CN116462131A - Lane changing and layer changing equipment and stacking system - Google Patents

Abstract

The invention belongs to the technical field of logistics, and particularly discloses lane and layer changing equipment and a stacking system. Lane change layer change equipment includes: the layer changing mechanism can be movably arranged on the lane changing mechanism along the X direction; the butt joint mechanism comprises a Y-direction sliding table and a butt joint guide rail, the Y-direction sliding table can be installed on the layer changing mechanism in a lifting manner along the Z direction, the Y-direction sliding table is provided with a bearing space for the stacker to enter and exit along the Y direction, the upper side and the lower side of the bearing space of the Y-direction sliding table are respectively provided with the butt joint guide rail, the two butt joint guide rails are matched with the upper side and the lower side of the stacker, the Y-direction sliding block can move along the Y direction relative to the layer changing mechanism, so that the butt joint guide rail is in butt joint or separation with the shelf guide rail, and the X direction, the Y direction and the Z direction are mutually perpendicular. The lane and layer changing equipment and the stacking system can reduce the stacking cost and improve the stacking safety and reliability.

Description

Lane changing and layer changing equipment and stacking system

Technical Field

The invention relates to the technical field of logistics, in particular to lane and layer changing equipment and a stacking system.

Background

Stacker cranes, also known as stackers, are the most important lifting and transporting equipment in stereoscopic warehouses. The stacker generally includes a carrying frame and an objective table, where the objective table is used for placing goods, and the objective table is movably disposed on the carrying frame along a vertical direction to lift and stack the goods. The stereoscopic warehouse is provided with a fixed rail, and the bearing frame can be horizontally and slidably arranged on the fixed rail so as to realize the reciprocating movement of the stacker along the horizontal direction and stack cargoes at different positions of the stereoscopic warehouse.

The stacking system in the existing stereoscopic warehouse is generally that a stacking machine is configured in a roadway, a top rail and a ground rail are arranged in the roadway, and the upper end and the lower end of a bearing frame of the stacking machine are respectively connected with the top rail and the ground rail in a sliding mode, so that the stacking machine can horizontally move along the top rail and the ground rail, and goods of storage shelves on two sides of the roadway can be fetched and placed. This arrangement results in a greater number of stackers when there are more lanes in the stereoscopic warehouse, thereby resulting in a higher cost of the stacking system; meanwhile, as the storage shelf is higher, the bearing frame of the stacker is higher, so that the overall height of the stacker is larger, and the gravity center is unstable easily when the objective table runs to a higher position, thereby influencing the use safety and reliability of the stacker; and the stacker with larger height has higher weight and cost, and further increases the running cost of the stacking system.

Accordingly, a stacking system is needed to solve the above-mentioned technical problems.

Disclosure of Invention

The first object of the embodiment of the invention is to provide lane and layer changing equipment, which is used for solving the problems of poor running stability and high cost caused by larger height and higher center of a stacker in the prior art, improving the use reliability and flexibility of the stacker and reducing the cost.

A second object of embodiments of the present invention is to provide a stacking system, so as to improve the operation flexibility and reliability of the stacking system and reduce the cost of the stacking system.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

lane change layer change equipment includes:

lane changing mechanism extending along X direction;

the layer changing mechanism extends along the Z direction, and the lane changing mechanism is movably arranged on the lane changing mechanism along the X direction;

the butt joint mechanism comprises a Y-direction sliding table and a butt joint guide rail, wherein the Y-direction sliding table can be installed on the layer changing mechanism in a lifting manner along the Z direction, the Y-direction sliding table is provided with a bearing space for a stacker to enter and exit along the Y direction, the upper side and the lower side of the bearing space are both provided with the butt joint guide rail, the two butt joint guide rails are used for being matched with the upper side and the lower side of the stacker, the Y-direction sliding block can move along the Y direction relative to the layer changing mechanism, so that the butt joint guide rail is in butt joint or separation with a shelf guide rail, and the X direction, the Y direction and the Z direction are mutually perpendicular.

As an optional technical scheme of the reversing layer-changing device, the two butt joint guide rails are a butt joint top rail and a ground joint rail respectively, the butt joint top rail is opposite to and arranged above the ground joint rail at intervals, the butt joint top rail is used for butt joint with the goods shelf top rail, and the ground joint rail is used for butt joint with the goods shelf ground rail;

The butt joint end of the butt joint antenna rail and the butt joint end of the butt joint rail extend out of the Y-direction sliding table along the Y direction.

As an alternative technical scheme of the reversing layer-changing device, one of the butt joint end of the grounding rail and the butt joint end of the goods shelf grounding rail is provided with a V-shaped butt joint groove, the other is convexly provided with a V-shaped butt joint convex part, the shape of the butt joint convex part is the same as that of the butt joint groove, and the butt joint convex part is in splicing fit with the butt joint groove;

and/or one of the butt joint end of the butt joint top rail and the butt joint end of the goods shelf top rail is convexly provided with a positioning protrusion, the other one is provided with a positioning hole, and the positioning protrusion can be inserted into the positioning hole.

As an optional technical scheme of the reversing layer-changing device, when the positioning protrusion is inserted into the positioning hole, two opposite sides of the positioning protrusion along the X direction are abutted against the hole wall of the positioning hole, and a gap for the positioning protrusion to float along the Z direction is formed between at least one side of the positioning protrusion along the Z direction and the hole wall of the positioning hole.

As an alternative technical solution of a reversing layer-changing device, the layer-changing mechanism includes:

the lifting vertical frame can be slidably arranged on the lane changing mechanism along the X direction;

The lifting carrier can be installed on the lifting stand in a lifting manner along the Z direction, the Y-direction sliding table is arranged on the inner side of the lifting carrier in a sliding manner, and the Y-direction sliding table can extend out of the lifting carrier in a sliding manner along the Y direction.

As an alternative technical scheme of the reversing layer-changing equipment, a Y-direction driving motor is arranged on the lifting carrier, and a Y-direction driving gear is sleeved on an output shaft of the Y-direction driving motor;

and a Y-direction rack is laid on the Y-direction sliding block along the Y direction and meshed with the Y-direction driving gear.

As an optional technical scheme of the reversing layer-changing device, the lane-changing mechanism comprises a fixed bottom plate and an X-direction rack paved on the fixed bottom plate, wherein the fixed bottom plate and the X-direction rack extend along the X direction;

an X-direction driving motor is arranged at the bottom of the lifting stand, an X-direction driving gear is sleeved on a motor shaft of the X-direction driving motor, and the X-direction driving gear is meshed with the X-direction rack.

A stacking system, comprising:

the storage rack system comprises multiple layers of storage racks arranged side by side along the Z direction, each layer of storage racks is provided with multiple stacking lanes which are arranged in parallel along the X direction at intervals, each stacking lane extends along the Y direction, and the upper end and the lower end of each stacking lane are provided with rack guide rails;

The stacker can move along the goods shelf guide rail in the stacking roadway in a matched manner;

the lane changing and layer changing device is arranged outside one side of the goods shelf system along the Y direction, can drive the stacker to be aligned with any stacking roadway, and can transfer between the Y-direction sliding table and the stacking roadway when the goods shelf guide rail is in butt joint with the butt joint guide rail.

As an optional technical scheme of stacking system, every layer storage goods shelves include bearing substrate and set up the goods shelves group on the bearing substrate, goods shelves group is including two storage goods shelves of relative and interval setting, two form between the storage goods shelves the stack tunnel, goods shelves group is followed X direction is provided with two at least side by side, is located the downside the goods shelves guide rail is laid on the bearing substrate.

As an optional technical scheme of stacking system, the stacking system still includes the transfer chain, the transfer chain with storage goods shelves one-to-one sets up, the transfer chain set up in storage goods shelves keep away from trade lane trade layer equipment's one side, the goods shelves guide rail is followed the Y direction extends to between two adjacent transfer chain, the stacker can with the goods place to on the transfer chain and pick up goods on the transfer chain.

The invention has the beneficial effects that:

according to the lane changing and layer changing equipment provided by the embodiment of the invention, the lane changing mechanism, the layer changing mechanism and the butt joint mechanism are matched, so that the stacking system can be driven to operate in any stacking lane of any layer of storage shelves, the goods in any stacking lane can be taken and placed by only one stacking machine, the number of the stacking machines in the stacking system is reduced, the range of the stacker can be widened, and the storage cost is reduced; meanwhile, the stacking machine can be driven to lift by the layer changing mechanism, so that the stacking machine can be operated to a stacking roadway of a high layer, the height of a single stacking machine and the height of a single-layer storage rack can be reduced, the overall weight and the cost of the stacking machine are reduced, the operation energy consumption of the stacking machine is reduced, and the cost is saved; meanwhile, as the overall height of the stacker is reduced, the anti-rolling capability of the stacker is stronger, so that the stability of the stacker when picking and placing high-rise cargoes in a stacking roadway is increased, and the stacking safety and reliability are improved; furthermore, as the weight of the stacker is reduced, the requirement on the bearing capacity of the bottom surface is reduced, the strength requirement on the bottom surface of the using field of the stacker can be reduced, and the cost of the stacking system is further reduced.

According to the stacking system provided by the embodiment of the invention, the lane change and layer change equipment is adopted, so that the cost of the stacking system can be reduced, and the operation safety and reliability of the stacking system can be improved.

Drawings

FIG. 1 is a schematic diagram of a stacking system according to an embodiment of the present invention;

FIG. 2 is a front view of a stacking system provided by an embodiment of the present invention;

FIG. 3 is a schematic view of a structure of a storage rack according to an embodiment of the present invention;

FIG. 4 is an enlarged view of a portion of FIG. 3 at I;

fig. 5 is a schematic structural diagram of a stacker provided in an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a lane change and layer change device and a stacker provided by an embodiment of the present invention;

fig. 7 is a schematic structural diagram of lane and layer changing equipment according to an embodiment of the present invention;

FIG. 8 is an enlarged view of a portion at J in FIG. 7;

FIG. 9 is an enlarged view of a portion of FIG. 7 at K;

fig. 10 is a schematic diagram of a part of a lane change and layer change device according to an embodiment of the present invention;

FIG. 11 is a front view of lane change and layer change equipment provided by an embodiment of the invention;

fig. 12 is a schematic view of the structure at L in fig. 11;

FIG. 13 is a schematic view of the structure at M in FIG. 11;

fig. 14 is a schematic structural view of a docking antenna rail according to an embodiment of the present invention;

Fig. 15 is a schematic structural diagram of a butt end of a ground rail and a shelf ground rail according to an embodiment of the present invention.

The figures are labeled as follows:

100. lane and layer changing equipment; 200. a stacker; 201. a mounting frame; 202. a goods taking and placing mechanism; 203. a driving wheel; 204. a guide wheel; 205. a stacking lifting mechanism; 300. a shelf system; 301. a carrier substrate; 302. a storage rack; 303. goods shelf top rail; 304. a shelf ground rail; 3041. a butt joint convex part; 305. stacking the roadway; 306. stacking the limiting piece; 307. a connecting beam; 400. a conveying line;

1. lane changing mechanism; 11. a fixed bottom plate; 111. a bottom groove; 12. an X-direction rack; 13. an X-direction guide rail; 14. an X-direction stop;

2. a layer changing mechanism; 21. lifting the vertical frame; 211. lifting the bottom plate; 212. lifting the upright post; 213. a top beam; 22. a lifting driving assembly; 221. a lifting driving motor; 222. a lifting gear; 223. a Z-direction rack; 23. a lifting guide assembly; 231. lifting the guide rail; 232. a lifting slide block; 24. lifting the stop member; 25. lifting the carrying platform; 251. lifting the carrier plate; 252. a load-bearing column; 253. a top beam; 26. an X-direction driving motor; 27. an X-direction driving gear; 28. an X-direction sliding block; 29. a Y-direction driving motor; 210. a Y-direction driving gear; 220. a Y-direction guide rail;

3. A docking mechanism; 31. a Y-direction sliding table; 311. a butt joint sliding plate; 312. a support column; 313. a connecting beam; 32. a Y-direction rack; 34. butting a top rail; 341. positioning the bulge; 342. a guide protrusion; 35. a ground rail; 351. a butt joint groove; 36. a Y-direction sliding block; 37. a Y-direction stopper; 38. and the guide rail leveling assembly.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.

In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

The embodiment provides a stacking system which can be used for stacking, warehousing and ex-warehouse of cargoes on a goods shelf, improves the operation reliability and safety of the stacking system, and reduces the operation cost of the stacking system.

As shown in fig. 1, the stacking system includes a racking system 300, a stacker 200, and a lane change and layer change apparatus 100. Wherein the shelf system 300 is used for realizing layered storage of goods, and is provided with a multi-layer storage shelf 302; lane-changing and layer-changing apparatus 100 is used for realizing the transfer of stacker 200 between different storage shelves 302 or different stacking lanes 305 of the same storage shelf 302, and stacker 200 is used for picking and placing goods on storage shelf 302.

As shown in fig. 1 to 4, the pallet system 300 includes multiple layers of storage pallets 302 arranged side by side in the Z direction, each layer of storage pallet 302 having a plurality of stacking lanes 305 arranged in parallel and at intervals in the X direction, the stacking lanes 305 extending in the Y direction, and pallet rails provided at both upper and lower ends of the stacking lanes 305. The goods shelf guide rail at the upper end of the stacking roadway 305 is a goods shelf top rail 303, the goods shelf guide rail at the lower end of the stacking roadway 305 is a goods shelf ground rail 304, and the upper end and the lower end of the stacker 200 are respectively connected with the goods shelf top rail 303 and the goods shelf ground rail 304, so that the stacker 200 can take and place goods at any side of the stacking roadway 305 along the stacking roadway 305.

In this embodiment, the rack system 300 includes a plurality of carrier substrates 301 parallel and spaced in the vertical direction and a rack set disposed on the carrier substrates 301, the rack set is disposed in one-to-one correspondence with the carrier substrates 301, the rack set includes two storage racks 302 disposed opposite and spaced in the X direction, each storage rack 302 includes a plurality of storage spaces disposed side by side in the vertical direction, each storage space includes a plurality of storage spaces disposed side by side in the Y direction, and each storage space is available for storing goods. The Y direction, the X direction and the Z direction are mutually perpendicular, and the Z direction is the vertical direction. The rack sets are arranged side by side in the X-direction to increase the storage capacity of the rack system 300. In other embodiments, stacking lanes 305 may be formed between any two adjacent storage shelves 302.

The shelf ground rail 304 is laid on the carrier substrate 301, the shelf group further includes a connection beam 307 connected between the top ends of the two storage shelves 302, the connection beam 307 extends in the X direction, and the shelf ground rail 303 is mounted on the connection beam 307.

In this embodiment, the storage shelves 302 are provided with three layers, i.e. the carrier substrate 301 is provided with three, each layer of storage shelves 302 having four shelf groups, i.e. each layer of storage shelves 302 having four stacking lanes 305. In other embodiments, the number of layers of the storage shelves 302 and the number of stacking lanes 305 in each layer of storage shelves 302 may be specifically set according to requirements, which is not the focus of the present invention and will not be repeated here.

The lane-changing and layer-changing apparatus 100 is disposed outside one side of the racking system 300 in the Y-direction, and the stacker 200 is capable of transferring between the lane-changing and layer-changing apparatus 100 and the stacking lane 305. When the stacker 200 is transferred to the lane-changing and layer-changing device 100, the lane-changing and layer-changing device 100 can drive the stacker 200 to move along the X direction so as to butt against different stacking lanes 305 on the same floor, and the lane-changing and layer-changing device 100 can also drive the stacker 200 to move along the Z direction so as to butt against the stacking lanes 305 on different floors.

Preferably, in order to improve the operation efficiency and the operation automation degree of the stacking system, in this embodiment, the stacking system further includes a conveying line 400, the conveying line 400 extends along the Y direction and is arranged in one-to-one correspondence with the storage shelves 302, the conveying line 400 is arranged on one side of the storage shelves 302 away from the lane changing and layer changing device 100, the shelf guide rail extends along the Y direction between two adjacent conveying lines 400, and the stacker 200 can place cargoes on the conveying line 400 and pick up cargoes on the conveying line 400. After the stacker 200 picks up the cargoes in the stacking tunnel 305, the cargoes can be moved to the conveyor line 400 along the stacking tunnel 305, and the cargoes picked up on the stacker 200 are transferred to the conveyor line 400, so that the cargoes can be automatically delivered out; when the conveying line 400 conveys goods to be put in storage, the stacker 200 moves to the target conveying line 400 along the stacking roadway 305, picks up the goods on the target conveying line 400, and stores the goods at the target goods position corresponding to the target goods along the stacking roadway 305, so that automatic put in storage of the goods is realized.

In order to avoid the stacker 200 from dropping down by punching out the carrier substrate 301 in the movement process of the stacker tunnel 305, a stacking limiter 306 is disposed on one side of the pallet track 303 and/or the carrier substrate 301 away from the lane change equipment 100, and the stacking limiter 306 is used for abutting against the stacker 200 so as to limit the limiting position in the pallet system, thereby improving the use safety of the stacker 200.

The lane change layer change device 100 comprises a lane change mechanism 1, a layer change mechanism 2 and a butt joint mechanism 3. The lane changing mechanism 1 is laid on the floor and extends along the X direction, and the layer changing mechanism 2 extends along the Z direction and is movably arranged on the lane changing mechanism 1 along the X direction, so that the layer changing mechanism 2 can be opposite to any stacking lane 305. The docking mechanism 3 includes a Y-direction sliding table 31 and docking guide rails, the Y-direction sliding table 31 can be installed on the layer changing mechanism 2 in a lifting manner along the Z-direction, the Y-direction sliding table 31 has a bearing space for the stacker 200 to enter and exit along the Y-direction, the docking guide rails are arranged on the upper and lower sides of the bearing space of the Y-direction sliding table 31, the two docking guide rails are used for being matched with the upper and lower sides of the stacker 200, and the Y-direction sliding table can move along the Y-direction relative to the layer changing mechanism, so that the docking guide rails are docked with or separated from the shelf guide rails.

According to the lane changing and layer changing device 100 provided by the embodiment, the butt joint between the lane changing and layer changing device 100 and the shelf guide rail can be realized by arranging the butt joint mechanism 3, so that the transfer of the stacker 200 between the stacking lanes 305 and the butt joint mechanism 3 can be realized, and the transfer of the stacker 200 between different stacking lanes 305 can be realized; by arranging the lane changing mechanism 1, the butt joint mechanism 3 can be arranged opposite to any stacking lane 305 in the Y direction, so that the stacker 200 can be transferred into any stacking lane 305 on the same layer through the lane changing and layer changing equipment 100; by providing the stacking mechanism 2, the docking mechanism 3 is enabled to align with the stacking lanes 305 of any one of the layers, thereby enabling the stacker 200 to be transferred into the stacking lanes 305 of any one of the layers.

Namely, the lane change and layer change device 100 provided in this embodiment can drive the stacker 200 to run into any stacking lane 305 of any layer of storage shelves 302 through the cooperation of the lane change mechanism 1, the layer change mechanism 2 and the docking mechanism 3, so that a stacking system can only adopt one stacker 200 to realize the picking and placing of goods in any stacking lane 305, the number of stackers 200 in the stacking system is reduced, the range where the stackers 200 can act is widened, and the storage cost is reduced; meanwhile, the stacking mechanism 2 can drive the stacking machine 200 to lift, so that the stacking machine 200 can be operated to a stacking roadway 305 of a high layer, the height of the single stacking machine 200 and the height of the single-layer storage shelf 302 can be reduced, the overall weight and cost of the stacking machine 200 are reduced, and the operation energy consumption of the stacking machine 200 is reduced, and the cost is saved; meanwhile, as the overall height of the stacker 200 is reduced, the anti-roll capability of the stacker 200 is stronger, so that the stability of the stacker 200 when picking and placing high-rise cargoes in the stacking roadway 305 is increased, and the stacking safety and reliability are improved; furthermore, because the stacker 200 is reduced in weight, the load carrying capacity requirement on the floor is reduced, and the strength requirement on the floor of the place where the stacker 200 is used can be reduced, and the cost of the stacking system can be further reduced.

The stacker 200 includes a mounting frame 201 and a cargo picking and placing mechanism 202 provided on the mounting frame 201, the cargo picking and placing mechanism 202 being capable of picking and placing cargo at a storage rack 302, a conveyor line 400, or other locations. The cargo picking and placing mechanism 202 is mounted on the mounting frame 201 through a stacking lifting mechanism 205, and the stacking lifting mechanism 205 is used to drive the cargo picking and placing mechanism 202 to lift so that the cargo picking and placing mechanism 202 can be aligned with any row of cargo positions on the storage shelf 302. The mounting frame 201 is provided with a translation driving mechanism and a driving wheel 203, and the translation driving mechanism drives the driving wheel 203 to move on the goods shelf ground rail 304 or the grounding rail 35 so as to realize the movement in the stacking roadway 305 of the stacker 200. The upper and lower both ends of mounting frame 201 all are provided with leading wheel 204 group, and leading wheel 204 group includes two leading wheels 204 that set up side by side along the X direction, and two leading wheels 204 centre gripping are corresponding sky rail or ground rail, prevent stacker 200 from producing the toppling at the removal in-process.

It can be appreciated that the principle and specific structure of the stacker 200 for picking and placing cargoes and the matching structure of the stacker 200 and the conveying line 400 can be set with reference to the prior art, which is not the focus of the present invention and will not be repeated here.

As shown in fig. 6 to 11, the lane changing mechanism 1 includes a fixed base plate 11, and an X-direction rack 12 is laid on the upper surface of the fixed base plate 11 in the Y direction. The layer changing mechanism 2 comprises a lifting stand 21 extending along the Z direction and an X-direction driving motor 26 arranged at the bottom of the lifting stand 21, wherein an X-direction driving gear 27 is sleeved on an output shaft of the X-direction driving motor 26, and the X-direction driving gear 27 is meshed with the X-direction rack 12. Thus, when the X-direction driving motor 26 is operated, the X-direction driving gear 27 moves along the X-direction rack 12, and drives the X-direction driving mechanism 2 to move along the X-direction. The docking mechanism 3 is mounted on the lifting stand 21.

In this embodiment, two X-direction racks 12 are parallel and spaced along the Y-direction, and the X-direction driving motor 26 and the X-direction driving gear 27 are disposed in one-to-one correspondence with the X-direction racks 12, so as to reduce the driving force required by a single X-direction driving motor 26 and improve the operational stability and reliability of the layer changing mechanism 2.

In one other embodiment, only one of the X-direction racks 12 may be provided. In other embodiments, a screw-nut mechanism or other linear drive mechanism may be used to effect movement of the layer change mechanism 2 over the reversing mechanism 1.

An X-direction guide assembly is further provided between the lifting stand 21 and the fixing base plate 11 to guide the movement of the lifting stand 21 in the X-direction. The X-direction guide assembly comprises an X-direction guide rail 13 laid on the fixed bottom plate 11 along the X direction and an X-direction slide block 28 in sliding fit with the X-direction guide rail 13, wherein the X-direction slide block 28 is arranged at the bottom of the lifting stand 21. Two or more X-direction sliding blocks 28 can be correspondingly arranged on the same X-direction guide rail 13 so as to improve the moving stability and the stress balance of the layer changing mechanism 2.

The X-direction guide assembly is preferably provided with at least two guide assemblies at intervals along the Y-direction to further improve the stress balance of the layer changing mechanism 2. In the present embodiment, two X-direction guide members are provided, which are located outside the two X-direction drive motors 26, respectively.

In order to avoid the separation of the layer changing mechanism 2 and the lane changing mechanism 1, the lane changing mechanism 1 further comprises an X-direction stop piece 14, wherein the X-direction stop piece 14 is respectively arranged at two ends of the fixed bottom plate 11, and the X-direction stop piece 14 is used for being abutted with the layer changing mechanism 2 so as to limit the travel of the layer changing mechanism 2 along the X-direction and avoid the failure caused by the separation of the layer changing mechanism 2 from the fixed bottom plate 11. The X-direction stop member 14 may be an elastic block, a hydraulic buffer or other structures capable of realizing limiting and buffering, and the specific structure of the X-direction stop member 14 is not limited in the present invention.

Further, a bottom groove 111 is formed on the upper surface of the fixed bottom plate 11, the bottom groove 111 penetrates through the fixed bottom plate 11 along the X direction, two X-direction driving gears 27 are respectively located at two opposite outer sides of the bottom groove 111, two X-direction guide rails 13 are respectively located at the outer sides of the bottom groove 111, an X-direction driving motor 26 at least partially stretches into the bottom groove 111, and an X-direction stop piece 14 is mounted at the bottom of the bottom groove 111. The provision of the bottom recess 111 is advantageous in that it provides sufficient space for the arrangement of the X-direction drive motor 26 while reducing the thickness of the lane changing mechanism 1 in the Z-direction.

The layer changing mechanism 2 further includes a lift drive assembly 22 and a lift stage 25. The lifting carrier 25 is arranged on the lifting stand 21 in a lifting manner along the Z direction, the Y-direction sliding table 31 is arranged on the inner side of the lifting carrier 25 in a sliding manner, and the Y-direction sliding table 31 can extend out of the lifting carrier 25 in a sliding manner along the Y direction; the elevation driving unit 22 is installed on the elevation stand 21 and drives the elevation carriage 25 to elevate.

The lifting stand 21 comprises a lifting base plate 211 which is horizontally arranged and four lifting stand columns 212 which are arranged in a rectangular mode, the X-direction sliding blocks 28 are arranged on the bottom surface of the lifting base plate 211, the lifting stand columns 212 extend along the Z direction, the lower ends of the lifting stand columns are connected with the lifting base plate 211, the top ends of two adjacent lifting stand columns 212 are connected through a top cross beam 213, so that the lifting stand 21 is guaranteed to be in a rigid integrated structure, and the interval stability between the two lifting stand columns 212 is guaranteed.

One side of the lifting base plate 211 is provided with a motor support, the motor support and the X-direction driving motor 26 are arranged in a one-to-one correspondence mode, the motor support comprises a motor fixing plate portion which is arranged vertically and a reinforcing plate portion which is connected between the motor fixing plate portion and the bottom surface of the lifting base plate 211, the upper end and the lower end of the motor fixing plate extend out of the lifting base plate 211, and the X-direction driving motor 26 is arranged on the motor fixing plate portion. It is understood that the structure of the motor support is merely an exemplary structure, and that the existing mounting structure capable of implementing the X-direction driving motor 26 on the lifting base 211 can be applied to the present invention.

In this embodiment, the lifting drive assembly 22 includes a lifting drive motor 221, a lifting gear 222 sleeved on the rotation shaft of the lifting drive motor 221, and a Z-direction rack 223 laid on the lifting column 212, the lifting gear 222 is meshed with the Z-direction rack 223, and the lifting drive motor 221 is mounted on the lifting carrier 25. When the lifting driving motor 221 rotates, the lifting gear 222 is driven to move on the Z-direction rack 223, thereby driving the lifting carrier 25 to lift along the lifting stand 21, i.e. driving the docking mechanism 3 to lift.

Namely, in the present embodiment, the lifting driving motor 221 is matched with the gear rack transmission mode to realize the lifting of the docking mechanism 3, so that the structure is more compact and the occupied space is smaller. However, it will be appreciated that in other embodiments, other transmission structures capable of lifting the lifting platform 25 may be used, such as lifting by using the lifting drive motor 221 in combination with a screw nut structure, or lifting by using the lifting drive motor 221 in combination with a sprocket chain structure.

Since the stacker 200 moves in the Y direction when entering and exiting the lane changing equipment 100, the width of the entering and exiting space of the docking mechanism 3 in the X direction is larger than the width of the stacker 200 in the X direction. Preferably, the lifting column 212 is rectangular in cross section with one side perpendicular to the X direction. The Z-direction rack 223 is laid on one side surface of the lifting upright post 212, which is perpendicular to the Y-direction and faces the other lifting upright post 212, so that occupation of space of the Z-direction rack 223 on the lifting upright post 21 in the X-direction can be avoided, the compactness of the structure is improved, and the width of the whole layer changing mechanism 2 in the X-direction is reduced on the basis that the dimension of the stacker 200 in the X-direction is unchanged, thereby reducing the cost of the lane changing layer changing equipment 100.

In order to improve the stability of the lifting operation of the docking mechanism 3, the lifting driving assembly 22 is provided with two groups, and the Z-racks 223 of the two groups of lifting driving assemblies 22 are respectively paved on the two lifting upright posts 212 which are diagonally arranged, so as to better improve the stress balance of the docking mechanism 3. Preferably, the lifting drive motor 221 is a gear motor, which includes a lifting rotary motor and a lifting speed reducer, the lifting rotary motor is arranged in the Y direction, an input shaft of the lifting speed reducer is arranged in the Y direction, and an output shaft is arranged in the X direction, whereby the floor space of the lifting drive motor 221 can be reduced, and the layout rationality of the lifting drive motor 221 and the structural compactness of the layer changing mechanism 2 can be improved.

In order to further improve the stability and reliability of the lifting movement of the lifting carrier 25 and the docking mechanism 3, the layer changing mechanism 2 further comprises a lifting guide assembly 23, wherein the lifting guide assembly 23 comprises a lifting guide rail 231 paved on the lifting upright post 212 and a lifting slider 232 in sliding fit with the lifting guide rail 231, and the lifting slider 232 is connected with the lifting carrier 25. In this embodiment, each lifting upright post 212 is provided with a lifting guide rail 231, and each lifting guide rail 231 is correspondingly provided with at least two lifting sliders 232, and two ends of the upper end of the lifting carrier 25 are provided with lifting sliders 232, so that the overall stress balance of the lifting carrier 25 and the docking mechanism 3 is effectively improved, and the lifting stability is improved. In other embodiments, the lifting guide rail 231 may be provided on the two lifting columns 212 on which the Z-direction rack 223 is not provided.

In order to avoid the collision of the lifting carrier 25 to the lifting stand 21 during the lifting process, the layer changing mechanism 2 further comprises a lifting stop piece 24, wherein at least one lifting stop piece 24 is arranged at the upper end and the lower end of the lifting stand 21 so as to limit the stroke of the docking mechanism 3 during lifting. Specifically, the lift stopper 24 on the lower side is mounted on the lift base 211, and the lift stopper 24 on the upper side is mounted on the top beam 213. The lifting stopper 24 may be a block or column structure made of an elastic material, or may be a hydraulic buffer or the like.

The lifting carrier 25 includes a lifting carrier plate 251 and four carrying columns 252 distributed in a rectangular shape, the lifting carrier plate 251 is parallel and arranged above the lifting base plate 211 at intervals, the lifting base plate 211 can be abutted with the lifting stop piece 24 to limit the lifting travel of the lifting carrier 25, and the lifting driving motor 221 is mounted on the lifting base plate 211. The bearing columns 252 extend along the Z direction, the lower ends of the bearing columns 252 are connected with the lifting carrier plate 251, and top beams 253 are connected between the top ends of two adjacent bearing columns 252. The lifting slider 232 is mounted on the corresponding carrying column 252, and preferably, lifting sliders 232 are disposed at the upper and lower ends of the carrying column 252 to improve the lifting stability of the lifting carrier 25.

In this embodiment, preferably, the lifting carrier 251 has an i-shaped structure, and the four ends of the i-shaped structure are connected with the bearing columns 252, so as to reduce the weight of the lifting carrier 251 and reduce the cost.

The Y-direction sliding table 31 includes a docking slide 311 and four support columns 312 in rectangular distribution, the support columns 312 extend along the Z direction and the lower ends are connected with the docking slide 311, and the docking slide 311 is slidably disposed at the upper end of the lifting carrier 251. A connecting beam 313 is connected between two adjacent support columns 312. The abutting bottom plate, the support columns 312 and the connecting beams 313 form a bearing space around, and the width between the two support columns 312 which are opposite along the X direction and are arranged at intervals is larger than the width of the stacker 200 along the X direction, so that the stacker 200 can enter and exit the bearing space along the space between the two support columns 312.

The two butt joint guide rails are a butt joint top rail 34 and a ground joint rail 35 respectively, the butt joint top rail 34 is opposite to and arranged above the ground joint rail 35 at intervals, the butt joint top rail 34 is used for butt joint with the goods shelf top rail 303, and the ground joint rail 35 is used for butt joint with the goods shelf ground rail 304. In the present embodiment, the docking head rail 34 is mounted on two connection beams 313 disposed opposite to each other in the Y direction, and the docking rail 35 is mounted on the upper surface of the docking sled 311.

In order to drive the Y-direction sliding table 31 to slide along the Y direction relative to the lifting platform 25, Y-direction racks 32 extending along the Y direction are paved on the Y-direction sliding table 31, a Y-direction driving motor 29 is installed on the lifting platform 25, a Y-direction driving rack 210 is sleeved on an output shaft of the Y-direction driving motor 29, and the Y-direction driving rack 210 is meshed with the Y-direction racks 32. Specifically, the Y-direction driving motor 29 is mounted on the elevating carrier plate 251, and the Y-direction rack 32 is laid on the upper surface of the docking slide plate 311. In other embodiments, a Y-direction driving motor may be disposed on the docking slide 311, and a Y-direction rack is disposed on the lifting carrier 251.

In order to improve the stability of the movement of the docking assembly in the Y direction, a Y guide assembly is provided between the Y-direction slide table 31 and the elevating carriage 25, and is used for guiding the movement of the docking slide plate 311 in the Y direction. Specifically, the Y-guide assembly includes a Y-guide rail 220 extending in the Y-direction and a Y-slider 36 slidably engaged with the Y-guide rail 220. In the present embodiment, the Y-direction guide rail 220 is disposed on the upper surface of the elevating carrier plate 251, and the Y-direction slider 36 is disposed on the lower surface of the docking slide 311. In other embodiments, the positions of the Y-direction guide rail 220 and the Y-direction slider 36 may be interchanged. Preferably, the Y-direction guide assembly is provided in parallel with and spaced apart from the X-direction to improve stability and reliability of the Y-direction slide table 31.

In order to prevent the stacker 200 from rushing out of the docking mechanism 3 when entering the bearing space in the Y direction, in this embodiment, the end of the Y-direction sliding table 31 away from the docking end is provided with a Y-direction stopper 37, and the Y-direction stopper 37 is used for abutting against the stacker 200 to limit the stacker 200 from rushing out of the Y-direction sliding table 31, so as to improve the operation safety and reliability of the stacker 200. The stacker 200 may adopt a structure capable of realizing buffering and limiting, such as an elastic block structure or a hydraulic buffer.

Further, two Y-direction stoppers 37 are provided, one of which is mounted on the docking slide plate 311 and the other of which is mounted on the docking head rail 34, so that the upper and lower ends of the stacker 200 can be stopped and limited, and the reliability of the limitation can be improved. The Y-stop 37 is preferably removably attached to either the docking sled 311 or the docking rail 34.

As shown in fig. 12 to 15, in order to improve the reliability of the docking head rail 34 and the docking rail 35 with the shelf rail, it is preferable that the docking end of the docking head rail 34 and the docking end of the docking rail 35 extend out of the Y-direction slide table 31 in the Y-direction, so that collision between the shelf system 300 and the Y-direction slide table 31 during docking can be avoided, the docking safety can be improved, and interference during docking can be reduced.

Since the driving wheel 203 of the stacker 200 runs along the docking guide rail on the grounding rail 35 and is transferred from the grounding rail 35 to the shelf grounding rail 304, the docking accuracy between the grounding rail 35 and the shelf grounding rail 304 affects the running stability of the stacker 200. Preferably, one of the abutting end of the grounding rail 35 and the abutting end of the shelf grounding rail 304 is provided with a V-shaped abutting groove 351, the other is convexly provided with a V-shaped abutting convex part 3041, the shape of the abutting concave part is the same as that of the abutting groove 351, and the abutting convex part 3041 is in plug-in fit with the abutting groove 351. That is, in the present embodiment, by the engagement of the abutting groove 351 with the abutting convex portion 3041, the positional reliability of the abutting rail 35 and the pallet ground rail 304 in the X direction and in the Y direction at the time of abutting is ensured, and the accuracy at the time of abutting the abutting rail 35 and the pallet ground rail 304 is realized.

In the present embodiment, the above-described docking groove 351 is provided at the docking end of the docking rail 35, and the docking protrusion 3041 is provided at the shelf rail 304. Preferably, the included angle between the V-shaped structures of the docking groove 351 is greater than and less than ° to improve docking smoothness.

To ensure that the upper surface of the ground rail 35 is flush with the upper surface of the shelf ground rail 304 when the ground rail 35 is docked with the shelf ground rail 304, in this embodiment, the ground rail 35 is fixedly mounted on the docking sled 311 by the rail leveling assembly 38, and the rail adjustment assemblies are provided with multiple sets spaced apart along the Y-direction. The local position of the ground rail 35 can be leveled by the plurality of sets of rail leveling assemblies 38, thereby ensuring that the upper surfaces of the ground rail 35 and the shelf ground rail 304 are both level and flush. Further, the shelf ground rail 304 is mounted on the bearing substrate 301 through an adjusting structure, so as to level the shelf ground rail 304.

It will be appreciated that the particular construction of the rail leveling assembly 38 may be referred to in the art, and this is not an important aspect of the present invention, and the particular construction of the rail leveling assembly 38 is not limited by the present invention.

Further, one of the butt end of the butt-joint top rail 34 and the butt end of the shelf top rail 303 is convexly provided with a positioning protrusion 341, and the other is provided with a positioning hole, and the positioning protrusion 341 can be inserted into the positioning hole. Therefore, the butt joint positioning between the butt joint top rail 34 and the goods shelf top rail 303 can be realized, and the butt joint reliability and the butt joint smoothness are improved.

Since the butt-joint top rail 34 and the shelf top rail 303 only play a guiding role for the operation of the stacker 200, the butt-joint requirement between the two is lower than that of the shelf ground rail 304 and the ground rail 35, and therefore, in this embodiment, when the positioning projection 341 is inserted into the positioning hole, opposite sides of the positioning projection 341 in the X direction abut against the hole wall of the positioning hole, and at least one side of the positioning projection 341 in the Z direction has a gap with the hole wall of the positioning hole. By means of the arrangement, the positioning protrusion 341 can shake up and down in the positioning hole, and the problem that the butt joint is difficult due to the fact that the butt joint is positioned is prevented.

In this embodiment, the positioning protrusion 341 is disposed at the abutting end of the abutting antenna rail 34, and the positioning protrusion 341 is preferably a prismatic protrusion, where one pair of angles of the prismatic protrusion are disposed opposite to each other in the X direction, and the other pair of angles of the prismatic protrusion are disposed opposite to each other in the Z direction. Along Y. Two opposite angles which are oppositely arranged along the X are arc angles so as to reduce the scratch of the goods shelf ground rail 304 in the butt joint process and improve the butt joint smoothness.

The end face of the positioning bulge 341 is convexly provided with a guiding bulge 342, the tail end of the guiding bulge 342 is arc-shaped, the projection of the guiding bulge 342 on the end face of the positioning bulge 341 is smaller than the end face area of the positioning bulge 341, and the guiding bulge 342 is used for guiding the positioning bulge 341 to be inserted into the positioning hole, so that the butt joint reliability is further improved. The end of the guide projection is preferably circular arc-shaped.

The butt joint top rail 34 and the butt joint rail 35 are preferably made of aluminum alloy sections, so that the cost is reduced, and the processing is simplified.

The embodiment also provides a stacking method, which is applied to the stacking system, and the stacking method provided by the embodiment comprises the following steps:

the stacker 200 receives the instruction;

when the stacker 200 is not positioned in the stacking roadway 305 where the target cargo space is positioned, controlling lane and layer changing equipment to act so that the Y-direction sliding table 31 is opposite to the stacking roadway 305 where the stacker 200 is positioned at present and the butt joint guide rail is in butt joint with the goods shelf guide rail;

the stacker 200 runs along the shelf guide rail and the butt guide rail into the Y-direction sliding table 31; lane and layer changing equipment acts to align the butt joint guide rail with the shelf guide rail in the stacking lane 305 where the target goods are located;

the stacker 200 travels along the docking rail and the pallet rail to the front of the target cargo space.

According to the stacking method provided by the embodiment of the invention, the lane change and layer change equipment is adopted for stacking, so that the cost of a stacking system can be reduced, and the operation safety and reliability of the stacking system can be improved.

The instruction may be a warehouse-in instruction, that is, the stacker 200 moves the cargo to the target cargo space and places the cargo to the target cargo space; or a delivery instruction, that is, the stacker is unloaded to move to the target cargo space, and the cargo space at the target cargo space is picked up and transferred to the corresponding conveyor line 400.

Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims (10)

1. Lane and layer changing equipment, which is characterized by comprising:

the lane changing mechanism (1) extends along the X direction;

the layer changing mechanism (2) extends along the Z direction, and the lane changing mechanism (1) is movably arranged on the lane changing mechanism (1) along the X direction;

The butt joint mechanism (3) comprises a Y-direction sliding table (31) and a butt joint guide rail, wherein the Y-direction sliding table (31) can be installed on the layer changing mechanism (2) in a lifting manner along the Z direction, the Y-direction sliding table (31) is provided with a bearing space for a stacker (200) to enter and exit along the Y direction, the Y-direction sliding table (31) is respectively provided with the butt joint guide rails on the upper side and the lower side of the bearing space, the two butt joint guide rails are used for being matched with the upper side and the lower side of the stacker (200), the Y-direction sliding block (31) can move along the Y direction relative to the layer changing mechanism (2), so that the butt joint guide rail is in butt joint with or separated from the shelf guide rail, and the X direction, the Y direction and the Z direction are mutually perpendicular.

2. The lane changing and layer changing device according to claim 1, wherein the two butt joint guide rails are a butt joint top rail (34) and a ground joint rail (35), the butt joint top rail (34) is opposite to and arranged above the ground joint rail (35) at intervals, the butt joint top rail (34) is used for butt joint with a goods shelf top rail (303), and the ground joint rail (35) is used for butt joint with a goods shelf ground rail (304);

the butt joint end of the butt joint top rail (34) and the butt joint end of the butt joint rail (35) extend out of the Y-direction sliding table (31) along the Y direction.

3. The lane change and layer change equipment according to claim 2, wherein one of the abutting end of the grounding rail (35) and the abutting end of the shelf grounding rail (304) is provided with a V-shaped abutting groove (351), the other is convexly provided with a V-shaped abutting convex part (3041), the shape of the abutting convex part (3041) is the same as that of the abutting groove (351), and the abutting convex part (3041) is in plug-in fit with the abutting groove (351);

and/or, one of the butt joint end of the butt joint top rail (34) and the butt joint end of the goods shelf top rail (303) is convexly provided with a positioning protrusion (341), the other is provided with a positioning hole, and the positioning protrusion (341) can be inserted into the positioning hole.

4. A lane and layer changing apparatus according to claim 3, wherein when the positioning projection (341) is inserted into the positioning hole, opposite sides of the positioning projection (341) in the X direction abut against a wall of the positioning hole, and at least one side of the positioning projection (341) in the Z direction has a clearance with the wall of the positioning hole for the positioning projection (341) to float in the Z direction.

5. Lane change layer device according to claim 1, characterized in that the layer change mechanism (2) comprises:

A lifting stand (21) slidably mounted on the lane changing mechanism (1) along the X direction;

the lifting carrier (25) can be installed on the lifting stand (21) in a lifting manner along the Z direction, the Y-direction sliding table (31) is arranged on the inner side of the lifting carrier (25) in a sliding manner, and the Y-direction sliding table (31) can extend out of the lifting carrier (25) in a sliding manner along the Y direction.

6. The lane changing and layer changing device according to claim 5, wherein a Y-direction driving motor (29) is installed on the lifting carrier (25), and a Y-direction driving gear (210) is sleeved on an output shaft of the Y-direction driving motor (29);

and a Y-direction rack (323) is laid on the Y-direction sliding block (31) along the Y direction, and the Y-direction rack (323) is meshed with the Y-direction driving gear (210).

7. Lane changing and layer changing equipment according to claim 5, characterized in that the lane changing mechanism (1) comprises a fixed bottom plate (11) and an X-direction rack (12) laid on the fixed bottom plate (11), both the fixed bottom plate (11) and the X-direction rack (12) extending in the X-direction;

an X-direction driving motor (26) is arranged at the bottom of the lifting stand (21), an X-direction driving gear (27) is sleeved on a motor shaft of the X-direction driving motor (26), and the X-direction driving gear (27) is meshed with the X-direction rack (12).

8. A stacking system, comprising:

the storage rack system (300) comprises multiple layers of storage racks (302) which are arranged side by side along the Z direction, each layer of storage racks (302) is provided with a plurality of stacking lanes (305) which are arranged in parallel along the X direction at intervals, each stacking lane (305) extends along the Y direction, and rack guide rails are arranged at the upper end and the lower end of each stacking lane (305);

a stacker (200) movable in cooperation along the pallet track in the stacking lane (305);

lane and layer changing apparatus according to any one of claims 1-7, being arranged outside one side of the pallet system (300) in the Y direction, being capable of driving the stacker (200) into alignment with any one of the stacking lanes (305), and being capable of transferring between the Y-direction slide table (31) and the stacking lane (305) when the pallet rail is docked with the docking rail.

9. The stacking system of claim 8, wherein each layer of storage shelves (302) comprises a carrier substrate (301) and a shelf group arranged on the carrier substrate (301), the shelf group comprises two storage shelves (302) which are opposite and arranged at intervals, the stacking roadway (305) is formed between the two storage shelves (302), the shelf group is provided with at least two side by side along the X direction, and the shelf guide rail on the lower side is laid on the carrier substrate (301).

10. The stacking system of claim 8 or 9, further comprising a conveying line (400), wherein the conveying line (400) is arranged in one-to-one correspondence with the storage shelves (302), the conveying line (400) is arranged on one side of the storage shelves (302) away from the lane change and layer change equipment, the shelf guide rail extends between two adjacent conveying lines (400) along the Y direction, and the stacker (200) can place cargoes on the conveying line (400) and pick up cargoes on the conveying line (400).