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 technique

For shaft products, due to the lack of accompanying fixtures, hoisting tools are generally used to hoist shaft products to the storage area, but the hoisting mechanism cannot meet the requirements of three-dimensional warehouse stacking of shaft products, so the storage area occupies a large space. There are also safety risks such as damage to shaft products during the hoisting process, which cannot meet the use requirements of the temporary storage warehouse.

The stacker is the most important lifting and transportation equipment in the three-dimensional warehouse, and it is the symbol representing the characteristics of the three-dimensional warehouse. The main function of the stacking crane is to run back and forth in the passage of the three-dimensional warehouse, store the goods at the entrance of the roadway into the cargo compartment of the shelf, or take out the goods in the cargo compartment and transport it to the entrance of the roadway. For shaft products, since their circumferential direction cannot be positioned, they are prone to rolling after being stored in a three-dimensional warehouse, that is, there is a problem that the shaft products are not convenient for storage in a three-dimensional warehouse.

The accompanying fixture is a machine tool fixture that is automatically moved and transferred between each station with the installed workpiece. The accompanying fixture is mainly used in automatic production lines, machining centers, flexible manufacturing systems, etc., for workpieces with irregular shapes that are not convenient for automatic positioning, clamping and transportation. After the workpiece is installed and positioned on the traveling fixture, the traveling fixture is transported to each station by the transport device. The traveling fixture is generally positioned on the machine tool with its bottom plane and two positioning holes, and is clamped by the clamping mechanism of the machine tool table to ensure the relative position of the workpiece and the tool. When the machining accuracy of the workpiece is required to be high, the bottom plane of the traveling fixture is often divided into a positioning base surface and a transport base surface to protect the accuracy of the positioning base surface.

Due to the smooth outer surface of shaft products, it is difficult to achieve circumferential clamping and positioning. The existing shaft parts clamping base generally adopts arc groove or V-shaped groove to support the shaft products directly, but when the shaft products are transported between different stations, there will inevitably be circumferential rotation errors, resulting in The positioning datum of each station is different, which not only needs to be re-positioned and fixed, reducing efficiency, but also there will inevitably be positioning errors in multiple positioning, which will lead to the processing of shaft products themselves and the installation of components inside shaft products. a certain position error.

SUMMARY OF THE INVENTION

In view of this, the purpose of the present invention is to provide a three-dimensional storage system for shaft products, which can meet the stacking and storage requirements of shaft products.

To achieve the above object, the present invention provides the following technical solutions:

A three-dimensional storage system for shaft products, comprising a warehouse and a stacking transfer system, wherein the stacking and transfer system is used to transport the shaft products to the warehouse or receive the shaft products from the warehouse;

The storage warehouse includes a plurality of storage units stacked together, the storage units include storage brackets, and a storage conveying mechanism for transferring shaft products is arranged on the storage brackets;

The stacking transfer system includes a stacker and a traveling fixture;

The stacker includes a chassis, the chassis is provided with a vertical slide rail, the vertical slide rail is provided with a lift frame that slides with it, and the lift frame is provided with the accompanying fixture to transport the The storage conveying mechanism or the conveying mechanism that receives the accompanying fixture from the storage conveying mechanism; the lifting frame is provided with a driving mechanism for driving the conveying mechanism; the chassis is provided with a driving mechanism for driving the lifting frame A lift drive mechanism for lifting motion along the vertical slide rail; a walking drive mechanism for driving the chassis is provided on the chassis;

The traveling clamp includes a traveling base; at least two clamp units for holding the shaft products are arranged at intervals on the traveling base; the clamp unit includes a holder base, and two ends of the holder base are respectively provided with A gripping arm that is rotatably matched with it, and a gripping drive mechanism for driving the gripping arm to rotate and gripping the shaft product or loosening the shaft product is provided on the grip base; the grip base and the grip There are arc-shaped grooves or V-shaped grooves on the tightening arms, which are matched with shaft products.

Further, the storage conveying mechanism includes storage roller racks located at both ends respectively, storage conveying rollers are spaced between the two storage roller racks, and two ends of the storage conveying roller are respectively between the two storage roller racks Rotationally matched, and the storage support is provided with a storage drive mechanism for driving the storage conveying roller to rotate synchronously;

The storage drive mechanism includes a storage drive motor installed on the storage support, and a storage transmission mechanism for driving the two storage conveying rollers to rotate synchronously is arranged between two adjacent storage conveying rollers. The storage transmission mechanism includes storage transmission gears sleeved on the corresponding storage conveying rollers, an odd number of storage intermediate gears are arranged between two adjacent storage transmission gears, and the output shaft of the storage drive motor is connected to one of the storage transmission gears. The storage intermediate gear transmission connection.

Further, a line-side transfer system corresponding to the shaft product production line is also included, and the line-side transfer system includes a line-side transport track for transporting the accompanying fixture from the shaft product production line to the warehouse;

The line edge conveying track includes at least one line edge conveying unit spliced together, and when the line edge conveying track needs to be turned, the line edge conveying track further includes a line edge turning unit for turning.

Further, the line-side steering unit includes a steering bracket, the top of the steering bracket is provided with a lifting platform that can move up and down relative to it, and the top of the lifting platform is provided with a steering platform that can perform steering movement relative to it, The steering platform is provided with a steering conveying mechanism for docking with the corresponding line edge conveying unit or docking with the corresponding storage unit.

Further, the vertical slide rails are arranged in two groups, the two sets of vertical slide rails are respectively located at both ends of the lifting frame, and each group of the vertical slide rails includes at least one vertical slide rail, so Both ends of the lifting frame are slidably matched with the two sets of the vertical slide rails;

The vertical slide rail includes a vertical column, at least one side wall of the vertical column is provided with a vertical rail, the lifting frame is provided with a sliding sleeve sleeved outside the vertical column, the sliding At least one set of rollers is arranged between the sleeve and the vertical rail.

Further, the conveying mechanism includes roller frames located on both sides of the lifting frame, a conveying roller is spaced between the two roller frames, and the two ends of the conveying roller rotate with the two roller frames respectively. Cooperate;

The drive mechanism includes a drive motor installed on the lift frame, a gear transmission mechanism for driving the two conveying rollers to rotate synchronously is arranged between two adjacent conveying rollers, and the gear transmission mechanism includes a transmission gear sleeved on the corresponding conveying roller, an odd number of intermediate gears are arranged between two adjacent transmission gears, and the output shaft of the driving motor is connected to one of the intermediate gears in a transmission;

The lift drive mechanism includes a lift motor fixedly mounted on the chassis, the lift frame is provided with a threaded screw rod that is threadedly matched with the lift frame, the screw screw rod is parallel to the vertical slide rail, and the lift a transmission connection between the output shaft of the motor and the threaded screw rod;

The traveling drive mechanism includes a rotating shaft that is rotatably mounted on the chassis and a traveling motor that is fixedly mounted on the chassis and used to drive the rotating shaft to rotate. wheel.

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

The holding part includes a mounting part; the side of the mounting part facing the corresponding holding device base or the holding arm is provided with a mounting plane, and at least two positioning shafts are spaced on the mounting plane, and all the The positioning shafts are all sleeved on the same mounting plate, and the positioning shaft is provided with a limiting portion for limiting the mounting plate;

The mounting plate is located between the limiting portion and the mounting plane; the holder base and the holding arm are respectively provided with positioning holes matched with the positioning shaft, and the mounting plate is fixedly installed on the on the corresponding holding base or the holding arm.

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

A load-bearing disc spring is sleeved on the positioning shaft of the gripping member disposed on the holder base, and the load-bearing disc spring is located between the limiting portion and the hole bottom of the positioning hole;

The positioning shaft of the gripping member disposed on the gripping arm is sleeved with a spring for providing a gripping pre-tightening force, and the spring is located at the bottom of the limiting portion and the positioning hole between.

Further, two sides of the mounting portion are respectively provided with outwardly extending support pieces, and the holding member is made of spring steel.

Further, the gripping drive mechanism includes an electric cylinder fixedly installed on the base of the grip, and the output shaft of the electric cylinder is connected with the two gripping arms by a double-hinged connecting rod respectively;

The hinged connection shaft between the double-hinge link and the corresponding gripping arm and the hinged connection shaft between the gripping arm and the holder base are parallel to each other but not collinear;

The electric cylinder is an electric cylinder that is used to prevent the tightening arm from loosening and has a self-locking function; or,

A mechanical self-locking mechanism for preventing the tightening arm from loosening is provided between the double-hinge link and the holder base or between the double-hinge link and the gripping arm.

The beneficial effects of the present invention are:

In the three-dimensional storage system for shaft products of the present invention, by setting up a warehouse, a stacking transfer system can be used to transport and store the shaft products in the warehouse, specifically:

By adopting the traveling clamp, using the clamp units arranged on the traveling base at intervals, and setting arc grooves or V-shaped grooves for holding the shaft products on the clamp base and the holding arm of the clamp unit respectively, in this way, in the When in use, the base of the holder mainly bears the gravitational action of the shaft products, and the holding arms respectively set at both ends of the base of the holder hold the two sides of the shaft products tightly and fix them to prevent the shaft products from rotating in the circumferential direction, which can realize the shaft type. The circumferential clamping of the product is fixed, and it can be used to transfer shaft products between different stations to improve efficiency and accuracy;

By using a stacker, after the traveling fixture is clamped to the shaft products and placed on the conveying mechanism, the stacker can be used to transfer the traveling fixture to the stacking position, and output the traveling fixture and shaft products to the corresponding warehouse. In the warehouse, that is, the shaft products are stored in the warehouse; or the vacant stacker is first walked to the corresponding warehouse, and then the accompanying fixtures and shaft products stored in the warehouse are transferred from the warehouse to the stacker. On the conveying mechanism of the stacker, the shaft products can be taken out from the warehouse;

To sum up, the three-dimensional storage system for shaft products of the present invention can meet the transport and storage requirements of shaft products.

Description of drawings

In order to make the purpose, technical solutions and beneficial effects of the present invention clearer, the present invention provides the following drawings for description:

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

Fig. 2 is the structural representation of the storage unit;

Fig. 3 is a detailed view of A of Fig. 2;

4 is a schematic structural diagram of a line-side steering unit;

Fig. 5 is the axonometric view of Fig. 4;

FIG. 6 is a detailed view of B of FIG. 5;

7 is a schematic structural diagram of a line edge conveying unit;

FIG. 8 is a detailed view of C of FIG. 7;

Fig. 9 is the structural representation of the stacking transfer system;

Fig. 10 is the axonometric view of Fig. 9;

Figure 11 is a detailed view of D of Figure 10;

Figure 12 is a schematic structural diagram of a traveling clamp;

Figure 13 is a left side view of Figure 12;

Figure 14 is a schematic structural diagram of a clamp unit;

Fig. 15 is the E-E sectional view of Fig. 14;

Figure 16 is a detailed view of F of Figure 15;

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

Description of reference numbers:

100-travel clamp; 101-holding base; 102-holding arm; 103-holding part; 104-installation part; 105-support piece; 106-installation plane; 107-positioning shaft; 108-installation plate; 109- Limiting part; 110-positioning hole; 111-load-bearing disc spring; 112-spring; 113-electric cylinder; 114-double hinge connecting rod; 115-travel base; 116-fixture unit;

200-stacker; 201-chassis; 202-vertical slide rail; 203-lifting frame; 204-conveying mechanism; 205-vertical column; 206-vertical track; 207-sliding sleeve; 208-roller; 209- Roller frame; 210-conveying roller; 211-drive motor; 212-transmission gear; 213-intermediate gear; 215-lifting motor; 216-thread screw; 217-rotating shaft; 218-travel wheel.

300-storage warehouse; 301-storage unit; 302-storage support; 303-storage conveying mechanism; 304-storage roller rack; 305-storage conveying roller; 306-storage drive motor; 307-storage transmission gear; 308-storage intermediate gear ;309-line-side conveying track;310-line-side conveying unit;311-line-side steering unit;312-steering bracket;313-lifting platform;314-steering platform;315-steering conveying mechanism;316-fixed bracket;317- Lifting connecting rod; 318-lifting drive cylinder; 319-vertical shaft; 320-rotating motor; 321-steering roller frame; 322-steering conveying roller; 323-steering transmission gear; 324-steering intermediate gear; 325-steering drive motor ;326-line edge bracket;327-line edge conveying mechanism;328-line edge roller frame;329-line edge conveying roller;330-line edge drive motor;331-line edge transmission gear;332-line edge intermediate gear;333 - Storage space divider.

Detailed ways

The present invention is further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

As shown in FIG. 1 , it is a schematic structural diagram of an embodiment of a three-dimensional storage system for shaft products according to the present invention. The three-dimensional storage system for shaft products in this embodiment includes a warehouse 300 and a stacking transfer system. The stacking and transfer system is used to transport shaft products to the warehouse or receive shaft products from the warehouse. The warehouse 300 includes a plurality of storage units 301 stacked together. The storage unit 301 includes a storage support 302 , and a storage conveying mechanism 303 for transferring shaft products is arranged on the storage support 302 . The warehouse in this embodiment adopts a modular design and is assembled by stacking storage units 301 one by one. It can be configured according to site conditions and actual needs, and the length, width and height can be matched as required.

Further, the storage conveying mechanism 303 includes storage roller racks 304 located at two ends respectively, and storage conveying rollers 305 are spaced between the two storage roller racks 304. The two storage roller racks 304 at both ends of the storage conveying roller 305 are rotatably matched with each other. , and the storage support 302 is provided with a storage driving mechanism for driving the storage conveying rollers 305 to rotate synchronously; the storage driving mechanism in this embodiment includes a storage driving motor 306 installed on the storage support 302, and the two adjacent storage conveying rollers 305 There is a storage transmission mechanism for driving the two storage conveying rollers 305 to rotate synchronously. The storage transmission mechanism includes storage transmission gears 307 sleeved on the corresponding storage conveying rollers 305. Between two adjacent storage transmission gears 307 For the odd-numbered storage intermediate gears 308 , the output shaft of the storage driving motor 306 is drivingly connected with one of the storage intermediate gears 308 . In this embodiment, a storage intermediate gear 308 is arranged between two adjacent storage transmission gears 307 , and the meshing transmission between the storage intermediate gear 308 and the two adjacent storage transmission gears 307 can be used to drive two adjacent storage transmission gears 307 . The technical purpose of the synchronous rotation of the storage conveyor rollers 305. Specifically, a storage space separating mechanism is provided on one side of the storage conveying mechanism 303 , and the storage space separating mechanism is provided with a storage space separating plate 333 , and the storage space separating plate 333 can be used for positioning the traveling fixture 100 .

In the three-dimensional storage system for shaft products in this embodiment, the storage conveying mechanism 303 can be used to transport the materials between the storage units 301 that are on the same plane and in the same straight line and are spliced together, that is, the materials can be transported by the storage unit itself. The storage conveying mechanism realizes transportation in the depth direction, but to realize transportation in other directions, it needs to rely on the stacker 200 to transfer.

Further, the warehouse 300 in this embodiment further includes a line-side transfer system corresponding to the shaft product production line, and the line-side transfer system includes a line-side transport system for transporting the accompanying fixture 100 from the shaft product production line to the warehouse 300 Track 309. 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 be turned, the line edge conveying track 309 also includes a line edge turning unit 311 for turning. The line-side transfer system of this embodiment is used to transport the shaft products from the production line station or agv to the transfer and conveying mechanism of the warehouse, and the shaft products need to rely on the stacker 200 to be transported between the warehouse and the line-side transfer mechanism. .

The line-side steering unit 311 in this embodiment includes a steering bracket 312. The top of the steering bracket 312 is provided with a lift platform 313 that can move up and down relative to it, and the top of the lift platform 313 is provided with a steering platform that can move relative to it. 314 , the steering platform 314 is provided with a steering conveying mechanism 315 for docking with the corresponding line edge conveying unit 310 or docking with the corresponding storage unit 301 . Specifically, the steering bracket 312 includes a fixed bracket 316 and a lift bracket mounted on the fixed bracket 316 , the lift bracket includes two sets of lift links 317 on both sides, and each set of lift links 317 includes two lift links hingedly connected in the middle connecting rods, the two ends of each lifting link 317 are slidingly matched with the fixed bracket 316 and the lifting platform 313 respectively, and between the fixed bracket 316 and the lifting bracket are arranged to drive the two lifting links 317 belonging to the same group to rotate with each other Further, the lift cylinder 318 for adjusting the height of the lift platform 313 is adjusted. The steering platform 314 rotates with the lifting platform 313 through a vertical shaft 319 perpendicular to the lifting platform 313. The lifting platform 313 is provided with a rotating motor 320. The output shaft of the rotating motor 320 drives the vertical rotating shaft 319 to rotate through a gear transmission mechanism. The platform 314 rotates synchronously with the vertical shaft 319 , so that the steering platform 314 can be driven to rotate relative to the lifting platform 313 . In this way, when conveying shaft products, the shaft products and accompanying fixtures are transported to the line-side steering unit 311, the shaft products and accompanying fixtures are lifted together by the lifting platform 313, and then the steering platform 314 is used to rotate the set angle, and finally use The lifting platform 313 adjusts the height to the set height, and the steering conveying mechanism 315 conveys the shaft products and accompanying fixtures to the downstream line-side conveying unit 310 or the storage unit 301, so as to realize the technical purpose of steering and conveying the shaft products and accompanying fixtures.

The steering and conveying mechanism 315 in this embodiment includes two steering roller frames 321 correspondingly installed on the steering platform 314 , and a plurality of steering and conveying rollers 322 are spaced between the two steering roller frames 321 . Both ends of the steering and conveying rollers 322 They are rotatably matched with the two steering roller frames 321 respectively. The steering platform 314 in this embodiment is provided with a steering and conveying driving mechanism for driving all the steering and conveying rollers 322 to rotate synchronously. The steering drive conveying mechanism of this embodiment includes a steering drive motor 325 and a steering transmission gear 323 arranged at one end of the steering conveying roller 322. An odd number of steering intermediate gears 324 are arranged between two adjacent steering transmission gears 323. The steering drive motor 325 The output shaft of 324 is drivingly connected with one of the steering intermediate gears 324 . In this embodiment, a steering intermediate gear 324 is arranged between two adjacent steering transmission gears 323 , and by using the meshing transmission between the steering intermediate gear 324 and the two adjacent steering transmission gears 323 , the driving of two adjacent steering transmission gears 323 can be realized. The technical purpose of the synchronous rotation of the root diverting and conveying rollers 322.

The line edge conveying unit 310 of the present embodiment includes a line edge support 326. The line edge support 326 is provided with a line edge conveying mechanism 327 for transferring shaft products. The line edge conveying mechanism includes two lines correspondingly installed on the line edge support 326. The edge roller frame 328 is provided with a plurality of edge conveyor rollers 329 spaced between the two edge roller frames 328 . The line edge support 326 in this embodiment is provided with a line edge conveying driving mechanism for driving all the line edge conveying rollers 329 to rotate synchronously. The line edge driving conveying mechanism of this embodiment includes a line edge driving motor 330 and a line edge transmission gear 331 arranged at one end of the line edge conveying roller 329, and an odd number of line edge intermediate gears 332 are arranged between two adjacent line edge transmission gears 331. , the output shaft of the line edge drive motor 330 is connected with one of the line edge intermediate gears 332 in a transmission manner. In this embodiment, a line edge intermediate gear 332 is arranged between two adjacent line edge transmission gears 331, and the meshing transmission between the line edge intermediate gear 332 and the two adjacent line edge transmission gears 331 can be used to realize The technical purpose of driving two adjacent line edge conveying rollers 329 to rotate synchronously. It can be seen from this that the line-side conveying unit 310 in the line-side transfer system can be implemented in the same structure as the storage unit 301, so as to realize the generalization of components.

The stacking transfer system of this embodiment includes a stacker 200 and a traveling fixture 100 .

The stacker in this embodiment includes a chassis 201. The chassis 201 is provided with a vertical slide rail 202. The vertical slide rail 202 is provided with a lifting frame 203 slidably matched with the vertical slide rail 202. Warehouse or transport mechanism 204 that receives pallets 100 from the warehouse. The lift frame 203 is provided with a drive mechanism for driving the conveying mechanism; the chassis 201 is provided with a lift drive mechanism for driving the lift frame 203 to move up and down along the vertical slide rail 202; the chassis 201 is provided with a walking drive for driving it. mechanism.

The traveling clamp 100 in this embodiment includes a traveling base 115 ; at least two clamp units 116 for gripping shaft products are provided at intervals on the traveling base 115 ; A gripping arm 102 is respectively provided to rotate and cooperate with the gripping arm 102, and the gripping arm 101 is provided with a gripping driving mechanism for driving the gripping arm 102 to rotate and grip the shaft product or loosen the shaft product; the gripping base 101 and The holding arms 102 are respectively provided with arc-shaped grooves or V-shaped grooves which are matched with the shaft products.

Further, the vertical slide rails 202 are arranged in two groups, and the two groups of vertical slide rails 202 are located at two ends of the lifting frame 203 respectively. Both ends are slidably fitted with the two sets of vertical slide rails 202 respectively. In this embodiment, each set of vertical slide rails 202 includes one vertical slide rail 202 . Providing a plurality of vertical slide rails 202 can improve the running stability of the lifting frame 203 . Specifically, the vertical slide rail 202 in this embodiment includes a vertical column 205 , at least one side wall of the vertical column 205 is provided with a vertical rail 206 , and the lifting frame 203 is provided with a slide sleeve sleeved outside the vertical column 205 . At least one set of rollers 208 is arranged between the sleeve 207 and the vertical rail 206 . Both sides of the vertical column 205 in this embodiment are provided with vertical rails 206, and a set of rollers 208 are respectively provided between the upper and lower sides of the sliding sleeve 207 and the vertical rail 206, that is, a sliding sleeve 207 in this embodiment is connected to the vertical rail 206. There are 4 groups of rollers 208 between the two vertical rails 206 , each group of rollers 208 includes 4 rollers, two rollers are in rolling fit with the two sides of the vertical rail 206 , and the other roller is in a rolling fit with the vertical rail 206 . The top surface or the bottom surface is in rolling fit, the vertical rail 206 in this embodiment protrudes outward, that is, one of the rollers is in rolling fit with the top surface of the vertical rail 206 .

Further, the conveying mechanism includes roller frames 209 located on both sides of the lifting frame 203 , and conveying rollers 210 are spaced between the two roller frames 209 . The drive mechanism of this embodiment includes a drive motor 211 installed on the lifting frame 203 , a gear transmission mechanism for driving the two conveying rollers 210 to rotate synchronously is provided between two adjacent conveying rollers 210 , and the gear transmission mechanism includes a set of The transmission gears 212 on the corresponding conveying rollers 210 are provided with an odd number of intermediate gears 213 between two adjacent transmission gears 212 , and the output shaft of the driving motor 211 is drivingly connected to one of the intermediate gears 213 . In this embodiment, an intermediate gear 213 is provided between two adjacent transmission gears 212 , which can meet the technical purpose of driving all the conveying rollers 210 to rotate synchronously at the same time.

Further, the elevating drive mechanism of this embodiment includes an elevating motor 215 fixedly installed on the chassis 201 , the elevating frame 203 is provided with a threaded screw 216 that is threadedly matched with the elevating frame 203 , and the threaded screw 216 is parallel to the vertical slide rail 202 and lifts The output shaft of the motor 215 and the threaded screw 216 are in a transmission connection. The threaded screw rods 216 in this embodiment are set to two and are screwed with the two ends of the lifting frame 203 respectively. Between the output shaft of the lifting motor 215 and the two screwed screw rods 216 are provided for driving the two screwed screw rods 216 A transmission mechanism for synchronous rotation, the transmission mechanism can be realized by various existing methods, and will not be described again.

Further, the traveling drive mechanism of this embodiment includes a rotating shaft 217 that is rotatably mounted on the chassis 201 and a traveling motor that is fixedly installed on the chassis 201 and used to drive the rotating shaft 217 to rotate. Travel wheels 218 . The two ends of the chassis 201 in this embodiment are respectively provided with rotating shafts 217, which can achieve the technical purpose of driving the stacker to travel.

Further, the holder base 101 and the holding arm 102 of the present embodiment are respectively provided with a holding member 103 for matching with the shaft product, and the holding member 103 is provided with an arc-shaped groove or a V-shaped groove for matching with the shaft product . The holding member 103 of this embodiment is provided with an arc-shaped groove for matching with the shaft product. The two holding arms 102 in this embodiment are symmetrically arranged on both ends of the holder base 101 .

The holding member 103 includes an installation portion 104; the side of the installation portion 104 facing the corresponding holder base 101 or the holding arm 102 is provided with an installation plane 106, and at least two positioning shafts 107 are arranged on the installation plane 106 at intervals. The shafts 107 are all sleeved on the same mounting plate 108. The positioning shaft 107 is provided with a limiting portion 109 for limiting the mounting plate 108. The limiting portion 109 adopts a collar arranged on the positioning shaft 107 or adopts the same positioning shaft. 107 is a threaded nut, and the limiting portion 109 of this embodiment adopts a collar disposed on the positioning shaft 107 . The mounting plate 108 is located between the limiting portion 109 and the mounting plane 106 ; the holder base 101 and the holding arm 102 are respectively provided with positioning holes 110 matched with the positioning shaft 107 , and the mounting plate 108 is fixedly installed on the corresponding holder base 101 Or hold the arm 102 tightly. In this way, the positioning of the holding member 103 can be installed on the corresponding holding base 101 and the holding 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 there is a gap between the mounting plane and the corresponding holder base 101 or the holding arm 102 . In this embodiment, a load-bearing disc spring 111 is sleeved on the positioning shaft 107 of the holding member 103 on the holder base 101 , and the load-bearing disc spring 111 is located between the limiting portion 109 and the bottom of the positioning hole 110 . The spring 111 carries the gravitational force of the shaft products. In this embodiment, the positioning shaft 107 of the holding member 103 disposed on the holding arm 102 is sleeved with a spring 112 for providing a holding pre-tightening force, 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 holding pre-tightening force to the holding member 103, so as to hold the shaft product while avoiding damage to the outer peripheral surface of the shaft product.

Further, two sides of the mounting portion 104 are respectively provided with supporting pieces 105 extending outward, and the holding member 103 is made of spring steel. By arranging support sheets on both sides of the mounting part of the holding piece, and making the holding piece made of elastic steel, the support piece and the whole holding piece can be elastically deformed within a certain range, and can be flexibly adapted to different Shaft products with outer diameter.

Further, the gripping drive mechanism of the present embodiment includes an electric cylinder 113 fixedly installed on the grip base 101, and a double hinge connecting rod 114 is respectively provided between the output shaft of the electric cylinder 113 and the two gripping arms 102 to connect; The hinged connection shaft between the hinge link 114 and the corresponding gripping arm 102 and the hinged connection shaft between the gripping arm 102 and the holder base 101 are parallel to each other but not collinear. 113 and the double-hinge link 114 drive the gripping arm 102 to rotate, thereby gripping the shaft product or loosening the shaft product. Preferably, the electric cylinder 113 is an electric cylinder that is used to prevent the tightening arm 102 from loosening and has a self-locking function; A mechanical self-locking mechanism is provided for preventing the tightening arm 102 from loosening. The electric cylinder 113 of this embodiment adopts an electric cylinder which is used for preventing the loosening of the holding arm 102 and has a self-locking function, which can effectively prevent the loosening of the holder base 101 . The electric cylinder with self-locking function can be realized by a variety of existing technical solutions, such as a self-locking electric cylinder disclosed in the Chinese patent publication number CN203377730U, and a self-locking electric cylinder disclosed in the Chinese patent publication number CN208767912U. Lock-type ball screw electric cylinder, no longer described.

All the clamp units 116 in this embodiment are fixedly installed on the accompanying base 115 , and two clamp units 116 in this embodiment are arranged at two ends of the accompanying base 115 respectively. Of course, a longitudinal slide rail parallel to the straight line can also be provided on the accompanying base 115. Among all the clamp units 116, at least one clamp unit is slidably mounted on the longitudinal slide rail. In this way, the position of the clamp unit 116 can be adjusted. , in order to meet the clamping requirements of shaft products of different lengths and sizes, as well as the support requirements of shaft products with uneven weight distribution.

Of course, the structural form of the accompanying fixture can also be adopted in many ways, such as:

At least three clamp units 116 for holding the shaft products are provided at intervals on the accompanying base 115 .

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

Specifically, the clamp unit 116 can be installed on the accompanying base 115 in various ways:

All clamp units 116 are fixedly mounted on the accompanying base 115; or,

The accompanying base 115 is provided with a longitudinal slide rail parallel to the straight line, and among all the clamp units 116 whose axes are collinear with the straight line, at least one clamp unit is installed on the longitudinal slide rail in a sliding fit; and/or,

Among all the clamp units 116 whose axes are not collinear with the line, at least one clamp unit 116 is provided with a transverse slide rail perpendicular to the line and/or a longitudinal slide rail parallel to the line between the holder base 101 and the accompanying base 115 .

Different crankshaft clamping and support requirements can be achieved. That is, in this embodiment, all the end clamp units and the middle clamp unit can be fixedly installed on the accompanying base 115 according to specific needs, so that the clamping and supporting requirements of a specific crankshaft can be achieved. A longitudinal slide rail parallel to the straight line can be provided on the accompanying base 115, and among all the clamp units 116 whose axes are collinear with the straight line, at least one clamp unit is installed on the longitudinal slide rail in a sliding fit. The distance between the straight and collinear clamp units 116 fulfills the clamping and supporting requirements of crankshafts of different lengths. Among all the clamp units 116 whose axes are not collinear with the straight line, at least one clamp unit 116 may be provided with a transverse slide rail perpendicular to the straight line and/or a longitudinal direction parallel to the straight line between the holder base 101 and the accompanying base 115. The slide rail, in this way, can adjust the position of the clamp unit 116 whose axis is not collinear with the straight line, so as to realize the installation and support requirements of different crankshafts.

In the three-dimensional storage system for shaft products in this embodiment, by setting up a warehouse, a stacking transfer system can be used to transport and store the shaft products in the warehouse. The clamp unit is equipped with arc-shaped grooves or V-shaped grooves for holding the shaft products on the holder base and the holding arm of the holder unit respectively. In this way, when in use, the holder base mainly bears the gravity of the shaft products. The clamping arms respectively set at the two ends of the holder base hold and fix the two sides of the shaft products respectively to prevent the shaft products from rotating in the circumferential direction, which can realize the circumferential clamping and fixation of the shaft products, and can be used for the shaft products. The products are transferred between different stations to improve efficiency and accuracy; by using a stacker, the traveling clamp can be used to clamp the shaft products and placed on the conveying mechanism, and the stacker can be used to transfer the traveling clamp to the stacking position. , and output the accompanying fixtures and shaft products to the corresponding warehouse, that is, to store the shaft products in the warehouse; or first walk the vacant stacker to the corresponding warehouse, and then store the warehouse memory. The placed accompanying fixtures and shaft products are transferred from the warehouse to the conveying mechanism of the stacker, that is, the shaft products are taken out from the warehouse; in conclusion, the three-dimensional storage system for shaft products of the present invention can meet the requirements of the shaft products. transshipment and warehousing requirements.

The above-mentioned embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or transformations made by those skilled in the art on the basis of the present invention are all within the protection scope of the present invention. The protection scope of the present 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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