CN117800003B - Intelligent storage conveying device and conveying method thereof - Google Patents
Intelligent storage conveying device and conveying method thereof Download PDFInfo
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- CN117800003B CN117800003B CN202410228243.4A CN202410228243A CN117800003B CN 117800003 B CN117800003 B CN 117800003B CN 202410228243 A CN202410228243 A CN 202410228243A CN 117800003 B CN117800003 B CN 117800003B
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Abstract
The invention relates to the technical field of intelligent storage conveying equipment, and particularly discloses an intelligent storage conveying device and a conveying method thereof, wherein the intelligent storage conveying device comprises the following steps: a frame having support legs; a receiving passage arranged along a length direction of the frame; the support parts are arranged on two sides of the length of the accommodating channel in a mirror image mode and are connected with the support legs, each side of the support parts comprises a support plate, a slideway is arranged on the support plate, two lifting swing arms are connected in a sliding mode in the slideway, and the working states of the lifting swing arms are used for supporting the cloth roll stack; the elastic piece is arranged in the slideway, one end of the elastic piece moves in the slideway along with the lifting swing arm, and the other end of the elastic piece is arranged at the bottom of the slideway and is used for correcting the position of the conveyed cloth roll stack relative to the frame; the lifting device is arranged on the frame. The intelligent storage conveying device and the conveying method thereof simplify the steps of input and output of the cloth roll stack, and can realize more efficient and accurate input and output.
Description
Technical Field
The invention relates to the technical field of intelligent storage conveying equipment, in particular to an intelligent storage conveying device and a conveying method thereof.
Background
After the cloth is woven and subjected to quality inspection, qualified products can be rolled into cloth rolls and stacked on a tray to form a cloth roll stack. For realizing the classified storage of different types of cloth, the current solution is to construct intelligent storage workshops, set up storage unit in the partition in intelligent storage workshops, be equipped with the passageway between the adjacent storage unit for intelligent fork truck advances on the passageway, so that carry the yardage roll to corresponding storage unit or take out the yardage roll. Meanwhile, the storage points of each storage unit are arranged in a matrix, the storage of the yards of the adjacent aisles is relatively convenient, but when the yards of the adjacent aisles are stored, the yards of the adjacent aisles are required to be moved away, the yards of the yards blocked at the outer side are required to be taken out, and then the yards of the adjacent yards of the yards are returned to the original position after being taken out, so that the operation flow steps are relatively complicated, the working efficiency is very low, and the performance of intelligent storage cannot be fully exerted.
Disclosure of Invention
The invention provides an intelligent storage conveying device and a conveying method thereof, and aims to solve the problem that a cloth roll stack positioned inwards in an intelligent storage workshop is difficult to enter and exit.
The invention relates to an intelligent storage conveying device, which comprises: the frame is provided with supporting legs which can walk in a gap between two adjacent cloth roll stacks; the accommodating channel is arranged along the length direction of the frame and used for avoiding the yardage roll stack; the support parts are arranged on two sides of the length of the accommodating channel in a mirror image mode and are connected with the support legs, each side of the support parts comprises a support plate, a slideway is arranged on each support plate, two lifting swing arms are connected in the slideway in a sliding mode, each lifting swing arm is in a folding state and a working state, and the working state of each lifting swing arm is used for supporting a cloth roll stack; the elastic piece is arranged in the slideway, one end of the elastic piece moves in the slideway along with the lifting swing arm, and the other end of the elastic piece is arranged at the bottom of the slideway and is used for correcting the position of the conveyed cloth roll stack relative to the frame; and the lifting device is arranged on the frame and used for controlling the supporting part to lift to a set height.
Preferably, each slide is internally and slidably connected with two moving blocks, a connecting shaft is rotatably arranged on each moving block, the lifting swing arm is connected with the lower end of the connecting shaft, and one end of the elastic piece is connected with the moving block.
Preferably, a driving device is arranged at the top of the supporting plate and used for controlling the folding state and the working state of the lifting swing arm.
Preferably, the driving device comprises a double-head hydraulic cylinder arranged on the supporting plate, a driving piece is arranged at the end part of the double-head hydraulic cylinder, a rack is arranged on the driving piece, a gear is arranged at the upper end of the connecting shaft, and the gear is meshed with the rack.
Preferably, the driving piece comprises a cross arm, a long longitudinal arm and a short longitudinal arm, the driving piece is approximately U-shaped with a downward opening, and the end part of the double-head hydraulic cylinder is fixedly connected with the cross arm of the driving piece; the lower end of the short longitudinal arm of the driving piece is in sliding connection with the slideway, the short longitudinal arm is used for guiding and stabilizing the movement of the driving piece, and the rack is arranged at the lower end of the long longitudinal arm of the driving piece.
Preferably, the elastic piece comprises a spring or an elastic rope or a spring component sleeved outside the telescopic rod.
Preferably, the lifting swing arm located at one side of the length direction of the frame is a main swing arm, the lifting swing arm located at the other side of the length direction of the frame is an auxiliary swing arm, a sinking groove is formed in the tip end portion of the main swing arm, an extension plate is arranged at the tip end portion of the auxiliary swing arm, insertion holes are respectively formed in the extension plate and the sinking groove bottom, the insertion holes in the extension plate and the insertion holes in the bottom of the sinking groove can be vertically aligned when the lifting swing arm is perpendicular to the supporting plate, a pressing plate is arranged at the upper end of the extension plate, a bolt is arranged at the bottom end of the pressing plate and can be inserted into the insertion holes to be used for connecting the main swing arm with the end portion of the auxiliary swing arm, and a regulating and controlling device is arranged at the joint between the main swing arm and the auxiliary swing arm and used for controlling automatic insertion or extraction of the bolt.
Preferably, the pressing plate and the extension plate are respectively provided with a ring groove coaxial with the bolt, the regulating device comprises magnets arranged in the ring grooves, and polarities of opposite ends of the two magnets are the same.
Preferably, the lifting device comprises a screw rod arranged in the supporting leg in a rotating manner, a sliding groove in the vertical direction is formed in the supporting leg, a pushing piece is connected in the sliding groove in a sliding manner, the pushing piece is sleeved outside the screw rod and is in threaded connection with the screw rod, two ends of the supporting plate are respectively connected with the sliding groove on the corresponding side of the supporting plate in a sliding manner, one end of the supporting plate, which extends into the sliding groove, is sleeved outside the screw rod on the corresponding side of the supporting plate, an elastic part is arranged between two ends of the supporting plate and the pushing piece on the corresponding side of the supporting plate, and a power device is arranged at the upper end of the screw rod and used for providing power for rotation of the screw rod.
The invention also provides an intelligent storage conveying method, which comprises the following steps: dividing storage units of the intelligent warehouse workshop, and giving corresponding storage information to each storage unit; setting storage points arranged in a matrix for each storage unit, presetting a walking gap between two adjacent storage points, and canceling an aisle between the adjacent storage units; transmitting access information of the cloth roll stack to a conveying device; planning a walking path for the conveying device by using a path planning system, controlling the conveying device to travel in the intelligent warehouse workshop along a walking gap and reach a designated place; the supporting component descends to the lowest position and expands the lifting swing arm, so that the lifting swing arm is supported below the cloth roll stack, and then the cloth roll stack is lifted, so that the cloth roll stack which is taken out or put in is higher than the cloth roll stack which is highest on the existing path; the path planning system is used to control the conveyor to a designated position, then the support member is lowered at the designated position and the lifting swing arm is folded to drop the stack of rolls taken out or put in.
By adopting the technical scheme, the invention has the beneficial effects that: when the user walks to the position of the specified cloth roll stack, the supporting part can play a supporting role on the tray of the cloth roll stack, meanwhile, under the action of the lifting device, the lifted cloth roll stack is lifted to the specified height, the lifted cloth roll stack extends out of the lifting window, and then a path planning system carried by the conveying device is used for planning the walking path of the conveying device, so that the conveying device can input or output the cloth roll stack along the specified path; the steps of input and output of the yardage roll buttress are simplified, more efficient and accurate input and output can be realized, and the conveying device is used, so that the channel of intelligent forklift walking can be omitted, the accommodating space of an intelligent storage workshop can be further increased, the space of the intelligent storage workshop is utilized to the greatest extent, and the firmness of enterprises can be effectively increased.
Drawings
Fig. 1 is a schematic diagram of the overall structure of an intelligent warehouse conveying device according to the present invention.
Fig. 2 is a schematic structural view of a supporting member of the intelligent warehouse conveyor of the present invention.
Fig. 3 is a schematic structural view of a lifting swing arm of the intelligent warehouse conveying device.
Fig. 4 is a schematic structural view of a support plate of the intelligent warehouse conveyor of the present invention.
Fig. 5 is an enlarged view at a in fig. 1.
Fig. 6 is a schematic structural diagram of a regulating device of the intelligent warehouse conveying device.
Reference numerals:
1. A frame; 10. support legs; 11. lifting the window; 2. a support member; 20. a support plate; 3. a slideway; 30. lifting the swing arm; 301. a main swing arm; 3010. sinking grooves; 302. an auxiliary swing arm; 3020. an extension plate; 3021. a pressing plate; 3022. a plug pin; 3023. a connecting column; 3024. a plug; 303. a magnet; 31. an elastic member; 32. a moving block; 320. a connecting shaft; 3200. a gear; 4. a lifting device; 40. a screw rod; 41. a power device; 42. a pushing member; 43. an elastic member; 5. a driving device; 50. a double-headed hydraulic cylinder; 500. a first limiting member; 51. a driving member; 510. a rack; 5100. the second limit groove; 5110. a third limiting member; 6. and a tray.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
As shown in fig. 1, the intelligent storage conveying device provided by the invention comprises a frame 1, wherein a lifting window 11 is formed in the top of the frame 1, the frame 1 is provided with supporting legs 10, a containing channel is formed between the supporting legs 10 on two sides of the width of the frame 1, namely, the containing channel is arranged along the length direction of the frame 1, a lifting device 4 is arranged on the frame 1, the lifting device 4 is connected with a supporting part 2, the supporting part 2 is positioned on two sides of the containing channel, and when in use, the supporting legs 10 can pass through a gap between two adjacent cloth roll stacks, so that the conveying device can longitudinally reciprocate when entering the middle position of the cloth roll stacks arranged in a matrix, namely, the conveying device walks along the length direction of the containing channel, and the cloth roll stacks are positioned in the containing channel at the moment; when the user walks to the position of the appointed cloth roll stack, the supporting part 2 can play a supporting role on the tray 6 of the cloth roll stack, meanwhile, under the action of the lifting device 4, the lifted cloth roll stack is lifted to the appointed height, the lifted cloth roll stack extends out of the lifting window 11, and then a path planning system carried by the conveying device is used for planning a walking path of the conveying device, so that the conveying device can input or output the cloth roll stack along the appointed path, and intelligent storage input and output are realized.
It should be emphasized that lifting the stack to the specified height means lifting the stack to a height greater than that of all stacks encountered in the travelling path, so as to avoid collision between the lifted stack tray 6 and other stacks during travelling, ensure that the travelling path is free of too high barrier when the conveying device outputs or inputs the stacks, and facilitate and achieve high efficiency of stack conveying.
In addition, when the conveying device enters the middle position of the cloth roll stack in matrix arrangement, the conveying device can only walk along the length direction of the accommodating channel due to the blocking of the supporting part 2; after the corresponding cloth roll stacks are lifted to the corresponding heights by the supporting parts 2, the supporting parts 2 do not block the travelling of the conveying device, and at the moment, the conveying device can longitudinally or transversely travel among the cloth roll stacks distributed in a matrix, so that the efficiency of the conveying device for entering and exiting the intelligent warehouse workshop is further improved; the path planning system is in the prior art, and is used for planning the most reasonable travelling route or exiting route for the conveying device when the conveying device enters the middle position of the cloth roll stack in the matrix arrangement or comes out of the middle position of the cloth roll stack in the matrix arrangement, and the specific technical means of the path planning system are not repeated here.
So, in the intelligent storage process of yardage roll buttress, simplified the step of the input and the output of yardage roll buttress, can realize more high-efficient and accurate input and output, and use conveyor can not reserve the way of intelligent fork truck walking, can further increase the accommodation space in intelligent storage workshop for the space in intelligent storage workshop obtains the utilization of maximize, can increase the hard power of enterprise effectively.
As shown in fig. 1 and 2, in the present embodiment, the two supporting members 2 are disposed in mirror images with respect to a center line of the width direction of the frame 1, the following description will only take one side as an example of the supporting members 2, the supporting members 2 include a supporting plate 20, the bottom of the supporting plate 20 is provided with a lifting swing arm 30, specifically, each side of the supporting member 2 is provided with two lifting swing arms 30, the two lifting swing arms 30 are initially folded and accommodated under the supporting plate 20, when the lifting swing arms 30 are unfolded, the two lifting swing arms 30 are unfolded oppositely, that is, when the two lifting swing arms 30 are unfolded, the swinging directions are opposite, the working state of the lifting swing arms 30 is perpendicular to the supporting plate 20, and a driving device 5 is arranged at the top of the supporting plate 20 for controlling the unfolding and folding of the lifting swing arms 30, that is, for controlling whether the lifting swing arms 30 support the tray 6; when the lifting device is used, the driving device 5 controls the lifting swing arm 30 to be gradually unfolded under the tray 6, the lifting swing arm 30 can be swung under the tray 6, and the lifting swing arm 30 can lift the tray 6 to the corresponding height along with the lifting device 4 lifting the supporting part 2; so as to accurately input or output corresponding yards into or out of the intelligent warehouse workshop.
As shown in fig. 3, a slideway 3 is formed on the supporting plate 20 along the length direction of the slideway, the driving device 5 comprises a double-head hydraulic cylinder 50 mounted on the supporting plate 20, a driving piece 51 is arranged at the end part of the double-head hydraulic cylinder 50, the driving piece 51 comprises a cross arm, a long longitudinal arm and a short longitudinal arm, the driving piece 51 is approximately in a U shape with a downward opening, and the end part of the double-head hydraulic cylinder 50 is fixedly connected with the cross arm of the driving piece 51 through bolts and nuts; the lower end of a short longitudinal arm of the driving piece 51 is slidably connected with the slideway 3 and is used for guiding and stabilizing the movement of the driving piece 51, a rack 510 is arranged at the lower end of a long longitudinal arm of the driving piece 51, the length direction of the rack 510 is consistent with the length direction of the slideway 3, two moving blocks 32 are arranged in the slideway 3, a double-head hydraulic cylinder 50 is positioned between the two moving blocks 32, a connecting shaft 320 is rotatably arranged on the moving blocks 32, a gear 3200 is connected with the upper end key of the connecting shaft 320, the gear 3200 is meshed with the rack 510 at the corresponding side of the gear 3200, the lower end of the connecting shaft 320 penetrates through the supporting plate 20, and the lower end of the connecting shaft 320 is connected with the lifting swing arm 30 in a key manner; when the lifting device is used, the double-head hydraulic cylinder 50 is in an elongation state at the beginning, the double-head hydraulic cylinder 50 is fixedly connected with the supporting plate 20, the moving block 32 is fixedly arranged in the slideway 3, the lifting device 4 lowers the supporting part 2 to the lowest state, then the double-head hydraulic cylinder 50 is contracted simultaneously to pull the two driving parts 51 to be close to each other, meanwhile, the moving rack 510 can control the lifting swing arm 30 on the same side to be unfolded in the opposite direction through the gear 3200 and the connecting shaft 320 due to the meshing of the rack 510 and the gear 3200, so that the lifting swing arm 30 is unfolded below the tray 6, the supporting effect on the tray 6 is achieved, and the cloth roll stack is lifted to a proper height conveniently.
In another embodiment, the stack to be moved is not necessarily located in the middle of the support plate 20, for the position where the conveyor means is stopped, and then a corresponding risk may be caused by the shift of the center of gravity when lifting the stack, in order to solve this problem, the double-head hydraulic cylinder 50 in the driving device 5 is slidingly connected to the support plate 20, the moving block 32 is slidingly arranged in the slideway 3, and an elastic member 31 is provided between the moving block 32 and the end of the slideway 3, and the plurality of elastic members 31 have equal strength; when the double-head hydraulic cylinder 50 controls the lifting swing arms 30 to be gradually unfolded, the positions of the conveying devices are stopped, namely, the positions of the trays 6 are deviated from the positions of the double-head hydraulic cylinder 50, and the two lifting swing arms 30 on each side of the supporting part 2 are in contact with the legs of the trays 6 in sequence; when one of the lifting swing arms 30 on each side of the supporting component 2 firstly collides with the leg of the tray 6, the lifting swing arm 30 is not vertical to the supporting board 20, and the swing of the lifting swing arm 30 is limited, at this time, the gear 3200 cannot rotate, but as the double-head hydraulic cylinder 50 further contracts, the rack 510 drives the moving block 32 to move towards the double-head hydraulic cylinder 50 under the limitation of the gear 3200, and as the leg of the tray 6 reacts to the lifting swing arm 30, the double-head hydraulic cylinder 50 moves towards the direction of the tray 6 and is gradually aligned with the tray 6, and during the alignment process, both lifting swing arms 30 can be gradually unfolded to a working state, namely vertical to the supporting board 20, and meanwhile the elastic piece 31 is stretched; after the lifting swing arms 30 in the working state lift the tray 6 and the stack on the tray 6 off the ground, the elastic members 31 at the two ends of the double-head hydraulic cylinder 50 need to be kept consistent, so that under the traction of the elastic members 31, the double-head hydraulic cylinder 50 is always located at the middle position of the support plate 20, that is, the two lifting swing arms 30 connected with the double-head hydraulic cylinder 50, the tray 6 and the stack on the tray 6 are always located at the middle position of the support plate 20, so as to ensure that the center of gravity of the stack is always located at a controllable position, that is, approximately at the middle position of the length of the support plate 20.
As shown in fig. 3 and fig. 4, specifically, one rack 510 located in the same slideway 3 has a groove extending along the length direction thereof, and the other rack 510 can extend into the groove, so that collision of the two racks 510 when the double-head hydraulic cylinder 50 is contracted is avoided, and normal operation of the device is ensured; the support plate 20 is further provided with a first limit groove, a second limit groove 5100 and a third limit groove which are arranged along the length direction of the support plate, the double-head hydraulic cylinder 50 is in sliding fit with the first limit groove through a first limit piece 500 at the bottom of the double-head hydraulic cylinder, one rack 510 positioned in the same slide way 3 is in sliding fit with the second limit groove 5100 through a second limit piece at the bottom of the double-head hydraulic cylinder, and the other rack 510 is in sliding fit with the third limit groove through a third limit piece 5110 at the bottom of the double-head hydraulic cylinder and is used for guiding and stabilizing the movement of the double-head hydraulic cylinder 50 and the racks 510.
The elastic member 31 includes, but is not limited to, a spring, an elastic rope, a spring assembly sleeved outside the telescopic rod, etc.; the bottom of the movable block 32 is provided with a limiting block for controlling the range of the outward swing of the lifting swing arm 30 by 90 degrees, so as to avoid excessive swing of the lifting swing arm 30.
The double-end pneumatic cylinder 50 and movable block 32 all slide and set up in backup pad 20, and the elastic component 31 of cooperation setting on movable block 32 not only can guarantee that the focus of the yardage roll buttress of being carried is located the specific position all the time, has effectively increased security and stability in the transportation process, and movable block 32 that can be close to each other simultaneously can also be applicable to the tray 6 of different size models, and the true intelligent transport that has realized in the intelligent storage workshop multiple model yardage roll buttress does not receive the restriction of different size tray 6 sizes.
As shown in fig. 1 and 2, the lifting device 4 includes a screw 40 rotatably disposed in the supporting leg 10, and the axial direction of the screw 40 is disposed along the height direction of the supporting leg 10, a chute in the up-down direction is opened on the supporting leg 10, a pushing member 42 is slidably connected in the chute, the pushing member 42 is sleeved outside the screw 40 and is in threaded connection with the screw 40, two ends of the supporting plate 20 are respectively slidably connected with the corresponding side chute, one end extending into the chute is sleeved outside the corresponding side screw 40, the supporting plate 20 is disposed above the pushing member 42, an elastic component 43 is disposed between two ends of the supporting plate 20 and the corresponding side pushing member 42, a power device 41 is disposed at the upper end of the screw 40 for providing power for rotation of the screw 40, and it is emphasized that the power device 41 provides equal power for all the screws 40, that is, the rotational speeds of all screws 40 are equal, so as to ensure stability of up-down movement of the supporting member 2.
Specifically, in the present embodiment, the elastic member 43 is a spring for cushioning and damping the movement of the support plate 20 along the chute; the power device 41 includes two sets of power devices, which are respectively disposed at two sides along the length direction of the frame 1, taking one set of power device 41 as an example, and includes a motor mounted on the frame 1, the motor is located between two lead screws 40 in the width direction of the frame 1, two paths of transmission structures are disposed on the output shaft of the motor, the transmission structures are used for driving the lead screws 40 at two sides in the width direction, and ensuring that the lead screws 40 at two sides in the width direction synchronously rotate, where emphasis is given to the fact that the transmission structures include, but are not limited to, synchronous belt or chain transmission or gear 3200 transmission, etc., and the detailed description of the prior art is omitted here.
The frame 1 is further provided with a steering system for controlling the rotation direction of the wheels, and the steering system is in the prior art and will not be described here again.
As shown in fig. 5, in other embodiments, the tray 6 is mounted on the lifting swing arms 30, and since the weight of the fabric roll stack is very large, the whole weight acts on the lifting swing arms 30 on both sides, at this time, the connection between the lifting swing arms 30 and the moving block 32 will receive a large torque, the workload on the lifting swing arms 30 is very large, the service life of the lifting swing arms 30 is greatly affected, and the most damaged position is the rotating shaft on the moving block 32. In order to further relieve the stress condition at the rotation shaft, an embodiment is provided herein, for convenience of description, the lifting swing arm 30 located at one side of the length direction of the frame 1 is defined as a main swing arm 301, the lifting swing arm 30 located at the other side of the length direction of the frame 1 is defined as an auxiliary swing arm 302, a sinking slot 3010 is formed at the tip end of the main swing arm 301, an extension plate 3020 is provided at the tip end of the auxiliary swing arm 302, jacks are respectively formed at the bottoms of the extension plate 3020 and the sinking slot 3010, the jacks on the extension plate 3020 and the jacks at the bottoms of the sinking slot 3010 can be aligned up and down when the lifting swing arm 30 is perpendicular to the support plate 20, a pressing plate 3021 is arranged at the upper end of the extension plate 3020, a plug pin 3022 is arranged at the bottom end of the pressing plate 3021, the plug pin 3022 can be inserted into the jacks for connecting the ends of the main swing arm 301 and the auxiliary swing arm 302, at this time, the main swing arm 301 and the auxiliary swing arm 302 can form a complete supporting plate, and are supported below the tray 6, at this time, the connection of the lifting swing arm 30 is not subjected to torque generation, but vertical downward tension is generated, compared with torque generation, the mechanical performance of the lifting swing arm 30 can be improved, and the service life of the device can be effectively prolonged.
As shown in fig. 6, a regulating device is provided at the connection position between the main swing arm 301 and the auxiliary swing arm 302, so as to control the automatic insertion or extraction of the bolt 3022, so that when the stack is conveyed, the bolt 3022 can be inserted into the insertion hole, the automatic insertion of the main swing arm 301 and the auxiliary swing arm 302 is realized, when the stack is not required to be conveyed, the pressing plate 3021 is not stressed, and at this time, the bolt 3022 is automatically extracted from the insertion hole, so that the double-head hydraulic cylinder 50 is used for accommodating the lifting swing arm 30; specifically, annular grooves coaxial with the bolts 3022 are respectively formed in the pressing plate 3021 and the extension plate 3020, the regulating and controlling device comprises magnets 303 arranged in the annular grooves, opposite ends of the two magnets 303 are identical in polarity, the upper end of the pressing plate 3021 is flush with the upper end of the lifting swing arm 30, a connecting column 3023 is arranged at the lower end of the pressing plate 3021, the lower end of the connecting column 3023 penetrates through the extension plate 3020, and a plug 3024 is arranged at the end part of the connecting column 3023 to prevent the pressing plate 3021 from being separated from the extension plate 3020; when in use, as the lifting swing arm 30 is lifted, the upper end of the pressing plate 3021 is abutted against the lower end of the tray 6, the pressing plate 3021 is acted downwards through the gravity of the yardage roll stack, so that the bolt 3022 can be inserted into the jack, the larger the weight of the yardage roll stack is, the larger the sinking trend of the end of the lifting swing arm 30 is, the larger the force of the inner walls of the two ends of the jack against the bolt 3022 is, and the stronger the stability of connection between the main swing arm 301 and the auxiliary swing arm 302 is.
The invention also provides a conveying method of the intelligent warehouse, which comprises the following steps:
dividing storage units of the intelligent warehouse workshop, and giving corresponding storage information to each storage unit;
Setting storage points arranged in a matrix for each storage unit, presetting a walking gap between two adjacent storage points, and canceling an aisle between the adjacent storage units;
Transmitting access information of the cloth roll stack to a conveying device;
Planning a walking path for the conveying device by using a path planning system, controlling the conveying device to travel in the intelligent warehouse workshop along a walking gap and reach a designated place;
The supporting part 2 descends to the lowest position and expands the lifting swing arm 30, so that the lifting swing arm 30 is supported below the cloth roll stack, and then the cloth roll stack is lifted, so that the cloth roll stack which is taken out or put in is higher than the cloth roll stack which is the highest on the existing path;
the path planning system is used to control the conveyor to a given position, and then the support member 2 is lowered at the given position and the lifting swing arm 30 is folded to drop the stack of rolls taken out or put in.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (4)
1. An intelligent storage conveyor is applicable to the transport of yardage roll buttress that the matrix was arranged, its characterized in that includes:
a frame (1), the frame (1) having support legs (10), the support legs (10) being capable of walking in a gap between two adjacent stacks;
the accommodating channel is arranged along the length direction of the frame (1) and is used for avoiding a cloth roll stack;
The support parts (2) are arranged on two sides of the length of the accommodating channel in a mirror image mode and are connected with the support legs (10), each side of the support parts (2) comprises a support plate (20), a slideway (3) is arranged on each support plate (20), two lifting swing arms (30) are connected in a sliding mode in each slideway (3), each lifting swing arm (30) has a folding state and a working state, and the working state of each lifting swing arm (30) is used for supporting a cloth roll stack;
The elastic piece (31) is arranged in the slideway (3), one end of the elastic piece (31) moves along with the lifting swing arm (30) in the slideway (3), and the other end of the elastic piece (31) is arranged at the bottom of the slideway (3) and is used for correcting the position of the conveyed cloth roll stack relative to the frame (1);
The lifting device (4) is arranged on the frame (1) and used for controlling the supporting part (2) to lift to a set height;
two moving blocks (32) are slidably connected in each slideway (3), a connecting shaft (320) is rotatably arranged on each moving block (32), the lifting swing arm (30) is connected with the lower end of the connecting shaft (320), and one end of the elastic piece (31) is connected with the moving block (32);
The top of the supporting plate (20) is provided with a driving device (5) for controlling the folding state and the working state of the lifting swing arm (30);
The driving device (5) comprises a double-head hydraulic cylinder (50) arranged on the supporting plate (20), a driving piece (51) is arranged at the end part of the double-head hydraulic cylinder (50), a rack (510) is arranged on the driving piece (51), a gear (3200) is arranged at the upper end of the connecting shaft (320), and the gear (3200) is meshed with the rack (510);
The driving piece (51) comprises a cross arm, a long longitudinal arm and a short longitudinal arm, the driving piece (51) is in a U shape with a downward opening, and the end part of the double-head hydraulic cylinder (50) is fixedly connected with the cross arm of the driving piece (51); the lower end of the short longitudinal arm of the driving piece (51) is in sliding connection with the slideway (3) and is used for guiding and stabilizing the movement of the driving piece (51), and the rack (510) is arranged at the lower end of the long longitudinal arm of the driving piece (51);
The lifting swing arm (30) located at one side of the length direction of the frame (1) is a main swing arm (301), the lifting swing arm (30) located at the other side of the length direction of the frame (1) is an auxiliary swing arm (302), a sinking groove (3010) is formed in the tip end portion of the main swing arm (301), an extension plate (3020) is arranged at the tip end portion of the auxiliary swing arm (302), insertion holes are formed in the bottoms of the extension plate (3020) and the sinking groove (3010) respectively, the insertion holes in the extension plate (3020) and the insertion holes in the bottom of the sinking groove (3010) can be aligned up and down when the lifting swing arm (30) is perpendicular to the supporting plate (20), a pressing plate (3021) is arranged at the upper end of the extension plate (3020), a plug pin (3022) is arranged at the bottom end of the pressing plate (3021), the plug pin (3022) can be inserted into the insertion holes and used for connecting the main swing arm (301) and the end portion of the auxiliary swing arm (302), and the plug pin (3020) are used for being connected with an automatic control device (302) or a control device (2) is arranged at the position of inserting and pulling out;
lifting device (4) including rotate set up in lead screw (40) in supporting leg (10), offer the spout of upper and lower direction on supporting leg (10), sliding connection has impeller (42) in the spout, impeller (42) cover is located outside lead screw (40) and with lead screw (40) threaded connection, the both ends of backup pad (20) respectively rather than corresponding side spout sliding connection, and stretch into one end cover in the spout is located outside lead screw (40) of its corresponding side, the both ends of backup pad (20) respectively rather than corresponding side be equipped with elastomeric element (43) between impeller (42), the upper end of lead screw (40) sets up power device (41) for the rotation of lead screw (40) provides power.
2. An intelligent warehouse conveyor according to claim 1, characterized in that the elastic member (31) comprises an elastic rope or a spring assembly sleeved outside the telescopic rod.
3. The intelligent warehouse conveying device according to claim 1, wherein annular grooves coaxial with the bolts (3022) are respectively formed in the pressing plate (3021) and the extension plate (3020), the regulating device comprises magnets (303) installed in the annular grooves, and polarities of opposite ends of the two magnets (303) are the same.
4. An intelligent warehouse conveying method, characterized in that an intelligent warehouse conveying device as claimed in any one of claims 1 to 3 is adopted, comprising the following steps:
dividing storage units of the intelligent warehouse workshop, and giving corresponding storage information to each storage unit;
Setting storage points arranged in a matrix for each storage unit, presetting a walking gap between two adjacent storage points, and canceling an aisle between the adjacent storage units;
Transmitting access information of the cloth roll stack to a conveying device;
Planning a walking path for the conveying device by using a path planning system, controlling the conveying device to travel in the intelligent warehouse workshop along a walking gap and reach a designated place;
The supporting part (2) descends to the lowest position and expands the lifting swing arm (30) so that the lifting swing arm (30) is supported below the cloth scroll pile, and then the cloth scroll pile is lifted, so that the cloth scroll pile taken out or put in is higher than the cloth scroll pile highest on the existing path;
The path planning system is used to control the conveyor to a specified position, then the support member (2) is lowered at the specified position and the lifting swing arm (30) is folded to lay down the stack of rolls taken out or put in.
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| CN202410228243.4A CN117800003B (en) | 2024-02-29 | 2024-02-29 | Intelligent storage conveying device and conveying method thereof |
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| CN202410228243.4A CN117800003B (en) | 2024-02-29 | 2024-02-29 | Intelligent storage conveying device and conveying method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117985583B (en) * | 2024-04-07 | 2024-06-04 | 吴江市兰天织造有限公司 | Yardage roll transport hoist based on storage is used |
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| CN117800003A (en) | 2024-04-02 |
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