CN110745440A - Three-dimensional library of intelligent mould and its control method - Google Patents

Abstract

The invention discloses an intelligent mold three-dimensional library and a control method thereof. The three-dimensional library includes mold racks, each mold rack includes a row of a plurality of vertical mold cabinets, and each vertical mold cabinet includes a row of a plurality of different storey heights The three-dimensional library also includes a driving channel and a transfer car; each shelf unit includes two left and right angle steel, and the two ends of each angle steel are welded on the two first columns of the mold cabinet; the transfer car includes a frame , There is a power drive mechanism on the frame to make the tray reach the specified horizontal position of the mold frame; the frame is also equipped with a lifting mechanism for lifting the tray, and the lifting part of the lifting mechanism is equipped with a lifting part for moving the heavy mold from the top of the frame to the The fork mechanism above the shelf unit of the mold frame; the key to this method is to automatically scan the position information and send it to the main controller to control the main motor, the traction machine and the telescopic motor to achieve automatic access. The three-dimensional library and its control method are precise, convenient and highly automated.

Description

Three-dimensional library of intelligent mould and its control method

technical field

The invention relates to the technical field of mechanical equipment for storing and placing heavy-duty molds for auto-parts parts in the auto-parts industry, in particular to an intelligent three-dimensional mold library and a control method for automatically picking and placing heavy molds by using the three-dimensional library.

Background technique

In the auto parts industry, many of the molds used for die-casting auto parts are heavy-duty molds, whose weight is generally 2.5t to 3t, and some molds even weigh 5t. For the consideration of saving floor space, the mold racks are generally used to place each mold stack layer by layer, that is, a row of multiple shelf units is vertically combined into a mold cabinet, and a row of multiple mold cabinets is combined horizontally into a mold rack. , and place each mold in the corresponding shelf unit.

The problem to be solved by this application is three levels. One is how to lay out the mold racks so that more molds can be put on hold in a more reasonable and orderly manner; the other is how to set the specific structure of the transfer vehicle so that it can The problem of moving and transporting the heavy-duty molds to the designated shelf unit of the mold frame, or taking out the heavy-duty molds that need to be used from the corresponding shelf unit; the third is how to improve the automation and intelligence of the mold pick-and-place process as much as possible. Reduce manual operations, save manpower, and improve pick-and-place efficiency and accuracy.

Moreover, there are several rigid requirements for the above-mentioned transfer car for transporting mobile molds. First, the car body and its internal action structure need special design to carry the mold weighing up to 5t to ensure smooth and stable mold handling process; second, the car body Each internal structure is as compact and reasonable as possible, making it easy to install on the transfer car, thus avoiding the transfer car being too large and heavy. Specifically, if you transport a normal weight mold, you can also set up a power element driven by a cylinder or an oil cylinder on the transfer vehicle, but because the die-casting mold in the auto parts industry is too heavy, it is impossible to use the cylinder to drive and carry such a large tonnage mold. , Even if a large oil cylinder is used, the load may be able to meet the requirements, but the volume and weight of the power components are too large, which will cause the overall weight and volume of the transfer vehicle to be too large, making the transfer vehicle bulky, occupying a large area, high energy consumption, and practicality. too bad.

SUMMARY OF THE INVENTION

A technical problem to be solved by the present invention is to provide an intelligent three-dimensional mold library capable of smoothly and accurately delivering heavy-duty molds to a designated shelf unit of a mold rack or accurately taking out and transporting heavy-duty molds from a designated shelf unit.

A technical solution of the present invention is to provide an intelligent three-dimensional mold library, which includes mold racks, each mold rack includes a row of multiple vertical mold cabinets, and each vertical mold cabinet includes a row of multiple different layers A high shelving unit; the three-dimensional warehouse also includes a traveling passage extending along the length direction of the mold frame and a transfer vehicle located on the traveling passage; the transfer vehicle is placed with a pallet, and the heavy mold is placed on the pallet;

Each shelf unit includes two left and right angle steels extending along the thickness direction of the mold frame for carrying trays, and both ends of each angle steel are welded on the two first columns of the mold cabinet;

The transfer car includes a frame, and the frame is provided with a power drive mechanism to make the tray reach the designated horizontal position of the mold frame; the frame is also provided with a lifting mechanism for lifting the tray, and the lifting part of the lifting mechanism is provided with a lifting mechanism for lifting heavy molds from The fork mechanism that moves above the frame to the top of the shelving unit of the die frame;

The fork mechanism includes a telescopic arm, the pallet rests on the telescopic arm, and the telescopic arm includes a fixed arm, a transition arm and a sliding arm;

The fixed arm is rotatably installed with a plurality of first gears that mesh in sequence, at least one of the first gears is a driving wheel driven by a telescopic motor and the other first gears are driven wheels. The fixed arm includes two first side walls and a bottom. A first chute runs through the inner surface of each first side wall along the telescopic direction, and a lower rack is fixed on the upper surface of the bottom wall;

The transition arm includes two side plates and a plurality of connecting shafts for connecting the two side plates, each connecting shaft is rotatably installed with a second gear engaged with the lower rack; the lower surface of the inner side plate is fixed with a The first upper rack meshing with the first gear; the outer surface of each side plate is provided with upper and lower rows of guide wheels along the telescopic direction;

The sliding arm is composed of two second side walls and a cover plate, the inner surface of each second side wall has a second chute running through in the telescopic direction, and the lower surface of the cover plate is fixed with a second gear meshing with the second gear. upper rack;

The two rows of upper guide wheels of the transition arm are respectively slidably fitted in the two second sliding grooves of the sliding arm, and the two rows of lower guide wheels of the transition arm are respectively slidably fitted in the two first sliding grooves of the fixed arm.

Compared with the prior art, the intelligent mold stereo library with the above structure has the following advantages.

First separately analyze the forward movement principle of the telescopic arm of the fork mechanism: the telescopic motor drives the forward transmission of the first gear as the driving wheel, thereby driving the forward transmission of other first gears, and the forward transmission of all the first gears will push the first upper tooth forward. bar, so that the transition arm extends forward relative to the transfer vehicle by a standard stroke d; when the transition arm extends forward, since the lower part of the second gear of the transition arm meshes with the lower rack of the fixed arm, the second gear will also rotate forward. And the line stroke of the second gear rotating in the forward direction is the standard stroke d of the transition arm; and because the upper part of the second gear meshes with the second upper rack, when the second gear rotates in the forward direction, it will be pushed and slide by the second upper rack. arm, so that the sliding arm also extends a standard stroke d relative to the transition arm. In this way, by superimposing a standard stroke d of the transition arm extending forward relative to the transfer vehicle, the sliding arm will extend forward relative to the transfer vehicle by two standard strokes, that is, 2d. Control the telescopic motor so that the standard stroke d of the forward extension is half of the length of the telescopic arm, then the sliding arm will eventually extend a full length of the telescopic arm relative to the transfer vehicle. At this time, if the telescopic motor reverses the same number of turns, the moving wall will retreat 2d, the transition arm will retreat 1d, and the moving wall, transition arm and fixed arm will overlap again in the telescopic direction. In the same way, if the telescopic motor is reversed, the sliding arm will extend a length of the telescopic arm behind the transfer vehicle.

Then analyze the load condition of the telescopic arm. The weight of the sliding arm and its upper part is carried downward on the transition arm through the two rows of upper guide wheels, and the two rows of multiple upper guide wheels carry the load smoothly and stably, and ensure the sliding. The lateral movement of the arm is smooth, and because the upper guide wheel is stuck in the two second chutes on the inner surface of the two second side walls of the sliding arm, a U-shaped clamping connection is formed to ensure that the sliding arm is fully extended At the same time, the fork carrying the heavy-duty mold will not overturn or lose stability as a whole; in the same way, since the weight of the transition arm and its upper part is also carried down on the fixed arm through the two rows of lower guide wheels, it is further ensured that the fork is in the Stable retraction under high load, smooth movement, and no overturning when fully extended.

To sum up, the fork mechanism extends the telescopic arm loaded with the heavy mold forward and backward, and the extension distance is equal to the length of the telescopic arm, so that the heavy mold moves along the thickness direction of the mold frame from the top of the transfer car to the top of the mold frame. ; In this way, combined with the transfer vehicle with the power mechanism to transport the pallet to the specified lateral position of the mold frame and the lifting mechanism for lifting the fork mechanism set on the frame, the three comprehensive actions realize the smooth and accurate delivery of the heavy mold. To the designated shelf unit of the mold rack or the automated process of accurately taking out heavy molds from the designated shelf unit; moreover, the above-mentioned forks have a heavy load and can carry heavy molds from 2.5t to 3t, or even 5t; and the telescopic process Smooth and stable, it can ensure that the fork does not overturn when the sliding arm is fully extended; moreover, compared with the heavy and bulky hydraulic cylinder type traditional fork, the fork of the present application is compact in structure, small in size, light in weight, and moves lightly and smoothly.

Preferably, the number of mold racks is even, the mold racks in the middle are arranged back-to-back in groups of two, and the mold racks located on the outermost side are arranged individually, between the single mold rack on the outer side and the double-layer mold rack, or between the double-layer mold rack and the double-layer mold rack. The gap between the double-layer mold racks constitutes a driving channel; in this way, the three-dimensional mold warehouse integrated with multiple mold racks doubles the number of molds stored in a limited area; moreover, the two middle ones are arranged back-to-back , and the mold racks on the side are set separately, so that there are mold racks on both sides of each driving aisle. In this way, combined with the two-way telescopic fork mechanism, the placement and removal of two rows of mold racks can be realized simultaneously by a transfer vehicle. The structure is simplified, the proportion of the mold frame in the limited space is increased, and it is convenient to store more molds.

Preferably, the power drive mechanism includes a main motor, a first reduction box and two wheel frames arranged on the frame, the output shaft of the main motor extends into the first reduction box, and the output shaft of the first reduction box is a first bidirectional A driving driving wheel is fixed at each end of the first bidirectional shaft, and a driving driven wheel meshing with the driving driving wheel on the same side is rotatably installed on each wheel frame; There are two main racks on the same side, and a parallel guide rail is set on the outside of each main rack; each driving driven wheel meshes with the main rack on the same side, and two rows of left and right main guide wheels are rotatably installed on the frame. Each main guide wheel rests on the guide rail on the same side, and each main guide wheel is provided with a limit wheel for clamping the guide rail in the axial direction; in this way, the power mechanism of the transfer vehicle, such as the main motor, the first reduction box, The layout of the wheel frame, driving wheel and driven wheel is compact and reasonable, which reduces the volume of the transfer vehicle as much as possible; moreover, after the motor is decelerated and reversed by the first reduction box, the torque is transmitted in two directions, driving from both sides of the vehicle body. , the force is uniform and stable; more importantly, the driving driving wheel, driving driven wheel and the main rack are only responsible for meshing transmission and do not bear heavy loads. The weight of the car body is placed on the guide rail by the two rows of main steering wheels The force area is large enough to effectively support the load of the heavy mold; moreover, from the width direction of the car body, the left and right limit wheels are stuck on the two guide rails to avoid the lateral displacement of the car body and ensure that the driving gear and the main rack are always mesh to further enhance its stability.

Preferably, the lifting mechanism includes a top frame and four guide columns mounted on the frame of the transfer vehicle. The tops of the four guide columns are respectively fixed to the four corners of the top frame; the top frame is provided with a plurality of fixed pulleys; There is a car, the car is composed of an upper rectangular frame, a lower rectangular frame and four second columns connecting the two rectangular frames, the four second columns are separated from the four corners of the two rectangular frames, and the fork mechanism is fixed on the lower rectangular frame; The car is provided with a movable pulley; the lifting mechanism also includes a traction machine with a traction rope. After the traction rope is drawn out from the traction machine, it is fixed with the top frame after bypassing each fixed pulley and movable pulley to form a pulley block; in this way, the lifting and lowering The mechanism is provided with a stable traction force by the traction machine, and the traction rope is wound around the movable pulley and the fixed pulley to form a labor-saving pulley block, so the mechanism can stably lift heavy molds with a weight of 2.5-5t; The guide column is sliding fit, which further enhances the stability of the lifting of the heavy mold; and because the above mechanism is set vertically as a whole, the bottom floor area is small, and it is suitable to be installed on the frame of the transfer car to ensure the structure of the transfer car. It is compact and reasonable; moreover, it can be seen from the analysis in the previous paragraph that the fork mechanism is compact, lightweight, and occupies a small area, so the lifting mechanism for lifting the fork mechanism is also naturally lightweight and compact, and occupies less space, thus further reducing the volume and size of the entire transfer vehicle. weight; also because the above mechanism does not need to use oil cylinders and air cylinders, omitting the oil circuit and air circuit circulation system, it also makes the transfer car lighter; moreover, the four guide columns are distributed in four corners to enhance the overall stability of the lifting mechanism; and the car also The frame structure composed of the second column and the rectangular frame can not only ensure the strength and bearing capacity of the car, but also minimize the self-weight of the car, so that the traction force of the traction machine can act on the mold as much as possible, further Increase the heavy load of the lift mechanism.

It is further preferable for the lifting mechanism to have three fixed pulleys and two movable pulleys. After the traction rope is drawn from the traction machine, it is reversed through the first fixed pulley, and then bypasses the second fixed pulley and the first movable pulley in turn. , The third fixed pulley and the second movable pulley are fixed with the top frame; in this way, the pulley block can reduce the traction force to 1/4, further increase the heavy load of the lifting mechanism, and make it more suitable for the requirements of heavy molds; and , a fixed pulley is added near the traction machine to reverse the direction of the traction rope to ensure a smoother and more stable traction process.

Another preference of the lifting mechanism is that the upper rectangular frame is provided with a fully closed hoop corresponding to the guide post, and the four sides of the fully closed hoop in contact with the guide post are provided with rollers; the lower rectangular frame is provided with a roller. The semi-closed hoop corresponding to the guide column one-to-one; the three sides of the semi-closed hoop in contact with the guide column are provided with rollers; in this way, the upper part adopts a fully closed hoop, which can ensure the sliding cooperation between the car and the guide column. , to prevent the car from detaching, and on the premise that the upper part has adopted a fully enclosed hoop, the lower part is assisted by a semi-enclosed hoop, which not only ensures the stable sliding of the car and the guide column, but also simplifies the structure and facilitates assembly; Moreover, rollers are provided on each side of the hoop in contact with the guide column, which further lubricates the friction between the car and the guide column and reduces the noise and wear of both.

As a further preference, the traction machine is suspended and screwed on the guide column through a transition bracket; an electric control box is arranged on the frame, and a main controller is arranged in the electric control box. The traction machine, the main motor and the telescopic motor are all connected with the main control box. The surface of the electric control box is provided with an operating platform that is also electrically connected to the main controller; the traction machine is accommodated in the electric control box of the transfer vehicle and is provided with a partition plate between the main controller and the main motor; The first reduction box, the wheel frame, the driving driving wheel and the driving driven wheel are also located in the electric control box, and the above components and the traction machine are located on the same side of the partition; the transition bracket is also provided with a longitudinal protective sleeve plate, The traction rope segment between the traction machine and the first fixed pulley is accommodated in the protective sleeve plate; in this way, the traction machine is connected with the second column through the transition bracket, and the connection is firm and reliable, and shortens the time between the traction machine and the second column. The distance between the fixed pulleys on the top reduces the ineffective length of the traction rope and saves energy consumption; and the power components of the traction machine and the transfer vehicle are all housed in the electric control box, the overall structure is compact and reasonable, and the electric control box is obtained. The box body is protected and shielded to a certain extent, dust-proof and waterproof, and the overall structure is beautiful and clean. Similarly, the traction rope section between the traction machine and the first fixed pulley is also retracted in the protective sleeve for protection. To prevent the rope section from being accidentally touched, to ensure the stability of the lift car; moreover, there are partitions in the electric control box to isolate the traction machine, the power components of the transfer car and the main controller, so as to avoid traction The traction rope of the traction machine and other power components pollute the precise components such as the main controller; finally, the main controller is connected with the traction machine, the main motor and the telescopic motor, which is convenient for precise control of the output of the above three power sources, so that the bracket and the mold can be It is accurately transported to the corresponding shelf unit on the mold frame, and the connection between the operating table and the main controller not only provides manual control for automatically placing the mold, but also facilitates inputting the position information corresponding to the mold when the mold is removed to realize the mold removal. of automation.

As a further preference, there are two telescopic arms, and the distance between the outer surfaces of the two telescopic arms is smaller than the distance between the two angle steels of the same shelf unit; the telescopic motor is located between the two telescopic arms, and the output shaft of the telescopic motor extends into a second speed reducer The output shaft of the second reduction box is a second bidirectional shaft, and both ends of the second bidirectional shaft extend into the fixed arms on both sides and are fixed with the two first gears; in this way, one telescopic motor drives two telescopic shafts at the same time. It can ensure that the two telescopic arms can be extended and retracted synchronously, ensure balanced force, improve the stability of the mold when moving, and double the overall load of the forklift; moreover, the distance between the outer surfaces of the two telescopic arms is less than the same The distance between the two angle steels of a shelf unit, that is, the hollow between the two angle steels, thus avoids the mutual interference between the telescopic arm and the angle steels when lifting and lowering, and realizes the suspension of the tray.

As a further preference, a connecting frame is provided between the two telescopic arms, and the connecting frame includes a top sheet metal and two front and rear bottom connecting plates, the two ends of each bottom connecting plate are respectively screwed with the two fixed arms, and the middle part of the top sheet metal is The upper arch plate and the front and rear end are L-shaped plates, the two L-shaped plates are screwed with the front and rear bottom connecting plates respectively, and the second reduction box shell is screwed on the lower surface of the upper arch plate; the lower surfaces of the two bottom connecting plates are It is screwed with the lower rectangular frame; in this way, the two telescopic arms are firmly connected, and the layout of each component is compact and reasonable, which is convenient for assembly and reduces the overall volume of the forklift.

As a further preference, a gear box is fixed on the lower surface of the bottom wall of the fixed arm, the main part of the first gear is installed in the gear box, the bottom wall of the fixed arm has a long hole parallel to the lower rack, and all the first gear The upper part of the gear box protrudes out of the gear box through the long hole to realize the meshing with the first upper rack; this design not only provides a suitable installation position for the first gear, but also ensures that the first gear and the lower rack are staggered, ensuring that the forklift truck The multi-stage transmission components of the UPS operate independently without interfering with each other.

Another technical problem to be solved by the present invention is to provide an accurate, convenient and automatic control method for automatically picking and placing molds using the intelligent mold stereo library of the present application.

Another technical solution of the present invention is to provide a control method for automatically picking and placing molds by utilizing the intelligent mold stereoscopic library of the present application, which comprises the following steps:

The mold placement process is:

a. Paste a barcode with the information of the specific storage location of the mold on each mold;

b. Put the mold on the pallet, and put the pallet on the transfer car at the entrance of the driving passage;

c. Scan the barcode with a barcode scanner, and send the scanned information of the specific storage location of the mold to the main controller;

d. The main controller drives the main motor to rotate forward for a fixed number of turns, so that the transfer car reaches the designated lateral position of the mold frame;

e. The main controller drives the traction machine to rotate forward for a fixed number of turns, so that the fork mechanism rises to a height slightly higher than the angle steel of the corresponding shelf unit;

f. The main controller drives the telescopic motor to forward or reverse, and fully extends the sliding arm forward or backward, so that the tray is located above the angle steel of the corresponding shelf unit, and then drives the traction machine in the reverse direction to make the fork mechanism slightly Drop to a height slightly lower than the angle steel, so that the mold and tray are completely rested on the angle steel of the corresponding shelf unit;

The mold removal process is as follows:

Input the specific storage position information of the mold to be taken out on the operation platform of the electric control box, and the main controller converts the number of revolutions of the driving main motor and the traction machine according to the position information, so that the transfer vehicle reaches the corresponding lateral position, and The lifting mechanism lifts the forklift mechanism to a height slightly lower than the angle steel of the shelf unit, and then drives the telescopic motor to extend forward or reversely, so that the sliding arm is located at a height slightly lower than the pallet; then continue to drive the traction machine to slightly lift the fork mechanism to lift the pallet and disengage it from the angle steel; then fully retract the sliding arm, reversely reset the traction machine and the main motor, so that the fork mechanism returns to the ground and the transfer vehicle returns to the entrance of the driving passage.

The advantages of the above-mentioned intelligent mold three-dimensional library and its control method are: fully automatic and precise placement and removal of molds are realized, and the above two processes are highly automated and intelligent, and only the molds need to be placed in the transfer at the entrance of the driving passage. On the car, after scanning the barcode again, it can move forward, rise, stretch into place, and automatically put it on hold without manual intervention. The mold is lifted and stretched to take away the mold, and moved in the opposite direction to the entrance of the driving passage; therefore, manpower is effectively saved, and it is accurate, fast and efficient; moreover, the layout of the various components inside the above-mentioned transfer vehicle is reasonable, fully bearing the requirements of heavy molds, and the handling is smooth and efficient. The internal parts of the transfer car are compact, which reduces the weight and volume of the transfer car. At the same time, the overall design of the layout of the mold frame, the driving channel, and the handling of the transfer car is also very scientific. Reasonable distribution, easy to take and place.

Description of drawings

FIG. 1 is a schematic structural diagram of the power components of the frame of the intelligent mold three-dimensional library of the present invention.

FIG. 2 is a schematic structural diagram of the lower limit position of the car of the intelligent mold three-dimensional library of the present invention.

FIG. 3 is a schematic structural diagram of the upper limit position of the car of the intelligent mold three-dimensional library of the present invention.

FIG. 4 is an enlarged structural schematic diagram of the car of the intelligent mold three-dimensional warehouse of the present invention.

FIG. 5 is a schematic structural diagram of the lifting mechanism of the intelligent mold three-dimensional warehouse of the present invention after removing the car.

FIG. 6 is a schematic structural diagram of the lifting mechanism of the intelligent mold three-dimensional warehouse of the present invention after removing the car, the shell of the electric control box and the protective sleeve.

FIG. 7 is a schematic structural diagram of the fork mechanism of the intelligent mold stereoscopic library of the present invention.

FIG. 8 is a schematic structural diagram of the fork mechanism of the intelligent mold three-dimensional library of the present invention after the top sheet metal is removed.

FIG. 9 is a schematic diagram of an exploded structure of the fork mechanism of the intelligent mold three-dimensional library of the present invention.

FIG. 10 is a schematic view of the structure of FIG. 9 after deflecting to a certain angle.

Fig. 11 is a half-section top plan structure schematic diagram of the fork mechanism of the intelligent mold three-dimensional library of the present invention, cut from the section where the first gear is located.

Fig. 12 is a half-section top plan structure schematic diagram of the fork mechanism of the intelligent mold three-dimensional library of the present invention, cut from the section where the second gear is located.

FIG. 13 is a schematic structural diagram of a three-dimensional library of intelligent molds of the present invention.

FIG. 14 is a schematic structural diagram of the intelligent mold three-dimensional warehouse of the present invention after removing the transfer vehicle.

Shown in the picture 1, telescopic arm, 2, fixed arm, 2.1, first side wall, 2.2, bottom wall, 3, transition arm, 3.1, additional link, 3.2, side plate, 3.3, connecting shaft, 4, sliding Arm, 4.1, second side wall, 4.2, cover plate, 5, first gear, 6, telescopic motor, 7, first chute, 8, lower rack, 9, second gear, 10, first upper tooth Strip, 11, Second chute, 12, Second upper rack, 13, Upper guide wheel, 14, Lower guide wheel, 15, Second reduction box, 16, Second two-way shaft, 17, Top sheet metal, 17.1 , Upper arch plate, 17.2, L-shaped plate, 18, Bottom connecting plate, 19, Gear box, 20, Long hole, 21, Frame, 22, Guide column, 23, Top frame, 24, Fixed pulley, 25, Car Box, 25.1, Upper rectangular frame, 25.2, Lower rectangular frame, 25.3, Second column, 26, Moving pulley, 27, Tray, 28, Traction rope, 29, Traction machine, 30, Fully closed hoop, 31, Roller , 32, semi-closed hoop, 33, transition bracket, 34, electric control box, 35, clapboard, 36, protective cover plate, 37, upper beam, 38, lower beam, 39, main motor, 40, first deceleration box, 41, wheel frame, 42, first bidirectional shaft, 43, driving driving wheel, 44, driving driven wheel, 45, main rack, 46, guide rail, 47, main guide wheel, 48, limit wheel, 49, Mold rack, 49.1, mold cabinet, 49.1.1, shelving unit, 49.1.2, angle steel, 49.1.3, first column, 50, driving passage, 51, transfer vehicle, 52, operating platform.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

As shown in FIG. 1 to FIG. 14, the intelligent three-dimensional mold library of the present invention includes a plurality of mold racks 49, each mold rack 49 includes a row of a plurality of vertical mold cabinets 49.1, and each mold cabinet 49.1 includes four A column 49.1.3. Each vertical mould cabinet 49.1 comprises a row of a plurality of shelving units 49.1.1 of different heights. Each shelf unit 49.1.1 includes two left and right angle steels 49.1.2 extending along the thickness direction of the mold frame 49 for carrying the tray 27, and both ends of each angle steel 49.1.2 are welded to the two first steel bars of the mold cabinet 49.1. On column 49.1.3. When the mould is placed on the shelf unit 49.1.1, the tray 27 is clamped on the transverse plates of the two angles 49.1.2.

The mold racks 49 of the mold library in this embodiment are even in number, the middle mold racks 49 are laid back-to-back in pairs, the outermost mold racks 49 are laid out individually, the outer single mold racks 49 and the double-layer mold racks 49 A driving channel 50 is formed between them, and a gap between the double-layer mold frame 49 and the double-layer mold frame 49 also constitutes a driving channel 50 . The above-mentioned traveling channel 50 extends along the length direction of the mold frame 49 , and a transfer vehicle 51 is arranged in the traveling channel 50 ;

The transfer vehicle 51 includes a frame 21 , and a power drive mechanism for making the tray 27 reach the specified horizontal position of the mold frame 49 is provided on the frame 21 . Specifically, the frame 21 is provided with a main motor 39 , a first reduction box 40 and two wheel frames 41 on the left and right sides. The output shaft of the main motor 39 extends into the first reduction box 40 , the output shaft of the first reduction box 40 is the first bidirectional shaft 42 , and each end of the first bidirectional shaft 42 passes through the through hole of the wheel frame 41 on the same side and Each end of the first bidirectional shaft 42 is fixed with a driving driving wheel 43 . Each wheel frame 41 is rotatably mounted with a driving driven wheel 44 engaged with the driving driving wheel 43 on the same side. Two main racks 45 on both sides of the vehicle frame 21 are laid in each traffic passage 50 , and a parallel guide rail 46 is provided on the outer side of each main rack 45 . Each driving driven wheel 44 meshes with a main rack 45 on the same side. Two rows of left and right main steering wheels 47 are rotatably mounted on the frame 21. Each main steering wheel 47 rests on the same side guide rail 46. Each main guide wheel 47 is provided with a limit wheel 48 for clamping the guide rail 46 in the axial direction.

The main motor 39 will drive the transfer cart 51 to move forward along the direction of the guide rail 46, that is, the longitudinal direction of the mold frame 49, to reach a designated horizontal position, such as to the front of the fifth mold cabinet 49.1.

The frame 21 is also provided with a lift mechanism for lifting the pallet 27 , and the lift portion of the lift mechanism is provided with a fork mechanism for moving the heavy mold from the top of the frame 21 to the top of the shelf unit 49.1.1 of the mold frame 49 . Its specific structure is as follows.

The lifting mechanism includes at least two guide posts 22 mounted on the frame 21 of the transfer vehicle, and in this embodiment, there are four guide posts 22 . A top frame 23 is fixed to the top ends of the four guide columns 22 . Specifically, the top ends of the four guide columns 22 are fixed to the four corners of the top frame 23 . The top frame 23 is provided with an upper beam 37 , and a plurality of fixed pulleys 24 are rotatably mounted on the upper beam 37 . A car 25 is slidably fitted on the four guide columns 22 . Specifically, the car 25 is composed of an upper rectangular frame 25.1, a lower rectangular frame 25.2 and four second uprights 25.3 connecting the two rectangular frames, and the four second uprights 25.3 are located at the four corners of the two rectangular frames; the upper rectangular frame 25.1 There are four fully closed hoop 30; each fully closed hoop 30 is slidably matched with a corresponding guide post 22, and each fully closed hoop 30 is provided with rollers on the four sides in contact with the corresponding guide post 22 31; the lower rectangular frame 25.2 is provided with four semi-closed hoop 32, each semi-closed hoop 32 is slidably matched with a corresponding guide post 22, and each semi-closed hoop 32 is in contact with the corresponding guide post 22. Rollers 31 are provided on both sides.

The top frame 23 of the car 25 is provided with a lower beam 38 , and the lower beam 38 is provided with a movable pulley 26 . The car 25 is also provided with a fork mechanism. More specifically, the fork mechanism is fixed on the lower rectangular frame 25.2.

The lifting mechanism also includes a traction machine 29 with a traction rope 28. After the traction rope 28 is drawn out from the traction machine 29, it bypasses each fixed pulley 24 and movable pulley 26 and is fixed to the top frame 23 to form a pulley block.

The specific structure of the pulley block in this embodiment is as follows: there are three fixed pulleys 24 and two movable pulleys 26. After the traction rope 28 is drawn out from the traction machine 29, it is reversed through the first fixed pulley 24, and then bypasses the second pulley in turn. The fixed pulley 24 , the first movable pulley 26 , the third fixed pulley 24 and the second movable pulley 26 are then fixed to the top frame 23 .

The traction machine 29 is suspended and screwed on the guide column 22 through the transition bracket 33 . The frame 21 is provided with an electric control box 34, and a main controller is arranged in the electric control box 34. The traction machine 29, the main motor 39 and the telescopic motor 6 are all electrically connected to the main controller. The surface of the electric control box 34 is provided with the same The operation platform 52 electrically connected to the main controller; the traction machine 29 is accommodated in the electric control box 34 of the transfer vehicle 51 and a partition 35 is provided between the main controller and the main motor 39; the first reduction box 40 , the wheel frame 41 , the driving driving wheel 43 and the driving driven wheel 44 are also located in the box of the electric control box 34 , and the above components and the traction machine 29 are located on the same side of the partition 35 . The transition bracket 33 is also provided with a longitudinal protective cover plate 36 , and the rope section of the traction rope 28 between the hoisting machine 29 and the first fixed pulley 24 is accommodated in the protective cover plate 36 .

The fork mechanism of the transfer vehicle 51 is a heavy-duty two-way telescopic fork, and the fork mechanism includes two telescopic arms 1 with identical structures and a connecting frame for connecting the two telescopic arms 1 . The tray 27 rests on the two telescopic arms 1 . The two angle steel 49.1.2 transverse plates are hollowed out and the distance between the two angle steel 49.1.2 transverse plates is greater than the distance between the outer surfaces of the two telescopic arms 1 .

Each telescopic arm 1 includes a fixed arm 2 , a transition arm 3 and a sliding arm 4 .

Here, the concept of direction is unified. For the telescopic arm 1, the direction in which the telescopic arm 1 is extended and retracted is the front-rear direction of the telescopic arm 1, and the direction perpendicular to the telescopic arm 1 is the left-right direction of the telescopic arm 1. However, for the overall mold frame 49 , the telescopic direction of the telescopic arm 1 is actually the thickness direction of the mold frame 49 .

The fixed arm 2 includes two first side walls 2.1 and a bottom wall 2.2. The two first side walls 2.1 are screwed on the upper surface of the bottom wall 2.2 and are located on the left and right sides thereof.

The connecting frame includes a top sheet metal 17 and two front and rear bottom connecting plates 18. Both ends of the front bottom connecting plate 18 are screwed with the front ends of the bottom walls 2.2 of the two fixed arms 2 respectively, and the two ends of the rear bottom connecting plate 18 are respectively connected with the two fixed arms. 2. The rear end of the bottom wall 2.2 is screwed together; the above-mentioned two bottom walls 2.2 and the two bottom connecting plates 18 constitute the frame structure of the fork foundation. The lower surfaces of the two bottom connecting plates 18 are both screwed with the lower rectangular frame 15.2, so as to complete the connection between the fork mechanism and the elevator mechanism car 25.

The middle part of the top sheet metal 17 is an upper arch plate 17.1 and the front and rear ends are L-shaped plates 17.2. The two L-shaped plates 17.2 are screwed with the front and rear bottom connecting plates 18 respectively. The lower surface of the upper arch plate 17.1 is screwed with a second speed reducer Box 15. There is also a telescopic motor 6 between the two telescopic arms 1. The output shaft of the telescopic motor 6 extends into the second reduction box 15, and the output shaft of the second reduction box 15 is a second bidirectional shaft 16. The second bidirectional shaft 16 The two ends extend into the two fixed arms 2 on the left and right sides respectively.

A plurality of first gears 5 are rotatably installed in each fixed arm 2 , wherein at least one of the first gears 5 is a driving wheel driven by the telescopic motor 6 and the other first gears 5 are driven wheels. In this embodiment, each telescopic arm 1 is provided with three first gears 5. Specifically, a gear box 19 is fixed on the lower surface of the bottom wall 2.2 of each fixed arm 2, and the three first gears 5 are rotatably installed. Inside the box of the gear box 19 , the end of the second bidirectional shaft 16 extends into the gear box 19 of the fixed arm 2 and is fixed to the first gear 5 as the driving wheel, and the other two first gears 5 are sequentially meshed with the driving wheel For transmission, the above-mentioned three first gears 5 are located in the middle of the length of the fixed arm 2 in the telescopic direction. The bottom wall 2.2 of the fixed arm 2 also serves as the top plate of the gear box 19. The bottom wall 2.2 has a long hole 20 extending in the telescopic direction. The main parts of the three first gears 5 are accommodated in the gear box 19. The upper parts of the three first gears 5 protrude from the gear box 19 through the long holes 20 .

A first chute 7 runs through the inner surface of each first side wall 2.1 of the fixed arm 2 along the telescopic direction, and a lower rack 8 extending along the telescopic direction is fixed on the upper surface of the bottom wall 2.2; The part of the first gear 5 protruding from the gear box 19 through the long hole 20 is staggered from left to right.

The transition arm 3 includes two side plates 3.2 and a plurality of connecting shafts 3.3 for connecting the two side plates 3.2. In this embodiment, there are three connecting shafts 3.3, and each connecting shaft 3.3 is rotatably installed with a lower rack. 8 meshed second gears 9; three second gears 9 are meshed in sequence and the three second gears 9 are located in the middle of the length of the transition arm 3 in the telescopic direction; of course, there are additional reinforcements between the two side plates 3.2. Connecting rod 3.1. A first upper rack 10 meshing with the first gear 5 is fixed on the lower surface of the inner side plate 3.2; two rows of guide wheels are arranged on the outer surface of each side plate 3.2 along the telescopic direction. Specifically, a row of upper guide wheels 13 and a row of lower guide wheels 14 are arranged on the left surface of the left side plate 3.2 along the telescopic direction, and a row of upper guide wheels 13 and a row of lower guide wheels are arranged on the right surface of the right side plate 3.2 along the telescopic direction. Guide wheel 14.

The sliding arm 4 is composed of two second side walls 4.1 and a cover plate 4.2. The two second side walls 4.1 are respectively screwed on the lower surface of the cover plate 4.2 and are located on the left and right sides thereof. A second chute 11 runs through the inner surface of each second side wall 4.1 along the telescopic direction, and a second upper rack 12 that meshes with the second gear 9 is fixed on the lower surface of the cover plate 4.2.

The two rows of upper guide wheels 13 of the transition arm 3 are respectively slidably fitted in the two second sliding grooves 11 of the sliding arm 4 , and the two rows of lower guide wheels 14 of the transition arm 3 are slidably fitted to the two first slides of the fixed arm 2 respectively. in slot 7.

The control method for automatically picking and placing molds by using the intelligent mold stereoscopic library of the present invention includes a mold placing process and a mold taking-out process.

The mold placement process is:

a. Paste a barcode with information about the specific storage location of the mold on each mold.

The barcode in this step is preferably a two-dimensional code, and the location information can be the serial number of the corresponding shelf unit 49.1.1. The main controller can search for the number of revolutions of the main motor 39 and the number of revolutions of the traction machine 29 corresponding to the serial number in the database according to the serial number. Of course, the number of rotations of the main motor 39 and the hoisting machine 29 and the forward and backward directions of the fork mechanism can also be directly recorded in the two-dimensional code.

b. The mold is placed on the tray 27 , and the tray 27 is placed on the transfer vehicle 51 located at the entrance of the traffic passage 50 .

c. Scan the barcode with a barcode scanner, and send the scanned information of the specific storage location of the mold to the main controller; the barcode scanner can be a hand-held scanner, or a mobile phone, or installed at the entrance of the driving passage 50 As long as the above-mentioned code scanner is connected with the main controller signal, it can send the code scan result.

d. The main controller drives the main motor 39 to rotate forward for a fixed number of turns, so that the transfer car 51 reaches the specified lateral position of the mold frame 49, such as the front of the fifth mold cabinet 49.1; it can be known from common sense that the main motor 39 and the traction machine 29 are equipped with a rotary angle encoder, which can measure the number of turns of the output. The above-mentioned rotary angle encoder is electrically connected with the main controller, so as to be responsible for the start and stop of the corresponding motor.

e. The main controller drives the traction machine 29 to rotate forward for a fixed number of turns, so that the fork mechanism rises to a height slightly higher than the angle steel 49.1.2 of the corresponding shelf unit 49.1.1; if it rises to the fourth shelf unit 3cm above the angle steel 49.1.2 of 49.1.1.

f. The main controller drives the telescopic motor 6 to forward or reverse, and fully extends the sliding arm 4 forward or backward, so that the tray 27 is located above the angle steel 49.1.2 corresponding to the shelf unit 49.1.1, and then reversely drives The traction machine 29 makes the fork mechanism drop slightly to a height slightly lower than the angle steel 49.1.2, such as to a height of 2cm lower than the angle steel 49.1.2, so that the mold and tray 27 are completely placed on the corresponding shelf unit 49.1. 1 on the angle 49.1.2.

In this embodiment, two upward infrared distance sensors are arranged at both ends of the fixed arm 2 of the fork mechanism. When the fork is retracted, both ends of the sliding arm 4 cover both ends of the fixed arm 2, and the two infrared sensors have Once the front infrared sensor has a signal and the rear infrared sensor has no signal, it means that the sliding arm 4 is extended forward. Then, if there is no signal from both infrared sensors, it means that the sliding arm 4 is fully extended forward.

The mold removal process is as follows:

Input the specific storage position information of the mold to be taken out on the operation platform 52 of the electric control box, and the main controller obtains the rotation number of the driving main motor 39 and the traction machine 29 according to the position information, so that the transfer vehicle 51 reaches the corresponding horizontal direction. position, and the lifting mechanism lifts the forklift mechanism to a height slightly lower than the angle steel 49.1.2 of the shelf unit 49.1.1, such as a height of 3cm lower, and then drives the telescopic motor 6 to extend forward or reversely, so that the sliding arm 4 is located in Slightly lower than the height of the pallet 27; then continue to drive the traction machine 29 to slightly lift the fork mechanism, such as lifting 5cm, lift the pallet 27 and disengage it from the angle steel 49.1.2; then fully retract the sliding arm 4, reverse the reset traction The machine 29 and the main motor 39 make the fork mechanism return to the ground and the transfer vehicle 51 to return to the entrance of the roadway 50 .

Claims (10)

1. An intelligent mould stereo library comprises mould racks (49), wherein each mould rack (49) comprises a row of a plurality of vertical mould cabinets (49.1), and each vertical mould cabinet (49.1) comprises a row of a plurality of shelf units (49.1.1) with different heights; the method is characterized in that: the mould rack is characterized by also comprising a travelling channel (50) extending along the length direction of the mould rack (49) and a transfer trolley (51) positioned on the travelling channel (50); a tray (27) is placed on the transfer trolley (51), and the heavy-duty mold is placed on the tray (27);

each shelf unit (49.1.1) comprises a left angle steel (49.1.2) and a right angle steel (49.1.2) which extend along the thickness direction of the mould rack (49) and are used for bearing the tray (27), and two ends of each angle steel (49.1.2) are welded on two first upright posts (49.1.3) of the mould cabinet (49.1);

the transfer trolley (51) comprises a trolley frame (21), and a power driving mechanism for enabling the tray (27) to reach the designated horizontal position of the mould frame (49) is arranged on the trolley frame (21); the frame (21) is also provided with a lifting mechanism for lifting the tray (27), and a lifting part of the lifting mechanism is provided with a fork mechanism for moving the heavy-duty mold from the upper part of the frame (21) to the upper part of a shelf unit (49.1.1) of the mold rack (49);

the pallet fork mechanism comprises a telescopic arm (1), the tray (27) is placed on the telescopic arm (1), and the telescopic arm (1) comprises a fixed arm (2), a transition arm (3) and a sliding arm (4);

the fixing arm (2) is rotatably provided with a plurality of first gears (5) which are meshed in sequence, wherein at least one first gear (5) is a driving wheel driven by a telescopic motor (6) and other first gears (5) are driven wheels, the fixing arm (2) comprises two first side walls (2.1) and a bottom wall (2.2), a first sliding chute (7) penetrates through the inner surface of each first side wall (2.1) along the telescopic direction, and a lower rack (8) is fixed on the upper surface of the bottom wall (2.2);

the transition arm (3) comprises two side plates (3.2) and a plurality of connecting shafts (3.3) used for connecting the two side plates (3.2), and each connecting shaft (3.3) is rotatably provided with a second gear (9) meshed with the lower rack (8); a first upper rack (10) meshed with the first gear (5) is fixed on the lower surface of one inner side plate (3.2); the outer surface of each side plate (3.2) is provided with an upper row of guide wheels and a lower row of guide wheels in a telescopic direction;

the sliding arm (4) is composed of two second side walls (4.1) and a cover plate (4.2), a second sliding chute (11) penetrates through the inner surface of each second side wall (4.1) along the telescopic direction, and a second upper rack (12) meshed with the second gear (9) is fixed on the lower surface of the cover plate (4.2);

two rows of upper guide wheels (13) of the transition arm (3) are respectively in sliding fit in the two second sliding grooves (11) of the sliding arm (4), and two rows of lower guide wheels (14) of the transition arm (3) are respectively in sliding fit in the two first sliding grooves (7) of the fixed arm (2).

2. The intelligent mold stereo library according to claim 1, wherein: the mold frames (49) are even in number, two mold frames (49) in the middle are arranged in a back-to-back fit mode, the mold frame (49) located on the outermost side is arranged singly, and a traveling channel (50) is formed by gaps between the single mold frame (49) on the outer side and the double-layer mold frame (49) or gaps between the double-layer mold frame (49) and the double-layer mold frame (49).

3. The intelligent mold stereo library according to claim 1, wherein: the power driving mechanism comprises a main motor (39), a first reduction gearbox (40) and two wheel carriers (41) which are arranged on the frame (21), an output shaft of the main motor (39) extends into the first reduction gearbox (40), an output shaft of the first reduction gearbox (40) is a first bidirectional shaft (42), each end of the first bidirectional shaft (42) is fixedly provided with a driving wheel (43), and each wheel carrier (41) is rotatably provided with a driving driven wheel (44) which is meshed with the driving wheel (43) on the same side; two main racks (45) which are respectively arranged at two sides of the frame (21) are paved in each travelling channel (50), and a parallel guide rail (46) is arranged at the outer side of each main rack (45); each driving driven wheel (44) is meshed with the main rack (45) on the same side, a left row and a right row of main guide wheels (47) are rotatably arranged on the frame (21), each main guide wheel (47) is placed on the guide rail (46) on the same side, and each main guide wheel (47) is provided with a limiting wheel (48) used for clamping the guide rail (46) along the axial direction.

4. The intelligent mold stereo library according to claim 1, wherein: the lifting mechanism comprises a top frame (23) and four guide posts (22) arranged on a frame (21) of the transfer trolley (51), and the top ends of the four guide posts (22) are respectively fixed with four corners of the top frame (23); a plurality of fixed pulleys (24) are arranged on the top frame (23); a lift car (25) is matched on the guide column (22) in a sliding manner, the lift car (25) is composed of an upper rectangular frame (15.1), a lower rectangular frame (15.2) and four second stand columns (15.3) which are connected with the two rectangular frames, the four second stand columns (15.3) are arranged at the four corners of the two rectangular frames, and the fork mechanism is fixed on the lower rectangular frame (15.2); the cage (25) is provided with a movable pulley (26); the lifting mechanism also comprises a traction machine (29) with a traction rope (28), and the traction rope (28) is led out from the traction machine (29), passes through each fixed pulley (24) and each movable pulley (26) and is fixed with the top frame (23) to form a pulley block.

5. The intelligent mold stereo library according to claim 4, wherein: the number of the fixed pulleys (24) is three, the number of the movable pulleys (26) is two, and the traction rope (28) is led out from the traction machine (29), reversed by the first fixed pulley (24), sequentially wound around the second fixed pulley (24), the first movable pulley (26), the third fixed pulley (24) and the second movable pulley (26) and fixed with the top frame (23).

6. The intelligent mold stereo library according to claim 4, wherein: the upper rectangular frame (15.1) is provided with fully closed hoops (30) which correspond to the guide columns (22) one by one, and four side surfaces of the fully closed hoops (30) which are in contact with the guide columns (22) are provided with rolling shafts (31); the lower rectangular frame (15.2) is provided with semi-closed hoops (32) which correspond to the guide columns (22) one by one; and rolling shafts (31) are arranged on three sides of the semi-closed hoop (32) which are contacted with the guide post (22).

7. The intelligent mold stereo library according to claim 4, wherein: the traction machine (29) is suspended and screwed on the guide post (22) through the transition support (33); an electric cabinet (34) is arranged on the frame (21), a main controller is arranged in the electric cabinet (34), the traction machine (29), the main motor (39) and the telescopic motor (6) are all electrically connected with the main controller, and an operation platform (52) which is also electrically connected with the main controller is arranged on the surface of the electric cabinet (34); the traction machine (29) is accommodated in the box body of the electric control box (34) of the transfer trolley (51), and a partition plate (35) is arranged between the traction machine and the main controller; the main motor (39), the first reduction gearbox (40), the wheel carrier (41), the driving wheel (43) and the driven wheel (44) are also positioned in the box body of the electric control box (34), and the components and the traction machine (29) are positioned on the same side of the partition board (35); the transition support (33) is also provided with a longitudinal protective sleeve plate (36), and the rope section of the traction rope (28) between the traction machine (29) and the first fixed pulley (24) is accommodated in the protective sleeve plate (36).

8. The intelligent mold stereo library according to claim 4, wherein: the distance between the outer surfaces of the two telescopic arms (1) is smaller than the distance between two angle steels (49.1.2) of the same shelf unit (49.1.1); the telescopic motor (6) is positioned between the two telescopic arms (1), an output shaft of the telescopic motor (6) extends into a second reduction gearbox (15), an output shaft of the second reduction gearbox (15) is a second bidirectional shaft (16), and two ends of the second bidirectional shaft (16) respectively extend into the fixed arms (2) on two sides and are fixed with the two first gears (5).

9. The intelligent mold stereo library according to claim 8, wherein: a connecting frame is arranged between the two telescopic arms (1), the connecting frame comprises a top metal plate (17) and a front and a rear bottom connecting plates (18), two ends of each bottom connecting plate (18) are respectively in threaded connection with the two fixing arms (2), the middle part of the top metal plate (17) is provided with an upper arch plate (17.1), the front and rear ends of each top metal plate are provided with L-shaped plates (17.2), the two L-shaped plates (17.2) are respectively in threaded connection with the front and rear bottom connecting plates (18), and a shell of a second reduction gearbox (15) is in threaded connection with the lower surface of the upper arch plate (17.; the lower surfaces of the two bottom connecting plates (18) are in threaded connection with the lower rectangular frame (15.2);

a gear box (19) is fixed on the lower surface of the bottom wall (2.2) of the fixing arm (2), the main body of the first gear (5) is installed in the gear box (19), a long hole (20) parallel to the lower rack (8) penetrates through the bottom wall (2.2) of the fixing arm (2), and the upper portions of all the first gears (5) extend out of the gear box (19) through the long holes (20) so as to be meshed with the first upper rack (10).

10. A control method for automatically taking and placing the mold by using the intelligent mold stereo library according to any one of claims 1-9; it comprises the following steps:

the mold placing process comprises:

a. sticking a bar code with information of a specific storage position of the mould on each mould;

b. resting the mould on a pallet (27), the pallet (27) on a transfer trolley (51) located at the entrance of the walkway (50);

c. scanning the bar code by using a bar code scanner, and sending the information of the specific storage position of the scanned mould to the main controller;

d. the main controller drives the main motor (39) to rotate forward for a fixed number of turns, so that the transfer trolley (51) reaches the designated transverse position of the die rack (49);

e. the main controller drives the traction machine (29) to rotate forward for a fixed number of turns, so that the fork mechanism rises to a height slightly higher than the height of the angle steel (49.1.2) of the corresponding shelf unit (49.1.1);

f. the main controller drives the telescopic motor (6) to rotate forwards or reversely, the sliding arm (4) extends forwards or backwards completely, the tray (27) is positioned above the angle steel (49.1.2) of the corresponding shelf unit (49.1.1), and then the traction machine (29) is driven reversely, so that the pallet fork mechanism falls to a height slightly lower than the angle steel (49.1.2) in a small range, and the mould and the tray (27) are completely placed on the angle steel (49.1.2) of the corresponding shelf unit (49.1.1);

the mold taking-out process comprises the following steps:

inputting specific stored position information of a mold to be taken out on an operation platform (52) of an electric cabinet, converting and driving the main motor (39) and a tractor (29) by a main controller according to the position information so as to enable a transfer trolley (51) to reach a corresponding transverse position, lifting a forklift mechanism to a height slightly lower than the angle steel (49.1.2) of a shelf unit (49.1.1) by a lifting mechanism, and then driving a telescopic motor (6) to extend forwards or backwards so as to enable a sliding arm (4) to be positioned at a height slightly lower than a tray (27); then, the traction machine (29) is continuously driven to lift the pallet fork mechanism by a small margin, so that the tray (27) is lifted and separated from the angle steel (49.1.2); the sliding arm (4) is then fully retracted, the traction machine (29) and main motor (39) are reversed, the fork mechanism is returned to the ground and the transfer trolley (51) is returned to the entrance of the walkway (50).

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