CN204237089U - Transport trolley and use the tiered warehouse facility of this transport trolley - Google Patents

Abstract

The utility model relates to a transport vehicle and a three-dimensional warehouse using the transport vehicle. The transport vehicle includes a vertical guide rail and a mobile frame which guides and moves and is assembled on the vertical guide rail. The corresponding position of the plate corner is provided with a lift angle device, which includes a device frame and a lift angle suction cup. The device frame is equipped with a lift angle swing arm that can swing up and down through a rotating connection structure, and the device frame is also provided with a driving lift angle. A swing arm drive mechanism for the swing arm to swing around the axis of the rotating connection structure, and the lift angle suction cup is arranged on the lift angle swing arm. The utility model solves the problem that two adjacent metal plates are not easy to separate in the prior art.

Description

Transporter and three-dimensional warehouse using the transporter

technical field

The utility model relates to a transport vehicle and a three-dimensional warehouse using the transport vehicle.

Background technique

The existing three-dimensional warehouse includes a plurality of material racks arranged sequentially along the front and rear directions, each material rack is equipped with a metal plate, and a truck guide rail extending along the front and rear direction is provided on the right side of the material rack, and the truck guide rail The upper guiding movement is equipped with a carrier, and the carrier includes a vertical guide rail whose guiding direction extends along the up and down direction, and a moving frame is installed on the vertical guiding rail, and a moving frame is provided on the moving frame, and a metal plate hoisting structure is arranged on the moving frame . When in use, the transporter moves to the side of the corresponding material rack along the guide rail of the transporter, and the transporter moves to the top of the corresponding metal plate, and the metal plate is hoisted by the metal plate hoisting structure. The lifting of metal plates has always been a difficult point in the field of lifting, because when the metal plates are stored, there will be a lot of viscosity between the metal plates due to oil, water vapor, etc., that is to say, the gap between two adjacent metal plates It is not easy to separate. There are two traditional hoisting modes. One is single-sheet hoisting. When the transport frame reaches the metal plate, the uppermost metal plate is manually separated, and then the metal plate is transported away by the transport frame. , the process of manual separation is time-consuming and laborious, the work efficiency is low, and the thinner metal plate is easy to cut the staff; the other is to directly lift the metal plate through the suction cup, without the process of manual separation of the metal plate, this form Although the lifting efficiency is increased to a certain extent, when the suction cup sucks the uppermost metal plate, due to the adhesive force between the adjacent metal plates, there are still several metal plates stuck under the metal plate sucked by the suction cup. During the lifting process, the lower metal plates may be separated from the first metal plate due to gravity. There is a danger of the metal plates falling during the lifting process, causing a huge safety hazard to normal production. The problems in the above two hoisting forms are all caused by the difficulty in separating two adjacent metal plates.

Utility model content

The purpose of the utility model is to provide a transport vehicle to solve the problem that two adjacent metal plates are not easy to separate in the prior art; the purpose of the utility model is also to provide a three-dimensional warehouse using the transport vehicle.

In order to solve the problems referred to above, the technical solution of the transport vehicle in the utility model is:

A transport vehicle, including a vertical guide rail and a mobile frame that guides and moves and is assembled on the vertical guide rail. The device includes a device frame and a lift-angle suction cup. The device frame is equipped with a lift-angle swing arm that can swing up and down through a rotating connection structure. The device frame is also provided with a swing arm drive mechanism that drives the lift-angle swing arm to swing around the axis of the rotation connection structure. , the lift angle suction cup is arranged on the lift angle swing arm.

The rotating connection structure includes a connecting cross bar with one end hingedly connected to the lower end of the tilting swing arm, and the other end of the connecting cross bar is provided with a long hole extending in a direction perpendicular to the extension direction of the hinge axis of the tilting swing arm. A cross-bar pin shaft is provided on the top of the long hole, and the swing arm driving mechanism includes a drive cylinder whose one end is hingedly connected to the device frame, and the other end is hingedly connected to the upper end of the angled swing arm.

A blowing pipe is arranged on the swing arm of the lifting angle, and the air outlet of the blowing pipe faces the suction cup of the lifting angle.

A plurality of transport suction cups are arranged on the transport frame, and springs are arranged between each transport suction cup and the transport frame.

The moving frame is provided with a linear guide rail whose guiding direction extends along the left and right directions, and the moving frame is guided and assembled on the linear guide rail, and the moving frame and/or the moving frame is provided with a moving frame that drives the moving frame to reciprocate along the linear guide rail Drive mechanism.

The technical scheme of the three-dimensional warehouse in the utility model is:

The three-dimensional warehouse includes a plurality of material racks arranged in sequence along the front and rear directions. Next to the material racks, there is a guide rail for a truck whose guiding direction extends along the front and rear directions. Move the mobile frame assembled on the vertical guide rail. There is a transport frame on the mobile frame. A lifting angle device is installed on the transport frame corresponding to the corner of the corresponding metal plate. The lifting angle device includes a device frame and a lifting angle suction cup. The device frame The upper side is equipped with a swing arm that can swing up and down through a rotating connection structure, and a swing arm drive mechanism that drives the swing arm to swing around the axis of the rotating connection structure is also provided on the device frame. Angle swing arm.

The rotating connection structure includes a connecting cross bar with one end hingedly connected to the lower end of the tilting swing arm, and the other end of the connecting cross bar is provided with a long hole extending in a direction perpendicular to the extension direction of the hinge axis of the tilting swing arm. A cross-bar pin shaft is provided on the top of the long hole, and the swing arm driving mechanism includes a drive cylinder whose one end is hingedly connected to the device frame, and the other end is hingedly connected to the upper end of the angled swing arm.

A blowing pipe is arranged on the swing arm of the lifting angle, and the air outlet of the blowing pipe faces the suction cup of the lifting angle.

A plurality of transport suction cups are arranged on the transport frame, and springs are arranged between each transport suction cup and the transport frame.

The moving frame is provided with a linear guide rail whose guiding direction extends along the left and right directions, and the moving frame is guided and assembled on the linear guide rail, and the moving frame and/or the moving frame is provided with a moving frame that drives the moving frame to reciprocate along the linear guide rail Drive mechanism.

The beneficial effects of the utility model are: when the carrier frame of the utility model is hoisting the uppermost metal plate, the lift angle sucker in the lift angle device first sucks the plate angle of the metal plate, and the swing arm driving mechanism drives the lift angle swing arm Swinging around the axis of the rotating connection structure, the lift-angle swing arm moves with the lift-angle suction cup. Due to the force applied at the corner of the plate, the bonding force between the metal plates on the adjacent two sides is not very large, and the lift-angle suction cup will hold the metal plate When the plate angle is lifted, the lift angle suction cup rotates around the axis of the rotating connection structure with the lift angle swing arm, and the movement track of the lift angle suction cup is consistent with the plate angle deformation track of the metal plate, so that the adsorption surface of the lift angle suction cup can be in line with the plate surface of the metal plate The contact is always firm to ensure the reliability of the angle lifting process. After the angle of the uppermost metal plate is lifted, air enters the gap between the two adjacent metal plates, making the adjacent two metal plates very easy to separate, and then The moving frame moves with the metal plate to realize the smooth separation of two adjacent metal plates. In this way, the moving frame only carries one metal plate at a time, which ensures the safety of the lifting process, saves manpower and improves the efficiency. work efficiency.

Description of drawings

Fig. 1 is a structural schematic diagram of an embodiment of a three-dimensional warehouse in the utility model, and is also a diagram of the use state of an embodiment of a transport vehicle in the utility model;

Fig. 2 is the structural representation of jacking machine among Fig. 1;

Fig. 3 is the use state diagram of Fig. 2;

Fig. 4 is a schematic diagram of cooperation between the carrier and the guide rail of the carrier in Fig. 1;

Fig. 5 is a schematic diagram of cooperation between the transport frame and the mobile frame in Fig. 1;

Fig. 6 is a schematic structural view of the material rack in Fig. 1;

Fig. 7 is a schematic structural view of the cantilever in Fig. 5;

Fig. 8 is a schematic structural view of the lift angle device in Fig. 5;

Figure 9 is a top view of Figure 8;

Figure 10 is a perspective view of Figure 9;

Figure 11 is a schematic structural view of the walking beam in Figure 5

FIG. 12 is a schematic diagram of the transport frame in FIG. 5 when it moves below the moving frame. the

Detailed ways

The embodiment of the three-dimensional warehouse is shown in Figures 1 to 12: it includes a plurality of material racks 9 arranged sequentially along the front and rear directions, each material rack is a three-layer structure arranged up and down, metal plates can be placed on each layer of material racks, and materials The right side of the frame is provided with the truck guide rail 8 that guide direction extends along the front-to-back direction, and the guide rail 8 on the truck guide rail is equipped with a truck for guiding and moving. The transport vehicle includes a vertical guide rail 7 and a mobile frame 4 that guides and moves on the vertical guide rail. The transport vehicle is also provided with a lifting motor 13 that drives the mobile frame 4 to lift up and down along the vertical guide rail through a chain. The mobile frame is provided with a horizontal Arranged linear guide rail 4-1, the guiding direction of the linear guide rail extends along the left and right directions, a rack 4-2 is arranged beside the linear guide rail 4-1, and a carrier frame 1 is installed on the linear guide rail for guiding movement, and a carrier frame 1 is provided on the carrier frame to be connected with the linear guide rail 4-1. The sliding block 3-4 is guided by the guide rail, and the transport frame is provided with a transport frame drive mechanism that drives the transport frame to reciprocate along the linear guide rail guiding direction. The transport frame drive mechanism includes a travel motor 3-2 and is connected to the travel motor through a transmission belt. The rotating shaft 3-3 on the power output end of 3-2, the rotating shaft is arranged on the carrier frame through the bearing seat, two ends of the rotating shaft are provided with two gears 3-5, and each gear is engaged with the corresponding rack 4-2 for transmission. When in use, the travel motor drives the gear to rotate. Through the engagement of the gear and the rack, the transport frame 1 can reciprocate along the linear guide rail. A travel switch is installed on the middle beam of the mobile frame. The travel switch is used to limit the reciprocating motion of the transport frame along the linear guide rail. Location. The transport frame comprises a walking beam 3 and a plurality of cantilevers 1-1 arranged at intervals along the extending direction of the walking beam. The traveling motor 3-2 and the rotating shaft 3-3 are all arranged on the walking beam 3, and each cantilever 1-1 is fixed to the walking beam by bolts. On the beam, each cantilever is provided with a plurality of transport suction cups 1-2, and the transport suction cups are arranged in the suction cup installation holes provided on the corresponding cantilever, and a spring is arranged between the transport suction cup and the corresponding cantilever, and through the setting of the spring, each transport suction cup All can move in a small range along the up and down direction. The cantilever is a hollow structure. The first vacuum generator 1-3 connected to each transport suction cup through the air pipe is also arranged on the transport frame. in the hole. A displacement sensor 1-4 is also arranged at the lower end of the corresponding cantilever, and the lowest position of the transport suction cup is lower than the displacement sensor, so that when the transport frame moves down with the mobile frame, the transport suction cup 1-2 first touches the metal plate, and the spring is compressed. After a certain amount of compression, the displacement sensor senses the position of the metal plate, and the lowering action of the mobile frame stops. The height difference between the displacement sensor and the handling suction cups and the spring ensure that all the handling suction cups can be completely attached to the metal plate, and then the first The vacuum generator works, and a large air pressure difference is formed between each handling suction cup and the metal plate through the air pipe. There is an angled device 2 on the transport frame corresponding to the corners of the corresponding metal plates. The corners refer to the joints between two adjacent sides of the metal plate. A rectangular metal plate has four corners, and a triangular metal plate There are three plate angles. In this embodiment, the tilting device is arranged on the overhanging end of the first cantilever. The tilting device includes a device frame and a tilting suction cup 2-4, and the device frame includes bolts fixed on the corresponding cantilever. The mounting plate 2-2 of the device frame is equipped with a lift-angle swing arm 2-9 that can swing up and down through a rotating connection structure, and the device frame is also provided with a swing arm drive that drives the lift-angle swing arm to swing around the axis of the rotation connection structure. Mechanism, the lifting angle suction cup 2-4 is arranged on the lifting angle swing arm, and the rotating connection structure includes one end hingedly connected with the lower end of the lifting angle swing arm, and the connecting cross bar 2-5 provided with a long hole at the other end, and the length extension direction of the long hole is Perpendicular to the extension direction of the axis of the tilting swing arm, the mounting plate 2-2 is provided with a crossbar pin shaft pierced in the long hole 2-10. Lift the driving cylinder 2-1 that the upper end of the angle swing arm is hingedly connected to, and the driving cylinder is a pneumatic cylinder in the present embodiment. The device frame is also provided with the second vacuum generator 2-3 that links to each other with the lifting angle suction cup by trachea, and the blowing angle swing arm is provided with blowing pipe 2-6, and the air outlet of blowing pipe is towards the lifting angle suction cup. The transport suction cup, lift-angle suction cup and the air outlet of the blowing pipe are on the same plane. When the displacement sensor on the transport frame receives the signal, the second vacuum generator works, and the lift-angle suction cup firmly holds the corner of the metal plate and drives it at the same time. The piston rod of the cylinder is retracted, and the angled swing arm swings around its hinge axis, driving the angled suction cup to turn up a corner of the metal plate, connecting the cross bar to ensure the stability of the swinging process, and then the blowing pipe works, and blows the blowing pipe to the Air is blown from the lower side of the lift plate angle to blow away the oil on the metal plate. During the rising process, the air blowing pipe continues to work until the two metal plates are completely separated. The air blowing pipe can further ensure the smooth separation of the two metal plates and at the same time purify Metal plate.

The three-dimensional warehouse also includes a jacking machine 5. The jacking machine has a scissor jacking arm 11 and a hydraulic system 12 for driving the scissor jacking arm. The jacking machine is provided with a roller 10 driven by a driving motor. Extending in the direction, the transfer frame 6 is provided on the rollers, the transfer frame can be transported to the truck through the rollers, and the corresponding rollers and the driving motor for driving the rollers are also arranged on the truck, and the transfer frame can be transported to the top by the truck. on the lift.

When the three-dimensional warehouse is in use, when it is necessary to take materials from a certain layer on a certain material rack, the transfer rack is first transported to the truck by the operating station through the jacking machine, and the truck moves to the side of the corresponding material rack, and then The mobile frame moves to the corresponding layer of the material shelf, and the transport frame extends from the mobile frame to the top of the corresponding metal plate. At this time, the angle lifting device is located above a corner of the metal plate to be transported, and then the transport frame is lowered together with the mobile frame. Move until the displacement sensor receives the signal from the metal plate and stop. At this time, the lift angle device works. The lift angle swing arm drives the lift angle suction cup to lift the corner of the first metal plate, and the air blowing pipe blows air to the bottom of the first metal plate. , and finally the suction cup works, and the suction cup absorbs the first metal plate, and the transport frame moves up together with the moving frame. During the upward movement, because a corner of the metal plate is lifted, the two metal plates can be separated smoothly. During the upward movement of the moving frame, the air blowing pipe continues to blow air between the two metal plates to blow away the oil and other impurities between the two metal plates. The bonding force between the two metal plates makes the separation of the two metal plates more smooth, avoiding the phenomenon of grabbing multiple metal plates on one side, and then the traveling motor drives the transport frame to move to the bottom of the mobile frame to realize the metal plate handling. The whole operation process does not need to manually separate the two metal plates, the separation process is simple and reliable, saves a lot of manpower, and improves work efficiency at the same time. Then the transport frame moves to the bottom of the mobile frame, and the mobile frame drives the transport frame to move down. It is brought back to the operating station by the jacking machine to complete the material retrieving, and the operator can control the whole system through the PLC to complete docking, transfer, grabbing, placing and other actions.

In other embodiments of the present utility model: when the material rack is a single-layer structure and only needs to transport metal plates between the material racks, no jacking machine is required at this time, and the transport rack can be fixed on the mobile rack; The displacement sensor on the top can also be omitted. At this time, the operator can judge when the lifting angle suction cup works and when the lifting suction cup works; The metal plate hoisting structure may not be a handling suction cup. For example, after the lifting angle device lifts a corner of the metal plate, the metal plate is lifted by a magnetic suction device, a C-shaped claw or a ring wire rope, and the magnetic suction device sucks the metal plate. , The two ends of the metal plate are clamped by the C-shaped claws or the ring-shaped steel wire rope is sleeved on the two ends of the metal plate. At this time, the magnetic suction device, the C-shaped claws or the ring-shaped steel wire rope constitute the lifting structure of the metal plate; the second vacuum generator can also be used It is not arranged on the device frame, for example, it is arranged on the transport frame or the mobile frame; the blowing pipe can also be omitted; the driving cylinder can also be a hydraulic cylinder; the connecting cross bar can also be omitted. On the mounting plate, the rotating connection structure includes a pin shaft that realizes that the tilting swing arm is hingedly connected with the mounting plate; certainly the driving mechanism that drives the swinging swing of the tilting arm can also be a rotating motor. The output end is connected by transmission; the device frame can also be a frame or other structures; the device frame of the angle device can also be integrally formed with the carrier frame, that is to say, the angle suction cup and the angle swing arm are directly arranged on the carrier frame; It can be replaced by pneumatic cylinders, hydraulic cylinders and other transport frame drive mechanisms that can drive the transport frame to reciprocate along the linear guide rail. When the transport frame drive mechanism is a pneumatic cylinder or hydraulic cylinder, the pneumatic cylinder or hydraulic cylinder is set on the transport frame and the mobile frame between.

The embodiment of the transport vehicle is shown in Figures 1 to 12: the specific structure of the transport vehicle is the same as the transport vehicle described in the implementation of the above-mentioned three-dimensional warehouses, and will not be described in detail here.

Claims (10)

1. A carrier, comprising a vertical guide rail and a mobile frame that guides and moves and is assembled on the vertical guide rail, the mobile frame is provided with a carrier frame, and it is characterized in that: the carrier frame is provided with a plate angle corresponding to the corresponding metal plate The tilting device, the tilting device includes a device frame and a tilting suction cup, the device frame is equipped with a tilting swing arm that can swing up and down through a rotating connection structure, and the device frame is also provided with an axis that drives the tilting swing arm around the rotating connection structure A swing arm drive mechanism, the lift angle suction cup is arranged on the lift angle swing arm. 2. The truck according to claim 1, characterized in that: the rotating connection structure includes a connecting cross bar with one end hingedly connected to the lower end of the tilting swing arm, and the other end of the connecting cross bar is provided with an extension direction and a lifting angle. The extension direction of the hinge axis of the angular swing arm is a long hole perpendicular to the extending direction. The device frame is provided with a cross bar pin that passes through the long hole. The swing arm driving mechanism includes one end that is hingedly connected with the device frame and another A drive cylinder with one end hingedly connected to the upper end of the swing arm. 3 . The truck according to claim 1 , characterized in that: an air blowing pipe is provided on the tilting swing arm, and the air outlet of the blowing tube faces the tilting suction cup. 4 . 4. The transport vehicle according to claim 1, wherein a plurality of transport suction cups are arranged on the transport frame, and springs are provided between each transport suction cup and the transport frame. 5. The transport vehicle according to any one of claims 1 to 4, characterized in that: the moving frame is provided with a linear guide rail whose guiding direction extends along the left and right directions, and the guiding movement of the transport frame is assembled on the linear guide rail, The transport frame and/or the moving frame are provided with a transport frame drive mechanism that drives the transport frame to reciprocate along the linear guide rail. 6. Three-dimensional warehouse, including a plurality of material racks arranged in sequence along the front and rear directions. Next to the material racks, there is a guide rail for a truck whose guiding direction extends along the front and rear directions. The guide rail of the truck is equipped with a truck for guiding and moving, and the truck includes vertical guide rails. And guide the mobile frame assembled on the vertical guide rail. The mobile frame is provided with a transport frame. It is characterized in that: the transport frame is provided with a lifting angle device corresponding to the plate angle of the corresponding metal plate. The lifting angle device includes a device frame and Lifting angle suction cup, the device frame is equipped with a swinging arm that can swing up and down through the rotating connection structure, and the device frame is also provided with a swing arm drive mechanism that drives the swinging arm to swing around the axis of the rotating connection structure. The suction cup is arranged on the swing arm. 7. The three-dimensional warehouse according to claim 6, characterized in that: the rotating connection structure includes a connecting cross bar whose one end is hingedly connected to the lower end of the tilting swing arm, and the other end of the connecting cross bar is provided with an extension direction and a lifting angle. The extension direction of the hinge axis of the angular swing arm is a long hole perpendicular to the extending direction. The device frame is provided with a cross bar pin that passes through the long hole. The swing arm driving mechanism includes one end that is hingedly connected with the device frame and another A drive cylinder with one end hingedly connected to the upper end of the swing arm. 8 . The three-dimensional warehouse according to claim 6 , wherein an air blowing pipe is arranged on the tilting swing arm, and the air outlet of the blowing tube faces the lifting angle suction cup. 9. The three-dimensional warehouse according to claim 6, wherein a plurality of transport suction cups are provided on the transport frame, and springs are provided between each transport suction cup and the transport frame. 10. The three-dimensional warehouse according to any one of claims 6 to 9, characterized in that: the moving frame is provided with a linear guide rail whose guiding direction extends along the left and right directions, and the guiding movement of the transport frame is assembled on the linear guide rail, The transport frame and/or the moving frame are provided with a transport frame drive mechanism that drives the transport frame to reciprocate along the linear guide rail.