CN214526061U - Intelligent warehouse - Google Patents

Abstract

The utility model relates to an intelligent warehouse, including stacker track, stacker, arrange the goods shelves in stacker track one side or both sides, the stacker includes the stacker saddle, is equipped with stacker frame and cargo carrying platform hoisting mechanism on the stacker saddle, the cargo carrying platform of liftable that is connected with in the stacker frame slidably, be equipped with lower floor's conveying mechanism and liftable upper strata armful of clamp mechanism on the cargo carrying platform, even there is the buffer memory area on the stacker saddle, and the buffer memory area includes multilayer buffer memory conveyer belt; the advantages are that: the goods carrying platform of the stacker is provided with a bidirectional synchronous clamping system positioned on the upper layer and a conveying mechanism positioned on the lower layer, the bidirectional synchronous clamping system can realize the taking and placing of soft package goods in a certain size range between the lifting goods carrying platform of the tunnel type stacker and a goods shelf, meanwhile, the double-layer mechanism of the goods carrying platform can realize the movement of the goods in the X +, X-, Y + and Y-directions, the stacker is provided with a plurality of buffer positions, the storage and taking integration can be realized aiming at a tunnel which is very long, and the efficiency is improved.

Description

Intelligent warehouse

Technical Field

The utility model relates to a storage technical field especially relates to an intelligent warehouse.

Background

The rail tunnel stacker technique is widely applied to stereoscopic warehouses, is a crane operating in a narrow tunnel of a high-rise goods shelf, can greatly improve the area and space utilization rate of the warehouse, and is main equipment of an automatic warehouse.

At present, a goods carrying platform of a tunnel type stacker can only take and place storage boxes, cartons, trays and the like with fixed sizes, after the goods carrying platform is lifted to a specified goods shelf height, goods carrying platform forks stretch out, containers with the same width are transferred to the goods carrying platform, then the stacker carries the containers to a specified position along the tunnel, and the containers are transferred by the same method.

The above prior art has the following disadvantages: the traditional goods carrying platform of the stacker can only take and place goods with fixed sizes or goods placed on a tray and a storage box, the packaging requirements of products need to be in a packaging form of a fixed form such as a carton or a wooden box, or the products need to be placed on a carrier, the products of each type and the carrier are required to be in one-to-one correspondence, and a carrier recovery auxiliary system needs to be added. For soft package goods with variable sizes, such as packages packaged by woven bags, the direct transfer of goods between a goods shelf and a goods loading platform of a stacker cannot be realized.

In addition, the conventional stacker has the following defects: the stacker does not have a buffer position or only has one lattice per layer of the buffer position, the goods taking efficiency is low, and the intelligent warehouse with large warehouse in and out quantity of some products can only meet the daily normal cashier quantity by increasing the quantity of the stacker.

Based on this, the present disclosure is thus directed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an intelligent warehouse to realize that non-fixed dimension's soft packet of type goods carries moving between stereoscopic warehouse goods shelves and stacker lift year goods platform, and improve the access efficiency of goods.

In order to achieve the above purpose, the technical solution of the present invention is as follows:

an intelligent warehouse comprises a stacker rail, a stacker, and a goods shelf arranged on one side or two sides of the stacker rail, wherein the stacker comprises a stacker seat, a stacker frame and a goods carrying table lifting mechanism are arranged on the stacker seat, the stacker frame is connected with a liftable cargo carrying platform in a sliding way, the cargo carrying platform is provided with a lower layer conveying mechanism and a liftable upper layer clamping mechanism, the lower layer conveying mechanism comprises a conveying conveyor belt capable of being driven bidirectionally, the stacker seat is connected with a buffer area which comprises a plurality of layers of buffer conveyor belts, the two ends of the buffer area positioned in the conveying direction of the buffer conveyor belts are both opened, each layer of buffer conveyor belts can be driven independently and bidirectionally, the upper-layer holding and clamping mechanism realizes the conveying of goods between the goods shelf and the goods carrying platform, and the conveying conveyor belt and the buffer conveyor belt are matched to realize the conveying of the goods between the goods carrying platform and the buffer area.

Furthermore, the butt joint device comprises a butt joint area, a lifting device and a conveying line, wherein the butt joint area comprises a warehouse entering area and a warehouse exiting area which have the same structure with the cache area, the warehouse exiting area and the warehouse entering area respectively comprise a plurality of layers of independent and bidirectional driving warehouse area conveying belts, two ends of the warehouse exiting area and the warehouse entering area in the conveying direction of the warehouse area conveying belts are respectively provided with an opening, and the warehouse area conveying belts and the cache conveying belts are matched to realize the conveying of goods between the butt joint area and the cache area; the docking device also comprises a docking area track and a translation driving part, wherein the docking area track is perpendicular to the conveying direction of the warehouse area conveyor belt, the warehouse-in area and the warehouse-out area are arranged side by side along the direction of the docking area track, and the docking area realizes translation on the docking area track through the translation driving part;

the conveying lines comprise an ex-warehouse conveying line and a warehousing conveying line which are arranged at the upper layer and the lower layer; the lifting device comprises a lifting arm and a lifting machine used for lifting the lifting arm, the lifting arm comprises a middle conveying belt capable of being driven in a two-way mode, and the middle conveying belt is used for conveying goods between the butt joint area and the conveying line.

Furthermore, the cargo carrying platform comprises a cargo carrying platform frame which is in sliding connection with the frame of the stacking machine, the upper clamping mechanism comprises a welding frame which is in sliding connection with the cargo carrying platform frame and a welding frame lifting driving mechanism which is used for controlling the lifting of the welding frame, the welding frame is connected with a lead screw through a bearing and is provided with a first driving part which is used for driving the lead screw I, the lead screw I is connected with a lead screw nut I with two opposite rotating directions, the lead screw nut I is fixedly connected with a bidirectional telescopic manipulator, and the two bidirectional telescopic manipulators are oppositely arranged; the conveying conveyor belt is provided with a plurality of conveying conveyor belts, a fluent strip device is arranged between every two adjacent conveying conveyor belts, and a fluent strip lifting driving mechanism is arranged on the goods carrying platform frame.

Furthermore, the stacker saddle is of a plate type structure, the buffer area is fixed on the stacker saddle, the stacker track comprises two ground rails and two sky rails, bottom traveling wheels used for traveling on the two ground rails are installed on two sides of the stacker saddle, and top traveling wheels used for traveling on the two sky rails are installed at the top of the stacker frame.

Furthermore, the number of the cargo carrying platforms is one and the cargo carrying platforms are arranged at one end of the cache region far away from the butt joint device.

Furthermore, the number of the goods carrying platforms is two, the goods carrying platforms are respectively positioned at two ends of the conveying direction of the cache conveyor belt, the frame of the stacker is an upright column arranged at each opening end of the cache area, and the height of the upright column higher than the cache area is not less than that of the goods carrying platforms.

Furthermore, the stacker saddle is of a beam type structure, the stacker rail comprises a single ground rail and a single sky rail, the stacker saddle is provided with a bottom travelling wheel for travelling on the single ground rail, the top of the stacker frame is provided with a top travelling wheel for travelling on the single sky rail, the buffer area is drawn by the stacker saddle, and the bottom of the buffer area is provided with a universal wheel for travelling on the ground; the stacker frame is of a single-upright-column structure and is arranged at one end, far away from the butt joint device, of the buffer area.

Furthermore, the stacker track is linear and has a plurality of tracks, the plurality of stacker tracks are arranged in parallel, the butt joint device is arranged at one end of one of the stacker tracks, the other end of the stacker track is provided with a rail-changing trolley track perpendicular to the stacker track, and the rail-changing trolley track is provided with a rail-changing trolley; the rail transfer trolley is provided with a stacker temporary track, and the stacker can walk onto the rail transfer trolley through the stacker temporary track.

Furthermore, the stacker rail is a curved rail, the curved stacker rail comprises a plurality of parallel straight-line sections and a curved section rail connecting two adjacent straight-line sections, and the butt joint device is arranged at the starting end or the tail end of the curve.

Furthermore, the stacker track is linear and has a plurality of, and multichannel stacker track parallel arrangement, interfacing apparatus set up the orbital one end of one of them stacker, and the orbital other end of stacker is equipped with the orbital transfer rail of perpendicular to stacker, be equipped with the over-and-under type walking wheel that is used for walking on the transfer rail on the stacker saddle.

Further, every layer of storehouse district conveyer belt and every layer of buffer memory conveyer belt all are equipped with telescopic stopper piece at direction of transfer's both ends, and every layer of storehouse district conveyer belt and every layer of buffer memory conveyer belt divide into a plurality of goods positions on direction of transfer, all are equipped with the detection sensor on every goods position.

The utility model has the advantages that:

1. the goods carrying platform of the stacker is provided with a bidirectional synchronous clamping system positioned on the upper layer and a conveying mechanism positioned on the lower layer, the bidirectional synchronous clamping system can realize the taking and the placing of soft package goods in a certain size range between the lifting goods carrying platform of the tunnel type stacker and a goods shelf, and meanwhile, the double-layer mechanism of the goods carrying platform can realize the movement of the goods in the X +, X-, Y + and Y-directions;

2. the stacker is provided with a plurality of buffer positions, so that the storage and the taking can be integrated for a particularly long roadway, and goods can be taken while being stored in the process of walking from one end of the roadway to the other end of the roadway, thereby saving the walking time of the stacker and improving the efficiency;

3. the method comprises the steps that a butt joint device which is approximately the same as a buffer area is arranged for the stacker equipment which is provided with the buffer device and is provided with a plurality of buffer positions at each layer height, the time of storage work of the stacker is utilized, goods on a conveying line are placed into the butt joint area in a one-pack mode through a lifting machine, the stacker finishes the storage work and returns to an original point after the goods are connected with the butt joint area, the conveying work is finished synchronously at one time, and the working efficiency is improved;

4. for the scheme that the stacker is provided with two symmetrical lifting cargo carrying tables, when the cargo is delivered to a cargo bin from the cargo carrying tables by utilizing the cargo carrying tables on one side in a warehouse entry process, the cargo is delivered from a buffer area to the cargo carrying tables on one side; when the goods are delivered from the warehouse, the goods are dragged from the warehouse to the time of the goods carrying platform by the goods carrying platform on one side, and the goods are transferred from the goods carrying platform to the cache region on one side, so that the working efficiency is further improved;

5. 2 to a plurality of tunnels can be taken into consideration for a single stacker, so that the requirement of the traditional intelligent warehouse on the number of the stackers is reduced, and the cost is saved.

Drawings

Fig. 1 is a schematic top view of the intelligent warehouse in embodiment 1;

fig. 2 is a schematic view of a partial three-dimensional configuration of the intelligent warehouse in embodiment 1;

FIG. 3 is a schematic three-dimensional configuration of a stacker in embodiment 1;

FIG. 4 is a schematic front view of FIG. 3;

FIG. 5 is a top view of FIG. 3;

FIG. 6 is a schematic three-dimensional configuration of a cargo bed in embodiment 1;

FIG. 7 is a schematic three-dimensional configuration of a cargo bed frame in embodiment 1;

FIG. 8 is a schematic three-dimensional configuration of a solder stand in example 1;

FIG. 9 is a schematic top view of FIG. 8;

FIG. 10 is a schematic front view of a conveyor belt drive system according to embodiment 1;

FIG. 11 is a top view of FIG. 10;

FIG. 12 is a schematic view showing the construction of a bidirectional telescopic robot in embodiment 1;

fig. 13 is a schematic view showing an operating state of the bidirectional telescopic robot in embodiment 1;

FIG. 14 is an enlarged view of portion A of FIG. 3;

FIG. 15 is an enlarged view of portion B of FIG. 3;

FIG. 16 is a schematic view of a stacker crane in embodiment 1 in an X1 lane;

FIG. 17 is a schematic view of the stacker crane in embodiment 1 when traveling onto a track-changing trolley;

FIG. 18 is a schematic view of the state in which the derailing carriage drives the stacker to the X2 lane in embodiment 1;

FIG. 19 is a schematic view of a stacker crane in embodiment 1 in an X2 lane;

FIG. 20 is a schematic three-dimensional configuration of a stacker according to embodiment 2;

FIG. 21 is a front view of FIG. 20;

fig. 22 is a schematic diagram of a three-dimensional construction of a warehouse using the stacker of embodiment 2;

FIG. 23 is a schematic three-dimensional configuration of a stacker according to embodiment 3;

FIG. 24 is a front view of FIG. 23;

FIG. 25 is a schematic view showing the construction of a warehouse in which stacker rails are curved in embodiment 4;

FIG. 26 is a schematic view of a warehouse construction in embodiment 5;

description of the reference symbols

100. A cargo carrying table frame, 101. C-shaped grooves, 102. a second guide rail;

200. an upper clamping mechanism, 201, a welding frame, 202, a guide wheel, 203, a sliding block, 204, a first driving part, 205, a first guide rail, 206, a mounting plate, 207, a first screw rod, 208, a first screw rod nut, 209, a second screw rod, 210, a second driving part, 211, a second screw rod nut, 212, a bidirectional telescopic manipulator, 212a shifting fork-pulling and 212b shifting fork-pushing;

300. a lower layer conveying mechanism, 301, a conveying conveyor belt, 302, a fluency strip device, 303, a synchronous belt, 304, a fluency strip lifting driving mechanism, 305, a third driving part, 306, a driving shaft, 307, a driven shaft and 308, a synchronous wheel;

401 double ground rails, 402 double sky rails, 403 single sky rail, 404 single ground rail, 405 track transfer trolley rail, 406 track transfer trolley, 407 stacker temporary rail, 408 track transfer rail;

500 buffer areas, 501 buffer conveyor belts, 502 telescopic blocking blocks, 503 detection sensors and 504 universal wheels;

600 stacker seat, 601 bottom walking wheel, 602 top walking wheel, 603 cargo carrying platform lifting mechanism, 604 stacker frame, 605 three-side surrounding type guide wheel, 606 single-side supporting type guide wheel, 607 surrounding type slide block and lifting type walking wheel 608;

700 butt joint device, 701 warehouse entry area, 702 warehouse exit area, 703 warehouse area conveyor belt, 704 elevator, 705 intermediate conveyor belt, 706 butt joint area track, 707 translation driving part, 708 warehouse exit conveyor line, 709 warehouse entry conveyor line, 710 conveying direction conversion device;

800 goods shelves, 900 stacker, lane X1I, lane X2 II.

Detailed Description

The present invention will be described in further detail with reference to the following embodiments, wherein the X-direction, the Y-direction, and the Z-direction are defined by the coordinate system in the drawings.

Example 1

This embodiment provides an intelligent warehouse with single-machine stacker, as shown in fig. 1, for the overall arrangement schematic diagram of this warehouse, included tunnel X1 and No. two tunnel X2 in this figure, the both sides of every tunnel are evenly provided with goods shelves 800. The intelligent warehouse also includes a stacker 900, a docking device 700, and a rail transfer trolley 406, as described in detail below.

As shown in fig. 3 to 5, the stacker crane 900 of the present embodiment includes a stacker car seat 600, a stacker frame 604, a translation mechanism, a load table lifting mechanism 603, a load table, and a buffer area 500. The stacker seat 600 in this embodiment is of a plate type structure, and the translation mechanism is mounted on the stacker seat 600 and includes bottom traveling wheels 601, top traveling wheels 602, and a reduction motor for driving the bottom traveling wheels 601 to operate. As shown in fig. 3, since the stacker 900 of this embodiment is additionally provided with the buffer area 500, it is heavier than the conventional stacker, and a total of four upper and lower tracks, that is, the double ground tracks 401 and the double sky tracks 402 in fig. 2, need to be arranged in the roadway to improve the walking stability of the stacker 900. The double ground rails 401 in fig. 2 are raised by angle steel, the stacker car seat 600 is not arranged on the bottom traveling wheels 601, but the bottom traveling wheels 601 are arranged on two sides of the stacker car seat 600, so that the stacker car seat 600 can sink.

The cargo-carrying platform lifting mechanism 603 is used for driving the cargo-carrying platform to move up and down along the stacker frame 604, as shown in fig. 3, the cargo-carrying platform lifting mechanism 603 is installed at the front end of the stacker seat 600, and the motor drives the steel cable to pull, and the cargo-carrying platform is connected with the stacker frame 604 in a sliding manner, so that the cargo-carrying platform slides up and down along the stacker frame 604. As shown in FIG. 3, the stacker frame 604 of this embodiment has four upright structures, which is two more than the conventional stacker, so that the lifting of the cargo carrying platform on the frame has four rails, and the problem that the conventional stacker needs to increase rigidity due to the cantilever is solved. The sliding connection between the cargo platform and the stacker frame 604 is realized by connecting a slideway to four vertical posts of the stacker frame 604, and arranging a three-sided encircling guide wheel 605 on one side of the cargo platform and a single-sided supporting guide wheel 606 on the other side of the cargo platform, wherein the three-sided encircling guide wheel can slide on the slideway, so as to prevent the cargo platform from being stuck in the lifting process, as shown in fig. 14 and 15.

The buffer area 500 of the stacker 900 is provided with 8 layers in total, as shown in fig. 3, each layer is provided with a bidirectional driving buffer conveyor belt 501 which can run independently, the buffer conveyor belts 501 are distributed along the X direction, and the two ends of the conveying direction are provided with telescopic blocking blocks 502. Each layer of cache conveyor belt 501 is divided into three storage positions along the X-direction, and each storage position is provided with a detection sensor 503. As shown in fig. 3, since the buffer area 500 of this embodiment is opened at both ends of the buffer conveyor 501, feeding at one end and discharging at the other end can be realized through the buffer conveyor 501. When only goods are loaded, the telescopic blocking block 502 at the loading end contracts to give way, and the telescopic blocking block 502 at the unloading end extends out to stop; when only goods are discharged, the telescopic blocking block 502 at the discharging end contracts and moves to the abduction position, and the telescopic blocking block 502 at the feeding end extends out to stop; when one end is used for feeding and the other end is used for discharging, the telescopic blocking blocks 502 at the two ends are simultaneously contracted and abducted; when the loading and unloading process is not performed, the retractable blocking block 502 extends out to perform two-end blocking. The detecting sensor 503 is used to determine whether the goods are transferred in place, so as to ensure the accuracy of each loading and unloading. Because both ends of the buffer area 500 can access goods, compared with the traditional stacker, when goods are put in storage, the goods do not need to enter from a goods carrying table in a package mode, and the goods are directly put in a butt joint mode from one end, far away from the goods carrying table, of the buffer area 500 (goods outside a warehouse are put in the buffer area 500 and can be realized by adopting a lifting platform with a conveyor belt device, and a new lifting storage device, such as a butt joint device 700 disclosed in the following text, can be designed according to the structure of the buffer area 500), so that the working efficiency is improved.

As shown in fig. 6, the present embodiment provides a cargo carrying platform for transporting a non-fixed-size soft package commodity on a stacker of a stereoscopic warehouse, including a cargo carrying platform frame 100, a lower conveying mechanism 300, and an upper holding mechanism 200, where the cargo carrying platform frame 100 is used for being slidably connected to a stacker frame 604. As shown in fig. 8, the upper clamping mechanism 200 includes a U-shaped welding frame 201 and a welding frame lifting driving mechanism for controlling the welding frame 201 to lift, a first lead screw 207 is connected to the middle of the welding frame 201 through a bearing and is provided with a first driving portion 204 for driving the first lead screw 207, the first lead screw 207 is arranged along the X direction, and the first driving portion 204 adopts a servo motor with a speed reducer and is installed in the middle of the first lead screw 207. Two lead screw nuts 208 with opposite rotation directions are connected to two sides of the first driving portion 204 on the first lead screw 207, and a bidirectional telescopic manipulator 212 which is telescopic along the Y direction is fixedly connected to the lead screw nuts 208 through a mounting plate 206. Through the first screw rod 207, the two bidirectional telescopic manipulators 212 can synchronously get close to or get away from each other, and clamping and loosening actions are realized.

This two-way synchronous embrace presss from both sides actuating system can realize getting between tunnel type stacker lift cargo carrying platform and goods shelves 800 of soft packet of goods in certain size range and put, compares in traditional mode simultaneously, and the position of assurance material self that this kind of function can be fine can place placed between two parties all the time in the operation between warehouse and the cargo carrying platform, especially soft packet of goods, hardly guarantees its position with traditional mode and moves the process of transferring between two parties all the time. As shown in fig. 9, in order to make the approaching or departing movement and the bidirectional telescopic movement of the bidirectional telescopic manipulator 212 more stable, in this embodiment, the first guide rails 205 parallel to the first lead screws 207 are respectively disposed at the two ends of the welding frame 201Y, and the bidirectional telescopic manipulator 212 and the first guide rails 205 are slidably connected through the mounting plate 206, that is, each bidirectional telescopic manipulator 212 and the welding frame 201 are connected through three mounting plates 206.

As shown in fig. 7 to 9, a linear guide mechanism is provided between the welding frame 201 and the cargo bed frame 100, that is, a guide wheel 202 and a slide block 203 are respectively provided on two sides of the welding frame 201 in the X direction, and a C-shaped groove 101 matched with the guide wheel 202 and a second guide rail 102 matched with the slide block 203 are provided on the cargo bed frame 100, so that the precision requirement of the lifting action on the machining can be reduced. The welding frame lifting driving mechanism of the embodiment comprises a second screw rod 209 and a second driving part 210 used for driving the second screw rod 209, the second driving part 210 is fixed on the loading platform frame 100 by adopting a motor, the second screw rod 209 is connected on the loading platform frame 100 through a bearing, and a second screw rod nut 211 fixedly connected with the welding frame 201 is arranged on the second screw rod 209. The length of the second screw 209 of this embodiment needs to be smaller than the height of the cargo table frame 100 to avoid the interference between the upper clamping mechanism 200 and the lower conveying mechanism 300.

Lower floor's conveying mechanism 300 is including carrying conveyer belt 301 and conveyer belt transmission system, carries conveyer belt 301 can two-wayly to remove the goods from stacker buffer area 500 to carry cargo bed or with the goods from carrying cargo bed to buffer area 500, compares in relying on the machinery hand to push the material operation, has not only saved the space, and big to the frictional force, the material of easy deformation, the operation of making a round trip between two positions of easier accuracy and light. As shown in fig. 10 and 11, the conveyor belt transmission system of the present embodiment includes a third driving portion 305 disposed above the cargo bed frame 100, and a driving shaft 306, the third driving portion 305 employs a motor with a speed reducer, and the driving shaft 306 is connected to the cargo bed frame 100 through a bearing. The third driving portion 305 is used for driving the driving shaft 306 to rotate (the transmission between the two can be through gears, or can be through a synchronous wheel 308 and a synchronous belt 303 shown in the figure). The conveying conveyor belt 301 is provided with a driven shaft 307, the conveying conveyor belt 301 is driven to rotate through the driven shaft 307, synchronizing wheels 308 are arranged at two ends of the driving shaft 306 and two ends of the driven shaft 307, and the synchronizing wheels 308 on the driving shaft 306 and the synchronizing wheels 308 on the driven shaft 307 are driven through a synchronizing belt 303. The timing belt 303, the timing wheel 308 and the driving shaft 306 of the present embodiment are disposed along the frame body of the cargo bed frame 100, and the driving mechanism is disposed above the cargo bed frame 100, so that the conveying area is more compact and the interference is reduced.

Further, the conveying conveyor belt 301 of the embodiment is divided into a plurality of belts, a fluent strip device 302 is arranged between two adjacent conveying conveyor belts 301, and the fluent strip device 302 is used for reducing friction between the goods and the lifting goods carrying platform. Meanwhile, since the conveying direction of the conveying conveyor belt 301 and the telescopic direction of the bidirectional telescopic manipulator 212 are generally not in one direction, the embodiment further provides a fluent strip lifting driving mechanism 304 on the top of the cargo bed frame 100. For example, in the present embodiment, the transmission belt is transported along the X direction, and the bidirectional telescopic manipulator 212 is telescopic along the Y direction, i.e. the friction between the goods and the loading platform includes the friction in both directions of the X axis and the Y axis. When the goods are transferred along the Y axis, the fluency strips are lifted, and the conveyor belt is prevented from being transversely rubbed; when the X axle of goods emergence was carried the time of carrying, fluent strip descends, and goods and conveyer belt contact completely are carried by the conveyer belt, compare traditional stacker elevating platform and reach the design that changes direction of transfer through rotatory fork, and this embodiment structure is simpler.

The bidirectional telescopic manipulator 212 of the embodiment is in a three-level structure (can be more multi-level, and can also be a two-level structure) in the prior art, a driving device is arranged in the bidirectional telescopic manipulator to realize bidirectional telescopic, the first level of the bidirectional telescopic manipulator 212 is used for realizing fixation with the welding frame 201, and the second level and the third level are used for bidirectional movement in the Y-axis direction. Meanwhile, shifting forks are further arranged at the two ends of the bidirectional telescopic manipulator 212 in the Y direction, the shifting forks are connected with the bidirectional telescopic manipulator 212 through bearings and controlled by a built-in motor of the bidirectional telescopic manipulator 212 to rotate, the shifting forks rotate by 90 degrees after the bidirectional telescopic manipulator 212 stretches to a specified position, and after the bidirectional telescopic manipulator 212 performs the next action (lifting or shrinking), goods are dragged or pushed to the corresponding position by the shifting forks.

The stacker 900 of the present embodiment is used to access the goods on the shelf 800, and includes the following processes,

the stacker 900 places the goods on the shelf 800 into the buffer area 500: assuming that the goods to be taken by the stacker 900 is a0, the stacker 900 travels to a specified position, and the load table lifting mechanism 603 lifts the load table to a specified height. The fluent strip lifting driving mechanism 304 works, and the fluent strip rises; meanwhile, the welding frame lifting driving mechanism works to lower the welding frame 201 to a working position; the two bidirectional telescopic manipulators 212 work synchronously and extend to the Y + direction to reach the positions, as shown in FIG. 13; the first driving part 204 drives the two-way telescopic manipulator 212 on the two sides to clamp the goods A0 synchronously through the first lead screw 207 and the first lead screw nut 208; the shifting fork-puller 212a rotates 90 degrees to reach a blocking position; the bidirectional telescopic manipulator 212 works to bring the goods A0 to move along the fluency strip in the Y-direction and enter the goods loading platform; the shifting fork-drawing 212a rotates and withdraws, and meanwhile, the bidirectional telescopic mechanical arms 212 on the two sides loosen; the welding frame lifting driving mechanism works to drive the welding frame 201 to ascend to the avoidance position; the fluent strip lifting driving mechanism 304 drives the fluent strip device 302 to descend, and the goods A0 are placed on the conveying conveyor belt 301; the cargo platform lifting mechanism 603 lifts the cargo platform to be flush with a certain floor of the buffer area 500, the conveying conveyor belt 301 and the buffer conveyor belt 501 work synchronously, and the cargo is conveyed from the cargo platform to the buffer area 500 along the X + direction.

The stacker 900 stores the buffered goods in the storage rack 800: assuming that the goods to be accessed by the stacker 900 are A1, A1 moves in the X-direction in the buffer area 500 through the buffer conveyor belt 501, and meanwhile, the goods carrying table conveying conveyor belt 301 works to butt against the goods A1 in the buffer area 500 and convey A1 from the buffer area 500 to the goods carrying table; meanwhile, the stacker 900 walks to a specified position, and then the goods carrying platform carries the goods A1 to be lifted to a specified height; the fluent strip lifting driving mechanism 304 works, and the fluent strip rises; the welding frame lifting driving mechanism drives the welding frame to descend to a working position; the first driving part 204 drives the two-way telescopic manipulator 212 on the two sides to clamp the goods A1 synchronously through the first lead screw 207 and the first lead screw nut 208; meanwhile, the shifting fork-pusher 212b rotates 90 degrees to reach a blocking position; the bidirectional telescopic manipulator 212 works and drives the A1 to extend to the position in the Y + direction; pushing the A1 into a cargo space, synchronously moving the bidirectional telescopic manipulator 212 to two sides to release the A1, and simultaneously resetting the shifting fork-pushing 212 b; the bi-directional retraction robot 212 operates to retract to the home position.

To facilitate the goods loading and unloading buffer area 500, the present embodiment further provides a docking device 700, as shown in fig. 1 and 2, the docking device 700 includes a conveying line, a lifting device and a docking area in sequence along the X direction. The docking area comprises a storage area 701 and a storage area 702 which are arranged side by side along the Y direction, the structures of the storage areas 701 and 702 are the same as those of the cache, the storage areas 701 and 702 respectively comprise eight layers of independent bidirectional driving storage area conveyor belts 703, and the storage area conveyor belts 703 are conveyed along the X direction. As shown in fig. 2, each layer of the storage area conveyor belt 703 is divided into three storage positions, and each storage position is provided with a detection sensor 503. The warehouse-in and warehouse-out areas 701 and 702 are provided with openings at two ends in the conveying direction of the warehouse area conveyor belt 703, so that the input and the output of goods are facilitated, and the telescopic blocking blocks 502 are arranged at two ends of each layer of warehouse area conveyor belt 703 in the conveying direction. The usage principle of the detection sensor 503 and the retractable stop block 502 of the docking area and the buffer area 500 is the same, and the description is omitted here. The present embodiment further includes a translation driving portion 707 and a docking area rail 706 disposed along the Y direction, the docking area rail 706 is mounted on the ground, the docking area can slide on the docking area rail 706, and the translation driving portion 707 employs an electric cylinder for providing power for translation of the docking area.

The conveying lines comprise an ex-warehouse conveying line 708 and a warehouse-in conveying line 709 which are arranged at the upper layer and the lower layer, and the ex-warehouse conveying line 709 and the warehouse-in conveying line 709 are arranged along the Y direction. The lifting device comprises a lifting arm and a lifter 704 for lifting the lifting arm, the lifting arm comprises a middle conveyor belt 705 capable of being driven in two directions, the middle conveyor belt 705 is arranged along the X direction, and the middle conveyor belt 705 is used for conveying goods between the butt joint area and the conveying line. Because the conveying line is conveyed in the Y direction and the intermediate conveyor 705 is conveyed in the X direction, a conveying direction conversion device 710 is arranged at the butt joint end of the conveying line and the lifting arm. As shown in fig. 1, the number of the bank zone carousels 703 of each layer of the warehouse-out zone 702, the number of the bank zone carousels 703 of each layer of the warehouse-in zone 701, and the number of the intermediate carousels 705 are all the same.

The warehousing process of the docking area in this embodiment is as follows:

after the product packaging is finished, the product flows into a corresponding roadway through code scanning, is transmitted to a warehousing conveying line 709 along a production line, reaches the tail end along the Y-direction, and is stopped by a transmission direction conversion device 710; at this time, the warehousing area 701 of the docking area is located on the working position or is translated to the working position along the Y + direction. The hoist 704 works, and the hoisting arm is lifted to be flush with the conveying direction conversion device 710 on the warehousing conveying line 709; the transmission function is opened, and the goods A1 are lifted on the arm by the conveyor belt along the X-direction; the lifting arm is lifted to the same height as the first layer of the conveyor belt of the warehousing area 701, the conveying function is opened, and the goods A1 are conveyed to the first warehouse position on the first layer of the warehousing area 701 along the X-axis direction. Similarly, the elevator 704 continues to convey the next package of goods a2, a1 reaches the second position on the first floor of the warehousing area 701, and a2 reaches the first position on the first floor of the warehousing area 701; similarly, the elevator 704 continues to convey the next package of goods A3, a1 reaches the third position on the first floor of the warehousing area 701, and a2 reaches the second position on the first floor of the warehousing area 701; a3 arrives at the first bin of the first level of the binning area 701. And so on until eight layers are filled.

In the process that goods needing to be put in storage are placed in the storage area 701, the stacker 900 can use the time to place the goods in the buffer area 500 on the goods shelf 800 until the stacker 900 finishes storage work and returns to the original point, the goods are connected with the storage area 701 in the butt joint area, the storage area 701 synchronously conveys the goods on the storage area to the buffer area 500 at one time through the matching of the storage area conveyor belt 703 and the buffer conveyor belt 501, and the storage efficiency is improved.

The ex-warehouse process of the docking area in this embodiment is as follows:

the ex-warehouse region 702 is now located on the work site or translated in the Y-direction to the work site. The buffer area 500 loads the goods to be shipped back to the origin and interfaces with the outbound area 702. The goods are transported in the X + direction onto the out-garage area 702. The elevator 704 works, and all the goods are conveyed to the delivery conveying line 708 one by one through the lifting arm in sequence and are conveyed to the delivery area through the flow line.

The dual sky rails 402 and the dual ground rails 401 of this embodiment are both linear and are distributed in each roadway, taking fig. 1 as an example, in order to save the equipment cost, the stacker 900 in the first roadway X1 needs to be transferred to the second roadway X2, and for this reason, the rail transfer trolley 406 is proposed in this embodiment, so as to realize the transfer of the stacker 900. In order to ensure the travel of the transfer trolley 406, a transfer trolley track 405 is arranged in the warehouse. As shown in fig. 1, the docking device 700 is disposed at one end of one of the stacker rails, and the other end of the stacker rail is provided with a rail transfer trolley rail 405 perpendicular to the stacker rail. The rail transfer trolley 406 is provided with a stacker temporary track 407 with the same height as the double ground rails 401, and the stacker 900 can walk onto the rail transfer trolley 406 through the stacker temporary track 407. Fig. 16 to 19 are schematic diagrams illustrating the process of the stacker crane 900 walking from lane one X1 to lane two X2 through the rail transfer trolley 406. The top road wheels 602 of the present embodiment are four single-guide wheel structures to adapt to the change of the traveling direction during the rail change.

Example 2

The principle of this embodiment is substantially the same as that of embodiment 1, except that the stacker seat 600, the stacker frame 604 and the stacker rail are constructed, as shown in fig. 20 to 22, the stacker seat 600 in this embodiment is a beam-type structure, and the translation mechanism is mounted on the stacker seat 600 and includes bottom traveling wheels 601, top traveling wheels 602 and a reduction motor for driving the bottom traveling wheels 601 to operate. Meanwhile, a single ground rail 404 and a single sky rail 403 are arranged in the warehouse (a stacker temporary rail 407 on the rail transfer trolley 406 is also arranged as the single ground rail 404), and a bottom travelling wheel 601 and a top travelling wheel 602 respectively travel on the single ground rail 404 and the single sky rail 403. The buffer area 500 is connected to the stacker seat 600, and the universal wheels 504 for traveling on the ground are installed at the bottom, and when the stacker seat 600 travels, the buffer area 500 is pulled. The single ground rail 404 and the single sky rail 403 increase the walking stability of the stacker, and meanwhile, the buffer area 500 is supported on the ground independently due to the large load, and the power is provided only by the saddle 600 of the stacker, so that the requirement on the structural strength of the rails can be reduced.

The rack of this embodiment is of a single-column structure, the columns of the stacker rack 604 are provided with slide rails, and the cargo bed frame 100 is fixed with clamp type slide blocks 607 matched with the slide rails. The load-carrying platform lifting mechanism 603 of this embodiment makes the load-carrying platform do lifting motion on the slide rail by pulling up the chain.

Example 3

The principle of the embodiment is substantially the same as that of embodiment 1, except that embodiment 1 is a stacker with a single machine position, and the embodiment is a stacker with a double machine position, that is, two loading platforms are provided. As shown in fig. 23 and 24, the stacker vehicle seat 600 of the present embodiment is also of a plate type, and the same buffer area 500 as that of embodiment 1 is mounted on the stacker vehicle seat 600, except that the stacker frame 604 of the present embodiment is two vertical posts disposed on both sides of each open end of the buffer area 500, and the cargo bed is slidably connected to the two vertical posts by three-sided encircling guide rollers 605. In order to facilitate the docking between the buffer area 500 and the docking area, the height of the portion of the column higher than the buffer area 500 is not less than the height of the cargo carrying platform, so that the maximum lifting height of the cargo carrying platform is not less than the sum of the height of the cargo carrying platform and the height of the buffer area 500.

The process of the stacker 900 and the docking area in this embodiment is as follows:

s1, when the stacker is close to the warehouse-out area 702 or the warehouse-in area 701, the goods carrying platform close to one side of the butt joint area is lifted to be above the buffer area 500, and a butt joint space is formed; s2, the buffer area 500 is in butt joint with the warehouse-out area 702 or the warehouse-in area 701; and S3, the warehouse area conveyor belt 703 is matched with the buffer conveyor belt 501 to realize the conveying of the goods.

Example 4

The principle of this embodiment is substantially the same as that of embodiment 2, except that the stacker rail of embodiment 2 is linear, whereas the stacker rail of this embodiment is curved. As shown in fig. 25, the curved stacker rail includes a plurality of parallel straight-line rails and a curved-line rail connecting two adjacent straight-line rails, the straight-line rails are arranged in a roadway, the curved-line rails are arranged for lane change, and the docking device 700 is arranged at the beginning or end of the curve. The rail-changing trolley 406 can be omitted from the curved stacker rail, so that the arrangement of the rails in the warehouse is simpler, and the reduction of equipment cost is facilitated.

Example 5

The principle of the embodiment is substantially the same as that of embodiment 1, except that in embodiment 1, the stacker travels from lane one X1 to lane two X2 by using the track transfer trolley 406, and as shown in fig. 26, the embodiment adopts a pure rail type track transfer mode. The method comprises the following specific steps: the stacker track is linear and has the multichannel, multichannel stacker track parallel arrangement, and interfacing apparatus 700 sets up the orbital one end of one of them stacker, and the orbital other end of stacker is equipped with perpendicular to the orbital transfer rail 408 of stacker, be equipped with the over-and-under type walking wheel 608 that is used for walking on the orbital transfer rail on the stacker saddle, the lift of walking wheel is realized to telescopic machanism such as over-and-under type walking wheel 608 accessible pneumatic cylinder. When the stacker walks on the stacker track, the lifting travelling wheels 608 are in a contracted state, which can ensure that the lifting travelling wheels 608 do not interfere with the rail transfer track 408 when the stacker walks to the rail transfer track 408; when the stacker completely travels to the orbital transfer track 408, the lifting traveling wheels 608 extend to the orbital transfer track 408, and the whole stacker is lifted (in the embodiment, the head rail is not arranged above the orbital transfer track, so that interference between the top traveling wheels and the head rail when the stacker is lifted is prevented), so that the stacker can travel on the orbital transfer track 408, and the bottom traveling wheels 601 do not interfere with the stacker track.

The above embodiments are only used for explaining the concept of the invention, and not for limiting the protection of the invention, and any insubstantial modifications of the invention using this concept shall fall within the scope of the invention.

Claims (11)

1. The utility model provides an intelligence warehouse, includes stacker track, stacker, arranges the goods shelves of stacker track one side or both sides and is used for giving the interfacing apparatus of loading and unloading goods for the stacker, and the stacker includes the stacker saddle, is equipped with the stacker frame on the stacker saddle and carries cargo bed hoisting mechanism, sliding connection has the cargo bed of carrying of liftable in the stacker frame, its characterized in that: carry the upper strata that is equipped with lower floor's conveying mechanism and liftable on the goods carrying platform and embrace and press from both sides the mechanism, lower floor's conveying mechanism is including the transport conveyor belt that can two-way drive, even there is the buffer memory district on the stacker saddle, and the buffer memory district includes multilayer buffer memory conveyer belt, and the buffer memory district lies in the equal opening in both ends of buffer memory conveyer belt direction of transfer and the equal independent two-way drive of every layer of buffer memory conveyer belt, the upper strata is embraced and is pressed from both sides the mechanism and realize the transport of goods between goods carrying platform and buffer memory district, transport conveyor belt and buffer memory conveyer belt cooperation realization goods.

2. An intelligent warehouse as claimed in claim 1, wherein: the butt joint device comprises a butt joint area, a lifting device and a conveying line, wherein the butt joint area comprises a warehouse entering area and a warehouse exiting area which have the same structure with the cache area, the warehouse exiting area and the warehouse entering area respectively comprise a plurality of layers of independent bidirectional driving warehouse area conveying belts, two ends of the warehouse exiting area and the warehouse entering area in the conveying direction of the warehouse area conveying belts are respectively provided with an opening, and the warehouse area conveying belts and the cache conveying belts are matched to realize the conveying of goods between the butt joint area and the cache area; the docking device also comprises a docking area track and a translation driving part, wherein the docking area track is perpendicular to the conveying direction of the warehouse area conveyor belt, the warehouse-in area and the warehouse-out area are arranged side by side along the direction of the docking area track, and the docking area realizes translation on the docking area track through the translation driving part;

the conveying lines comprise an ex-warehouse conveying line and a warehousing conveying line which are arranged at the upper layer and the lower layer; the lifting device comprises a lifting arm and a lifting machine used for lifting the lifting arm, the lifting arm comprises a middle conveying belt capable of being driven in a two-way mode, and the middle conveying belt is used for conveying goods between the butt joint area and the conveying line.

3. An intelligent warehouse as claimed in claim 1, wherein: the goods carrying platform comprises a goods carrying platform frame which is in sliding connection with the frame of the stacker, the upper clamping mechanism comprises a welding frame which is in sliding connection with the goods carrying platform frame and a welding frame lifting driving mechanism which is used for controlling the welding frame to lift, the welding frame is connected with a lead screw through a bearing and is provided with a first driving part which is used for driving the lead screw I, the lead screw I is connected with two lead screw nuts I with opposite rotating directions, the lead screw nut I is fixedly connected with a bidirectional telescopic manipulator, and the two bidirectional telescopic manipulators are oppositely arranged; the conveying conveyor belt is provided with a plurality of conveying conveyor belts, a fluent strip device is arranged between every two adjacent conveying conveyor belts, and a fluent strip lifting driving mechanism is arranged on the goods carrying platform frame.

4. An intelligent warehouse as claimed in claim 1, wherein: the stacker saddle is of a plate type structure, the buffer area is fixed on the stacker saddle, the stacker track comprises two ground rails and two sky rails, bottom walking wheels used for walking on the two ground rails are installed on two sides of the stacker saddle, and top walking wheels used for walking on the two sky rails are installed at the top of the stacker frame.

5. An intelligent warehouse as claimed in claim 4, wherein: the number of the cargo carrying platforms is one and the cargo carrying platforms are arranged at one end of the cache region far away from the butt joint device.

6. An intelligent warehouse as claimed in claim 4, wherein: the stacker is characterized in that the number of the goods carrying platforms is two, the two goods carrying platforms are respectively positioned at two ends of the conveying direction of the buffer conveying belt, the frame of the stacker is an upright column arranged at each opening end of the buffer area, and the height of the upright column, which is higher than the buffer area, is not less than the height of the goods carrying platforms.

7. An intelligent warehouse as claimed in claim 1, wherein: the stacker car seat is of a beam type structure, the stacker track comprises a single ground rail and a single sky rail, the stacker car seat is provided with a bottom travelling wheel for travelling on the single ground rail, the top of the stacker frame is provided with a top travelling wheel for travelling on the single sky rail, the buffer area is drawn by the stacker car seat, and the bottom of the buffer area is provided with a universal wheel for travelling on the ground; the stacker frame is of a single-upright-column structure and is arranged at one end, far away from the butt joint device, of the buffer area.

8. An intelligent warehouse as claimed in any one of claims 1 to 7, wherein: the stacking machine rail is linear and is provided with a plurality of rails, the plurality of stacking machine rails are arranged in parallel, the butt joint device is arranged at one end of one stacking machine rail, the other end of the stacking machine rail is provided with a rail changing trolley rail perpendicular to the stacking machine rail, and the rail changing trolley rail is provided with a rail changing trolley; the rail transfer trolley is provided with a stacker temporary track, and the stacker can walk onto the rail transfer trolley through the stacker temporary track.

9. An intelligent warehouse as claimed in any one of claims 1 to 7, wherein: the stacker rail is curved, the curved stacker rail comprises a plurality of parallel straight-line sections and a curved section rail for connecting two adjacent straight-line sections, and the butt joint device is arranged at the starting end or the tail end of the curve.

10. An intelligent warehouse as claimed in any one of claims 1 to 7, wherein: the stacker track is linear and has the multichannel, multichannel stacker track parallel arrangement, and interfacing apparatus sets up the orbital one end of one of them stacker, and the orbital other end of stacker is equipped with the orbital change rail of perpendicular to stacker, be equipped with the over-and-under type walking wheel that is used for walking on the change rail on the stacker saddle.

11. An intelligent warehouse as claimed in claim 1, wherein: every layer of storehouse district conveyer belt and every layer of buffer memory conveyer belt all are equipped with the telescopic piece that blocks at direction of transfer's both ends, and every layer of storehouse district conveyer belt and every layer of buffer memory conveyer belt divide into a plurality of goods positions on the direction of transfer, all are equipped with the detection sensor on every goods position.

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