CN111620013A - Stacker, get and put equipment and stereoscopic warehouse - Google Patents
Stacker, get and put equipment and stereoscopic warehouse Download PDFInfo
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- CN111620013A CN111620013A CN202010363830.6A CN202010363830A CN111620013A CN 111620013 A CN111620013 A CN 111620013A CN 202010363830 A CN202010363830 A CN 202010363830A CN 111620013 A CN111620013 A CN 111620013A
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- assembly
- transverse moving
- lifting
- placing
- stacker
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
Abstract
The invention relates to a stacker, comprising: the stacking module is arranged on the ground rail in a sliding mode; the stack module includes: the device comprises a transverse moving assembly, a lifting assembly and a taking and placing assembly, wherein the transverse moving assembly is arranged on a ground rail in a sliding mode; the traverse assembly comprises: the device comprises a sliding seat arranged on a ground rail in a sliding manner, a transverse moving driver connected with the sliding seat, a transverse moving encoder connected with the sliding seat and a transverse moving visual positioning device arranged on the sliding seat; the transverse moving encoder detects the advancing distance of the sliding seat; the transverse moving visual positioning device detects the relative position of the sliding seat and the goods shelf through image analysis; the lifting assembly is used for driving the picking and placing assembly to move up and down; the picking and placing assembly is used for picking and placing goods. Simultaneously, this application still provides one kind and gets equipment and stereoscopic warehouse of putting. The invention has the beneficial effects that: the transverse moving visual positioning device and the transverse moving encoder are matched with each other, so that the transverse moving position of the stacking module is judged and corrected, and the aim of improving the transverse moving precision of the stacking module is fulfilled.
Description
Technical Field
The invention relates to the technical field of stereoscopic warehouses, in particular to a stacker, a taking and placing device and a stereoscopic warehouse.
Background
Conventional warehouses require a large amount of floor space to accommodate the storage of a large amount of goods and require a large number of logistics personnel to carry and manage the goods. In order to solve the problems of overlarge floor area, excessive manpower input and easy error, technical personnel provide a stereoscopic warehouse project, and the access function of the project is mainly realized by a carrying line body and a stacker. Goods are moved between the picking and placing points on the carrying line body and the storage positions of the goods shelves with the help of the stacker.
Generally, a conventional stacker mainly includes: the stacking module that the guide rail and walked on the guide rail to be provided with the tongs on the stacking module. Under the restriction of guide rail, the stack module reciprocates between the carrying line body and goods shelves, carries out getting of goods through the tongs and puts. And in traditional stacker, the sideslip precision of stack module is lower, appears easily and accomodates the position with the target on the goods shelves and appear the dislocation on the horizontal direction, leads to the tongs to place the goods accurately on the target accomodate the position, has reduced the precision and the work efficiency of goods access.
Disclosure of Invention
Based on the above, the invention provides the stacker, which utilizes the mutual cooperation of the transverse moving visual positioning device and the transverse moving encoder to judge and correct the transverse moving position of the stacking module, thereby achieving the purpose of improving the transverse moving precision of the stacking module.
A stacker, comprising:
a ground rail; and
the stacking module is arranged on the ground rail in a sliding mode; the stack module includes: the device comprises a transverse moving assembly, a lifting assembly and a taking and placing assembly, wherein the transverse moving assembly is arranged on a ground rail in a sliding mode; the traverse assembly comprises: the device comprises a sliding seat arranged on a ground rail in a sliding manner, a transverse moving driver connected with the sliding seat, a transverse moving encoder connected with the sliding seat and a transverse moving visual positioning device arranged on the sliding seat; the transverse moving encoder detects the advancing distance of the sliding seat; the transverse moving visual positioning device detects the relative position of the sliding seat and the goods shelf through image analysis; the lifting assembly is used for driving the picking and placing assembly to move up and down; the picking and placing assembly is used for picking and placing goods.
According to the stacker, the stacking module is arranged on the ground rail in a sliding mode and can move back and forth along the arrangement direction of the ground rail. The stacking module is internally provided with a transverse moving component, a lifting component and a taking and placing component. The transverse moving assembly is used for driving the lifting assembly to move to a preset position, such as a material taking and placing point of the carrying line body and a designated storage position on the goods shelf. The lifting assembly is used for driving the taking and placing assembly to perform lifting motion, so that the taking and placing assembly moves to a preset position, for example, the taking and placing height of a material taking and placing point of the carrying line body and the height of a designated storage position on the goods shelf. The picking and placing assembly is used for picking and placing goods. The sideslip subassembly drives the gliding in-process of stack module along the ground rail, the sideslip encoder detects the distance of advance of slide, with the current position of preliminary judgement stack subassembly, and simultaneously, sideslip visual positioning device passes through the relative position of image analysis detection slide and goods shelves, thereby judge and revise the sideslip position of stack module, improve the removal precision of stack module, reduce the probability that the dislocation on the horizontal direction appears in the target storage position on stack module and the goods shelves, make the stack module can accurately place the goods on the target storage position, improve the precision and the work efficiency of goods access. Through the design, the transverse moving visual positioning device and the transverse moving encoder are matched with each other, so that the transverse moving position of the stacking module is judged and corrected, and the aim of improving the transverse moving precision of the stacking module is fulfilled.
In one embodiment, the ground rail is of an H-shaped steel structure and comprises a first horizontal part, a second horizontal part which is arranged above the first horizontal part and is parallel to the first horizontal part, and a supporting part which is connected between the first horizontal part and the second horizontal part; the sliding seat is provided with a traversing wheel which rolls on the top surface of the second horizontal part; the transverse moving wheel is connected with the transverse moving driver; the sliding seat is also provided with a limiting wheel which rolls on the side surface of the supporting part; the spacing wheel is a plurality of and distributes in pairs in the relative both sides of supporting part. During operation, the sideslip driver drives the sideslip wheel to roll, so that the sliding seat can walk on the top surface of the second horizontal part of the ground rail of the H-shaped steel structure. The limiting wheels distributed on the two opposite sides of the supporting part of the ground rail can guide the movement of the sliding seat, and the supporting part of the ground rail is clamped by the limiting wheels, so that the side turning prevention effect can be realized.
In one embodiment, the slide carriage is further provided with a rollover prevention wheel rolling on the bottom surface of the second horizontal portion. The H-shaped steel structure based on the ground rail is arranged, and the anti-rollover wheel rolling on the bottom surface of the second horizontal part of the ground rail is utilized to further strengthen the anti-rollover function.
In one embodiment, the lift assembly comprises: the lifting device comprises a stand column, a lifting platform, a lifting driver and a lifting encoder, wherein the stand column is arranged on a sliding seat; the lifting driver drives the lifting platform to move up and down on the upright post; the lifting platform is connected with the picking and placing assembly. The lifting driver drives the lifting platform to move up and down on the upright post, and the lifting distance of the lifting platform is detected through the lifting encoder, so that the height position of the lifting platform is detected.
In one embodiment, the pick-and-place assembly comprises: the device comprises a base, an inserting plate, a picking and placing driver and a picking and placing encoder, wherein the base is installed on a lifting assembly; the plugboard is used for bearing goods. The taking and placing driver drives the plugboard to move, so that the plugboard can extend into the storage position of the goods shelf, and the taking and placing encoder is used for detecting the extending direction and the position of the plugboard.
In one embodiment, the base is provided with a sliding groove for the insertion plate to move; get and put subassembly still includes: the first sensor is positioned on the inner side of the sliding chute, and the second sensor is positioned on the outer side of the base; the first sensor is used for detecting whether the plugboard is unloaded; the second sensor is used for detecting whether the storage position of the goods shelf corresponding to the base is empty or not. The action reliability of the picking and placing assembly can be improved through the first sensor and the second sensor, and the phenomenon that no load occurs and collision occurs with existing goods on a goods shelf is avoided.
In one embodiment, the stacker further comprises: the guide rail is connected with the stacking module in a sliding manner; the guide rail is connected on the top of the lifting component in a sliding mode. The guide rail is used for guiding the transverse moving track of the stacking module, and the transverse moving accuracy of the stacking assembly is improved.
In one embodiment, the stacker further comprises: a safety slide wire slidably connected with the stacking module; the safe touch slide wire is connected to the top of the lifting assembly in a sliding mode, and the safe touch slide wire is electrically connected with the transverse moving assembly, the lifting assembly and the taking and placing assembly respectively. The safe sliding contact line can realize the power-on conduction of the stacking module under the condition of no drag chain wiring.
Simultaneously, this application still provides one kind and gets equipment of putting.
A get and put equipment, includes the stacker of any above-mentioned embodiment, still includes: carrying the wire body; the handling line body is arranged adjacent to the stacker.
The above taking and placing equipment has the carrying line body used for transferring goods among the warehouse inlet, the warehouse outlet and the taking and placing points of the goods shelf. The stacker is used for realizing the goods transfer between the goods shelf and the material taking and placing point of the goods shelf. The stacking module is arranged on the ground rail in a sliding mode and can move back and forth along the arrangement direction of the ground rail. The stacking module is internally provided with a transverse moving component, a lifting component and a taking and placing component. The transverse moving assembly is used for driving the lifting assembly to move to a preset position, such as a material taking and placing point of the carrying line body and a designated storage position on the goods shelf. The lifting assembly is used for driving the taking and placing assembly to perform lifting motion, so that the taking and placing assembly moves to a preset position, for example, the taking and placing height of a material taking and placing point of the carrying line body and the height of a designated storage position on the goods shelf. The picking and placing assembly is used for picking and placing goods. The sideslip subassembly drives the gliding in-process of stack module along the ground rail, the sideslip encoder detects the distance of advance of slide, with the current position of preliminary judgement stack subassembly, and simultaneously, sideslip visual positioning device passes through the relative position of image analysis detection slide and goods shelves, thereby judge and revise the sideslip position of stack module, improve the removal precision of stack module, reduce the probability that the dislocation on the horizontal direction appears in the target storage position on stack module and the goods shelves, make the stack module can accurately place the goods on the target storage position, improve the precision and the work efficiency of goods access. Through the design, the transverse moving visual positioning device and the transverse moving encoder are matched with each other, so that the transverse moving position of the stacking module is judged and corrected, and the aim of improving the transverse moving precision of the stacking module is fulfilled.
Simultaneously, this application still provides a stereoscopic warehouse.
A stereoscopic warehouse comprises the above taking and placing equipment, and further comprises: a shelf; the goods shelf is arranged adjacent to the stacking machine.
Above-mentioned stereoscopic warehouse, goods shelves are used for depositing the goods, and get the circulation that equipment was used for realizing the goods of putting. The stacking module is arranged on the ground rail in a sliding mode and can move back and forth along the arrangement direction of the ground rail. The stacking module is internally provided with a transverse moving component, a lifting component and a taking and placing component. The transverse moving assembly is used for driving the lifting assembly to move to a preset position, such as a material taking and placing point of the carrying line body and a designated storage position on the goods shelf. The lifting assembly is used for driving the taking and placing assembly to perform lifting motion, so that the taking and placing assembly moves to a preset position, for example, the taking and placing height of a material taking and placing point of the carrying line body and the height of a designated storage position on the goods shelf. The picking and placing assembly is used for picking and placing goods. The sideslip subassembly drives the gliding in-process of stack module along the ground rail, the sideslip encoder detects the distance of advance of slide, with the current position of preliminary judgement stack subassembly, and simultaneously, sideslip visual positioning device passes through the relative position of image analysis detection slide and goods shelves, thereby judge and revise the sideslip position of stack module, improve the removal precision of stack module, reduce the probability that the dislocation on the horizontal direction appears in the target storage position on stack module and the goods shelves, make the stack module can accurately place the goods on the target storage position, improve the precision and the work efficiency of goods access. Through the design, the transverse moving visual positioning device and the transverse moving encoder are matched with each other, so that the transverse moving position of the stacking module is judged and corrected, and the aim of improving the transverse moving precision of the stacking module is fulfilled.
Drawings
FIG. 1 is a schematic diagram of a stacker according to an embodiment of the present invention;
FIG. 2 is a partial view of the stacker shown in FIG. 1;
FIG. 3 is a state diagram of the stacker shown in FIG. 2;
FIG. 4 is a schematic view of a stacker module of the stacker shown in FIG. 1;
FIG. 5 is a schematic view of the stacker module of FIG. 4 from another perspective;
FIG. 6 is an enlarged view of portion A of the stacker module shown in FIG. 4;
FIG. 7 is a schematic view of the stacker and main guide rail assembly shown in FIG. 6;
FIG. 8 is an enlarged view of portion B of the stacker module shown in FIG. 4;
FIG. 9 is a partial view of the stacker module shown in FIG. 4;
fig. 10 is a schematic view of a handling line body in the pick-and-place apparatus according to an embodiment of the present invention;
fig. 11 is a schematic view of the cargo transfer of the carrier wire body shown in fig. 10.
The meaning of the reference symbols in the drawings is:
100-a stacker;
10-ground rail;
20-stacking module, 21-traversing assembly, 211-sliding seat, 2111-traversing wheel, 2112-limiting wheel, 2113-anti-side-turning wheel, 212-traversing driver, 213-traversing encoder, 214-traversing visual positioning device, 22-lifting assembly, 221-upright post, 222-lifting table, 223-lifting driver, 224-lifting encoder, 23-taking and placing assembly, 231-base, 232-plug board, 2321-limiting block, 233-taking and placing driver, 234-taking and placing encoder, 235-first sensor and 236-second sensor;
30-a guide rail;
40-safe sliding contact line;
50-a control box;
200-carrying line body;
201-a feed transfer line, 2011-a first conveyor, 20111-a first transfer station, 20112-a first waiting station, 2012-a first transfer module;
202-discharge conveyor line, 2021-second conveyor belt, 20211-second transfer station, 20212-second waiting station, 2022-second transfer module;
203-a material taking and placing conveying line, 2031-a third conveying belt and 2032-a jacking and feeding module;
300-storage box.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
As shown in fig. 1 to 9, a stacker 100 according to an embodiment of the present invention is shown.
As shown in fig. 1 and 2, the stacker crane 100 includes: a ground rail 10 and a stacking module 20 slidably disposed on the ground rail 10. As shown in fig. 3, the stacking module 20 is used for picking and placing goods (in this embodiment, the goods are placed in the storage box 300, the stacking module 20 transfers the goods by transferring the storage box 300, and an identification code for scanning the code is provided on the outer side of the storage box 300) to transfer the goods between the picking and placing point of the shelf and the designated storage position of the shelf. The ground rail 10 is used for limiting the traverse track of the stacking module 20.
The stacker 100 described above will be further described with reference to fig. 1 to 9.
As shown in fig. 2, in the present embodiment, the ground rail 10 is of an H-shaped steel structure. The ground rail 10 is elongated as a whole, and has an H-shaped (i-shaped) cross section in the width direction. In addition, the ground rail 10 may be provided in a multi-stage structure, and extended by splicing.
As shown in fig. 4 and 5, the stacker module 20 includes: a traversing component 21 arranged on the ground rail 10 in a sliding way, a lifting component 22 connected with the traversing component 21, and a taking and placing component 23 arranged on the lifting component 22. Wherein, the traverse component 21 is used for driving the lifting component 22 to move transversely, the lifting component 22 is used for driving the taking and placing component 23 to move up and down, and the taking and placing component 23 is used for taking and placing goods
As shown in fig. 4 and 5, in the present embodiment, the traverse assembly 21 includes: a slide 211 slidably disposed on the ground rail 10, a traverse driver 212 connected to the slide 211, a traverse encoder 213 connected to the slide 211, and a traverse vision positioning device 214 mounted on the slide 211. The traverse encoder 213 detects the advancing distance of the carriage 211. The traverse visual positioning device 214 detects the relative position of the carriage 211 and the rack by image analysis.
As shown in fig. 6 and 7, based on the premise that the ground rail 10 is provided in an H-shaped steel structure, in the present embodiment, the slider 211 is provided with a traverse wheel 2111 rolling on the top surface of the top of the ground rail 10. Wherein the traverse wheel 2111 is connected to the traverse drive 212. The sliding base 211 is further provided with a limiting wheel 2112 rolling on the side of the middle part of the ground rail 10. The limiting wheels 2112 are distributed on two opposite sides of the middle of the ground rail 10 in pairs. In operation, the traverse actuator 212 drives the traverse wheel 2111 to roll, so that the slider 211 can run on the top surface of the top of the ground rail 10 of the H-beam structure. The limiting wheels 2112 distributed in pairs and on the opposite side of the middle of the ground rail 10 can guide the movement of the sliding seat 211, and the limiting wheels 2112 are used for clamping the middle of the ground rail 10, so that the side turning prevention effect can be achieved. For example, in the present embodiment, the ground rail 10 is provided for an H-shaped steel structure, and includes: the support part is connected between the first horizontal part and the second horizontal part. Wherein the first horizontal portion serves as a base of the ground rail 10 and is connected to the second horizontal portion located above through the support portion. Accordingly, the traverse wheel 2111 can roll on the second horizontal portion top surface. The restraint wheels 2112 are distributed on opposite sides of the support portion and can roll on the sides of the support portion.
Further, as shown in fig. 6 and 7, in the present embodiment, the sliding base 211 is further provided with an anti-rollover wheel 2113 rolling on the bottom surface of the top of the ground rail 10. The anti-rollover function is further enhanced by the anti-rollover wheel 2113 rolling on the bottom surface of the top of the ground rail 10 based on the H-shaped steel structure arrangement of the ground rail 10. For example, in the present embodiment, the rollover prevention wheels 2113 may roll on the bottom surface of the second horizontal portion.
The traverse encoder 213 detects the moving distance of the carriage 211 when the traverse unit 21 moves, and for example, in the present embodiment, the traverse encoder is connected to the traverse wheel 2111 at the front end of the carriage 211, and by detecting the number of times the traverse wheel 2111 rolls, and then, in conjunction with the wheel diameter of the traverse wheel 2111, the control system (for example, in the present embodiment, the stacker 100 is further provided with a control box 50, and the control box 50 is attached to the lift unit 22) can calculate the moving distance of the carriage 211. Meanwhile, the visual positioning device 214 captures an image of the environment outside the sliding base 211, which is mainly embodied as shelves located at two sides of the stacker 100 in the present embodiment, and the shelves may be provided with marks in advance. After the image is captured, the visual positioning device 214 performs image analysis and processing to determine the position of the shelf corresponding to the current slide seat 211, and then feeds back the position to the control system, and if the current traverse position of the slide seat 211 deviates from the horizontal position of the target storage location, controls the traverse assembly 21 to move forward or backward correspondingly to adjust the position of the slide seat 211.
As shown in fig. 4 and 5, in the present embodiment, the lifting assembly 22 includes: a column 221 mounted on the slide base 211, a lift table 222 slidably connected to the column 221, a lift driver 223 connected to the lift table 222, and a lift encoder 224 connected to the lift table 222. Wherein, the lifting driver 223 drives the lifting platform 222 to move up and down on the upright column 221. The lifting platform 222 is connected with the pick-and-place assembly 23. The elevation driver 223 drives the elevation table 222 to move up and down on the column 221, and the elevation encoder 224 detects the elevation distance of the elevation table 222, thereby detecting the height position of the elevation table 222.
In the present embodiment, a lift encoder 224 is located at the connection of the lift driver 223 and the lift stage 222.
As shown in fig. 4 and 5, in the present embodiment, the pick-and-place assembly 23 includes: a base 231 mounted on the lifting assembly 22, a board 232 slidably disposed on the base 231, a pick-and-place driver 233 connected to the board 232, and a pick-and-place encoder 234 connected to the board 232. Plugboard 232 is used to carry cargo. The pick-and-place driver 233 drives the board 232 to move, so that the board 232 can extend into the storage position of the shelf, and the pick-and-place encoder 234 is used for detecting the extending direction and position of the board 232.
In the present embodiment, the pick-and-place encoder 234 is located at the connection between the pick-and-place driver 233 and the board 232.
Further, as shown in fig. 8, the base 231 is provided with a sliding slot for the insertion plate 232 to move. The pick-and-place assembly 23 further comprises: a first sensor 235 located inside the chute and a second sensor 236 located outside the seat 231. The first sensor 235 is used to detect whether the board 232 is unloaded. The second sensor 236 detects whether the storage position of the shelf to which the base 231 is opposed is empty. The first sensor 235 and the second sensor 236 can improve the operation reliability of the pick-and-place assembly 23, and avoid the occurrence of idling and collision with the goods on the shelf.
In this embodiment, the first sensors 235 are gratings disposed inside the pair of chutes, and when there is cargo on the board 232, the gratings block signals between two oppositely disposed first sensors 235, and at this time, the first sensors 235 determine that there is cargo on the board 232. The second sensors 236 are proximity switches and have at least two. Two second sensors 236 are respectively arranged at the outer sides of the left end and the right end of the base 231, and before the board 232 extends into the storage position of the shelf, whether goods exist in the current opposite storage position of the board 232 is detected through the second sensors 236.
As shown in fig. 8, in the embodiment, two ends of the board 232 are provided with limiting blocks 2321, which are used for limiting the moving position of the goods on the board 232 to prevent the goods from falling off from the board 232 due to inertia when the goods follow the board 232.
As shown in fig. 1 and fig. 2, in the present embodiment, the stacker crane 100 further includes: slidably engaging the rails 30 of the stacker module 20. The guide rails 30 are slidably attached to the top of the lift assembly 22. The guide rail 30 is used for guiding the traversing track of the stacking module 20, and the accuracy of the traversing of the stacking module is improved.
As shown in fig. 1 and fig. 2, in the present embodiment, the stacker crane 100 further includes: a safety slide wire 40 slidably connected to the stacker module 20. The safety contact slide wire 40 is slidably connected to the top of the lifting assembly 22, and the safety contact slide wire 40 is electrically connected to the traverse assembly 21, the lifting assembly 22 and the pick-and-place assembly 23 respectively. The safety slide wire 40 can realize the power-on conduction of the stacking module 20 without the drag chain wire.
In the stacker 100, the stacking module 20 is slidably disposed on the ground rail 10 and can move back and forth along the direction of the ground rail 10. The stacking module 20 is provided with a traverse assembly 21, a lifting assembly 22 and a pick-and-place assembly 23. The traverse unit 21 is used to drive the lifting unit 22 to move to a predetermined position, such as a material pick-and-place point for carrying a wire and a designated storage position on a shelf. The lifting assembly 22 is configured to drive the pick-and-place assembly 23 to move up and down, so that the pick-and-place assembly 23 moves to a preset position, for example, a pick-and-place height of a pick-and-place point of a conveying line and a height of a designated storage position on a shelf. The pick-and-place assembly 23 is used for picking and placing goods. In the process that the transverse moving component 21 drives the stacking module 20 to slide along the ground rail 10, the transverse moving encoder 213 detects the advancing distance of the sliding seat 211, so as to preliminarily judge the current position of the stacking component, meanwhile, the transverse moving visual positioning device 214 detects the relative position of the sliding seat 211 and the goods shelf through image analysis, thereby judging and correcting the transverse moving position of the stacking module 20, the moving precision of the stacking module 20 is improved, the probability that the dislocation in the horizontal direction occurs at the target storage position on the stacking module 20 and the goods shelf is reduced, so that the stacking module 20 can accurately place goods on the target storage position, and the precision and the working efficiency of goods storage and taking are improved. Through the design, the transverse moving vision positioning device 214 and the transverse moving encoder 213 are matched with each other, so that the transverse moving position of the stacking module 20 is judged and corrected, and the aim of improving the transverse moving precision of the stacking module 20 is fulfilled.
Simultaneously, this application still provides one kind and gets equipment of putting.
The taking and placing device comprises the stacker 100 in any of the embodiments, and further comprises: the wire body 200 is conveyed. The carrier wire body 200 is disposed adjacent to the stacker 100.
For the description of the stacker 100, reference is made to the above description, which is not repeated herein. The carrying line body 200 is used for transferring goods among the warehouse inlet, the warehouse outlet and the material taking and placing points of the goods shelf.
For example, as shown in fig. 10, the carrier wire body 200 may include: the feeding device comprises a feeding conveying line 201, a discharging conveying line 202 arranged on one side of the feeding conveying line 201, and a material taking and placing conveying line 203 arranged on one side, back to the discharging conveying line 202, of the feeding conveying line 201.
The feeding transfer line 201 includes: the first conveyor 2011, the first transfer module 2012 disposed on the first conveyor 2011, and the first scan module (not shown) disposed on the first conveyor 2011. The first conveyor 2011 is provided with a first transfer station 20111 and a first waiting station 20112. The first waiting station 20112 is upstream of the first transfer station 20111. The first transfer module 2012 is located at the first transfer station 20111, and the conveying direction of the first transfer module 2012 is perpendicular to the circulating direction of the first conveyor 2011. The first scan code module is located at the first waiting station 20112.
The discharge conveyor line 202 includes: a second conveyor belt 2021 disposed opposite to the first conveyor belt 2011, and a second transfer module 2022 disposed on the second conveyor belt 2021. The second conveyor belt 2021 is provided with a second transfer station 20211 and a second waiting station 20212. The second waiting station 20212 and the first waiting station 20112 are located on a straight line perpendicular to the first conveyor 2011. The second waiting station 20212 is upstream of the second transfer station 20211. The second transferring module 2022 is located at the second transferring station 20211, and the conveying direction of the second transferring module 2022 is perpendicular to the flowing direction of the second conveyor belt 2021.
The pick-and-place material conveying line 203 includes: a third conveyor belt 2031 perpendicular to the first conveyor belt 2011, a jacking feeding module 2032 disposed on the third conveyor belt 2031, and a second code scanning module (not shown) disposed on the third conveyor belt 2031. The second code scanning module is located at one side of the jacking feeding module 2032. The third transfer belt 2031, the first transfer station 20111, and the second transfer station 20211 are located on the same line. The jacking and feeding module 2032 is located at one end of the third conveyor belt 2031 facing away from the first conveyor belt 2011.
As shown in fig. 11, during feeding, the goods are diverted from the inlet to the target shelf by the first conveyor 2011 of the feeding conveyor 201, before the goods are diverted to the target shelf, the first waiting station 20112 is identified by a code scanning, and after the identification is successful, the first transferring module 2012 transfers the goods to the taking and placing conveyor 203 when entering the first transferring station 20111. The third conveyor belt 2031 of the material taking and placing conveyor line 203 transfers the goods to the material taking and placing point of the shelf, and after the confirmation of the code scanning is passed again, the jacking and feeding module 2032 lifts the goods from the third conveyor belt 2031 and waits for the stacker 100 to take the goods. During discharging, goods are placed on the jacking loading module 2032 in a jacking state by the stacker 100, after code scanning confirmation, the jacking loading module 2032 sinks to place the goods on the third conveyor belt 2031, the third conveyor belt 2031 transfers the goods to the first transfer module 2012 on the first conveyor belt 2011, the first transfer module 2012 and the second transfer module 2022 bring the goods from the first transfer station 20111 to the second transfer station 20211, and after the goods enter the second transfer station 20211, the goods are transferred to the outlet under the drive of the second conveyor belt 2021. This transfer line body 200 can realize the goods from going into the storehouse mouth, go out the storehouse mouth and getting of goods shelves and put the circulation between the point three, utilizes to transport the module and realizes the goods at pan feeding transmission line 201, ejection of compact transmission line 202 and get the switching-over circulation of putting between the material transmission line 203, sweeps the sign indicating number and checks goods information, for stereoscopic warehouse's the goods circulation of providing high efficiency, smoothness and high accuracy.
The above-mentioned equipment of getting, the handling line body 200 is used for the circulation between the warehouse entry mouth, the warehouse exit mouth and the goods shelves get the material point three. The stacker 100 is used for realizing the goods transfer between the goods shelf and the material taking and placing point of the goods shelf. The stacking module 20 is slidably disposed on the ground rail 10 and can move back and forth along the direction of the ground rail 10. The stacking module 20 is provided with a traverse assembly 21, a lifting assembly 22 and a pick-and-place assembly 23. The traverse assembly 21 is used to drive the lifting assembly 22 to move to a predetermined position, such as a material taking and placing point of the conveying line body 200 and a designated storage position on a shelf. The lifting assembly 22 is configured to drive the pick-and-place assembly 23 to move up and down, so that the pick-and-place assembly 23 moves to a preset position, for example, a pick-and-place height of a pick-and-place point of the carrying line body 200 and a height of a designated storage position on the shelf. The pick-and-place assembly 23 is used for picking and placing goods. In the process that the transverse moving component 21 drives the stacking module 20 to slide along the ground rail 10, the transverse moving encoder 213 detects the advancing distance of the sliding seat 211, so as to preliminarily judge the current position of the stacking component, meanwhile, the transverse moving visual positioning device 214 detects the relative position of the sliding seat 211 and the goods shelf through image analysis, thereby judging and correcting the transverse moving position of the stacking module 20, the moving precision of the stacking module 20 is improved, the probability that the dislocation in the horizontal direction occurs at the target storage position on the stacking module 20 and the goods shelf is reduced, so that the stacking module 20 can accurately place goods on the target storage position, and the precision and the working efficiency of goods storage and taking are improved. Through the design, the transverse moving vision positioning device 214 and the transverse moving encoder 213 are matched with each other, so that the transverse moving position of the stacking module 20 is judged and corrected, and the aim of improving the transverse moving precision of the stacking module 20 is fulfilled.
Simultaneously, this application still provides a stereoscopic warehouse.
This stereoscopic warehouse includes foretell get and put equipment, still includes: and (7) a shelf. The racks are disposed adjacent to the stacker 100.
Above-mentioned stereoscopic warehouse, goods shelves are used for depositing the goods, and get the circulation that equipment was used for realizing the goods of putting. The stacking module 20 is slidably disposed on the ground rail 10 and can move back and forth along the direction of the ground rail 10. The stacking module 20 is provided with a traverse assembly 21, a lifting assembly 22 and a pick-and-place assembly 23. The traverse assembly 21 is used to drive the lifting assembly 22 to move to a predetermined position, such as a material taking and placing point of the conveying line body 200 and a designated storage position on a shelf. The lifting assembly 22 is configured to drive the pick-and-place assembly 23 to move up and down, so that the pick-and-place assembly 23 moves to a preset position, for example, a pick-and-place height of a pick-and-place point of the carrying line body 200 and a height of a designated storage position on the shelf. The pick-and-place assembly 23 is used for picking and placing goods. In the process that the transverse moving component 21 drives the stacking module 20 to slide along the ground rail 10, the transverse moving encoder 213 detects the advancing distance of the sliding seat 211, so as to preliminarily judge the current position of the stacking component, meanwhile, the transverse moving visual positioning device 214 detects the relative position of the sliding seat 211 and the goods shelf through image analysis, thereby judging and correcting the transverse moving position of the stacking module 20, the moving precision of the stacking module 20 is improved, the probability that the dislocation in the horizontal direction occurs at the target storage position on the stacking module 20 and the goods shelf is reduced, so that the stacking module 20 can accurately place goods on the target storage position, and the precision and the working efficiency of goods storage and taking are improved. Through the design, the transverse moving vision positioning device 214 and the transverse moving encoder 213 are matched with each other, so that the transverse moving position of the stacking module 20 is judged and corrected, and the aim of improving the transverse moving precision of the stacking module 20 is fulfilled.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express preferred embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A stacker, comprising:
a ground rail; and
the stacking module is arranged on the ground rail in a sliding mode; the stacking module comprises: the device comprises a transverse moving assembly, a lifting assembly and a taking and placing assembly, wherein the transverse moving assembly is arranged on the ground rail in a sliding mode; the traversing assembly comprises: the device comprises a sliding seat arranged on the ground rail in a sliding mode, a transverse moving driver connected with the sliding seat, a transverse moving encoder connected with the sliding seat and a transverse moving visual positioning device arranged on the sliding seat; the traverse encoder detects a forward distance of the carriage; the transverse moving vision positioning device detects the relative position of the sliding seat and the goods shelf through image analysis; the lifting assembly is used for driving the picking and placing assembly to move up and down; the picking and placing assembly is used for picking and placing goods.
2. The stacker according to claim 1 wherein the ground rail is an H-beam structure comprising a first horizontal portion, a second horizontal portion disposed above the first horizontal portion and parallel to the first horizontal portion, and a support portion connected between the first horizontal portion and the second horizontal portion; the sliding seat is provided with a traversing wheel which rolls on the top surface of the second horizontal part; the traverse wheel is connected with the traverse driver; the sliding seat is also provided with a limiting wheel which rolls on the side surface of the supporting part; the limiting wheels are distributed on two opposite sides of the supporting part in pairs.
3. The stacker according to claim 2 wherein said carriage is further provided with a rollover wheel which rolls on a bottom surface of said second horizontal portion.
4. The stacker of claim 1 wherein the lift assembly comprises: the lifting device comprises a stand column, a lifting platform, a lifting driver and a lifting encoder, wherein the stand column is installed on the sliding seat, the lifting platform is connected to the stand column in a sliding mode, the lifting driver is connected with the lifting platform, and the lifting encoder is connected with the lifting platform; the lifting driver drives the lifting platform to move up and down on the upright post; the lifting platform is connected with the taking and placing assembly.
5. The stacker of claim 1 wherein the pick and place assembly comprises: the lifting device comprises a base, an inserting plate, a picking and placing driver and a picking and placing encoder, wherein the base is installed on the lifting assembly; the plugboard is used for bearing goods.
6. The stacker according to claim 5 wherein the base is provided with a chute for the movement of the inserter; the pick-and-place assembly further comprises: the first sensor is positioned on the inner side of the sliding chute, and the second sensor is positioned on the outer side of the base; the first sensor is used for detecting whether the plugboard is unloaded; the second sensor is used for detecting whether the storage position of the goods shelf corresponding to the base is empty or not.
7. The stacker according to claim 1, further comprising: the guide rail is connected with the stacking module in a sliding manner; the guide rail is connected to the top of the lifting assembly in a sliding mode.
8. The stacker according to any one of claims 1 to 7, further comprising: a safety slide wire slidably connected with the stacking module; the safety touch sliding wire is connected to the top of the lifting assembly in a sliding mode, and the safety touch sliding wire is electrically connected with the transverse moving assembly, the lifting assembly and the taking and placing assembly respectively.
9. A pick-and-place apparatus comprising the stacker of any one of claims 1 to 8, further comprising: carrying the wire body; the carrying line body is arranged adjacent to the stacker.
10. A stereoscopic warehouse comprising the pick-and-place apparatus of claim 9, further comprising: a shelf; the goods shelf is arranged adjacent to the stacker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010363830.6A CN111620013A (en) | 2020-04-30 | 2020-04-30 | Stacker, get and put equipment and stereoscopic warehouse |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010363830.6A CN111620013A (en) | 2020-04-30 | 2020-04-30 | Stacker, get and put equipment and stereoscopic warehouse |
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| CN111620013A true CN111620013A (en) | 2020-09-04 |
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| CN202010363830.6A Pending CN111620013A (en) | 2020-04-30 | 2020-04-30 | Stacker, get and put equipment and stereoscopic warehouse |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113603018A (en) * | 2021-08-31 | 2021-11-05 | 江苏徐工信息技术股份有限公司 | Multi-connecting-rod telescopic fork type rail tunnel stacker |
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Address after: 523808 building 3, No. 6, Gongye Xisan Road, Songshanhu Park, Dongguan City, Guangdong Province Applicant after: Guangdong Tianji Intelligent System Co.,Ltd. Applicant after: GUANGDONG EVERWIN PRECISION TECHNOLOGY Co.,Ltd. Address before: 523808 building 3, No. 6, Gongye Xisan Road, Songshanhu Park, Dongguan City, Guangdong Province Applicant before: GUANGDONG TIANJI INDUSTRIAL INTELLIGENT SYSTEM Co.,Ltd. Applicant before: GUANGDONG EVERWIN PRECISION TECHNOLOGY Co.,Ltd. |
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