CN213387653U

CN213387653U - Stacking and selecting device

Info

Publication number: CN213387653U
Application number: CN202021428132.1U
Authority: CN
Inventors: 石胜君; 孟杰; 崔后彬; 秦春雷; 桂克全; 王伟
Original assignee: Harbin Institute Of Technology Robot Shandong Logistics Technology Co ltd
Current assignee: Shandong specification Intelligent Technology Co.,Ltd.
Priority date: 2020-07-20
Filing date: 2020-07-20
Publication date: 2021-06-08
Anticipated expiration: 2030-07-20

Abstract

The utility model relates to an intelligent storage field particularly, relates to a stack is selected device. The stacking and picking device comprises a rail and stacking and picking trucks arranged on the rail, wherein the stacking and picking trucks move along the rail in a specific direction. The vehicle body comprises a chassis, a traveling mechanism is arranged on the bottom surface of the chassis, and the traveling mechanism is connected with the track in a matching manner. The lifting mechanism is arranged on the upper surface of the chassis; the fork is connected with the lifting mechanism in a matched mode and moves in the vertical direction. The utility model provides a pair of device is selected to stack has realized upgrading structure's simplification through being provided with the stand structure to reinforced structure through being provided with strengthening rib etc. increases overall structure's stability on having guaranteed lightweight basis. Through the setting of running gear, realized the removal of whole equipment as power through comparatively simple hold-in range. The utility model provides a simple structure, stable in structure can realize the execution of high-speed motion.

Description

Stacking and selecting device

Technical Field

The utility model relates to an intelligent storage field particularly, relates to a stack is selected device.

Background

With the development of logistics automation, the demand of unmanned automated warehouses is increasing day by day, and for automated stereoscopic warehouses which have low unit load capacity requirements but high warehouse-in and warehouse-out frequency requirements, currently, the automated stereoscopic warehouses are generally called as Miniload stereoscopic warehouses, generally, light stackers are used as main equipment to carry out quick warehouse-in and warehouse-out and picking and other work of goods such as bins and the like, and the automated stereoscopic warehouses are characterized by small load (the load is less than 300Kg), high speed, quick response and high efficiency.

Due to the limitation of the current structure, the traditional Miniload weight is more than 1 ton, and the traditional Miniload weight can not be used for floors with lower ground load or occasions. The equipment has high weight, high power of the driving motor, difficult type selection, high energy consumption, difficult installation and debugging and high speed which can not realize high speed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a device is selected to stack to realize that various occasions are used, lightweight, fast-speed storage are selected.

The utility model discloses a realize like this:

a stacking and picking device comprises a rail and a stacking and picking trolley arranged on the rail, wherein the stacking and picking trolley moves in a corresponding direction along the rail. The stacking and sorting vehicle comprises a chassis, wherein a traveling mechanism is arranged on the bottom surface of the chassis and is connected with the track in a matched mode. The lifting mechanism is arranged on the upper surface of the chassis; the fork is connected with the lifting mechanism in a matched mode and moves in the vertical direction.

Furthermore, hoist mechanism includes a plurality of promotion stands of being connected with the chassis, and is a plurality of it sets up to be the symmetry between the promotion stand, and is a plurality of it forms the promotion space to promote the stand, and the fork setting moves along promoting the stand vertical direction in promoting the space.

Furthermore, the lifting mechanism also comprises a lifting rod, the lifting rod is arranged far away from the chassis, and the lifting rod is connected with any two symmetrically arranged lifting upright columns; the belt pulleys are arranged at the two ends of the lifting rod and the pallet fork, and a belt is arranged between the belt pulleys.

Furthermore, the fork is close to and promotes stand one side and is provided with the promotion wheelset, promotes the wheelset and includes the wheelset casing of being connected with the fork and set up two at least pulleys in the wheelset casing, and the wheelset is connected with the promotion stand, and uses the promotion stand to set up as central symmetry.

Further, the pallet fork comprises an inner fork plate, a middle fork plate and an outer fork plate. The inner fork plate is provided with an inner fork space, the middle fork plate is provided with a middle fork space, and the outer fork plate is provided with an outer fork space. The middle fork plate is arranged in the outer fork space and connected with the outer fork plate, the inner fork plate is arranged in the middle fork space and connected with the inner fork plate, the shifting forks are symmetrically arranged at one end of the inner fork plate, and the outer fork plate is connected with the wheel set shell.

Further, well fork board and outer fork board, outer fork board are close to the promotion stand and set up, and well fork board sets up in outer fork inboard, and interior fork board sets up in well fork inboard, and interior fork board one end is provided with the shift fork, and outer fork board is connected with wheelset casing.

Furthermore, the outer fork plate is provided with a transmission device, the transmission device comprises a transmission shaft and a planetary gear set connected with the transmission shaft, and the middle fork plate is provided with chain teeth connected with the planetary gear set.

Furthermore, the middle fork plate is provided with a smooth leather belt, and the smooth leather belt is connected with the inner fork plate.

Further, the track both ends are provided with the fixed beam, and the fixed beam is connected and is provided with the hold-in range, and the hold-in range is connected with actuating mechanism, and the hold-in range is connected with the chassis and is driven stack order picker to remove.

Furthermore, the forklift truck further comprises a power supply module and a control module, wherein the power supply module and the control module are respectively connected with the lifting mechanism, the fork and the driving mechanism.

The beneficial effect of above-mentioned scheme:

the utility model provides a pair of device is selected to stack has realized upgrading structure's simplification through being provided with the stand structure to reinforced structure through being provided with strengthening rib etc. increases overall structure's stability on having guaranteed lightweight basis. Through the setting of running gear, realized the removal of whole equipment as power through comparatively simple hold-in range. The utility model provides a simple structure, stable in structure can realize the execution of high-speed motion.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic view of the overall structure of a stacking and sorting device provided by the utility model;

FIG. 2 shows an enlarged view of section A provided by the present invention;

fig. 3 shows a first schematic view of a fork structure provided by the present invention;

fig. 4 shows a second schematic view of a fork structure provided by the present invention.

Icon:

100-stack picking means; 110-a chassis; 120-a lifting mechanism; 130-a fork; 140-a road wheel; 150-a drive mechanism; 160-track; 170-trolley line;

121-lifting the upright post; 122 — lifting space; 123-lifting rod; 124-a belt pulley; 125-a belt; 126-lifting wheel set; 127-a wheel set housing; 128-a pulley; 129-a hoisting motor;

131-outer fork plate; 132-a middle fork plate; 133-inner yoke plate; 134-a shift fork; 135-an electric mirror; 136-a stage; 137-driving motor; 138-motor synchronous belt; 139-driving shaft; 1310 — a planetary gear set; 1311-chain teeth;

151-synchronous belt;

161-fixed beam.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The following is a detailed description of the stacking and sorting device 100 according to an embodiment of the present invention:

example 1

Referring to fig. 1, the embodiment provides a stacking and picking apparatus 100, which includes a track 160 and stacking and picking trucks disposed on the track 160, wherein the track 160 mainly provides a moving space and a moving route for the stacking and picking trucks, so as to realize the parking of the trucks at different positions. Including forks 130 for placing material and a lifting mechanism 120 for effecting movement of the forks 130 in a vertical direction.

In the present embodiment, the track 160 is a ground track, i.e. the track 160 is laid on a plane ground and has a conventional strip-shaped structure.

In this embodiment, the stacker picker includes a chassis 110 for supporting various components, a traveling mechanism is disposed on a surface of the chassis 110 adjacent to the rail 160, the traveling mechanism is coupled to the rail 160, and the stacker picker is moved on a predetermined path of the rail 160 by the traveling mechanism.

The other side of the chassis 110 is further provided with a lifting mechanism 120, and in this embodiment, the lifting mechanism 120 mainly performs vertical movement of the goods to be processed.

In this embodiment, the frame of the chassis 110 may be formed by connecting separate profiles, the profiles may be made of aluminum alloy and metal plate, and reinforcing ribs may be further disposed below the chassis 110, so as to reduce the weight of the chassis 110 and increase the strength of the device.

In this embodiment, the lifting mechanism 120 includes a plurality of lifting columns 121 connected with the chassis 110 in the vertical direction, and the plurality of lifting columns 121 are symmetrically disposed therebetween, and in this embodiment, the number of the lifting columns 121 is 6, that is, three lifting columns 121 are disposed on one side, and the other three lifting columns are disposed on the other symmetrical side.

In the present embodiment, the plurality of lifting columns 121 form a lifting space 122 in a vertical direction, and the fork 130 is disposed in the lifting space 122 and connected to the lifting columns 121 to move along the vertical direction of the lifting columns 121.

The lifting columns 121 are provided with lifting rods 123 away from the chassis 110, and in this embodiment, the lifting rods 123 are fixedly connected with any two of the lifting columns 121 which are symmetrically arranged. Two sections of the lifting rod 123 are provided with belt pulleys 124, two ends of the pallet fork 130 corresponding to the lifting rod 123 are also provided with belt pulleys 124 of the same size, and the two groups of belt pulleys 124 are connected through a belt 125.

A lifting motor 129 is disposed at any one set of belt pulleys 124, and an output shaft of the lifting motor 129 is connected to the belt pulleys 124, so that the rotation of the output shaft drives the belt pulleys 124 to rotate in the forward/reverse directions, thereby driving the belt 125 and the other set of belt pulleys 124 to rotate in the same direction, i.e., the rotation of the two sets of belt pulleys 124 drives the pallet fork 130 to move in the vertical direction. Raising and lowering of the forks 130 is accomplished by changing the direction of the lift motor 129.

In this embodiment, in order to stabilize the connection relationship between the fork 130 and the lifting upright 121 and prevent the fork 130 from shaking due to a lateral external force during the lifting process, a lifting wheel set 126 is disposed on one side of the fork 130 close to the lifting upright 121.

The lift wheel set 126 includes a wheel set housing 127 coupled to a fork 130 and includes at least two pulleys 128 disposed within the wheel set housing 127. In this embodiment, the pulley 128 is symmetrically disposed with the lifting column 121 as a symmetry axis, that is, the pulley 128 is disposed closely to the lifting column 121, so that the fork 130 moves along the vertical direction of the lifting column 121.

In this embodiment, the fork 130 is a telescopic multi-stage fork 130, and the fork 130 provided in this embodiment includes three stages of units, including two sets of telescopic moving units, which can realize transverse telescopic movement. In other embodiments, the number of cells may be increased and decreased depending on the particular use case.

In the present embodiment, the tertiary unit includes an inner fork plate 133, a middle fork plate 132, and an outer fork plate 131. Wherein the outer fork plate 131 is a fixed plate and does not move telescopically. Wherein, the inner fork plate 133, the middle fork plate 132 and the outer fork plate 131 are respectively provided with an inner fork space, a middle fork space and an outer fork space. In this embodiment, the inner fork space is provided with an object stage 136 and a shifting fork, wherein the object stage 136 is used for placing the material, the shifting fork 134 is used for performing action processing on the material, the inner fork plate 133 is disposed in the middle fork space and connected with the middle fork plate 132, and the middle fork plate 132 is disposed in the outer fork space and connected with the outer fork plate 131.

In this embodiment, the fork 134 is a swing rod controlled by a servo motor, one end of the swing rod is a free end for pushing or pulling the goods, the other end of the swing rod is connected with the servo motor, and the swing rod swings on a plane perpendicular to the conveying direction.

The front end of the outer fork 131 is provided with an electric mirror 135.

The outer fork plate 131 is connected with the wheel set shell 127 to realize a fixing effect, and the shifting forks are symmetrically arranged at one end of the inner fork plate 133 and used for executing specific actions on materials.

The both sides of outer fork board 131 are close to well fork board 132 position department and are provided with planetary gear set 1310, well fork board 132 is close to outer fork board 131 position department and is provided with chain tooth 1311, planetary gear set 1310 is connected with chain tooth 1311 cooperation, planetary gear set 1310 is connected with the driving shaft 139 that runs through outer fork board 131 setting, driving shaft 139 is connected with driving motor 137, driving shaft 139 passes through motor synchronous belt 138 and is connected with driving motor 137, thereby the driving shaft then carries out rotary motion through driving motor 137, thereby drive planetary gear set 1310 and do the motion of equidirectional.

In this embodiment, the planetary gear set 1310 includes a driving wheel and a plurality of driven sprockets cooperatively connected with the rack. The driving shaft 139 is connected to the driving wheel through a coupling seat to drive the driving wheel to rotate, and the driven sprocket is engaged with the driving path and rotates at the same time, so as to drive the rack to move in a specific direction, thereby driving the middle fork 132 to move in a specific direction. In the present embodiment, when the driving motor 137 rotates in the forward direction, the middle fork 132 moves in the forward direction, which is the extending direction in the present embodiment; when the driving motor 137 performs reverse rotation, the middle fork 132 moves in a reverse direction, i.e., a telescopic direction.

The middle fork plate 132 is provided with a transmission pulley, and the middle fork plate 132 and the outer fork plate 131 drive the inner fork plate 133 to move by means of a transmission pulley mechanism through a transmission pulley (not shown) and a transmission belt (not shown).

In this embodiment, the transmission pulley on the middle fork plate 132 is a synchronous pulley, and the transmission belt is a transmission belt with two free ends, and the two ends are respectively fixed with the inner fork plate 133 and the outer fork plate 131. The transmission belt is preferably a transmission timing belt with two free ends, and the two ends are respectively fixedly connected with the inner fork plate 133 and the outer fork plate 131. The outer fork plate 131 is provided with a first fixing device (not shown) for fixing one end of the transmission belt, the inner fork plate 133 is provided with a second fixing device (not shown) for fixing the other end of the transmission belt, and the second fixing device can adjust the length of the transmission belt to control the maximum extension length of the inner fork plate 133.

In this embodiment, the traveling mechanism includes the traveling wheels 140, and the traveling wheels 140 are directly connected to the rails 160 in a matching manner, and roll on the predetermined route of the rails 160, so as to drive the movement of the stacker picker. In this embodiment, the road wheels 140 are not provided with a power system, i.e., the road wheels 140 only perform passive movements, i.e., realize specific movements of the stacker picker under the action of external forces. In other embodiments, a motor may be directly mounted on the traveling wheel 140, and the traveling wheel 140 is driven by the motor to perform self-traveling.

In this embodiment, the two ends of the track 160 are provided with the fixing beams 161, the chassis 110 is further fixedly provided with the synchronous belt 151, and the synchronous belt 151 is connected with the driving mechanism 150 through the fixing beams 161, in this embodiment, the driving mechanism 150 is a driving motor, thereby driving the synchronous belt 151 to drive the chassis 110 and the movement of the whole vehicle body through the driving motor.

The stacking and picking apparatus 100 of the present embodiment further includes a power supply module and a control module, wherein the power supply module includes a trolley wire 170 disposed above the lifting upright 121, and the control module is respectively connected to the lifting mechanism 120, the fork 130 and the driving mechanism 150.

In the present embodiment, the above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and those skilled in the art can make various modifications and variations. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. In the present embodiment, the above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and those skilled in the art can make various modifications and variations. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A stacker picking apparatus comprising a track and a stacker picker arranged on the track, the stacker picker moving in a corresponding direction along the track; the stacking and picking truck comprises a chassis, wherein a traveling mechanism is arranged on the bottom surface of the chassis and is in fit connection with a rail; the lifting mechanism is arranged on the upper surface of the chassis; the fork is connected with the lifting mechanism in a matched mode and moves along the vertical direction.

2. A stacking pick device as claimed in claim 1, in which the lifting mechanism includes a plurality of lifting uprights arranged vertically symmetrically with the chassis, the plurality of lifting uprights forming a lifting space within which the forks are arranged to move in the vertical direction of the lifting uprights.

3. A stacker picking apparatus as in claim 2, wherein the lifting mechanism further comprises a lifting bar located remotely from the chassis, the lifting bar being connected to any two symmetrically located lifting uprights; the lifting rod the fork both ends are provided with the belt pulley, be provided with the belt between the belt pulley.

4. A stack picking device according to claim 3, characterised in that the forks are provided with lifting wheel sets adjacent to the lifting uprights, the lifting wheel sets comprising wheel set housings connected to the forks and at least two pulleys arranged in the wheel set housings, the wheel sets being connected to the lifting uprights and arranged symmetrically about the lifting uprights.

5. A stacking picking device as claimed in claim 4, characterised in that the forks include inner, middle and outer fork plates; the inner fork plate is provided with an inner fork space, the middle fork plate is provided with a middle fork space, and the outer fork plate is provided with an outer fork space; the middle fork plate is arranged in the outer fork space and connected with the outer fork plate, the inner fork plate is arranged in the middle fork space and connected with the inner fork plate, the shifting forks are symmetrically arranged at one end of the inner fork plate, and the outer fork plate is connected with the shell.

6. A stacking and picking device as claimed in claim 5, characterised in that the outer yoke plate is arranged adjacent to the lifting column, the middle yoke plate is arranged inside the outer yoke plate, the inner yoke plate is arranged inside the middle yoke plate, one end of the inner yoke plate is provided with a shift fork, and the outer yoke plate is connected with the wheel set housing.

7. A stack picking device according to claim 6, characterised in that the outer fork plate is provided with a transmission device comprising a transmission shaft and a planetary gear set connected to the transmission shaft, the middle fork plate being provided with chain teeth which are connected to the planetary gear set.

8. A stack picking device according to claim 6, characterised in that the middle fork plate is provided with a bare leather belt which is connected to the inner fork plate.

9. The device of claim 1, wherein the rails are provided with fixed beams at opposite ends thereof, the fixed beams being connected to a timing belt, the timing belt being connected to a drive mechanism, the timing belt being connected to the chassis to move the stacker picker.

10. A stack picking device according to claim 9, characterised in that it further includes a power supply module and a control module, which are connected to the lifting mechanism, the forks and the drive mechanism, respectively.