CN116902443A - Self-adaptive flexible stacking device - Google Patents
Self-adaptive flexible stacking device Download PDFInfo
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- CN116902443A CN116902443A CN202210114151.4A CN202210114151A CN116902443A CN 116902443 A CN116902443 A CN 116902443A CN 202210114151 A CN202210114151 A CN 202210114151A CN 116902443 A CN116902443 A CN 116902443A
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- fork
- palletizing
- winding
- adaptive flexible
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- 230000007246 mechanism Effects 0.000 claims abstract description 57
- 239000000463 material Substances 0.000 claims abstract description 51
- 238000004804 winding Methods 0.000 claims description 33
- 230000003044 adaptive effect Effects 0.000 claims description 15
- 210000000078 claw Anatomy 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 11
- 230000008569 process Effects 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005265 energy consumption Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000010267 cellular communication Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a self-adaptive flexible stacking device which comprises an upper traction unit; the upper flange unit is pulled by the upper traction unit to move in the working space; and the fork unit is fixedly connected with the rotary driving mechanism at the top. The invention can improve the stability and reliability of the material fork process, improve the material receiving and dispatching efficiency and reduce the labor intensity; meanwhile, the method and the mechanism can be suitable for the fork taking and carrying of the materials commonly used in various warehouses in various industries at present, and have great application prospect and development space.
Description
Technical Field
The invention relates to the field of storage equipment, in particular to a self-adaptive flexible stacking device.
Background
At present, intelligent equipment is gradually popularized in various industries, the production process of the manufacturing industry also gradually tends to unmanned transformation, particularly, materials in large-scale manufacturing industry materials and finished product storage areas are various, a series of operations such as fork taking and transferring are often needed for the materials, the requirements of various operations in the production process can be met, and the requirements on the applicability of the stacking device are higher and higher.
Disclosure of Invention
The invention aims to solve the problems and provide the self-adaptive flexible stacking device which can realize the work of forking, positioning, carrying and storing the objects with arbitrary angles and space coordinates, has the advantages of simplified and easy realization of the whole process procedures, small occupied space, relatively fixed positions of moving parts, lower energy consumption and meeting the requirements of low carbon and environmental protection.
The purpose of the invention is realized in the following way:
an adaptive flexible palletizing device of the present invention includes:
the upper traction unit comprises at least three upper traction ropes and at least three upper winding and unwinding mechanisms which are respectively in one-to-one correspondence with the upper traction ropes, wherein the upper winding and unwinding mechanisms are uniformly distributed on the same height plane and are at least higher than the working height of the self-adaptive flexible stacking device;
the top of the upper flange unit is connected with the lower ends of at least three upper traction ropes, and the upper flange unit can be pulled to move in the working space by winding and unwinding the upper traction ropes through the upper traction unit;
a rotary driving mechanism fixedly installed at the bottom of the upper flange unit; and
the fork unit is arranged at the bottom of the rotary driving mechanism and driven by the rotary driving mechanism to rotate in the horizontal direction, the fork unit is of a three-dimensional frame structure and is provided with a fork device capable of stretching and taking materials in the horizontal direction, and the fork device is driven by a fork device driving mechanism arranged in the three-dimensional frame structure of the fork unit to stretch and retract.
The adaptive flexible stacking device further comprises: the lower flange unit is similar to the upper flange unit in structure, the top of the lower flange unit is rotatably connected with the bottom of the forking unit, and the lower traction unit comprises at least three lower traction ropes and lower winding and unwinding mechanisms which are respectively and correspondingly used for winding and unwinding the lower traction ropes one by one, each lower winding and unwinding mechanism is fixed with the bottom of the operation space, the upper end of each lower traction rope is connected with the bottom of the lower flange unit, and the forking unit can stably move in the operation space through winding and unwinding the upper traction ropes and the lower traction ropes.
The number of the upper traction ropes and the lower traction ropes in the self-adaptive flexible stacking device is four, and the upper winding and unwinding mechanisms and the lower winding and unwinding mechanisms are respectively and uniformly distributed in the same horizontal plane of the installation height of the upper winding and unwinding mechanisms and the lower winding and unwinding mechanisms.
The upper flange unit and the lower flange unit of the self-adaptive flexible stacking device are both of box structures and are respectively provided with lifting lugs for connecting the upper traction rope and the lower traction rope.
The fork device in the self-adaptive flexible stacking device is also provided with fork claws or clamps in a matched mode, the fork device can be rapidly disassembled, and the fork device is matched with a material structure to be forked.
The fork device in the self-adaptive flexible stacking device comprises a plurality of layers of fork claw structures capable of simultaneously forking a plurality of layers of materials.
The forking unit in the self-adaptive flexible stacking device is provided with a rail for sliding installation of the forking tool.
The self-adaptive flexible stacking device further comprises an auxiliary image recognition mechanism for positioning the forking unit, forking materials to be forked in the working space and storing the materials to be forked in the working space, and the auxiliary image recognition mechanism is arranged in the working space and avoids the working range of the forking unit. Further, the auxiliary image recognition mechanism is a plurality of visual cameras on a bottom base of the installation work space.
The self-adaptive flexible stacking device further comprises a controller connected in a wired or wireless mode, the controller acquires the position information of the materials to be forked through the auxiliary image recognition mechanism, the upper traction unit is controlled to wind and unwind the upper traction rope so that the forking unit moves to a designated position, the rotary driving mechanism is used for realizing that the forking tool points to the set horizontal direction in the command forking unit of the controller, and the forking tool driving mechanism is used for forking the materials under the command of the controller.
Compared with an arbitrary position object carrying system formed by a commonly used six-axis robot and a vision system, the self-adaptive flexible stacking device has the advantages of small occupied space, fixed position of moving parts and small energy consumption, can be suitable for the fork and carrying of general materials in various warehouses in various industries at present, and has great application prospect and development space.
Drawings
FIG. 1 is a perspective view of an adaptive flexible palletizing device of the present invention;
fig. 2 is a bottom view of the adaptive flexible palletizing device of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
The adaptive flexible stacking device of the present invention comprises:
the upper traction unit 1 comprises at least three upper traction ropes 11 and upper winding and unwinding mechanisms 12 which are arranged in a one-to-one correspondence manner and used for winding and unwinding the upper traction ropes 11, the upper winding and unwinding mechanisms 12 are uniformly distributed in the same height plane and have installation heights at least higher than the operation height of the self-adaptive flexible stacking device, the upper winding and unwinding mechanisms 12 are controlled by a controller (not shown in the figure), and the positions of the lower end systems of the upper traction ropes 11 in the three-dimensional space can be controlled by controlling the winding and unwinding lengths of the upper traction ropes 11;
the top of the upper flange unit 2 is connected and lifted through the lower ends of at least three upper traction ropes 11, and the upper flange unit 2 can be pulled to move in an operation space by winding and unwinding the upper traction ropes 11 through the upper traction unit 1; in this embodiment, the upper flange unit 2 includes a box-shaped upper flange unit body 21, the top of the upper flange unit body 21 is provided with first lifting lugs 22 corresponding to the number of the upper hauling ropes 11 and used for connecting with the upper hauling ropes 11, and the bottom of the upper flange unit body is provided with an upper flange.
A rotary driving mechanism 3 connected to the bottom of the upper flange unit 2, in this embodiment, the rotary driving mechanism 3 includes a gear member 31, the gear member 31 is fixedly connected to the top of a three-dimensional frame 41 of the fork unit 4 via a rod 32, and the gear member 31 is driven and driven by a motor (not shown) installed in the upper flange unit body 21;
the fork unit 4 is mounted at the bottom of the rotary driving mechanism 3 and is driven by the rotary driving mechanism 3 to rotate in the horizontal direction, the fork unit 4 comprises a three-dimensional frame 41 and a fork 42 mounted in the three-dimensional frame 41, and the fork 42 is driven by a horizontal driving mechanism 43 mounted in the three-dimensional frame 41 to move in a telescopic manner.
In this embodiment, the method further includes:
a lower flange unit 5 having a similar structure to the upper flange unit 2, the top of the lower flange unit 5 being rotatably connected to the bottom of the stereoscopic frame 41 of the fork unit 4; and
the lower traction unit 6 comprises at least three lower traction ropes 61 and lower winding and unwinding mechanisms 62 which are respectively and correspondingly arranged for winding and unwinding the lower traction ropes 61 one by one, each lower winding and unwinding mechanism 62 is fixedly arranged on the ground, the upper end of the lower traction rope 61 is connected with a second lifting lug 51 arranged at the bottom of the lower flange unit 5, and the upper traction unit 1 and the lower traction unit 6 can realize stable movement of the forking unit 4 in an operation space through winding and unwinding the upper traction ropes 11 and the lower traction ropes 61, wherein the lower traction unit 6 is used as an auxiliary stabilizing system; the lower winding and unwinding mechanism 62 is also controlled by a controller (not shown in the figure), and the winding and unwinding length of the plurality of lower traction ropes 61 is controlled to control the upper traction ropes 11 so as to realize the motion stability of the forking unit 4.
In the present embodiment, the numbers of the upper traction ropes 11 and the lower traction ropes 61 of the upper traction unit 1 and the lower traction unit 6 are four, and the upper traction unit 1 and the lower traction unit 6 are arranged symmetrically up and down.
In this embodiment, the fork 42 has a fork claw structure, which is adapted to the structure of the material to be forked; the fork 42 includes a two-layer fork jaw structure for simultaneously picking up two layers of material, the fork 42 being mounted on a slide of a pair of rails 44.
In this embodiment, the method further includes:
an auxiliary image recognition mechanism (not shown in the figure) is installed in the working space and is installed in the working range of avoiding the forking unit 4, in this embodiment, the auxiliary image recognition mechanism is a plurality of vision cameras on a bottom base (not shown in the figure) installed in the working space, the bottom base is fixed on the ground, the relationship between the space coordinates of the transported material and the space coordinates of the post-transport placement position is non-fixed, the space coordinates of the transported material and the space coordinates of the post-transport placement position can be provided by image recognition through the auxiliary image recognition mechanism on the bottom base, and then the Euler angle transformation of the forking unit 4 is controlled by the upper traction unit 1 and the lower traction unit 6, so that the transporting operation can be performed on the working object at any working position.
The controller in this embodiment is connected to and controls the adaptive flexible stacking device in a wired or wireless manner, and the controller can control the upper winding and unwinding mechanism 12, the rotary driving mechanism 3, the fork unit 4, and the lower winding and unwinding mechanism 62, and acquire information of the auxiliary image recognition mechanism.
In this embodiment, the three-dimensional frame 41 of the forking unit 4 is provided with a fork 42 and a fork or a clamp, and the fork or the clamp can be driven to rotate, stretch or clamp by providing power for electric equipment (typically a battery) in the forking unit 4;
the controller can realize control signal transmission through optical fiber communication, 3G-5G cellular communication technology, wiFi, zigbee, lora and other modes.
The operation process of the self-adaptive flexible stacking device is as follows:
1) The self-adaptive flexible stacking device is in an initial state; the materials to be transported are positioned at a preset space position in the warehouse, the image information of the materials is acquired through an auxiliary image recognition mechanism and is uploaded to the controller, and the corresponding coordinate positions of the materials are analyzed through data and fed back to the self-adaptive flexible stacking device;
2) After the self-adaptive flexible stacking device receives the space coordinates of the materials, locking the space coordinates of the materials to be transported: the upper traction unit 1 and the lower traction unit 6 drive the forking unit 4 to perform three-dimensional movement so as to quickly move the forking unit 4 from an initial position to a material forking position;
3) In the process that the fork 42 moves in the horizontal direction, the rotary driving mechanism 3 simultaneously rotates the fork 42 towards the material, when the fork 42 reaches the front of the material, the Euler angle conversion of the fork taking unit 4 is driven and controlled under the traction of the upper traction rope 11 and the lower traction rope 61, the material in any operation range can be carried out at any angle and space position, and the lifting appliance and the material bottom support are parallel to each other after adjustment to achieve the state of taking the material to be forked;
4) After the fork 42 extends to the lower part of the material along the track direction, the upper traction rope 11 translates upwards to lift, so as to finish the fork action of the material;
5) The fork 42 withdraws into the fork unit 4 along the linear track direction after the material is forked, and the gravity center is adjusted to the rope center so as to ensure the stable operation of the following self-adaptive flexible stacking device;
6) The self-adaptive flexible stacking device drives the forking unit 4 to perform three-dimensional movement through the upper traction unit 1 and the lower traction unit 6 according to the space coordinates of the materials to be transported so as to quickly move the forking unit 4 and the forked materials to a target position (transport material carrier position or other material warehouse positions);
7) In the moving process of the fork 42, the rotary driving mechanism 3 simultaneously rotates the fork 42 towards a target position, and after reaching the target position, the Euler angle conversion of the fork 42 is controlled under the traction of the upper traction rope 11 and the lower traction rope 61, so that the fork 42 can be correspondingly adjusted according to the angle of the target position of the material;
8) After extending to the upper part of the target position along the track direction, the fork 42 translates downwards together with the upper traction rope 11 to complete the positioning and placing actions of the materials;
9) After the fork 42 is used for placing the materials, the materials retract into the fork unit 4 along the linear track direction, and the gravity center of the fork unit 4 returns to the inside of the three-dimensional frame 41;
10 The fork 42 is moved rapidly to the initial position by traction driving of the upper traction rope 11 and the lower traction rope 61.
The fork 42 of the present invention includes two layers of tines.
The euler angles of the fork 42 (a set of three independent angle parameters used to uniquely determine the rotational rigid body position, consisting of nutation angle θ, precession angle ψ, and rotation angle φ) are transformed as follows:
the initial position of the fork 42 is determined by an oxy z coordinate system, which determines the initial horizontal plane of the fork 42 and the oz axis determines the verticality of the fork 42. When the auxiliary image recognition mechanism shoots the position of the fork 42 and determines that the fork claw is at the ox ' y ' z ' position, the upper traction rope 11 and the lower traction rope 61 can be controlled by the upper traction unit 1 and the lower traction unit 6, and the euler angle (nutation angle theta, precession angle phi and autorotation angle phi) of the fork 42 can be adjusted to change so as to reach the target coordinate position oxyz.
The invention has the beneficial effects that:
1. the material handling and turnover process procedures are simplified, the automation control complexity is simplified, the automation and the intellectualization of industrial equipment are improved, the material handling and turnover efficiency is greatly improved, and the manual labor intensity is reduced.
2. Accurate material storage and positioning and accurate material forking are realized under the condition of reducing control precision;
3. is suitable for carrying various materials in various industries.
4. The whole set of system occupies small space, the relative positions of the moving parts are fixed, and the energy consumption is low.
The above embodiments are provided for illustrating the present invention and not for limiting the present invention, and various changes and modifications may be made by one skilled in the relevant art without departing from the spirit and scope of the present invention, and thus all equivalent technical solutions should be defined by the claims.
Claims (9)
1. An adaptive flexible palletizing device, characterized in that it comprises:
the upper traction unit comprises at least three upper traction ropes and at least three upper winding and unwinding mechanisms which are respectively in one-to-one correspondence with the upper traction ropes, wherein the upper winding and unwinding mechanisms are uniformly distributed on the same height plane and are at least higher than the working height of the self-adaptive flexible stacking device;
the top of the upper flange unit is connected with the lower ends of at least three upper traction ropes, and the upper flange unit can be pulled to move in an operation space by winding and unwinding the upper traction ropes through the upper traction unit;
a rotary driving mechanism fixedly installed at the bottom of the upper flange unit; and
the fork unit is arranged at the bottom of the rotary driving mechanism and driven by the rotary driving mechanism to rotate in the horizontal direction, the fork unit is of a three-dimensional frame structure and is provided with a fork device capable of stretching and taking materials in the horizontal direction, and the fork device is driven by a fork device driving mechanism arranged in the three-dimensional frame structure of the fork unit to stretch and retract.
2. The adaptive flexible palletizing apparatus as in claim 1, further comprising:
the lower flange unit is similar to the upper flange unit in structure, the top of the lower flange unit is rotatably connected with the bottom of the forking unit, and the lower traction unit comprises at least three lower traction ropes and lower winding and unwinding mechanisms which are respectively in one-to-one correspondence to wind and unwind the lower traction ropes, each lower winding and unwinding mechanism is fixed with the bottom of an operation space, the upper end of each lower traction rope is connected with the bottom of the lower flange unit, and the upper traction unit and the lower traction unit can realize stable movement of the forking unit in the operation space through winding and unwinding the upper traction ropes and the lower traction ropes respectively.
3. The adaptive flexible stacking device of claim 2, wherein the number of said upper traction ropes and said lower traction ropes is four, and said upper winding and unwinding mechanisms and said lower winding and unwinding mechanisms are respectively distributed uniformly in the same horizontal plane of the installation height thereof.
4. The adaptive flexible stacking device of claim 2, wherein said upper and lower flange units are each of a box structure and are provided with lifting lugs for connection of said upper and lower haulage ropes, respectively.
5. The adaptive flexible palletizing device according to claim 1, wherein the fork is further provided with fork claws or clamps in a matched manner, the fork is rapidly detachable, and the fork is matched with a material structure to be forked.
6. The adaptive flexible palletizing device as in claim 5, wherein the fork comprises a fork claw structure for simultaneously fork-taking a plurality of layers of material.
7. The adaptive flexible stacker apparatus according to claim 5 wherein said fork-lift unit is provided with a track for sliding mounting of said forks.
8. The adaptive flexible palletizing device as in claim 1, further comprising an auxiliary image recognition mechanism for positioning the palletizing unit and the material to be palletized in the working space and stored as a positioning, the auxiliary image recognition mechanism being installed in the working space and avoiding the working range of the palletizing unit.
9. The adaptive flexible palletizing device as in claim 8, further comprising a controller connected by wire or wireless means, the controller acquiring positional information of the material to be palletized through the auxiliary image recognition mechanism, controlling the upper traction unit to wind and unwind the upper traction rope to move the palletizing unit to a designated position, the rotary driving mechanism realizing the orientation of the palletizing tool in the designated horizontal direction by the instruction of the controller, the palletizing tool driving mechanism palletizing the material under the instruction of the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210114151.4A CN116902443A (en) | 2022-01-30 | 2022-01-30 | Self-adaptive flexible stacking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210114151.4A CN116902443A (en) | 2022-01-30 | 2022-01-30 | Self-adaptive flexible stacking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116902443A true CN116902443A (en) | 2023-10-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210114151.4A Pending CN116902443A (en) | 2022-01-30 | 2022-01-30 | Self-adaptive flexible stacking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116902443A (en) |
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2022
- 2022-01-30 CN CN202210114151.4A patent/CN116902443A/en active Pending
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