CN218930596U - Picking warehouse picking and placing mechanism of shelf-free gantry - Google Patents
Picking warehouse picking and placing mechanism of shelf-free gantry Download PDFInfo
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- CN218930596U CN218930596U CN202222538182.0U CN202222538182U CN218930596U CN 218930596 U CN218930596 U CN 218930596U CN 202222538182 U CN202222538182 U CN 202222538182U CN 218930596 U CN218930596 U CN 218930596U
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Abstract
The utility model discloses a picking and placing mechanism of a gantry picking warehouse without a goods shelf, which relates to the technical field of goods transportation and comprises two vertical driving mechanisms, wherein the two vertical driving mechanisms are arranged in parallel; the transverse driving mechanism is erected on the two vertical driving mechanisms and can move back and forth on the vertical driving mechanisms; the lifting grabbing mechanism comprises a lifting mechanism, a grabbing mechanism and a positioning mechanism; the lifting mechanism is arranged on the transverse driving mechanism and can move back and forth on the transverse driving mechanism, the lifting mechanism is connected with the grabbing mechanism, and the lifting mechanism drives the grabbing mechanism to lift; the positioning mechanism comprises a positioning sleeve, a positioning shaft and a depth camera. By adopting the technical scheme, the utility model can reduce the cost, improve the cargo transportation efficiency and improve the space utilization rate.
Description
Technical Field
The utility model relates to the technical field of cargo transportation, in particular to a picking and placing mechanism for a gantry picking and placing warehouse without a goods shelf.
Background
In a factory, different goods are required in different working procedures, so that the goods are often transported in the factory, and in general, when the goods are stored, the goods are stored on shelves, tunnel machines are arranged between the shelves, and the tunnel machines are used for moving and carrying the goods, so that the space utilization rate is lower, a plurality of shelves are required for storing the goods, and the storage cost is higher; the more laggard factories carry the goods completely by adopting manpower, so that the required labor cost is higher and the efficiency of goods transportation is lower.
In view of the above, the present utility model is developed and designed to solve many drawbacks and inconveniences caused by the lack of perfection in the above-mentioned process, and to actively study and improve the trial work.
Disclosure of Invention
The utility model aims to overcome the defects and shortcomings of the prior art, and provides a picking and placing mechanism for a gantry picking and placing warehouse without a goods shelf, which can reduce cost, improve goods transportation efficiency and improve space utilization rate.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
picking and storing mechanism of shelf-free gantry picking and storing warehouse, which comprises
The two vertical driving mechanisms are arranged in parallel;
the transverse driving mechanism is erected on the two vertical driving mechanisms and can move back and forth on the vertical driving mechanisms;
the lifting grabbing mechanism comprises a lifting mechanism, a grabbing mechanism and a positioning mechanism; the lifting mechanism is arranged on the transverse driving mechanism and can move back and forth on the transverse driving mechanism, the lifting mechanism is connected with the grabbing mechanism, and the lifting mechanism drives the grabbing mechanism to lift;
the positioning mechanism comprises a positioning sleeve, a positioning shaft and a depth camera, wherein the positioning sleeve is fixed on the lifting mechanism, the positioning shaft and the depth camera are fixed on the grabbing mechanism, the positioning shaft is movably sleeved in the positioning sleeve, and the depth camera is used for identifying the height and the position of goods.
Further, vertical actuating mechanism includes vertical axis, first rack, first motor, first gear, anti-warp idler, anti-collision block, spacing idler, walking piece and walking gyro wheel, the vertical axis is fixed on the stand, and first rack is installed on the vertical axis, and first motor drive connects first gear, and first gear is fixed on the walking piece, first gear and first rack engagement, the walking piece is fixed on the vertical axis, the bottom of walking piece is provided with the walking gyro wheel, the left and right sides at the walking piece is fixed through the mount to the anti-warp idler, both ends around the walking piece are fixed through the mount to spacing idler, both ends are provided with the anti-collision block around the walking piece.
Further, the horizontal actuating mechanism includes cross axle, first slide rail, first slider, second motor, second rack and second gear, the cross axle is fixed on two vertical actuating mechanism's walking pieces, all be provided with first slide rail on the both sides of cross axle, first slider slidable sets up on first slide rail, the second rack sets up on the cross axle, second motor drive connects the second gear, second gear and second rack meshing.
Further, elevating system includes a plurality of reels, a plurality of leading wheel, many wire ropes, main support frame, auxiliary support frame, third motor, chain, first sprocket and second sprocket, the main support frame sets up on the first slider, a plurality of reels are fixed on a transmission shaft, and the transmission shaft is fixed on the main support frame, is provided with the second sprocket on the transmission shaft, the third motor is fixed on the main support frame, and first sprocket is connected in the third motor drive, and first sprocket passes through the chain with the second sprocket to be connected, and the auxiliary support frame is fixed on the main support frame, and a plurality of leading wheels dispersion are fixed on the auxiliary support frame, and the one end of many wire ropes twines respectively on a plurality of reels, and the other end of many wire ropes is corresponding to twine on a plurality of leading wheels.
Further, the second gear is located at one end of the main support frame, and when the second gear moves, the main support frame is pushed to move.
Further, snatch the mechanism and include main support, lifting hook, two promotion cylinders, two couples, sensor and deflector, the dispersion is provided with a plurality of lifting hooks on the main support, the bottom both sides of main support all are provided with the second slide rail, and slidable is provided with the second slider on the second slide rail, and two couples are fixed respectively on two fixed plates, and two fixed plates set up respectively on the second slider of both sides, and two one ends of promoting the cylinder are fixed respectively on two fixed plates, and two other ends of promoting the cylinder are fixed respectively on the main support, the bottom both sides of main support all are provided with the deflector, are provided with the sensor on the deflector.
Further, the positioning sleeve is fixed on the auxiliary supporting frame, and the positioning shaft is fixed on the main supporting frame.
Further, the other ends of the plurality of steel wire ropes are correspondingly connected to the plurality of lifting hooks.
Further, the vertical shaft is an I-shaped pipe.
After the technical scheme is adopted, the horizontal driving mechanism and the vertical driving mechanism are arranged to realize movement in the horizontal direction and the vertical direction, the lifting mechanism is arranged to control the lifting of the grabbing mechanism, the positioning mechanism is also arranged, the deviation of the grabbing mechanism in the lifting process can be avoided through the matching of the positioning shaft of the positioning mechanism and the positioning sleeve, the material frame can be grabbed more accurately, the material frame does not need to be placed in a goods shelf, the grabbing of the material frame in the whole warehouse can be realized only by simply stacking on the ground, the space utilization rate can be improved, more cargoes can be stored, the storage cost is reduced, the manual transportation is replaced by machine transportation, and the transportation efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the utility model or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the utility model, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
Fig. 1 is a schematic view of the structure of the present utility model after installation.
Fig. 2 is a schematic structural view of the present utility model.
Fig. 3 is a schematic view of the structure of the utility model without the lifting grabbing mechanism.
Fig. 4 is a schematic structural view of the vertical driving mechanism in the present utility model.
Fig. 5 is a schematic diagram of the structure of the side of the vertical driving mechanism in the present utility model.
Fig. 6 is a schematic side view of the lateral drive mechanism of the present utility model.
Fig. 7 is a perspective view of the lateral drive mechanism of the present utility model.
Fig. 8 is a schematic structural view of the lifting and grabbing mechanism in the utility model.
Fig. 9 is a schematic structural view of the lifting mechanism in the present utility model.
Fig. 10 is a schematic diagram of a side structure of the lifting mechanism in the present utility model.
Fig. 11 is a schematic view of the structure of the gripping mechanism of the present utility model.
Fig. 12 is a schematic view of the structure of the bottom surface of the grasping mechanism in the utility model.
Fig. 13 is a schematic view of a material frame in the present utility model.
Detailed Description
In order to further explain the technical scheme of the utility model, the utility model is explained in detail by specific examples.
In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate an orientation or a positional relationship based on that shown in the drawings, merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.
Referring to fig. 1-13, the utility model discloses a picking and placing mechanism of a gantry picking warehouse without a goods shelf, which comprises two vertical driving mechanisms 1, a horizontal driving mechanism 2 and a lifting grabbing mechanism 3.
The two vertical driving mechanisms 1 are arranged in parallel, each vertical driving mechanism 1 comprises a vertical shaft 11, a first rack 12, a first motor 13, a first gear 14, an anti-warping idler 15, an anti-collision block 16, a limiting idler 17, a walking block 18 and a walking idler 19, the vertical shafts 11 are fixed on the vertical columns 4, the first racks 12 are arranged on the vertical shafts 11, the first gears 14 are connected with the first motors 13 in a driving mode, the first gears 14 are fixed on the walking blocks 18, the first gears 14 are meshed with the first racks 12, the walking blocks 18 are fixed on the vertical shafts 11, the walking idler 19 is arranged at the bottom of each walking block 18, the anti-warping idler 15 is fixed on the left side and the right side of each walking block 18 through a fixing frame 151, the limiting idler 17 is fixed on the front end and the rear end of each walking block 18 through the fixing frame 151, and the anti-collision blocks 16 are arranged on the front end and the rear end of each walking block 18.
The vertical shaft 11 is an I-shaped pipe, the vertical shaft 11 can also be a square pipe, the vertical driving mechanism 1 can be supported and fixed on the ground through the upright post 4, the vertical driving mechanism 1 can also be fixed on a wall, the placing space of goods can be enlarged on the wall, and the running of the goods on the ground is not hindered.
The first motor 13 drives the first gear 14 to move back and forth on the first rack 12, the first gear 14 moves to drive the traveling block 18 to move, the anti-collision block 16 can play a role in preventing collision on the front end and the rear end of the traveling block 18, the limiting idler 17 can play a role in limiting the front end and the rear end of the traveling block 18, and the anti-tilting idler 15 can prevent the traveling block 18 from tilting, so that the structure of the anti-collision block is more stable; the vertical driving mechanism 1 provides walking power in the vertical direction and is driven by the first motor 13, so that accurate operation is realized.
The transverse driving mechanisms 2 are erected on the two vertical driving mechanisms 1, and the transverse driving mechanisms 2 can move back and forth on the vertical driving mechanisms 1;
the transverse driving mechanism 2 comprises a transverse shaft 21, a first sliding rail 22, a first sliding block 23, a second motor 24, a second rack 25 and a second gear 26, wherein the transverse shaft 21 is fixed on the walking blocks 18 of the two vertical driving mechanisms 1, the first sliding rails 22 are arranged on two sides of the transverse shaft 21, the first sliding block 23 is slidably arranged on the first sliding rail 22, the second rack 25 is arranged on the transverse shaft 21, the second motor 24 is in driving connection with the second gear 26, and the second gear 26 is meshed with the second rack 25.
The second motor 24 drives the second gear 26 to move back and forth on the second rack 25, the transverse driving mechanism 2 provides power for the transverse operation of the lifting grabbing mechanism 3, and the second motor 24 drives the second gear 26 and the transmission of the second rack 25 to provide transverse accurate operation.
The lifting grabbing mechanism 3 comprises a lifting mechanism 31, a grabbing mechanism 32 and a positioning mechanism 33; the lifting mechanism 31 is arranged on the transverse driving mechanism 2 and can move back and forth on the transverse driving mechanism 2, the lifting mechanism 31 is connected with the grabbing mechanism 32, and the lifting mechanism 31 drives the grabbing mechanism 32 to lift;
the lifting mechanism 31 comprises a plurality of reels 311, a plurality of guide wheels 312, a plurality of steel wire ropes 313, a main support frame 314, an auxiliary support frame 315, a third motor 316, a chain 317, a first chain wheel 318 and a second chain wheel 319, wherein the main support frame 314 is arranged on the first sliding block 23, the reels 311 are fixed on a transmission shaft which is fixed on the main support frame 314, the transmission shaft is provided with the second chain wheel 319, the third motor 316 is fixed on the main support frame 314, the third motor 316 is in driving connection with the first chain wheel 318, the first chain wheel 318 is connected with the second chain wheel 319 through the chain 317, the auxiliary support frame 315 is fixed on the main support frame 314, the plurality of guide wheels 312 are fixed on the auxiliary support frame 315 in a dispersed manner, one ends of the plurality of steel wire ropes 313 are respectively wound on the reels 311, and the other ends of the plurality of steel wire ropes 313 are correspondingly wound on the plurality of guide wheels 312.
In this embodiment, the number of the reels 311 is four, the four reels 311 are mounted on the same transmission shaft, the second sprocket 319 is mounted on the transmission shaft, and the number of the guide wheels 312 is six, namely, a first guide wheel 3121, a second guide wheel 3122, a third guide wheel 3123, a fourth guide wheel 3124, a fifth guide wheel 3125 and a sixth guide wheel 3126; the first guide wheel 3121, the second guide wheel 3122, the third guide wheel 3123, and the fourth guide wheel 3124 are arranged side by side, the fifth guide wheel 3125 and the sixth guide wheel 3126 are arranged side by side with the second guide wheel 3122 and the third guide wheel 3123, the number of the steel wire ropes 313 is four, one ends of the four steel wire ropes 313 are respectively wound on the four winding drums 311, the other ends of the four steel wire ropes 313 correspondingly bypass the first guide wheel 3121, the second guide wheel 3122, the third guide wheel 3123, and the fourth guide wheel 3124, and the steel wire ropes 313 bypassing the second guide wheel 3122 and the third guide wheel 3123 also bypass the fifth guide wheel 3125 and the sixth guide wheel 3126 respectively.
The grabbing mechanism 32 comprises a main support 321, a lifting hook 322, two pushing air cylinders 323, two hooks 324, a sensor 325 and a guide plate 326, wherein the lifting hook 322 is arranged on the main support 321 in a scattered manner, second sliding rails 3211 are arranged on two sides of the bottom of the main support 321, second sliding blocks 3212 are arranged on the second sliding rails 3211 in a sliding manner, the two hooks 324 are respectively fixed on two fixing plates 3241, the two fixing plates 3241 are respectively arranged on the second sliding blocks 3212 on the two sides, one ends of the two pushing air cylinders 323 are respectively fixed on the two fixing plates 3241, the other ends of the two pushing air cylinders 323 are respectively fixed on the main support 321, the guide plates 326 are respectively arranged on two sides of the bottom of the main support 321, and the sensor 325 is arranged on the guide plate 326.
In this embodiment, the number of hooks 322 is four, and the other ends of the four wire ropes 313 are connected to the four hooks 322 respectively corresponding to the positions of the second guide wheel 3122, the third guide wheel 3123, the fifth guide wheel 3125 and the sixth guide wheel 3126.
The second gear 26 is located at one end of the main support 314, and when the second gear 26 moves, the main support 314 is pushed to move, and the main support 314 can drive the whole lifting grabbing mechanism 3 to move;
the third motor 316 drives the first sprocket 318, the first sprocket 318 drives the second sprocket 319 to drive through the chain 317, the second sprocket 319 drives the transmission shaft to rotate, the transmission shaft rotates to drive the four reels 311 to drive, the four reels 311 rotate to drive the four steel wire ropes 313 to act, the four steel wire ropes 313 are retracted and released, and the lifting of the grabbing mechanism 32 is controlled;
the two pushing cylinders 323 respectively push the two hooks 324 to move on the second sliding rail 3211, so that the material taking frame A is clamped, and hanging lugs A1 are arranged at two ends of the material frame A and are matched with the hooks 324.
The positioning mechanism 33 comprises a positioning sleeve 331, a positioning shaft 332 and a depth camera 333, the positioning sleeve 331 is fixed on the auxiliary support 315 of the lifting mechanism 31, the positioning shaft 332 and the depth camera 333 are fixed on the main support 321 of the grabbing mechanism 32, the positioning shaft 332 is movably sleeved in the positioning sleeve 331, and the depth camera 333 is used for accurately identifying the height and the position of the goods.
The positioning sleeve 331 corresponds to the positioning shaft 332, in this embodiment, the number of the positioning sleeve 331 and the positioning shaft 332 is four, and when the wire rope 313 is connected with the hook 322 to place the grabbing mechanism 32 at a corresponding position, the pushing cylinder 323 acts to hook the hooks 324 on two sides to the hanging lugs of the material frame a, so as to grab the goods. The lifting mechanism 31 lifts the grabbing mechanism 32 to a fixed position, at this time, the positioning shaft 332 is combined with the positioning sleeve 331, and after the sensor 325 senses the material frame a, the sensor moves in the lateral direction or the vertical direction.
The working principle of the utility model is as follows: the utility model realizes the movement in the transverse and vertical directions by arranging the transverse driving mechanism 2 and the vertical driving mechanism 1, controls the lifting of the grabbing mechanism 32 by arranging the lifting mechanism 31, and is also provided with the positioning mechanism 33, the deviation of the grabbing mechanism 32 in the lifting process can be avoided by the cooperation of the positioning shaft 332 and the positioning sleeve 331 of the positioning mechanism 33, the material frame A can be grabbed more accurately, and the deviation of the position of the material frame A can be better avoided in the transverse or vertical movement process; by arranging the depth camera 333, the position and the height of the material frame A can be identified, so that the grabbing mechanism can conveniently determine the position of the material frame A for grabbing; meanwhile, the vertical driving mechanism can be fixed on the top of the warehouse through the upright posts 4 or directly fixed on the wall, and the grabbing frame A is directly lifted from the top through the grabbing mechanism 32, so that the grabbing frame A does not need to be placed in a goods shelf, and can be grabbed in the whole warehouse only by simply being stacked on the ground, the space utilization rate can be improved, more goods can be stored, the storage cost is reduced, the manual transportation is replaced by the machine transportation, and the transportation efficiency is improved.
The foregoing is merely illustrative of the present utility model and not restrictive, and other modifications and equivalents thereof may occur to those skilled in the art without departing from the spirit and scope of the present utility model.
Claims (9)
1. The utility model provides a mechanism is put to no goods shelves longmen selection warehouse, its characterized in that: it comprises
The two vertical driving mechanisms are arranged in parallel;
the transverse driving mechanism is erected on the two vertical driving mechanisms and can move back and forth on the vertical driving mechanisms;
the lifting grabbing mechanism comprises a lifting mechanism, a grabbing mechanism and a positioning mechanism; the lifting mechanism is arranged on the transverse driving mechanism and can move back and forth on the transverse driving mechanism, the lifting mechanism is connected with the grabbing mechanism, and the lifting mechanism drives the grabbing mechanism to lift;
the positioning mechanism comprises a positioning sleeve, a positioning shaft and a depth camera, wherein the positioning sleeve is fixed on the lifting mechanism, the positioning shaft and the depth camera are fixed on the grabbing mechanism, the positioning shaft is movably sleeved in the positioning sleeve, and the depth camera is used for identifying the height and the position of goods.
2. The shelf-less gantry pick warehouse pick and place mechanism of claim 1, wherein: the vertical driving mechanism comprises a vertical shaft, a first rack, a first motor, a first gear, an anti-tilting idler wheel, an anti-collision idler wheel, limiting idler wheels, a walking block and walking idler wheels, wherein the vertical shaft is fixed on a stand column, the first rack is installed on the vertical shaft, the first motor is driven to be connected with the first gear, the first gear is fixed on the walking block, the first gear is meshed with the first rack, the walking block is fixed on the vertical shaft, the walking idler wheels are arranged at the bottom of the walking block, the anti-tilting idler wheels are fixed on the left side and the right side of the walking block through fixing frames, the limiting idler wheels are fixed at the front end and the rear end of the walking block through fixing frames, and the anti-collision blocks are arranged at the front end and the rear end of the walking block.
3. The shelf-less gantry pick warehouse pick and place mechanism of claim 1, wherein: the transverse driving mechanism comprises a transverse shaft, a first sliding rail, a first sliding block, a second motor, a second rack and a second gear, wherein the transverse shaft is fixed on the walking blocks of the two vertical driving mechanisms, the first sliding rails are arranged on two sides of the transverse shaft, the first sliding block is arranged on the first sliding rail in a sliding mode, the second rack is arranged on the transverse shaft, the second motor is connected with the second gear in a driving mode, and the second gear is meshed with the second rack.
4. A palletless gantry pick and place mechanism as claimed in claim 3 wherein: the lifting mechanism comprises a plurality of reels, a plurality of guide wheels, a plurality of wire ropes, a main support frame, an auxiliary support frame, a third motor, a chain, a first sprocket and a second sprocket, wherein the main support frame is arranged on the first sliding block, the reels are fixed on a transmission shaft, the transmission shaft is fixed on the main support frame, the second sprocket is arranged on the transmission shaft, the third motor is fixed on the main support frame, the third motor is in driving connection with the first sprocket, the first sprocket is connected with the second sprocket through the chain, the auxiliary support frame is fixed on the main support frame, the guide wheels are fixed on the auxiliary support frame in a dispersing mode, one ends of the wire ropes are respectively wound on the reels, and the other ends of the wire ropes are correspondingly wound on the guide wheels.
5. The shelf-less gantry pick warehouse pick and place mechanism of claim 4, wherein: the second gear is positioned at one end of the main support frame, and when the second gear moves, the main support frame is pushed to move.
6. The shelf-less gantry pick warehouse pick and place mechanism of claim 4, wherein: the grabbing mechanism comprises a main support, lifting hooks, two pushing air cylinders, two hooks, sensors and guide plates, wherein a plurality of lifting hooks are arranged on the main support in a scattered mode, second sliding rails are arranged on two sides of the bottom of the main support, second sliding blocks are arranged on the second sliding rails in a sliding mode, the two hooks are respectively fixed on the two fixing plates, the two fixing plates are respectively arranged on the second sliding blocks on two sides, one ends of the two pushing air cylinders are respectively fixed on the two fixing plates, the other ends of the two pushing air cylinders are respectively fixed on the main support, guide plates are arranged on two sides of the bottom of the main support, and the sensors are arranged on the guide plates.
7. The shelf-less gantry pick warehouse pick and place mechanism of claim 6, wherein: the positioning sleeve is fixed on the auxiliary supporting frame, and the positioning shaft is fixed on the main support.
8. The shelf-less gantry pick warehouse pick and place mechanism of claim 6, wherein: the other ends of the plurality of steel wire ropes are correspondingly connected to the plurality of lifting hooks.
9. The shelf-less gantry pick warehouse pick and place mechanism of claim 2, wherein: the vertical shaft is an I-shaped pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222538182.0U CN218930596U (en) | 2022-09-23 | 2022-09-23 | Picking warehouse picking and placing mechanism of shelf-free gantry |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222538182.0U CN218930596U (en) | 2022-09-23 | 2022-09-23 | Picking warehouse picking and placing mechanism of shelf-free gantry |
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| CN218930596U true CN218930596U (en) | 2023-04-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202222538182.0U Active CN218930596U (en) | 2022-09-23 | 2022-09-23 | Picking warehouse picking and placing mechanism of shelf-free gantry |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118651639A (en) * | 2024-06-04 | 2024-09-17 | 南京威胜仓储设备制造有限公司 | A warehouse handling robot |
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2022
- 2022-09-23 CN CN202222538182.0U patent/CN218930596U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118651639A (en) * | 2024-06-04 | 2024-09-17 | 南京威胜仓储设备制造有限公司 | A warehouse handling robot |
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