CN206203180U - A kind of tiered warehouse facility deposits goods taking device - Google Patents

A kind of tiered warehouse facility deposits goods taking device Download PDF

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Publication number
CN206203180U
CN206203180U CN201621188657.6U CN201621188657U CN206203180U CN 206203180 U CN206203180 U CN 206203180U CN 201621188657 U CN201621188657 U CN 201621188657U CN 206203180 U CN206203180 U CN 206203180U
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China
Prior art keywords
fork
wheel
pallet fork
component
frame
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CN201621188657.6U
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Chinese (zh)
Inventor
赵坚
高志鹏
洪学武
贺艺龙
刘海强
王达
杨尚
刘军军
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Tianjin Chengjian University
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Tianjin Chengjian University
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Abstract

The utility model provides a kind of tiered warehouse facility and deposits goods taking device, including frame, the horicontal motion mechanism for driving frame to be moved along the track on shelf in tiered warehouse facility tunnel is provided with the frame bottom side, loading platform is slidably connected in the frame, the stretching motion mechanism that can be stretched and shrink is provided with the loading platform, picking and stock are completed by the stretching, extension and contraction of the stretching motion mechanism, the elevating movement mechanism for driving loading platform to be slided along frame vertical direction is provided with the side of the frame.The beneficial effects of the utility model are that the motion structure of the device can realize horizontal movement and vertical lifting motion in the tunnel of tiered warehouse facility, coordinate mechanical hand to complete to access the stretching motion of goods.

Description

A kind of tiered warehouse facility deposits goods taking device
Technical field
The utility model belongs to logistics equipment technical field, and goods taking device is deposited more particularly, to a kind of tiered warehouse facility.
Background technology
With the appearance in large stereo warehouse, traditional storage technique receives severe challenge.Traditional warehouse access goods behaviour Make, completed by artificial access or fork truck access.The operation height of fork truck is limited, can not meet current large stereo warehouse Demand.Meanwhile, artificial direct participation causes access procedure, and time-consuming, efficiency is low, also increases the danger of high-rise operation.
Utility model content
The purpose of this utility model is to overcome prior art not enough, there is provided a kind of tiered warehouse facility deposits goods taking device, energy It is enough to solve the problems, such as traditional storage technique.
The technical solution of the utility model is:A kind of tiered warehouse facility deposits goods taking device, including frame, in the frame bottom side The horicontal motion mechanism for driving frame to be moved along the track on shelf in tiered warehouse facility tunnel is provided with, in the frame Loading platform is slidably connected, the stretching motion mechanism that can be stretched and shrink is provided with the loading platform, by described flexible The stretching, extension and contraction of motion complete picking and stock, and it is perpendicular along frame that the side of the frame is provided with drive loading platform Nogata is to the elevating movement mechanism slided.
Further, the frame includes entablature, sill and two heel posts, and the sill includes transverse beam and longitudinal direction Beam, longitudinal beam is welded on the two ends of transverse beam, and the inner side of the column is welded with by gusset and supplies loading platform vertical along frame The track that direction is slided.
Further, the horicontal motion mechanism include horizontal movement motor, decelerator, shaft coupling, driving wheel, driven pulley, Wheel support body and supporting plate, fast pulley support body is distinguished in the both sides of the longitudinal beam, rotates connection respectively on the wheel support body of both sides Driving wheel and driven pulley, the wheel support body for installing driving wheel are fixedly connected with supporting plate, and horizontal drive motor is installed on the supporting plate And decelerator, the horizontal drive motor passes through decelerator and shaft coupling is connected with driving wheel.
Further, also including installed in the horizontal synkinesia mechanism of entablature, horizontal synkinesia mechanism is by Auxiliary support Beam and synkinesia wheel are constituted, and the vertical entablature of Auxiliary support beam is installed, and the synkinesia wheel is installed on Auxiliary support Beam outboard end, along the track motion on warehouse shelf, the horizontal synkinesia mechanism is used for level to the synkinesia wheel It is oriented to.
Further, the elevating movement mechanism is by lifting motor, speed changer, reel, fixed block and lifting directive wheel, institute State lifting motor and speed changer is arranged on the column of frame side, lifting motor drives drum speed and turns by speed changer To, two groups of fixed blocks are installed in entablature both sides, the lifting directive wheel is rotatably connected on loading platform both sides, reel and load Connected through fixed block and lifting directive wheel by steel wire rope between load bed, fortune is lifted by the rotational band dynamic load load bed of reel It is dynamic.
Further, the loading platform includes loading stage body, lifting wheel support, lifting wheel and pulley bracket, lifts directive wheel It is arranged on loading stage body by pulley bracket, lifting wheel is arranged on the both sides of loading stage body by lifting wheel support, described Lifting wheel is slided up and down along the track on the inside of framework pillar.
Further, the stretching motion mechanism includes upper fork component, middle pallet fork component, lower pallet fork component, motor And chain, upper fork component telescopic slide on middle pallet fork component, middle pallet fork component telescopic slide on lower pallet fork component, drive Motor and lower pallet fork component are connected with loading platform respectively, and the motor is upper fork by lower pallet fork component and chain Component and middle pallet fork component provide flexible transfer motion power.
Further, the lower pallet fork component includes middle fork slideway, lower fork postive stop baffle, final drive shaft, gear, transmission support Frame, lower pallet fork body and lower fork chain fixed plate, middle fork slideway are distributed in the both sides inside of lower pallet fork body and for middle pallet fork component is carried For track, lower fork postive stop baffle is used for the sliding stroke of pallet fork component in limitation, and gear is arranged on transmission branch by final drive shaft On support, transmission support frame is arranged on lower pallet fork body using bolt, and lower fork chain fixed plate is used to fix the lower end of chain.
Further, the middle pallet fork component include it is upper fork slideway, upper fork postive stop baffle, sprocket wheel, middle pallet fork slide-and-guide wheel, Tooth bar, middle fork postive stop baffle and middle pallet fork body, upper fork slideway are distributed in the both sides outside of middle pallet fork body and are upper fork component Track is provided, upper fork postive stop baffle is used to limit the sliding stroke of upper fork component, sprocket wheel, the chain are installed on middle pallet fork body Wheel is more steady with chain interoperation driving upper fork component and middle pallet fork component telescopic slide, and middle pallet fork slide-and-guide wheel is in middle fork Slided in slideway, for the stretching motion of pallet fork component in completion, tooth bar is arranged on the bottom of middle pallet fork body by bolt, with The gear of pallet fork component coordinates transmission power, sliding stroke of the middle fork postive stop baffle for pallet fork component in limitation.
Further, the upper fork component include it is upper fork chain fixed plate, upper fork slide-and-guide wheel, postive stop baffle and on Pallet fork body, upper fork chain fixed plate is separately mounted to the surface of lower fork chain fixed plate, and upper fork chain fixed plate is used to fix The upper end of chain, upper fork component pulls upper fork slide-and-guide wheel to be slided on upper fork slideway by chain.
The utility model has the advantages and positive effects that:Due to using above-mentioned technical proposal, the motion knot of the device Structure can realize horizontal movement and vertical lifting motion in the tunnel of tiered warehouse facility, coordinate mechanical hand to complete to access goods Stretching motion.The device can be accurately positioned to warehouse shelf and matter storage lattice, steadily, efficiently access goods.The dress The warehousing needs that can also meet current split type High Level Rack warehouse and simple heavy goods tiered warehouse facility are put, storage is improve The efficiency and security of operation, set up intelligent repository and have great importance to development automated warehousing technology.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the present utility model;
Fig. 2 is rack construction schematic diagram of the present utility model;
Fig. 3 is entablature structural representation of the present utility model;
Fig. 4 is horicontal motion mechanism structural representation of the present utility model;
Fig. 5 is horicontal motion mechanism mounting structure schematic diagram of the present utility model;
Fig. 6 is horizontal synkinesia mechanism structural representation of the present utility model;
Fig. 7 is elevating movement mechanism structure schematic diagram of the present utility model;
Fig. 8 is loading platform structural representation of the present utility model;
Fig. 9 is stretching motion mechanism structure schematic diagram of the present utility model;
Figure 10 is the structural representation at another visual angle of stretching motion mechanism of the present utility model;
Figure 11 is upper fork modular construction schematic diagram of the present utility model;
Figure 12 is middle pallet fork modular construction schematic diagram of the present utility model;
Figure 13 is another viewing angle constructions schematic diagram of middle pallet fork component of the present utility model;
Figure 14 is lower pallet fork modular construction schematic diagram of the present utility model.
In figure:
1st, entablature 2, sill 3, column
4th, gusset 5, transverse beam 6, longitudinal beam
7th, horizontal movement motor 8, decelerator 9, shaft coupling
10th, driving wheel 11, driven pulley 12, wheel support body
13rd, supporting plate 14, Auxiliary support beam 15, synkinesia wheel
16th, lifting motor 17, speed changer 18, reel
19th, fixed block 20, lifting pulley 21, loading platform
22nd, loading stage body 23, lifting wheel support 24, lifting wheel
25th, pulley bracket 26, fixed gusset 27, upper fork component
28th, middle pallet fork component 29, lower pallet fork component 30, motor
31st, motor cabinet 32, bearing 33, chain fixed plate
34th, upper fork slide-and-guide wheel 35, postive stop baffle 36, upper fork body
37th, the slideway 38 of middle pallet fork, upper fork postive stop baffle 39, sprocket wheel
40th, middle pallet fork slide-and-guide wheel 41, tooth bar 42, middle fork postive stop baffle
43rd, middle pallet fork body 44, middle fork slideway 45, lower fork postive stop baffle
46th, final drive shaft 47, gear 48, transmission support frame
49th, lower pallet fork body 50, lower fork chain fixed plate 51, chain
Specific embodiment
The utility model is elaborated below in conjunction with the accompanying drawings.
As shown in figure 1, the utility model provides the utility model master includes frame, horicontal motion mechanism, elevating movement machine Structure and stretching motion mechanism.Horicontal motion mechanism coordinates the synkinesia mechanism of frame entablature 1, drives whole device in solid Along the track on shelf in the tunnel in warehouse, horizontal movement is realized;Elevating movement mechanism can realize loading platform 21 along machine The elevating movement of frame vertical direction;Stretching motion mechanism completes picking and placeing for goods by mechanical hand.The utility model disclosure satisfy that The warehousing needs in large stereo warehouse, improve operating efficiency.
As shown in Fig. 2 frame is made up of entablature 1, the heel post 3 of sill 2 and two.Entablature 1 is welded by channel-section steel, Horizontal synkinesia mechanism is arranged on entablature 1.Sill 2 includes transverse beam 5 and longitudinal beam 6, and longitudinal beam 6 is welded on transverse direction The two ends of beam 5, the transverse beam 5 and longitudinal beam 6 are respectively adopted I-steel and are made, and the outside of two columns 3 is square steel, the angle of inner side Plate 4 is angle steel, and gusset 4 is moved up and down by being formed by welding the inner side fluctuating orbit of column 3, loading platform 21 in the inner side of column 3.Machine Frame provides support, driving device horizontal movement for whole device, and is the offer track of loading platform 21.
As Figure 4-Figure 6, horicontal motion mechanism by horizontal movement motor 7, decelerator 8, shaft coupling 9, driving wheel 10, from Driving wheel 11, wheel support body 12 and supporting plate 13 are constituted.Horizontal drive motor 7 and decelerator 8 are arranged in supporting plate 13, and power is by water Flat motor 7 is provided, and driving wheel 10 is transferred to by decelerator 8 and shaft coupling 9.Supporting plate 13 is welded with wheel support body 12, main Driving wheel 10 and driven pulley 11 are arranged on the longitudinal beam 6 of frame sill 2 by wheel support body 12, are bolted.Device is by water Flat motor 7 drives driving wheel 10 to rotate by decelerator 8 and shaft coupling 9, realizes driving wheel 10 and driven pulley 11 in level Moved on guide rail.
Horizontal synkinesia mechanism includes Auxiliary support beam 14 and synkinesia wheel 15.Horizontal synkinesia mechanism has 4 Auxiliary support beam 14 and 4 synkinesia wheels 15.Auxiliary support beam 14 is angle steel.During device horizontal movement, synkinesia wheel 15 Along the track motion on warehouse shelf, horizontally-guided can be played a part of so that the motion of device is more reliable and more stable.
As shown in fig. 7, elevating movement mechanism is slided by lifting motor 16, speed changer 17, reel 18, fixed block 19, lifting Wheel 20 and loading platform 21 are constituted.Fixed block 19 is arranged on frame entablature 1, has four, front and rear relative for one group two-by-two. Lifting motor 16 realizes rotating speed and the steering of reel 18 by speed changer 17.Lifting motor 16 and speed changer 17 are vertical installed in frame On the outside of post 3.Connected through fixed block 19 and lifting directive wheel 20 by steel wire rope between reel 18 and loading platform 21, reel 18 elevating movement of rotational band dynamic load load bed 21.As shown in figure 8, loading platform 21 is by loading stage body 22, lifting wheel support 23, lifting Wheel 24 and pulley bracket 25 are constituted.Lifting pulley 20 is arranged on pulley bracket 25, and steel wire rope gives loading by lifting pulley 20 Platform 21 transmits lifting drive.The both sides of loading stage body 22 are respectively equipped with 4 groups of lifting wheels 24, and lifting wheel 24 is installed by lifting wheel support 23 On loading stage body 22.Lifting wheel 24 moves up and down along the track of the inner side of framework pillar 3, and 4 groups of lifting wheels 24 cause lifting fortune It is dynamic more steady.
Reel 18 bypasses reel 18, frame entablature 1 successively by two Steel rope drive loading platforms 21, every steel wire rope On a fixed block 19, the lifting pulley 20 of loading platform 21, further around entablature 1 in returning to same group it is corresponding another consolidate Fixed pulley 19, end fixes again the fixed gusset 26 of the lower section of entablature 1, and every steel wire rope only bypasses a lifting pulley 20.
As shown in Fig. 9-Figure 10, stretching motion mechanism includes upper fork component 27, middle pallet fork component 28, lower pallet fork component 29th, motor 30 and chain 51.Upper fork component 27 can on middle pallet fork component 28 telescopic slide, middle pallet fork component 28 Can on lower pallet fork component 29 telescopic slide.Motor 30 is connected by motor cabinet 31 with loading platform 21, lower pallet fork Component 29 is connected by bearing 32 with loading platform 21, and the motor is upper fork group by lower pallet fork component and chain Part and middle pallet fork component provide flexible transfer motion power.
As shown in figure 11, upper fork component 27 is by two 33, eight groups of chain fixed plate, 34, two, upper fork slide-and-guide wheels Postive stop baffle 35 and upper fork body 36 are constituted.Chain fixed plate 33 is used to fix the upper end of chain 51, each chain fixed plate 33 A chain 51 is fixed, two chains 51 pull the stretching motion back and forth of upper fork component 27.Upper fork component 27 passes through upper fork Slide-and-guide wheel 34 is slided on the slideway 37 of middle pallet fork.
As illustrated by figs. 12-13, middle pallet fork component 28 is by two upper upper fork 38, two groups of chains of postive stop baffle of 37, two, fork slideway Pallet fork slide-and-guide wheel 40, tooth bar 41, middle fork postive stop baffle 42 and middle pallet fork body 43 are constituted in 39, eight groups of wheel.Upper fork slideway 37 It is distributed in outside the both sides of pallet fork body 43, coordinates with upper fork slide-and-guide wheel 34, is that upper fork component 27 provides track.On Fork postive stop baffle 38 is used cooperatively with postive stop baffle 35, the sliding stroke of limitation upper fork component 27.Middle pallet fork component 28 is installed There are two groups of sprocket wheels 39 so that telescopic slide is more steady.Middle pallet fork slide-and-guide wheel 40 is slided in the slideway 44 of lower pallet fork, complete Into the stretching motion of middle pallet fork component 28.Tooth bar 41 is arranged on the bottom of middle pallet fork body 43 by bolt, with lower pallet fork component 29 Gear 47 coordinate, transmit power.The sliding stroke of pallet fork component 28 in middle fork postive stop baffle 42 limitation.
Shown in Figure 14, lower pallet fork component 29 by pitched in two slideway 44, two lower fork postive stop baffles 45, final drive shaft 46, Gear 47, transmission support frame 48, lower pallet fork body 49 and two lower fork chain fixed plates 50 are constituted.Middle fork slideway 44 is distributed in unloads goods Pitch inside the both sides of body 49, coordinate with middle pallet fork slide-and-guide wheel 40, be that middle pallet fork component 28 provides track.Lower fork postive stop baffle 45 use cooperatively with middle fork postive stop baffle 42, the sliding stroke of pallet fork component 28 in limitation.Gear 47 is pacified by final drive shaft 46 On transmission support frame 48, gear 47 is rotated with final drive shaft 46, and the gear 47 of lower pallet fork component 29 coordinates, and is middle pallet fork Component passes sliding power.Transmission support frame 48 is arranged on lower pallet fork body 49 using bolt.Two lower fork chain fixed plates 50 Installation site is in the underface of upper fork chain fixed plate 33, the other end for fixing chain 51.
Upper fork component 27, middle pallet fork component 28 and lower pallet fork component 29 are connected by chain 51, one end of chain 51 and Individual lower fork chain fixed plate 50 is connected, and is bypassed while bypassing a sprocket wheel of middle pallet fork component 28 from the top of final drive shaft 46 39, then be connected with the lower fork chain fixed plate 33 directly over the lower fork chain fixed plate 50 being connected before, two chains 51 Connected mode it is the same.The length of chain 51 is consistent with stroke-limit and immobilizes, and power is by motor 30 through main transmission Axle 46 and gear 47 pass to tooth bar 41, and pallet fork component 28 is slided in drive so that sprocket wheel 39 is rotated, and chain 51 pulls upper fork Component 27 is slided.Two sprocket wheels 39 are distributed in the rear and front end of middle pallet fork body 43 so that the stress of chain 51 is equal during stretching motion It is even, prevent motion stuck.
Stretching motion mechanism is made up of two groups of stretching motion components, and power is transmitted using shaft coupling between two moving parts. Two groups of stretching motion components provide condition for access large and heavy objects.
Tiered warehouse facility deposits goods taking device when in use, and horizontal drive motor 7 is driven actively by decelerator 8 and shaft coupling 9 Wheel 10 is rotated, and at this moment the driving wheel 10 and driven pulley 11 of horicontal motion mechanism are slided on horizontal guide rail, subsidiary level fitness machine Track of the structure on warehouse shelf is slided, and when device is horizontally slid to specified location, motor 7 is closed down;Lifting motor 16 is started shooting, warp Steel wire rope drawstring loading platform 21 rises to specified matter storage lattice position vertically, and motor 16 is closed down;Telescopic drive motor 30 is started shooting, and is driven Upper fork component 27 and middle pallet fork component 28 descend pallet fork component 29 to stretch relatively, coordinate mechanical hand to pick and place goods.When completing work, Upper fork component 27 and middle pallet fork component 28 shrink, and loading platform 21 declines, and device returns to initial position, complete a work week Phase.This tiered warehouse facility deposits goods taking device and can realize Automated condtrol, and the course of work is safe and efficient.
One embodiment of the present utility model has been described in detail above, but the content is only of the present utility model Preferred embodiment, it is impossible to be considered as limiting practical range of the present utility model.It is all to be made according to present utility model application scope Impartial change with improve etc., all should still belong within patent covering scope of the present utility model.

Claims (10)

1. a kind of tiered warehouse facility deposits goods taking device, it is characterised in that:Including frame, the frame bottom side is provided with drive frame The horicontal motion mechanism moved along the track on shelf in tiered warehouse facility tunnel, loading is slidably connected in the frame Platform, is provided with the stretching motion mechanism that can be stretched and shrink on the loading platform, by the stretching, extension of the stretching motion mechanism Picking and stock are completed with shrinking, the liter for driving loading platform to be slided along frame vertical direction is provided with the side of the frame Drop motion.
2. tiered warehouse facility according to claim 1 deposits goods taking device, it is characterised in that:The frame include entablature, under Crossbeam and two heel posts, the sill include transverse beam and longitudinal beam, and longitudinal beam is welded on the two ends of transverse beam, the column Inner side the track slided along frame vertical direction for loading platform is welded with by gusset.
3. tiered warehouse facility according to claim 2 deposits goods taking device, it is characterised in that:The horicontal motion mechanism includes water Flat motion motor, decelerator, shaft coupling, driving wheel, driven pulley, wheel support body and supporting plate, distinguish in the both sides of the longitudinal beam Fast pulley support body, rotates connection driving wheel and driven pulley respectively on the wheel support body of both sides, installs the wheel support body and branch of driving wheel Fagging is fixedly connected, and installs horizontal drive motor and decelerator on the supporting plate, the horizontal drive motor by decelerator and Shaft coupling is connected with driving wheel.
4. tiered warehouse facility according to claim 3 deposits goods taking device, it is characterised in that:Also include being arranged on entablature level Synkinesia mechanism, horizontal synkinesia mechanism is made up of Auxiliary support beam and synkinesia wheel, and the Auxiliary support beam is vertical Entablature is installed, and the synkinesia wheel is installed on Auxiliary support beam outboard end, and the synkinesia wheel is along warehouse shelf Track motion, the horizontal synkinesia mechanism be used for horizontally-guided.
5. tiered warehouse facility according to claim 2 deposits goods taking device, it is characterised in that:The elevating movement mechanism is by lifting Motor, speed changer, reel, fixed block and lifting directive wheel, the lifting motor and speed changer are arranged on the vertical of frame side On post, lifting motor drives drum speed and steering by speed changer, and two groups of fixed blocks are provided with entablature both sides, described Lifting directive wheel is rotatably connected on loading platform both sides, is oriented to through fixed block and lifting by steel wire rope between reel and loading platform Wheel connection, by the rotational band dynamic load load bed elevating movement of reel.
6. tiered warehouse facility according to claim 5 deposits goods taking device, it is characterised in that:The loading platform includes loading platform Body, lifting wheel support, lifting wheel and pulley bracket, lifting directive wheel are arranged on loading stage body by pulley bracket, lifting wheel By lifting wheel support on the both sides of loading stage body, the lifting wheel glides along on the track on the inside of framework pillar It is dynamic.
7. tiered warehouse facility according to claim 1 deposits goods taking device, it is characterised in that:The stretching motion mechanism includes upper Pallet fork component, middle pallet fork component, lower pallet fork component, motor and chain, upper fork component stretch on middle pallet fork component and slide Dynamic, middle pallet fork component telescopic slide on lower pallet fork component, motor and lower pallet fork component are connected with loading platform respectively, The motor is by lower pallet fork component and chain for upper fork component and middle pallet fork component provide the transfer motion power that stretches.
8. tiered warehouse facility according to claim 7 deposits goods taking device, it is characterised in that:The lower pallet fork component includes middle fork Slideway, lower fork postive stop baffle, final drive shaft, gear, transmission support frame, lower pallet fork body and lower fork chain fixed plate, middle fork slideway It is distributed in the both sides inside of lower pallet fork body and for middle pallet fork component provides track, lower fork postive stop baffle is used for pallet fork component in limitation Sliding stroke, gear by final drive shaft be arranged on transmission support frame on, transmission support frame using bolt be arranged on lower pallet fork On body, lower fork chain fixed plate is used to fix the lower end of chain.
9. tiered warehouse facility according to claim 8 deposits goods taking device, it is characterised in that:The middle pallet fork component includes upper fork Slideway, upper fork postive stop baffle, sprocket wheel, middle pallet fork slide-and-guide wheel, tooth bar, middle fork postive stop baffle and middle pallet fork body, upper fork slideway It is distributed in the both sides outside of middle pallet fork body and for upper fork component provides track, upper fork postive stop baffle is used to limit upper fork group The sliding stroke of part, installs sprocket wheel on middle pallet fork body, and the sprocket wheel drives upper fork component and middle pallet fork group with chain interoperation Part telescopic slide is more steady, and middle pallet fork slide-and-guide wheel is slided in middle fork slideway, in completion pallet fork component it is flexible Motion, tooth bar is arranged on the bottom of middle pallet fork body by bolt, and transmission power is coordinated with the gear of lower pallet fork component, and middle fork is spacing Baffle plate is used for the sliding stroke of pallet fork component in limitation.
10. tiered warehouse facility according to claim 9 deposits goods taking device, it is characterised in that:The upper fork component includes upper Fork chain fixed plate, upper fork slide-and-guide wheel, postive stop baffle and upper fork body, upper fork chain fixed plate are separately mounted to lower fork The surface of chain fixed plate, upper fork chain fixed plate is used to fix the upper end of chain, and upper fork component is pulled by chain Pallet fork slide-and-guide wheel is slided on upper fork slideway.
CN201621188657.6U 2016-10-28 2016-10-28 A kind of tiered warehouse facility deposits goods taking device Active CN206203180U (en)

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Application Number Priority Date Filing Date Title
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106347914A (en) * 2016-10-28 2017-01-25 天津城建大学 Three-dimensional warehouse cargo storage and taking device
CN107934523A (en) * 2017-11-18 2018-04-20 太原理工大学 Rod-shaped workpiece fetching device and access case
CN107954138A (en) * 2017-11-18 2018-04-24 太原理工大学 Tubular workpiece fetching device and access case

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106347914A (en) * 2016-10-28 2017-01-25 天津城建大学 Three-dimensional warehouse cargo storage and taking device
CN107934523A (en) * 2017-11-18 2018-04-20 太原理工大学 Rod-shaped workpiece fetching device and access case
CN107954138A (en) * 2017-11-18 2018-04-24 太原理工大学 Tubular workpiece fetching device and access case
CN107954138B (en) * 2017-11-18 2020-06-02 太原理工大学 Tubular workpiece taking and placing device and storing and taking box
CN107934523B (en) * 2017-11-18 2020-08-11 太原理工大学 Rod-shaped workpiece taking and placing device and storing and taking box

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