CN110510312B - Box type single column stacker - Google Patents
Box type single column stacker Download PDFInfo
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- CN110510312B CN110510312B CN201910800100.5A CN201910800100A CN110510312B CN 110510312 B CN110510312 B CN 110510312B CN 201910800100 A CN201910800100 A CN 201910800100A CN 110510312 B CN110510312 B CN 110510312B
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- lifting
- column
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- wheel assembly
- stacker
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
本发明公开了一种料箱式单立柱堆垛机，包括：地轨和天轨，地轨上活动设置有底盘，底盘上设置有行走机构和立柱，行走机构用于控制底盘在地轨上移动，行走机构包括有行走定位装置，立柱的顶端固定设置有上横梁，上横梁活动设置在天轨上，立柱上活动设置有升降机构，升降机构上设置有升降定位装置和载货架，载货架上设置有货叉，载货架上设置有光电检测装置，通过单立柱实现载货架的升降，通过定滑轮和动滑轮辅助载货架升降，通过设置定位装置和高精度的闭环控制，实现任意位置的定位，通过设置光电检测装置，有效的获取货叉上物料的重量及物料的摆放样式，以达到简化堆垛机结构，节约空间与成本，提高堆垛机的工作精度和工作效率的目的。
The invention discloses a box-type single-column stacker, which includes: a ground rail and a sky rail. A chassis is movable on the ground rail, and a traveling mechanism and a column are provided on the chassis. The traveling mechanism is used to control the movement of the chassis on the ground rail. Mobile, the walking mechanism includes a walking positioning device. The top of the column is fixed with an upper crossbeam. The upper crossbeam is movable on the sky rail. The column is movable with a lifting mechanism. The lifting mechanism is equipped with a lifting positioning device and a loading rack. The loading rack There is a cargo fork on the top, and a photoelectric detection device is installed on the loading shelf. The lifting and lowering of the loading shelf is realized through a single column. The fixed pulley and the movable pulley are used to assist the lifting and lowering of the loading shelf. By setting up a positioning device and high-precision closed-loop control, positioning at any position is achieved. , by setting up a photoelectric detection device, the weight of the material on the fork and the placement pattern of the material can be effectively obtained, so as to simplify the structure of the stacker, save space and cost, and improve the working accuracy and efficiency of the stacker.
Description
Technical Field
The invention relates to the technical field of automatic three-dimensional warehouse logistics, in particular to a box-type single-upright stacker.
Background
The stacker is very important logistics carrying equipment in a stereoscopic warehouse, and mainly used for running along a fixed track in a roadway of a high-rise goods shelf warehouse and taking out goods positioned on a platform of a specified roadway crossing to store the goods in a goods grid of the specified goods shelf; or conversely, the goods in the goods lattice of the specified goods shelf are taken out and conveyed to the platform of the specified roadway junction, and the corresponding warehouse-in and warehouse-out operation is completed.
The stacker mainly comprises three directions of movement, which are respectively defined as X-axis movement, Y-axis movement and Z-axis movement, and the corresponding warehouse-in and warehouse-out operation is completed by three driving mechanisms respectively. The X-axis movement realizes the walking function so that the stacker reaches the specified goods shelf arranging position of a certain roadway; the Y-axis movement realizes a lifting function so that the stacker reaches the position of the layer number of a specified goods shelf in a certain tunnel; the Z-axis motion realizes the function of fork extension and retraction so that the stacker can take out cargoes at specified positions or put cargoes into the specified positions.
The stacker structure is generally divided into a single column and a double column, and the single column stacker is characterized in that a rack structure consists of 1 column, a lower beam, an upper beam and a cargo carrying platform. The double-upright stacker is characterized in that the rack structure consists of 2 upright posts, a lower cross beam, an upper cross beam and a cargo carrying platform.
In the prior art, the bin type stacker is generally a double-column stacker, and can only realize the warehouse-in or warehouse-out operation of a single bin at a time, and the average composite operation is 70 bins/hour. The box-type double-upright-column stacker has the advantages that due to the adoption of the double-upright-column structure, the whole mechanical structure of the stacker is excessively heavy, materials are wasted, the weight is heavy, the motor is larger in shape selection, the energy consumption is larger, and the efficiency is low.
Disclosure of Invention
In order to solve the technical problems, the invention provides a material box type single-upright-column stacker to achieve the purposes of simplifying the structure of the stacker, saving space and cost and improving the working precision and the working efficiency of the stacker.
In order to achieve the above purpose, the technical scheme of the invention is as follows: a bin-type single-column stacker, the stacker comprising: the ground rail and the sky rail, the activity is provided with the chassis on the ground rail, be provided with running gear and stand on the chassis, running gear is used for controlling the chassis and moves on the ground rail, running gear is including walking positioner, the fixed entablature that is provided with in top of stand, the entablature activity sets up on the sky rail, the activity is provided with elevating system on the stand, be provided with elevating positioner and cargo rack on the elevating system, be provided with telescopic fork on the cargo rack, the flexible direction and the stand space of fork are perpendicular, be provided with photoelectric detection device that is used for perception material quantity and material put the style on the cargo rack, still be provided with switch board and cat ladder on the chassis, the switch board is used for controlling running gear, elevating system and fork, still is used for receiving and handling the data that walking positioner, elevating positioner and photoelectric detection device fed back, the switch board is connected with external power source through the wiping line.
Compared with the prior art, the lifting of carrying the goods shelves is realized through the single upright post, the lifting of the goods shelves is assisted through the fixed pulley and the movable pulley, and the structure of the stacker is simplified by arranging the walking positioning device, the lifting positioning device and the photoelectric detection device, so that the space and the cost are saved, and the working precision and the working efficiency of the stacker are improved.
Preferably, the travelling mechanism further comprises: the ground rail guide wheel assembly is used for guiding the chassis to walk on the ground rail, the ground rail guide wheel assembly is clamped in a track groove of the ground rail, the guide wheel rotates in the track groove, and the stability of movement of the chassis is improved.
Preferably, the travelling mechanism further comprises an anti-toppling device, the top end of the anti-toppling device is arranged on the chassis, and the bottom end of the anti-toppling device is clamped at two sides of the ground rail.
Preferably, the beam is provided with a fixed pulley assembly and a top rail guide wheel assembly, the fixed pulley assembly is used for assisting lifting of the cargo rack, and the top rail guide wheel assembly is used for guiding the beam to walk on the top rail.
Preferably, the lifting mechanism further comprises: the lifting motor is used for controlling the lifting winding drum to work according to a control instruction sent by the control cabinet, the lifting winding drum is used for controlling the lifting of the cargo carrying rack, the upright guiding wheel assembly is used for guiding the cargo carrying rack to lift on the upright, the upright guiding wheel assembly is clamped in a track groove of the upright, and the guiding wheel rotates in the track groove, so that the lifting stability of the lifting mechanism is improved.
Preferably, the lifting mechanism further comprises a movable pulley assembly, the movable pulley assembly is used for being matched with the fixed pulley assembly to assist lifting of the cargo carrying frame, and the fixed pulleys and the movable pulleys assist lifting of the cargo carrying frame, so that lifting stability of the cargo carrying frame is improved.
Preferably, a telescopic motor is arranged in the cargo rack and used for controlling the fork to stretch and retract.
Preferably, an encoder is integrated in the control cabinet and is used for encoding position data fed back by the walking positioning device and the lifting positioning device, the positioning device is arranged, and positioning of any position is achieved through high-precision closed-loop control.
The invention has the following advantages:
(1) According to the invention, the lifting of the cargo carrier is realized through the single upright post, the lifting of the cargo carrier is assisted through the fixed pulley and the movable pulley, the structure of the stacker is simplified, the space and the cost are saved, and the integral operation stability of the lifting mechanism is improved.
(2) The invention can acquire the position of the stacker on the X axis in real time by arranging the walking positioning device, can acquire the height position of the loading shelf in real time by arranging the lifting positioning device, can effectively acquire the weight of the materials on the fork and the placement style of the materials by arranging the photoelectric detection device, and improves the working precision and the working efficiency of the stacker.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
Fig. 1 is a schematic structural diagram of a single-column stacker with a bin in accordance with an embodiment of the present invention;
FIG. 2 is a schematic front view of a chassis structure according to an embodiment of the present invention;
FIG. 3 is a schematic side view of a chassis structure according to an embodiment of the present invention;
FIG. 4 is a schematic view of a column structure according to an embodiment of the present invention;
FIG. 5 is a schematic view of an upper beam mounting structure according to an embodiment of the present invention;
FIG. 6 is a schematic view of a lifting mechanism and cargo rack according to an embodiment of the present invention;
corresponding part names are indicated by numerals and letters in the drawings:
1. a ground rail; 2. a trolley line; 3. a chassis; 4. a column; 5. an upper cross beam; 6. a top rail; 7. a loading rack; 8. a control cabinet; 9. a ladder stand; 11. a walking motor; 12. a drive wheel assembly; 13. a driven wheel assembly; 14. an anti-toppling device; 15. a ground rail guide wheel assembly; 16. a walking positioning device; 21. a lifting motor; 22. lifting the winding drum; 31. a fixed pulley assembly; 32. a headrail guide wheel assembly; 41. lifting positioning device; 42. a movable pulley assembly; 43. a column guide wheel assembly; 44. a fork; 45. and a photoelectric detection device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The invention provides a box-type single-upright stacker, which has the working principle that the lifting of a cargo carrier is realized through a single upright, the lifting of the cargo carrier is assisted through a fixed pulley and a movable pulley, the positioning of any position is realized through the arrangement of a positioning device and high-precision closed-loop control, and the weight of materials and the placing style of the materials on a fork are effectively obtained through the arrangement of a photoelectric detection device, so that the aims of simplifying the stacker structure, saving space and cost and improving the working precision and the working efficiency of the stacker are fulfilled.
The present invention will be described in further detail with reference to examples and embodiments.
As shown in fig. 1-6, a single-column 4 stacker of the bin type, the stacker comprising: the ground rail 1 and the sky rail 6, the activity is provided with chassis 3 on the ground rail 1, be provided with running gear and stand 4 on the chassis 3, running gear is used for controlling chassis 3 and moves on ground rail 1, running gear is including walking positioner 16, the fixed entablature 5 that is provided with in top of stand 4, entablature 5 activity sets up on the sky rail 6, the activity is provided with elevating system on stand 4, be provided with elevating positioner 41 and cargo rack 7 on the elevating system, be provided with telescopic fork 44 on the cargo rack 7, the flexible direction and the stand 4 space of fork 44 are perpendicular, be provided with photoelectric detection device 45 that is used for perception material quantity and material put the style on the cargo rack 7, still be provided with switch board 8 and cat ladder 9 on the chassis 3, switch board 8 is used for controlling running gear, elevating system and fork 44, still is used for receiving and handling the data that walk positioner 16, elevating positioner 41 and photoelectric detection device 45 fed back, switch board 8 receives and handles, switch board 2 passes through the power connection with outside power cord.
Compared with the prior art, the lifting of the carrier 7 is realized through the single upright post 4, the carrier 7 is assisted to lift through the fixed pulley and the movable pulley, and the structure of the stacker is simplified by arranging the walking positioning device 16, the lifting positioning device 41 and the photoelectric detection device 45, so that the space and the cost are saved, and the working precision and the working efficiency of the stacker are improved.
Wherein, running gear still includes: the chassis 3 is provided with a chassis, the chassis is provided with a chassis 3, the chassis is provided with a chassis 3, the chassis is provided with a ground rail 1, the chassis is provided with a driving motor 11, the driving motor 11 is used for controlling the driving motor 12 to work according to a control instruction sent by a control cabinet 8, the driving motor 12 is used for providing power for the chassis 3, the chassis 3 is assisted to walk on the ground rail 1, the ground rail is provided with a ground rail guide wheel assembly 15, the ground rail guide wheel assembly 15 is clamped in a rail groove of the ground rail 1, and the guide wheel rotates in the rail groove, so that the stability of the chassis 3 movement is increased.
The travelling mechanism further comprises an anti-toppling device 14, the top end of the anti-toppling device 14 is arranged on the chassis 3, and the bottom ends of the anti-toppling device 14 are clamped on two sides of the ground rail 1.
The transverse beam is provided with a fixed pulley assembly 31 and a top rail guide wheel assembly 32, the fixed pulley assembly 31 is used for assisting the lifting of the carrier 7, and the top rail guide wheel assembly 32 is used for guiding the transverse beam to walk on the top rail 6.
Wherein, elevating system still includes: the lifting motor 21, the lifting winding drum 22 and the upright column guide wheel assembly 43, wherein the lifting winding drum 22 is controlled to work according to a control instruction sent by the control cabinet 8, the lifting winding drum 22 is used for controlling the lifting of the loading and unloading shelf 7, the upright column guide wheel assembly 43 is used for guiding the lifting of the loading and unloading shelf 7 on the upright column 4, the upright column guide wheel assembly 43 is clamped in a track groove of the upright column 4, and the guide wheels rotate in the track groove, so that the lifting stability of the lifting mechanism is improved.
Wherein, elevating system still includes movable pulley assembly 42, movable pulley assembly 42 is used for cooperating with fixed pulley assembly 31, and supplementary cargo carrier 7 goes up and down, and fixed pulley and movable pulley assist cargo carrier 7 to go up and down, have improved the stability that cargo carrier 7 goes up and down.
Wherein, be provided with flexible motor in the cargo rack 7, flexible motor is used for controlling fork 44 flexible.
The encoder is integrated in the control cabinet 8, and is used for encoding the position data fed back by the walking positioning device 16 and the lifting positioning device 41, setting the positioning device, and realizing the positioning of any position through high-precision closed-loop control.
On the X axis, the control cabinet 8 controls the running motor 11 to work, the running motor 11 controls the driving wheel assembly 12 to enable the stacker to move on the ground rail 1, on the Y axis, the control cabinet 8 controls the lifting motor 21 to work, the lifting motor 21 controls the lifting drum 22 to enable the cargo carrier 7 to lift on the upright post 4, on the Z axis, the control cabinet 8 controls the telescopic motor to work, the telescopic motor controls the fork 44 to enable the fork 44 to stretch on the cargo carrier 7. The walking positioning device 16 can synchronously feed back the walking coordinate position of the stacker, the positioning of any position is realized through high-precision closed-loop control, the lifting positioning device 41 can synchronously feed back the lifting coordinate position of the cargo carrying platform, the positioning of any position is realized through high-precision closed-loop control, the photoelectric detection system can realize intelligent perception of the arrangement pattern and the quantity of the feed boxes on the cargo carrying platform, the feed boxes are fed back to the control cabinet 8, the control cabinet 8 processes data, and then the stacker is controlled to put materials.
The control cabinet 8 may be a control system integrated with a single-chip microcomputer or an industrial control computer.
The invention provides the high-efficiency material box type single-upright stacker for overcoming the defects of the traditional technology, which has simple control logic and stable and reliable mechanical structure, 4 boxes can be simultaneously put in and put out of the warehouse in a single operation, and the average composite operation reaches 300 boxes/hour. The flow requirement of various complex application scenes is met.
The invention provides the high-efficiency material box type single-upright column stacker for overcoming the defects of the traditional technology, and the intelligent degree of the high-efficiency material box type single-upright column stacker is higher than that of the traditional stacker. The single operation can realize the operation of simultaneously warehousing or ex-warehouse of 4 boxes or 3 boxes or 2 boxes or 1 box, can intelligently identify that the single forking of the 4 boxes or 3 boxes or 2 boxes or 1 box on the cargo carrying platform is realized, and intelligently identify the placement pattern of the feed box.
While the invention has been described with respect to the preferred embodiment of a single-column stacker in the form of a magazine, it should be noted that modifications and improvements can be made by those skilled in the art without departing from the inventive concept.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910800100.5A CN110510312B (en) | 2019-08-28 | 2019-08-28 | Box type single column stacker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910800100.5A CN110510312B (en) | 2019-08-28 | 2019-08-28 | Box type single column stacker |
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| Publication Number | Publication Date |
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| CN110510312A CN110510312A (en) | 2019-11-29 |
| CN110510312B true CN110510312B (en) | 2024-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910800100.5A Active CN110510312B (en) | 2019-08-28 | 2019-08-28 | Box type single column stacker |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111268440A (en) * | 2020-04-02 | 2020-06-12 | 北京好运达智创科技有限公司 | Automatic stacker crane for double-block sleeper mold |
| CN111825021B (en) * | 2020-08-07 | 2022-06-21 | 太仓同晟工业自动化有限公司 | Single-upright-column stacking crane |
| CN114906775B (en) * | 2022-05-27 | 2025-09-02 | 天津齐物科技有限公司 | An automated three-dimensional warehouse stacker |
| CN115258494A (en) * | 2022-08-16 | 2022-11-01 | 北京东方国凯工业装备有限公司 | A high-speed bin stacker |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201553585U (en) * | 2009-06-25 | 2010-08-18 | 上海精星仓储设备工程有限公司 | Laneway piling machine with dual upright posts |
| 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 |
| CN110161943A (en) * | 2018-02-11 | 2019-08-23 | 国网上海市电力公司 | A kind of intelligence trident stacking machine control system |
| CN211002997U (en) * | 2019-08-28 | 2020-07-14 | 昆山同日工业自动化有限公司 | Box-type single-column stacker |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007063553A1 (en) * | 2007-12-21 | 2009-07-16 | Viastore Systems Gmbh | Storage and retrieval unit and method for operating a stacker crane |
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2019
- 2019-08-28 CN CN201910800100.5A patent/CN110510312B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201553585U (en) * | 2009-06-25 | 2010-08-18 | 上海精星仓储设备工程有限公司 | Laneway piling machine with dual upright posts |
| CN110161943A (en) * | 2018-02-11 | 2019-08-23 | 国网上海市电力公司 | A kind of intelligence trident stacking machine control system |
| 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 |
| CN211002997U (en) * | 2019-08-28 | 2020-07-14 | 昆山同日工业自动化有限公司 | Box-type single-column stacker |
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| CN110510312A (en) | 2019-11-29 |
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