CN220537418U

CN220537418U - Stacking machine

Info

Publication number: CN220537418U
Application number: CN202322102392.XU
Authority: CN
Inventors: 张家春; 徐斌; 贺小博
Original assignee: Hangzhou Danshi Robot Technology Co ltd
Current assignee: Hangzhou Danshi Robot Technology Co ltd
Priority date: 2023-08-07
Filing date: 2023-08-07
Publication date: 2024-02-27
Anticipated expiration: 2033-08-07

Abstract

The utility model discloses a stacker, which comprises a track assembly, a chassis assembly and a fork assembly, wherein the chassis assembly comprises a chassis frame and a chassis driving mechanism, the chassis driving mechanism comprises a chassis driving motor, a speed reducer and a row position gear, the output end of the speed reducer is connected with the speed reducer, the speed reducer positively and negatively drives the row position gear to reciprocate on the track assembly, the gears of the row position gear and a guide rack are precisely transmitted, the position of goods is precisely reached, the friction force of the chassis frame is reduced by arranging a bearing wheel and a side guide wheel, only smaller thrust force is required between the guide rack and the row position gear, the extrusion force of the guide rack and the row position gear is reduced, the whole service life is prolonged, goods detection sensors are arranged on the left side, the middle side and the right side of the fork assembly, firstly, the position of goods on the goods shelf is accurately detected by identifying goods encoding, and the moving position of the goods in the fork transferring process is prevented from moving without reaching the center position, and goods dumping and accidents are reduced.

Description

Stacking machine

Technical Field

The utility model relates to the technical field of stackers, in particular to a stacker.

Background

The stacker is also called a stacker crane, which is a common device in storage work, and the stacker crane is a special crane which adopts a fork or a string rod as a fetching device, and is used for grabbing, carrying and stacking or fetching and placing unit cargos from a high-rise goods shelf at a warehouse, a workshop and the like.

At present, along with the wide use of an automatic stereoscopic warehouse in the logistics industry, the use requirement of a stacker is obviously improved, the existing sliding rail vehicle runs in an automatic control mode, the working efficiency is greatly improved, the sliding rail vehicle generally controls the movement of the sliding rail vehicle through a preset distance and through controller programming, but the sliding phenomenon can occur between driving wheels and rails, so that the running mechanism is inaccurate in stopping, the irregular phenomenon of goods to be stacked is finally caused, in addition, in the process of stretching and contracting of a fork, the fork generates downward bending deformation, the deviation of the stretching length of the fork is continuously accumulated in the process of frequently taking and placing materials in the vertical warehouse, the relative position of the goods on the fork can gradually deviate, and finally the fork cannot accurately stretch into the target position of a goods shelf, namely the goods cannot be normally fed into the goods space of the goods shelf, the working efficiency is affected, and therefore, the novel stacker with accurate positioning and goods is required to be designed.

Disclosure of Invention

(one) solving the technical problems

Aiming at the defects of the prior art, the utility model provides the stacker, which accurately drives gears of a row position gear and a guide rack to accurately reach the position of goods, and a goods detection device is arranged on a fork to detect the position and the state of the goods, so that the accuracy of goods storage and taking of the fork is improved, and the accurate stacking requirement in a high-frequency moving scene under an automatic condition is met.

(II) technical scheme

In order to achieve the technical purpose, the utility model provides the following technical scheme:

the stacker comprises a track assembly, a chassis assembly and a fork assembly, wherein the chassis assembly comprises a chassis frame and a chassis driving mechanism, the chassis driving mechanism comprises a chassis driving motor, a speed reducer and a line gear, the output end of the speed reducer is connected with the speed reducer, and the speed reducer drives the line gear to reciprocate on the track assembly in a forward and reverse rotation manner;

the chassis frame is provided with a stand column guide rail, the fork assembly moves up and down along the stand column guide rail, the stand column guide rail is provided with an electric cabinet, and the electric cabinet is electrically connected with a chassis driving motor, a speed reducer and the fork assembly.

Preferably, the top end of the upright guide rail is provided with a top guide wheel assembly, the guide wheel assembly comprises two symmetrically arranged guide seats, each guide seat is provided with two top guide wheels, and a top guide rail channel is formed between the guide wheels.

Preferably, the track assembly comprises a sliding rail and a guide rack, and the row position gear is matched with the guide rack gear and drives the chassis assembly to reciprocate on the sliding rail.

Preferably, the bottom end of the chassis frame is provided with a plurality of bearing wheels, each bearing wheel is attached to the upper surface of the sliding rail, two sides of the chassis frame are symmetrically provided with side guide wheels, and each side guide wheel is attached to the side wall of the sliding rail.

Preferably, the driving mechanism further includes a lubricant pump that supplies lubricant to the driving motor, the speed reducer, and the row gear.

Preferably, the fork assembly comprises a fork main frame body, a telescopic moving fork and a fork lifting motor, wherein the fork lifting motor is fixed on the fork main frame body.

Preferably, the telescopic movable fork comprises a motor driving device, a transmission device and a fork plate, wherein the motor driving device drives the fork plate to do horizontal reciprocating motion through the transmission device, and the fork main frame body is further provided with a front material blocking rod and a cargo detection device.

Preferably, the cargo detecting device includes a left cargo detecting sensor, a center cargo detecting sensor, and a right cargo detecting sensor, wherein the center cargo detecting sensor is disposed on a symmetry center line of the vertical direction of the main fork frame, and the left cargo detecting sensor and the right cargo detecting sensor are disposed on the same horizontal height line of the main fork frame.

Preferably, the left cargo detection sensor, the center cargo detection sensor and the right cargo detection sensor are all photoelectric sensors.

Preferably, the left side wall included angle between the left cargo detection sensor and the fork main frame body is 45 degrees, and the right side wall included angle between the right cargo detection sensor and the fork main frame body is 45 degrees.

(III) beneficial effects

Compared with the prior art, the utility model provides a stacker, which has the following beneficial effects:

1. through setting up the accurate transmission of gear of line position gear and direction rack, accurate arrival goods position through setting up and bear wheel and side leading wheel, reduces the frictional force of chassis frame and slide rail for only need less thrust between direction rack and the line position gear, reduce the extrusion force of both, increase holistic life.

2. Through setting up the left side, centre and right side all set up the goods and detect the sensor, at first through discernment goods shelves code, assist the accurate position of detecting the goods on the goods shelves to and the position of moving of goods in fork transfer in-process prevents that the goods from not reaching central point and just moving, reduces goods and emptys and accident.

Drawings

FIG. 1 is a schematic view of the overall structure of a stacker of the present utility model;

FIG. 2 is an enlarged view of the structure of the portion A in FIG. 1 according to the present utility model;

FIG. 3 is an enlarged view of the structure of portion B of FIG. 1 in accordance with the present utility model;

FIG. 4 is a schematic view of the track assembly and chassis assembly of the present utility model;

FIG. 5 is an enlarged view of the structure of portion C of FIG. 4 in accordance with the present utility model;

FIG. 6 is a schematic perspective view of a fork assembly in the stacker of the present utility model;

FIG. 7 is a schematic elevational view of a fork assembly of the stacker of the present utility model;

FIG. 8 is a top view of the pallet fork assembly of the stacker of the present utility model;

FIG. 9 is an enlarged view of the structure of portion D of FIG. 8 in accordance with the present utility model;

in the figure: the track assembly 1, the slide rail 11, the guide rack 12, the chassis assembly 2, the chassis frame 21, the carrier wheel 211, the side guide wheel 212, the chassis driving mechanism 22, the chassis driving motor 221, the speed reducer 222, the row gear 223, the speed reducing gear 224, the fork assembly 3, the fork main frame 31, the telescopic moving fork 32, the fork lifting motor 33, the motor driving device 321, the transmission device 322, the fork plate 323, the front stop bar 34, the column guide rail 4, the electric cabinet 41, the guide wheel assembly 5, the guide seat 51, the top guide wheel 52, the guide rail channel 53, the cargo detecting device 6, the left cargo detecting sensor 61, the center cargo detecting sensor 62, and the right cargo detecting sensor 63.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Please refer to fig. 1-9:

examples:

as shown in fig. 1-2:

a stacker comprising a track assembly 1, a chassis assembly 2 and a fork assembly 3, the chassis assembly 2 comprising a chassis frame 21 and a chassis drive mechanism 22, the chassis drive mechanism 22 pushing the chassis frame 21 to reciprocate on the track assembly 1 such that the fork assembly 3 moves in a horizontal direction.

As shown in fig. 1, the chassis frame 21 is provided with a column guide rail 4, the fork assembly 3 moves up and down along the column guide rail 4, the column guide rail 4 is provided with an electric cabinet 41, the electric cabinet 41 is electrically connected with the chassis driving motor 221, the speed reducer 222 and the fork assembly 3, and the top end of the column guide rail 4 is provided with a top guide wheel assembly 5.

As shown in fig. 2-4: the chassis driving mechanism 22 comprises a chassis driving motor 221, a speed reducer 222 and a row gear 223, the output end of the speed reducer 222 is connected with a speed reducing gear 224, and the speed reducing gear 224 rotates positively and negatively to drive the row gear 223 to reciprocate on the track assembly 1. The drive mechanism 22 further includes a lubricant pump 23, and the lubricant pump 23 supplies lubricant to the drive motor 221, the speed reducer 222, and the row gear 223.

As shown in fig. 3: the guide wheel assembly 5 comprises two symmetrically arranged guide seats 51, each guide seat 51 is provided with two top guide wheels 52, and a top guide rail channel 53 is formed between the guide wheels 52.

As shown in fig. 5: further preferably, the track assembly 1 comprises a sliding rail 11 and a guiding rack 12, the row position gear 223 is in gear fit with the guiding rack 12, and drives the chassis assembly 2 to reciprocate on the sliding rail 11, and the row position gear 223 and the gear of the guiding rack 12 are precisely driven to reach the position of the goods.

As shown in fig. 5: in a further preferred aspect of the present utility model, the bottom end of the chassis frame 21 is provided with a plurality of bearing wheels 211, each bearing wheel 211 is abutted against the upper surface of the sliding rail 11, two sides of the chassis frame 21 are symmetrically provided with side guiding wheels 212, and each side guiding wheel 212 is abutted against the side wall of the sliding rail 11. The friction force between the chassis frame 21 and the sliding rail 11 is reduced by arranging the bearing wheels 211 and the side guide wheels 212, so that only smaller thrust is needed between the guide racks and the row position gears, the extrusion force of the guide racks and the row position gears is reduced, and the overall service life is prolonged.

As shown in fig. 1 to 6, the fork assembly 3 includes a fork main frame 31, a telescopic moving fork 32, and a fork lift motor 33, and the fork lift motor 33 is fixed to the fork main frame 31.

As shown in fig. 6-8: the utility model relates to a telescopic movable fork 32, wherein the telescopic movable fork 32 comprises a motor driving device 321, a transmission device 322 and a fork plate 323, the motor driving device 321 drives the fork plate 323 to horizontally reciprocate through the transmission device 322, and a front material blocking rod 34 and a cargo detection device 6 are further connected to a main fork frame 31.

The goods detection device 6 comprises a left goods detection sensor 61, a center goods detection sensor 62 and a right goods detection sensor 63, wherein the left goods detection sensor 61, the center goods detection sensor 62 and the right goods detection sensor 63 are all the medium-long distance photoelectric sensors of the dock brand, the detection range is 3 meters, and the stable diffuse reflection of the medium and long distances and the mirror reflection detection requirement are realized.

The center cargo detection sensor 62 is disposed on the symmetry center line of the vertical direction of the moving fixing connection plate 2, the left cargo detection sensor 61 and the right cargo detection sensor 63 are disposed centering around the center cargo detection sensor 62, and the disposition height of the center cargo detection sensor 62 is higher than that of the left cargo detection sensor 61 and the right cargo detection sensor 63. The center cargo detection sensor 62 may detect the height state of the cargo at the same time.

The left side wall included angle between the left cargo detecting sensor 61 and the fork main frame 31 is 45 degrees, and the right side wall included angle between the right cargo detecting sensor 63 and the fork main frame 31 is 45 degrees.

According to the utility model, through the arrangement of the row position gears and the gears of the guide racks for precise transmission, the position of goods is precisely reached, and the bearing wheels and the side guide wheels are arranged, so that the friction force between the chassis frame and the sliding rail is reduced, only smaller thrust is needed between the guide racks and the row position gears, the extrusion force between the guide racks and the row position gears is reduced, the service life of the whole body is prolonged, and through the arrangement of the goods detection sensors on the left side, the middle side and the right side, the goods detection sensors are arranged, firstly, the goods are identified, the position of the goods on the goods shelf is assisted to be precisely detected, and the moving position of the goods in the fork transferring process is prevented from moving without reaching the central position, and the goods dumping and accidents are reduced.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The stacker comprises a track assembly (1), a chassis assembly (2) and a fork assembly (3), and is characterized in that the chassis assembly (2) comprises a chassis frame (21) and a chassis driving mechanism (22), the chassis driving mechanism (22) comprises a chassis driving motor (221), a speed reducer (222) and a row position gear (223), the output end of the speed reducer (222) is connected with a speed reduction gear (224), and the speed reduction gear (224) drives the row position gear (223) to reciprocate on the track assembly (1) in a forward and backward rotation mode;

the chassis frame (21) is provided with a stand column guide rail (4), the fork assembly (3) moves up and down along the stand column guide rail (4), the stand column guide rail (4) is provided with an electric cabinet (41), and the electric cabinet (41) is electrically connected with a chassis driving motor (221), a speed reducer (222) and the fork assembly (3).

2. A stacker according to claim 1 wherein: the top of stand guide rail (4) is equipped with top leading wheel subassembly (5), leading wheel subassembly (5) are including two guide holders (51) that the symmetry set up, are provided with two top leading wheels (52) on each guide holder (51), form top guide rail passageway (53) between leading wheels (52).

3. A stacker according to claim 1 wherein: the track assembly (1) comprises a sliding rail (11) and a guide rack (12), and the row position gear (223) is matched with the guide rack (12) in a gear mode and drives the chassis assembly (2) to do reciprocating motion on the sliding rail (11).

4. A stacker according to claim 3 wherein: the chassis frame (21) bottom sets up a plurality of carrier wheels (211), and each carrier wheel (211) is leaned on slide rail (11) upper surface, chassis frame (21) both sides still symmetry are equipped with side leading wheel (212), and each side leading wheel (212) is leaned on the lateral wall of slide rail (11).

5. A stacker according to claim 4 wherein: the driving mechanism (22) further comprises a lubricating oil pump (23), and the lubricating oil pump (23) supplies lubricating oil to the driving motor (221), the speed reducer (222) and the row gear (223).

6. A stacker according to claim 5 wherein: the fork assembly (3) comprises a fork main frame body (31), a telescopic moving fork (32) and a fork lifting motor (33), wherein the fork lifting motor (33) is fixed on the fork main frame body (31).

7. A stacker according to claim 6 wherein: the telescopic movable fork (32) comprises a motor driving device (321), a transmission device (322) and a fork plate (323), wherein the motor driving device (321) drives the fork plate (323) to horizontally reciprocate through the transmission device (322), and a front material blocking rod (34) and a cargo detection device (6) are further arranged on the main fork frame body (31).

8. A stacker according to claim 7 wherein: the cargo detection device (6) comprises a left cargo detection sensor (61), a center cargo detection sensor (62) and a right cargo detection sensor (63), wherein the center cargo detection sensor (62) is arranged on the symmetrical center line of the vertical direction of the main fork frame body (31), and the left cargo detection sensor (61) and the right cargo detection sensor (63) are arranged on the same horizontal height line of the main fork frame body (31).

9. A stacker according to claim 8 wherein: the left cargo detection sensor (61), the center cargo detection sensor (62) and the right cargo detection sensor (63) are all photoelectric sensors.

10. A stacker according to claim 8 wherein: the left side wall included angle between the left cargo detection sensor (61) and the fork main frame body (31) is 45 degrees, and the right side wall included angle between the right cargo detection sensor (63) and the fork main frame body (31) is 45 degrees.