CN207917738U - A kind of storage automatic material fetching machine - Google Patents

Abstract

The utility model relates to the field of automatic mechanical equipment, in particular to an automatic reclaimer for storage. The utility model is realized through the following technical solutions: a storage automatic reclaimer, which includes a walking device, a storage device connected to the walking device, a retrieving device capable of extending and retracting, and a retrieving device for retrieving The goods obtained by the cargo device are transferred to the material box transfer assembly on the storage device. The storage device includes at least two layers of storage racks located at different heights. The storage racks include storage transfer devices. The material box transfer assembly Be connected with the picking device, and can be lifted in the vertical direction. The purpose of this utility model is to provide an automatic reclaimer for storage. The reclaimer includes a storage device, which can automatically reclaim and store goods, increase the number of pick-ups for a single trip of the reclaimer, and increase the number of reclaimers and sorters. Picking efficiency.

Description

A storage automatic reclaimer

technical field

The utility model relates to the field of automatic mechanical equipment, in particular to a storage automatic reclaimer.

Background technique

Industrial vehicles refer to power-driven motor vehicles used to carry, push, tow, lift, stack or stack various goods. Common industrial vehicles include forklifts, side forklifts, tractors, pallet trucks, stackers and so on. The reclaimer is a kind of industrial vehicle. With the development of the e-commerce industry and intelligent manufacturing, the reclaimer has been widely used in the field of logistics and warehousing.

In actual work, shelves are set in the storage environment, and goods are placed on the shelves. The reclaimer uses the robotic arm to get the goods on its own pallet, then moves from the shelf to the sorting place for unloading, and then continues to the next picking task. Although this method of operation reduces the manual participation and improves the degree of automation, it also has certain technical defects. The tray area of the reclaimer is small, and it can only pick up one item at a time. After picking, it needs to cycle many times in the storage environment according to the designated route, which requires high energy consumption, long time and low efficiency.

Utility model content

The purpose of this utility model is to provide an automatic reclaimer for storage. The reclaimer includes a storage device, which can automatically reclaim and store goods, increase the number of pick-ups for a single trip of the reclaimer, and increase the number of reclaimers and sorters. Picking efficiency.

The above-mentioned technical purpose of the utility model is achieved through the following technical solutions: a storage automatic reclaimer, including a walking device, a storage device connected to the walking device, a retrieving device that can be extended and retracted, and a The material box transfer assembly is used to transfer the goods obtained by the picking device to the storage device. The storage device includes at least two layers of storage racks at different heights. The storage racks include storage transfer devices. The material box transfer assembly is connected with the picking device and can be lifted in the vertical direction.

As a preference of the present utility model, the material box transfer assembly includes a material box transfer device 1, a material box transfer device 2 and a switching device for switching the conveying direction of the goods on the material box transfer assembly. The conveying direction of the first box conveying device is consistent with the protruding direction of the picking device, and the second material box conveying device is used to transfer the goods on the material box transfer assembly to the storage device.

As a preference of the present invention, the material box transfer assembly includes a bottom plate from which goods are moved to the storage device.

As a preference of the present invention, a bottom plate groove is opened on the bottom plate, and the material box transfer assembly further includes a push plate that can slide along the bottom plate groove and is used to push the goods to the storage device.

As a preference of the present invention, a universal ball is arranged on the bottom plate.

As a preference of the present utility model, the picking device includes at least two sets, which are respectively a front picking device and a rear picking device, and the rear picking device is closer to the storage device than the front picking device, so The front picking device can slide in the direction of approaching and away from the storage device, and the rear picking device can slide in the vertical direction.

As a preference of the present utility model, the material box conveying device one includes a plurality of conveying rollers, the material box conveying device two is a plurality of conveying belts, the conveying rollers and the conveying belts are arranged at intervals, and the switching device It is connected with the second material box conveying device to drive the second material box conveying device to move in the vertical direction.

As a preference of the present invention, the traveling device includes traveling wheels and driving wheels, there are two driving wheels, and each of the driving wheels is independently controlled by a driving motor.

As a preference of the present utility model, the pick-up device includes a holding hand and a retrieving actuator that is connected to the holding hand and drives the holding hand to extend and retract, and the picking devices are at least two groups , the holding hands of the two sets of picking devices stand opposite to each other.

As a preference of the present utility model, the pick-up device is connected to the support, and the support includes a cantilever beam extending in the horizontal direction and a cantilever column connected with the cantilever beam, and the cantilever beam is connected with two The clip spacing adjustment device for the spacing.

As a preference of the present utility model, the clamp spacing adjustment device includes a clamp actuator connected to the cantilever beam and a clamp slider that slides in the horizontal direction under the drive of the clamp actuator. The clip slider is connected with the picking device.

As a preference of the present utility model, when the two sets of pick-up devices pull the goods to the material box transfer assembly, the two sets of pick-up devices are located at different heights.

As a preference of the present invention, it also includes a clamp height adjusting device for adjusting the height position of the picking device.

As a preference of the present utility model, the clamp height adjustment device includes a height adjustment motor, a gear connected to the height adjustment motor, and a height adjustment rack meshed with the gear and extending in the vertical direction, the height adjustment The rack is connected with the picking device.

As a preference of the present utility model, each group of said pick-up devices includes a clamping horizontal tube, and said clamping hands are respectively connected to both sides of said clamping horizontal tube, and the two clamping hands are opposite to each other in a C shape. .

As a preference of the present utility model, the pick-up device is connected to the support, and also includes a traverse device for driving the support and the pick-up device.

As a preference of the present invention, the traversing device includes a traversing track connected to the material box transfer assembly, a traversing actuator, and slides on the traversing track driven by the traversing actuator A moving block, the moving block is connected to the bracket.

In summary, the utility model has the following beneficial effects:

1. This technical solution can store multiple goods on the storage device, and a single mission can realize the acquisition and transportation of multiple goods.

2. This technology can pick up goods in two directions, improving the efficiency of picking up goods in the roadway.

3. It is specially equipped with a material box transfer assembly, which can move the goods picked up by the pick-up device to the corresponding storage rack.

4. The clamp spacing adjustment device can adjust the distance between the two clamps, so as to adapt to different sizes of goods.

5. The holding hand can flexibly adjust its vertical position through the holding height adjustment device.

6. The special lateral movement device expands and compensates for the lateral stroke of the picking device, and makes it unnecessary to adjust the specific position of the vehicle through the walking device when picking up goods in both directions, further improving efficiency.

7. The in-situ steering can be realized by adjusting the running conditions of the two driving wheels through the differential speed.

8. The use of this technical solution does not require the use of pallets, and the goods or material boxes can be directly operated.

Description of drawings:

Fig. 1 is the schematic diagram that embodiment 1 is located in the storage workshop;

Fig. 2 is the schematic diagram of embodiment 1;

Fig. 3 is a schematic diagram of another angle of Fig. 2;

Fig. 4 is the schematic diagram of embodiment 1 hidden storage device and walking device;

Fig. 5 is a schematic diagram of another angle of Fig. 4;

Fig. 6 is a schematic diagram of the storage device, the material box transfer device and the picking device in the second embodiment.

In the picture:

1. Traveling device, 11. Traveling wheel, 12. Driving wheel, 2. Storage device, 21. Storage rack, 211. Storage transmission device, 22. Vertical actuator, 3. Material box transfer assembly, 31. Material box Conveying device 1, 32, material box conveying device 2, 4, pick-up device, 41, clamp hand, 42, material fetching actuator, 43, clamp horizontal tube, 5, clamp height adjustment device, 51, height adjustment Motor, 52, gear, 53, height adjustment rack, 6, clip spacing adjustment device, 61, clip actuator, 62, clip slider, 7, bracket, 71, cantilever column, 72, cantilever beam, 8 , traversing device, 81, traversing track, 82, traversing actuator, 83, moving block, 9, shelf.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is described in further detail.

This specific embodiment is only an explanation of the utility model, and it is not a limitation of the utility model. Those skilled in the art can make modifications to the embodiment without creative contribution according to needs after reading this specification, but as long as they are within the utility model All new claims are protected by patent law.

Embodiment 1, as shown in Figure 1, is an automatic storage reclaimer that works in a storage workshop. The storage workshop includes a plurality of shelves 9, and the shelves 9 may have a multi-layer structure, and goods packages of different sizes are placed on each floor. A roadway for the storage automatic reclaimer to pass is arranged between the adjacent shelves 9 .

As shown in Figure 2 and Figure 3, this kind of warehouse automatic reclaimer includes a walking device 1, which walks in the roadway by means of the walking device 1, and also includes a storage device 2 connected to the walking device 1, and a retrieving device that can be extended and retracted. 4 and a material box transfer assembly 3 for transferring the goods obtained by the picking device 4 to the storage device 2. The storage device 2 includes at least two layers of storage racks 21 located at different heights. The storage rack 21 includes a storage transfer device 211 .

The traveling device 1 comprises a traveling wheel 11 and a driving wheel 12, and there are two driving wheels 12, and each driving wheel 12 is independently controlled by a driving motor. In this case, the walking wheels 11 are universal wheels arranged around. The driving wheels 12 are independently controlled by the driving motor, so that the differential adjustment of the two driving wheels 12 can realize angle change or even turn on the spot, further reducing the turning radius of the whole device.

As shown in Fig. 1, Fig. 2 and Fig. 3, the pick-up device 4 is used to release the goods from the shelf 9 and move them to the material box transfer assembly 3, and the material box transfer assembly 3 is used to continue to transmit the goods, Transfer to storage device 2.

Specifically, as shown in Figure 5, the material box transfer assembly 3 includes a material box transfer device 1 31, a material case transfer device 2 32 and a switching device for switching the conveying direction of the goods on the material box transfer assembly 3. The conveying direction of the first box transfer device 31 is consistent with the extension direction of the pick-up device 4 , and the second 32 of the bin transfer device 32 is used to transfer the goods on the bin transfer assembly 3 to the storage device 2 . The first 31 of material box conveying device comprises a plurality of conveying rollers, and the second 32 of material box conveying device is a plurality of conveyor belts, and the conveying rollers and conveying belts are arranged at intervals, and the switching device is connected with material box conveying device 2 32 to drive material box conveying device 2 32 moves in the vertical direction.

When the goods were moved to the feed box transfer assembly 3 by the pick-up device 4, the switching device lowered the feed box conveying device two 32, and now the goods passed through the feed case conveying device one 31, that is, the transmission rollers. After being conveyed in place, the switching device raises the bin conveying device 32 , even if the goods are transferred to the storage device 2 by the conveying belt 32 . In this case, the conveying directions of the first 31 and the second 32 of the bin conveying device are both horizontal and perpendicular to each other. Switching device can adopt conventional parts in the prior art such as air cylinder, electric cylinder, hydraulic device, realizes the lifting of material box transmission device 2 32 and gets final product.

In addition, the entire container transfer assembly 3 can be lifted up and down in the vertical direction, on the one hand, the goods stored on the shelves 9 at different heights can be obtained. On the other hand, goods can be transferred to storage racks 21 of different heights. The storage rack 21 includes a storage transfer device 211, which can be a roller or a conveyor belt. When the material box transfer assembly 3 transfers the goods, the storage transfer device 211 can continue to transfer to ensure that the goods are delivered in place. And the lifting of the material box transfer assembly 3 can also be realized in a variety of ways, such as vertically setting the guide rail rack on the storage device 2, and setting the corresponding motor and the gear that cooperates with the rack on the material box transfer assembly 3 , to achieve vertical lift.

The mechanical mechanism of the picking device 4 in the utility model is described in detail below. As shown in Figure 4 and Figure 5,

The pick-up device 4 includes a holding hand 41 and a pick-up actuator 42 that is connected to the holding hand 41 and drives the holding hand 41 to stretch out and retract. The pick-up device 4 is at least two groups, and the two sets of pick-up devices The clamping hands 41 stand opposite to each other. When carrying out the action of picking up the goods, the material fetching actuator 42 starts to operate, and the material fetching actuator 42 can be an electric cylinder, which pushes the holding clamp hand 41 to stretch out into place. The gripping hands 41 hold and hook the cargo package, and then the retrieving actuator 42 begins to retract, and two groups of gripping hands 41 move the goods to the material box transfer assembly 3 .

In actual use, the size of the cargo package is often not only the same, but needs to be adjusted on site. In order to adapt to packages of different sizes, it is also necessary to adjust the horizontal distance between the two holding hands 41 . Specifically, the pick-up device 4 is connected to the support 7, and the support 7 includes a cantilever beam 72 extending in the horizontal direction and a cantilever column 71 connected to the cantilever beam 72, and the cantilever beam 72 is connected to the clamp spacing for adjusting two spacings. Regulator 6. The bracket 7 includes a cantilever beam 72 extending in the horizontal direction and a cantilever column 71 connected to the cantilever beam 72 , and the cantilever beam 72 is connected with the clamp distance adjusting device 6 for adjusting two distances. The clamp spacing adjustment device 6 includes a clamp actuator 61 connected to the cantilever beam 72 and a clamp slider 62 that slides horizontally under the drive of the clamp actuator 61, and the clamp slider 62 is connected with the pick-up device 4 .

The clip actuator 61 can also be conventional drive components such as electric cylinders, cylinders, and hydraulic devices. One end, such as one end of the cylinder body, is fixed on the cantilever beam 72, and the other end, such as one end of the piston rod, is connected with the clip slider 62. The clamp slide block 62 can be arranged on the guide rail on the cantilever beam 72, and the clamp slide block 62 is connected with the pick-up device 4. When the holding clip actuator 61 works, the holding clip sliding block 62 slides, thereby driving the pick-up device 4 to connect. As shown in Figure 4, there are two sets of pick-up devices 4, and each set can be connected to a set of separate clamp spacing adjustment devices 6, so that the horizontal slide of the pick-up device 4 can be realized by sliding the clamp slide block 62, Adjust the horizontal distance between the two holding hands 41 to adapt to different sizes of cargo parcels.

Two groups of pick-up devices 4 are located at different height positions. Such setting makes the two sets of grippers 41 respectively hook the different height positions of the cargo package, so that the force point of the cargo is more stable when it is pulled to the material box transfer assembly 3, and the situation of tipping is not easy to occur.

As mentioned above, in the process of pulling the goods by the pick-up device 4 , it is necessary to adjust the height of the pick-up device 4 in the vertical direction, and this lifting adjustment process mainly depends on the clamp height adjustment device 5 .

As shown in Figure 4, the height adjustment device 5 of the holding folder includes a height adjustment motor 51, a gear 52 connected with the height adjustment motor 52 and a height adjustment rack 53 that is engaged with the gear and extends in the vertical direction, and the height adjustment rack 53 is connected to the height adjustment rack 53. Pick-up device 4 is connected.

The height adjustment motor 51 can be fixedly connected on the cantilever column 71, and the motor runs to drive the gear 52 to rotate, and the gear 52 meshes with the height adjustment rack 53, so that the rotating gear 52 drives the height adjustment rack 53 to lift, and the height adjustment rack 53 is connected to the height adjustment rack 53. The pick-up device 4 is connected to drive the lift of the pick-up device 4.

As shown in FIG. 1 , this kind of storage automatic reclaimer runs in the roadway, and shelves 9 are arranged on both sides. In order to improve efficiency, the utility model can upgrade single-side picking to two-way picking, so as to obtain the goods on the shelves 9 on both sides. Concretely, as shown in Figure 4, each group of pick-up devices 4 includes a clamping horizontal tube 43, and both sides of the clamping horizontal tube 43 are respectively connected with a clamping hand 41, and the extension directions of the two clamping hands 41 are opposite. . Each holding hand 41 is all connected with a separate material fetching actuator 42, thereby making it possible to pick up goods in both directions without performing a 180° turning operation.

In addition, in actual work, the position of the goods on the shelf 9 and the position of the material box transfer assembly 3 are often far apart in the horizontal direction. This distance is sometimes not enough depending solely on the protruding length of the reclaiming actuator 42, and has a negative impact on efficiency and cost control. On the other hand, in some cases where goods need to be picked from both sides, it is also necessary to rely on the walking device 1 to bring the entire storage automatic reclaimer close to the shelf 9, so that the storage automatic reclaimer moves left and right in the roadway, which is extremely inconvenient.

In this embodiment, in order to solve the above two problems, a traverse device 8 is further added. As shown in Figure 5, the pick-up device 4 is connected on the support 7, and also includes a traverse device 8 for driving the support 7 and the pick-up device 4. The direction of extension and contraction is parallel. The traversing device 8 includes a traversing track 81 connected to the material box transfer assembly 3, a traversing actuator 82, and a moving block 83 that slides on the traversing rail 81 driven by the traversing actuator 82, and the moving block 83 is connected to bracket7. The extension direction of the traversing track 81 is the same direction as the extension and contraction direction of the pick-up device 4. The traversing actuator 82 can be a combination of a motor and a screw screw. When the motor is running, the moving block 83 is driven to move relative to the traversing track 81. Sliding, while the support 7 and the pick-up device 4 are all connected with the moving block 83, so as to realize the extension of the lateral movement stroke without driving the walking device 1 to walk.

As shown in Fig. 6, Fig. 6 is a schematic diagram of Embodiment 2. The difference from Embodiment 1 is mainly that the structure of the material box transfer assembly 3 has changed.

In this embodiment, the material box transfer assembly 3 does not use two kinds of transmission devices and switches, but first relies on the pick-up device 4 to push the material box onto the material box transfer assembly 3, that is, to the seat plate 34, and then use other ways to push the material box from the seat plate 34 to the storage device 2.

During the pushing process, in order to reduce the frictional force and make the pushing smoother, a plurality of universal balls 35 can be added on the seat plate 34 .

There are two ways to push the cargo box from the seat plate 34 to the storage device 2. The first method, as shown in FIG. The specific mechanical structures of these two sets of picking devices can be the same as in Embodiment 1 without modification. After the cargo material box arrives at the seat plate 34, the rear picking device 45 is controlled to rise to avoid interference, and the front picking device 44 is released, that is, to the left direction in the figure, and the material material box is pushed onto the storage device 2.

Method 2, also as shown in Figure 6, does not use the push of the pick-up device 4, but adds a push plate 36, and the push plate 36 drives the drive part, such as a rack and pinion motor, to drive the push plate 36 to slide along the seat plate groove 341 , to push the cargo box to the storage device 2.

Claims (15)

1. A storage automatic reclaimer, comprising a walking device (1), characterized in that it also includes a storage device (2) connected to the walking device (1), and a retrieving device (4) capable of extending and retracting and a material box transfer assembly (3) for transferring the goods obtained by the picking device (4) to the storage device (2), and the storage device (2) includes at least two layers located at different heights The storage rack (21), the storage rack (21) includes a storage transfer device (211), the material box transfer assembly (3) is connected to the picking device (4), and can be lifted in the vertical direction . 2. A warehouse automatic reclaimer according to claim 1, characterized in that: the material box transfer assembly (3) includes material box conveying device one (31), material box conveying device two (32) and A switching device for switching the conveying direction of the goods on the material box transfer assembly (3), the conveying direction of the material box conveying device one (31) is consistent with the extending direction of the picking device (4) , the second material box transfer device (32) is used to transfer the goods on the material box transfer assembly (3) to the storage device (2). 3. A warehouse automatic reclaimer according to claim 1, characterized in that: the material box transfer assembly (3) includes a bottom plate (34), and goods are moved from the bottom plate (34) to the on the storage unit (2). 4. The storage automatic reclaimer according to claim 3, characterized in that: the bottom plate (34) is provided with a bottom plate groove (341), and the material box transfer assembly (3) also includes a The push plate (36) slides along the bottom plate groove (341) and is used to push the goods to the storage device (2). 5. The storage automatic reclaimer according to claim 3, characterized in that: the bottom plate (34) is provided with a universal ball (35). 6. A storage automatic reclaimer according to claim 3, characterized in that: the retrieving device (4) comprises at least two sets, namely a front retrieving device (44) and a rear retrieving device (45 ), the rear picking device (45) is closer to the storage device (2) than the front picking device (44), and the front picking device (44) can be moved away from the storage device (2) ) direction, and the rear pick-up device (45) can slide in the vertical direction. 7. A warehouse automatic reclaimer according to claim 2, characterized in that: said material box conveying device one (31) includes a plurality of conveying rollers, and said material box conveying device two (32) is multiple A conveyor belt, the conveyor roller and the conveyor belt are arranged at intervals, and the switching device is connected to the second bin conveyor (32) to drive the second bin conveyor (32) to move vertically. 8. The storage automatic reclaimer according to claim 1, characterized in that: the traveling device (1) includes a traveling wheel (11) and a driving wheel (12), and the driving wheel (12) is two each, and each of the drive wheels (12) is independently controlled by a drive motor. 9. A storage automatic reclaimer according to claim 1 or 2 or 3 or 4 or 5 or 6 or 7 or 8, characterized in that: the retrieving device (4) includes a holding hand (41) And the fetching actuator (42) that is connected with the holding hand (41) and drives the holding hand (41) to extend and retract. The picking device (4) is at least two groups, and the two groups are The holding hands (41) of the picking device (4) stand opposite each other. 10. A storage automatic reclaimer according to claim 9, characterized in that: the retrieving device (4) is connected to a support (7), and the support (7) includes a cantilever extending in the horizontal direction A crossbeam (72) and a cantilever column (71) connected to the cantilever crossbeam (72), the cantilever crossbeam (72) is connected with a clamp distance adjusting device (6) for adjusting two distances. 11. The storage automatic reclaimer according to claim 10, characterized in that: the clamp spacing adjustment device (6) includes a clamp actuator (61) connected to the cantilever beam (72) and A clamp slide block (62) that slides in the horizontal direction under the drive of the clamp actuator (61), and the clamp slide block is connected with the pick-up device (4). 12. The storage automatic reclaimer according to claim 9, characterized in that: when the two sets of pick-up devices (4) pull the goods to the material box transfer assembly (3), the two sets The picking devices (4) are located at different heights. 13. The storage automatic reclaimer according to claim 9, characterized in that it further comprises a clip height adjusting device (5) for adjusting the height position of the retrieving device (4). 14. The storage automatic reclaimer according to claim 13, characterized in that: the clamp height adjustment device (5) includes a height adjustment motor (51), connected to the height adjustment motor (51) A gear (52) and a height adjustment rack (53) meshing with the gear and extending in the vertical direction, the height adjustment rack (53) is connected with the picking device (4). 15. A warehouse automatic reclaimer according to claim 9, characterized in that: each set of said retrieving device (4) includes a clamping horizontal tube (43), and the clamping horizontal tube (43) The two sides of each are connected with the clamping hands (41), and the two clamping hands (41) are opposite to each other in a C shape.