CN116986325A - Movable multilayer stacking equipment with material frame guide function - Google Patents
Movable multilayer stacking equipment with material frame guide function Download PDFInfo
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- CN116986325A CN116986325A CN202311249296.6A CN202311249296A CN116986325A CN 116986325 A CN116986325 A CN 116986325A CN 202311249296 A CN202311249296 A CN 202311249296A CN 116986325 A CN116986325 A CN 116986325A
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- material frame
- plate
- rod body
- frame
- guide
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- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 238000000034 method Methods 0.000 claims description 14
- 210000001503 joint Anatomy 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 12
- 238000007599 discharging Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
-
- 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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/205—Arrangements for transmitting pneumatic, hydraulic or electric power to movable parts or devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
Abstract
The invention provides mobile multilayer stacking equipment with a material frame alignment function, which comprises a mobile car body, a bearing frame, a jacking mechanism and an alignment mechanism, wherein a bearing horizontal plate of the bearing frame is used for supporting a material frame, the jacking mechanism comprises the jacking plate which is arranged above the bearing horizontal plate in a lifting manner, the alignment mechanism comprises an alignment clamping jaw which is arranged on the bearing horizontal plate in an openable manner, the rotation axis of the alignment clamping jaw is parallel to the opening and closing direction of the alignment clamping jaw, when stacking, the bearing horizontal plate and the jacking plate can be driven by a mobile car frame to be inserted into or separated from the bottom of the material frame and drive the material frame to move, the lifting of the material frame can be driven by the lifting plate and the lifting of the bearing vertical plate, and the resetting of a rib plate of a lower material frame can be carried out through the opening and closing of the alignment clamping jaw, so that the material frame column connected with the rib plate is aligned at the butt joint position, and the stability and the safety after stacking are improved.
Description
Technical Field
The invention relates to the technical field of stacking, in particular to a movable multilayer stacking device which is used for a stereoscopic warehouse and has a material frame guide function.
Background
Stacking refers to regularly stacking commodities to form a stack, and for some commodities, stacking is performed on a commodity body with a certain layer number limit so as to avoid crushing.
The rib plates can be arranged on the side of the existing material frame in a pulling mode to increase strength and avoid deformation of material frame columns, but under certain conditions, if the size of a commodity is over-limited, the rib plates can be arranged on a pair of side edges of the material frame in a pulling mode for facilitating commodity storage, the other side of the material frame is empty or a flexible net bag is arranged, when the number of commodities in the material frame is large, the commodity at a high position can easily slide to the side where the rib plates are arranged in a pulling mode, the material frame columns are extruded to incline outwards, when the inclination angle of the commodity exceeds the limit, the material frame columns on the material frame columns are difficult to place above the commodity frame columns stably, the material frame columns on the material frame frames are difficult to align during stacking, stability after stacking is poor, the upper material frame is easy to pour and drop, and potential safety hazards exist.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a movable multilayer stacking device with a material frame guide function, when the device is used for stacking material frames in a stereoscopic warehouse, material frame columns of an upper material frame and a lower material frame are easy to align, and stability and safety after stacking are good.
In order to achieve the above purpose, the invention adopts the technical scheme that the movable multilayer stacking device with the material frame guide function comprises:
the movable vehicle body comprises a vehicle frame, a driving part and rollers, wherein the vehicle frame comprises a horizontal bracket and a vertical bracket, the end parts of the horizontal bracket and the vertical bracket are vertically connected, the driving part is connected to one side, far away from the horizontal bracket, of the vertical bracket, the rollers are connected to the bottoms of the horizontal bracket and the driving part, and the driving part is used for driving the rollers to rotate;
the bearing frame comprises a bearing horizontal plate and a bearing vertical plate, the end parts of the bearing horizontal plate are vertically connected, the bearing horizontal plate is used for supporting a material frame and is positioned above the horizontal support, and the bearing vertical plate is connected to one side, close to the horizontal support, of the vertical support in a lifting manner;
the movable multilayer stacking equipment with the material frame guide function further comprises a jacking mechanism and a guide mechanism; the jacking mechanism comprises a jacking plate which is arranged above the bearing horizontal plate in a lifting manner, and the guide mechanism comprises a guide clamping jaw which is arranged on the bearing horizontal plate in an openable manner;
the stacking of the material frames by the movable multilayer stacking equipment with the material frame aligning function comprises the following steps:
s1, the driving part acts to enable the roller to rotate, so that the frame is driven to horizontally move to the bottom of the horizontal bracket, the bearing horizontal plate and the jacking plate inserted into the upper material frame;
s2, lifting the lifting plate and the bearing vertical plate, and lifting the upper material frame to the stacking height;
s3, the driving part acts to enable the roller to rotate so as to drive the upper layer material frame to move to the upper side of the lower layer material frame;
s4, opening and closing the guide clamping jaw, inwards extruding rib plates of the lower-layer material frame, resetting the rib plates, and guiding a material frame column connected with the rib plates;
s5, the lifting plate descends to be separated from the upper layer material frame, so that a material frame column of the upper layer material frame falls on a material frame column of the lower layer material frame after being guided;
s6, resetting the guide clamping jaw;
and S7, the driving part acts to enable the roller to rotate, so that the frame is driven to horizontally move to the bottom of the upper material frame, which is separated from the horizontal support, the bearing horizontal plate and the jacking plate, and stacking is completed.
Preferably, the lifting mechanism further comprises a scissor type lifting frame and a driving oil cylinder, the scissor type lifting frame comprises two supporting rods which are arranged in an X shape and are hinged to the middle of the supporting rods, the upper end part and the lower end part of one side of each supporting rod are hinged to the lifting plate and the bearing horizontal plate, the upper end part and the lower end part of the other side of each supporting rod are in sliding connection with the lifting plate and the bearing horizontal plate, the driving oil cylinder is arranged on the bearing horizontal plate and used for driving the supporting rods to act, and the lifting plate is lifted.
Further preferably, the scissor fork type lifting frames are provided with two groups and symmetrically distributed on two sides of the guide mechanism.
Preferably, the guiding clamping jaw at least comprises a pair of guiding rods distributed in an array along the opening and closing center of the guiding clamping jaw, and the guiding rods comprise a first rod body movably and rotatably connected to the bearing horizontal plate, and a second rod body vertically connected to the outer side end part of the first rod body.
Further preferably, the guide rod has six working positions, namely a first working position to a sixth working position, and when the guide rod is in the first working position, the first rod body moves outwards to drive the second rod body to extend, so that the projection of the second rod body in the up-down direction is positioned at the outer side of the projection of the lower layer material frame in the up-down direction; when the guide rod is in the second working position, the first rod body rotates 90 degrees along the axis, so that the second rod body is changed from a horizontal state to a vertical state, and at least one part of the second rod body is positioned at the outer side of the rib plate; when the guide rod is in a third working position, the first rod body moves inwards to drive the second rod body to retract, so that the second rod body abuts against the rib plate and pushes the rib plate to reset inwards, and the material frame column connected with the rib plate is guided; when the guide rod is at a fourth working position, the first rod body is driven to move outwards, so that the second rod body is separated from the rib plate; when the guide rod is in a fifth working position, the first rod body is reversed by 90 degrees along the axis, so that the second rod body is changed from a vertical state to a horizontal state; when the guide rod is in the sixth working position, the first rod body moves inwards to drive the second rod body to retract, so that the projections of the first rod body and the second rod body in the up-down direction are all located in the projection of the bearing horizontal plate in the up-down direction.
Further preferably, the guide bar is sequentially shifted from the first working position to the third working position when the guide jaw is opened in step S4; when the guide clamping jaw is reset in the step S6, the guide rod is sequentially changed from the third working position to the sixth working position.
Further preferably, the end of the second rod body is vertically connected with the outer end of the first rod body, or the middle of the second rod body is vertically connected with the outer end of the first rod body.
Still preferably, the guide mechanism further comprises a telescopic motor for driving the first rod body to move and a rotating motor for driving the first rod body to rotate, wherein the telescopic motor and the rotating motor are both arranged on the bearing horizontal plate and symmetrically distributed on two sides of the opening and closing center of the guide clamping jaw.
Preferably, the driving part is a driving part of an AGV self-moving trolley, the driving part has a position recognition function, and in step S1, the condition that the driving part stops the operation is that the opening and closing center of the guide clamping jaw is located right below the geometric center of the upper material frame.
Further preferably, the geometric center of the upper layer material frame is the geometric center of the material frame column in a guiding state, and the opening and closing of the guiding clamping jaw in the step S4 can guide the position of the upper layer material frame, so that the position deviation of the geometric center of the upper layer material frame and the geometric center of the lower layer material frame in the opening and closing direction of the guiding clamping jaw is reduced.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
the invention provides mobile multilayer stacking equipment with a material frame alignment function, which comprises a mobile car body, a bearing frame, a jacking mechanism and an alignment mechanism, wherein a bearing horizontal plate of the bearing frame is used for supporting a material frame, the jacking mechanism comprises the jacking plate which is arranged above the bearing horizontal plate in a lifting manner, the alignment mechanism comprises an alignment clamping jaw which is arranged on the bearing horizontal plate in an openable manner, the rotation axis of the alignment clamping jaw is parallel to the opening and closing direction of the alignment clamping jaw, when stacking, the bearing horizontal plate and the jacking plate can be driven by a mobile car frame to be inserted into or separated from the bottom of the material frame and drive the material frame to move, the lifting of the material frame can be driven by the lifting plate and the lifting of the bearing vertical plate, and the resetting of a rib plate of a lower material frame can be carried out through the opening and closing of the alignment clamping jaw, so that the material frame column connected with the rib plate is aligned at the butt joint position, and the stability and the safety after stacking are improved.
Drawings
Fig. 1 is a schematic front view of a first embodiment of the present invention, in which a load-bearing vertical plate and a lifting plate are in a lowered state.
Fig. 2 is a schematic front view of the first embodiment of the present invention, where the vertical load-bearing plate is in a lowered state and the lifting plate is in a raised state.
Fig. 3 is a schematic front view of a first embodiment of the present invention, where the load-bearing vertical plate and the lift plate are both in a raised state.
Fig. 4 is a schematic top view of fig. 1, with the lift plate and drive section hidden for ease of viewing.
Fig. 5 is a schematic view of the process of fig. 1 in a front view of stacking the frames, corresponding to a first working position of the guide jaws when opened.
Fig. 6 is a schematic view of the process of fig. 1 in the front view of stacking the frames, corresponding to a second working position of the guide jaws when open.
Fig. 7 is a schematic view of the process of fig. 1 in the front view of stacking the frames, corresponding to a third working position of the guide jaws when opened.
Fig. 8 is a schematic diagram of a process in a front view direction when stacking the material frames in fig. 1, and corresponds to a fourth working position when the guide clamping jaw is opened and closed.
Fig. 9 is a schematic diagram of the process in the front view of the stacking of the frames of fig. 1, corresponding to a fifth working position of the guide jaws when they are opened.
Fig. 10 is a schematic view of the process of fig. 1 in the front view of stacking the frames, corresponding to the sixth working position of the guide jaws when open.
Fig. 11 is a schematic diagram of a process in a left-view direction when stacking the material frames in fig. 1, and only shows the feeding and discharging frame, the lifting plate and the guide rod for facilitating observation, corresponding to a first working position when the guide clamping jaw is opened.
Fig. 12 is a schematic view of the process in the left view direction when stacking the material frames in fig. 1, and only shows the feeding and discharging frame, the lifting plate and the guide rod for the convenience of observation, corresponding to the second working position when the guide clamping jaw is opened.
Fig. 13 is a schematic view of the process in the left view direction when stacking the material frames in fig. 1, and only shows the feeding and discharging frame, the lifting plate and the guide rod for the sake of convenience in observation, corresponding to the third working position when the guide clamping jaw is opened.
Fig. 14 is a schematic diagram of a process in the left view direction when stacking the material frames in fig. 1, and only shows the feeding and discharging frame, the lifting plate and the guide rod for facilitating the observation, corresponding to the fourth working position when the guide clamping jaw is opened and closed.
Fig. 15 is a schematic view of the process in the left view direction when stacking the material frames in fig. 1, and only shows the feeding and discharging frame, the lifting plate and the guide rod for the convenience of observation, corresponding to the fifth working position when the guide clamping jaw is opened.
Fig. 16 is a schematic view of the process in the left view direction when stacking the material frames in fig. 1, and only shows the feeding and discharging frame, the lifting plate and the guide rod for the convenience of observation, corresponding to the sixth working position when the guide clamping jaw is opened.
Fig. 17 is a schematic top view of a second embodiment of the present invention, wherein the lifting plate and the driving portion are omitted for easy observation.
Wherein: 10. moving the vehicle body; 11. a frame; 111. a horizontal bracket; 112. a vertical support; 12. a driving section; 13. a driving wheel; 20. a bearing frame; 21. a bearing horizontal plate; 22. a load-bearing vertical plate; 31. a jacking plate; 32. a scissor fork type lifting frame; 321. a support rod; 33. a driving oil cylinder; 41. a guide rod; 411. a first rod body; 412. a second rod body; 42. a telescopic motor; 43. a rotating electric machine; 51. an upper material frame; 511. a rib plate of the upper material frame; 512. a material frame column is arranged on the upper layer; 513. bowl-type footing of upper material frame; 52. a lower layer material frame; 521. a lower layer material frame rib plate; 522. a lower layer material frame column; 523. lower layer material frame bowl type footing.
Detailed Description
Example 1
As shown in fig. 1 to 16, the mobile multi-layer stacking apparatus with a material frame guiding function provided by the present invention includes: the device comprises a mobile car body 10, a bearing frame 20, a jacking mechanism and a guide mechanism, wherein the mobile car body 10 comprises a car frame 11, a driving part 12 and rollers, the car frame 11 comprises a horizontal support 111 and a vertical support 112, the end parts of the horizontal support 111 and the vertical support 112 are vertically connected, the driving part 12 is connected to one side of the vertical support 112 far away from the horizontal support 111, the rollers comprise driven wheels connected to the bottom of the horizontal support 111 and driving wheels 13 connected to the bottom of the driving part 12, and the driving part 12 is used for driving the driving wheels 13 to rotate; the bearing frame 20 comprises a bearing horizontal plate 21 and a bearing vertical plate 22, the end parts of which are vertically connected, the bearing horizontal plate 21 is used for supporting a material frame and is positioned above the horizontal support 111, and the bearing vertical plate 22 is connected to one side of the vertical support 112, which is close to the horizontal support 111, in a lifting manner; the lifting mechanism comprises a lifting plate 31, a scissor fork type lifting frame 32 and a driving oil cylinder 33, wherein the lifting plate 31 is arranged above the bearing horizontal plate 21 in a lifting manner, the scissor fork type lifting frame 32 comprises two supporting rods 321 which are arranged in an X shape and are hinged at the middle part, the upper end part and the lower end part of one side of each supporting rod 321 are hinged with the lifting plate 31 and the bearing horizontal plate 21, the upper end part and the lower end part of the other side of each supporting rod are in sliding connection with the lifting plate 31 and the bearing horizontal plate 21, the driving oil cylinder 32 is arranged on the bearing horizontal plate 21, and the driving oil cylinder 32 is used for driving the supporting rods 321 to act so as to lift the lifting plate 31; the guiding mechanism comprises a guiding clamping jaw, a telescopic motor 42 and a rotating motor 43, wherein the guiding clamping jaw can be arranged on a bearing horizontal plate 21 in an opening and closing mode, the guiding clamping jaw comprises a pair of guiding rods 41 which are distributed in an array mode along the opening and closing center of the guiding clamping jaw, the guiding rods 41 comprise a first rod body 411 which is movably and rotatably connected to the bearing horizontal plate 21, a second rod body 412 which is vertically connected to the outer side end portion of the first rod body 411, the end portion of the second rod body 412 is vertically connected with the outer side end portion of the first rod body 411, the moving direction of the first rod body 411 is the axial direction of the first rod body, the rotating axis of the first rod body 411 is the axis of the first rod body, the telescopic motor 42 is used for driving the first rod body 411 to move, the telescopic motor 42 and the rotating motor 43 are arranged on the bearing horizontal plate 21 and symmetrically distributed on two sides of the opening and closing center of the guiding clamping jaw, so that stability is enhanced, the power transmission of the rotating motor 43 and the first rod body 411 can be carried out in a pipe sleeve shaft mode, namely, the outer pipe is sleeved on the first rod body 411 and matched with the first rod body 411 in a rotating mode through a long key groove, and a key groove is formed in the mode, and the rotating motor 42 is matched with the outer pipe body 411 in the mode, and the inner end portion of the telescopic rod is tightly matched with the long push rod is arranged in the first rod.
The stacking of the material frames by the movable multilayer stacking equipment with the material frame aligning function comprises the following steps:
s1, a driving part 12 acts to enable a roller 13 to rotate, so as to drive a frame 11 to horizontally move to a bottom of a horizontal bracket 111, a bearing horizontal plate 21 and a jacking plate 31 to be inserted into an upper material frame 51 (a cavity supported by the bottom of an upper material frame column 512);
s2, lifting the lifting plate 31 and the bearing vertical plate 22, and lifting the upper material frame 51 to a stacking height (5-10 cm higher than the highest point of the lower material frame 52);
s3, the driving part 12 acts to enable the roller 13 to rotate and drive the upper material frame 51 to move to the position above the lower material frame 52;
s4, opening and closing the guide clamping jaw, inwards extruding a lower-layer material frame rib plate 521 of the lower-layer material frame 52, resetting the lower-layer material frame rib plate 521, and guiding a lower-layer material frame column 522 connected with the lower-layer material frame rib plate 521;
s5, the lifting plate 31 descends to be separated from the upper material frame 51, so that the bottom of the upper material frame column 512 of the upper material frame 51 falls on the top of the lower material frame column 522 of the lower material frame 52 after being guided, and stacking is realized;
s6, resetting the guide clamping jaw;
and S7, the driving part 12 acts to enable the roller 13 to rotate, so that the frame level 11 is driven to move to the bottom of the upper material frame 51, which is separated from the horizontal support 111, the bearing horizontal plate 21 and the jacking plate 31, and stacking is completed.
The advantage of this setting is that when stacking, can drive the load-bearing horizontal plate 21 through moving the frame 11, the lifting plate 31 inserts or breaks away from the material frame bottom and drive the material frame to remove, can drive the material frame to go up and down through lifting of lifting plate 31 and the vertical board 22 of load-bearing, can also reset the lower floor material frame gusset 521 of lower floor material frame 52 through leading the clamping jaw and open and shut, lead the lower floor material frame post 522 that this lower floor material frame gusset 521 connects to align the material frame post of upper and lower material frame at the butt joint position, promote stability and the security after the stack, when the load-bearing horizontal plate 21 inserts or breaks away from the material frame bottom, can also make the second body of rod 412 change to the horizontality through the rotation of first body of rod 411, avoid inserting or breaking away from the in-process interference.
In the present embodiment, the guide bar 41 has six working positions, namely, a first working position to a sixth working position, and when the guide bar 41 is in the first working position, the first bar 411 moves outwards to drive the second bar 412 to extend, so that the projection of the second bar 412 in the up-down direction is located outside the projection of the lower material frame 51 in the up-down direction; when the guide bar 41 is in the second working position, the first bar 411 rotates 90 degrees along the axis, so that the second bar 412 is changed from the horizontal state to the vertical state, and the second bar 412 is located outside the lower frame rib plate 521; when the guide rod 41 is in the third working position, the first rod 411 moves inwards to drive the second rod 412 to retract, so that the second rod 412 abuts against the lower-layer material frame rib plate 521 and pushes the lower-layer material frame rib plate 521 to reset inwards, and guides the lower-layer material frame column 522 connected with the lower-layer material frame rib plate 521; when the guide bar 41 is at the fourth working position, the first bar 411 moves outwards to drive the second bar 412 to separate from the lower frame rib plate 521; when the guide bar 41 is in the fifth working position, the first bar 411 is reversed by 90 degrees along the axis, so that the second bar 412 is changed from the vertical state to the horizontal state; when the guide bar 41 is at the sixth working position, the first bar 411 moves inwards to drive the second bar 412 to retract, so that the projections of the first bar 411 and the second bar 412 in the up-down direction are all located in the projection of the bearing horizontal plate 21 in the up-down direction; when the pilot clamping jaw is opened in step S4, the pilot lever 41 is sequentially shifted from the first working position to the third working position; when the pilot jaw is opened in step S6, the pilot lever 41 is sequentially shifted from the third operating position to the sixth operating position.
It should be noted that, in the present embodiment, the first rod 411 is perpendicular to the side edge of the extending bearing horizontal plate 21, the second rod 412 is parallel to the side edge, and when the guide rod 41 is in the sixth working position, the outer side surface of the second rod 412 is flush with the side edge.
To avoid crushing the supporting surface and facilitate alignment during stacking, in this embodiment, the bottom of the lower frame material frame 522 is connected to a lower frame bowl base 523, and the bottom of the upper frame material frame 512 is connected to an upper frame bowl base 513.
In this embodiment, for improving stability, the scissor fork type lifting frame 32 has two groups and is symmetrically distributed on two sides of the guiding mechanism, for positioning, the driving portion 13 is a driving portion of the AGV self-moving trolley, and has a position recognition function, specifically, the driving portion 13 is provided with a camera, a wireless communication module and other components, so as to realize position recognition.
Example two
As shown in fig. 17, the second embodiment is basically the same as the first embodiment, except that in the second embodiment, the middle portion of the second rod 412 is vertically connected to the outer end portion of the first rod 411, and when the guide rod 41 is in the third working position, the second rod 412 can also be abutted against the upper frame 52, so that the upper frame 52 translates relative to the lifting plate 31, thereby correcting the position of the upper frame 52.
Further, in step S1, the condition that the driving part 12 stops is that the opening and closing center of the guiding jaw is located right below the geometric center of the upper material frame 51, the geometric center of the upper material frame 51 is the geometric center of the upper material frame column 512 in the guiding state, and the opening and closing of the guiding jaw in step S4 can guide the position of the upper material frame 51, so as to reduce the position deviation of the geometric center of the upper material frame 51 and the lower material frame 52 in the opening and closing direction of the guiding jaw.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the present invention and to implement the same, but are not intended to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of the present invention.
Claims (10)
1. A mobile multi-layer stacking apparatus having a frame alignment function, comprising:
the movable vehicle body comprises a vehicle frame, a driving part and rollers, wherein the vehicle frame comprises a horizontal bracket and a vertical bracket, the end parts of the horizontal bracket and the vertical bracket are vertically connected, the driving part is connected to one side, far away from the horizontal bracket, of the vertical bracket, the rollers are connected to the bottoms of the horizontal bracket and the driving part, and the driving part is used for driving the rollers to rotate;
the bearing frame comprises a bearing horizontal plate and a bearing vertical plate, the end parts of the bearing horizontal plate are vertically connected, the bearing horizontal plate is used for supporting the feed box and is positioned above the horizontal support, and the bearing vertical plate is connected to one side, close to the horizontal support, of the vertical support in a lifting manner;
the method is characterized in that:
the movable multilayer stacking equipment with the material frame guide function further comprises a jacking mechanism and a guide mechanism; the jacking mechanism comprises a jacking plate which is arranged above the bearing horizontal plate in a lifting manner, and the guide mechanism comprises a guide clamping jaw which is arranged on the bearing horizontal plate in an openable manner;
the stacking of the material frames by the movable multilayer stacking equipment with the material frame aligning function comprises the following steps:
s1, the driving part acts to enable the roller to rotate, so that the frame is driven to horizontally move to the bottom of the horizontal bracket, the bearing horizontal plate and the jacking plate inserted into the upper material frame;
s2, lifting the lifting plate and the bearing vertical plate, and lifting the upper material frame to the stacking height;
s3, the driving part acts to enable the roller to rotate so as to drive the upper layer material frame to move to the upper side of the lower layer material frame;
s4, opening and closing the guide clamping jaw, inwards extruding rib plates of the lower-layer material frame, resetting the rib plates, and guiding a material frame column connected with the rib plates;
s5, the lifting plate descends to be separated from the upper layer material frame, so that a material frame column of the upper layer material frame falls on a material frame column of the lower layer material frame after being guided;
s6, resetting the guide clamping jaw;
and S7, the driving part acts to enable the roller to rotate, so that the frame is driven to horizontally move to the bottom of the upper material frame, which is separated from the horizontal support, the bearing horizontal plate and the jacking plate, and stacking is completed.
2. The mobile multi-layer stacking apparatus with frame alignment function of claim 1, wherein: the lifting mechanism further comprises a scissor type lifting frame and a driving oil cylinder, the scissor type lifting frame comprises two supporting rods which are arranged in an X shape and are hinged to the middle of the supporting rods, the upper end portion and the lower end portion of one side of each supporting rod are hinged to the lifting plate and the bearing horizontal plate, the upper end portion and the lower end portion of the other side of each supporting rod are connected with the lifting plate and the bearing horizontal plate in a sliding mode, the driving oil cylinder is arranged on the bearing horizontal plate and used for driving the supporting rods to act, and the lifting plate is lifted.
3. The mobile multi-layer stacking apparatus with frame alignment function of claim 2, wherein: the scissor type lifting frames are in two groups and are symmetrically distributed on two sides of the guide mechanism.
4. The mobile multi-layer stacking apparatus with frame alignment function of claim 1, wherein: the guide clamping jaw at least comprises a pair of guide rods which are distributed in an array along the opening and closing center of the guide clamping jaw, and each guide rod comprises a first rod body movably and rotatably connected to the bearing horizontal plate and a second rod body vertically connected to the outer side end part of the first rod body.
5. The mobile multi-layer stacking apparatus with frame alignment function of claim 4, wherein: the guide rod is provided with six working positions, namely a first working position, a second working position and a third working position, when the guide rod is in the first working position, the first rod body moves outwards to drive the second rod body to extend out, so that the projection of the second rod body in the up-down direction is positioned at the outer side of the projection of the lower layer material frame in the up-down direction; when the guide rod is in the second working position, the first rod body rotates 90 degrees along the axis, so that the second rod body is changed from a horizontal state to a vertical state, and at least one part of the second rod body is positioned at the outer side of the rib plate; when the guide rod is in a third working position, the first rod body moves inwards to drive the second rod body to retract, so that the second rod body abuts against the rib plate and pushes the rib plate to reset inwards, and the material frame column connected with the rib plate is guided; when the guide rod is at a fourth working position, the first rod body is driven to move outwards, so that the second rod body is separated from the rib plate; when the guide rod is in a fifth working position, the first rod body is reversed by 90 degrees along the axis, so that the second rod body is changed from a vertical state to a horizontal state; when the guide rod is in the sixth working position, the first rod body moves inwards to drive the second rod body to retract, so that the projections of the first rod body and the second rod body in the up-down direction are all located in the projection of the bearing horizontal plate in the up-down direction.
6. The mobile multi-layer stacking apparatus with frame alignment function of claim 5, wherein: when the guide clamping jaw is opened in the step S4, the guide rod is sequentially changed from the first working position to the third working position; when the guide clamping jaw is reset in the step S6, the guide rod is sequentially changed from the third working position to the sixth working position.
7. The mobile multi-layer stacking apparatus with frame alignment function of claim 4, wherein: the end part of the second rod body is vertically connected with the outer side end part of the first rod body, or the middle part of the second rod body is vertically connected with the outer side end part of the first rod body.
8. The mobile multi-layer stacking apparatus with frame alignment function of claim 4, wherein: the guide mechanism further comprises a telescopic motor used for driving the first rod body to move and a rotating motor used for driving the first rod body to rotate, wherein the telescopic motor and the rotating motor are arranged on the bearing horizontal plate and symmetrically distributed on two sides of the opening and closing center of the guide clamping jaw.
9. The mobile multi-layer stacking apparatus with frame alignment function of claim 1, wherein: the driving part is a driving part of the AGV self-moving trolley, the driving part has a position identification function, and in the step S1, the condition that the driving part stops acting is that the opening and closing center of the guide clamping jaw is located right below the geometric center of the upper material frame.
10. The mobile multi-layer stacking apparatus with frame alignment function of claim 9, wherein: the geometric center of the upper layer material frame is the geometric center of the material frame column in a guide state, and the position deviation of the geometric center of the upper layer material frame and the geometric center of the lower layer material frame in the guide clamping jaw opening and closing direction is reduced because the guide clamping jaw opening and closing of the step S4 can guide the position of the upper layer material frame.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311249296.6A CN116986325B (en) | 2023-09-26 | 2023-09-26 | Movable multilayer stacking equipment with material frame guide function |
| CN202311596217.9A CN117682246A (en) | 2023-09-26 | 2023-09-26 | Material frame stacking vehicle for stereoscopic warehouse |
| CN202311590954.8A CN117465868A (en) | 2023-09-26 | 2023-09-26 | Stereoscopic warehouse material frame stacking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311249296.6A CN116986325B (en) | 2023-09-26 | 2023-09-26 | Movable multilayer stacking equipment with material frame guide function |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311596217.9A Division CN117682246A (en) | 2023-09-26 | 2023-09-26 | Material frame stacking vehicle for stereoscopic warehouse |
| CN202311590954.8A Division CN117465868A (en) | 2023-09-26 | 2023-09-26 | Stereoscopic warehouse material frame stacking method |
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| Publication Number | Publication Date |
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| CN116986325A true CN116986325A (en) | 2023-11-03 |
| CN116986325B CN116986325B (en) | 2024-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311590954.8A Pending CN117465868A (en) | 2023-09-26 | 2023-09-26 | Stereoscopic warehouse material frame stacking method |
| CN202311596217.9A Pending CN117682246A (en) | 2023-09-26 | 2023-09-26 | Material frame stacking vehicle for stereoscopic warehouse |
| CN202311249296.6A Active CN116986325B (en) | 2023-09-26 | 2023-09-26 | Movable multilayer stacking equipment with material frame guide function |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311590954.8A Pending CN117465868A (en) | 2023-09-26 | 2023-09-26 | Stereoscopic warehouse material frame stacking method |
| CN202311596217.9A Pending CN117682246A (en) | 2023-09-26 | 2023-09-26 | Material frame stacking vehicle for stereoscopic warehouse |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2940051A1 (en) * | 1979-10-03 | 1981-04-09 | Fa. Paul Engeler, 4401 Saerbeck | DEVICE FOR STACKING PLATE-SHAPED OBJECTS |
| CN103387138A (en) * | 2013-08-06 | 2013-11-13 | 昆明昆船物流信息产业有限公司 | Tobacco bale automatic alignment tray combining process |
| CN107840133A (en) * | 2017-11-08 | 2018-03-27 | 中国建筑科学研究院 | Steel reinforcement framework stacking and conveying device and method |
| CN208499789U (en) * | 2018-06-26 | 2019-02-15 | 深圳市鑫成泰科技有限公司 | A kind of coating machine material frame transportation system |
| CN111392311A (en) * | 2020-04-26 | 2020-07-10 | 海汇集团有限公司 | Clamping type material frame positioning device for AGV logistics storage system |
-
2023
- 2023-09-26 CN CN202311590954.8A patent/CN117465868A/en active Pending
- 2023-09-26 CN CN202311596217.9A patent/CN117682246A/en active Pending
- 2023-09-26 CN CN202311249296.6A patent/CN116986325B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2940051A1 (en) * | 1979-10-03 | 1981-04-09 | Fa. Paul Engeler, 4401 Saerbeck | DEVICE FOR STACKING PLATE-SHAPED OBJECTS |
| CN103387138A (en) * | 2013-08-06 | 2013-11-13 | 昆明昆船物流信息产业有限公司 | Tobacco bale automatic alignment tray combining process |
| CN107840133A (en) * | 2017-11-08 | 2018-03-27 | 中国建筑科学研究院 | Steel reinforcement framework stacking and conveying device and method |
| CN208499789U (en) * | 2018-06-26 | 2019-02-15 | 深圳市鑫成泰科技有限公司 | A kind of coating machine material frame transportation system |
| CN111392311A (en) * | 2020-04-26 | 2020-07-10 | 海汇集团有限公司 | Clamping type material frame positioning device for AGV logistics storage system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116986325B (en) | 2024-01-05 |
| CN117465868A (en) | 2024-01-30 |
| CN117682246A (en) | 2024-03-12 |
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