CN110758959B - Three-dimensional storage system for shaft products - Google Patents

Abstract

The invention discloses a three-dimensional storage system for shaft products, which comprises a storage warehouse and a stacking and transferring system, wherein the stacking and transferring system is used for conveying the shaft products to the storage warehouse or receiving the shaft products from the storage warehouse; the warehousing warehouse comprises a plurality of warehousing units stacked together, each warehousing unit comprises a warehousing support, and a warehousing conveying mechanism for transferring shaft products is arranged on each warehousing support; the stacking and transferring system comprises a stacker and a following clamp; the following clamp comprises a following base; at least two clamp units used for tightly holding the shaft products are arranged on the following base at intervals; the clamp unit comprises a holding tool base, two ends of the holding tool base are respectively provided with a holding arm which is rotationally matched with the holding tool base, and the holding tool base is provided with a holding driving mechanism which is used for driving the holding arms to rotate and holding shaft products tightly or releasing the shaft products tightly; arc-shaped grooves or V-shaped grooves matched with the shaft products are respectively arranged on the holding tool base and the holding arm.

Description

Three-dimensional storage system for shaft products

Technical Field

The invention relates to a temporary storage warehouse, in particular to a three-dimensional storage system for shaft products.

Background

For shaft products, due to the lack of traveling fixtures, a hoisting tool is generally adopted to hoist the shaft products to a storage area at present, but a hoisting mechanism cannot meet the requirement of stacking of the shaft products in a stereoscopic warehouse, so that the storage area occupies a large space, safety risks such as damage to the shaft products and the like exist in the hoisting process, and the use requirement of a temporary storage warehouse cannot be met.

The stacker is the most important lifting and transporting equipment in the stereoscopic warehouse and is a mark representing the characteristics of the stereoscopic warehouse. The stacking crane is mainly used for running back and forth in a channel of the stereoscopic warehouse, storing goods positioned at a lane crossing into a goods grid of a goods shelf, or taking out goods in the goods grid and conveying the goods to the lane crossing. For shaft products, the shaft products cannot be circumferentially positioned, and are easy to roll after being stored in a stereoscopic warehouse, namely the shaft products are inconvenient to store in the stereoscopic warehouse.

The follower fixture is a machine tool fixture which automatically moves and transfers the workpiece mounted with the follower fixture among all stations. The follower fixture is mainly used for workpieces which have irregular shapes and are inconvenient to automatically position, clamp and convey in automatic production of automatic production lines, machining centers, flexible manufacturing systems and the like. After the workpiece is installed and positioned on the pallet, the pallet is conveyed to each station by the conveying device. The pallet is generally positioned on the machine tool with its bottom plane and two positioning holes and clamped by a clamping mechanism of the machine tool table, thereby ensuring the relative position of the workpiece and the tool. When the requirement for the machining accuracy of the workpiece is high, the bottom plane of the pallet is often separated into a positioning base plane and a transportation base plane, so that the accuracy of the positioning base plane is protected.

The shaft products are difficult to circumferentially clamp and position due to the smooth characteristic of the peripheral surface of the shaft products. The clamping base of the existing shaft part generally adopts an arc-shaped groove or a V-shaped groove to support and directly support the shaft product, but when the shaft product is transported between different stations, circumferential rotation errors inevitably exist, the positioning reference of each station is different, the positioning reference is not only required to be repositioned and fixed, the efficiency is reduced, and positioning errors inevitably exist in multiple times of positioning, so that certain position errors exist in the processing of the shaft product and the installation of parts in the shaft product.

Disclosure of Invention

In view of this, the present invention provides a three-dimensional warehousing system for shaft products, which can meet the requirements of stacking and warehousing of shaft products.

In order to achieve the purpose, the invention provides the following technical scheme:

the shaft product three-dimensional warehousing system comprises a warehousing warehouse and a stacking and transferring system, wherein the stacking and transferring system is used for conveying shaft products to the warehousing warehouse or receiving the shaft products from the warehousing warehouse;

the warehousing warehouse comprises a plurality of warehousing units stacked together, each warehousing unit comprises a warehousing support, and a warehousing conveying mechanism for transferring shaft products is arranged on each warehousing support;

the stacking and transferring system comprises a stacker and a following clamp;

the stacker comprises a chassis, wherein a vertical slide rail is arranged on the chassis, a lifting frame in sliding fit with the vertical slide rail is arranged on the vertical slide rail, and a conveying mechanism for conveying the pallet to the storage conveying mechanism or receiving the pallet from the storage conveying mechanism is arranged on the lifting frame; the lifting frame is provided with a driving mechanism for driving the conveying mechanism; the chassis is provided with a lifting driving mechanism for driving the lifting frame to do lifting motion along the vertical slide rail; the chassis is provided with a walking driving mechanism for driving the chassis to walk;

the following clamp comprises a following base; at least two clamp units used for tightly holding the shaft products are arranged on the following base at intervals; the clamp unit comprises a holding tool base, two ends of the holding tool base are respectively provided with a holding arm which is rotationally matched with the holding tool base, and the holding tool base is provided with a holding driving mechanism which is used for driving the holding arms to rotate and holding shaft products tightly or releasing the shaft products tightly; arc-shaped grooves or V-shaped grooves matched with the shaft products are respectively arranged on the holding tool base and the holding arm.

Further, the warehousing conveying mechanism comprises warehousing roller frames which are respectively positioned at two ends, warehousing conveying rollers are arranged between the two warehousing roller frames at intervals, the two ends of each warehousing conveying roller are respectively in rotating fit with the two warehousing roller frames, and a warehousing driving mechanism for driving the warehousing conveying rollers to synchronously rotate is arranged on each warehousing support;

the warehousing driving mechanism comprises a warehousing driving motor installed on the warehousing support, a warehousing transmission mechanism used for driving the two warehousing conveying rollers to rotate synchronously is arranged between every two adjacent warehousing conveying rollers, the warehousing transmission mechanism comprises a warehousing transmission gear sleeved on the corresponding warehousing conveying roller, odd number of warehousing intermediate gears are arranged between every two adjacent warehousing transmission gears, and an output shaft of the warehousing driving motor is in transmission connection with one of the warehousing intermediate gears.

The device further comprises a line-side transfer system which is arranged corresponding to the shaft product production line, wherein the line-side transfer system comprises a line-side transfer track which is used for transferring the pallet from the shaft product production line to the warehouse;

the line edge conveying track comprises at least one line edge conveying unit spliced together, and when the line edge conveying track needs to turn, the line edge conveying track further comprises a line edge turning unit used for turning.

Furthermore, the line edge steering unit comprises a steering support, a lifting platform capable of doing lifting motion relative to the steering support is arranged at the top of the steering support, a steering platform capable of doing steering motion relative to the lifting platform is arranged above the lifting platform, and a steering conveying mechanism used for being in butt joint with the corresponding line edge conveying unit or the corresponding storage unit is arranged on the steering platform.

Furthermore, the two groups of vertical slide rails are arranged at two ends of the lifting frame respectively, each group of vertical slide rails comprises at least one vertical slide rail, and two ends of the lifting frame are in sliding fit with the two groups of vertical slide rails respectively;

the vertical sliding rail comprises a vertical upright post, at least one side wall of the vertical upright post is provided with a vertical rail, the lifting frame is provided with a sliding sleeve sleeved outside the vertical upright post, and at least one group of rollers is arranged between the sliding sleeve and the vertical rail.

Further, the conveying mechanism comprises roller frames positioned on two sides of the lifting frame, conveying rollers are arranged between the two roller frames at intervals, and two ends of each conveying roller are respectively in rotating fit with the two roller frames;

the driving mechanism comprises a driving motor arranged on the lifting frame, a gear transmission mechanism used for driving the two conveying rollers to synchronously rotate is arranged between every two adjacent conveying rollers, the gear transmission mechanism comprises transmission gears sleeved on the corresponding conveying rollers, odd number of intermediate gears are arranged between every two adjacent transmission gears, and an output shaft of the driving motor is in transmission connection with one of the intermediate gears;

the lifting driving mechanism comprises a lifting motor fixedly arranged on the chassis, a threaded screw rod in threaded fit with the lifting frame is arranged on the lifting frame, the threaded screw rod is parallel to the vertical slide rail, and an output shaft of the lifting motor is in transmission connection with the threaded screw rod;

the walking driving mechanism comprises a rotating shaft and a walking motor, wherein the rotating shaft is arranged on the chassis in a rotating fit mode, the walking motor is fixedly arranged on the chassis and used for driving the rotating shaft to rotate, and walking wheels which rotate synchronously with the rotating shaft are respectively sleeved at two ends of the rotating shaft.

Furthermore, the clasping tool base and the clasping arm are respectively provided with clasping pieces matched with the shaft products, and the clasping pieces are provided with arc-shaped grooves or V-shaped grooves matched with the shaft products;

the clasping piece comprises a mounting part; the side, facing the corresponding holding tool base or holding arm, of the mounting part is provided with a mounting plane, at least two positioning shafts are arranged on the mounting plane at intervals, all the positioning shafts are sleeved on the same mounting plate, and limiting parts used for limiting the mounting plate are arranged on the positioning shafts;

the mounting plate is positioned between the limiting part and the mounting plane; the locking device comprises a locking device base, a locking arm and a mounting plate, wherein the locking device base is arranged on the locking arm, the locking arm is arranged on the locking device base, the locking arm is arranged on the locking arm, the locking arm is arranged on the locking.

Further, the thickness of the mounting plate is smaller than the distance between the limiting part and the mounting plane;

a bearing disc spring is sleeved on the positioning shaft of the holding piece arranged on the holder base and positioned between the limiting part and the bottom of the positioning hole;

the spring is arranged on the clasping piece on the clasping arm and used for providing clasping pretightening force, and the spring is positioned between the limiting part and the hole bottom of the positioning hole.

Further, the both sides of installation department are equipped with the backing sheet of outside extension respectively, the piece of embracing adopts the spring steel to make.

Further, the enclasping driving mechanism comprises an electric cylinder fixedly installed on the base of the enclasping tool, and double-hinged connecting rods are arranged between the output shaft of the electric cylinder and the two enclasping arms respectively and connected with the output shaft of the electric cylinder;

the hinged connecting shafts between the double-hinged connecting rods and the corresponding clasping arms and the hinged connecting shafts between the clasping arms and the clamp base are parallel but not collinear;

the electric cylinder is used for preventing the holding arm from loosening and has a self-locking function; or the like, or, alternatively,

and a mechanical self-locking mechanism for preventing the enclasping arm from loosening is arranged between the double-hinged connecting rod and the base of the enclasping tool or between the double-hinged connecting rod and the enclasping arm.

The invention has the beneficial effects that:

according to the three-dimensional storage system for the shaft products, the storage warehouse is arranged, and the shaft products can be transported and stored in the storage warehouse by using the stacking transport system, and specifically:

by adopting the following fixture, the fixture units are arranged on the following base at intervals, and the arc-shaped grooves or the V-shaped grooves for tightly holding the shaft products are respectively arranged on the holding fixture base and the holding arms of the fixture units, so that when the tool is used, the holding fixture base mainly bears the gravity action of the shaft products, the holding arms respectively arranged at the two ends of the holding fixture base respectively tightly hold and fix the two sides of the shaft products respectively, the shaft products are prevented from rotating circumferentially, circumferential clamping and fixing of the shaft products can be realized, the tool can be used for transferring the shaft products among different stations, and the efficiency and the precision are improved;

after the pallet clamps the shaft products and places the shaft products on the conveying mechanism by adopting a stacker, the pallet can be transported to a stacking position by utilizing the stacker, and the pallet and the shaft products are output to corresponding warehouses, namely the shaft products are stored in the warehouses; or the empty stacker is firstly moved to the corresponding storage warehouse, and then the follower fixture and the shaft products stored in the storage warehouse are transferred to the conveying mechanism of the stacker from the storage warehouse, so that the shaft products are taken out from the storage warehouse;

in conclusion, the three-dimensional storage system for the shaft products can meet the requirements of transportation and storage of the shaft products.

Drawings

In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:

FIG. 1 is a schematic structural diagram of a three-dimensional warehousing system for shaft products according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a warehousing unit;

FIG. 3 is detail A of FIG. 2;

FIG. 4 is a schematic structural view of a line-edge steering unit;

FIG. 5 is an isometric view of FIG. 4;

FIG. 6 is detail B of FIG. 5;

FIG. 7 is a schematic structural view of a line edge conveying unit;

FIG. 8 is detail C of FIG. 7;

FIG. 9 is a schematic diagram of the structure of the stacking transfer system;

FIG. 10 is an isometric view of FIG. 9;

FIG. 11 is detail D of FIG. 10;

FIG. 12 is a schematic structural view of a pallet;

FIG. 13 is a left side view of FIG. 12;

FIG. 14 is a schematic structural view of a gripper unit;

FIG. 15 is a cross-sectional view E-E of FIG. 14;

FIG. 16 is detail F of FIG. 15;

fig. 17 is a left side view of fig. 14.

Description of reference numerals:

100-a pallet; 101-a clamp base; 102-a hugging arm; 103-clasping piece; 104-a mounting portion; 105-a support sheet; 106-mounting plane; 107-positioning shaft; 108-a mounting plate; 109-a limiting part; 110-positioning holes; 111-load-bearing disc springs; 112-a spring; 113-an electric cylinder; 114-double hinge link; 115-traveling base; 116-a gripper unit;

200-a stacker; 201-a chassis; 202-vertical slide rail; 203-a lifting frame; 204-a conveying mechanism; 205-vertical columns; 206-vertical rails; 207-a sliding sleeve; 208-a roller; 209-roller frame; 210-a conveyor roller; 211-drive motor; 212-a drive gear; 213-intermediate gear; 215-a lift motor; 216-threaded lead screw; 217-a rotating shaft; 218-road wheels.

300-a warehouse; 301-a storage unit; 302-warehouse rack; 303-a warehousing and conveying mechanism; 304-a warehousing roller housing; 305-warehousing conveying rollers; 306-warehouse drive motors; 307-storage drive gear; 308-warehousing intermediate gear; 309-line edge conveying track; 310-a line edge conveying unit; 311-line side steering unit; 312-a steering bracket; 313-a lifting platform; 314-a steering platform; 315-a diverting conveyor; 316-a fixed support; 317-lifting connecting rods; 318-lifting driving cylinder; 319-vertical shaft; 320-a rotating electrical machine; 321-a steering roll frame; 322-steering conveyor rolls; 323-steering drive gear; 324-steering intermediate gear; 325-steering drive motor; 326-lineal stent; 327-a string edge conveying mechanism; 328-line edge roller frame; 329-line edge conveying roller; 330-line edge drive motor; 331-line edge drive gear; 332-line edge intermediate gear; 333-reservoir position partition board.

Detailed Description

The present invention is further described with reference to the following drawings and specific examples so that those skilled in the art can better understand the present invention and can practice the present invention, but the examples are not intended to limit the present invention.

Fig. 1 is a schematic structural diagram of a three-dimensional warehousing system for shaft products according to an embodiment of the present invention. The three-dimensional warehousing system for the shaft products comprises a warehouse 300 and a stacking and transferring system, wherein the stacking and transferring system is used for conveying the shaft products to the warehouse or receiving the shaft products from the warehouse. The warehouse 300 comprises a plurality of warehouse units 301 stacked together, the warehouse units 301 comprise warehouse supports 302, and warehouse conveying mechanisms 303 for transferring shaft-like products are arranged on the warehouse supports 302. The warehouse of this embodiment adopts the modularized design, is assembled by individual storage unit 301 stack, can dispose according to site conditions and actual demand, and length, width height all can arrange as required.

Further, the warehousing conveying mechanism 303 comprises warehousing roller frames 304 respectively positioned at two ends, warehousing conveying rollers 305 are arranged between the two warehousing roller frames 304 at intervals, two ends of each warehousing conveying roller 305 are respectively in rotating fit with the two warehousing roller frames 304, and a warehousing driving mechanism for driving the warehousing conveying rollers 305 to synchronously rotate is arranged on each warehousing support 302; the warehousing driving mechanism of the embodiment comprises a warehousing driving motor 306 installed on a warehousing support 302, a warehousing transmission mechanism used for driving the two warehousing conveying rollers 305 to rotate synchronously is arranged between every two adjacent warehousing conveying rollers 305, the warehousing transmission mechanism comprises a warehousing transmission gear 307 sleeved on the corresponding warehousing conveying roller 305, an odd number of warehousing intermediate gears 308 are arranged between every two adjacent warehousing transmission gears 307, and an output shaft of the warehousing driving motor 306 is in transmission connection with one of the warehousing intermediate gears 308. In this embodiment, 1 warehousing intermediate gear 308 is disposed between two adjacent warehousing transmission gears 307, and the technical purpose of driving two adjacent warehousing conveying rollers 305 to rotate synchronously can be achieved by using the meshing transmission between the warehousing intermediate gear 308 and the two adjacent warehousing transmission gears 307. Specifically, a warehouse position separation mechanism is arranged on one side of the warehousing and conveying mechanism 303, a warehouse position separation plate 333 is arranged on the warehouse position separation mechanism, and the warehouse position separation plate 333 can be used for positioning the traveling fixture 100.

In the three-dimensional warehousing system of axle type product of this embodiment, usable storehouse conveying mechanism 303 makes the material transport between the storage unit 301 that the mutual concatenation is in same plane and same straight line and together, and the storehouse conveying mechanism of the usable storehouse of material self realizes transporting in the direction of depth promptly, but if will realize the transportation in other directions, then need rely on stacker 200 to transport and realize.

Further, the warehouse 300 of the present embodiment further includes a line-side transfer system disposed corresponding to the shaft-type product production line, and the line-side transfer system includes a line-side conveying track 309 for conveying the pallet 100 from the shaft-type product production line to the warehouse 300. Specifically, the line edge conveying track 309 includes at least one line edge conveying unit 310 spliced together, and when the line edge conveying track 309 needs to turn, the line edge conveying track 309 further includes a line edge turning unit 311 for turning. The line edge transfer system of this embodiment is used for transporting axle type product from production line station or agv to the transfer conveying mechanism of warehouse, and need rely on stacker 200 with axle type product to transport between warehouse and line edge transfer mechanism.

The line edge turning unit 311 of this embodiment includes a turning support 312, a lifting platform 313 capable of lifting and lowering relative to the turning support 312 is disposed at the top of the turning support 312, a turning platform 314 capable of turning relative to the lifting platform 313 is disposed above the lifting platform 313, and a turning conveying mechanism 315 for docking with a corresponding line edge conveying unit 310 or docking with a corresponding warehousing unit 301 is disposed on the turning platform 314. Specifically, the steering bracket 312 includes a fixed bracket 316 and a lifting bracket installed on the fixed bracket 316, the lifting bracket includes two sets of lifting connecting rods 317 located at two sides, each set of lifting connecting rods 317 includes two lifting connecting rods hinged at the middle portion, two ends of each lifting connecting rod 317 are respectively in sliding fit with the fixed bracket 316 and the lifting platform 313, and a lifting driving cylinder 318 for driving the two lifting connecting rods 317 belonging to the same set to rotate with each other so as to adjust the height of the lifting platform 313 is arranged between the fixed bracket 316 and the lifting bracket. The steering platform 314 is in rotating fit with the lifting platform 313 through a vertical rotating shaft 319 which is perpendicular to the lifting platform 313, a rotating motor 320 is arranged on the lifting platform 313, an output shaft of the rotating motor 320 drives the vertical rotating shaft 319 to rotate through a gear transmission mechanism, the steering platform 314 and the vertical rotating shaft 319 rotate synchronously, and then the steering platform 314 can be driven to rotate relative to the lifting platform 313. Therefore, when the shaft products are conveyed, the shaft products and the pallet are conveyed to the line-side turning unit 311, the shaft products and the pallet are lifted together by the lifting platform 313, the turning platform 314 is rotated for a set angle, the lifting platform 313 is finally used for adjusting the height to a set height, the turning conveying mechanism 315 conveys the shaft products and the pallet to the downstream line-side conveying unit 310 or the storage unit 301, and the technical purpose of turning conveying of the shaft products and the pallet is achieved.

The steering conveying mechanism 315 of the embodiment includes two steering roller frames 321 correspondingly mounted on the steering platform 314, a plurality of steering conveying rollers 322 are arranged between the two steering roller frames 321 at intervals, and two ends of the steering conveying rollers 322 are respectively in rotating fit with the two steering roller frames 321. The turning platform 314 of this embodiment is provided with a turning conveying driving mechanism for driving all the turning conveying rollers 322 to synchronously rotate. The steering driving conveying mechanism of the embodiment comprises a steering driving motor 325 and steering transmission gears 323 arranged at one ends of the steering conveying rollers 322, an odd number of steering intermediate gears 324 are arranged between every two adjacent steering transmission gears 323, and an output shaft of the steering driving motor 325 is in transmission connection with one of the steering intermediate gears 324. In this embodiment, 1 steering intermediate gear 324 is disposed between two adjacent steering transmission gears 323, and the technical purpose of driving two adjacent steering transmission rollers 322 to rotate synchronously can be achieved by using the meshing transmission between the steering intermediate gear 324 and the two adjacent steering transmission gears 323.

The line edge conveying unit 310 of this embodiment includes a line edge support 326, a line edge conveying mechanism 327 for transferring shaft products is disposed on the line edge support 326, the line edge conveying mechanism includes two line edge roller frames 328 correspondingly mounted on the line edge support 326, a plurality of line edge conveying rollers 329 are disposed between the two line edge roller frames 328 at intervals, and two ends of the line edge conveying rollers 329 are respectively in rotation fit with the two line edge roller frames 328. The selvage holder 326 of the present embodiment is provided with a selvage conveyance drive mechanism for driving all the selvage conveyance rollers 329 to rotate synchronously. The line edge driving and conveying mechanism of the embodiment comprises a line edge driving motor 330 and line edge transmission gears 331 arranged at one end of the line edge conveying roller 329, an odd number of line edge intermediate gears 332 are arranged between every two adjacent line edge transmission gears 331, and an output shaft of the line edge driving motor 330 is in transmission connection with one of the line edge intermediate gears 332. In this embodiment, 1 line edge intermediate gear 332 is disposed between two adjacent line edge transmission gears 331, and the technical purpose of driving two adjacent line edge conveying rollers 329 to rotate synchronously can be achieved by using the meshing transmission between the line edge intermediate gear 332 and the two adjacent line edge transmission gears 331. Therefore, the line-side conveying unit 310 in the line-side transfer system can be realized by adopting the structure of the storage unit 301, and the generalization of parts is realized.

The stack transfer system of the present embodiment includes a stacker 200 and a pallet 100.

The stacker of this embodiment includes chassis 201, is equipped with vertical slide rail 202 on the chassis 201, is equipped with crane 203 rather than sliding fit on vertical slide rail 202, is equipped with on crane 203 and transports pallet 100 to the warehouse or receives the transport mechanism 204 of pallet 100 from the warehouse. The lifting frame 203 is provided with a driving mechanism for driving the conveying mechanism; a lifting driving mechanism for driving the lifting frame 203 to do lifting motion along the vertical slide rail 202 is arranged on the chassis 201; the chassis 201 is provided with a travel driving mechanism for driving the chassis to travel.

Pallet 100 of the present embodiment includes pallet 115; at least two clamp units 116 for tightly holding the shaft products are arranged on the accompanying base 115 at intervals; the clamp unit 116 comprises a holding tool base 101, two ends of the holding tool base 101 are respectively provided with a holding arm 102 which is rotatably matched with the holding arm, and the holding tool base 101 is provided with a holding driving mechanism which is used for driving the holding arm 102 to rotate and holding the shaft products tightly or releasing the shaft products tightly; arc-shaped grooves or V-shaped grooves matched with the shaft products are respectively arranged on the holding tool base 101 and the holding arm 102.

Further, the vertical slide rails 202 are arranged into two groups, two groups of vertical slide rails 202 are respectively located at two ends of the lifting frame 203, each group of vertical slide rails 202 comprises at least one vertical slide rail 202, and two ends of the lifting frame 203 are respectively in sliding fit with the two groups of vertical slide rails 202. Each set of vertical slide rails 202 of the present embodiment includes one vertical slide rail 202. The plurality of vertical sliding rails 202 are arranged, so that the running stability of the lifting frame 203 can be improved. Specifically, the vertical slide rail 202 of this embodiment includes a vertical column 205, a vertical rail 206 is provided on at least one side wall of the vertical column 205, a sliding sleeve 207 sleeved outside the vertical column 205 is provided on the crane 203, and at least one set of rollers 208 is provided between the sliding sleeve 207 and the vertical rail 206. The vertical upright column 205 of this embodiment is provided with vertical rails 206 on both sides, and a set of rollers 208 is provided between the upper and lower sides of the sliding sleeve 207 and the vertical rails 206, that is, 4 sets of rollers 208 are provided between one sliding sleeve 207 and two vertical rails 206 of this embodiment, each set of rollers 208 includes 4 rollers, wherein two rollers are in rolling fit with two side surfaces of the vertical rails 206, and another roller is in rolling fit with the top surface or the bottom surface of the vertical rails 206, and the vertical rails 206 of this embodiment protrude outward, that is, one of the rollers is in rolling fit with the top surface of the vertical rails 206.

Further, the conveying mechanism comprises roller frames 209 positioned on two sides of the lifting frame 203, conveying rollers 210 are arranged between the two roller frames 209 at intervals, and two ends of each conveying roller 210 are respectively in rotating fit with the two roller frames 209. The driving mechanism of this embodiment includes the driving motor 211 of installing on crane 203, is equipped with the gear drive mechanism who is used for driving this two conveying roller 210 synchronous rotation between two adjacent conveying roller 210, and gear drive mechanism includes the drive gear 212 of suit on the corresponding conveying roller 210, is equipped with odd number intermediate gear 213 between two adjacent drive gear 212, and the output shaft of driving motor 211 is connected with one of them intermediate gear 213 transmission. In the embodiment, 1 intermediate gear 213 is disposed between two adjacent transmission gears 212, so that the technical purpose of simultaneously driving all the conveying rollers 210 to rotate synchronously can be satisfied.

Further, the lifting driving mechanism of the embodiment includes a lifting motor 215 fixedly installed on the chassis 201, a thread screw 216 in thread fit with the lifting frame 203 is provided on the lifting frame 203, the thread screw 216 is parallel to the vertical slide rail 202, and an output shaft of the lifting motor 215 is in transmission connection with the thread screw 216. The two threaded screw rods 216 of the embodiment are respectively in threaded fit with the two ends of the lifting frame 203, a transmission mechanism for driving the two threaded screw rods 216 to synchronously rotate is arranged between the output shaft of the lifting motor 215 and the two threaded screw rods 216, and the transmission mechanism can be realized by adopting various existing modes and is not described in a repeated way.

Further, the walking driving mechanism of the present embodiment includes a rotating shaft 217 installed on the chassis 201 in a rotating fit manner, and a walking motor fixedly installed on the chassis 201 and used for driving the rotating shaft 217 to rotate, and the two ends of the rotating shaft 217 are respectively sleeved with walking wheels 218 rotating synchronously therewith. The two ends of the chassis 201 of this embodiment are respectively provided with the rotating shaft 217, so that the technical purpose of driving the stacker to walk can be realized.

Further, the clasping tool base 101 and the clasping arm 102 of the present embodiment are respectively provided with clasping members 103 matched with the shaft-like products, and the clasping members 103 are provided with arc-shaped grooves or V-shaped grooves matched with the shaft-like products. The clasping member 103 of the present embodiment is provided with an arc-shaped groove matched with the shaft-like product. The two clasping arms 102 of the present embodiment are symmetrically arranged at two ends of the clasping tool base 101.

The clasp 103 includes a mounting portion 104; the installation department 104 is equipped with mounting plane 106 towards one side of corresponding locking device base 101 or enclasping arm 102, the interval is equipped with two piece at least location axles 107 on the mounting plane 106, all suit on the location axle 107 on same mounting panel 108, be equipped with the spacing portion 109 that is used for spacing mounting panel 108 on the location axle 107, spacing portion 109 adopts the collar that sets up on location axle 107 or adopts the nut with location axle 107 screw-thread fit, spacing portion 109 of this embodiment adopts the collar that sets up on location axle 107. The mounting plate 108 is positioned between the limiting part 109 and the mounting plane 106; the clamp base 101 and the clasping arm 102 are respectively provided with a positioning hole 110 matched with the positioning shaft 107, and the mounting plate 108 is fixedly mounted on the corresponding clamp base 101 or clasping arm 102. Thus, the clasping member 103 can be positioned and installed on the corresponding clasping tool base 101 and clasping arm 102.

Further, the thickness of the mounting plate 108 is smaller than the distance between the limiting portion 109 and the mounting plane 106, so that a gap is formed between the mounting plane and the corresponding clamp base 101 or the corresponding clasping arm 102. In this embodiment, a bearing disc spring 111 is sleeved on the positioning shaft 107 of the clasping member 103 disposed on the clasping member base 101, the bearing disc spring 111 is located between the limiting portion 109 and the bottom of the positioning hole 110, and the bearing disc spring 111 is utilized to bear the gravity of the shaft product. In the embodiment, a spring 112 for providing a clasping preload is sleeved on the positioning shaft 107 of the clasping member 103 arranged on the clasping arm 102, and the spring 112 is located between the limiting portion 109 and the bottom of the positioning hole 110. The spring 112 applies a flexible tightening pre-tightening force to the tightening piece 103, so that the shaft products are tightened while the peripheral surfaces of the shaft products are prevented from being damaged.

Furthermore, supporting pieces 105 extending outwards are respectively arranged on two sides of the mounting portion 104, and the clasping piece 103 is made of spring steel. Support sheets are arranged on two sides of the installation part of the holding piece respectively, and the holding piece is made of elastic steel, so that the support sheets and the whole holding piece can elastically deform in a certain range and can flexibly adapt to shaft products with different outer diameters.

Further, the clasping driving mechanism of the embodiment comprises an electric cylinder 113 fixedly mounted on the clasping tool base 101, and double-hinged connecting rods 114 are respectively arranged between an output shaft of the electric cylinder 113 and the two clasping arms 102 for connection; the hinged connecting shafts between the double-hinged connecting rod 114 and the corresponding clasping arm 102 and the hinged connecting shafts between the clasping arm 102 and the clamp base 101 are parallel to each other but not collinear, so that the clasping arm 102 can be driven to rotate through the electric cylinder 113 and the double-hinged connecting rod 114, and then the shaft products are clasped or loosened. Preferably, the electric cylinder 113 is an electric cylinder which is used for preventing the clasping arm 102 from loosening and has a self-locking function; or, a mechanical self-locking mechanism for preventing the clasping arm 102 from loosening is arranged between the double-hinged connecting rod 114 and the clasping tool base 101 or between the double-hinged connecting rod 114 and the clasping arm 102. The electric cylinder 113 of the embodiment adopts an electric cylinder which is used for preventing the enclasping arm 102 from loosening and has a self-locking function, and can effectively prevent the locking device base 101 from loosening. The electric cylinder with the self-locking function can be realized by adopting various prior art schemes, for example, an electric cylinder with self-locking performance disclosed in the Chinese patent with the publication number of CN203377730U, and an electric cylinder with self-locking ball screw disclosed in the Chinese patent with the publication number of CN208767912U, which are not described in detail.

All the clamp units 116 of the present embodiment are fixedly installed on the pallet 115, and the clamp units 116 of the present embodiment are provided in two and located at two ends of the pallet 115, respectively. Of course, a longitudinal slide rail parallel to a straight line may be further disposed on the following base 115, and at least one of the clamp units 116 is slidably mounted on the longitudinal slide rail, so that the position of the clamp unit 116 may be adjusted to meet the clamping requirements of shaft products with different length and size and the supporting requirements of shaft products with uneven weight distribution.

Of course, the structure form of the pallet can also adopt various modes, such as:

at least three clamp units 116 for tightly holding the shaft products are arranged on the following base 115 at intervals.

Of all the gripper units 116, two gripper units 116 located at both ends are end gripper units, and the gripper unit 116 located between the two end gripper units is an intermediate gripper unit. The axes of the two end clamp units are always positioned on the same straight line; the axis of at least one of the intermediate clamp units is not collinear with the axes of the two end clamp units.

Specifically, the gripper unit 116 may be mounted on the traveling base 115 in various ways:

all the clamp units 116 are fixedly mounted on the traveling base 115; or the like, or, alternatively,

a longitudinal slide rail parallel to the straight line is arranged on the traveling base 115, and at least one of the clamp units 116 with the axes collinear with the straight line is arranged on the longitudinal slide rail in a sliding fit manner; and/or the presence of a gas in the gas,

among the clamp units 116 with all axes not collinear with the straight line, a transverse slide rail perpendicular to the straight line and/or a longitudinal slide rail parallel to the straight line are arranged between the holding tool base 101 and the follower base 115 of at least one clamp unit 116.

Different crankshaft clamping and supporting requirements can be realized. That is, in this embodiment, all the end clamp units and the middle clamp unit may be fixedly mounted on the pallet 115 according to specific requirements, so that the clamping and supporting requirements of a specific crankshaft may be met. The following base 115 can be provided with a longitudinal slide rail parallel to the straight line, and at least one of all the clamp units 116 with the axes collinear with the straight line is arranged on the longitudinal slide rail in a sliding fit manner, so that the distance between the axes and the clamp units 116 with the straight line collinear can be adjusted, and the clamping and supporting requirements of crankshafts with different lengths can be met. In all the clamp units 116 with axes not collinear with the straight line, a transverse slide rail perpendicular to the straight line and/or a longitudinal slide rail parallel to the straight line can be arranged between the holding tool base 101 and the follower base 115 of at least one clamp unit 116, so that the positions of the clamp units 116 with axes not collinear with the straight line can be adjusted to meet the installation and support requirements of different crankshafts.

The three-dimensional warehouse system of axle type product of this embodiment, through setting up warehouse storehouse, usable stack transfer system transports axle type product and stores in warehouse storehouse, and is specific: by adopting the following fixture, the fixture units are arranged on the following base at intervals, and the arc-shaped grooves or the V-shaped grooves for tightly holding the shaft products are respectively arranged on the holding fixture base and the holding arms of the fixture units, so that when the tool is used, the holding fixture base mainly bears the gravity action of the shaft products, the holding arms respectively arranged at the two ends of the holding fixture base respectively tightly hold and fix the two sides of the shaft products respectively, the shaft products are prevented from rotating circumferentially, circumferential clamping and fixing of the shaft products can be realized, the tool can be used for transferring the shaft products among different stations, and the efficiency and the precision are improved; after the pallet clamps the shaft products and places the shaft products on the conveying mechanism by adopting a stacker, the pallet can be transported to a stacking position by utilizing the stacker, and the pallet and the shaft products are output to corresponding warehouses, namely the shaft products are stored in the warehouses; or the empty stacker is firstly moved to the corresponding storage warehouse, and then the follower fixture and the shaft products stored in the storage warehouse are transferred to the conveying mechanism of the stacker from the storage warehouse, so that the shaft products are taken out from the storage warehouse; in conclusion, the three-dimensional storage system for the shaft products can meet the requirements of transportation and storage of the shaft products.

The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.

Claims (8)

1. The utility model provides a three-dimensional warehouse system of axle type product which characterized in that: comprising a store (300) and a stacking transfer system for transferring shaft products to or from the store;

the warehouse (300) comprises a plurality of warehouse units (301) which are stacked together, the warehouse units (301) comprise warehouse supports (302), and warehouse conveying mechanisms (303) for transferring shaft-like products are arranged on the warehouse supports (302);

the stacking and transferring system comprises a stacker (200) and a following clamp (100);

the stacker comprises a chassis (201), wherein a vertical slide rail (202) is arranged on the chassis (201), a lifting frame (203) in sliding fit with the vertical slide rail (202) is arranged on the vertical slide rail (202), and a conveying mechanism (204) for conveying the pallet (100) to the storage conveying mechanism (303) or receiving the pallet (100) from the storage conveying mechanism (303) is arranged on the lifting frame (203); the lifting frame (203) is provided with a driving mechanism for driving the conveying mechanism; the chassis (201) is provided with a lifting driving mechanism for driving the lifting frame (203) to do lifting motion along the vertical sliding rail (202); a walking driving mechanism for driving the chassis (201) to walk is arranged on the chassis;

the pallet (100) comprises a pallet base (115); at least two clamp units (116) used for tightly holding the shaft products are arranged on the accompanying base (115) at intervals; the clamp unit (116) comprises a holding tool base (101), two ends of the holding tool base (101) are respectively provided with a holding arm (102) which is in rotary fit with the holding arm, and the holding tool base (101) is provided with a holding driving mechanism which is used for driving the holding arm (102) to rotate and holding shaft products or releasing the shaft products; arc-shaped grooves or V-shaped grooves matched with the shaft products are respectively formed in the clamp base (101) and the clasping arm (102);

the clasping tool base (101) and the clasping arm (102) are respectively provided with clasping members (103) matched with the shaft products, and the clasping members (103) are provided with arc-shaped grooves or V-shaped grooves matched with the shaft products;

the clasp (103) comprises a mounting portion (104); one side of the mounting part (104) facing the corresponding holding tool base (101) or the holding arm (102) is provided with a mounting plane (106), the mounting plane (106) is provided with at least two positioning shafts (107) at intervals, all the positioning shafts (107) are sleeved on the same mounting plate (108), and the positioning shafts (107) are provided with limiting parts (109) for limiting the mounting plate (108);

the mounting plate (108) is positioned between the limiting part (109) and the mounting plane (106); positioning holes (110) matched with the positioning shafts (107) are respectively formed in the clamp base (101) and the enclasping arm (102), and the mounting plate (108) is fixedly mounted on the corresponding clamp base (101) or the enclasping arm (102);

the thickness of the mounting plate (108) is smaller than the distance between the limiting part (109) and the mounting plane (106);

a bearing disc spring (111) is sleeved on the positioning shaft (107) of the clasping member (103) arranged on the clasping tool base (101), and the bearing disc spring (111) is positioned between the limiting part (109) and the bottom of the positioning hole (110);

the positioning shaft (107) of the clasping member (103) arranged on the clasping arm (102) is sleeved with a spring (112) used for providing clasping pretightening force, and the spring (112) is positioned between the limiting part (109) and the hole bottom of the positioning hole (110).

2. The three-dimensional warehousing system for shaft products according to claim 1, characterized in that: the warehousing conveying mechanism (303) comprises warehousing roller frames (304) which are respectively positioned at two ends, warehousing conveying rollers (305) are arranged between the two warehousing roller frames (304) at intervals, the two ends of the warehousing conveying rollers (305) are respectively in rotating fit with the two warehousing roller frames (304), and a warehousing driving mechanism for driving the warehousing conveying rollers (305) to synchronously rotate is arranged on the warehousing supports (302);

the warehousing driving mechanism comprises a warehousing driving motor (306) installed on the warehousing support (302), a warehousing transmission mechanism used for driving the two warehousing conveying rollers (305) to synchronously rotate is arranged between every two adjacent warehousing conveying rollers (305), the warehousing transmission mechanism comprises warehousing transmission gears (307) sleeved on the corresponding warehousing conveying rollers (305), odd warehousing intermediate gears (308) are arranged between every two adjacent warehousing transmission gears (307), and an output shaft of the warehousing driving motor (306) is in transmission connection with one of the warehousing intermediate gears (308).

3. The three-dimensional warehousing system for shaft products according to claim 1, characterized in that: the device is characterized by further comprising a line-edge transfer system which is arranged corresponding to the shaft product production line, wherein the line-edge transfer system comprises a line-edge conveying track (309) which is used for conveying the following clamp (100) to the warehouse (300) from the shaft product production line;

the line edge conveying track (309) comprises at least one line edge conveying unit (310) spliced together, and when the line edge conveying track (309) needs to be turned, the line edge conveying track (309) further comprises a line edge turning unit (311) used for turning.

4. The three-dimensional warehousing system for shaft products as claimed in claim 3, wherein: the line edge steering unit (311) comprises a steering support (312), a lifting platform (313) capable of doing lifting movement relative to the steering support is arranged at the top of the steering support (312), a steering platform (314) capable of doing steering movement relative to the lifting platform (313) is arranged above the lifting platform (313), and a steering conveying mechanism (315) used for being in butt joint with the corresponding line edge conveying unit (310) or the corresponding warehousing unit (301) is arranged on the steering platform (314).

5. The three-dimensional warehousing system for shaft products according to any one of claims 1 to 4, characterized in that: the two groups of vertical slide rails (202) are arranged, the two groups of vertical slide rails (202) are respectively positioned at two ends of the lifting frame (203), each group of vertical slide rails (202) comprises at least one vertical slide rail (202), and two ends of the lifting frame (203) are respectively in sliding fit with the two groups of vertical slide rails (202);

the vertical sliding rail (202) comprises a vertical upright post (205), a vertical rail (206) is arranged on at least one side wall of the vertical upright post (205), a sliding sleeve (207) sleeved outside the vertical upright post (205) is arranged on the lifting frame (203), and at least one group of rollers (208) is arranged between the sliding sleeve (207) and the vertical rail (206).

6. The three-dimensional warehousing system for shaft products according to any one of claims 1 to 4, characterized in that: the conveying mechanism comprises roller frames (209) positioned on two sides of the lifting frame (203), conveying rollers (210) are arranged between the two roller frames (209) at intervals, and two ends of each conveying roller (210) are respectively in rotating fit with the two roller frames (209);

the driving mechanism comprises a driving motor (211) arranged on the lifting frame (203), a gear transmission mechanism used for driving the two conveying rollers (210) to synchronously rotate is arranged between every two adjacent conveying rollers (210), the gear transmission mechanism comprises transmission gears (212) sleeved on the corresponding conveying rollers (210), odd number of intermediate gears (213) are arranged between every two adjacent transmission gears (212), and an output shaft of the driving motor (211) is in transmission connection with one of the intermediate gears (213);

the lifting driving mechanism comprises a lifting motor (215) fixedly mounted on the chassis (201), a threaded screw rod (216) in threaded fit with the lifting frame (203) is arranged on the lifting frame (203), the threaded screw rod (216) is parallel to the vertical sliding rail (202), and an output shaft of the lifting motor (215) is in transmission connection with the threaded screw rod (216);

the walking driving mechanism comprises a rotating shaft (217) and a walking motor, wherein the rotating shaft (217) is installed on the chassis (201) in a rotating fit mode, the walking driving mechanism is fixedly installed on the chassis (201) and is used for driving the rotating shaft (217) to rotate, and walking wheels (218) which rotate synchronously with the rotating shaft (217) are respectively sleeved at two ends of the rotating shaft (217).

7. The three-dimensional warehousing system for shaft products according to claim 1, characterized in that: the both sides of installation department (104) are equipped with respectively and outwards extend backing sheet (105), clasping member (103) adopt the spring steel to make.

8. The three-dimensional warehousing system for shaft products according to claim 1, characterized in that: the clasping driving mechanism comprises an electric cylinder (113) fixedly mounted on the clasping tool base (101), and double-hinged connecting rods (114) are respectively arranged between the output shaft of the electric cylinder (113) and the two clasping arms (102) to be connected;

the hinged connecting shafts between the double hinged connecting rods (114) and the corresponding clasping arms (102) and the hinged connecting shafts between the clasping arms (102) and the clamp base (101) are parallel to each other but not collinear;

the electric cylinder (113) is used for preventing the holding arm (102) from loosening and has a self-locking function; or the like, or, alternatively,

and a mechanical self-locking mechanism for preventing the enclasping arm (102) from loosening is arranged between the double-hinged connecting rod (114) and the clasping tool base (101) or between the double-hinged connecting rod (114) and the enclasping arm (102).

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