom end of the cargo carrying platform 4 through a motor shell, a rack 82 is installed on the side face of the lifting baffle plate 6 through a strip-shaped groove, an output shaft of the second motor 81 is connected with a worm 83, the worm 83 is connected with a worm gear 84, the worm gear 84 is coaxially and fixedly connected with a driving gear 85, and the driving gear 85 is meshed with the rack 82.
It should be added that the included angle between the side rotary plate 5 and the cargo carrying platform 4 is determined by the volume and the disorder degree of the cargo, and if the bottom area of the cargo is larger than the cargo carrying platform 4 and the height of the cargo does not exceed the height of the side rotary plate 5, the included angle between the side rotary plate 5 and the cargo carrying platform 4 is larger than 90 °, and more cargo can be carried at this time. If the goods are easy to scatter and the total height is consistent with the height of the side rotary plate 5, the side rotary plate 5 needs to be perpendicular to the goods carrying table 4 at the moment, so that the goods can not fall out of the goods carrying table 4 during transportation.
The working principle of the lifting mechanism 8 is as follows:
the second motor 81 is started to drive the worm 83 to rotate, the worm 83 drives the worm wheel 84 to rotate, the worm wheel 84 drives the coaxial driving gear 85 to rotate, and the driving gear 85 rotates to drive the rack 82 to ascend or descend, so that the lifting baffle 6 ascends or descends. When the fork is used for taking or unloading goods, the lifting baffle 6 is driven by the lifting mechanism 81 to descend to the lowest position, and the height of the top surface of the lifting baffle 6 is consistent with that of the top surface of the cargo carrying platform 4, so that the lifting baffle 6 cannot block the fork from taking and unloading the goods. When the goods are carried on the goods carrying table 4, the lifting baffle 6 rises to block the side face of the goods, so that the goods cannot fall over or fall out of the stacker in the carrying process. The worm 83 and the worm wheel 84 are adopted for driving, when the second motor 81 stops rotating, the worm wheel 84 exerts the self-locking function, so that the raised baffle 6 cannot automatically descend due to the self gravity, and the automatic fixing of the position of the baffle 6 is completed.
Carry cargo bed 4 and be the cuboid shape, baffle 43 is perpendicular with carry cargo bed 4, and the leading flank of baffle 43 is parallel with 2 axes of crossbeam, and baffle 43 will carry cargo bed 4 and divide into impartial two parts, and the goods of the same weight can all be placed to the front side and the rear side of baffle 43, has both improved the shipment goods weight of carrying cargo bed 4, simultaneously because the front end and the rear end atress of carrying cargo bed 4 equal, therefore the freight is more stable.
The lifting baffle 6 and the partition plate 43 are parallel to each other, the four side rotary plates 5 and the two lifting baffle 6 are evenly distributed on two sides of the partition plate 43, namely, the front side and the rear side of the partition plate 43 are respectively provided with the two side rotary plates 5 and the lifting baffle 6, the side rotary plates 5 are perpendicular to the side surfaces of the lifting baffle 6, the angle between the side surfaces of the side rotary plates 5 and the top surface of the cargo carrying table 4 is 90-180 degrees, when the lifting baffle 6 is lifted and the side rotary plates 5 are perpendicular to the cargo carrying table 4, the lifting baffle 6 and the side rotary plates 5 block three side surfaces of cargos on the cargo carrying table 4, and therefore cargos in transportation are more stable on the cargo carrying table 4.
Preferably, when the lateral rotating plate 5 rotates to the side surface perpendicular to the top surface of the cargo carrying table 4, the lateral rotating plate 5 can prevent the cargo from falling off or falling off the cargo carrying table 4, and the safety and stability of cargo transportation are effectively improved. When 5 sides of board are revolved to the side and the top surface of carrying cargo bed 4 between the angle be 180, when 5 boards are revolved to the side promptly and carrying cargo bed 4 is parallel, if the difficult goods that roll or topple over of transport this moment, board 5 can keep the horizontally state of top surface soon to the indirect top surface that has increased carrying cargo bed 4 supports the area, thereby makes carrying cargo bed 4 can bear more, the bigger goods of area, and handling efficiency is higher.
The front and rear bottom ends of the partition 43 are each provided with a clampable telescopic fork 9. The clamping telescopic fork 9 comprises a transverse rail 91 arranged at the bottom end of the partition plate 43 and a speed reducing motor 92 positioned at one end of the transverse rail 91, two sliding blocks 93 are inserted into the transverse rail 91, a screw 94 is arranged inside each sliding block 93, one side of each sliding block 93 is connected with a telescopic fork arm 95, the telescopic fork arms 95 can be extended and shortened, the extension and shortening of the telescopic fork arms are the same as those of the existing telescopic fork, when the telescopic fork arms 95 are completely contracted, namely, the shortest length of the contracted fork is shorter than the distance between the partition plate 43 and the lifting baffle 6, and therefore, the lifting baffle 6 cannot be prevented from rising after the fork arms are completely contracted. The bottom surface of the non-extensible part at the tail end of the telescopic fork arm 95 is attached to the top surface of the object stage 4, and the object stage 4 bears the gravity of the goods on a part of the fork, so that the pressure for taking the goods by the fork is lower.
The speed reducing motor 92 is connected with a bidirectional screw 96, and nuts 94 inside the two sliding blocks 93 are respectively meshed with two different external threads on the bidirectional screw 96. Two different external threads on the bidirectional screw 96 are bilaterally symmetrical about the center of the screw, and the size and the type of the two nuts 94 are completely the same, so that when the bidirectional screw 96 rotates, the two nuts 94 can only displace leftwards and rightwards under the limit of the sliding block 93, and the two nuts 94 displace towards the position close to the center of the screw or slide towards the position of the center of the principle screw, so that the two forks can be far away from or close to each other.
The working principle of the clampable telescopic fork 9 is as follows:
(1) when forking or unloading a pile of goods, the weight of the goods is generally borne by a tray with two jacks below the pile of goods. When goods are taken, the gear motor 92 is started to enable the two fork arms to be close to or far away from each other, so that the distance between the forks is consistent with the distance between the two tray jacks, then the telescopic fork arms 95 extend out of the goods carrying table 4, the front ends of the telescopic fork arms 95 are inserted into the tray jacks, after the telescopic fork arms 95 are completely inserted into the tray jacks, the winch 3 is started to enable the carrying table 4 to drive the telescopic fork arms 95 to rise, at the moment, the fork holds the trays and goods on the trays, then the telescopic fork arms 95 retract, the trays and the goods are conveyed onto the carrying table 4, and the goods taking of the piled goods is completed;
(2) when taking or unloading single goods, the shape is irregular, the weight is not more than the goods bearing the limit force of the fork, the function of clamping the fork can be used, if cylindrical or spherical goods need to be carried, the telescopic fork arms 95 are firstly extended, the two fork arms are respectively arranged on two sides of the goods, then the gear motor 92 is started, the gear motor 92 drives the bidirectional screw 96 to rotate, the two screws 94 are displaced on the screw to be close to each other, thereby the two sliding blocks 93 slide in the transverse rail 91 to be close to each other, the two sliding blocks 93 are close to each other to drive the two telescopic fork arms 95 to be close to each other to gradually clamp the goods, then the objective table 4 drives the fork arms to ascend, and the fork arms retract to bring the goods onto the objective table 4.
Preferably, the clampable telescopic forks 9 can clamp and unload piled goods like the traditional telescopic forks, and the two forks can approach each other to clamp irregular or single goods, so that the stacker can carry more kinds of goods, and the practicability is high.
In addition, the invention also designs a goods picking and delivering method of the tunnel stacker, which comprises the following steps:
and step 13, the stacker walks into the warehouse, stops walking before and after reaching the goods shelf, drives the lower goods loading platform to move to a layer where the target storage position is located, returns the lifting baffle plate and the side rotating plate to the initial position, and lightly puts the goods on the target goods shelf through the clamping telescopic fork.
The warehousing operation of the stacker can be controlled by a single chip microcomputer in the electric control cabinet 12, and if the warehousing walking time and the walking distance of the stacker can be controlled by the single chip microcomputer to issue control signals to a controller of a walking motor, and then the walking motor is controlled to rotate forwards or backwards, so that the stacker is controlled to be warehoused or warehoused. When the stacker arrives at the conveyor belt or in front of the appointed goods shelf, the single chip microcomputer issues a pause signal to enable the controller to control the traveling motor to brake temporarily, and at the moment, the stacker suspends traveling. Then, the single chip microcomputer issues a signal to the winch controller to start the winch and drive the bearing platform to ascend to a target storage positioning layer of the goods shelf. And the single chip microcomputer sends a control signal for controlling the fork again, so that the fork controller controls the telescopic fork to unload the goods from the objective table and place the goods at the designated position on the goods shelf, and the warehousing operation of the stacker is completed. The control principle of the shipment operation singlechip of the stacker to various electric power equipment is opposite to the process of warehousing operation, and the principle is consistent.
And 2, carrying out warehouse-out operation by the stacker, taking out the goods on the goods shelf by the retractable fork and carrying the goods onto a goods carrying table, then walking the stacker outside the warehouse, placing the goods on a conveying belt, and conveying the goods onto a processing production line along with the conveying belt. The specific operation flow of the stacker warehouse-out operation comprises the following steps:
and 24, returning the lifting baffle and the side rotary plate to the initial position, and clamping the telescopic fork to transfer the goods from the goods carrying platform to the conveying belt after the goods carrying platform is moved to the position consistent with the height of the conveying belt.
Preferably, the warehousing operation and the ex-warehouse operation of the stacker have reasonable and orderly steps, guarantee is provided for high-efficiency carrying of goods and high-efficiency production of a production line, manpower and cost are reduced, and the danger that the goods fall off is reduced due to the protection capability of the side rotary plate and the lifting baffle.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (9)
1. The utility model provides a shipment device of tunnel stacker, is including establishing stand (1) of two parallels between last track and lower track, all is connected through crossbeam (2) between the top of two stand (1) and the bottom, and all installs walking wheel (21) on crossbeam (2) of stand (1) top and bottom, walking wheel (21) are connected its characterized in that through gear drive mechanism with walking motor (11): a winch (3) is installed on the left side of one of the upright columns (1), an electric control cabinet (12) is installed on the right side of the other upright column (1), and vertical slide rails (13) are installed on the opposite side surfaces of the two upright columns (1);
a cargo carrying platform (4) is arranged between the two vertical sliding rails (13), the winch (3) comprises a winch motor (31), the winch motor (31) is connected with a driving roller (32) through a gear mechanism, two traction steel cables (33) are wound on the outer side of the driving roller (32), and the other ends of the two traction steel cables (33) are respectively connected with the centers of the left side and the right side of the cargo carrying platform (4);
four side rotary plates (5) and two lifting baffles (6) are respectively and movably mounted on the side edge of the cargo carrying platform (4) through rotary grooves (41) and plate grooves (42), a partition plate (43) is mounted in the middle of the cargo carrying platform (4), one sides of the side rotary plates (5) and the lifting baffles (6) are respectively connected with a rotating mechanism (7) and a lifting mechanism (8), and the bottom ends of the front side and the rear side of the partition plate (43) are respectively provided with a clamping telescopic fork (9);
the partition plate (43) is perpendicular to the goods carrying table (4), the front side face of the partition plate (43) is parallel to the axis of the cross beam (2), the lifting baffle plates (6) are parallel to the partition plate (43), the four side rotating plates (5) and the two lifting baffle plates (6) are evenly distributed on two sides of the partition plate (43), and the angle between the side face of each side rotating plate (5) and the top face of the goods carrying table (4) is 90-180 degrees.
2. The discharging device of the tunnel stacker according to claim 1, wherein: carry the left side and the right side of goods platform (4) and all be equipped with and allow perpendicular slide rail (13) male spout (44), carry goods platform (4) and slide from top to bottom between two perpendicular slide rail (13), spout (44) are embedded to have a plurality of balls (45).
3. The discharging device of the tunnel stacker according to claim 1, wherein: a plurality of guide pulleys (22) are arranged on one of the upright columns (1) and the cross beam (2) at the top end of the upright column (1), two guide cable sliding grooves (23) are formed in the guide pulleys (22), and the side face of the traction steel cable (33) is in contact with the guide cable sliding grooves (23).
4. The discharging device of the tunnel stacker according to claim 1, wherein: rotary mechanism (7) include through the installation shell install carry on goods platform (4) bottom left first motor (71) with insert establish swing arm (72) in rotary groove (41), swing arm (72) are in the same place with side spiral plate (5) bottom fixed connection, and the one end of swing arm (72) stretches out and carries goods platform (4) and install pinion (73) outward, first motor (71) are connected with master gear (74), master gear (74) mesh mutually with pinion (73).
5. The discharging device of the tunnel stacker according to claim 1, wherein: elevating system (8) include second motor (81) of installing in cargo bed (4) bottom front side through the motor casing, it installs rack (82) through the bar groove to rise baffle (6) side, the output shaft of second motor (81) has worm (83), worm (83) are connected with worm wheel (84), the coaxial fixedly connected with drive gear (85) of worm wheel (84), drive gear (85) mesh mutually with rack (82).
6. The discharging device of the tunnel stacker according to claim 1, wherein: but flexible fork (9) of centre gripping is including installing horizontal rail (91) in baffle (43) bottom and gear motor (92) that are located horizontal rail (91) one end, horizontal rail (91) interpolation is equipped with two slider (93), slider (93) internally mounted has screw (94), one side of slider (93) is connected with flexible goods yoke (95), gear motor (92) are connected with two-way lead screw (96), and two inside screw (94) of slider (93) respectively with two-way lead screw (96) go up two different external screw thread looks interlocks.
7. A picking and shipping method for the shipping device of the tunnel stacker according to any one of claims 1 to 6, wherein: the goods picking and delivering method of the stacker comprises the following steps:
s100, warehousing the stacker, carrying the goods on the conveyor belt to a goods carrying table through a clamping telescopic goods shelf fork, then walking the stacker to a warehouse, and placing the goods at a specified position on a goods shelf;
s200, the stacker is taken out of the warehouse for operation, the goods on the goods shelf can be taken out and carried to a goods carrying table by the aid of the retractable fork, then the stacker walks out of the warehouse, the goods are placed on the conveying belt, and the goods are conveyed to a processing production line along with the conveying belt.
8. The picking and delivering method for the delivery device of the tunnel stacker according to claim 7, wherein: the specific operation flow of the warehousing operation of the stacker comprises the following steps:
s101, before a stacker moves to a cargo on a conveyor belt under the drive of a traveling motor, a cargo carrying platform reaches the height closest to the cargo under the drive of a winch, a lifting baffle plate descends to the lowest position, a side rotating plate rotates to the top surface to be parallel to the top surface of the cargo carrying platform, the lifting baffle plate and the side rotating plate are both located at the initial position, a telescopic fork can be clamped to extend, then the cargo on the conveyor belt is supported or clamped, and then the telescopic fork can be clamped to retract so that the cargo can stably reach the cargo carrying platform;
s102, lifting the lifting baffle plate, rotating the side rotating plate, and protecting the goods from falling out or toppling over by the lifting baffle plate and the side rotating plate;
s103, the stacker walks into the warehouse, stops walking before and after reaching the goods shelf, is driven by the winch to download the goods platform to move to the layer where the target storage position is located, the lifting baffle and the side rotating plate return to the initial position, and goods are lightly put on the target goods shelf through the clamping telescopic fork.
9. The picking and delivering method for the delivery device of the tunnel stacker according to claim 7, wherein: the specific operation flow of the stacker warehouse-out operation comprises the following steps:
s201, the stacker walks to a row where a target storage position in a warehouse is located, then the goods carrying platform rises or falls to a layer where the target goods storage position is located, so that the lifting baffle plate and the side rotary plate are located at initial positions, and the telescopic fork can be clamped to take out goods from the goods shelf and place the goods on the goods carrying platform;
s202, lifting the baffle plate, rotating the side rotating plate, and protecting the goods from being stably transported on the cargo carrying platform;
s203, the stacker is stopped before running to the conveyor belt;
s204, the lifting baffle and the side rotary plate return to the initial positions, and after the cargo carrying platform is moved to the position which is consistent with the height of the conveying belt, the telescopic fork can be clamped to transfer the cargos from the cargo carrying platform to the conveying belt.
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| CN110902249A (en) * | 2019-12-31 | 2020-03-24 | 昆明昆船物流信息产业有限公司 | AGV is selected to intelligence |
| CN111252524B (en) * | 2020-03-13 | 2020-09-25 | 联诺欧机械科技江苏有限公司 | Transfer robot with clamping function |
| CN113735024A (en) * | 2020-05-27 | 2021-12-03 | 广东瑞仕格科技有限公司 | Stacking machine |
| CN111573185B (en) * | 2020-05-28 | 2020-12-29 | 浙江维亨食品股份有限公司 | Transportation loading device with temperature and humidity control capability |
| CN111606257B (en) * | 2020-06-04 | 2021-08-10 | 泉州台商投资区明云机械有限公司 | Suspension type stacker |
| KR20220113097A (en) * | 2021-02-05 | 2022-08-12 | (주)테크윙 | Handler for testing electronic components |
| CN113264309B (en) * | 2021-06-03 | 2024-07-09 | 广东伟创五洋智能设备有限公司 | Stacker and control system thereof |
| CN113859903B (en) * | 2021-11-06 | 2023-03-21 | 安徽华燕物流有限公司 | Automatic loading system |
| CN114408795A (en) * | 2022-02-08 | 2022-04-29 | 沈阳德锐克智能科技有限公司 | Implementation method of motor follow-up type elevator mechanism |
| CN114803951B (en) * | 2022-05-19 | 2023-11-21 | 苏州穗柯智能科技有限公司 | Tunnel stacker |
| CN115027922B (en) * | 2022-08-10 | 2023-09-22 | 常州富矿智能科技有限公司 | Factory intelligent material transportation and storage system |
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| JP3676186B2 (en) * | 2000-04-24 | 2005-07-27 | 日本輸送機株式会社 | Stacker crane |
| CN202785510U (en) * | 2012-06-25 | 2013-03-13 | 蚌埠格锐叉车属具有限公司 | Forking-holding duel purpose type fork clamp for forklift |
| CN204873743U (en) * | 2015-07-10 | 2015-12-16 | 安徽合力股份有限公司 | Forklift fork with cask loading and unloading holder |
| CN204938859U (en) * | 2015-07-20 | 2016-01-06 | 芜湖艾蔓设备工程有限公司 | The dual-purpose fork folder of a kind of holder folder |
| CN207596395U (en) * | 2017-11-13 | 2018-07-10 | 河南平煤神马电气股份有限公司 | A kind of piler for automatic stereowarehouse |
| CN108217515B (en) * | 2017-12-29 | 2019-01-04 | 河南城建学院 | Bridge construction machinery quick-lift attachreactor |
| CN208361199U (en) * | 2018-04-20 | 2019-01-11 | 苏州元子智能科技有限公司 | The intelligent carriage of adjustable loading space |
| CN109336002A (en) * | 2018-10-29 | 2019-02-15 | 太原市奥特莱物流科技有限公司 | A kind of double day rail pilers |
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Address after: Room 606-610, Jinqian block, No. 10, Hongyi Road, Xinwu District, Wuxi City, Jiangsu Province, 214000 Patentee after: Wuxi Chengfang Technology Co.,Ltd. Address before: 310000 room 604, building 1, Zhijiang business center, Zhuantang street, Xihu District, Hangzhou City, Zhejiang Province Patentee before: Hangzhou Jingji Technology Co.,Ltd. |
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Denomination of invention: A delivery device and picking and shipping method for a tunnel stacker Effective date of registration: 20230926 Granted publication date: 20210709 Pledgee: Wuxi rural commercial bank Limited by Share Ltd. Pledgor: Wuxi Chengfang Technology Co.,Ltd. Registration number: Y2023980058994 |