CN113734677A - Intelligent warehouse - Google Patents

Abstract

The invention provides an intelligent warehouse, comprising: the warehouse comprises a warehouse body, wherein the warehouse body is provided with a control device and a material port for material storage and material discharge, and a material rack area and a roadway arranged in parallel with the material rack area are arranged in the warehouse body; the storage rack is arranged in the material rack area and used for storing materials; the stacker is arranged on the roadway, is connected with the control device through electric signals and is used for storing and taking out materials; the transfer device is arranged at the material port and is in electrical signal connection with the control device, and is used for transferring the material at the material port to the stacker or transferring the material on the stacker to the material port. In the whole warehousing and ex-warehouse process, the control device controls the transfer device to be coordinated with the stacker, so that automatic warehousing and ex-warehouse are realized, and the warehousing and ex-warehouse speed is improved.

Description

Intelligent warehouse

Technical Field

The invention relates to transportation equipment, in particular to an intelligent warehouse.

Background

Synthetic organisms are an important research topic to solve problems in the fields of medicine, energy, chemical industry, animal farming, food and environmental protection. At present, the basic experiment operation of a synthetic biology laboratory is still a large amount of manual work, only a small amount of automatic work flows exist, an automatic production line is even fewer, and a fully automatic laboratory is not formed for high-flux sample processing.

Research and development in synthetic biology is driven by both software and automation. The software supports the design of new microbial metabolic pathways, the experimental planning of exploring and confirming design options, the analysis of complex analysis data, and even the establishment of a feedback loop and a recommendation system based on a machine learning algorithm. The automation of the experiment (so-called "high throughput method") increases the speed with which experimental results can be obtained. Automation also helps to reduce the material costs and manpower required for each experiment. One side effect of high throughput methods is that large numbers of sample containers must be reliably moved in such high throughput laboratory environments. In a synthetic biology laboratory, a material storage warehouse in the prior art is not intelligent enough, so that the warehousing and ex-warehouse speed is low.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide an intelligent warehouse to solve the technical problem of low warehousing and ex-warehouse speed caused by insufficient intellectualization of the prior art.

One of the purposes of the invention is realized by adopting the following technical scheme:

an intelligent warehouse, comprising:

the warehouse comprises a warehouse body, a warehouse body control device and a material port for material storage and material discharge, wherein a material rack area and a roadway arranged in parallel with the material rack area are arranged in the warehouse body;

the storage rack is arranged in the material rack area and used for storing materials;

the stacker is arranged on the roadway, is electrically connected with the control device and is used for storing and taking out materials;

the material port is arranged on the material port and is connected with the control device through an electric signal, and the material port is used for conveying the material on the material port to the stacker or conveying the material on the stacker to the material port.

Compared with the prior art, the invention has the beneficial effects that:

when the materials are put in a warehouse, the materials are conveyed to the material port by the external conveying device, the materials conveyed by the external conveying device are received by the transfer device at the material port, the materials are conveyed to the preset position by the transfer device, the materials are received by the stacker at the preset position, and then the materials are stored in the storage frame by the stacker, so that the warehouse entry is completed. When the materials are delivered out of the warehouse, the stacker takes the materials out of the storage rack, the stacker transports the materials to a preset position, the transfer device receives the materials at the preset position, the transfer device transfers the materials to the material port from the preset position, and then the external transport device transports the materials out of the material port, so that the materials are delivered out of the warehouse. In the whole warehousing and ex-warehouse process, the control device controls the transfer device to be coordinated with the stacker, so that automatic warehousing and ex-warehouse are realized, and the warehousing and ex-warehouse speed is improved.

Drawings

FIG. 1 is a schematic side view of an intelligent warehouse according to an embodiment of the present invention

Fig. 2 is a schematic front structural diagram of a warehouse body in an intelligent warehouse according to a second embodiment of the present invention;

fig. 3 is a schematic top view of a warehouse body in an intelligent warehouse according to a second embodiment of the present invention;

fig. 4 is a schematic side view of a warehouse body in an intelligent warehouse according to a second embodiment of the present invention;

fig. 5 is another schematic side view of a warehouse body in an intelligent warehouse according to an embodiment of the present invention;

fig. 6 is a schematic perspective view of a splicing bin in an intelligent warehouse according to a second embodiment of the present invention;

fig. 7 is a schematic side view of a splicing bin in an intelligent warehouse according to a second embodiment of the present invention;

fig. 8 is a schematic structural diagram of a material carrying assembly in a third intelligent warehouse according to an embodiment of the present invention;

fig. 9 is a partially enlarged and exploded schematic structural diagram of a material carrying assembly in a third intelligent warehouse according to an embodiment of the present invention;

fig. 10 is an assembly diagram of a mounting plate, a bearing member, a positioning member, and a fixing block of a material bearing assembly in a third intelligent warehouse according to an embodiment of the present invention;

fig. 11 is a schematic side view of a stacker in a fourth intelligent warehouse according to an embodiment of the present invention;

fig. 12 is a schematic front view of a stacker in a fourth intelligent warehouse according to an embodiment of the present invention;

fig. 13 is an enlarged schematic structural view of a side surface of a stacker in a fourth intelligent warehouse according to an embodiment of the present invention;

fig. 14 is a schematic top view of a stacker crane in a fourth intelligent warehouse according to an embodiment of the present invention;

fig. 15 is a schematic perspective view of a pallet fork in a fourth intelligent warehouse according to an embodiment of the present invention, in an extended state, and with a first wrapping member and a second wrapping member removed;

fig. 16 is a schematic side view of a pallet fork in a fourth intelligent warehouse according to an embodiment of the present invention;

fig. 17 is a schematic diagram of a back structure of a fork in a fourth intelligent warehouse according to an embodiment of the present invention;

fig. 18 is a schematic cross-sectional view of a three-level fork in a four intelligent warehouse in a retracted state according to an embodiment of the present invention;

fig. 19 is a schematic cross-sectional view of a pallet fork in a four intelligent warehouse in an extended state according to an embodiment of the present invention;

fig. 20 is a schematic structural diagram of a buffering component in a four-intelligent warehouse according to an embodiment of the present invention;

fig. 21 is a schematic side view of a buffering assembly in a four-intelligent warehouse according to an embodiment of the present invention;

fig. 22 is a schematic structural diagram of a transfer device in a five-intelligent warehouse according to an embodiment of the present invention.

Description of the figures

1. A library body;

11. splicing the bins; 111. a bin rack; 1111. a frame; 1112. a connecting rod; 112. a wall of the silo; 113. a material port; 114. a storage area; 115. a passing area; 116. a bin gate; 117. a moving wheel set; 118. supporting legs;

11a, a control cabin; 11b, a storage bin; 11c, a tail end bin;

12. a connecting member; 121. a first connecting plate; 122. a second connecting plate; 123. a connecting rod.

2. A storage rack;

21. mounting a plate; 211. a second mounting groove;

22. a carrier; 221. an installation part; 222. hollowing out the grooves;

23. a positioning member; 231. positioning a groove; 232. a bearing surface; 233. a guide surface;

24. a fixed block; 241. a first mounting groove;

25. a horizontal mounting rod;

3. a stacker;

311. an upper X-axis guide rail; 312. a lower X-axis guide rail;

32. a support; 321. a lower plate; 322. a column; 323. an upper plate; 324. a lower slide block;

33. a lifting assembly; 331. a Z-axis guide rail; 332. a Z-axis lifting table; 333. a lifting drive mechanism;

34. a fork assembly; 341. a Y-axis motion mechanism; 342. a pallet fork;

3421. a lower layer pallet fork; 34211. a first guide groove;

3422. a middle layer fork; 34221. a first sliding section; 34222. a second guide groove;

3423. an upper layer pallet fork; 34231. a second sliding section;

3424. a drive assembly; 34241. a power element; 34242. a drive gear; 34243. a rack;

3425. a first transmission assembly; 34251. a first drive pulley; 34252. a first winding member;

3426. a second transmission assembly; 34261. a second transmission wheel; 34262. a second winding member;

3427. a fork stop; 3428. and a limiting block.

35. A buffer assembly; 351. a guide member; 352. an upper slide block; 353. an abutting member; 354. a buffer member; 355. a stopper; 356. A guide bar;

4. a transfer device; 41. an X-axis motion module; 42. and a bearing mechanism.

Detailed Description

The present invention will be further described with reference to fig. 1 to 22 and the detailed description thereof, and it should be noted that, in the case of conflict, any combination of the embodiments or technical features described below may form a new embodiment.

Example one

The invention provides an intelligent warehouse control system which comprises a master control device, a central control device, an intelligent warehouse and a mobile robot.

The master control equipment is used for external interaction and internal control, specifically, the master control equipment can be a computer, a host and the like, and receives task requirements input by a user during external interaction, generates a transportation task and sends the transportation task to the central control equipment. For example, the user needs to store 4 living cells of different types in a warehouse, the user inputs the transportation requirement through the master control device, and the master control device generates a transportation task for storing the 4 living cells of different types in the warehouse, so that other devices of the intelligent warehouse control system are controlled through the transportation task.

Well accuse equipment is connected with total accuse equipment communication for the transportation task that total accuse equipment sent is received, and split transportation task is subordinate's task, and subordinate's task includes warehouse task and delivery task, and well accuse equipment still dispatches the task, dispatches the warehouse task to intelligent warehouse, seeks idle mobile robot, dispatches the delivery task to idle mobile robot.

The intelligent warehouse is in communication connection with the central control equipment and is used for receiving and executing warehouse tasks and warehousing or ex-warehouse materials.

The mobile robot is in communication connection with the central control equipment and is used for receiving and executing a carrying task and carrying materials in a warehouse or out of the warehouse, and particularly carrying the materials from the functional island to a material port of the intelligent warehouse or carrying the materials from the material port of the intelligent warehouse to the functional island.

In this embodiment, the control method for the intelligent warehouse includes the following steps:

sending a transportation task, wherein the transportation task comprises a starting point, an end point and transportation contents;

splitting the task instruction, determining the transportation direction as delivery or storage delivery according to the starting point and the end point of transportation, splitting a delivery task, determining the storage position of the delivery material or the storage position of the storage according to the transportation content, and splitting a warehouse task;

dispatching tasks, namely dispatching warehouse tasks to an intelligent warehouse, searching for idle mobile robots, and assigning one idle mobile robot to dispatch a carrying task;

path planning, namely acquiring the positions of the intelligent warehouse and the transfer area, and planning a driving path of the mobile robot between the intelligent warehouse and the transfer area;

and (4) carrying out transportation, wherein the mobile robot carries out a carrying task between the intelligent warehouse and the transfer area, and the intelligent inventory carries out a warehouse task.

In the embodiment, the intelligent warehouse control method is used for issuing and distributing the transportation tasks, the path is automatically planned, the mobile robot only needs to transport according to the set path, and the intelligent warehouse can be used for leaving or entering the warehouse according to the set warehouse task, so that the mobile robot and the intelligent warehouse can be automatically matched, and the intelligent warehouse control method has the advantages of being good in obstacle avoidance effect, efficient in transportation and the like.

And a functional island is arranged in the transfer area, when the materials need to be put in a warehouse, the materials are placed on the functional island in advance, and the intelligent warehouse control system can finish the transportation task and put the materials in the functional island in the warehouse. When the materials are needed to be taken, the intelligent warehouse control system transports the materials to the function island, and the user can take the materials by going to the function island.

For the transportation contents, the transportation contents include names, categories, warehousing positions and ex-warehousing positions of materials to be transported. In addition, the starting point and the end point generally comprise an intelligent warehouse and a function island located in a transit area, for warehousing transportation, the starting point is a function guide, the end point is the intelligent warehouse, and for ex-warehouse transportation, the starting point is the intelligent warehouse, and the end point is the function island.

In addition, the function island can be a storage device for temporarily placing materials and also can be a workbench corresponding to the materials.

In some embodiments, the intelligent warehouse control method further includes traffic control, acquiring the positions of the non-designated mobile robots, determining whether each mobile robot is located on or close to the planned path, and if so, avoiding the planned path by the mobile robot.

The traffic control is carried out on the non-appointed mobile robot, the mobile robot is controlled to avoid a planned route, a smooth action route is improved for the appointed mobile robot, and the carrying speed of the mobile robot is improved.

And for the transportation tasks, the transportation tasks comprise an ex-warehouse transportation task and an in-warehouse transportation task, when the transportation tasks are the ex-warehouse transportation tasks, the warehouse tasks comprise the quantity of ex-warehouse materials and the storage positions of the ex-warehouse materials, and the carrying tasks comprise a carrying starting point, a carrying terminal point and carrying times. In the warehouse-out transportation task, the mobile robot moves to the intelligent warehouse by taking the intelligent warehouse as a starting point and taking the transfer area as a terminal point, the intelligent warehouse obtains the information of the mobile robot, and the warehouse-out is carried out according to the warehouse task. The mobile robot bears the materials and carries the materials to the transfer area.

When the transportation task is a warehousing transportation task, the warehouse task comprises the number of warehousing materials and the storage positions thereof, and the carrying task comprises a carrying starting point, a carrying terminal point and carrying times. In the warehousing transportation task, the transfer area is used as a starting point, the intelligent warehouse is used as an end point, and the mobile robot moves to the transfer area to bear the materials and carries the materials to the intelligent warehouse. And the intelligent warehouse acquires the information of the mobile robot and stores the information according to the warehouse task.

Additionally, in some embodiments, dispatching the task further includes dispatching feedback to stop or delay dispatching the transportation task if no idle mobile robot is found. When the task is dispatched, whether the mobile robot is idle or not is fed back in time, the mobile robot is not idle, the condition that the mobile robot is in a working state is indicated, the dispatching of the transportation task is stopped or delayed, and the transportation task conflict is avoided.

And the dispatching task also comprises dispatching feedback, the state of the mobile robot is fed back in real time, and if the mobile robot is fed back to be in a fault state, the idle mobile robot is searched again until the transportation task is completed. The mobile robot is in a working state and possibly in a fault state, and when the found mobile robot is in the fault state, other normal mobile robots are found again.

In some embodiments, in the task dispatching feedback, the intelligent warehouse state is fed back in real time, and if the intelligent warehouse is in a fault state, the transportation task is suspended and manual maintenance is fed back. Other mobile robot can be changed to the mobile robot trouble, but the warehouse can't be changed to intelligent warehouse trouble, maintains intelligent warehouse in time through the artifical maintenance of feedback.

In some embodiments, the performing transportation further includes transporting feedback, feeding back the transportation states of the intelligent warehouse and the mobile robot in real time, restarting to find an idle mobile robot until the transportation task is completed if the feedback mobile robot is in a fault state, suspending the transportation task if the feedback mobile robot is in a fault state, and feeding back manual maintenance.

The invention also provides an intelligent warehouse control system, which comprises a master control device, a central control device, an intelligent warehouse and a mobile robot.

The master control equipment is used for external interaction and internal control, specifically, the master control equipment can be a computer, a host and the like, and receives task requirements input by a user during external interaction, generates a transportation task and sends the transportation task to the central control equipment. For example, the user needs to store 4 living cells of different types in a warehouse, the user inputs the transportation requirement through the master control device, and the master control device generates a transportation task for storing the 4 living cells of different types in the warehouse, so that other devices of the intelligent warehouse control system are controlled through the transportation task.

Well accuse equipment is connected with total accuse equipment communication for the transportation task that total accuse equipment sent is received, and split transportation task is subordinate's task, and subordinate's task includes warehouse task and delivery task, and well accuse equipment still dispatches the task, dispatches the warehouse task to intelligent warehouse, seeks idle mobile robot, dispatches the delivery task to idle mobile robot.

The intelligent warehouse is in communication connection with the central control equipment and is used for receiving and executing warehouse tasks and warehousing or ex-warehouse materials.

The mobile robot is in communication connection with the central control equipment and is used for receiving and executing a carrying task and carrying materials in a warehouse or out of the warehouse, and particularly carrying the materials from the functional island to a material port of the intelligent warehouse or carrying the materials from the material port of the intelligent warehouse to the functional island.

As shown in fig. 1, the present invention provides an intelligent warehouse including a warehouse body 1, storage racks 2, a stacker 3, and a transfer device 4. Wherein, be equipped with controlling means and be equipped with the material mouth 113 that is used for the material warehouse entry and goes out the storehouse on the warehouse body 1, still be equipped with material rack district and the tunnel that sets up side by side with the material rack district in the warehouse body 1. The storage rack 2 is arranged in the material rack area and used for storing materials. The stacker 3 is arranged on a roadway, and the control device is in electric signal connection and used for storing and taking out materials. The transfer device 4 is arranged at the material port 113 and is in electrical signal connection with the control device, and is used for transferring the material at the material port 113 to the stacker 3 or transferring the material on the stacker 3 to the material port 113.

In this embodiment, during warehousing, the external transport device transports the material to the material port 113, the transfer device 4 receives the material transported by the external transport device at the material port 113, the transfer device 4 transports the material to a predetermined position, the stacker 3 receives the material at the predetermined position, and then the stacker 3 stores the material in the storage rack 2, thereby completing warehousing. When leaving warehouse, stacker 3 takes out the material from storage rack 2, and stacker 3 transports the material to preset position again, and on this preset position, transfer device 4 accepts the material, and transfer device 4 transports the material from preset position to material mouth 113 again, and later, outside conveyer transports the material out from material mouth 113 to accomplish and leave warehouse. In the whole warehousing and ex-warehouse process, the control device controls the transfer device 4 and the stacker 3 to coordinate, so that automatic warehousing and ex-warehouse are realized, and the warehousing and ex-warehouse speed is improved.

Example two

As shown in fig. 2 to 7, compared with the first embodiment, the difference is that the warehouse body 1 includes a plurality of splicing bins 11 connected in sequence. The unit bin at the head end is a control bin 11a, and the control bin 11a is provided with a material port 113 and a control device and used for controlling materials to enter and exit from the material port 113. At least one of the splicing bins 11 is a storage bin 11b for storing materials. The control bin 11a at the head end is provided with a material port 113 for warehousing and ex-warehouse, and the control device controls the warehousing of materials, so that the materials are stored in the storage bin 11b, and the control device controls the ex-warehouse of the materials, thereby being convenient for taking the materials. In this embodiment, based on the foregoing function of storing the materials, a plurality of splicing bins 11 are provided, and the splicing bins 11 are used as a unit for splicing, where the splicing bins 11 (i.e., the control bin 11a) having the control function and the splicing bins 11 (i.e., the storage bins 11b) having the storage function are included, when the intelligent cabin is actually built, the number of the storage bins 11b can be set according to the self requirement, the number of the materials to be stored is small, so that the user can set one or two storage bins 11b, the number of the materials to be stored is large, and then the user can set three, four, five or more storage bins 11 b. In addition, in the using process, the storage bin 11b can be increased or decreased according to the storage requirement, so that the storage amount can be increased or decreased with the minimum operation steps and the minimum modification cost. Therefore, the construction of the warehouse body 1 in the embodiment is very flexible, the warehouse bodies with different storage requirements can be conveniently constructed, and the warehouse bodies can be more conveniently reconstructed.

Specifically, the material port 113 is disposed on a side of the control cabin 11a away from the storage cabin 11 b. The material port 113 may be provided with one or two material ports 113 for simultaneous storage and discharge. It may also include a feed inlet and a discharge outlet.

In some embodiments, the warehouse body 1 further includes a plurality of connecting members 12, and one part of the connecting members 12 connects the splicing bins 11, and the other part connects the adjacent splicing bins 11. In this embodiment, connect two adjacent concatenation storehouses 11 through connecting piece 12, install or dismantle adjacent concatenation storehouse 11 through dismouting connecting piece 12 for the installation dismantlement speed of concatenation storehouse 11, reduce the installation and dismantle the degree of difficulty, improve the convenience of dismouting or repacking.

In some embodiments, the splicing chamber 11 is provided with a chamber frame 111, and one part of the connecting member 12 is connected with the chamber frame 111, and the other part is connected with the adjacent chamber frame 111. The bin frame 111 is a frame structure formed by connecting high-strength rod-shaped connecting structures, and has the characteristic of high strength, in the embodiment, when the connecting piece 12 is connected with two adjacent splicing bins 11, the connecting piece 12 is connected with the bin frames 111 of the two splicing bins 11, so that the connection between the two splicing bins 11 is firmer.

In some embodiments, the connecting member 12 includes a first connecting plate 121, a second connecting plate 122 and a connecting rod 123, the first connecting plate 121 and the second connecting plate 122 are respectively disposed at two ends of the connecting rod 123, the first connecting plate 121 and the second connecting plate 122 are disposed at an angle, two sides of the first connecting plate 121 are respectively connected to first sides of two adjacent bin frames 111, two sides of the second connecting plate 122 are respectively connected to second sides of two adjacent bin frames 111, and the first sides are adjacent to the second sides. On the whole, one side of the connecting member 12 is located at the splicing bin 11, and the other side of the connecting member 12 is located at the adjacent splicing bin 11, meanwhile, one side of the connecting member 12 is connected with the splicing bin 11, and the other side of the connecting member 12 is connected with the adjacent splicing bin 11. The connecting member 12 includes three portions, which are a first connecting plate 121, a second connecting plate 122 and a connecting rod 123, two sides of the first connecting plate 121 are connected to first side surfaces of two adjacent bin frames 111, two sides of the second connecting plate 122 are connected to second side surfaces of two bin frames 111, and the connecting rod 123 is supported between the first connecting plate 121 and the second connecting plate 122. Therefore, the connecting piece 12 can simultaneously connect two adjacent splicing bins 11 and connect two adjacent splicing bins 11 together; meanwhile, the connecting rod 123 supports the two connecting plate plates, so that the strength of the connecting piece 12 is further enhanced, and the connecting strength of the two adjacent splicing bins 11 is further improved; in addition, the connecting rod 123 can also strengthen the performance of keeping the fixed angle between the first side and the second side of the bin frame 111, and improve the strength of the bin frame 111 itself.

For the splicing bin 11, specifically, the splicing bin 11 includes a bin frame 111 and a bin wall 112 disposed on the bin frame 111, the bin frame 111 includes two frames 1111, and the two frames 1111 are respectively located at two ends of the splicing bin 11.

One part of the connecting piece 12 is connected with one frame 1111 of the bin frame 111, and the other part of the connecting piece 12 is connected with the adjacent frame 1111 (specifically, the frame 1111 of the bin frame 111 adjacent to the frame 1111 is not the other frame 1111 of the same bin frame 111). Specifically, one side of the first connection plate 121 is connected to a first side of one of the frames 1111 of the magazine frame 111, the other side of the first connection plate 121 is connected to a first side of the adjacent frame 1111, one side of the second connection plate 122 is connected to a second side of one of the frames 1111 of the magazine frame 111, and the other side of the second connection plate 122 is connected to a second side of the adjacent frame 1111.

Specifically, adjacent splicing bins 11 are connected by at least four connecting pieces 12, and one connecting piece 12 is arranged on each group of two adjacent sides.

The connecting member 12 may have other structures, such as a rod, a plate, etc., and may include a plurality of the structures.

The angle for the first and second connection plates 121 and 122 is in the range of 45 degrees to 135 degrees, preferably 90 degrees.

In some embodiments, the bin frame 111 further comprises a plurality of connecting rods 1112, each connecting rod 1112 is disposed between two frames 1111, two ends of each connecting rod 1112 are respectively connected to the two frames 1111, and the connecting rods 1112 are disposed to increase the connection strength between the two frames 1111 of the bin frame 111, thereby enhancing the strength of the bin frame 111.

In some embodiments, storage areas 114 are provided in the storage bins 11b, and the storage areas 114 in each storage bin 11b are connected to form a rack area for mounting racks. The storage bins 11b are also provided with passage areas 115, and the passage areas 115 in the storage bins 11b are connected into a roadway for installing the stacker 3 and providing a movement space for the stacker 3. In this embodiment, the space in the storage bin 11b is partitioned to form two rack areas and a roadway which are arranged side by side, the rack areas are used for placing racks, the racks are used for storing materials, and a stacker 3 is arranged in the roadway and used for warehousing and ex-warehouse of the materials.

In some embodiments, the spliced bin 11 at the end is an end bin 11c, and the side wall of the end bin 11c away from the control bin 11a is provided with an accessible bin door 116. On the whole, each splicing bin 11 is connected to the warehouse body 1 in sequence, wherein the splicing bin 11 located at the head end is a control bin 11a, the splicing bin 11 located at the tail end is a tail end bin 11c, and the splicing bin 11 located in the middle is a storage bin 11 b. The control bin 11a controls warehousing and ex-warehouse, the storage bin 11b stores materials, and the tail end bin 11c is provided with a bin door 116 which provides a passage for entering and exiting the warehouse body 1, so that internal overhaul and maintenance are facilitated.

In some embodiments, the bottom of the splicing bin 11 is provided with the movable wheel set 117, and after the movable wheel set 117 is arranged, the moving performance of the splicing bin 11 can be improved, so that the splicing bin 11 can be manually pushed and transported conveniently. In addition, when the splicing installation is carried out, the positions of the splicing bins 11 are convenient to adjust, and the butt joint of two adjacent splicing bins 11 is accelerated.

In some embodiments, the bottom of the splicing bin 11 is further provided with a height-adjustable supporting leg 118, and the height of the supporting leg 118 is adjusted to suspend the movable wheel set 117, so as to fix the position of the warehouse body 1.

EXAMPLE III

As shown in fig. 8 to 10, compared with the first embodiment and the second embodiment, the difference is that the storage rack 2 includes at least one storage unit, the storage unit includes at least two horizontal mounting rods 25 and material carrying components, the horizontal mounting rods 25 are vertically spaced, the material carrying components are disposed between the two horizontal mounting rods 25, the upper end of the material carrying components is connected to the horizontal mounting rod 25 located above, and the lower end of the material carrying components is connected to the horizontal mounting rod 25 located below. Specifically, the upper end of the mounting plate 21 is connected to the upper horizontal mounting rod 25, and the lower end of the mounting plate 21 is connected to the lower horizontal mounting rod 25. To increase storage, multiple material carrying assemblies may be positioned side-by-side between the two cross mounting bars 25.

Of course, in order to increase the fixing strength of the material bearing assembly, the storage unit may be provided with three transverse mounting rods 25 arranged at intervals up and down, wherein one transverse mounting rod 25 is located above the storage unit, the other transverse mounting rod is located in the middle of the storage unit, the other transverse mounting rod is located below the storage unit, and the middle of each mounting plate 21 is fixedly connected with the transverse mounting rod 25 located in the middle.

In another arrangement, the storage unit may be provided with three spaced apart transverse mounting bars 25, one above the transverse mounting bars 25, one in the middle and one below. A plurality of material carrier assembly are two about being arranged side by side, and the mounting panel 21 of vertical setting is two about being arranged side by side promptly. In the upper row of mounting plates 21, the upper end of each mounting plate 21 is connected with the upper horizontal mounting rod 25, and the lower end of each mounting plate 21 is connected with the middle horizontal mounting rod 25; in the lower row of mounting plates 21, the upper end of each mounting plate 21 is connected to the middle horizontal mounting rod 25, and the lower end of each mounting plate 21 is connected to the lower horizontal mounting rod 25. The storage capacity of the storage rack 2 is greatly enlarged.

In some embodiments, to increase the amount of storage, the storage rack 2 includes a plurality of storage units arranged in a linear or matrix arrangement, and the amount of storage is increased or decreased by increasing or decreasing the number of storage units.

The material bearing assembly can be applied to conventional warehouse storage materials, can be applied to an intelligent vertical warehouse, and is suitable for warehousing and ex-warehouse through the stacker 3. The material carrying assembly comprises a mounting plate 21, a carrier 22 and a plurality of positioning elements 23. Wherein the mounting plate 21 is arranged vertically for mounting the carrier 22. The carriers 22 are provided on the mounting plate 21 at intervals in the height direction of the mounting plate 21, and are used for carrying the material tray. A plurality of positioning elements 23 are arranged on the carrier 22 for positioning the material tray. The bearing parts 22 are installed at intervals along the height direction of the installation plate 21, so that the bearing parts 22 are densely distributed on the installation plate 21, the material bearing assembly has high storage density, and the space utilization rate is high. On the carrier 22, a positioning member 23 is further provided, and the position of the material tray is positioned by the positioning member 23, so that the material tray can be accurately put into a predetermined position at the time of warehousing, and the material tray can be accurately taken from the predetermined position at the time of delivery. The material discs are accurately positioned, and the stacker 3 can smoothly carry out warehousing and ex-warehouse, so that the high throughput of the vertical warehouse is ensured.

Further, the distribution position of the positioning piece 23 is matched with the outer contour of the material tray, specifically, when the material tray is placed on the bearing piece 22, the positioning piece 23 is located at the edge or the folding angle of the material tray, so that the position of the material tray can be limited by the positioning piece 23, and the material tray is positioned. The positioning member 23 is provided with a positioning groove 231 adapted to the material tray, the bottom of the positioning groove 231 is provided with a bearing surface 232, and the side wall of the positioning groove 231 is provided with a guide surface 233 for guiding the material tray to fall into the bearing surface 232. The material tray is guided to fall into the positioning groove 231 through the guide surface 233, and the guide surface 233 extends from the side wall of the positioning groove 231 in the direction away from the material tray, so that the positioning range is expanded, the precision requirement on the storage position of the material tray during storage is reduced, and the material tray is convenient to store and take out at high height and high flux.

Specifically, the material tray is rectangular, the number of the positioning members 23 is four, and the four positioning members 23 are distributed at four corners of the material tray correspondingly.

For example, the side wall of the positioning groove 231 is provided with a guide surface 233, and specifically, the guide surface 233 may be formed at a lower portion of the side wall of the positioning groove 231 and extend obliquely upward in a direction away from the tray. Of course, it is also possible that the lower part of the guide surface 233 abuts the bearing surface 232.

In some embodiments, the guide surface 233 is a bevel or a cambered surface. When the guiding surface 233 is a slant surface, the angle formed by the guiding surface 233 and the bearing surface 232 is greater than 30 degrees and less than 80 degrees.

In some embodiments, the material support assembly further includes a plurality of fixing members spaced apart along the height of the mounting plate 21, and the support member 22 is detachably connected to the fixing members. In this embodiment, the fixing member is fixedly connected to the mounting plate 21, and the supporting member 22 is detachably connected to the fixing member, so that when the material supporting assembly is mounted, a part of the supporting member 22 can be detached according to the height occupied by the material tray, so that the distance between two adjacent supporting members 22 is adapted to the height of the material tray. Moreover, the bearing member 22 is detachably connected with the fixing member, so that the bearing member 22 can be detached at any time, and the material bearing assembly is convenient to refit.

In some embodiments, the end of the carrier 22 connected to the mounting plate 21 is a mounting end, and the fixing member includes two fixing blocks 24 respectively located at two sides of the mounting end, and opposite sides of the two fixing blocks 24 are provided with first mounting grooves 241. The two sides of the carrier 22 are provided with mounting parts 221 adapted to the first mounting grooves 241, and the mounting parts 221 are embedded in the first mounting grooves 241. The carrier 22 is fixed by two fixing blocks 24, so that the fixing effect on the carrier 22 is improved. Meanwhile, the carrier 22 can be mounted and dismounted by inserting the carrier 22 into the first mounting groove 241 or pulling out the carrier 22 from the first mounting groove 241, so that the mounting and dismounting convenience of the carrier 22 is improved.

In some embodiments, the fixing block 24 is further provided with a locking member for locking the carrier 22, and after the carrier 22 is inserted into the two first mounting grooves 241, the carrier 22 is locked by the locking member, so that the carrier 22 is prevented from falling off, and the stability of the carrier 22 in the carrier tray is improved. The fixing block 24 is provided with a locking hole for mounting a locking member. Specifically, the locking piece can be a screw, and the locking hole is a threaded hole matched with the screw; the locking member may also be a wave ball screw, the locking hole is a threaded hole adapted to the wave ball screw, and the mounting portion 221 of the first carrier is also provided with a positioning hole corresponding to the wave ball screw.

In some embodiments, the mounting plate 21 is provided with second mounting grooves 211 spaced apart in a height direction thereof, and the fixing member is fixed in the second mounting grooves 211. The second mounting groove 211 is preset on the mounting plate 21, and when the fixing member, specifically the fixing block 24 is mounted, the fixing member 24 can be directly mounted on the second mounting groove 211, so that the position of the fixing member or the fixing block 24 does not need to be manually planned or marked during assembly, and the mounting of the fixing member or the fixing block 24 is more convenient.

In some embodiments, one end of the bearing member 22 is a bearing end, and the other end is a mounting end connected to the mounting plate 21, the bearing end is provided with a hollow-out groove 222 for taking and placing the material tray, and the hollow-out groove 222 extends to an end surface of the bearing end. When the material is put in storage, the forks on the stacker 3 and the material trays carried by the forks are moved to the upper side of the carrying piece 22, the forks move downwards and enter the hollow grooves 222, and the material trays fall onto the carrying piece 22, so that the material is put in storage. When the material is delivered from the warehouse, the forks on the stacker 3 extend into the lower part of the bearing piece 22 from the hollow grooves 222, the forks move upwards and support the material disc, and the material disc is delivered from the warehouse along with the forks. Therefore, in this embodiment, the hollow-out groove 222 is provided to provide a working space for warehousing and ex-warehouse of the material tray.

Example four

As shown in fig. 11 to 21, the difference from the first to third embodiments is that the stacker 3 includes an X-axis moving assembly, a support frame 32, a lifting assembly 33, and a fork assembly 34. The stacker 3 is applied to the stacker 3 moving in a roadway in the intelligent warehouse and is used for picking and placing materials in the intelligent warehouse.

Specifically, as shown in fig. 12 to 14, the X-axis moving assembly includes an upper X-axis guide rail 311 and two lower X-axis guide rails 312, the upper X-axis guide rail 311 extends in the X-axis direction, the two lower X-axis guide rails 312 are arranged side by side at an interval, and the two lower X-axis guide rails 312 extend in the X-axis direction. The bracket 32 is disposed between the upper X-axis guide rail 311 and the lower X-axis guide rail 312, a lower portion of the bracket 32 is slidably coupled to the two lower X-axis guide rails 312, and an upper portion of the bracket 32 is slidably coupled to the upper X-axis guide rail 311. The lifting assembly 33 is disposed on the bracket 32 and is used for driving the fork assembly 34 to perform lifting movement along the Z-axis. The fork assembly 34 is disposed on the lifting assembly 33 for picking and placing the material.

In this embodiment, the X-axis moving assembly includes an upper X-axis guide rail 311 located above and two lower X-axis guide rails 312 located below, and the three X-axis guide rails are in a three-rail structure arranged in a delta shape, and have high stability during movement. The stability of the stacker 3 in high-speed movement can be effectively improved.

In some embodiments, as shown in fig. 12 and 13, the support frame 32 includes a lower plate 321, a vertical column 322, and an upper plate 323, wherein the vertical column 322 is disposed on the lower plate 321, the upper plate 323 is disposed at the upper end of the vertical column 322, the upper plate 323 is slidably engaged with the upper X-axis guide rail 311, and the bottom of the lower plate 321 is provided with at least four lower sliders 324, at least two of the lower sliders 324 are slidably engaged with one of the lower X-axis guide rails 312, and at least two of the lower sliders 324 are slidably engaged with the other lower X-axis guide rail 312. At least two lower sliders 324 are positioned on one side of the lower plate 321 corresponding to one lower X-axis guide rail 312, and at least two other lower sliders 324 are positioned on the other side of the lower plate 321 corresponding to the other lower X-axis guide rail 312, that is, the two sides of the lower plate 321 are in sliding fit with the corresponding lower X-axis guide rails 312 through the at least two lower sliders 324, so that the stability of the sliding fit of the lower plate 321 and the two lower X-axis guide rails 312 is increased.

For the support 32, as shown in fig. 12, in order to increase the stability of the support 32, the number of the columns 322 is two, and two columns 322 are respectively disposed on two sides of the lower plate 321. In addition, the support 32 further includes a cross-link disposed between the two columns 322 for increasing the stability of the columns 322.

In some embodiments, as shown in fig. 12, the stacker crane 3 further includes a plurality of sets of buffer assemblies 35, each buffer assembly 35 is disposed on the upper portion of the bracket 32 and distributed on both sides of the upper X-axis guide rail 311, and the buffer assemblies 35 located on both sides of the upper X-axis guide rail 311 abut against the upper X-axis guide rail 311.

Specifically, as shown in fig. 20 and 21, the upper plate 323 has a guide area extending in the longitudinal direction of the upper X-axis guide rail 311. The plurality of buffer assemblies 35 are disposed on the upper plate 323, and each buffer assembly 35 is disposed on two sides of the guiding area and used for abutting against the upper X-axis guide rail 311. The stacker 3 moves along the upper X-axis guide rail 311, the buffer assembly 35 is arranged on the stacker 3, the buffer assembly 35 is abutted against the upper X-axis guide rail 311 to replace the direct contact between the stacker 3 and the upper X-axis guide rail 311, the buffer assembly 35 can buffer the impact between the stacker 3 and the upper X-axis guide rail 311, the shake force generated by the stacker 3 with large inertia in the motion process is reduced, the safety and reliability of the stacker 3 are improved, and the precision of mechanical equipment during motion can be improved.

In an actual test, the movement speed of the stacker 3 in the roadway is high (2m/s), and the damping component 35 in the embodiment absorbs the tremble and eliminates the stress deformation caused by aging.

In some embodiments, as shown in fig. 20, 21, the cushioning assembly 35 includes a guide 351, an upper slider 352, an abutment 353, and a cushioning member 354. Specifically, the guide 351 extends toward the guide area, that is, toward the upper X-axis guide rail 311 in the guide area, the upper slider 352 is slidably provided on the guide 351, and the abutment 353 is fixed to the upper slider 352 for abutment with the upper X-axis guide rail 311. A part of the buffer member 354 is connected to the upper slider 352, and another part of the buffer member 354 is connected to an upper portion of the bracket 32, specifically, the upper plate 323, for buffering the upper slider 352. In this embodiment, the abutment 353 abuts against the upper X-axis guide rail 311, and at the same time, the abutment 353 is slidable along the guide 351 by the sliding fit of the guide 351 and the upper slider 352. The abutting part 353 slides along the guide part 351 under the influence of the trembling of the stacker 3, the buffer part 354 can buffer the impact of the upper slide block 352 and the abutting part 353, the trembling of the stacker 3 is weakened, a good buffering and damping effect is achieved, and meanwhile the movement precision can be improved.

In some embodiments, the abutment 353 includes a roller disposed on the upper slider 352 and a roller shaft on which the roller is rotatably disposed to abut the upper X-axis guide 311.

For the roller, an elastic layer is arranged on the outer circumferential surface of the roller, or the outer surface of the roller is coated with the elastic layer, so that the roller has the effect of buffering and damping. Overall, the cushioning effect of the cushioning element 35 is further increased by providing an elastic layer on the outer circumferential surface of the roller.

In some embodiments, the damping assembly 35 includes a roller plate secured to the upper block 352, and the roller shaft is secured to the roller plate.

More specifically, an upper slider 352 hereinafter is provided on the lower surface of the roller plate, and the roller plate is slidably fitted with the guide 351 by means of the upper slider 352.

In some embodiments, as shown in fig. 20 and 21, the buffering assembly 35 further includes a stopper 355 and a guiding rod 356, the stopper 355 is disposed on a side of the upper sliding block 352 away from the guiding region, the stopper 355 is provided with a guiding hole, and the guiding rod 356 is connected to the upper sliding block 352 at one end and slidably fits into the guiding hole at the other end. The buffer member 354 is a spring, the spring is sleeved on the guide rod 356, one end of the spring abuts against the stop block 355, the other end of the spring abuts against the upper sliding block 352, and the spring is sleeved on the guide rod 356, so that the spring can be guided to stretch stably, and the working stability of the buffer assembly 35 is improved.

In addition, the stopper 355 has a guide hole, the guide rod 356 is slidably engaged with the guide hole, and the guide rod 356 also slides along with the upper slider 352 or the roller plate, and the guide hole provides a sliding space for the guide rod 356.

Where the damping assembly 35 includes a roller plate, then one end of the guide rod 356 is attached to the roller plate and the other end of the guide rod 356 is slidably engaged with the guide hole.

In some embodiments, the other end of the guide rod 356 protrudes out of the guide hole. The buffering assembly 35 further includes a limiting member connected to the portion of the guiding rod 356 protruding from the guiding hole, and at least a portion of the outer contour of the limiting member exceeds the inner diameter of the guiding hole. In this embodiment, at least a part of the outer profile of the limiting member exceeds the inner diameter of the guide hole, and when the limiting member is fixed to the portion of the guide rod 356 protruding from the guide hole, the limiting member can limit the position of the guide rod, so as to prevent the upper slider 352 from slipping off the guide member 351 under the pushing of the buffer member 354. When the buffer assembly 35 is assembled with the upper X-axis guide rail 311, the position of the upper slider 352 can be limited by the limiting member, the upper slider 352 is ensured to be positioned on the guide 351, and the convenience of assembling and matching the buffer assembly 35 with the upper X-axis guide rail 311 is improved.

In some embodiments, a portion of the cushioning components 35 are linearly disposed on one side of the guiding region, and another portion of the cushioning components 35 are linearly disposed on the other side of the guiding region.

In some embodiments, as shown in fig. 20 and 21, the cushioning assembly 35 includes two parallel guides 351, wherein the guides 351 are perpendicular to the guide area. The guide 351 is an elongated guide structure.

In some embodiments, the stacker 3 is provided with the aforementioned buffer assembly 35. Specifically, an upper X-axis guide rail 311 is provided above the stacker 3, a lower X-axis guide rail 312 is provided below the stacker 3, the lower portion of the stacker 3 is slidably fitted to the lower X-axis guide rail 312, a buffer assembly 35 is provided on the upper portion of the stacker 3, and the buffer assembly 35 is slidably fitted to the upper X-axis guide rail 311.

The stacker 3 moves along the upper X-axis guide rail 311 and the lower X-axis guide rail 312, the buffer assembly 35 is arranged on the stacker 3 and is abutted against the upper X-axis guide rail 311 through the buffer assembly 35 to replace the direct contact between the stacker 3 and the upper X-axis guide rail 311, the shaking force generated by the stacker 3 with large inertia in the movement process is improved, the safety and reliability of the stacker 3 are improved, and the precision of mechanical equipment in movement can be improved.

In some embodiments, as shown in fig. 12 and 13, the lifting assembly 33 includes a Z-axis guide 331, a Z-axis lifting table 332, and a lifting drive mechanism 333.

The Z-axis guide 331 is provided on the bracket 32 and extends in the Z-axis direction; the Z-axis elevating table 332 is slidably connected to the Z-axis guide 331; the lifting driving mechanism 333 is connected to the Z-axis lifting stage 332 to drive the Z-axis lifting stage 332 to perform lifting movement.

In some embodiments, as shown in fig. 12, the number of the Z-axis guide rails 331 is two, and the two Z-axis guide rails 331 are respectively disposed on both sides of the bracket 32. The lifting driving mechanism 333 includes a motor and two sets of belt pulleys arranged side by side, and the motor is connected with the two sets of belt pulleys to drive the two sets of belt pulleys to operate. The Z-axis lifting platform 332 is slidably connected to the two Z-axis guide rails 331, and the Z-axis lifting platform 332 is further connected to the two sets of belt pulleys.

Specifically, two Z-axis guide rails 331 are respectively disposed on two vertical columns 322. The two pulley sets are disposed between the two pillars 322.

In some embodiments, the pulley assembly includes a driving wheel, a driven wheel, and a belt, the belt is wound around the driving wheel and the driven wheel, and the motor is in driving connection with the driving wheel. In order to facilitate the convenience and stability of mounting the driving wheel and the driven wheel, two wheel carriers are further disposed on the upright column 322, one of the wheel carriers is disposed on the lower plate 321, and the other wheel carrier is disposed on the upper plate 323. The wheel frames comprise transverse plates and vertical plates connected with the transverse plates, the transverse plates and the vertical plates are connected into a T shape, the transverse plate of one wheel frame is fixedly connected with the lower plate 321, and the transverse plate of the other wheel frame is fixedly connected with the upper plate 323. The driven wheel is arranged on one transverse plate, and the driving wheel is arranged on the other transverse plate.

In some embodiments, as shown in fig. 12 and 13, the fork assembly 34 includes a Y-axis moving mechanism 341 and a fork 342, the fork 342 is disposed on the Y-axis moving mechanism 341, and the Y-axis moving mechanism 341 is disposed on the Z-axis lifting table 332 for driving the fork 342 to move along the Y-axis direction. The Y-axis movement mechanism 341 drives the fork 342 to move along the Y-axis direction, and when the Y-axis positive direction and the Y-axis negative direction are both provided with material racks, the Y-axis movement mechanism 341 drives the fork 342 to move in the positive direction or the negative direction, so that the fork 342 can pick and place materials on the material racks on two sides of the stacker 3.

In some embodiments, the Y-axis moving mechanism 341 includes a motor, a gear and a rack, and the rack is connected to the fork 342 to drive the fork 342 to move along the Y-axis direction, so as to pick and place the material on the material rack on both sides (the positive Y-axis direction and the negative Y-axis direction). In other embodiments, the Y-axis moving mechanism 341 may further include a motor, a lead screw, and a nut, and the nut is connected to the fork 342 to drive the fork 342 to move along the Y-axis direction.

In some embodiments, as shown in fig. 15, 16, and 18, the forks 342 include a lower layer fork 3421, a middle layer fork 3422, an upper layer fork 3423, a drive assembly 3424, and a first transmission assembly 3425. The lower layer pallet fork 3421 is a structure in which the pallet forks 342 are connected with the stacker 3, and is also a bearing structure of the middle layer pallet fork 3422 and the upper layer pallet fork 3423. The middle layer forks 3422 are slidably disposed on the lower layer forks 3421 in the telescopic direction, and the upper layer forks 3423 are slidably disposed on the middle layer forks 3422 in the telescopic direction. The driving assembly 3424 is connected to the middle layer fork 3422, and the driving assembly 3424 drives the middle layer fork 3422 to move relative to the lower layer fork 3421 in the extending and retracting directions, specifically, drives the middle layer fork 3422 to slide back and forth on the lower layer fork 3421 or to slide in one direction extending out of the stack (the direction indicated by the arrow in fig. 15 and 15 is the direction of the stack). The first transmission assembly 3425 includes a first transmission wheel 34251 and a first winding member 34252, the first transmission wheel 34251 is disposed on the middle layer fork 3422, a first end of the first winding member 34252 is connected to the lower layer fork 3421, the first winding member 34252 is wound around the first transmission wheel 34251, and a second end of the first winding member 34252 is connected to the upper layer fork 3423 to draw the upper layer fork 3423 to extend.

In this embodiment, the two ends of the first winding member 34252 are respectively connected to the lower layer fork 3421 and the upper layer fork 3423, and the first driving wheel 34251 moves along with the sliding of the middle layer fork 3422 to form a movable pulley mechanism. Under the driving of the driving assembly 3424, the middle layer fork 3422 extends toward the stack, the middle layer fork 3422 and the lower layer fork 3421 are displaced, the first end of the first winding member 34252 is connected to the lower layer fork 3421, the first winding member 34252 is wound around the first driving wheel 34251, the second end of the first winding member 34252 is connected to the upper layer fork 3423, and thus the first winding member 34252 pulls the upper layer fork 3423 to move in the same direction. Under the traction of the first winding member 34252, the upper layer forks 3423 slide at twice the speed of the middle layer forks 3422, forming a differential movement, achieving double layer telescoping. In this embodiment, the middle layer fork 3422 and the upper layer fork 3423 extend in a sliding manner, the middle layer fork 3422 is in sliding fit with the lower layer fork 3421, and the upper layer fork 3423 is in sliding fit with the middle layer fork 3422, so that the overall structure is designed to be flat, and compared with some mechanical arms performing clamping actions, the mechanical arm has better passing ability and adaptability, and can be adapted to a material rack for densely storing materials.

In addition, the upper layer pallet fork 3423 and the middle layer pallet fork 3422 do differential movement, that is, when the middle layer pallet fork 3422 moves to the material rack, the upper layer pallet fork 3423 moves to the material rack relative to the middle layer pallet fork 3422, so that the telescopic range of the double layer pallet fork 342 is increased, the stacker 3 is prevented from being too close to the material rack, the stacker 3 is reduced or prevented from touching the material rack, and the safety of material storage is ensured.

Further, in order to further improve the passability and the adaptability, the upper layer forks 3423 have a plate-shaped structure, so that the upper layer forks 3423 are flatter and have better passability and adaptability.

In some examples, the forks 342 further include a reset assembly, which is connected to the upper layer forks 3423 to reset the upper layer forks 3423, and the telescopic action of the forks 342 is realized by the cooperation of the driving assembly 3424 and the reset assembly. Specifically, the return assembly may extend the spring.

When the driving assembly 3424 drives the middle layer fork 3422 to perform a telescopic motion, the resetting assembly resets the upper layer fork 3423, one end of the extension spring is connected to the upper layer fork 3423, and the other end of the extension spring is connected to the middle layer fork 3422 or the lower layer fork 3421.

When the driving assembly 3424 drives the middle layer fork 3422 to extend, the reset assembly resets the middle layer fork 3422 and the upper layer fork 3423 simultaneously, one end of the tension spring is connected to the upper layer fork 3423, and the other end of the tension spring is connected to the lower layer fork 3421.

In some examples, as shown in fig. 18 and 19, the returning assembly may also be a second transmission assembly 3426, the second transmission assembly 3426 includes a second transmission wheel 34261 and a second winding member 34262, the second transmission wheel 34261 is disposed on the middle pallet fork 3422, one end of the second winding member 34262 is connected to the lower pallet fork 3421, the second winding member 34262 is wound around the second transmission wheel 34261, and a second end of the second winding member 34262 is connected to a second end of the upper pallet fork 3423 to pull the upper pallet fork 3423 to return, thereby expanding the extension range.

In some examples, as shown in fig. 18 and 19, the first driving wheel 34251 is positioned closer to the stack than the first end of the first winding member 34252 is connected to the lower layer of forks 3421 and the second end of the first winding member 34252 is connected to the upper layer of forks 3423, while the first driving wheel 34251 is positioned at the first end of the middle layer of forks 3422 and the second end of the first winding member 34252 is connected to the second end of the upper layer of forks 3423 to increase the range of extension and retraction. The position of the second transmission wheel 34261 is far away from the rack relative to the connecting position of the first end of the second winding member 34262 and the lower layer fork 3421 and the connecting position of the second end of the second winding member 34262 and the upper layer fork 3423, meanwhile, in order to increase the extension range, the second transmission wheel 34261 is located at the second end of the middle layer fork 3422, and the first end of the second winding member 34262 is connected to the first end of the lower layer fork 3421.

For the lower layer of forks 3421, the middle layer of forks 3422 and the upper layer of forks 3423, the first end is the end near the stack and the second end is the end away from the stack.

As shown in fig. 18, the first end of the first wrapping member 34252 can be attached to either the first end of the lower layer forks 3421, as shown in fig. 18 and 19, or the second end of the lower layer forks 3421. The second end of the second wrapping member 34262 can be attached to both the first end of the upper layer of forks 3423 and the second end of the upper layer of forks 3423.

In some further embodiments, to facilitate mounting of the first and second transmission assemblies 3425 and 3426, mounting slots are provided in the middle pallet fork 3422 that extend up and down through the middle pallet fork 3422. The mounting groove is long-strip-shaped and extends and contracts. The first driving wheel 34251 is installed at a first end of the installation groove, and the second driving wheel 34261 is installed at a second end of the installation groove. The first end of mounting groove is close to the work or material rest, and the work or material rest is kept away from to the second end of mounting groove.

In some examples, the first winding member 34252 and the second winding member 34262 are both driving belts, and the driving belts have driving teeth thereon, so that the first winding member 34252 and the second winding member 34262 can be prevented from slipping, and the precision of stretching can be improved.

In addition, the first driving wheel 34251 and the second driving wheel 34261 are pulleys.

In some examples, as shown in fig. 16 and 17, the driving assembly 3424 may be a driving structure including a power element 34241, a driving gear 34242 and a rack 34243, wherein the power element 34241 is fixed on the lower layer pallet fork 3421, the rack 34243 is fixed on the middle layer pallet fork 3422 in the extending direction, the driving gear 34242 is connected with the power element 34241, and the driving gear 34242 is further engaged with the rack 34243. The power unit 34241 drives the driving gear 34242 to rotate, and the driving gear 34242 drives the rack 34243 to move, so as to drive the middle layer fork 3422 to move.

The driving assembly 3424 may also be a driving structure with a power element 34241, a lead screw and a nut. Specifically, the power element 34241 and the lead screw are mounted to the lower pallet fork 3421, and the nut is sleeved on the lead screw while being connected to the middle pallet fork 3422.

In some examples, the forks 342 further include a limiting component for limiting the extension range, so that the extending range of the forks 342 is limited by the limiting component, the forks 342 are prevented from excessively extending into the rack, and the forks 342 are prevented from colliding with the rack.

Specifically, as shown in fig. 18 and 19, the limiting assembly includes a fork stopper 3427 and a limiting block 3428, the limiting block 3428 is fixed on the lower layer fork 3421, and the fork stopper 3427 is disposed at the second end of the middle layer fork 3422. The stop blocks 3428 are closer to the rack than the fork stops 3427, and when the fork stops 3427 move along with the middle layer forks 3422, the fork stops 3427 can be stopped from moving further, for example, the position of the fork stops 3427 can be limited by the stop blocks 3428, so as to limit the extension range of the forks 342.

In some examples, as shown in fig. 17, the lower layer fork 3421 is provided with a first guide groove 34211 extending in the telescopic direction. The middle layer fork 3422 is provided with a first sliding portion 34221, the first sliding portion 34221 extends into the first guiding groove 34211, and the first sliding portion 34221 is slidably engaged with the first guiding groove 34211. In this way, the sliding fit between the middle layer forks 3422 and the lower layer forks 3421 can be achieved by the sliding fit of the first sliding portions 34221 with the first guide grooves 34211.

In some examples, as shown in fig. 17, the middle layer forks 3422 have second guide grooves 34222 extending in the telescopic direction. The upper layer fork 3423 is provided with a second sliding portion 34231, the second sliding portion 34231 extends into the second guiding groove 34222, and the second sliding portion 34231 is slidably engaged with the second guiding groove 34222. Thus, the sliding engagement between the upper layer forks 3423 and the middle layer forks 3422 can be achieved by the sliding engagement of the second sliding portions 34231 with the second guide grooves 34222.

Of course, as for the sliding relationship between the three layers of forks, the third sliding portion may be provided on the lower layer fork 3421. The middle layer pallet fork 3422 is provided with a third guide groove extending along the telescopic direction, the third sliding part is embedded into the third guide groove, and the third sliding part is in sliding fit with the third guide groove to realize the sliding fit between the middle layer pallet fork 3422 and the lower layer pallet fork 3421. And a fourth sliding portion extending in the telescopic direction on the middle layer fork 3422. A fourth guide groove is formed in the upper layer fork 3423, a fourth sliding portion is embedded into the fourth guide groove, and the fourth sliding portion is in sliding fit with the fourth guide groove to achieve sliding fit between the upper layer fork 3423 and the middle layer fork 3422.

In some embodiments, the X-axis motion assembly further includes an X-axis drive mechanism coupled to the carriage 32 to drive the carriage 32 in the X-axis direction. Specifically, the X-axis driving mechanism may be a linear motor, or may be a driving mechanism formed by combining a motor, a lead screw and a nut.

EXAMPLE five

As shown in fig. 22, compared with the first to fourth embodiments, the difference is that the transfer device 4 includes an X-axis movement module 41 and a carrying mechanism 42 disposed on the X-axis movement module 41, the X-axis movement module 41 is disposed on the warehouse body 1 for driving the carrying mechanism 42 to move between the material port 113 and the stacker 3, and the carrying mechanism 42 is disposed on the X-axis movement module 41 for carrying the material that is transported to the material port 113 by an external transportation device (such as a mobile robot) and carrying the material that is taken out by the stacker 3.

The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.

Claims (10)

1. An intelligent warehouse, comprising:

the warehouse comprises a warehouse body, wherein the warehouse body is provided with a control device and a material port for material storage and material discharge, and a material rack area and a roadway arranged in parallel with the material rack area are arranged in the warehouse body;

the storage rack is arranged in the material rack area and used for storing materials;

the stacker is arranged on the roadway, is electrically connected with the control device and is used for storing and taking out materials;

the material port is arranged on the material port and is connected with the control device through an electric signal, and the material port is used for conveying the material on the material port to the stacker or conveying the material on the stacker to the material port.

2. The intelligent warehouse of claim 1, wherein: the stacker includes:

the X-axis movement assembly comprises an upper X-axis guide rail and two lower X-axis guide rails, the upper X-axis guide rail extends along the X-axis direction, the two lower X-axis guide rails are arranged side by side at intervals, and the two lower X-axis guide rails extend along the X-axis direction;

the bracket is arranged between the upper X-axis guide rail and the lower X-axis guide rail, the lower part of the bracket is connected with the two lower X-axis guide rails in a sliding manner, and the upper part of the bracket is connected with the upper X-axis guide rail in a sliding manner;

the lifting assembly is arranged on the bracket and used for driving the fork assembly to do lifting motion along the Z axis;

and the fork assembly is arranged on the lifting assembly and used for taking and placing materials.

3. The intelligent warehouse of claim 2, wherein: the support comprises a lower plate, an upright post and an upper plate, wherein the upright post is arranged on the lower plate, the upper plate is arranged at the upper end of the upright post, the upper plate is in sliding fit with the upper X-axis guide rail, at least four lower sliding blocks are arranged at the bottom of the lower plate, at least two lower sliding blocks are in sliding fit with one lower X-axis guide rail, and at least two other lower sliding blocks are in sliding fit with the other lower X-axis guide rail.

4. The intelligent warehouse of claim 2, wherein: the stacker further comprises a plurality of groups of buffer assemblies, each buffer assembly is arranged on the upper portion of the support and distributed on two sides of the upper X-axis guide rail, and the buffer assemblies on two sides of the upper X-axis guide rail are abutted to the upper X-axis guide rail.

5. The intelligent warehouse of claim 4, wherein: the buffer assembly includes:

a guide extending toward the upper X-axis guide;

the upper sliding block is arranged on the guide piece in a sliding manner;

the abutting piece is fixed on the upper sliding block and is used for abutting against the upper X-axis guide rail;

and one part of the buffer part is connected with the upper sliding block, and the other part of the buffer part is connected with the upper part of the bracket and is used for buffering the upper sliding block.

6. The intelligent warehouse of claim 1, wherein: the warehouse body comprises a plurality of splicing bins which are connected in sequence;

the splicing bin positioned at the head end is a control bin, and the control bin is provided with the material port and the control device;

at least one of the splicing bins is a storage bin for storing materials.

7. The intelligent warehouse of claim 6, wherein: the warehouse body further comprises a plurality of connecting pieces, one part of each connecting piece is connected with the splicing bin, and the other part of each connecting piece is connected with the adjacent splicing bin.

8. The intelligent warehouse of claim 1, wherein: the storage rack comprises a plurality of storage units which are arranged linearly or in a matrix, each storage unit comprises at least two transverse mounting rods and a plurality of material bearing assemblies, the transverse mounting rods are arranged at intervals from top to bottom, and the material bearing assemblies are arranged on the transverse mounting rods at intervals from top to bottom.

9. The intelligent warehouse of claim 8, wherein: the material bearing assembly comprises:

the mounting plate is vertically arranged;

the first bearing pieces are arranged on the mounting plate at intervals along the height direction of the mounting plate and used for bearing the material tray;

and the positioning pieces are arranged on the first bearing piece and used for positioning the material tray.

10. The intelligent warehouse of claim 1, wherein: the transfer device comprises an X-axis motion module and a bearing mechanism arranged on the X-axis motion module, the X-axis motion module is arranged on the warehouse body and used for driving the bearing mechanism to move between the material port and the stacker, and the bearing mechanism is arranged on the X-axis motion module and used for bearing materials.

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