CN114715589B - Tray taking mechanism, storage type storage equipment using tray taking mechanism and storage method - Google Patents
Tray taking mechanism, storage type storage equipment using tray taking mechanism and storage method Download PDFInfo
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- CN114715589B CN114715589B CN202210347590.XA CN202210347590A CN114715589B CN 114715589 B CN114715589 B CN 114715589B CN 202210347590 A CN202210347590 A CN 202210347590A CN 114715589 B CN114715589 B CN 114715589B
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- storage tray
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- tray
- wheel
- shifting fork
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000001360 synchronised effect Effects 0.000 claims description 70
- 230000000903 blocking effect Effects 0.000 claims description 3
- 238000013519 translation Methods 0.000 abstract description 6
- 238000012360 testing method Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 6
- 239000002699 waste material Substances 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
- B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
Abstract
The invention discloses a tray taking mechanism, storage type taking and storing equipment and a taking and storing method using the tray taking mechanism, and belongs to the technical field of storage type taking and storing equipment. The current scheme drives the lead screw through flexible motor drive and rotates and drive the fork and stretch out and draw back for the supporter, but the lead screw is stock structure, and the space that needs to occupy is great, can cause the space extravagant. The invention relates to a tray taking mechanism which comprises a storage tray, a shifting fork component for pulling the storage tray and a finger hook component for driving the storage tray to move. The storage tray that will be located far away through the shift fork subassembly draws the hook piece upper end, and then the hook piece can drive the storage tray and continue the translation, can realize the removal of storage tray on the one hand, on the other hand can make shift fork subassembly and hook piece's movable range can be in the movable range of storage tray or body structure completely to can accomplish not surpass body structure's extension, effectively reduced the space occupation of getting a dish mechanism, avoid the space extravagant.
Description
Technical Field
The invention relates to a tray taking mechanism, storage type taking and storing equipment and a taking and storing method using the tray taking mechanism, and belongs to the technical field of storage type taking and storing equipment.
Background
Chinese patent (publication number: CN 106115151 a) discloses a warehouse type automatic access device, a display and control device disposed on a warehouse, a goods handling device disposed in the warehouse, and a goods shelf, wherein the warehouse is provided with an access port, and the goods handling device is electrically connected with a controller and carries goods back and forth between the access port and the goods shelf under the control of the controller.
The goods handling device is positioned in the center of the goods warehouse and comprises a fork, a horizontal moving component for driving the fork to move on a horizontal plane and a lifting component for driving the fork to move in a vertical direction; the goods shelf comprises a plurality of rows of goods shelves arranged around the goods carrying device, and each row of goods shelves is provided with a plurality of storage units; the fork is driven by the horizontal moving component and the lifting component to be matched with the storage units respectively. The horizontal moving assembly further comprises a screw rod arranged on the sliding plate and a telescopic motor for driving the screw rod to rotate, and the fork is matched with the screw rod for use; the rotating motor drives the rotating plate to rotate, and drives the sliding plate on the lifting assembly to horizontally rotate, so that the fork is driven to horizontally rotate, the lifting motor drives the sliding plate to vertically move, so that the fork is driven to vertically move, and the telescopic motor drives the screw rod to rotate so as to drive the fork to stretch out and draw back relative to the storage rack.
Above-mentioned scheme drives the lead screw through flexible motor drive and rotates and drive the fork and stretch out and draw back for the supporter, but the lead screw is stock structure, and when tray part or all moved to on the fork, the other end of lead screw can bulge in tray and fork, when leading to goods handling device to remove, need occupy the space great, and then need make the complete machine width dimension big, not only cause the space extravagant, also make the great area of this kind of access arrangement, be unfavorable for using widely.
Disclosure of Invention
In view of the drawbacks of the prior art, an object of the present invention is to provide a finger hook assembly and a fork assembly; the storage tray that will be located far away through the shift fork subassembly draws the hook piece upper end, and then the hook piece can drive the storage tray and continue the translation, can realize the removal of storage tray on the one hand, on the other hand can make shift fork subassembly and hook piece's range of movement can be in the range of movement of storage tray completely, has effectively reduced the space occupation of mechanism, avoids the extravagant dish mechanism of getting of space.
The second purpose of the invention is to provide a finger hook assembly and a shifting fork assembly; the storage tray that will be located the check mouth department through the shift fork subassembly draws the hook piece upper end, and then the hook piece can drive the storage tray and continue the translation, on the one hand can realize the removal of storage tray, on the other hand can make shift fork subassembly and hook piece's movable range can be in the movable range of storage tray or body structure completely, and can accomplish not surpass body structure's extension, the space occupation of getting a dish mechanism has effectively been reduced, further reduce body structure in the width space that removes the in-process needs, avoid the space extravagant, also make storage formula get and deposit equipment area diminish, facilitate promotion use, storage formula that user experience is good gets and deposits equipment.
The third object of the invention is to provide a finger hook component and a shifting fork component; the storage tray at the grid port is pulled to the upper end of the hooking piece through the shifting fork assembly, and then the hooking piece can drive the storage tray to continuously translate, so that the taking and placing process of the storage tray is completed; meanwhile, the moving range of the rod piece and the hooking piece of the shifting fork assembly can be completely within the moving range of the storage tray or the vehicle body structure, the extending range of the vehicle body structure can be not exceeded, the space occupation of the tray taking mechanism is effectively reduced, the width space required by the vehicle body structure in the moving process is further reduced, the space waste is avoided, the occupied area of the warehouse type taking and storing equipment is reduced, the popularization and the use are facilitated, and the user experience is good.
In order to achieve one of the above objects, a first technical solution of the present invention is:
a disc taking mechanism,
the device comprises a storage tray, a shifting fork assembly for pulling the storage tray and a finger hook assembly for driving the storage tray to move;
the shifting fork assembly comprises a convex body for abutting or hooking the storage tray, a rod piece for extending the extending range of the convex body, a rotating motor for driving the rod piece and the convex body to rotate, a bottom plate for assembling the rotating motor, and a synchronous belt for driving the bottom plate to move;
the finger hook component comprises a hook piece used for abutting or hooking the storage tray and a chain used for driving the hook piece to reciprocate;
the synchronous belt is fixedly connected with the bottom plate of the shifting fork assembly;
the chain is fixedly connected with the hook connector;
the convex body can extend out of the synchronous belt under the drive of the rotating motor and can pull the storage tray to the hook connector; the hooking piece drives the storage tray to move to the appointed position.
Through continuous exploration and test, the invention is provided with a finger hook component and a shifting fork component; the storage tray that will be located far away through the shift fork subassembly draws the hook piece upper end, and then the hook piece can drive the storage tray and continue the translation, can realize the removal of storage tray on the one hand, on the other hand can make shift fork subassembly and hook piece's range of movement can be completely at the storage tray, effectively reduces the space occupation of getting a dish mechanism, avoids the space extravagant.
Further, the hook connector is arranged to be fixedly connected with the storage tray in a collision mode, so that flexible connection of the finger hook component and the storage tray can be realized, and the finger hook component and the storage tray can be quickly fixedly connected and separated.
The convex body is arranged to be fixedly connected with the storage tray in a collision mode, so that flexible connection of the shifting fork assembly and the storage tray can be realized, the shifting fork assembly and the storage tray can be quickly and fixedly connected and separated, and the scheme is simple, practical and feasible.
The length of the rod piece can be set according to the distance between the storage tray and the synchronous belt, so that the rod piece is convenient for being suitable for various occasions.
Furthermore, the hooking piece is narrower in the transverse direction, the rod piece of the shifting fork assembly is longer in the transverse direction, and the two rod pieces form a long-short matching structure which is responsible for the early-stage pulling-in of the storage tray; short structure is responsible for storing tray later stage removal, and then can effectively reduce the volume of getting a set mechanism for get a set mechanism compact structure, and the scheme is simple practical, and the design is ingenious.
As a preferred technical measure:
the chain is provided with a traction section space C;
when the hooking piece moves on the traction section space, the hooking piece is in abutting connection with the storage tray and drives the storage tray to move from the initial position of the traction section space to the final position of the traction section space, and then the hooking piece is separated from the storage tray.
As a preferred technical measure:
the chain is of an oval structure which is arranged up and down;
the traction section space is a straight line section track.
As a preferred technical measure:
the hooking piece extends vertically, protrudes out of the plane of the chain and can extend into the groove of the storage tray;
the spacing distance between the lower end face of the storage tray and the chain in the vertical direction is A;
the extending length of the hook connector is B;
a < B, ensure that the hook-up can hook up the storage tray.
As a preferred technical measure:
the storage tray is assembled above the chain through a chute structure;
the lower end of the storage tray is provided with at least two connecting points which can be fixedly connected with the hook-connecting piece;
the connecting point is a groove or a hook-shaped structure or a magnetic piece or a blocking part protruding out of the lower end face of the storage tray.
As a preferred technical measure:
the synchronous belt is connected with a servo motor through a synchronous wheel assembly;
the servo motor drives the chain to move through the gear assembly, so that the number of the servo motors is effectively reduced, and the manufacturing cost is reduced.
The synchronous wheel set and the gear assembly share a rotating shaft;
the synchronous wheel set comprises two rotating wheels which are symmetrically arranged;
the gear assembly comprises a driving wheel fixedly connected with the rotating shaft, a reversing wheel meshed with the driving wheel and a driven wheel meshed with the reversing wheel;
the radial dimension of the driving wheel is larger than that of the driven wheel, and the number of teeth of the driving wheel is larger than that of the driven wheel;
the radial dimension of the reversing wheel is the same as that of the driven wheel, and the number of teeth of the reversing wheel and the driven wheel is the same;
the radial dimension of the driven wheel is larger than or equal to the radial dimension of the rotating wheel, the number of teeth of the driven wheel is larger than or equal to the number of teeth of the rotating wheel, so that the moving speed of the hooking piece is larger than that of the convex body and the rod piece, when the hooking piece drives the storage tray to the edge of the chain, the convex body and the rod piece are still positioned on the synchronous belt, the rod piece is effectively prevented from protruding out of the moving range of the storage tray, the space occupation of the driving mechanism is reduced, the matched movement of the shifting fork component and the finger hook component can be realized by utilizing one servo motor, the scheme is simple, practical, ingenious in conception and low in manufacturing cost.
As a preferred technical measure:
the synchronous belt or the chain or the storage tray is provided with an inductor, and when the inductor senses that the storage tray reaches a preset position, the rotating motor controls the convex body to rotate, so that the shifting fork component is out of contact with or in abutting connection with the storage tray;
the distance between the end part of the synchronous belt and the end part of the storage tray in the initial state is b;
the length of the rod piece is a;
the a > b ensures that the rod can pull the storage tray positioned at a distance to the synchronous belt.
In order to achieve one of the above objects, a second technical solution of the present invention is:
a storage type taking and storing device,
comprises a disc taking mechanism as described above;
the novel multifunctional storage cabinet comprises a cabinet body with a plurality of grid openings, a storage tray capable of being placed at the grid openings, and a vehicle body structure for assembling a shifting fork assembly and a hooking assembly;
the lower end face of the storage tray is provided with at least two grooves, wherein the grooves comprise a first concave part and a second concave part;
the shifting fork assembly comprises a convex body for abutting or hooking the storage tray, a rod piece for extending the extending range of the convex body, a rotating motor for driving the rod piece and the convex body to rotate, a bottom plate for assembling the rotating motor, and a synchronous belt for driving the bottom plate to move;
the finger hook component comprises a hook piece used for abutting or hooking the storage tray and a chain used for driving the hook piece to reciprocate;
the synchronous belt is fixedly connected with the bottom plate of the shifting fork assembly;
the chain is fixedly connected with the hook connector;
the storage tray is assembled in the grid through a rail in a sliding manner;
the convex body can extend out of the synchronous belt under the drive of the rotating motor and can pull the storage tray to the hook connector; the hooking piece drives the storage tray to move to the appointed position.
Through continuous exploration and test, the invention is provided with a finger hook component and a shifting fork component; the storage tray that will be located the check department through the shift fork subassembly pulls the hook piece upper end, and then the hook piece can drive the storage tray and continue the translation, can realize the removal of storage tray on the one hand, on the other hand can make shift fork subassembly and hook piece's movable range can be in the movable range of storage tray or body structure completely, and can accomplish not surpass body structure's extension, effectively reduced the space occupation of getting a dish mechanism, further reduce body structure in the width space that removes the in-process needs, avoid the space extravagant, also make storage formula get and deposit equipment area diminish, facilitate promotion and use, user experience is good.
As a preferred technical measure:
the cabinet body is an annular cabinet body, and a plurality of grid openings are arranged around a circle of the disc taking mechanism;
the two ends of the shifting fork assembly are respectively provided with a convex body, and the rotating motor is assembled at the middle position of the shifting fork assembly;
the lower end part of the bottom plate is erected above the vehicle body structure through a sliding rail;
the synchronous belt is connected with a servo motor through a synchronous wheel assembly;
the servo motor drives the chain to move through the gear assembly at the same time;
the synchronous wheel set and the gear assembly share a rotating shaft;
the synchronous wheel set comprises two rotating wheels which are symmetrically arranged;
the gear assembly comprises a driving wheel fixedly connected with the rotating shaft, a reversing wheel meshed with the driving wheel and a driven wheel meshed with the reversing wheel;
the modulus of the driving wheel and the modulus of the driven wheel are respectively 1.5, and the number of teeth of the driving wheel is 43;
the radial dimension of the reversing wheel is the same as the radial dimension and the modulus of the driven wheel, and the number of teeth of the reversing wheel and the driven wheel are 27;
the rotating wheel is a 5M synchronous pulley, the number of teeth of the rotating wheel is 26, so that the moving speed of the hooking part is greater than that of the shifting fork assembly, the moving speed of the hooking part is greater than that of the convex body and the rod piece, when the hooking part drives the storage tray to the edge of the chain, the convex body and the rod piece are still positioned on the synchronous belt, the rod piece is effectively prevented from protruding out of the moving range of the storage tray, the space occupation of the driving mechanism is reduced, the matched movement of the shifting fork assembly and the finger hook assembly can be realized by using one servo motor, the scheme is simple, practical, feasible, ingenious in conception and low in manufacturing cost.
In order to achieve one of the above objects, a third technical solution of the present invention is:
a warehouse style taking and storing method comprises the following steps:
the warehouse style taking and storing equipment comprises the warehouse style taking and storing equipment;
the method comprises the steps that firstly, a synchronous belt drives a shifting fork component to extend out of a grid, a convex body is enabled to be shifted into a concave part I of a storage tray through a rotating motor, so that the shifting fork component is in abutting connection with the concave part I, and a temporary synchronous moving structure is formed;
secondly, after the abutting connection of the shifting fork component and the first concave part is completed, the synchronous belt pulls the shifting fork component and the storage tray to move in a direction away from the grid opening under the driving of the servo motor, so that the storage tray is close to the hooking piece;
thirdly, when the storage tray moves towards the hooking piece, the servo motor in the second step drives the chain to move together, so that the chain drives the hooking piece to move towards the storage tray;
controlling the moving speed of the storage tray and the hooking piece in the third step, so that the hooking piece stretches into the second concave part of the storage tray, and the hooking piece is in abutting connection with the storage tray; simultaneously, the rotating motor enables the convex body to rotate out from the concave part I of the storage tray, so that the shifting fork component is separated from the storage tray;
fifthly, after the abutting connection of the hooking piece and the storage tray in the fourth step is completed, the chain drives the hooking piece and the storage tray to move to a preset position together;
sixthly, carrying out the picking or placing operation when the storage tray in the fifth step reaches a preset position;
seventh, after the picking or placing of the piece in the sixth step is completed, the hooking piece drives the storage tray to return;
eighth, after the storage tray in the seventh step reaches the edge of the chain, the convex body of the shifting fork assembly drives the tray to be stored in the corresponding grid, and storage of the storage tray is completed;
and ninth, after the storage in the eighth step is completed, the chain continues to drive the hooking piece to move, and returns to the initial position of the hooking piece to wait for the next disc taking.
Through continuous exploration and test, the invention utilizes the finger hook component and the shifting fork component; the storage tray at the grid port is pulled to the upper end of the hooking piece through the shifting fork assembly, and then the hooking piece can drive the storage tray to continuously translate, so that the taking and placing process of the storage tray is completed; meanwhile, the moving range of the rod piece and the hook connector of the shifting fork assembly can be completely within the moving range of the storage tray or the vehicle body structure, the extending range of the vehicle body structure can be not exceeded, the occupied space of the rod piece is effectively reduced, the width space of the vehicle body structure required in the moving process is further reduced, the space waste is avoided, the occupied area of the storage type taking and storing equipment is reduced, the popularization and the use are facilitated, and the user experience is good.
Compared with the prior art, the invention has the following beneficial effects:
through continuous exploration and test, the invention is provided with a finger hook component and a shifting fork component; the storage tray that will be located far away through the shift fork subassembly draws the hook piece upper end, and then the hook piece can drive the storage tray and continue the translation, can realize the removal of storage tray on the one hand, on the other hand can make shift fork subassembly and hook piece's range of movement can be completely at the storage tray, effectively reduces the space occupation of getting a dish mechanism, avoids the space extravagant.
Further, the hook connector is arranged to be fixedly connected with the storage tray in a collision mode, so that flexible connection of the finger hook component and the storage tray can be realized, and the finger hook component and the storage tray can be quickly fixedly connected and separated.
The convex body is arranged to be fixedly connected with the storage tray in a collision mode, so that flexible connection of the shifting fork assembly and the storage tray can be realized, the shifting fork assembly and the storage tray can be quickly and fixedly connected and separated, and the scheme is simple, practical and feasible.
The length of the rod piece can be set according to the distance between the storage tray and the synchronous belt, so that the rod piece is convenient for being suitable for various occasions.
The hooking piece is transversely narrow, the rod piece of the shifting fork assembly is transversely long, the two rod pieces form a long-short matching structure, and the long structure is responsible for the early pulling-in of the storage tray; short structure is responsible for storing tray later stage removal, and then can effectively reduce the volume of getting a set mechanism for get a set mechanism compact structure, and the scheme is simple practical, and the design is ingenious.
Furthermore, through continuous exploration and test, the invention is provided with the hook connector and the shifting fork component; the storage tray located in the cabinet body mouth is pulled to the upper end of the hooking member through the shifting fork assembly, and then the hooking member can drive the storage tray to continue to translate, so that on one hand, the movement of the storage tray can be realized, on the other hand, the shifting fork assembly and the movement range of the hooking member can be completely in the movement range of the storage tray and the vehicle body structure, the extending range of the vehicle body structure can be not exceeded, the space occupation of the tray taking mechanism is effectively reduced, the width space required by the vehicle body structure in the movement process is further reduced, the space waste is avoided, the storage type taking and storing equipment occupation area is reduced, the popularization and the use are facilitated, and the user experience is good.
Drawings
FIG. 1 is a partial structural view of the present invention;
FIG. 2 is a schematic view showing a state in which a first hook member of the present invention is to be driven;
FIG. 3 is a structural view showing a state in which the driving of the first finger hook member of the present invention is completed;
FIG. 4 is a schematic view showing a state to be taken when the hook assembly and the fork assembly are simultaneously driven;
FIG. 5 is a schematic view of the structure of the fork assembly and the storage tray of the present invention in an engaged state;
FIG. 6 is a schematic view of the hook connector and the storage tray of the present invention in an engaged state;
FIG. 7 is a structural view showing a completed state when the hook assembly and the fork assembly are simultaneously driven according to the present invention;
FIG. 8 is a schematic illustration of the structure of the present invention with the addition of two pulley assemblies;
FIG. 9 is a schematic view of a structure of a storage tray according to the present invention;
fig. 10 is a bottom view of the storage tray of fig. 9.
Reference numerals illustrate:
1. a storage tray; 11. a first concave part; 12. a second concave part; 2. a hook connector; 3. a chain; 4. a fork assembly; 41. a convex body; 42. a rotating electric machine; 43. a bottom plate; 44. a sliding rail; 45. a rod piece; 5. a servo motor; 6. a rotating shaft; 7. a synchronous wheel set; 71. a rotating wheel; 72. a synchronous belt; 8. a gear assembly; 81. a driving wheel; 82. driven wheel; 83. a reversing wheel; 9. a chute; 100. a vehicle body structure; 10. and (5) a mounting table.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
On the contrary, the invention is intended to cover any alternatives, modifications, equivalents, and variations as may be included within the spirit and scope of the invention as defined by the appended claims. Further, in the following detailed description of the present invention, certain specific details are set forth in order to provide a better understanding of the present invention. The present invention will be fully understood by those skilled in the art without the details described herein.
It is to be noted that when two elements are "fixedly connected" or "slidably connected," the two elements may be directly connected or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "horizontal," "vertical," "upper," "lower," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or/and" as used herein includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1-10, one embodiment of the tray-taking mechanism of the present invention:
the tray taking mechanism comprises a storage tray 1, a shifting fork assembly 4 for pulling the storage tray 1 and a finger hook assembly for driving the storage tray 1 to move;
the shifting fork assembly 4 comprises a convex body 41 for abutting or hooking the storage tray 1, a rod piece 45 for extending the extending range of the convex body 41, a rotating motor 42 for driving the rod piece 45 and the convex body 41 to rotate, a bottom plate 43 for assembling the rotating motor 42, and a synchronous belt 72 for driving the bottom plate 43 to move;
the rod piece, the convex body and the rotating motor form a shifting fork structure; the rod piece and the convex body form a shifting fork.
The finger hook component comprises a hook piece 2 for abutting or hooking the storage tray 1 and a chain 3 for driving the hook piece 2 to reciprocate;
the synchronous belt 72 is fixedly connected with the bottom plate 43 of the shifting fork assembly 4;
the chain 3 is fixedly connected with the hook connector 2;
the convex body 41 can extend out of the synchronous belt 72 under the drive of the rotating motor 42 and can pull the storage tray 1 onto the hook connector 2; the hooking part 2 drives the storage tray 1 to move to the designated position.
Through continuous exploration and test, the invention is provided with a finger hook component and a shifting fork component 4; the storage tray 1 located far away is pulled to the upper end of the hook connector 2 through the shifting fork assembly 4, and then the hook connector 2 can drive the storage tray 1 to continue to translate, so that on one hand, the movement of the storage tray 1 can be realized, on the other hand, the moving range of the shifting fork assembly 4 and the hook connector 2 can be completely within the moving range of the storage tray 1 or the vehicle body structure 100, the extending range of the vehicle body structure 100 can be not exceeded, the space occupation of the shifting fork assembly 4 is effectively reduced, the width space required by the vehicle body structure 100 in the moving process is further reduced, and the space waste is avoided.
One specific embodiment of the hooking structure of the present invention:
the hooking piece 2 extends vertically, protrudes out of the plane of the chain 3 and can extend into the groove of the storage tray 1;
the hook 2 extends vertically and does not extend transversely, so that the length of the hook 2 can be effectively reduced, the moving process of the hook 2 is avoided, and the extending range of the vehicle body structure 100 is exceeded.
The spacing distance between the lower end face of the storage tray 1 and the chain 3 in the vertical direction is A;
the extension length of the hook connector 2 is B;
a < B, ensures that the hooking element 2 is able to hook the storage tray 1.
One specific embodiment of the storage tray 1 of the present invention:
the storage tray 1 is assembled above the chain 3 through a chute 9 structure;
the lower end of the storage tray 1 is provided with at least two connecting points which can be fixedly connected with the hook-connecting piece 2;
the connecting point is a groove or a hook-shaped structure or a magnetic piece or a blocking part protruding out of the lower end face of the storage tray 1.
One embodiment of the drive system of the present invention:
the synchronous belt 72 is connected with a servo motor 5 through a synchronous wheel assembly 7;
the servo motor 5 drives the chain 3 to move through the gear assembly 8, so that the number of the servo motors 5 is effectively reduced, and the manufacturing cost is reduced.
The synchronous wheel set 7 and the gear assembly 8 share a rotating shaft 6;
the synchronous wheel set 7 comprises two rotating wheels 71 which are symmetrically arranged;
the gear assembly 8 comprises a driving wheel 81 fixedly connected with the rotating shaft 6, a reversing wheel 83 meshed with the driving wheel 81 and a driven wheel 82 meshed with the reversing wheel 83;
the radial dimension of the driving wheel 81 is larger than that of the driven wheel 82, and the number of teeth of the driving wheel 81 is larger than that of the driven wheel 82;
the radial dimension of the reversing wheel 83 is the same as that of the driven wheel 82, and the number of teeth of the reversing wheel 83 is the same as that of the driven wheel 82;
the radial dimension of the driven wheel 82 is greater than or equal to the radial dimension of the rotating wheel 71, the number of teeth of the driven wheel 82 is greater than or equal to the number of teeth of the rotating wheel 71, so that the moving speed of the hooking member 2 is greater than the moving speed of the convex body 41 and the rod member 45, when the hooking member 2 drives the storage tray 1 to the edge of the chain 3, the convex body 41 and the rod member 45 are positioned on the synchronous belt 72, the rod member 45 is effectively prevented from protruding out of the moving range of the storage tray 1, the space occupation of a driving mechanism is reduced, the matched movement of the shifting fork assembly 4 and the finger hook assembly can be realized by using one servo motor 5, and the method is simple, practical, feasible, ingenious in conception and low in manufacturing cost.
The distance between the end of the synchronous belt 72 and the end of the storage tray 1 in the initial state is b;
the length of the rod piece 45 is a;
said a > b ensures that the lever 45 is able to pull the remotely located storage tray 1 onto the timing belt 72.
One embodiment of the invention is additionally provided with an inductor:
the synchronous belt 72 or the chain 3 or the storage tray 1 is provided with an inductor, and when the inductor senses that the storage tray 1 reaches a preset position, the rotating motor 42 controls the convex body 41 to rotate, so that the shifting fork assembly 4 is out of contact with or in abutting connection with the storage tray 1.
The invention relates to a working principle of a disc taking mechanism, which comprises the following steps:
as shown in fig. 8, the body structure 100 is shown in fig. 8, the servo motor 5 drives the shifting fork structure to move horizontally along the direction of the guide rail through the synchronous wheel set 7, meanwhile, the servo motor 5 also drives the hooking member 2 on the chain 3 to move along the same direction along the horizontal direction as the shifting fork structure through the gear mechanism, and the shifting fork structure and the hooking member 2 move in the same direction but at different speeds (the moving speed of the hooking member 2 is faster than that of the shifting fork structure).
Two shifting fork holes (a first concave part 11) and two finger hook holes (a second concave part 12) are formed in the front end and the rear end of the bottom of the storage tray, the rotating motor 42 controls the shifting fork structure to be in a loosening (horizontal) state and a connecting (vertical) state, two groups of modules are arranged on the shifting fork structure, and four shifting forks (two shifting forks on the left side are used for the storage tray on the left container, and two shifting forks on the right side are used for the storage tray on the right container) are arranged on the shifting fork structure.
When the tray is taken, the shifting fork structure is in a loosening state, the shifting fork structure moves forwards, the convex body 41 of the shifting fork structure is just below a shifting fork hole of the tray to be taken, the shifting fork structure is in a connection state, then the shifting fork structure is retracted with the storage tray through the convex body, and the storage tray starts to leave the goods shelf and enter the car body structure 100.
When the storage pallet is approximately one-fifth of the length into the body structure 100, the hook 2 on the chain 3 has just passed from the lower chain 3 through the sprocket corners to the upper chain 3 position into the finger hook hole of the storage pallet.
Because the moving speed of the hook connector 2 is faster than that of the shifting fork structure, when the hook connector 2 contacts the front inner wall of the finger hook hole on the storage tray, the convex body of the shifting fork structure is separated from the front inner wall of the shifting fork hole on the storage tray, and the shifting fork structure is changed into a loosening state; the hooking member 2 drags the storage pallet to the vehicle body structure 100, and stops when the storage pallet is at the left and right centering positions of the vehicle body structure 100, and the pallet is taken out, so that the whole shifting fork structure does not exceed the vehicle body structure 100.
The invention relates to a specific embodiment of storage type taking and storing equipment, which comprises the following steps:
a storage type taking and storing device,
comprises a disc taking mechanism as described above;
the device comprises a cabinet body with a plurality of grid openings, a storage tray 1 capable of being placed at the grid openings, and a vehicle body structure 100 for assembling a shifting fork assembly 4 and a hooking assembly;
the lower end face of the storage tray 1 is provided with at least two grooves, wherein the grooves comprise a first concave part 11 and a second concave part 12;
the shifting fork assembly 4 comprises a convex body 41 for abutting or hooking the storage tray 1, a rod piece 45 for extending the extending range of the convex body 41, a rotating motor 42 for driving the rod piece 45 and the convex body 41 to rotate, a bottom plate 43 for assembling the rotating motor 42, and a synchronous belt 72 for driving the bottom plate 43 to move;
the finger hook component comprises a hook piece 2 for abutting or hooking the storage tray 1 and a chain 3 for driving the hook piece 2 to reciprocate;
the synchronous belt 72 is fixedly connected with the bottom plate 43 of the shifting fork assembly 4;
the chain 3 is fixedly connected with the hook connector 2;
the storage tray 1 is assembled in the grid through a rail in a sliding manner;
the convex body 41 can extend out of the synchronous belt 72 under the drive of the rotating motor 42 and can pull the storage tray 1 onto the hook connector 2; the hooking part 2 drives the storage tray 1 to move to the designated position.
The cabinet body is an annular cabinet body, and a plurality of grid openings are arranged around a circle of the disc taking mechanism;
the two ends of the shifting fork assembly 4 are respectively provided with a convex body 41, and the rotating motor 42 is assembled in the middle position of the shifting fork assembly 4;
the lower end of the bottom plate 43 is erected above the vehicle body structure 100 by a slide rail 44;
the synchronous belt 72 is connected with a servo motor 5 through a synchronous wheel assembly 7;
the servo motor 5 drives the chain 3 to move through the gear assembly 8 at the same time;
the synchronous wheel set 7 and the gear assembly 8 share a rotating shaft 6;
the synchronous wheel set 7 comprises two rotating wheels 71 which are symmetrically arranged;
the gear assembly 8 comprises a driving wheel 81 fixedly connected with the rotating shaft 6, a reversing wheel 83 meshed with the driving wheel 81 and a driven wheel 82 meshed with the reversing wheel 83;
the modulus of the driving wheel 81 and the modulus of the driven wheel 82 are respectively 1.5, and the number of teeth of the driving wheel 81 is 43;
the radial dimension of the reversing wheel 83 is the same as the radial dimension and the modulus of the driven wheel 82, and the number of teeth of the reversing wheel 83 is 27;
the rotating wheel 71 is a 5M synchronous pulley, the number of teeth of the rotating wheel is 26, so that the moving speed of the hooking member 2 is greater than that of the shifting fork assembly 4, the moving speed of the hooking member 2 is greater than that of the convex body 41 and the rod piece 45, when the hooking member 2 drives the storage tray 1 to the edge of the chain 3, the convex body 41 and the rod piece 45 are positioned on the synchronous belt 72, the rod piece 45 is effectively prevented from protruding out of the moving range of the storage tray 1, the space occupation of a driving mechanism is reduced, the matched movement of the shifting fork assembly 4 and the finger hook assembly can be realized by using one servo motor 5, the scheme is simple, practical, feasible, ingenious in design and low in manufacturing cost.
The invention relates to a specific embodiment of a warehouse style taking and storing method, which comprises the following steps:
a warehouse style taking and storing method comprises the following steps:
the warehouse style taking and storing equipment comprises the warehouse style taking and storing equipment;
firstly, the synchronous belt 72 drives the shifting fork component 4 to extend to the grid, and the convex body 41 is rotated into the concave part I11 of the storage tray 1 through the rotating motor 42, so that the shifting fork component 4 is in abutting connection with the concave part I11, and a temporary synchronous moving structure is formed;
secondly, after the abutting connection of the shifting fork assembly 4 and the concave part I11 in the first step is completed, the synchronous belt 72 pulls the shifting fork assembly 4 and the storage tray 1 to move in a direction away from the grid under the driving of the servo motor 5, so that the storage tray 1 is close to the hooking member 2;
thirdly, when the storage tray 1 moves towards the hooking member 2, the servo motor 5 in the second step drives the chain 3 to move together, so that the chain 3 drives the hooking member 2 to move towards the storage tray 1;
fourthly, controlling the moving speed of the storage tray 1 and the hooking member 2 in the third step, so that the hooking member 2 extends into the concave part II 12 of the storage tray 1, and realizing the abutting connection of the hooking member 2 and the storage tray 1; simultaneously, the rotating motor 42 enables the convex body 41 to rotate out of the concave part I11 of the storage tray 1, so that the shifting fork component 4 is separated from the storage tray 1;
fifthly, after the abutting connection of the hooking piece 2 and the storage tray 1 in the fourth step is completed, the chain 3 drives the hooking piece 2 and the storage tray 1 to move to a preset position together;
sixthly, when the storage tray 1 in the fifth step reaches a preset position, carrying out the picking or placing operation;
seventh, after the picking or placing of the piece in the sixth step is completed, the hooking piece 2 drives the storage tray 1 to return;
eighth, after the storage tray 1 in the seventh step reaches the edge of the chain 3, the convex body 41 of the shifting fork assembly 4 drives the tray to be stored in a corresponding grid, so that the storage of the storage tray 1 is completed;
and ninth, after the storage in the eighth step is completed, the chain continues to drive the hooking piece to move, and returns to the initial position of the hooking piece to wait for the next disc taking.
Through continuous exploration and test, the invention utilizes the finger hook component and the shifting fork component 4; the storage tray 1 positioned at the grid port is pulled to the upper end of the hooking member 2 through the shifting fork assembly 4, and then the hooking member 2 can drive the storage tray 1 to continuously translate, so that the picking and placing process of the storage tray 1 is completed; meanwhile, the moving range of the rod piece 45 and the hook connector 2 of the shifting fork assembly 4 can be completely within the moving range of the storage tray 1 or the vehicle body structure 100, the extending range of the vehicle body structure 100 can be not exceeded, the space occupation of the rod piece 45 is effectively reduced, the width space required by the vehicle body structure 100 in the moving process is further reduced, the space waste is avoided, the occupied area of storage type taking and storing equipment is reduced, the popularization and the use are facilitated, and the user experience is good.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (8)
1. A disc taking mechanism is characterized in that,
the device comprises a storage tray (1), a shifting fork component (4) for pulling the storage tray (1) and a finger hook component for driving the storage tray (1) to move;
the shifting fork assembly (4) comprises a convex body (41) for abutting or hooking the storage tray (1), a rod piece for extending the extending range of the convex body (41), a rotating motor (42) for driving the rod piece and the convex body (41) to rotate, a bottom plate (43) for assembling the rotating motor (42), and a synchronous belt (72) for driving the bottom plate (43) to move;
the finger hook component comprises a hook piece (2) for abutting or hooking the storage tray (1) and a chain (3) for driving the hook piece (2) to reciprocate;
the synchronous belt (72) is fixedly connected with a bottom plate (43) of the shifting fork assembly (4);
the chain (3) is fixedly connected with the hook connector (2);
the convex body (41) can extend out of the synchronous belt (72) under the drive of the rotating motor (42) and can pull the storage tray (1) to the hook connector (2); the hooking piece (2) drives the storage tray (1) to move to a designated position;
the synchronous belt (72) is connected with a servo motor (5) through a synchronous wheel set (7);
the servo motor (5) drives the chain (3) to move through the gear assembly (8) at the same time;
the synchronous wheel set (7) and the gear assembly (8) share a rotating shaft (6);
the synchronous wheel set (7) comprises two rotating wheels (71) which are symmetrically arranged;
the gear assembly (8) comprises a driving wheel (81) fixedly connected with the rotating shaft (6), a reversing wheel (83) meshed with the driving wheel (81) and a driven wheel (82) meshed with the reversing wheel (83);
the radial dimension of the driving wheel (81) is larger than that of the driven wheel (82), and the number of teeth of the driving wheel (81) is larger than that of the driven wheel (82);
the radial dimension of the reversing wheel (83) is the same as that of the driven wheel (82), and the number of teeth of the reversing wheel and the driven wheel are the same;
the radial dimension of the driven wheel (82) is larger than or equal to that of the rotating wheel (71), and the number of teeth of the driven wheel (82) is larger than or equal to that of the rotating wheel (71); so that the movement speed of the hooking element (2) is greater than the movement speed of the fork assembly (4);
the synchronous belt (72) or the chain (3) or the storage tray (1) is provided with an inductor, and when the inductor induces the storage tray (1) to reach a preset position, the rotating motor (42) controls the convex body (41) to rotate, so that the shifting fork component (4) is separated from or in abutting connection with the storage tray (1);
the distance between the end part of the synchronous belt (72) and the end part of the storage tray (1) in the initial state is b;
the length of the rod piece is a;
the a > b.
2. A tray taking mechanism as claimed in claim 1, wherein,
-said chain (3) providing a traction space;
when the hook-connecting piece (2) moves on the traction section space, the hook-connecting piece (2) is in abutting connection with the storage tray (1) and drives the storage tray (1) to move from the initial position of the traction section space to the final position of the traction section space, and then the hook-connecting piece (2) is separated from the storage tray (1).
3. A tray taking mechanism as claimed in claim 2, wherein,
the chain (3) is of an oval structure which is arranged up and down;
the traction section space is a straight line section track.
4. A tray taking mechanism as claimed in claim 1, wherein,
the hooking piece (2) extends vertically and protrudes out of the plane of the chain (3) and can extend into the groove of the storage tray (1);
the spacing distance between the lower end face of the storage tray (1) and the chain (3) in the vertical direction is A;
the extending length of the hook connector (2) is B;
A<B。
5. a tray taking mechanism as claimed in claim 1, wherein,
the storage tray (1) is assembled above the chain (3) through a chute (9) structure;
the lower end of the storage tray (1) is provided with at least two connecting points which can be fixedly connected with the hooking piece (2);
the connecting point is a groove or a hook-shaped structure or a magnetic piece or a blocking part protruding out of the lower end face of the storage tray (1).
6. A warehouse style taking and storing device is characterized in that,
a tray-taking mechanism comprising a tray-taking mechanism as claimed in any one of claims 1-5;
the novel multifunctional storage box comprises a box body with a plurality of grid openings, a storage tray (1) capable of being placed at the grid openings, and a vehicle body structure (100) for assembling a shifting fork assembly (4) and a hooking assembly;
the lower end face of the storage tray (1) is provided with at least two grooves, and the grooves comprise a first concave part (11) and a second concave part (12);
the shifting fork assembly (4) comprises a convex body (41) for abutting or hooking the storage tray (1), a rod piece for extending the extending range of the convex body (41), a rotating motor (42) for driving the rod piece and the convex body (41) to rotate, a bottom plate (43) for assembling the rotating motor (42), and a synchronous belt (72) for driving the bottom plate (43) to move;
the finger hook component comprises a hook piece (2) for abutting or hooking the storage tray (1) and a chain (3) for driving the hook piece (2) to reciprocate;
the synchronous belt (72) is fixedly connected with a bottom plate (43) of the shifting fork assembly (4);
the chain (3) is fixedly connected with the hook connector (2);
the storage tray (1) is assembled in the grid through a rail in a sliding manner;
the convex body (41) can extend out of the synchronous belt (72) under the drive of the rotating motor (42) and can pull the storage tray (1) to the hook connector (2); the hooking piece (2) drives the storage tray (1) to move to a designated position.
7. A warehouse style access device as claimed in claim 6, wherein,
the cabinet body is an annular cabinet body, and a plurality of grid openings are arranged around a circle of the disc taking mechanism;
the two ends of the shifting fork assembly (4) are respectively provided with a convex body (41), and the rotating motor (42) is assembled in the middle of the shifting fork assembly (4);
the lower end part of the bottom plate (43) is erected above the vehicle body structure (100) through a sliding track (44);
the synchronous belt (72) is connected with a servo motor (5) through a synchronous wheel set (7);
the servo motor (5) drives the chain (3) to move through the gear assembly (8) at the same time;
the synchronous wheel set (7) and the gear assembly (8) share a rotating shaft (6);
the synchronous wheel set (7) comprises two rotating wheels (71) which are symmetrically arranged;
the gear assembly (8) comprises a driving wheel (81) fixedly connected with the rotating shaft (6), a reversing wheel (83) meshed with the driving wheel (81) and a driven wheel (82) meshed with the reversing wheel (83);
the modulus of the driving wheel (81) and the modulus of the driven wheel (82) are respectively 1.5, and the number of teeth of the driving wheel (81) is 43;
the radial dimension of the reversing wheel (83) is the same as the radial dimension and the modulus of the driven wheel (82), and the number of teeth of the reversing wheel and the driven wheel are 27;
the rotating wheel (71) is a 5M synchronous pulley with the number of teeth of 26, so that the moving speed of the hooking piece (2) is larger than that of the shifting fork assembly (4).
8. The warehouse style taking and storing method is characterized by comprising the following steps:
a warehouse style access device comprising any one of claims 6-7;
the method comprises the steps that firstly, a synchronous belt (72) drives a shifting fork assembly (4) to extend out of a grid, a convex body (41) is enabled to be rotated into a concave part I (11) of a storage tray (1) through a rotating motor (42), so that the shifting fork assembly (4) is in abutting connection with the concave part I (11), and a temporary synchronous moving structure is formed;
secondly, after the abutting connection of the shifting fork assembly (4) and the first concave part (11) in the first step is completed, the synchronous belt (72) pulls the shifting fork assembly (4) and the storage tray (1) to move in the direction away from the grid opening under the driving of the servo motor (5), so that the storage tray (1) is close to the hooking piece (2);
thirdly, when the storage tray (1) moves towards the hooking piece (2), the servo motor (5) in the second step drives the chain (3) to move together, so that the chain (3) drives the hooking piece (2) to move towards the storage tray (1);
fourthly, controlling the moving speed of the storage tray (1) and the hooking piece (2) in the third step, so that the hooking piece (2) stretches into a concave part II (12) of the storage tray (1), and the hooking piece (2) is in abutting connection with the storage tray (1); simultaneously, the rotating motor (42) enables the convex body (41) to rotate out of the concave part I (11) of the storage tray (1) so as to separate the shifting fork component (4) from the storage tray (1);
fifthly, after the abutting connection of the hooking piece (2) and the storage tray (1) in the fourth step is completed, the chain (3) drives the hooking piece (2) and the storage tray (1) to move to a preset position together;
sixthly, when the storage tray (1) in the fifth step reaches a preset position, carrying out the picking or placing operation;
seventh, after the picking or placing of the piece in the sixth step is completed, the hooking piece (2) drives the storage tray (1) to return;
eighth, after the storage tray (1) in the seventh step reaches the edge of the chain (3), the convex body (41) of the shifting fork assembly (4) drives the tray to be stored in a corresponding grid, and storage of the storage tray (1) is completed;
and ninth, after the storage in the eighth step is completed, the chain (3) continuously drives the hooking piece to move, and returns to the initial position of the hooking piece to wait for the next disc taking.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210347590.XA CN114715589B (en) | 2022-04-01 | 2022-04-01 | Tray taking mechanism, storage type storage equipment using tray taking mechanism and storage method |
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| CN202210347590.XA CN114715589B (en) | 2022-04-01 | 2022-04-01 | Tray taking mechanism, storage type storage equipment using tray taking mechanism and storage method |
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| CN114715589B true CN114715589B (en) | 2023-12-15 |
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| CN114715589A (en) | 2022-07-08 |
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