CN114044465A - Stacking machine - Google Patents

Stacking machine Download PDF

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Publication number
CN114044465A
CN114044465A CN202111202894.9A CN202111202894A CN114044465A CN 114044465 A CN114044465 A CN 114044465A CN 202111202894 A CN202111202894 A CN 202111202894A CN 114044465 A CN114044465 A CN 114044465A
Authority
CN
China
Prior art keywords
fork
synchronous belt
fixed
sided
gear
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111202894.9A
Other languages
Chinese (zh)
Inventor
俞酃
沈华斌
陈义
王宇
邱佩键
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pinghu Kaipu Electromechanical Integration Co ltd
Original Assignee
Pinghu Kaipu Electromechanical Integration Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Pinghu Kaipu Electromechanical Integration Co ltd filed Critical Pinghu Kaipu Electromechanical Integration Co ltd
Priority to CN202111202894.9A priority Critical patent/CN114044465A/en
Publication of CN114044465A publication Critical patent/CN114044465A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075Constructional features or details
    • B66F9/07572Propulsion arrangements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075Constructional features or details
    • B66F9/08Masts; Guides; Chains
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075Constructional features or details
    • B66F9/12Platforms; Forks; Other load supporting or gripping members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075Constructional features or details
    • B66F9/12Platforms; Forks; Other load supporting or gripping members
    • B66F9/122Platforms; Forks; Other load supporting or gripping members longitudinally movable
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075Constructional features or details
    • B66F9/20Means for actuating or controlling masts, platforms, or forks
    • B66F9/24Electrical devices or systems
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H7/00Gearings for conveying rotary motion by endless flexible members
    • F16H7/08Means for varying tension of belts, ropes, or chains
    • F16H7/10Means for varying tension of belts, ropes, or chains by adjusting the axis of a pulley

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention provides a stacker, which belongs to the technical field of automatic storage equipment and comprises a stacker body, a ground rail component which enables the machine body to move is arranged below the machine body, a sliding contact line component which supplies power for the machine body is arranged above the machine body, the machine body is vertically provided with an object stage with a U-shaped section in a sliding way, the machine body is also provided with a lifting mechanism which can drive the object stage to lift up and down, a first pallet fork capable of extending along two sides of the object stage is arranged on the inner side of the object stage, a second pallet fork capable of extending along two sides of the first pallet fork is arranged on the inner side of the first pallet fork, the bottom of objective table is provided with the actuating mechanism that can drive first fork and stretch out and draw back, first fork and second fork between be provided with and to make the second fork carry out the link gear that stretches out and draws back simultaneously when first fork is flexible. The double-station goods taking and placing device has the advantages of double-station goods taking and placing and good flexibility in goods taking and placing.

Description

Stacking machine
Technical Field
The invention belongs to the technical field of automatic storage equipment, and relates to a stacker.
Background
The stacker crane (hereinafter referred to as "stacking crane") is a special crane that picks, transports, and stacks unit goods in warehouses, workshops, and the like or picks and places unit goods from a high-rise shelf by using a fork or a string rod as a pickup device. The storage equipment is divided into a bridge type stacking crane and a roadway type stacking crane. The fork mechanism is an executing mechanism for storing and taking goods by the stacker, is arranged on a goods carrying table of the stacker, carries the goods to lift, and can extend out of the fork in the direction of the goods shelf so as to take out or put in the goods.
At present, a general fork type stacker comprises a fork and a loading platform, wherein the fork is arranged on the loading platform, extends out of the fork to the bottom of an extract to be extracted, and is lifted by the loading platform to drive the fork to ascend, and the fork lifts a cargo away from an original supporting object and then retracts to the loading platform. Because the fork needs stretch out longer distance from the platform of carrying cargo, consequently when handling the heavy load, the difficult contradiction that solves between fork stretching out distance, goods weight and the fork size causes the tip of fork easily because lever principle bears too big moment, causes the weight of access goods to receive the restriction, influences the use reliability of this fork formula stacker.
In the prior art, when the upper fork plate horizontally slides on the lower fork plate and extends out of the prior art (application number: CN201820299231.0), the main rack on the upper fork plate moves along with the upper fork plate and is engaged with the main gear to drive the main gear and the first rotating shaft to rotate, and then the first rotating shaft is driven to rotate around the axis thereof by the transmission action of the belt pulley and the transmission belt arranged crosswise, so that the supporting rod swings upwards and supports the bottom of the upper fork plate to provide supporting force for the upper fork plate, so that the upper fork plate can more easily access heavier goods, the use reliability of the fork stacker is improved, the driving member is driven to push the first gear to roll on the lower fork plate, and the second rack engaged with the first gear and the upper fork plate are driven to horizontally slide and extend out; the distance that the upper fork plate can extend out of the lower fork plate is increased, and the fork type stacker is convenient for taking and placing goods on a deeper goods shelf.
However, the fork of the stacker can only stretch in one direction, when goods to be picked or stored are positioned at the other side of the objective table, the goods cannot be picked or placed or the stacker needs to be turned by 180 degrees through a ground rail to complete the storage, and the stacker has certain limitation in use; moreover, the stacker only has one station, only one cargo can be carried in one-time work, and the limitation of low working efficiency exists.
Therefore, for those skilled in the art, there is still a need to improve the stacker in the prior art to improve the flexibility of the stacker in picking and placing goods and improve the work efficiency of the stacker.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a stacker which has the characteristics of double-station goods taking and placing and good flexibility in goods taking and placing.
The purpose of the invention can be realized by the following technical scheme: the utility model provides a stacker, includes the organism, the below of organism is provided with the ground rail subassembly that can make the organism take place to remove, the top of organism is provided with the sliding contact line subassembly that can be for the organism power supply, the organism on vertical slip be provided with the objective table that the cross-section is the U-shaped form, the organism on still be provided with the elevating system that can drive the objective table oscilaltion, a serial communication port, the inboard of objective table is provided with can carry out the first fork that stretches out and draws back along the objective table both sides, the inboard of first fork is provided with can carry out the second fork that stretches out and draws back along first fork both sides, the bottom of objective table is provided with can drive first fork and carry out the actuating mechanism that stretches out and draws back, first fork and second fork between be provided with and to make the second fork carry out and draw back when first fork stretches out and draws back simultaneously.
By adopting the technical scheme, firstly, the machine body is moved to the goods area to be extracted through the ground rail assembly; then, the object stage is moved to the position with the same height as the object to be taken through the lifting mechanism; then, the driving mechanism and the linkage mechanism drive the first fork to horizontally extend, the first fork horizontally extends to drive the second fork to horizontally extend, the driving mechanism drives the first fork to horizontally retract after the goods are extracted, the first fork horizontally retracts to drive the second fork to horizontally retract, and the goods extraction is finished; finally, the stacker organism removes to waiting to deposit goods district through the ground rail subassembly, makes the objective table remove to with wait to deposit the same high position of goods on through elevating system, makes first fork and the flexible completion of second fork deposit the goods through actuating mechanism and link gear, can effectively increase the efficiency of access goods through being provided with first fork and second fork, has better flexibility and higher efficiency.
In the stacker described above, the drive mechanism includes a drive motor fixed to the bottom of the objective table, the output shaft of the driving motor is connected with a first speed reducer, the output shaft of the first speed reducer is connected with a first rotating shaft, a first gear is fixed at both ends of the first rotating shaft, the first rotating shaft is positioned at one end of the bottom of the objective table, a second rotating shaft is rotatably arranged at the other end of the bottom of the objective table, second gears are fixed at both ends of the second rotating shaft, the first gear and the second gear at the same side are connected through a double-sided tooth synchronous belt, and the internal teeth of the double-sided tooth synchronous belt are meshed with the teeth on the first gear and the second gear, the teeth corresponding to the external teeth of the double-sided tooth synchronous belt are arranged at the bottom of the first pallet fork, and the external teeth of the double-sided tooth synchronous belt are meshed with the teeth at the bottom of the first pallet fork.
Through adopting foretell technical scheme, driving motor makes first pivot rotate, the first gear at first pivot both ends also rotates thereupon together, first gear passes through the double-sided tooth hold-in range and drives the second gear rotation, double-sided tooth hold-in range horizontal drive has driven first fork along double-sided tooth hold-in range horizontal motion, thereby it is flexible to have realized the level that driving motor drove first fork, corotation or the reversal through the driving motor output shaft can control first fork two-way flexible, make the stacker have better flexibility when the access goods.
In the stacker, the side wall of the objective table is positioned inside the double-sided toothed synchronous belt and is rotatably connected with a plurality of supporting wheels, the supporting wheels are meshed with the upper section of the double-sided toothed synchronous belt, the side wall of the objective table is positioned inside the double-sided toothed synchronous belt and is also rotatably connected with a plurality of traction wheels, and the traction wheels are meshed with the lower section of the double-sided toothed synchronous belt; the side wall of the objective table is positioned outside the double-sided tooth synchronous belt and is rotationally connected with a plurality of tension pulleys.
By adopting the technical scheme, the supporting wheel is arranged, so that teeth of the first fork can be always pressed with the outer teeth of the double-sided tooth synchronous belt, and the horizontal motion of the first fork can be more stable; the double-sided tooth synchronous belt can move more stably by arranging the traction wheel; the tensioning wheel is arranged, so that the double-sided tooth synchronous belt can be tensioned, and normal transmission of the double-sided tooth synchronous belt is guaranteed without slipping.
In the stacker, the linkage mechanism comprises a first single-sided toothed synchronous belt and a second single-sided toothed synchronous belt which are arranged up and down, one end of the first single-sided toothed synchronous belt is fixed at the left end of the objective table close to one side of the first fork, the other end of the first single-sided toothed synchronous belt is fixed at the left end of the second fork close to one side of the first fork, the middle part of the first single-sided toothed synchronous belt penetrates through the right end of the first fork, a first through hole is formed in the right end of the first fork, a first transmission wheel is rotatably arranged in the first through hole, and teeth of the first single-sided toothed synchronous belt are meshed with the first transmission wheel; one end of the second single-sided toothed synchronous belt is fixed at the right end of the objective table close to one side of the first fork, the other end of the second single-sided toothed synchronous belt is fixed at the right end of the second fork close to one side of the first fork, the middle of the second single-sided toothed synchronous belt penetrates through the left end of the first fork, a through hole II is formed in the left end of the first fork, a second driving wheel is arranged in the through hole II in a rotating mode, and teeth of the second single-sided toothed synchronous belt are meshed with the second driving wheel.
By adopting the technical scheme, when the driving motor drives the first fork to horizontally extend rightward or horizontally retract rightward, the second fork horizontally extends rightward or horizontally retracts rightward along the first fork under the action of the first single-face tooth synchronous belt, the first driving wheel, the second single-face tooth synchronous belt and the second driving wheel; when driving motor drives first fork and stretches out or when the level withdrawal left, under the effect of first single face tooth hold-in range, first drive wheel, second single face tooth hold-in range and second drive wheel, the second fork is stretched out or the level withdrawal left along first fork, has realized the linkage of first fork and second fork, can increase the work efficiency that the stacker accessed the goods, improves the use flexibility of stacker simultaneously.
In the stacker, adjusting mechanisms are arranged between the left end of the first single-sided tooth synchronous belt and the second fork and between the right end of the second single-sided tooth synchronous belt and the second fork, each adjusting mechanism comprises an adjusting plate fixed on one side, close to the first fork, of the second fork, a waist-shaped hole is formed in each adjusting plate, the length direction of each waist-shaped hole is parallel to the length direction of the first single-sided tooth synchronous belt, a fixing hole is formed in the second fork, and each adjusting plate and the second fork simultaneously penetrate through the fixing hole and the waist-shaped hole through bolts to be connected with nuts; the adjusting plate is fixed with a pressing plate through a screw, and one end of the first single-sided tooth synchronous belt and one end of the second single-sided tooth synchronous belt are respectively fixed between the adjusting plate and the pressing plate.
Through adopting foretell technical scheme, can make first single face tooth hold-in range and second single face tooth hold-in range can the tensioning all the time, guarantee first single face tooth hold-in range and the steady transmission of second single face tooth hold-in range.
In the stacker, a steering engine is fixed on the inner side of each second fork, and a deflector rod is rotatably arranged on an output shaft of each steering engine.
Through adopting foretell technical scheme, through the descending and withdrawing of steering engine control driving lever according to the condition of depositing the goods, access goods that can be quick accurate has improved work efficiency.
In the stacker, a first sensor is fixed on the first fork, a second sensor is fixed on the second fork, and the first sensor and the second sensor are both laser positioning sensors.
Through adopting foretell technical scheme for whether there is the goods on the detection objective table, and with signal output, stretch out or the level withdrawal according to the level of signal control first fork afterwards, thereby drive the level of second fork and stretch out or the level withdrawal finally realize getting of goods and put automatically.
In foretell stacker, the ground rail subassembly includes a plurality of parallel arrangement's ground rail, the bottom of organism is fixed with the walking motor, be connected with the second speed reducer on the output shaft of walking motor, be provided with the third pivot on the output shaft of second speed reducer, the both ends of third pivot all are fixed with first gyro wheel, keep away from the frame lower extreme both sides of third pivot all are provided with the second gyro wheel, first gyro wheel all lean on with the upside counterbalance of ground rail with the second gyro wheel.
Through adopting foretell technical scheme, thereby rotate through walking motor drive third pivot and make first gyro wheel horizontal migration on the ground rail drive second gyro wheel horizontal migration on the ground rail.
In the stacker, the bottom of the body is horizontally provided with a plurality of first guide wheels, the first guide wheels correspond to the first idler wheels and the second idler wheels, and the first guide wheels are all abutted against the inner side of the ground rail.
Through adopting foretell technical scheme for first gyro wheel and second gyro wheel can more steady horizontal migration along ground rail time.
In the stacker, the lifting mechanism includes a lifting motor fixed at the bottom of the machine body, an output shaft of the lifting motor is connected with a third speed reducer, an output shaft of the third speed reducer is provided with a fourth rotating shaft, the fourth rotating shaft is fixed with a third gear, a third roller set and a fourth roller set are arranged outside the object stage, the third roller set and the fourth roller set are arranged up and down, the frame is also provided with a third single-sided tooth synchronous belt, one end of the third single-sided tooth synchronous belt is fixed at the upper end of one side of the frame, and the third single-sided tooth synchronous belt passes through between the third roller set and the fourth roller set and is meshed with the third gear, and then passes through between the third roller set and the fourth roller set and is fixed at the lower end of one side of the frame; the upper end of the other side of the rack is fixedly provided with a fourth gear, the lower end of the other side of the rack is fixedly provided with a fifth gear, and a third single-face tooth synchronous belt is respectively meshed with the fourth gear and the fifth gear.
Through adopting foretell technical scheme, corotation through the elevator motor output shaft or reversal can control third single face tooth hold-in range and drive the vertical upward movement of third roller train or drive the vertical downward movement of fourth roller train, has realized the raising and lowering functions of objective table, can adjust the height of objective table through elevator motor according to the circumstances when access goods, can be swiftly get access goods rapidly more, improved work efficiency.
In the stacker, a plurality of second guide wheels are vertically arranged on the outer side of the object stage, the second guide wheels correspond to the third roller train and the fourth roller train, a plurality of support columns are fixed on the outer side of the machine body, and the second guide wheels are abutted against the support columns.
By adopting the technical scheme, the object stage can move more stably in the lifting process.
In the stacker, the body further comprises an electric cabinet box, a PLC controller is arranged in the electric cabinet box, and the driving motor, the walking motor, the lifting motor, the steering engine, the first sensor and the second sensor are all electrically connected with the PLC controller.
By adopting the technical scheme, the automatic goods taking and placing of the stacker can be realized, the automation is realized, the manual operation is not needed, and the labor cost is reduced.
Compared with the prior art, the invention has the following advantages:
1. according to the stacker, the driving motor, the first speed reducer, the first single-sided tooth synchronous belt and the second single-sided tooth synchronous belt are arranged, the first fork and the second fork can be horizontally stretched in two directions through forward rotation or reverse rotation of the output shaft of the driving motor, linkage is realized, a plurality of goods can be taken and placed at a time through the arrangement of the first fork and the second fork, and the efficiency and flexibility of the stacker during goods storage and taking are greatly improved;
2. according to the invention, the adjusting plate and the pressing plate are arranged, so that the first single-sided tooth synchronous belt and the second single-sided tooth synchronous belt can be kept tensioned, and the first single-sided tooth synchronous belt and the second single-sided tooth synchronous belt can be normally driven without slipping;
3. the machine body can horizontally move on the ground rail by arranging the walking motor, the second speed reducer and the ground rail, and meanwhile, the first guide wheel is arranged, so that the horizontal movement of the first roller and the second roller on the ground rail is more stable;
4. according to the invention, through the arrangement of the lifting motor, the third speed reducer and the third single-sided tooth synchronous belt, the third single-sided tooth synchronous belt can drive the third roller set to vertically move upwards or drive the fourth roller set to vertically move downwards by forward rotation or reverse rotation of the lifting motor, so that the lifting function of the object stage is realized, the height of the object stage can be quickly adjusted according to the height of the object during taking and placing of the goods, the stacker can quickly and accurately take and place the goods, the work efficiency is favorably improved, and meanwhile, the vertical movement of the object stage on the body can be more stable by arranging the second guide wheel;
5. according to the stacker disclosed by the invention, the PLC is arranged, and the driving motor, the walking motor, the lifting motor, the steering engine, the first sensor and the second sensor are electrically connected with the PLC, so that the stacker can automatically pick up and store goods, the mechanical automation is realized, the working efficiency is improved, and the labor cost is reduced.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the body of the present invention;
FIG. 3 is a front view of the body of the present invention;
FIG. 4 is a top view of the housing of the present invention;
FIG. 5 is a side view of the housing of the present invention;
FIG. 6 is a schematic top view of the subject table of the present invention;
FIG. 7 is a schematic bottom view of the subject table of the present invention;
fig. 8 is a vertical sectional view of the stage of the present invention.
In the figure, 1, a machine body; 2. an object stage; 3. a first fork; 4. a second fork; 5. a drive motor; 6. a first speed reducer; 7. a first rotating shaft; 8. a first gear; 9. a second rotating shaft; 10. a second gear; 11. a double-sided tooth synchronous belt; 12. a support wheel; 13. a traction wheel; 14. a tension wheel; 15. a first single-sided tooth synchronous belt; 16. a first drive pulley; 17. a second single-sided tooth synchronous belt; 18. a second transmission wheel; 19. a first chute; 20. a second chute; 21. a first sensor; 22. a second sensor; 23. a deflector rod; 24. a ground rail; 25. a traveling motor; 26. a second speed reducer; 27. a third rotating shaft; 28. a first roller; 29. a second roller; 30. a first guide wheel; 31. a lifting motor; 32. a third speed reducer; 33. a fourth rotating shaft; 34. a third gear; 35. a third roller set; 36. a fourth roller set; 37. a third single-sided tooth synchronous belt; 38. a fourth gear; 39. a fifth gear; 40. a support pillar; 41. a second guide wheel; 42. a trolley line assembly.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1 to 5, a stacker, including organism 1, organism 1 comprises four stands, two adjacent stand tops and bottom are all connected fixedly through the connecting rod, vertical slip is provided with the objective table 2 that a cross-section is the U-shaped form between four stands, objective table 2 comprises a bottom plate and two blocks of curb plates of fixing in the bottom plate both sides, the below of organism 1 is provided with the ground rail 24 subassembly that can make organism 1 take place to remove, the top of organism 1 is provided with the wiping line subassembly 42 that can be for the power supply of organism 1, still be provided with the elevating system that can drive objective table 2 oscilaltion on organism 1.
As shown in fig. 6 to 8, the inner side of the object stage 2 is provided with a first fork 3 capable of extending along both sides of the object stage 2, the inner side of the first fork 3 is provided with a second fork 4 capable of extending along both sides of the first fork 3, the bottom of the object stage 2 is provided with a driving mechanism capable of driving the first fork 3 to extend and retract, and a linkage mechanism capable of enabling the second fork 4 to extend and retract simultaneously when the first fork 3 extends and retracts is arranged between the first fork 3 and the second fork 4.
As shown in fig. 6 to 8, the driving mechanism includes a driving motor 5 fixed below the bottom plate of the object stage 2, a first speed reducer 6 is connected to an output shaft of the driving motor 5, a first rotating shaft 7 is connected to the output shaft of the first speed reducer 6 in a transmission manner, a first gear 8 is fixed at each end of the first rotating shaft 7, the first rotating shaft 7 is fixed between two side plates of the object stage 2 through a bearing, the first rotating shaft 7 is located below the bottom plate of the object stage 2, a second rotating shaft 9 is fixed between the two side plates of the object stage 2 through a bearing, a second gear 10 is fixed at each end of the second rotating shaft 9, the first gear 8 and the second gear 10 located at the same side are connected through a double-sided tooth synchronous belt 11 in a transmission manner, inner teeth of the double-sided tooth synchronous belt 11 are engaged with teeth on the first gear 8 and the second gear 10, that is, the driving motor 5 drives the first rotating shaft 7 to rotate, the first gear 8 rotates together with the first gear, and then the second gear 10 rotates, so that the double-sided toothed synchronous belt 11 transmits between the first gear 8 and the second gear 10. The tooth that corresponds with the external tooth of double-sided tooth hold-in range 11 is seted up to the bottom of first fork 3, and the external tooth of double-sided tooth hold-in range 11 meshes with the tooth of first fork 3 bottom mutually, can make first fork 3 take place horizontal migration through the transmission of double-sided tooth hold-in range 11.
Specifically, a plurality of supporting wheels 12, a traction wheel 13 and a tension wheel 14 are fixed on the inner walls of the two side plates of the object stage 2 through bearings. The supporting wheel 12 is located the upper segment of double-sided tooth hold-in range 11, and the internal tooth of supporting wheel 12 and double-sided tooth hold-in range 11 meshes mutually, and the supporting wheel 12 is used for supporting the upper segment of double-sided tooth hold-in range 11 for the external tooth of the upper segment of double-sided tooth hold-in range 11 can mesh with the external tooth of 3 bottoms of first fork all the time, has improved 3 horizontal motion's of first fork stability. The traction wheel 13 is positioned at the lower section of the double-sided tooth synchronous belt 11, the traction wheel 13 is meshed with the inner teeth of the double-sided tooth synchronous belt 11, and the traction wheel 13 is used for guiding the double-sided tooth synchronous belt 11 during transmission, so that the double-sided tooth synchronous belt 11 can be stably transmitted. The tensioning wheel 14 is also located at the lower section of the double-sided tooth synchronous belt 11, the tensioning wheel 14 is meshed with the inner teeth of the double-sided tooth synchronous belt 11, the tensioning wheel 14 is arranged to enable the double-sided tooth synchronous belt 11 to be always tensioned when the double-sided tooth synchronous belt 11 is driven on the first gear 8 and the second gear 10, and normal driving of the double-sided tooth synchronous belt 11 is guaranteed not to slip.
As shown in fig. 6 to 8, the linkage mechanism includes a first single-sided toothed synchronous belt 15 and a second single-sided toothed synchronous belt 17 which are vertically arranged, one end of the first single-sided toothed synchronous belt 15 is fixed at the left end of the objective table 2 close to one side of the first fork 3, the other end of the first single-sided toothed synchronous belt 15 is fixed at the left end of the second fork 4 close to one side of the first fork 3, a first through hole is formed at the right end of the surface of the first fork 3, a first mounting plate penetrating through the first through hole is fixed at the right end of the inner side of the second fork 4, a first driving wheel 16 is arranged on the first driving wheel 16 mounting plate in a driving manner, the first single-sided toothed synchronous belt 15 penetrates through the first through hole, and teeth of the first single-sided toothed synchronous belt 15 are meshed with the first driving wheel 16; the one end of second single face tooth hold-in range 17 is fixed at the right-hand member that objective table 2 is close to first fork 3 one side, the other end of second single face tooth hold-in range 17 is fixed at the right-hand member that second fork 4 is close to first fork 3 one side, a through hole two has been seted up to the left end on first fork 3 surface, be fixed with the second mounting panel that runs through in through hole two on the inner wall of objective table 2 curb plate, the transmission is provided with second drive wheel 18 on the second mounting panel, second single face tooth hold-in range 17 passes through hole two, and the tooth of second single face tooth hold-in range 17 meshes with second drive wheel 18 mutually. When the driving motor 5 drives the first fork 3 to horizontally extend rightward or horizontally retract rightward, the second fork 4 horizontally moves along the moving direction of the first fork 3 under the action of the first single-face tooth synchronous belt 15, the first driving wheel 16, the second single-face tooth synchronous belt 17 and the second driving wheel 18; when the driving motor 5 drives the first fork 3 to horizontally extend leftwards or horizontally retract leftwards, under the action of the first single-face tooth synchronous belt 15, the first transmission wheel 16, the second single-face tooth synchronous belt 17 and the second transmission wheel 18, the second fork 4 horizontally moves along with the moving direction of the first fork 3, and finally bidirectional horizontal extension of the first fork 3 and the second fork 4 is achieved, so that the stacker can adapt to different use environments, and the flexibility of picking and placing goods is improved.
Specifically, be fixed with first sensor 21 on the first fork 3, be fixed with second sensor 22 on the second fork 4, still be fixed with a plurality of third sensors on the objective table 2, first sensor 21, second sensor 22 and third sensor are laser positioning sensor, and first sensor 21 is used for detecting whether be equipped with the goods on the first fork 3, and second sensor 22 is used for detecting whether be equipped with the goods on the second fork 4, and the third sensor is used for detecting whether be equipped with the goods on the objective table 2. A steering wheel is further fixed on two sides of the second fork 4, a shifting rod 23 is arranged on an output shaft of the steering wheel, the steering wheel and the shifting rod 23 are in transmission connection through a double-bearing base, the double-bearing base can bear bending torsion moment transmitted by the shifting rod 23, the situation that the steering wheel is stressed and damaged too much due to direct application of bending acting force on the output shaft of the steering wheel is prevented, and the service life of the steering wheel is prolonged. The shift lever 23 swings from the vertical state to the horizontal state when the second fork 4 horizontally extends, and the shift lever 23 swings again from the horizontal state to the vertical state when the second fork 4 horizontally contracts.
More specifically, an adjusting mechanism is further arranged between the left end of the first single-sided tooth synchronous belt 15 and the second fork 4 and between the right end of the second single-sided tooth synchronous belt 17 and the second fork 4, the adjusting mechanism comprises an adjusting plate fixed on one side of the second fork 4 close to the first fork 3, a waist-shaped hole is formed in the adjusting plate, the length direction of the waist-shaped hole is parallel to the length direction of the first single-sided tooth synchronous belt 15, a fixing hole is formed in the second fork 4, the adjusting plate and the second fork 4 are connected with a nut by a bolt passing through the fixing hole and the waist-shaped hole at the same time, a pressing plate is fixed on the adjusting plate by a screw, one end of the first single-sided tooth synchronous belt 15 and one end of the second single-sided tooth synchronous belt 17 are respectively fixed between the adjusting plate and the pressing plate, the first single-sided tooth synchronous belt 15 and the second single-sided tooth synchronous belt 17 can be kept tensioned by the adjusting plate, so as to ensure that the first single-sided tooth synchronous belt 15 and the second single-sided tooth synchronous belt 17 can normally drive without slipping. A second sliding rail is fixed on one side of the second fork 4 close to the first fork 3, a second sliding groove 20 is formed on one side of the first fork 3 close to the second fork 4, and the second sliding rail is arranged in the second sliding groove 20 in a sliding manner; one side that the lateral part of objective table 2 is close to first fork 3 is fixed with first slide rail, first spout 19 has been seted up to one side that first fork 3 is close to objective table 2, first slide rail slides and sets up in first spout 19, through first spout 19 and first slide rail cooperation, second spout 20 and the cooperation of second slide rail make first fork 3 remove along objective table 2 curb plate and second fork 4 remove along the inner wall of first fork 3 can more steady removal.
As shown in fig. 1 to 5, the ground rail assembly includes a plurality of ground rails 24 arranged in parallel, a support column 40 is fixed between two columns located at the front side through a connecting rod, a support column 40 is also fixed between two columns located at the rear side through a connecting rod, the connecting rod is located at the bottom of the support column 40, a walking motor 25 is fixed on one of the connecting rods, a second speed reducer 26 is connected to an output shaft of the walking motor 25, a third rotating shaft 27 is arranged on an output shaft of the second speed reducer 26, first rollers 28 are fixed at both ends of the third rotating shaft 27, second rollers 29 are fixed at both sides of the lower end of the machine body 1 far away from the third rotating shaft 27 through bearings, and the first rollers 28 and the second rollers 29 are abutted against the upper side of the ground rails 24.
Specifically, the bottom of the machine body 1 is horizontally provided with four first guide wheels 30, the four guide wheels are respectively located on one side of the first roller 28 and one side of the second roller 29, the first guide wheels 30 are located below the first roller 28 and the second roller 29, the first guide wheels 30 abut against the inner side of the ground rail 24, and the horizontal movement of the first roller 28 and the second roller 29 on the ground rail 24 can be more stable by the rolling of the first guide wheels 30 along the inner side of the ground rail 24.
As shown in fig. 1 to 5, the lifting mechanism includes a lifting motor 31 fixed on another link, a third speed reducer 32 is connected to an output shaft of the lifting motor 31, a fourth rotating shaft 33 is provided on an output shaft of the third speed reducer 32, a third gear 34 is fixed on the fourth rotating shaft 33, a third roller set 35 and a fourth roller set 36 are provided on an outer side of a side plate of the object stage 2, the third roller set 35 is located right above the fourth roller set 36, the third roller set 35 and the fourth roller set 36 are both composed of two rollers, the two rollers of the third roller set 35 and the fourth roller set 36 are both located on the same horizontal straight line, a third single-sided tooth synchronous belt 37 is further provided on the machine body 1, two ends of the third single-sided tooth synchronous belt 37 are respectively fixed on the top and the bottom of the right end of the front side of the machine body 1 through fixing blocks, a fourth gear 38 is fixed on the top of the left end of the front side of the machine body 1, a fifth gear 39 is fixed at the bottom of the left end of the front side of the machine body 1, the fifth gear 39 is meshed with the third gear 34, and the third single-face tooth synchronous belt 37 is meshed with the fourth gear 38 and the fifth gear 39. Third single face tooth hold-in range 37 passes fourth gear 38 after passing two gyro wheels of third roller train 35 and passes fifth gear 39 earlier, pass under two gyro wheels of fourth roller train 36 at last again, and fix the bottom at the frame front side right-hand member, output shaft through elevator motor 31 rotates and to drive fifth gear 39 and rotate, can control the direction of transmission of third single face tooth hold-in range 37 through the corotation of controlling elevator motor 31 output shaft or reversal, it drives the vertical upward movement of third roller train 35 or drives the vertical downward movement of fourth roller train 36 to further control third single face tooth hold-in range 37, thereby realized the lift of objective table 2, can be according to the height of difference to extract and deposit the goods fast accurately, work efficiency is greatly improved.
Particularly, be fixed with on the outside of one side objective table 2 curb plate that is close to third single face tooth hold-in range 37 and control two sets of direction wheelset, a set of direction wheelset is including four second leading wheels 41 that set up from top to bottom, and second leading wheel 41 all leans on with support column 40 counterbalance, and second leading wheel 41 all rolls along support column 40 when objective table 2 oscilaltion to it is more steady when guaranteeing objective table 2 to go up and down.
In this embodiment, organism 1 still includes the electricity cabinet case, is provided with the PLC controller in the electricity cabinet case, driving motor 5, walking motor 25, elevator motor 31, steering wheel, first sensor 21, second sensor 22 and third sensor all with PLC controller electric connection, realized stacker automatic extraction and deposit the goods, realized mechanical automation, still improved the efficiency of work when having practiced thrift the cost of labor.
The working principle of the invention is as follows:
firstly, the PLC controls a walking motor 25 to start, a first roller 28 and a second roller 29 roll on a ground rail 24, so that the stacker body 1 moves to a position to be taken, the PLC controls a lifting motor 31 to lift an object stage 2 to a position with the same height as the goods, the PLC controls an output shaft of a driving motor 5 to rotate forwards, so that a first fork 3 horizontally extends along the inner wall of a side plate of the object stage 2 and drives a second fork 4 to horizontally extend, when the first fork 3 and the second fork 4 extend to the goods, the PLC controls a steering engine to enable a deflector rod 23 to extend out and take the goods, and after the goods are taken, the PLC controls the output shaft of the driving motor 5 to rotate backwards, so that the first fork 3 horizontally retracts along the inner wall of the side plate of the object stage 2 and drives the second fork 4 to horizontally retract;
then, the PLC controller controls the walking motor 25 to start, the first roller 28 and the second roller 29 roll on the ground rail 24, so that the stacker body 1 moves to a position to be stocked, the PLC controller controls the lifting motor 31 to lift the object stage 2 to a position with the same height as the goods shelf, if the goods shelf is on the right side of the stacker body 1, the PLC controller controls the output shaft of the driving motor 5 to rotate forwards, if the goods shelf is on the left side of the stacker body 1, the PLC controller controls the output shaft of the driving motor 5 to rotate backwards, so that the first goods fork 3 horizontally extends out along the inner wall of the side plate of the object stage 2, meanwhile, the second goods fork 4 is driven to horizontally extend out along the outer wall of the first goods fork 3, after the goods are stored, the PLC controller controls the steering engine to retract the shift lever 23, and then the PLC controller controls the driving motor 5 to horizontally retract the first goods fork 3 along the inner wall of the side plate of the object stage 2, while bringing the second forks 4 to retract horizontally along the outer walls of the first forks 3.
And finally, repeating the operations to finish the continuous picking and placing of the goods.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Although 1, body is used more herein; 2. an object stage; 3. a first fork; 4. a second fork; 5. a drive motor; 6. a first speed reducer; 7. a first rotating shaft; 8. a first gear; 9. a second rotating shaft; 10. a second gear; 11. a double-sided tooth synchronous belt; 12. a support wheel; 13. a traction wheel; 14. a tension wheel; 15. a first single-sided tooth synchronous belt; 16. a first drive pulley; 17. a second single-sided tooth synchronous belt; 18. a second transmission wheel; 19. a first chute; 20. a second chute; 21. a first sensor; 22. a second sensor; 23. a deflector rod; 24. a ground rail; 25. a traveling motor; 26. a second speed reducer; 27. a second rotating shaft; 28. a first roller; 29. a second roller; 30. a first guide wheel; 31. a lifting motor; 32. a third speed reducer; 33. a third rotating shaft; 34. a third gear; 35. a third roller set; 36. a fourth roller set; 37. a third single-sided tooth synchronous belt; 38. a fourth gear; 39. a fifth gear; 40. a support pillar; 41. a second guide wheel; 42. trolley line components, etc., but does not exclude the possibility of using other terms. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.

Claims (10)

1. A stacker comprises a machine body (1), wherein a ground rail (24) assembly capable of enabling the machine body (1) to move is arranged below the machine body (1), a sliding contact line assembly (42) capable of supplying power to the machine body (1) is arranged above the machine body (1), an object stage (2) with a U-shaped section is vertically arranged on the machine body (1) in a sliding manner, the machine body (1) is further provided with a lifting mechanism capable of driving the object stage (2) to lift up and down, the stacker is characterized in that a first fork (3) capable of stretching along two sides of the object stage (2) is arranged on the inner side of the object stage (2), a second fork (4) capable of stretching along two sides of the first fork (3) is arranged on the inner side of the first fork (3), a driving mechanism capable of driving the first fork (3) to stretch is arranged at the bottom of the object stage (2), and a linkage mechanism which can enable the second fork (4) to stretch and retract when the first fork (3) stretches and retracts is arranged between the first fork (3) and the second fork (4).
2. The stacker according to claim 1, wherein the driving mechanism comprises a driving motor (5) fixed at the bottom of the objective table (2), an output shaft of the driving motor (5) is connected with a first speed reducer (6), an output shaft of the first speed reducer (6) is connected with a first rotating shaft (7), two ends of the first rotating shaft (7) are fixed with a first gear (8), the first rotating shaft (7) is arranged at one end of the bottom of the objective table (2), the other end of the bottom of the objective table (2) is rotatably provided with a second rotating shaft (9), two ends of the second rotating shaft (9) are fixed with a second gear (10), the first gear (8) and the second gear (10) on the same side are connected through a double-sided synchronous belt (11), and internal teeth of the double-sided synchronous belt (11) are meshed with teeth on the first gear (8) and the second gear (10), teeth corresponding to the outer teeth of the double-sided tooth synchronous belt (11) are formed in the bottom of the first pallet fork (3), and the outer teeth of the double-sided tooth synchronous belt (11) are meshed with the teeth at the bottom of the first pallet fork (3).
3. The stacker according to claim 2, wherein a plurality of support wheels (12) are rotatably connected to the side wall of the objective table (2) inside the double-sided toothed synchronous belt (11), the support wheels (12) are engaged with the upper section of the double-sided toothed synchronous belt (11), a plurality of traction wheels (13) are rotatably connected to the side wall of the objective table (2) inside the double-sided toothed synchronous belt (11), and the traction wheels (13) are engaged with the lower section of the double-sided toothed synchronous belt (11); the side wall of the objective table (2) is positioned outside the double-sided tooth synchronous belt (11) and is rotationally connected with a plurality of tension wheels (14).
4. The stacker according to claim 1, wherein the linkage mechanism comprises a first single-sided toothed synchronous belt (15) and a second single-sided toothed synchronous belt (17) which are arranged up and down, one end of the first single-sided toothed synchronous belt (15) is fixed at the left end of one side, close to the first fork (3), of the objective table (2), the other end of the first single-sided toothed synchronous belt (15) is fixed at the left end of one side, close to the first fork (3), of the second fork (4), the middle of the first single-sided toothed synchronous belt (15) penetrates through the right end of the first fork (3), a first through hole is formed in the right end of the first fork (3), a first transmission wheel (16) is rotatably arranged in the first through hole, and teeth of the first single-sided toothed synchronous belt (15) are meshed with teeth of the first transmission wheel (16); one end of the second single-sided toothed synchronous belt (17) is fixed at the right end of one side, close to the first fork (3), of the objective table (2), the other end of the second single-sided toothed synchronous belt (17) is fixed at the right end of one side, close to the first fork (3), of the second fork (4), the middle of the second single-sided toothed synchronous belt (17) penetrates through the left end of the first fork (3), a through hole II is formed in the left end of the first fork (3), a second driving wheel (18) is arranged in the through hole II in a rotating mode, and teeth of the second single-sided toothed synchronous belt (17) are meshed with the second driving wheel (18).
5. The stacker according to claim 4 wherein the adjusting mechanism is arranged between the left end of the first single-sided toothed synchronous belt (15) and the second fork (4) and between the right end of the second single-sided toothed synchronous belt (17) and the second fork (4), the adjusting mechanism comprises an adjusting plate fixed on one side of the second fork (4) close to the first fork (3), the adjusting plate is provided with a waist-shaped hole, the length direction of the waist-shaped hole is parallel to the length direction of the first single-sided toothed synchronous belt (15), the second fork (4) is provided with a fixing hole, and the adjusting plate and the second fork (4) are connected with a nut by passing through the fixing hole and the waist-shaped hole through a bolt; the adjusting plate is fixed with a pressing plate through a screw, and one end of the first single-sided tooth synchronous belt (15) and one end of the second single-sided tooth synchronous belt (17) are respectively fixed between the adjusting plate and the pressing plate.
6. The stacker according to claim 1, wherein a steering engine is fixed on each inner side of the second fork (4), and a shift lever (23) is arranged on each output shaft of the steering engine; a first sensor (21) is fixed on the first fork (3), a second sensor (22) is fixed on the second fork (4), and the first sensor (21) and the second sensor (22) are both laser positioning sensors.
7. The stacker according to claim 1, wherein the ground rail (24) assembly comprises a plurality of ground rails (24) which are arranged in parallel, a traveling motor (25) is fixed at the bottom of the machine body (1), an output shaft of the traveling motor (25) is connected with a second speed reducer (26), an output shaft of the second speed reducer (26) is provided with a third rotating shaft (27), two ends of the third rotating shaft (27) are both fixed with first rollers (28), two sides of the lower end of the rack far away from the third rotating shaft (27) are both provided with second rollers (29), and the first rollers (28) and the second rollers (29) are both abutted against the upper side of the ground rails (24); the bottom of the machine body (1) is horizontally provided with a plurality of first guide wheels (30), the first guide wheels (30) correspond to the first idler wheels (28) and the second idler wheels (29), and the first guide wheels (30) are abutted against the inner side of the ground rail (24).
8. The stacker according to claim 1, wherein the lifting mechanism comprises a lifting motor (31) fixed at the bottom of the machine body (1), an output shaft of the lifting motor (31) is connected with a third speed reducer (32), an output shaft of the third speed reducer (32) is provided with a fourth rotating shaft (33), the fourth rotating shaft (33) is fixed with a third gear (34), the outer side of the objective table (2) is provided with a third roller set (35) and a fourth roller set (36), the third roller set (35) and the fourth roller set (36) are arranged up and down, the machine frame is further provided with a third single-face toothed synchronous belt (37), one end of the third single-face toothed synchronous belt (37) is fixed at the upper end of one side of the machine frame, and the third single-face toothed synchronous belt (37) penetrates between the third roller set (35) and the fourth roller set (36) and is meshed with the third gear (34), and the lower end of one side of the frame is penetrated and fixed between the third roller group (35) and the fourth roller group (36); the upper end of the other side of the rack is fixedly provided with a fourth gear (38), the lower end of the other side of the rack is fixedly provided with a fifth gear (39), and a third single-face tooth synchronous belt (37) is respectively meshed with the fourth gear (38) and the fifth gear (39).
9. The stacker according to claim 8, wherein a plurality of second guide wheels (41) are vertically arranged on the outer side of the object stage (2), the second guide wheels (41) correspond to the third roller set (35) and the fourth roller set (36), a plurality of support columns (40) are fixed on the outer side of the machine body (1), and the second guide wheels (41) are abutted against the support columns (40).
10. The stacker according to any one of claims 1 to 9 wherein the machine body (1) further comprises an electric cabinet box, a PLC controller is arranged in the electric cabinet box, and the driving motor (5), the traveling motor (25), the lifting motor (31), the steering engine, the first sensor (21) and the second sensor (22) are electrically connected with the PLC controller.
CN202111202894.9A 2021-10-15 2021-10-15 Stacking machine Pending CN114044465A (en)

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CN115092591A (en) * 2022-08-29 2022-09-23 启东市德立神起重运输机械有限公司 Tunnel stacker of self-adaptation goods size

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