CN116513675A - Stacker, three-dimensional warehouse structure comprising stacker and goods conveying method - Google Patents

Stacker, three-dimensional warehouse structure comprising stacker and goods conveying method Download PDF

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Publication number
CN116513675A
CN116513675A CN202310347889.XA CN202310347889A CN116513675A CN 116513675 A CN116513675 A CN 116513675A CN 202310347889 A CN202310347889 A CN 202310347889A CN 116513675 A CN116513675 A CN 116513675A
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CN
China
Prior art keywords
stacker
fork
shaped plate
goods
electronic control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310347889.XA
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Chinese (zh)
Inventor
张智斌
吴俊�
甘前伟
战开明
张文俊
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Shanghai Smartstate Technology Co ltd
Original Assignee
Shanghai Smartstate Technology Co ltd
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Publication date
Application filed by Shanghai Smartstate Technology Co ltd filed Critical Shanghai Smartstate Technology Co ltd
Priority to CN202310347889.XA priority Critical patent/CN116513675A/en
Publication of CN116513675A publication Critical patent/CN116513675A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
    • 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
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0428—Transfer means for the stacker crane between the alleys
    • 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
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W30/00—Technologies for solid waste management
    • Y02W30/40—Bio-organic fraction processing; Production of fertilisers from the organic fraction of waste or refuse

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention provides a stacker, a three-dimensional warehouse structure containing the stacker and a cargo conveying method, wherein the stacker comprises a stacker main body, a fork assembly, a Z-axis movement mechanism, a variable overhanging bidirectional conveying mechanism and a stacker electronic control unit; the Z-axis motion mechanism and the electronic control unit of the stacker are both arranged on the stacker main body, the variable overhanging bidirectional conveying mechanism is arranged on the Z-axis motion mechanism, and the Z-axis motion mechanism can drive the variable overhanging bidirectional conveying mechanism to move along the height direction of the stacker main body; the variable overhang bidirectional conveying mechanism comprises a driving mechanism, a first transmission mechanism, a second transmission mechanism, an I-shaped plate and a sliding plate; the sliding plate is arranged on the Z-axis movement mechanism; the stacker provided by the invention can realize the adjustment of the overhanging length of the stacker in a mode of freely adjusting the position of the fork assembly so as to meet the use in three-dimensional libraries with different specifications of shelf spacing.

Description

Stacker, three-dimensional warehouse structure comprising stacker and goods conveying method
Technical Field
The invention relates to the field of industrial stereoscopic warehouse manufacturing, in particular to a stacker, a stereoscopic warehouse structure containing the stacker and a cargo conveying method, in particular to an intelligent conveying device for a multi-task industrial stereoscopic warehouse, and particularly relates to an intelligent conveying device suitable for the multi-task industrial stereoscopic warehouse and a control method thereof.
Background
An intelligent machining production line for key parts such as aerospace, automobiles and the like is generally provided with an automatic industrial stereo warehouse and is responsible for storing and logistics transferring materials such as processed workpieces, tool fixtures, cutters and the like. Currently, a three-dimensional warehouse is generally designed into a frame beam structure with uniform fixed size, the same shelf space is set, the same specification of transfer trays are configured, and the arrangement is convenient for taking and delivering goods with the same control strategy.
However, because the sizes of the materials such as the workpiece, the clamp, the cutter and the like are different, the storage types are different, and space waste is easily caused by adopting the shelf spacing with the same specification; correspondingly, if a plurality of shelf spaces with different specifications are arranged, most of existing stackers only have fixed overhanging lengths and can only be suitable for three-dimensional libraries with the same shelf space, so that stackers with different specifications are required to be configured for the shelf spaces with different specifications, and waste of resources and cost can be caused.
Disclosure of Invention
In view of the drawbacks of the prior art, an object of the present invention is to provide a stacker.
The invention provides a stacker, which comprises a stacker main body, a fork assembly, a Z-axis movement mechanism, a variable overhanging bidirectional conveying mechanism and a stacker electronic control unit, wherein the fork assembly is arranged on the stacker main body;
the Z-axis motion mechanism and the electronic control unit of the stacker are both arranged on the stacker main body, the variable overhanging bidirectional conveying mechanism is arranged on the Z-axis motion mechanism, and the Z-axis motion mechanism can drive the variable overhanging bidirectional conveying mechanism to move along the height direction of the stacker main body;
the variable overhang bidirectional conveying mechanism comprises a driving mechanism, a first transmission mechanism, a second transmission mechanism, an I-shaped plate and a sliding plate;
the sliding plate is arranged on the Z-axis movement mechanism;
the driving mechanism is connected with the I-shaped plate through a first transmission mechanism, and can drive the I-shaped plate to move between a first position and a second position along the length direction of the sliding plate through the first transmission mechanism;
the I-shaped plate can drive the fork assembly to move between a third position and a fourth position along the length direction of the I-shaped plate through a second transmission mechanism;
the first position and the second position are respectively the positions when the I-shaped plate moves to the limit on the left side and the limit on the right side of the sliding plate; the third position and the fourth position are respectively the positions when the fork assembly moves to the left limit and the right limit of the sliding plate;
when the I-shaped plate is positioned at the first position, the fork assembly moves to the third position, the leftmost end of the fork assembly exceeds the leftmost end of the sliding plate, and when the I-shaped plate is positioned at the second position, the fork assembly moves to the fourth position, and the rightmost end of the fork assembly exceeds the rightmost end of the sliding plate.
Preferably, the fork assembly comprises a fork, a fork supporting motherboard and a connecting plate; the fork is detachably arranged on the fork supporting motherboard, and the fork supporting motherboard is detachably arranged on the connecting plate; the connecting plate is detachably arranged on the second transmission mechanism and preferably comprises an electric control limiting self-locking unit; the electric control limiting self-locking unit comprises a pneumatic band-type brake structure and is used for locking the I-shaped plate.
Preferably, the Z-axis movement mechanism comprises a Z-axis motor, a screw rod and a nut platform;
the Z-axis motor can drive the screw rod to rotate along the screw rod, and the nut platform is sleeved on the screw rod and can move up and down along the length direction of the screw rod along with the rotation of the screw rod; the variable overhanging bidirectional conveying mechanism is arranged on the nut platform.
Preferably, the driving mechanism comprises a motor and a motor gear; the motor gear is arranged on the motor output shaft and is in transmission connection with the first transmission mechanism; the motor can drive the I-shaped plate to move between a first position and a second position through the first transmission mechanism.
Preferably, the first transmission mechanism comprises a rack; the rack is fixedly arranged on the I-shaped plate and meshed with the driving mechanism.
Preferably, the second transmission mechanism comprises a chain wheel, a chain, an upper guide rail and a lower guide rail;
the I-shaped plate is movably connected with the sliding plate through a lower guide rail;
the upper guide rail is movably connected to the I-shaped plate; the fork assembly is detachably connected to the upper guide rail;
the chain wheel is arranged on the I-shaped plate;
one end of the chain is connected with the fork assembly, the other end of the chain is connected with the sliding plate, and the chain is matched with the chain wheel; the I-plate can drive the sprocket to enable the chain to pull the fork assembly to move between the third position and the fourth position.
Preferably, the second transmission mechanism further comprises a chain connecting block;
the number of the chain connecting blocks is 2 times of that of the chains, and the chain connecting blocks are distributed at two ends of the chains.
The invention provides a three-dimensional warehouse structure with a stacker, which comprises the stacker, a three-dimensional warehouse shelf body, a replaceable fork storage unit, an automatic blanking table and a three-dimensional warehouse electronic control unit, wherein the stacker comprises a storage rack, a storage rack and a storage rack;
the stereoscopic warehouse goods shelf body comprises a plurality of goods shelves, and the distances between the goods shelves are not identical; the goods shelf comprises a plurality of goods storage grids with different sizes;
the storage unit of the replaceable fork and the automatic blanking table are arranged outside the stereoscopic warehouse goods shelf body;
the stereoscopic warehouse goods shelf body, the replaceable goods fork storage unit, the automatic blanking table and the stacker are all in signal connection with the stereoscopic warehouse electronic control unit.
According to the cargo conveying method provided by the invention, the three-dimensional warehouse structure with the stacker is adopted, and the method further comprises the following steps:
s1, the electronic control unit of the stereoscopic warehouse obtains a cargo instruction to be fetched and sent currently, and controls the stacker to match with an adaptive replaceable cargo fork from the replaceable cargo fork storage unit according to the type of fetched and sent cargo;
s2, the electronic control unit of the three-dimensional warehouse adjusts the overhanging length of the stacker to adapt to the shelf space of the corresponding point position of the task by identifying the shelf space of the corresponding point position of the task according to the position of the goods taken and sent in the shelf body of the three-dimensional warehouse, and locks the I-shaped plate by the electronic control limit self-locking unit;
s3, the electronic control unit of the three-dimensional warehouse controls the stacker to move to the storage grid of the corresponding point position of the task, the electronic control unit is unlocked, and then the electronic control unit of the stacker controls the fork assembly to move along with the upper guide rail, so that the material is fetched and sent.
Compared with the prior art, the invention has the following beneficial effects:
1. the stacker provided by the invention can realize the adjustment of the overhanging length of the stacker in a mode of freely adjusting the position of the fork assembly so as to meet the use in three-dimensional libraries with different specifications of shelf spacing.
2. According to the three-dimensional warehouse structure with the stacker, the distances among the plurality of shelves are not identical, so that the space can be reasonably utilized, and the number of shelves in the three-dimensional warehouse is more reasonable; the sizes of the storage lattices in the goods shelves are not identical, so that the number of goods contained in the three-dimensional warehouse is more, and the reasonable utilization of the space of the three-dimensional warehouse is realized. Moreover, through the stacker provided by the invention, the stacker can walk freely in spaces with different shelf distances, and meanwhile, the stacker also has the function of quickly replacing forks, so that the fetching and delivering of multiple types of materials can be realized.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic view of a stacker of the present invention;
FIG. 2 is a schematic elevational view of the I-plate of the variable overhang bi-directional conveyor in a first position;
FIG. 3 is a schematic side view of the structure of FIG. 2;
FIG. 4 is a schematic top view of FIG. 2;
FIG. 5 is a schematic three-dimensional view of a variable overhang bi-directional transport mechanism;
FIG. 6 is a schematic view of the hidden fork assembly of FIG. 5;
fig. 7 is a schematic view of a three-dimensional warehouse including a stacker.
The figure shows:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
The invention provides a stacker, as shown in figures 1-6, comprising a stacker main body 16, a fork assembly, a Z-axis movement mechanism 12, a variable overhang bidirectional conveying mechanism 21 and a stacker electronic control unit; in a preferred embodiment, the stacker is a flexible stacker
The Z-axis moving mechanism 12 and the stacker electronic control unit are both mounted on the stacker main body 16, the variable overhanging bidirectional conveying mechanism 21 is mounted on the Z-axis moving mechanism 12, and the Z-axis moving mechanism 12 can drive the variable overhanging bidirectional conveying mechanism 21 to move along the height direction of the stacker main body 16; the Z-axis movement mechanism 12 comprises a Z-axis motor, a screw rod and a nut platform; the Z-axis motor can drive the screw rod to rotate along the screw rod, and the nut platform is sleeved on the screw rod and can move up and down along the length direction of the screw rod along with the rotation of the screw rod; the variable overhang bi-directional transport mechanism 21 is mounted on the nut platform.
The variable overhang bidirectional conveying mechanism 21 comprises a driving mechanism, a first transmission mechanism, a second transmission mechanism, an I-shaped plate 9 and a sliding plate 11; the sliding plate 11 is arranged on the Z-axis movement mechanism 12; the driving mechanism is connected with the I-shaped plate 9 through a first transmission mechanism, and can drive the I-shaped plate 9 to move between a first position and a second position along the length direction of the sliding plate 11 through the first transmission mechanism; the I-shaped plate 9 can drive the fork assembly to move between a third position and a fourth position along the length direction of the I-shaped plate 9 through a second transmission mechanism;
the first position and the second position are respectively the positions when the I-shaped plate 9 moves to the left limit and the right limit of the sliding plate 11; the third position and the fourth position are respectively the positions when the fork assembly moves to the left limit and the right limit of the slide plate 11; when the I-plate 9 is in the first position, the fork assembly moves to a third position, the leftmost end of the fork assembly exceeds the leftmost end of the sliding plate 11, and the rightmost end of the fork assembly does not exceed the rightmost end of the sliding plate 11; when the i-plate 9 is in the second position, the fork assembly moves to the fourth position, the rightmost end of the fork assembly extends beyond the rightmost end of the skid plate 11, and the leftmost end of the fork assembly does not extend beyond the leftmost end of the skid plate 11.
The stacker can realize the adjustment of the overhanging length of the stacker by adjusting the position of the fork assembly.
The driving mechanism comprises a motor and a motor gear; the motor is a bidirectional motor, the motor gear is arranged on the motor output shaft, and the motor gear is in transmission connection with the first transmission mechanism; the motor can drive the I-shaped plate 9 to move between a first position and a second position through the first transmission mechanism. The first transmission mechanism comprises a rack; the rack is fixedly arranged on the I-shaped plate 9 and meshed with the driving mechanism, and in particular, the rack is meshed with the motor gear. More specifically, the I-shaped plate 9 is driven by gears at the tail ends of the driving motors, so that the I-shaped plate can extend and retract from the left side and the right side of the lower guide rail 10 in an unobstructed manner.
The second transmission mechanism comprises a chain wheel 19, a chain 13, an upper guide rail 7, a lower guide rail 10, a chain connecting block 18, a position adjusting structure and a rolling bearing 8; the upper guide rail 7 and the lower guide rail 10 are both C-shaped guide rails. The I-shaped plate 9 is movably connected with the sliding plate 11 through a lower guide rail 10, and in particular, the lower guide rail 10 can be arranged on the sliding plate 11 through a vertically-arranged or laterally-arranged screw; the upper guide rail 7 is movably connected to the I-shaped plate 9; in a preferred embodiment, rolling bearings 8 are provided between the i-plate 9 and the upper rail 7 and between the i-plate 9 and the lower rail 10. More specifically, the i-plate 9 is provided with a plurality of rows of rolling bearings 8, wherein one row of rolling bearings rolls in the C-shaped track of the lower guide rail 10, thereby ensuring that the i-plate 9 stably and accurately moves on the lower guide rail 10, and the i-plate 9 can extend out of the lower guide rail 10 to transfer the weight born by the i-plate 9 to the lower guide rail; the other row of rolling bearings 8 roll in the C-shaped track of the upper guide rail 7, so that the upper guide rail 7 can stably and accurately move on the I-shaped plate 9, the upper guide rail 7 can extend and retract on the left side and the right side of the I-shaped plate 9 in a barrier-free mode, the weight born by the upper guide rail 7 is transferred to the I-shaped plate 9, besides, the movement positioning precision of the upper guide rail 7 on the I-shaped plate 9 can be controlled by adjusting the arrangement precision of the rolling bearings 8, and therefore the overhanging length can be greatly improved under the condition of ensuring the precision. It is worth noting that the design of the rolling bearing 8 is adopted, the movable pair of the movable connection rolls rather than slides, and the electrode load is greatly reduced.
The fork assembly comprises a fork 17, a fork support motherboard 6 and a connecting plate 61; the fork 17 is detachably arranged on the fork supporting mother board 6, and the fork supporting mother board 6 is detachably arranged on the connecting board 61; the connection plate 61 is detachably mounted on the second transmission mechanism, specifically, the connection plate 61 is detachably mounted on the upper rail 7. In a preferred embodiment, the fork support motherboard 6 is followed by a fork quick-change mechanism, which can quickly and automatically change the forks, and the fork quick-change mechanism can be a magnetic structure, a fastening structure, or other existing quick-change mechanisms.
The fork assembly is detachably connected to the upper guide rail 7; one end of the chain 13 is connected with the fork assembly, and the other end is connected with the slide plate 11. In a preferred embodiment, the number of the chain connecting blocks 18 is 2 times that of the chains, and the chain connecting blocks are distributed at two ends of the chains, namely, one end of the chain 13 is connected with the connecting plate 61 through the chain connecting blocks 18, and the other end is connected with the sliding plate 11 through the chain connecting blocks 18. Preferably, the chain connecting block 18 is connected to the connecting plate 61 by a position adjusting structure; the position adjustment structure can adjust the position of the chain connecting block 18 to adjust the degree of tension of the chain 13. Preferably, the position adjusting structure is a structure of a fixed block and a threaded screw, the fixed block is fixedly connected to the connecting plate 61, the threaded screw traverses the fixed block, one end of the screw is connected with the chain connecting block 18, and the function of adjusting the position of the chain connecting block 18 can be realized by rotating the other end of the screw.
The sprocket 19 is mounted on the i-plate 9 and the chain 13 is mated with the sprocket 19. In a preferred embodiment, the number of the sprockets 19 and the chains 13 is 2, and 2 sprockets 19 are symmetrically arranged along the i-plate 9; the 2 chains 13 are symmetrically arranged along the i-plate 9. Preferably, the two chains are matched to the two sprockets 19 from opposite directions, respectively, acting in opposite directions.
The principle of operation of the variable overhang bi-directional conveyor 21 is as follows:
the rack in the driving mechanism can drive the rack to move along the length direction of the I-shaped plate 9, the I-shaped plate 9 can also move along the length direction of the rack because the rack is fixedly arranged on the I-shaped plate 9, and the chain wheel 19 is arranged on the I-shaped plate 9, so that the chain wheel 19 can move along with the movement of the I-shaped plate 9, meanwhile, the chain 13 is matched with the chain wheel 19, the movement of the chain wheel 19 can drive the chain 13 to move, but because one end of the chain 13 is connected with the fixed sliding plate 11, the chain 13 can drive one end connected with the connecting plate 61 to move, and the effect of driving the connecting plate 61 to drive the fork to move is realized. In a preferred embodiment, the fork assembly moves at a speed that is 2 times the speed of movement of the I-plate 9.
The stacker further comprises an electric control limiting self-locking unit 14; the electric control limiting self-locking unit 14 comprises a pneumatic band-type brake structure. The electric control limiting self-locking unit 14 is used for locking the I-shaped plate 9, and after the upper guide rail and the fork assembly move to a designated position, the electric control limiting self-locking unit 14 locks, which is controlled by the electronic control unit of the stacker.
The stacker can freely change the overhanging length in a mode of adjusting the position of the pallet fork 17, the pallet fork supporting mother board 6 can automatically and quickly replace the pallet fork under the control of the stacker electronic control unit, the pallet fork supporting mother board 6 is provided with different replaceable pallet forks, so that the stacker can adapt to the movement of the spacing between the large, medium and small shelves and the taking and delivering of goods on the shelves, the situations that the large pallet fork cannot take and place the goods on the small warehouse, the small pallet fork cannot bear the weight of the goods on the large warehouse and the like are avoided, and the three-dimensional warehouse goods shelf body 1 is more flexible and more reasonably distributed.
The invention also provides a three-dimensional warehouse structure containing the stacker, as shown in fig. 7, comprising the stacker, a three-dimensional warehouse shelf body 1, a replaceable fork storage unit 2, an automatic blanking table 3 and a three-dimensional warehouse electronic control unit 5;
preferably, the stereoscopic warehouse shelf body 1 is a multi-task stereoscopic warehouse shelf body, and the stereoscopic warehouse shelf body 1 comprises a plurality of shelves, wherein the intervals of the shelves are not completely the same; the goods shelf comprises a plurality of goods storage grids with different sizes; the stereoscopic warehouse goods shelf body 1 is provided with an inlet and outlet 20, the replaceable fork storage unit 2 and the automatic blanking table 3 are arranged outside the stereoscopic warehouse goods shelf body 1, and preferably, the replaceable fork storage unit 2 and the automatic blanking table 3 are arranged outside the inlet and outlet 20. The stereoscopic warehouse goods shelf body 1, the replaceable goods fork storage unit 2, the automatic blanking table 3 and the stacker 4 are all in signal connection with the stereoscopic warehouse electronic control unit 5. The stereoscopic warehouse goods shelf body 1 is used for storing goods in a stereoscopic warehouse, the replaceable goods fork storage unit 2 is a tool mechanism, various different goods fork structures suitable for production requirements are stored in the tool mechanism, and all goods forks are provided with quick-change mechanisms. The automatic discharging platform 3 is an output mechanism, goods taken out from the three-dimensional warehouse are placed on the automatic discharging platform 3, then the goods are transported to a designated position by other transport mechanisms, and the automatic discharging platform 3 is used, so that direct butt joint of transport mechanisms such as a pallet fork of the three-dimensional warehouse and an AGV (automatic guided vehicle) is avoided, and the design difficulty is reduced. The flexible stacker 4 is used for taking and placing goods from the stereoscopic warehouse goods shelf body 1 and taking and placing goods from the automatic blanking table 3, so that the operation of materials between the stereoscopic warehouse goods shelf body and the automatic blanking table is realized. Preferably, the electronic control unit 5 of the stereoscopic warehouse is an electronic control unit ECU for intelligent transportation of the multi-task industrial stereoscopic warehouse, the electronic control unit 5 of the stereoscopic warehouse is a master control, and is used for controlling and managing the whole stereoscopic warehouse, recording storage positions and storage contents of articles in a goods shelf, controlling the picking and placing sequence of a stacker, picking and placing positions, whether articles on an automatic feeding table exist, entering and exiting rules and the like.
The invention also provides a cargo conveying method, which adopts the three-dimensional warehouse structure with the stacker, and further comprises the following steps:
s1, the electronic control unit 5 of the stereoscopic warehouse obtains a cargo instruction to be fetched and sent currently, and controls the stacker 4 to match the matched replaceable cargo fork 17 from the replaceable cargo fork storage unit 2 according to the type of fetched and sent cargo;
s2, the electronic control unit 5 of the three-dimensional warehouse adjusts the overhanging length of the stacker 4 to adapt to the shelf space of the corresponding point position of the task by identifying the shelf space of the corresponding point position of the task according to the position of the goods taken and sent in the shelf body 1 of the three-dimensional warehouse (namely, the goods storage grid), and locks the I-shaped plate 9 by the 14 electric control limiting self-locking unit;
s3, the electronic control unit 5 of the three-dimensional warehouse controls the stacker 4 to move to a storage grid of a corresponding point position of a task, unlocks the electronic control unit 5, and then controls the fork assembly to move along with the upper guide rail 7 through the electronic control unit of the stacker, so that the material is fetched and sent.
Aiming at the taking and feeding requirements of a multi-task industrial three-dimensional warehouse, the invention provides a stacker, a three-dimensional warehouse structure containing the stacker and a goods conveying method. The three-dimensional warehouse structure with the stacker is provided with the storage grids with different shelf distances and different sizes, the stacker has the functions of variable telescopic overhanging and rapid replacement of the forks, and the picking and delivering tasks of different materials can be completed in the three-dimensional warehouse with different shelf distances.
The invention provides a stacker with functions of variable telescopic overhanging and rapid replacement of forks, which is oriented to industrial application scenes of multi-type material taking and delivering, and can meet the self-adaptive inserting and taking of multi-type cargo trays with size classification. Meanwhile, according to the sizes of trays for different goods to be taken, the three-dimensional warehouse is provided with shelves with different distances, the self-adaptive overhanging adjustment of the variable overhanging stacker is convenient for adapting to walking among the shelves with different distances and taking and conveying the trays, the stacker is suitable for the task of taking and conveying goods with different sizes, and the variety of conveying mechanisms of the multi-variety industrial three-dimensional warehouse is greatly reduced.
The invention can realize the requirements of sharing one stacker for various goods shelf storage positions and storage positions with different sizes. Existing stackers and single-sized bins of a single type are correspondingly used. Because the stacker with the function of quickly replacing the forks is designed to be used, the special forks can be used for different types of goods shelf storage positions and different sizes of goods shelf storage positions, and goods can be fetched and placed according to instructions of the general control system. The method realizes the fine storage and the recall of the materials with different sizes such as workpieces, tools, cutters and the like, and saves the space and the cost;
besides, the cargo conveying method realizes the self-adaptive fetching and conveying of multiple types of materials and the fetching and conveying of different placing positions of cargoes. The goods on the existing goods shelves have the same characteristics, otherwise, the goods cannot be placed on the goods shelves correctly. And the goods are placed in a fixed position range, and can not be taken and placed after exceeding the range. According to the cargo conveying method, the stacker can be self-adaptively adapted to free walking of racks with different distances, and meanwhile, the size type self-adaptively replaced fork of a taking and conveying target can be combined, so that self-adaptive taking and conveying of multiple types of materials can be realized, and self-adaptive taking and conveying of different positions of the same type of materials can be realized.
In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and are not to be construed as limiting the present application.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.

Claims (10)

1. The stacker is characterized by comprising a stacker main body (16), a fork assembly, a Z-axis movement mechanism (12), a variable overhanging bidirectional conveying mechanism (21) and a stacker electronic control unit;
the Z-axis movement mechanism (12) and the electronic control unit of the stacker are both arranged on the stacker main body (16), the variable overhanging bidirectional conveying mechanism (21) is arranged on the Z-axis movement mechanism (12), and the Z-axis movement mechanism (12) can drive the variable overhanging bidirectional conveying mechanism (21) to move along the height direction of the stacker main body (16);
the variable overhang bidirectional conveying mechanism (21) comprises a driving mechanism, a first transmission mechanism, a second transmission mechanism, an I-shaped plate (9) and a sliding plate (11);
the sliding plate (11) is arranged on the Z-axis movement mechanism (12);
the driving mechanism is connected with the I-shaped plate (9) through a first transmission mechanism, and can drive the I-shaped plate (9) to move between a first position and a second position along the length direction of the sliding plate (11) through the first transmission mechanism;
the I-shaped plate (9) can drive the fork assembly to move between a third position and a fourth position along the length direction of the I-shaped plate (9) through a second transmission mechanism;
the first position and the second position are respectively the positions when the I-shaped plate (9) moves to the left limit and the right limit of the sliding plate (11); the third position and the fourth position are respectively the positions when the fork assembly moves to the left limit and the right limit of the sliding plate (11);
when the I-shaped plate (9) is positioned at the first position, the fork assembly moves to the third position, the leftmost end of the fork assembly exceeds the leftmost end of the sliding plate (11), and when the I-shaped plate (9) is positioned at the second position, the fork assembly moves to the fourth position, and the rightmost end of the fork assembly exceeds the rightmost end of the sliding plate (11).
2. The stacker according to claim 1 wherein said fork assembly comprises a fork (17), a fork support motherboard (6) and a web (61); the fork (17) is detachably arranged on the fork supporting mother board (6), and the fork supporting mother board (6) is detachably arranged on the connecting board (61); the connecting plate (61) is detachably arranged on the second transmission mechanism.
3. The stacker according to claim 1 further comprising an electronically controlled limit self-locking unit (14); the electric control limiting self-locking unit (14) comprises a pneumatic band-type brake structure and is used for locking the I-shaped plate (9).
4. The stacker according to claim 1 wherein said Z-axis movement mechanism (12) comprises a Z-axis motor, a screw, a nut platform;
the Z-axis motor can drive the screw rod to rotate along the screw rod, and the nut platform is sleeved on the screw rod and can move up and down along the length direction of the screw rod along with the rotation of the screw rod; the variable overhang bidirectional conveying mechanism (21) is arranged on the nut platform.
5. The stacker of claim 1 wherein said drive mechanism comprises a motor and motor gear; the motor gear is arranged on the motor output shaft and is in transmission connection with the first transmission mechanism; the motor can drive the I-shaped plate (9) to move between a first position and a second position through the first transmission mechanism.
6. The stacker of claim 1 wherein said first drive mechanism comprises a rack; the rack is fixedly arranged on the I-shaped plate (9) and meshed with the driving mechanism.
7. The stacker according to claim 1 wherein the second transmission mechanism comprises a sprocket (19), a chain (13), an upper rail (7) and a lower rail (10);
the I-shaped plate (9) is movably connected with the sliding plate (11) through a lower guide rail (10);
the upper guide rail (7) is movably connected to the I-shaped plate (9); the fork assembly is detachably connected to the upper guide rail (7);
the chain wheel (19) is arranged on the I-shaped plate (9);
one end of the chain (13) is connected with the fork assembly, the other end of the chain is connected with the sliding plate (11), and the chain (13) is matched with the chain wheel (19); the I-plate (9) can drive the chain wheel (19) to enable the chain (13) to pull the fork assembly to move between the third position and the fourth position.
8. The stacker according to claim 1 wherein the second transmission mechanism further comprises a chain connection block (18);
the number of the chain connecting blocks (18) is 2 times that of the chains, and the chain connecting blocks are distributed at two ends of the chains (13).
9. A three-dimensional warehouse structure comprising a stacker, characterized by comprising the stacker according to any one of claims 1-8, further comprising a three-dimensional warehouse shelf body (1), a replaceable fork storage unit (2), an automatic blanking table (3) and a three-dimensional warehouse electronic control unit (5);
the stereoscopic warehouse goods shelf body (1) comprises a plurality of goods shelves, and the distances between the goods shelves are not identical; the goods shelf comprises a plurality of goods storage grids with different sizes;
the stereoscopic warehouse goods shelf body (1) is provided with an inlet and an outlet (20), and the replaceable goods fork storage unit (2) and the automatic discharging table (3) are arranged outside the stereoscopic warehouse goods shelf body (1);
the three-dimensional warehouse goods shelf body (1), the replaceable goods fork storage unit (2), the automatic blanking table (3) and the stacker (4) are all in signal connection with the three-dimensional warehouse electronic control unit (5).
10. A method of transporting goods, characterized in that the three-dimensional warehouse structure with a stacker as in claim 9 is used, further comprising the steps of:
s1, the electronic control unit (5) of the stereoscopic warehouse obtains a current cargo instruction to be fetched and delivered, and controls the stacker (4) to match with an adaptive replaceable cargo fork (17) from the replaceable cargo fork storage unit (2) according to the type of fetched and delivered cargo;
s2, according to the position of the goods taken and sent in the goods shelf body (1) of the three-dimensional warehouse, the electronic control unit (5) of the three-dimensional warehouse adjusts the overhanging length of the stacker (4) to adapt to the goods shelf space of the corresponding point position of the task by identifying the goods shelf space of the corresponding point position of the task, and locks the I-shaped plate (9) by the electronic control limit self-locking unit (14);
s3, the electronic control unit (5) of the three-dimensional warehouse controls the stacker (4) to move to a storage grid of a corresponding point position of a task, the electronic control unit (5) is unlocked, and then the electronic control unit of the stacker controls the fork assembly to move along with the upper guide rail (7) so as to realize the taking and feeding of materials.
CN202310347889.XA 2023-04-03 2023-04-03 Stacker, three-dimensional warehouse structure comprising stacker and goods conveying method Pending CN116513675A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310347889.XA CN116513675A (en) 2023-04-03 2023-04-03 Stacker, three-dimensional warehouse structure comprising stacker and goods conveying method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310347889.XA CN116513675A (en) 2023-04-03 2023-04-03 Stacker, three-dimensional warehouse structure comprising stacker and goods conveying method

Publications (1)

Publication Number Publication Date
CN116513675A true CN116513675A (en) 2023-08-01

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310347889.XA Pending CN116513675A (en) 2023-04-03 2023-04-03 Stacker, three-dimensional warehouse structure comprising stacker and goods conveying method

Country Status (1)

Country Link
CN (1) CN116513675A (en)

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