CN218174561U

CN218174561U - Automatic change three-dimensional storehouse stacker

Info

Publication number: CN218174561U
Application number: CN202221394958.XU
Authority: CN
Inventors: 叶岍; 王莉; 杨露; 徐振乐
Original assignee: Tianjin Qmind Technology Ltd
Current assignee: Tianjin Qmind Technology Ltd
Priority date: 2022-05-27
Filing date: 2022-05-27
Publication date: 2022-12-30
Anticipated expiration: 2032-05-27

Abstract

The utility model relates to a production line automation stereoscopic warehouse professional equipment, concretely relates to change stereoscopic warehouse stacker, include: the lifting mechanism is arranged between the travelling mechanism and the top rail, and the cargo carrying mechanism is arranged on the side surface of the lifting mechanism; the automatic change three-dimensional storehouse stacker of this patent design, simple structure, the installation of being convenient for is maintained, can realize walking, lift, flexible triaxial direction's steady operation, and the security is high, and intelligent degree is high, is showing the security and the intelligent degree that promote automatic three-dimensional storehouse stack.

Description

Automatic change three-dimensional storehouse stacker

The technical field is as follows:

the patent relates to a production line automation stereoscopic warehouse professional equipment, concretely relates to automatic stereoscopic warehouse stacker.

Background art:

in the scenes of an automatic production line, a warehouse logistics station and the like, some materials and products are usually required to be stacked and placed in an automatic three-dimensional warehouse, and therefore, the stacker is of great importance as an important carrying stacking device. The existing stacker for the three-dimensional warehouse has the problem of poor operation stability, and therefore an automatic stacker for the three-dimensional warehouse needs to be designed.

The invention content is as follows:

this patent provides an automatic change stereoscopic warehouse stacker. The specific technical scheme is as follows:

an automated stereo garage stacker comprising: the lifting mechanism is arranged between the travelling mechanism and the top rail, and the cargo carrying mechanism is arranged on the side surface of the lifting mechanism;

the running gear includes: the device comprises a travelling mechanism frame body, a travelling mechanism base, a travelling mechanism driving motor, a speed reducer, a travelling mechanism gear, a travelling mechanism rack, a first travelling wheel, a first detection sensor, a first ground rail guide wheel set, a second travelling wheel, a second detection sensor, a second ground rail guide wheel set, a first limit travel switch and a second limit travel switch; the traveling mechanism driving motor is arranged on the traveling mechanism frame body, the traveling mechanism driving motor drives the traveling mechanism gear through the speed reducer, the traveling mechanism gear is in toothed connection with the traveling mechanism rack, and the traveling mechanism rack is arranged in the direction in which the ground rails are relatively fixed; the travelling mechanism base is arranged on the travelling mechanism frame body; the first travelling wheel, the first detection sensor, the first ground rail guide wheel set and the first limit travel switch are arranged at one end of the travelling mechanism frame body; the second travelling wheel, the second detection sensor, the second ground rail guide wheel set and the second limit travel switch are arranged at the other end of the travelling mechanism frame body; the first traveling wheel and the second traveling wheel are arranged on the ground rail; the first ground rail guide wheel set and the second ground rail guide wheel set are arranged on two sides of the ground rail; the first detection sensor and the second detection sensor are used for detecting obstacles and can be laser radar sensors;

the lifting mechanism comprises: the lifting mechanism comprises a stand column, a stand column top plate, a stand column bottom plate, a top rail guide wheel set, a lifting mechanism driving motor, a motor driving wheel, a driving chain wheel, a first bearing, a second bearing, a first lifting driving wheel, a second lifting driving wheel, a first chain, a second chain, a first lifting driven wheel, a second lifting driven wheel, a first lifting guide rail, a second lifting guide rail, a first limiting piece and a second limiting piece; the upright post is arranged between the upright post top plate and the upright post bottom plate; the sky rail guide wheel set is arranged on the top plate of the upright post and arranged on two sides of the sky rail; the upright post bottom plate is arranged on the traveling mechanism base; the first lifting guide rail and the second lifting guide rail are arranged on the side surface of the upright post; the first bearing and the second bearing are arranged at two ends of the upright post; the lifting mechanism driving motor is arranged on the side surface of the lower end of the upright post, is in driving connection with the motor driving wheel, and is in driving connection with the driving chain wheel through the driving chain; the driving chain wheel is arranged on the first bearing; the first lifting driving wheel and the second lifting driving wheel are arranged on the first bearing; the first lifting driven wheel and the second lifting driven wheel are arranged on the second bearing; the first lifting driving wheel is connected with the first lifting driven wheel through a first chain; the second lifting driving wheel is connected with the second lifting driven wheel through the second chain; the first limiting piece is arranged on the bottom plate of the upright post or on the side surface of the lower end of the upright post; the second limiting piece is arranged below the top plate of the upright post or on the side surface of the upper end of the upright post;

the cargo carrying mechanism includes: the device comprises a cargo carrying mechanism frame body, a cargo carrying mechanism side plate, a cargo carrying mechanism driving motor, a telescopic fork, a first lifting tension mechanism, a second lifting tension mechanism, a first sliding block, a second sliding block, a guide plate, a correlation sensor and a third detection sensor; the cargo carrying mechanism driving motor is in driving connection with the telescopic fork and is arranged on the cargo carrying mechanism frame body; the third detection sensor is arranged on the side surface of the goods-carrying mechanism frame body, is used for detecting the position of the automatic vertical warehouse, and can be a diffuse reflection sensor; the guide plates are arranged on two sides of the goods carrying mechanism frame body; the correlation sensor is arranged on the guide plate; the first lifting tension mechanism, the second lifting tension mechanism, the first sliding block and the second sliding block are all arranged on the cargo carrying mechanism side plate, and the cargo carrying mechanism side plate is arranged on the side surface of the cargo carrying mechanism frame body; the first lifting tension mechanism comprises: the first connecting piece, the first upper bolt, the first spring and the first lower bolt; the first upper bolt and the first lower bolt are respectively arranged at two ends of the first connecting piece, and the first spring is sleeved on the first lower bolt and/or the first upper bolt; the second elevating tension mechanism comprises: the second connecting piece, the second upper bolt, the second spring and the second lower bolt; the second upper bolt and the second lower bolt are respectively arranged at two ends of the second connecting piece, and the second spring is sleeved on the second lower bolt and/or the second upper bolt; the first lifting tension mechanism and the second lifting tension mechanism are respectively connected with a first chain and a second chain of the lifting mechanism; the first sliding block and the second sliding block are respectively connected with a first lifting guide rail and a second lifting guide rail of the lifting mechanism in a sliding mode.

Further comprising:

the first limit travel switch baffle and the second limit travel switch baffle are arranged on the side surfaces of two ends of the ground rail and respectively correspond to the first limit travel switch and the second limit travel switch in the travelling mechanism; the buffer is arranged on the upper side of the ground rail; the ground rail foot pad is used for fixing a ground rail; and the maintenance platform is arranged on the side surface of the lifting mechanism.

The automatic change three-dimensional storehouse stacker of this patent design, simple structure, the installation of being convenient for is maintained, can realize walking, lift, flexible triaxial direction's steady operation, and the security is high, and intelligent degree is high, is showing the security and the intelligent degree that promote automatic three-dimensional storehouse stack.

Description of the drawings:

fig. 1 is a schematic structural diagram of an automatic three-dimensional warehouse stacker in the embodiment of the present invention; in the figure, 1 represents a top rail, 2 represents a ground rail, 3 represents a traveling mechanism, 4 represents a lifting mechanism, 5 represents a cargo carrying mechanism, 6 represents a blocking mechanism, 7 represents an electric control cabinet, 8 represents a maintenance platform, 21 represents a first limit travel switch baffle, 22 represents a second limit travel switch baffle, 23 represents a buffer, 24 represents a ground rail foot pad, 309 represents a first ground rail guide wheel set, 312 represents a second ground rail guide wheel set, 313 represents a first limit travel switch, 314 represents a second limit travel switch, and 404 represents a top rail guide wheel set.

Fig. 2 is a schematic structural diagram of a traveling mechanism in an automatic stocker of the three-dimensional warehouse in the embodiment of the present invention; in the drawing, 301 denotes a traveling mechanism frame, 302 denotes a traveling mechanism base, 303 denotes a traveling mechanism driving motor, 304 denotes a speed reducer, 305 denotes a traveling mechanism gear, 306 denotes a traveling mechanism rack, 307 denotes a first traveling wheel, 308 denotes a first detection sensor, 309 denotes a first ground rail guide wheel set, 310 denotes a second traveling wheel, 311 denotes a second detection sensor, and 312 denotes a second ground rail guide wheel set.

Fig. 3 is a schematic structural diagram of a lifting mechanism in an automatic three-dimensional warehouse stacker in the embodiment of the present invention; in the drawing, 401 represents a column, 402 represents a column top plate, 403 represents a column bottom plate, 404 represents a head rail guide wheel set, 405 represents a lifting mechanism drive motor, 406 represents a motor drive wheel, 407 represents a drive chain, 408 represents a drive sprocket, 409 represents a first bearing, 410 represents a second bearing, 411 represents a first lifting drive wheel, 412 represents a second lifting drive wheel, 413 represents a first chain, 414 represents a second chain, 415 represents a first lifting driven wheel, 416 represents a second lifting driven wheel, 417 represents a first lifting guide rail, 418 represents a second lifting guide rail, 419 represents a first stopper, and 420 represents a second stopper.

FIG. 4 is a schematic structural diagram of a cargo mechanism in an automatic stacker of a three-dimensional warehouse according to an embodiment of the present invention; in the drawing, 501 denotes a loading mechanism frame body, 502 denotes a loading mechanism side plate, 503 denotes a loading mechanism drive motor, 504 denotes a telescopic fork, 505 denotes a first lifting tension mechanism, 506 denotes a second lifting tension mechanism, 507 denotes a first slider, 508 denotes a second slider, 509 denotes a guide plate, 510 denotes a correlation sensor, 511 denotes a third detection sensor, 512 denotes a first connecting member, 513 denotes a first upper bolt, 514 denotes a first spring, 515 denotes a first lower bolt, 516 denotes a second connecting member, 517 denotes a second upper bolt, 518 denotes a second spring, and 519 denotes a second lower bolt.

The specific implementation mode is as follows:

the embodiment is as follows:

the technical solutions in the embodiments of the present patent will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present patent, and it is obvious that the described embodiments are only preferred embodiments of the present patent, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments in the patent without inventive step, are intended to be covered by the present patent.

As shown in fig. 1 in the specification, the embodiment of the present patent discloses an automatic stacker for three-dimensional storehouses, including: day rail 1, earth rail 2 set up in the barrier mechanism 6 of day rail 1 downside, still include: the lifting device comprises a traveling mechanism 3, a lifting mechanism 4 and a cargo carrying mechanism 5, wherein the traveling mechanism 3 is arranged on a ground rail 2, the lifting mechanism 4 is arranged between the traveling mechanism 3 and a sky rail 2, and the cargo carrying mechanism 5 is arranged on the side surface of the lifting mechanism 4; the stable running in the directions of three axes of walking, lifting and stretching is realized by the mutual matching of the cargo-carrying mechanism 5, the walking mechanism 3 and the lifting mechanism 4.

In this embodiment, as shown in fig. 1-2, the traveling mechanism 3, disposed on the ground rail 2, includes: the traveling mechanism comprises a traveling mechanism frame body 301, a traveling mechanism driving motor 303, a traveling mechanism gear 305 and a traveling mechanism rack 306 in gear joint with the traveling mechanism gear 305, wherein the traveling mechanism driving motor 303 and the traveling mechanism gear 305 are arranged on the traveling mechanism frame body; the traveling mechanism driving motor 303 drives the traveling mechanism gear 305 through a speed reducer 304, and the traveling mechanism rack 306 is arranged in a relatively fixed direction of the ground rail 2; one end of the travelling mechanism frame body 301 is arranged on a first travelling wheel 307, a first detection sensor 308, a first ground rail guide wheel set 309 and a first limit travel switch 313; the other end of the travelling mechanism frame body 301 is arranged on a second travelling wheel 310, a second detection sensor 311, a second ground rail guide wheel set 312 and a second limit travel switch 314; the first traveling wheel 307 and the second traveling wheel 310 are arranged on the ground rail 2; the first ground rail guide wheel set 309 and the second ground rail guide wheel set 312 are arranged on two sides of the ground rail 2; the first detection sensor 308 and the second detection sensor 311 are used for obstacle detection, and may be laser radar sensors; simple structure, the installation of being convenient for is maintained, from this through running gear driving motor 303 drive running gear support body 301 walks along ground rail 2, and the operation is stable and the security is high, and intelligent degree is high.

Further, a traveling mechanism base 302 is arranged on the traveling mechanism frame body 301.

In this embodiment, as shown in fig. 1 and 3, the lifting mechanism 4, disposed between the traveling mechanism 3 and the sky rail 2, includes: a column top plate 402, a column bottom plate 403 and a column 401 arranged between the column top plate and the column bottom plate; a sky rail guide wheel set 404 is arranged on the upright post top plate 402, the sky rail guide wheel sets 404 are arranged on two sides of the sky rail 1, and the upright post bottom plate 403 is arranged on the traveling mechanism base 302, so that the traveling mechanism 4 is driven by the traveling mechanism 4 to synchronously realize stable traveling along the sky rail 1 and the ground rail 2; a first lifting guide rail 417 and a second lifting guide rail 418 are arranged on the side surface of the upright column 401, a first bearing 409 and a second bearing 410 are arranged at two ends of the upright column 401, and a lifting mechanism driving motor 405 is arranged on the side surface of the lower end of the upright column 401; a first lifting driving wheel 411 and a second lifting driving wheel 412 are arranged on the first bearing 409, a first lifting driven wheel 415 and a second lifting driven wheel 416 are arranged on the second bearing 410, the first lifting driving wheel is connected with the first lifting driven wheel through a first chain 413, and the second lifting driving wheel is connected with the second lifting driven wheel through a second chain 414; still be provided with drive sprocket 408 on the first bearing 409, elevating system driving motor 405 drive is connected with motor drive wheel 406, and motor drive wheel 406 passes through drive chain 407 and is connected with drive sprocket 408 drive, drives the synchronous elevating movement who realizes first chain 413, second chain 414 through elevating system driving motor 405 in proper order from this, and simple structure is convenient for install and is maintained, realizes walking and lift steady operation and security height with the running gear cooperation from this.

In the present embodiment, as shown in fig. 1 and 4, the cargo mechanism 5 is disposed on the side of the lifting mechanism 4, and includes: the goods loading mechanism comprises a goods loading mechanism frame body 501, a goods loading mechanism driving motor 503 arranged on the goods loading mechanism frame body, a goods loading mechanism side plate 502 arranged on the side face of the goods loading mechanism frame body, and a telescopic fork 504 in driving connection with the goods loading mechanism driving motor 503, so that the telescopic stable operation is realized; the loading mechanism side plate 502 is provided with a first lifting tension mechanism 505, a second lifting tension mechanism 506, a first sliding block 507 and a second sliding block 508, the first lifting tension mechanism 505 and the second lifting tension mechanism 506 are respectively connected with a first chain 413 and a second chain 414 of the lifting mechanism 4, and the first sliding block 507 and the second sliding block 508 are respectively connected with a first lifting guide rail 417 and a second lifting guide rail 418 of the lifting mechanism 4 in a sliding manner; the cargo carrying mechanism 5 is driven by the lifting mechanism 4 to move along the first lifting guide 417 and the second lifting guide 418 to realize lifting stable operation.

Further, as shown in fig. 1, the automatic stacker for three-dimensional warehouse disclosed in this embodiment further includes: and the electric control cabinet 7 is arranged on the side surface of the lifting mechanism 4.

Further, as shown in fig. 1, the automatic stacker for three-dimensional warehouse disclosed in this embodiment further includes: the first limit travel switch baffle 21 and the second limit travel switch baffle 22 which are arranged on the side surfaces of the two ends of the ground rail 2 correspond to the first limit travel switch 313 and the second limit travel switch 314 in the travelling mechanism 3 respectively; a buffer 23 arranged on the upper side of the ground rail 2; a ground rail foot pad 24 for fixing a ground rail; and a maintenance platform 8 arranged on the side surface of the lifting mechanism.

Further, as shown in fig. 3, the lifting mechanism 4 further includes a first limiting member 419 and a second limiting member 420; the first limiting member 419 is disposed on the bottom plate 403 of the upright column or on the side surface of the lower end of the upright column 401; the second position-limiting member 420 is disposed below the top plate 402 or on the upper side of the column 401.

Further, the first elevating tension mechanism 505 includes: a first connecting piece 512, a first upper bolt 513, a first spring 514, a first lower bolt 515; the first upper bolt and the first lower bolt are respectively arranged at two ends of the first connecting piece, and the first spring is sleeved on the first lower bolt and/or the first upper bolt; the second elevating tension mechanism 506 includes: a second connecting member 516, a second upper bolt 517, a second spring 518, a second lower bolt 519; the second upper bolt and the second lower bolt are respectively arranged at two ends of the second connecting piece, and the second spring is sleeved on the second lower bolt and/or the second upper bolt; thereby driving the cargo carrying mechanism 5 along the first elevation guide 417 and the second elevation guide 418 by the elevation mechanism 4 to achieve the elevation stable operation.

Further, the cargo carrying mechanism 5 further comprises a third detection sensor 511, and the third detection sensor 511 is arranged on the side surface of the cargo carrying mechanism frame 501, is used for detecting the position of the automatic warehouse, and is a diffuse reflection sensor; the cargo carrying mechanism 5 further comprises a guide plate 509 and a correlation sensor 510 arranged on the guide plate 509, wherein the guide plate 509 is arranged on two sides of the cargo carrying mechanism frame body 501; the telescopic stable operation of the cargo carrying mechanism is realized. Therefore, the cargo carrying mechanism 5 is matched with the traveling mechanism 3 and the lifting mechanism 4 to realize the stable operation in the directions of traveling, lifting and stretching three shafts, and the safety is high, and the intelligent degree is high.

Finally, it should be noted that the above mentioned embodiments are only preferred embodiments of the present invention, and not intended to limit the scope of the present invention, and all equivalent structural changes or modifications made by the content of the present specification and drawings under the conception of the present patent are still included in the scope of the present invention.

Claims

1. An automated stereo garage stacker comprising: day rail (1), earth rail (2), set up in block mechanism (6) of day rail downside, its characterized in that still includes: the lifting device comprises a traveling mechanism (3), a lifting mechanism (4) and a cargo carrying mechanism (5), wherein the traveling mechanism is arranged on a ground rail, the lifting mechanism is arranged between the traveling mechanism and a sky rail, and the cargo carrying mechanism is arranged on the side surface of the lifting mechanism;

the running gear includes: the device comprises a travelling mechanism frame body (301), a travelling mechanism base (302), a travelling mechanism driving motor (303), a speed reducer (304), a travelling mechanism gear (305), a travelling mechanism rack (306), a first travelling wheel (307), a first detection sensor (308), a first ground rail guide wheel set (309), a second travelling wheel (310), a second detection sensor (311), a second ground rail guide wheel set (312), a first limit travel switch (313) and a second limit travel switch (314); the traveling mechanism driving motor is arranged on the traveling mechanism frame body, the traveling mechanism driving motor drives the traveling mechanism gear through the speed reducer, the traveling mechanism gear is in toothed connection with the traveling mechanism rack, and the traveling mechanism rack is arranged in the direction in which the ground rail is relatively fixed; the walking mechanism base is arranged on the walking mechanism frame body; the first travelling wheel, the first detection sensor, the first ground rail guide wheel set and the first limit travel switch are arranged at one end of the travelling mechanism frame body; the second travelling wheel, the second detection sensor, the second ground rail guide wheel set and the second limit travel switch are arranged at the other end of the travelling mechanism frame body; the first traveling wheel and the second traveling wheel are arranged on the ground rail; the first ground rail guide wheel set and the second ground rail guide wheel set are arranged on two sides of the ground rail; the walking mechanism frame body (301) is driven by the walking mechanism driving motor (303) to walk along the ground rail (2); a traveling mechanism base (302) is arranged on the traveling mechanism frame body (301);

the lifting mechanism comprises: a column top plate (402), a column bottom plate (403) and a column (401) arranged between the column top plate and the column bottom plate; a sky rail guide wheel set (404) is arranged on the top plate of the upright post, and the sky rail guide wheel sets are arranged on two sides of the sky rail; the upright post bottom plate is arranged on the traveling mechanism base, and the traveling mechanism drives the lifting mechanism to synchronously travel along the sky rail and the ground rail; a first lifting guide rail (417) and a second lifting guide rail (418) are arranged on the side surface of the upright column, a first bearing (409) and a second bearing (410) are arranged at two ends of the upright column, and a lifting mechanism driving motor (405) is arranged on the side surface of the lower end of the upright column (401); a first lifting driving wheel (411) and a second lifting driving wheel (412) are arranged on the first bearing (409), a first lifting driven wheel (415) and a second lifting driven wheel (416) are arranged on the second bearing (410), the first lifting driving wheel is connected with the first lifting driven wheel through a first chain (413), and the second lifting driving wheel is connected with the second lifting driven wheel through a second chain (414); the first bearing (409) is further provided with a driving chain wheel (408), the lifting mechanism driving motor (405) is in driving connection with a motor driving wheel (406), the motor driving wheel (406) is in driving connection with the driving chain wheel (408) through a driving chain (407), and the lifting mechanism driving motor (405) is sequentially driven to realize synchronous lifting motion of the first chain (413) and the second chain (414);

the cargo carrying mechanism includes: the cargo carrying mechanism comprises a cargo carrying mechanism frame body (501), a cargo carrying mechanism driving motor (503) arranged on the cargo carrying mechanism frame body, a cargo carrying mechanism side plate (502) arranged on the side surface of the cargo carrying mechanism frame body, and a telescopic fork (504) in driving connection with the cargo carrying mechanism driving motor (503); the goods loading mechanism side plate (502) is provided with a first lifting tension mechanism (505), a second lifting tension mechanism (506), a first sliding block (507) and a second sliding block (508), the first lifting tension mechanism (505) and the second lifting tension mechanism (506) are respectively connected with a first chain (413) and a second chain (414) of the lifting mechanism (4), the first sliding block (507) and the second sliding block (508) are respectively in sliding connection with a first lifting guide rail (417) and a second lifting guide rail (418) of the lifting mechanism (4), and the goods loading mechanism (5) is driven by the lifting mechanism (4) to lift along the first lifting guide rail (417) and the second lifting guide rail (418).

2. The automated stereoscopic warehouse stacker of claim 1, further comprising: and a first limit travel switch baffle (21) and a second limit travel switch baffle (22) which are arranged on the side surfaces of two ends of the ground rail respectively correspond to the first limit travel switch and the second limit travel switch in the travelling mechanism.

3. The automated stereoscopic warehouse stacker of claim 2, further comprising: and a buffer (23) arranged on the upper side of the ground rail.

4. The automated stereoscopic warehouse stacker of claim 3, further comprising: a ground rail foot pad (24).

5. The automated stereo garage stacker according to any one of claims 1 to 4, further comprising: and a maintenance platform (8) arranged on the side surface of the lifting mechanism.

6. The stacker for automated three-dimensional libraries according to claim 1, wherein the lifting mechanism (4) further comprises a first stopper (419), a second stopper (420); the first limiting piece (419) is arranged on the upright column bottom plate (403) or on the side surface of the lower end of the upright column (401); the second stopper (420) is disposed below the column top plate (402) or on a side surface of an upper end of the column (401).

7. The automated stereo garage stacker of claim 1 wherein the first elevation tension mechanism (505) comprises: the spring comprises a first connecting piece (512), a first upper bolt (513), a first spring (514) and a first lower bolt (515); the first upper bolt and the first lower bolt are respectively arranged at two ends of the first connecting piece, and the first spring is sleeved on the first lower bolt and/or the first upper bolt; the second lift tension mechanism (506) comprises: a second connecting piece (516), a second upper bolt (517), a second spring (518), and a second lower bolt (519); the second upper bolt and the second lower bolt are respectively arranged at two ends of the second connecting piece, and the second lower bolt and/or the second upper bolt are sleeved with the second spring.

8. The stacker for the automated three-dimensional warehouse according to claim 1, wherein the cargo mechanism (5) further comprises a third detection sensor (511), and the third detection sensor (511) is arranged on the side surface of the cargo mechanism frame body (501) and used for detecting the position of the automated warehouse and is a diffuse reflection sensor.

9. The stacker according to claim 1 wherein said cargo carrying mechanism (5) further comprises a guide plate (509) and a correlation sensor (510) disposed thereon, said guide plate (509) being disposed on both sides of said cargo carrying mechanism frame (501).