CN113003065B - Vertical warehouse lath stacking device and control method thereof - Google Patents
Vertical warehouse lath stacking device and control method thereof Download PDFInfo
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- CN113003065B CN113003065B CN201911322231.3A CN201911322231A CN113003065B CN 113003065 B CN113003065 B CN 113003065B CN 201911322231 A CN201911322231 A CN 201911322231A CN 113003065 B CN113003065 B CN 113003065B
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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
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to a vertical warehouse slat stacking device and a control method thereof, wherein one side of a slat warehouse frame is in sliding connection with a stacking frame body, the other side of the slat warehouse frame is provided with a plurality of warehouse positions, the output ends of a servo motor and a speed reducer A are connected with a synchronous shaft, and the synchronous shaft is connected with the slat warehouse frame through a synchronous belt transmission mechanism A; the bottom plate of the pushing rod is in sliding connection with the top of the frame body of the pushing mechanism, the frame body of the pushing mechanism is respectively provided with a variable frequency motor and a speed reducer B, the output ends of the variable frequency motor and the speed reducer B are connected with the bottom plate of the pushing rod through a synchronous belt transmission mechanism B, and the bottom plate of the pushing rod is driven by the variable frequency motor to slide back and forth on the top of the frame body of the pushing mechanism; the pushing rod is hinged on the pushing rod bottom plate, one end of the lifting cylinder is hinged on the pushing rod bottom plate, the other end of the lifting cylinder is hinged with one side of the pushing rod, and the other side of the pushing rod is used for pushing the batten to enter and exit the warehouse. The invention integrates the production line, and has the characteristics of simple structure, small occupied area and saving the time for entering and exiting the warehouse.
Description
Technical Field
The invention belongs to the field of slat caching, and particularly relates to a vertical warehouse slat stacking device for caching plates and strips and a control method thereof.
Background
The automatic production assembly line is a large trend of modern production, and the cache library of parts or semi-finished products is an indispensable part of the automatic production assembly line, so that the automatic production assembly line has the effects of adjusting the production beats and improving the utilization rate of production equipment in the production assembly process.
Disclosure of Invention
The invention aims to provide a vertical warehouse slat stacking device and a control method thereof.
The aim of the invention is realized by the following technical scheme:
The invention relates to a vertical warehouse lath stacking device which comprises a stacking frame body, a lath warehouse frame, a synchronizing shaft, a speed reducer A, a servo motor, a pushing mechanism frame body, a variable frequency motor, a speed reducer B, a pushing rod bottom plate, a lifting cylinder and a pushing rod, wherein one side of the lath warehouse frame is in sliding connection with the stacking frame body, a plurality of warehouse positions are arranged on the other side of the lath warehouse frame from top to bottom, the output end of the servo motor is connected with the input end of the speed reducer A, the output end of the speed reducer A is connected with the synchronizing shaft, the synchronizing shaft is connected with the lath warehouse frame through a synchronous belt transmission mechanism A, and the lath warehouse frame is driven to lift by the servo motor; the pushing mechanism frame body is arranged towards the other side of the slat warehouse frame, the pushing rod bottom plate is in sliding connection with the top of the pushing mechanism frame body, the variable frequency motor and the speed reducer B are respectively installed on the pushing mechanism frame body, the output end of the variable frequency motor is connected with the input end of the speed reducer B, the output end of the speed reducer B is connected with the pushing rod bottom plate through the synchronous belt transmission mechanism B, and the pushing rod bottom plate is driven by the variable frequency motor to slide back and forth at the top of the pushing mechanism frame body; the pushing rod is hinged to the pushing rod bottom plate, one end of the lifting cylinder is hinged to the pushing rod bottom plate, the other end of the lifting cylinder is hinged to one side of the pushing rod, and the other side of the pushing rod is used for pushing the batten to enter and exit the warehouse.
Wherein: the synchronous belt transmission mechanism A comprises a synchronous belt pulley A, a synchronous belt pulley B, a synchronous belt A and a synchronous belt clamp A, wherein the synchronous shaft is supported by a bearing seat, the synchronous shaft is connected with the synchronous belt pulley A which rotates together with the synchronous shaft, the top of the stack frame body is rotatably provided with the synchronous belt pulley B, the synchronous belt pulley B is connected with the synchronous belt pulley A through the synchronous belt A, and the synchronous belt clamp A connected with the lath warehouse frame is arranged on the synchronous belt A.
And the stacking frame body is provided with a linear guide rail A, and the slat warehouse frame is connected with the linear guide rail A in a sliding way through a guide rail sliding block A and ascends and descends along the linear guide rail A.
The synchronous belt transmission mechanism B comprises synchronous pulleys C, synchronous belts B and synchronous belt clamps B, wherein the synchronous pulleys C are arranged on two sides of the length direction of the frame body of the pushing mechanism, one side of the synchronous pulleys C is connected to the output end of the speed reducer B, the synchronous pulleys C on the other side are rotatably arranged on the frame body of the pushing mechanism and are connected with the synchronous pulleys C on one side through the synchronous belts B, and the synchronous belt clamps B connected with the bottom plate of the pushing rod are arranged on the synchronous belts B.
The top of the pushing mechanism frame body is provided with a linear guide rail B along the length direction, and the pushing rod bottom plate is in sliding connection with the linear guide rail B through a guide rail sliding block B and slides back and forth along the linear guide rail B.
The pushing rod is in a V shape, the length of one side of the V shape is shorter than that of the other side, the joint of the two sides of the V shape is hinged with the upper surface of the pushing rod bottom plate through a pushing rod hinge shaft, and the other side with short length is hinged with the other end of the lifting cylinder.
The servo motor is provided with a servo driver for controlling the servo motor to drive, the variable frequency motor is provided with a frequency converter, and the lifting cylinder is provided with an electromagnetic valve and an air source.
And each bin position on the other side of the slat bin frame is respectively provided with a photoelectric detection switch for detecting whether the bin position is filled with materials.
A plurality of detection switches for controlling the stop positions of the pushing rods are arranged on the pushing mechanism frame body along the length direction.
The control method of the vertical warehouse lath stacking device comprises the following steps:
When entering a warehouse, a warehouse-in request is sent to a warehouse position on the lath warehouse frame, the warehouse position is in a material-free state, the warehouse-in request is received, the lath warehouse frame is driven by a servo motor to be lifted to a position of a designated warehouse position, and a warehouse-in ready signal is sent out; the pushing rod is driven by the variable frequency motor to move to the rightmost end, and after reaching a stop position and stopping, the pushing rod falls down under the driving of the lifting cylinder and then moves leftwards under the driving of the variable frequency motor, and meanwhile, the plate is pushed to be put in storage; stopping the variable frequency motor when the photoelectric detection switch at the left end of the warehouse position detects a plate, driving the pushing rod to return to the middle stopping position by the variable frequency motor, and lifting the pushing rod by the lifting cylinder;
when the warehouse is out, the warehouse position to be out is in a material state, a warehouse out request is received, the lath warehouse frame is driven by a servo motor to lift to a designated warehouse out position, and a warehouse out position ready signal is sent out; the variable frequency motor is started to drive the pushing rod to move leftwards, the plate is pushed out from the warehouse position and sent to the next station, a discharging signal is sent out, the next station is started, and the plate is connected away; the pushing rod reaches the leftmost stop position under the driving of the variable frequency motor, the lifting cylinder works to lift the pushing rod, and then the variable frequency motor drives the pushing rod to return to the middle stop position, so that the warehouse-out task is completed.
The invention has the advantages and positive effects that:
1. the invention has novel structure and simple structure, and can finish the warehouse-in and warehouse-out work of the plates or strips in 10 seconds due to the simple electric and air cooperation.
2. Besides the mechanical structure, the invention also comprises perfect electrical control, and ensures the reliability and high efficiency of the whole electrical wiring manufacturing process.
Drawings
FIG. 1 is a front elevational view of a structure of a stacking apparatus for vertical warehouse staves according to the present invention;
FIG. 2 is a left side view of the structure of the stacking apparatus of the present invention;
FIG. 3 is a control flow diagram of the present invention;
Wherein: 1 is a stack frame body, 2 is a linear guide A,3 is a guide rail slide block A,4 is a synchronous pulley A,5 is a synchronous belt A,6 is a slat warehouse frame, 7 is a bearing seat, 8 is a synchronous shaft, 9 is a speed reducer A,10 is a servo motor, 11 is a synchronous belt card A,12 is a pushing mechanism frame body, 13 is a variable frequency motor, 14 is a synchronous pulley C,15 is a speed reducer B,16 is a synchronous belt B,17 is a linear guide rail B,18 is a guide rail slide block B,19 is a pushing rod bottom plate, 20 is a synchronous belt card B,21 is a lifting cylinder, 22 is a cylinder hinge shaft, 23 is a pushing rod hinge shaft, 24 is a pushing rod, 25 is a synchronous pulley B, and 26 is a detection switch.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the vertical warehouse slat stacking device of the invention comprises a stacking frame body 1, a slat warehouse frame 6, a synchronizing shaft 8, a speed reducer A9, a servo motor 10, a pushing mechanism frame body 12, a variable frequency motor 13, a speed reducer B15, a pushing rod bottom plate 19, a lifting cylinder 21 and a pushing rod 24, wherein a linear guide rail A2 arranged on the stacking frame body 1 is vertically arranged on the stacking frame body 1, and the linear guide rail A2 is respectively arranged on the left side and the right side; four guide rail sliding blocks A3 are respectively arranged on two linear guide rails A2, and each guide rail sliding block can slide up and down along the linear guide rails A2. The lath warehouse frame 6 is a frame structure which is integrated by welding, one side of the lath warehouse frame is connected with the stack frame body 1 in a sliding way through a guide rail sliding block A3, and a plurality of warehouse positions are arranged on the other side from top to bottom; the present embodiment is seven bank bits.
Six bearing frames 7 are fixed at the bottom of the stack frame body 1 in a straight line and are used for supporting a synchronizing shaft 8, and the synchronizing shaft 8 and the six bearing frames 7 are concentrically arranged so as to realize rotary motion. The output end of the servo motor 10 is connected with the input end of the speed reducer A9 through a coupler, the rotary motion of the servo motor is transmitted, and the output end of the speed reducer A9 is connected with one end of the synchronous shaft 8 through a spline, so that synchronous rotation is realized. The synchronous shaft 8 is connected with the slat warehouse frame 6 through a synchronous belt transmission mechanism A, and the slat warehouse frame 6 is driven to lift by a servo motor 10. The synchronous belt transmission mechanisms A of the invention are left and right with the same structure, each synchronous belt transmission mechanism A comprises a synchronous belt pulley A4, a synchronous belt pulley B25, a synchronous belt A5 and a synchronous belt clamp A11, a synchronous shaft 8 is supported by a bearing seat 7, two ends of the synchronous shaft 8 are respectively connected with one synchronous belt pulley A4, and the two synchronous belt pulleys 4 and the synchronous shaft 8 are connected together through keys to realize synchronous rotation; the left and right sides of the top of the stack frame body 1 are respectively provided with a synchronous pulley B25 in a rotating way, the synchronous pulley B25 on each side is connected with the synchronous pulley A4 on the same side through a synchronous belt A5, each synchronous belt A5 is provided with a synchronous belt clamp A11 connected with the slat warehouse frame 6, and the two synchronous belt clamps A11 are connected with the two sides of the slat warehouse frame 6 through bolts, so that the slat warehouse frame 6 moves vertically along the linear guide rail A2 along with the synchronous belt A5 under the rotation drive of the servo motor 10.
The pushing mechanism frame body 12 is arranged towards the other side of the slat warehouse frame 6, and the speed reducer B15 and the variable frequency motor 13 are coaxially and integrally arranged on the pushing mechanism frame body 12. Two linear guide rails B17 are horizontally arranged on the top horizontal plane of the frame body 12 of the pushing mechanism in parallel, and each linear guide rail B17 is provided with a guide rail sliding block B18 which can horizontally move along the linear guide rail B17. The pushing rod bottom plate 19 is mounted on the guide rail sliding block B18 through bolts, and can horizontally move along the linear guide rail B17 as a whole. The output end of the variable frequency motor 13 is connected with the input end of a speed reducer B15, and the output end of the speed reducer B15 is connected with a pushing rod bottom plate 19 through a synchronous belt transmission mechanism B. The synchronous belt transmission mechanism B comprises synchronous pulleys C14, synchronous belts B16 and synchronous belt clamps B20, wherein the synchronous pulleys C14 are arranged on two sides of the frame body 12 of the pushing mechanism in the length direction, and the two synchronous pulleys C14 are horizontally arranged; one side of the synchronous pulley C14 is connected to the output end of the speed reducer B15, the other side of the synchronous pulley C14 is rotatably arranged on the pushing mechanism frame body 12 and is connected with the synchronous pulley C14 on one side through the synchronous belt B16, and the synchronous belt B16 is provided with a synchronous belt clamp B20 which is connected with the pushing rod bottom plate 19 through a bolt, so that the pushing rod bottom plate 19 and the synchronous belt B16 move horizontally together. A cylinder hinge shaft 22 is arranged at the lower part of the pushing rod bottom plate 19, and one end of the lifting cylinder 21 is coaxially arranged on the cylinder hinge shaft 22 and can rotate along the cylinder hinge shaft; the pushing rod 24 is hinged on the pushing rod bottom plate 19, the other end of the lifting cylinder 21 is hinged with one side of the pushing rod 24, and the other side of the pushing rod 24 is used for pushing the batten to enter and exit the warehouse. As the lifting cylinder 21 is extended and retracted, the pusher bar 24 is rotatable to a horizontal position and an inclined position. The lath stack and the pushing device for entering and exiting the warehouse are horizontally arranged in the length direction, and meanwhile, when the pushing rod for entering and exiting the warehouse is in a horizontal position, the pushing device can push materials into the warehouse.
The pushing rod 24 of the invention is in a V shape, one side of the V shape is shorter than the other side, the joint of the two sides of the V shape is hinged with the upper surface of the pushing rod bottom plate 19 through the pushing rod hinge support shaft 23, and the other side with short length is hinged with the other end of the lifting cylinder 21.
The device of the invention realizes automatic control through the control device. This embodiment takes automatic control as an example. For automatic control of the warehouse-in and warehouse-out of the slat stack, the device of the invention also comprises the following control devices: a servo driver for controlling the servo motor 10; solenoid valves and air sources for controlling the lift cylinders 21; a frequency converter for controlling the variable frequency motor 13; and the photoelectric detection switch is used for detecting whether each bin is filled with materials or not. Three detection switches are respectively arranged on the frame body 12 of the pushing mechanism along the length direction and used for controlling the stop position of the pushing rod 24, and the three switches are respectively positioned at the left side, the middle side and the right side of the frame.
In this embodiment, a siemens PLC-300 controller is used as a main control unit, and a servo driver is matched to drive the servo motor 10, and the servo motor 10 is provided with an incremental encoder for realizing the position control of the servo. The slat warehouse frame 6 of the embodiment is provided with seven warehouse positions in total, and a photoelectric detection switch is arranged on the left side of each warehouse position and used for detecting whether the warehouse position has materials or not.
As shown in fig. 3, the method for controlling the warehouse in and out of the warehouse-setting slat stacking device of the invention comprises the following steps:
Starting a self-checking program, and initializing parameters and mechanisms; the parameters included the set point for each bin position, seven bins from top to bottom, 0mm,150mm,300mm,450mm,600mm,750mm and 900mm, respectively. The lifting speed of the warehouse is 100mm/s; the pusher bar 24 is stopped at the intermediate position and is in a state of being obliquely lifted. The servo driver completes the zeroing operation.
When entering a warehouse, a warehouse-in request is sent to a warehouse position on the lath warehouse frame 6, the warehouse position is in a material-free state, the warehouse-in request is received, the lath warehouse frame 6 is driven by the servo motor 10 to be lifted to a position of a designated warehouse position, and a warehouse-in ready signal is sent out; the pushing rod 24 is driven by the variable frequency motor 13 to move to the rightmost end, and after reaching a stop position and stopping, the pushing rod 24 falls down under the driving of the lifting cylinder 21 and then moves leftwards under the driving of the variable frequency motor 13, and meanwhile, the plate is pushed to be put in storage; when the photoelectric detection switch at the left end of the warehouse position detects a plate, the variable frequency motor 13 is stopped, then the variable frequency motor 13 drives the pushing rod 24 to return to the middle stop position, and the lifting cylinder 21 lifts the pushing rod 24.
When the warehouse is out, the warehouse position to be out is in a material state, a warehouse out request is received, the lath warehouse frame 6 is driven by the servo motor 10 to be lifted to a designated warehouse out position, and a warehouse out position ready signal is sent out; the pushing rod 24 falls down under the driving of the lifting cylinder 21, the variable frequency motor 13 is started to drive the pushing rod 24 to move leftwards, the plate is pushed out from the warehouse position and sent to the next station, a discharging signal is sent out, the next station is started, and the plate is connected; the pushing rod 24 reaches the leftmost stop position under the drive of the variable frequency motor 13, the lifting cylinder 21 works to lift the pushing rod 24, and then the pushing rod is driven by the variable frequency motor 13 to return to the middle stop position, so that the warehouse-out task is completed.
Examples
Taking a quartz plate warehouse-in and a lower hanging narrow strip warehouse-out as an example, the plate conveyed by an upstream roller way reaches an upstream stop position with the length of 2400mm and the width of 600mm, a warehouse-in position number of 1 is sent out, if the warehouse-in position number 1 is judged to be in a material-free state through a photoelectric detection switch, the warehouse-in request is accepted, a lath warehouse framework 6 is driven by a servo motor 10 to be lifted to a position of a designated warehouse position (namely 0 mm), and a warehouse-in ready signal is sent out to an upper computer; the pushing rod 24 is driven to move to the rightmost end through the variable frequency motor 13, and after the pushing rod 24 reaches a stop position and stops, the pushing rod 24 is driven by the lifting cylinder 21 to fall down, and then the pushing rod moves leftwards under the driving of the variable frequency motor 13, and meanwhile, the plate is pushed to be put in storage; stopping the variable frequency motor 13 when the photoelectric detection switch at the left end of the garage detects the plate; then, the inverter motor returns to the intermediate stop position, and the lifter cylinder 21 lifts the pusher bar 24.
If a discharging request is arranged at the downstream, a strip with the width of 45mm and the length of 2400mm is required, the bin number is 4, and if the bin number 4 is judged to be in a material state through a photoelectric detection switch, the discharging request is received; the lath warehouse frame 6 is driven by the servo motor 10 to rise to a designated warehouse-out warehouse position 4 with the height of 450mm, and sends a warehouse-in ready signal to an upper computer; the pushing rod 24 falls down under the driving of the lifting cylinder 21, the variable frequency motor 13 starts to move leftwards, pushes the material to a downstream roller way, sends out a discharging signal, the downstream roller way starts to connect the material away, the pushing rod 24 reaches the leftmost stop position, the pushing rod 24 is lifted by the lifting cylinder 21, and the material returns to the middle stop position, so that the delivery task is completed.
Claims (8)
1. A vertical warehouse slat stacking device, characterized in that: the automatic lifting device comprises a stack frame body (1), a slat warehouse frame (6), a synchronous shaft (8), a speed reducer A (9), a servo motor (10), a pushing mechanism frame body (12), a variable frequency motor (13), a speed reducer B (15), a pushing rod bottom plate (19), a lifting cylinder (21) and a pushing rod (24), wherein one side of the slat warehouse frame (6) is in sliding connection with the stack frame body (1), a plurality of warehouse positions are arranged on the other side of the slat warehouse frame from top to bottom, the output end of the servo motor (10) is connected with the input end of the speed reducer A (9), the output end of the speed reducer A (9) is connected with the synchronous shaft (8), the synchronous shaft (8) is connected with the slat warehouse frame (6) through the synchronous belt transmission mechanism A, and the servo motor (10) drives the slat warehouse frame (6) to lift; the pushing mechanism frame body (12) is arranged towards the other side of the lath warehouse frame (6), the pushing rod bottom plate (19) is connected with the top of the pushing mechanism frame body (12) in a sliding mode, a variable frequency motor (13) and a speed reducer B (15) are respectively arranged on the pushing mechanism frame body (12), the output end of the variable frequency motor (13) is connected with the input end of the speed reducer B (15), the output end of the speed reducer B (15) is connected with the pushing rod bottom plate (19) through a synchronous belt transmission mechanism B, and the variable frequency motor (13) drives the pushing rod bottom plate (19) to slide back and forth at the top of the pushing mechanism frame body (12); the pushing rod (24) is hinged on the pushing rod bottom plate (19), one end of the lifting cylinder (21) is hinged on the pushing rod bottom plate (19), the other end of the lifting cylinder is hinged with one side of the pushing rod (24), and the other side of the pushing rod (24) is used for pushing the batten to enter and exit the warehouse;
The synchronous belt transmission mechanism A comprises a synchronous belt pulley A (4), a synchronous belt pulley B (25), a synchronous belt A (5) and a synchronous belt clamp A (11), wherein the synchronous shaft (8) is supported by a bearing seat (7), the synchronous shaft (8) is connected with the synchronous belt pulley A (4) which rotates together with the synchronous shaft (8), the synchronous belt pulley B (25) is rotatably arranged at the top of the stack frame body (1), the synchronous belt pulley B (25) is connected with the synchronous belt pulley A (4) through the synchronous belt A (5), and the synchronous belt clamp A (11) connected with the lath warehouse frame (6) is arranged on the synchronous belt A (5);
The pushing rod (24) is in a V shape, the length of one side of the V shape is shorter than that of the other side, the joint of the two sides of the V shape is hinged with the upper surface of the pushing rod bottom plate (19) through the pushing rod hinge shaft (23), and the other side with a short length is hinged with the other end of the lifting cylinder (21).
2. The warehouse rack stacking device as claimed in claim 1, wherein: the stacking frame is characterized in that a linear guide rail A (2) is arranged on the stacking frame body (1), and the slat warehouse frame (6) is connected with the linear guide rail A (2) in a sliding manner through a guide rail sliding block A (3) and is lifted along the linear guide rail A (2).
3. The warehouse rack stacking device as claimed in claim 1, wherein: the synchronous belt transmission mechanism B comprises synchronous pulleys C (14), synchronous belts B (16) and synchronous belt clamps B (20), synchronous pulleys C (14) are arranged on two sides of the length direction of the frame body (12) of the pushing mechanism, one side of the synchronous pulleys C (14) is connected to the output end of the speed reducer B (15), the synchronous pulleys C (14) on the other side are rotatably arranged on the frame body (12) of the pushing mechanism, and are connected with one side of the synchronous pulleys C (14) through the synchronous belts B (16), and synchronous belt clamps B (20) connected with the bottom plate (19) of the pushing rod are arranged on the synchronous belts B (16).
4. The warehouse rack stacking device as claimed in claim 1, wherein: the top of the pushing mechanism frame body (12) is provided with a linear guide rail B (17) along the length direction, and the pushing rod bottom plate (19) is in sliding connection with the linear guide rail B (17) through a guide rail sliding block B (18) and slides back and forth along the linear guide rail B (17).
5. The warehouse rack stacking device as claimed in claim 1, wherein: the servo motor (10) is provided with a servo driver for controlling the driving of the servo motor, the variable frequency motor (13) is provided with a frequency converter, and the lifting cylinder (21) is provided with an electromagnetic valve and an air source.
6. The warehouse rack stacking device as claimed in claim 1, wherein: and each bin position on the other side of the slat bin frame (6) is respectively provided with a photoelectric detection switch for detecting whether the bin position is filled with materials.
7. The warehouse rack stacking device as claimed in claim 1, wherein: a plurality of detection switches (26) for controlling the stop positions of the pushing rods (24) are arranged on the pushing mechanism frame body (12) along the length direction.
8. A method of controlling a stacking apparatus for a vertical warehouse rack as claimed in any one of claims 1 to 7, wherein: when entering a warehouse, a warehouse-in request is sent to a warehouse position on the lath warehouse frame (6), the warehouse position is in a material-free state, the warehouse-in request is received, the lath warehouse frame (6) is driven by a servo motor (10) to be lifted to a position of a designated warehouse position, and a warehouse position ready signal is sent out; the pushing rod (24) is driven to move to the rightmost end through the variable frequency motor (13), and after reaching a stop position and stopping, the pushing rod (24) falls down under the driving of the lifting cylinder (21) and then moves leftwards under the driving of the variable frequency motor (13), and meanwhile, the plate is pushed to be put in storage; when the photoelectric detection switch at the left end of the warehouse position detects a plate, the variable frequency motor (13) is stopped, then the variable frequency motor (13) drives the pushing rod (24) to return to the middle stop position, and the lifting cylinder (21) lifts the pushing rod (24);
When the warehouse is out, the warehouse position to be out is in a material state, a warehouse out request is received, and the lath warehouse frame (6) is driven by the servo motor (10) to be lifted to a designated warehouse out position and sends out a warehouse out position ready signal; the pushing rod (24) falls under the drive of the lifting cylinder (21), the variable frequency motor (13) is started to drive the pushing rod (24) to move leftwards, the plate is pushed out from the warehouse position and sent to the next station, a discharging signal is sent out, the next station is started, and the plate is connected away; the pushing rod (24) reaches the leftmost stop position under the driving of the variable frequency motor (13), the lifting cylinder (21) works to lift the pushing rod (24), and then the variable frequency motor (13) drives the pushing rod to return to the middle stop position, so that the delivery task is completed.
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| CN201911322231.3A CN113003065B (en) | 2019-12-20 | 2019-12-20 | Vertical warehouse lath stacking device and control method thereof |
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| CN211253969U (en) * | 2019-12-20 | 2020-08-14 | 中国科学院沈阳自动化研究所 | Warehouse slat stacking device |
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| CN206156169U (en) * | 2016-09-30 | 2017-05-10 | 宁波朝平智能科技有限公司 | Full -automatic intensive thesaurus window business turn over manipulator |
| CN107826984B (en) * | 2017-12-05 | 2023-07-25 | 大连华锐重工集团股份有限公司 | Intelligent stereoscopic warehouse for large-size steel plates |
| CN109748102B (en) * | 2019-01-21 | 2024-05-17 | 合肥盛恩智能装备科技有限公司 | Intelligent plate storage and sorting equipment, lifting bracket and storage and sorting method |
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|---|---|---|---|---|
| CN211253969U (en) * | 2019-12-20 | 2020-08-14 | 中国科学院沈阳自动化研究所 | Warehouse slat stacking device |
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| CN113003065A (en) | 2021-06-22 |
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