CN220595929U

CN220595929U - Storage stacker

Info

Publication number: CN220595929U
Application number: CN202322345970.2U
Authority: CN
Inventors: 王金; 余延明; 余文华
Original assignee: Cloudminds Shanghai Robotics Co Ltd
Current assignee: Cloudminds Shanghai Robotics Co Ltd
Priority date: 2023-08-29
Filing date: 2023-08-29
Publication date: 2024-03-15
Anticipated expiration: 2033-08-29

Abstract

The embodiment of the application provides a storage stacker, it includes portal frame, a plurality of basket support that are used for placing the basket, flexible module, and the portal frame includes a roof-rack and connects the both sides support in the roof-rack below, and the basket support is along the direction of height spaced connection that the side supported one side that supports in both sides, and flexible module establishes and is supported in both sides and deviate from basket support one side, can be in reciprocating motion in the direction of height that the side supported aligns with every basket support to can stretch into to basket support below or follow basket support below and withdraw. The storage stacker that this embodiment provided is through flexible module reciprocating motion on the side support with basket accurate take the basket support position of not co-altitude to reach the basket support below of not co-altitude or retract below the basket support of not co-altitude through flexible module and realize the accurate of basket and get and put, save the manpower input of picking the process, promote the production efficiency that the big-arch shelter was picked.

Description

Storage stacker

Technical Field

The application relates to the technical field of robots, in particular to a storage stacker.

Background

In the production process of greenhouse picking, the agricultural products such as picked fruits, vegetables and the like are usually required to be temporarily stored or transported, and a stacker is used at this time. The agricultural products are typically placed in baskets and then the basket filled with the agricultural products is placed on multi-layered shelves of a stacker, where the shelves are typically manually carried on top of and off the basket, and some are mechanically transported in a horizontal or vertical direction. At present, the lifting height and the horizontal transportation distance of the basket during mechanical transportation of the stacker at the present stage cannot be accurately controlled, and meanwhile, the stacker also needs to be manually adjusted, so that extra labor investment is needed, and the production efficiency of greenhouse picking is reduced.

Disclosure of Invention

In view of the foregoing, embodiments of the present application have been presented to provide a warehouse stacker that solves or at least partially solves the foregoing problems.

The embodiment of the application provides a warehouse stacker, it includes:

the portal frame comprises a top frame and two side supports connected below the top frame;

a plurality of basket brackets for receiving the basket, connected to one side of both the side supports at intervals along a height direction of the side supports;

and the telescopic modules are arranged on one sides of the two side supports, away from the basket support, can reciprocate in the height direction of the side supports to be aligned with each basket support, and can extend into or retract from the lower part of the basket support.

Further, the lifting frame is arranged on one side of the two side supports, which is away from the basket support, and the lifting module drives the lifting frame to reciprocate in the height direction of the side supports;

the telescopic module is arranged on the lifting frame, so that the telescopic module can move in the height direction of the side support.

Further, the lifting module comprises a lifting motor, a transmission mechanism and a sliding table, the lifting motor is arranged on the top frame and drives the transmission mechanism, the transmission mechanism is arranged on the side support, the sliding table extends out of the surface of the side support and is connected with the transmission mechanism, and the sliding table can reciprocate in the height direction of the side support under the drive of the transmission mechanism;

the lifting frame is connected to the sliding table.

Further, the lifting module further comprises a module cover and a module base, the module base is connected to the side support, the transmission mechanism is fixed to the module base, the module cover is connected to the module base to shield the transmission mechanism, the transmission mechanism is protected, and meanwhile the module base can also increase the support of the lifting module.

Further, the lifting module further comprises a tightness adjusting mechanism connected with the transmission mechanism, the tightness adjusting mechanism is arranged at one end of the side support away from the top frame and can adjust tightness of the transmission mechanism, so that the transmission mechanism can carry the sliding table to carry out stable reciprocating movement in the height direction of the side support, and stability of the telescopic module when the frame is lifted is further improved.

Further, the lifting module further comprises a lifting limiting block, wherein the lifting limiting block is arranged at the tail end of the side support to limit the sliding table, so that the phenomenon that the sliding table slides downwards when transporting heavy objects possibly beyond a limiting position to damage the tightness adjusting mechanism is avoided.

Further, the lifting module further comprises a closing shaft arranged along the length direction of the top frame, and the association shaft is driven by the lifting motor to rotate;

the two ends of the associated shaft are respectively connected with the transmission mechanisms in the two side supports, the transmission mechanisms on the two side supports can be further ensured to run synchronously to improve the stability of transportation through the arrangement of the associated shaft, and meanwhile, the structure of the lifting module can be simplified, and the material cost is saved.

Further, the lifting frame comprises a bottom plate and two side edges which are connected with the side supports, and the telescopic module is arranged on the bottom plate;

the end that both sides limit is close to the side supports is equipped with the flexible correlation sensor of the flexible action of detection flexible module, flexible correlation sensor is used for detecting whether the basket is placed in on the basket support, or whether follow retrieve on the basket support the basket promotes its intelligence.

Further, each basket support position on one side of the side support facing away from the basket support is provided with a lifting photoelectric sensor for detecting the position of the telescopic module, and the lifting photoelectric sensor can conveniently detect the height of the telescopic module in the direction of the height of the side support, so that the telescopic module can be precisely aligned with the basket supports in different height positions. Further, the control transfer module comprises a control box and a control circuit board;

the control circuit board is arranged in the control box,

the control box is arranged at the end part of the side support far away from the top frame, has good waterproof performance and can protect the control circuit board.

Among the technical scheme that this embodiment provided, its storage stacker includes portal frame, a plurality of basket support that are used for placing the basket, flexible module, and the portal frame includes a roof-rack and connects the both sides support in the roof-rack below, and the basket support is along the spaced one side of connecting in both sides support of the direction of height that the side supported, and flexible module establishes and deviates from basket support one side in the both sides support, can be in reciprocating motion and every basket support alignment in the direction of height that the side supported to can stretch into basket support below or follow basket support below and retract, through flexible module in the side support with basket accurate the basket support position of taking to not co-altitude, and stretch into the basket support below of not co-altitude or the accurate of realization of withdrawing from the support below of co-altitude through flexible module and get put, save the manpower input of picking the process, promote the production efficiency of big-arch shelter picking.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief description will be given below of the drawings that are needed in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic exploded view of a three-dimensional structure of a warehouse stacker according to an embodiment of the present utility model;

fig. 2 is a schematic perspective view of a warehouse stacker according to an embodiment of the present utility model

Fig. 3 is a schematic view of a connection structure of a lifting frame and a telescopic module of a warehouse stacker according to an embodiment of the present utility model;

fig. 4 is a schematic view of a connection structure of a side support and lifting module of a warehouse stacker according to an embodiment of the present utility model;

fig. 5 is a schematic view of a connection structure of a gantry and a lifting module of a warehouse stacker according to an embodiment of the present utility model;

fig. 6 is an exploded view of another three-dimensional structure of a warehouse stacker according to an embodiment of the present utility model;

fig. 7 is a schematic perspective view of a part of a lifting module of a warehouse stacker according to an embodiment of the present utility model;

fig. 8 is an exploded perspective view of a control transfer module of a warehouse stacker according to an embodiment of the present utility model.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments, but not all embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the embodiments herein.

It should be noted that, in the description of the present application, if the terms "first," "second," and the like are used merely for convenience in describing different components or names, they should not be construed as indicating or implying a sequential relationship, relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, if "and/or" is present throughout, it is meant to include three side-by-side schemes, for example, "a and/or B", including a scheme, or B scheme, or a scheme where a and B meet at the same time.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

The embodiment of the application provides a storage stacker and conveyor, through set up a plurality of year thing modules that can remove article in the horizontal direction and can carry the cloud platform that this article removed in the vertical direction in the storage stacker, this carries the cloud platform can also carry the article outside the box through the play thing mouth of box, and then make the article in the box can transport in a plurality of directions voluntarily in order to carry out purposeful letter sorting, then the accurate delivery article receiver to promote delivery efficiency and delivery security.

Referring to fig. 1, a schematic perspective view of a warehouse stacker according to an embodiment of the present utility model includes a gantry 10, a plurality of basket brackets 20, and a telescopic module 30.

Referring to fig. 2, the gantry 10 includes a top frame 110 and two side supports 120 connected below the top frame 110;

the plurality of basket brackets 20 are used for placing the basket 40, and are connected to one side of the two side supports 120 at intervals along the height direction of the side supports 120;

the telescopic module 30 is provided at a side of the two side supports 120 facing away from the basket support 110, can reciprocate in a height direction of the side supports 120 to be aligned with each of the basket supports 110, and can be extended under the basket support 20 or retracted from under the basket support 20.

Specifically, the portal frame 10 is made of a metal material to ensure sufficient strength, two ends of the top frame 110 are connected with one side support 120, and two side supports 120 are located below the top frame 110 to form an inverted U-shaped structure; the plurality of basket supporting frames 20 are spaced apart along the height direction of the side supporting frames 120, wherein the number of the basket supporting frames 20 is determined by the height of the side supporting frames 120 and the interval between two adjacent basket supporting frames 20, and the interval between two adjacent basket supporting frames 20 is determined by the depth of the basket 40; the telescopic module 30 is provided at the other side of the side support 120, that is, the telescopic module 30 and the basket supporting frame 20 are spaced apart at both sides of the side support 120, the telescopic module 30 can reciprocate in the height direction of the side support 120 and align with the basket supporting frame 20 of each layer, and at the same time, the telescopic module 30 can extend from one side of the side support 120 to the side support 120 through the gantry 10; the other side of the basket bracket 20 is under the basket bracket 20 or is retracted from under the basket bracket 20 and passed through the portal frame 10 to the other side of the side support 120.

When picking in a greenhouse, after the basket 40 placed on the telescopic module 30 is filled with fruits and vegetables, the telescopic module 30 drives the basket 40 to move in the height direction of the side support 120 to a set height, the telescopic module 30 is aligned with the basket support 20 at the set height, and then the telescopic module 30 carries the basket 40 to the basket support 20 through the portal frame 10, and at the moment, the telescopic module 30 just stretches into the lower part of the basket support 20. According to the warehouse stacker disclosed by the embodiment of the utility model, the basket 40 can be accurately conveyed to the positions of the basket brackets 20 with different heights by reciprocating the telescopic modules 30 on the side supports 120, and then the telescopic modules 30 extend to the positions below the basket brackets 20 with different heights or retract to the positions below the basket brackets 20 with different heights, so that the accurate taking and placing of the basket 40 are realized, the labor investment in a picking process is saved, and the production efficiency of greenhouse picking is improved.

Further, referring to fig. 3 to 8, in other preferred embodiments of the present utility model, the warehouse stacker further includes a lifting frame 50 and a lifting module 60, the lifting frame 50 is disposed on a side of the two side supports 120 facing away from the basket support 20, and the lifting module 60 drives the lifting frame 50 to reciprocate in a height direction of the side supports 120;

the telescopic module 30 is arranged on the lifting frame 50.

Here, the telescopic module 30 is not directly connected to the side support 120, but is provided inside the lifter 50. Specifically, the lifting frame 50 is connected to one side of the side support 120 away from the basket support 20, that is, the lifting frame 50 and the basket support 20 are separated from each other to form two sides of the side support 120, and the lifting frame 50 can reciprocate in the height direction of the side support 120 under the driving of the lifting module 60, so as to drive the telescopic module 30 to move in the height direction of the side support 120.

In addition, in order to conveniently detect the height of the telescopic module 30 reciprocally moving in the height direction of the side support 120, so that the telescopic module 30 can be precisely aligned with the basket support 20 at different height positions, so that the telescopic module 30 can smoothly convey the basket 20 to the basket support 20 or take the basket 20 out of the basket support 20, a lifting photoelectric sensor (not shown in the drawing) for detecting the position of the telescopic module 30 is provided at each basket support 20 position at the side of the side support 120 facing away from the basket support 20. Here, the elevating photoelectric sensor is used to detect the moving height of the telescopic module 30 in real time.

Further, the lifting frame 50 includes a bottom plate 510 connected to the side support 120 and two side edges 520, and the telescopic module 30 is disposed on the bottom plate 510;

the ends of the two side edges 520, which are close to the side supports 120, are provided with telescopic correlation sensors 530 for detecting the telescopic action of the telescopic modules 30.

Specifically, two sides 520 are connected to two opposite sides of the bottom plate 510 to form the lifting frame 50, and in other preferred embodiments of the present utility model, the lifting frame 50 is further provided with an end plate 540, and the end plate 540 is connected to one end of the two sides 520 facing away from the side support 120, and is also connected to one end of the bottom plate 510 facing away from the side support 120, so that the lifting frame 50 forms a drawer-like structure with one end open, and one end facing away from the end plate 540 is connected to the side support 120. The telescopic correlation sensor 530 is disposed at the end of the two side edges 520 near the side support 120, and the telescopic correlation sensor 530 is used for detecting the telescopic action of the telescopic module 30, such as detecting whether the basket 40 is placed on the basket support 20 or whether the basket 40 is retrieved from the basket support 20.

Further, the lifting module 60 includes a transmission mechanism 610, a sliding table 620, and a lifting motor 630, where the lifting motor 630 is disposed on the top frame 110 and drives the transmission mechanism 610, the transmission mechanism 610 is disposed on the side support 120, the sliding table 620 extends out of the surface of the side support 120 and is connected to the transmission mechanism 610, and the sliding table 620 can reciprocate in the height direction of the side support 120 under the driving of the transmission mechanism 610;

the lifting frame 50 is connected to the sliding table 620.

Specifically, the transmission mechanism 610 is located on the side support 120 and connected to the sliding table 620 on the surface of the side support 120, the lifting frame 50 is connected to the sliding table 620, and the lifting motor 630 is connected to the top frame 110, which may be a set, and is in transmission connection with the transmission mechanism 610 on one side; the two lifting motors 630 may be synchronously operated and are respectively connected with the transmission mechanisms 610 of the two side supports 120 in a transmission manner, and the lifting motors 630 drive the transmission mechanisms 610 to move and further drive the sliding tables 620 to reciprocate in the height direction of the side supports 120, so that the lifting frame 50 reciprocates in the height direction of the side supports 120, that is, drives the telescopic modules 30 in the lifting frame 50 and the frames 40 above the telescopic modules 30 to reciprocate in the height direction of the side supports 120.

In addition, the lifting module 60 further includes a slack adjuster 640 connected to the transmission mechanism 610, where the slack adjuster 640 is disposed at an end of the side support 120 away from the top frame 110.

Specifically, the tightness adjusting mechanism 640 is disposed at the end of the side support 120 far from the top frame 110, and is connected to the transmission mechanism 610 inside the side support 120, and is used for adjusting tightness of the transmission mechanism 610, so as to ensure that the transmission mechanism 610 can carry the sliding table 620 to perform stable reciprocating movement in the height direction of the side support 120, and further improve stability of the telescopic module 30 when carrying the frame 40 to lift.

The transmission mechanism 610 is a synchronous belt type transmission mechanism, and includes, but is not limited to, a chain, a belt, a conveyor belt, or the like.

Further, in order to avoid damage to the slack adjuster 640 caused by the sliding downward movement of the sliding table 620 beyond a limited position during transportation of the heavy objects, the lifting module 60 further includes a lifting stopper 650, and the lifting stopper 650 is disposed at an end of the side support 120 to limit the sliding table 620.

Specifically, the lifting limiting block 650 is disposed between the slack adjuster 640 and the sliding table 620, and is fixed at the end of the side support 120, so as to limit the sliding table 620 that reciprocates in the height direction of the side support 120, and also to protect the slack adjuster 640 to a certain extent.

Further, the lifting module 60 further includes an associated shaft 660 disposed along the length direction of the top frame 110, and the associated shaft 660 is driven by the lifting motor 630 to rotate;

both ends of the associated shaft 660 are respectively connected with the driving mechanisms 610 inside the two side supports 120.

Specifically, in this embodiment, the lifting motor 630 is disposed and connected with the associated shaft 660 through a transmission structure, so that the lifting motor 630 can drive the associated shaft 660 to rotate, and two ends of the associated shaft 660 are respectively connected with the transmission mechanisms 610 inside the two side supports 120 in a transmission manner, so that the lifting motor 630 drives the sliding tables 620 on the two side supports 120 to reciprocate in the height direction of the side supports 120. Through the structure of the lifting motor 630 matched with the associated shaft 660, the transmission mechanism 610 in the two side supports 120 can be further ensured to run synchronously to improve the stability of transportation, and meanwhile, the structure of the lifting module 60 can be simplified, and the material cost is saved.

Further, the lifting module 60 further includes a module cover 670 and a module base 680, the module base 680 is connected to the side support 120, the transmission mechanism 610 is fixed to the module base 680, and the module cover 670 is connected to the module base 680 to cover the transmission mechanism 610.

Here, the side support 120 is only a supporting frame, the sliding table 620 and the transmission mechanism 610 are not directly disposed on the side support 120, but are disposed on the module bases 680, the two module bases 680 are respectively and fixedly connected to the two side supports 120, the sliding table 620 can slide reciprocally on the module bases 680 under the driving of the transmission mechanism 610, the module cover 670 is disposed on one surface of the module base 680 away from the side support 120 for shielding the transmission mechanism 610, so as to protect the module base 680, and meanwhile, the module base 680 can also improve the strength of the side support 120, and increase the supportability of the lifting module 60.

In addition, the lifting module 60 further includes a band-type brake (not shown) connected to the associated shaft 660, for providing a band-type brake to prevent people from being dropped and injured by a crash when the lifting frame 50 moves vertically.

Further, the warehouse stacker further comprises a control transfer module 70, including a control box 710 and a control circuit board 720;

the control circuit board 720 is provided within the control box 710,

the control box 710 is provided at an end of the side support 120 remote from the top frame 110.

Specifically, the control box 710 is disposed at the bottom of the side support 120, and is generally made of a metal material, and includes an upper cover 7101 and a lower cover 7102 that can be connected together, and the upper cover 7101 and the lower cover 7102 are connected together to form a relatively closed accommodating space so as to improve the waterproof performance thereof. The control circuit board 720 is disposed in a relatively closed accommodation space formed by the control box 710.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the embodiments of the present application, and are not limited thereto; although the embodiments of the present application have been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims

1. A warehouse stacker, comprising:

2. The warehouse stacker as in claim 1, further comprising a lift frame and a lift module, the lift frame being mounted on a side of the side supports facing away from the basket support, the lift module driving the lift frame to reciprocate in a height direction of the side supports; the telescopic module is arranged on the lifting frame.

3. The warehouse stacker as claimed in claim 2, wherein the lifting module includes a lifting motor, a transmission mechanism and a sliding table, the lifting motor is provided on the top frame and drives the transmission mechanism, the transmission mechanism is provided on the side support, the sliding table extends out of the side support surface and is connected with the transmission mechanism, and the sliding table can reciprocate in a height direction of the side support under the drive of the transmission mechanism; the lifting frame is connected to the sliding table.

4. The warehouse stacker as in claim 3, wherein the lift module further comprises a module cover and a module base, the module base being connected to the side support, the drive mechanism being secured to the module base, the module cover being connected to the module base to shield the drive mechanism.

5. The warehouse stacker as in claim 3, wherein the lift module further comprises a lift stop block disposed at an end of the side support to stop the slide table.

6. The warehouse stacker as in claim 3, wherein the lift module further comprises a slack adjuster mechanism coupled to the drive mechanism, the slack adjuster mechanism being disposed at an end of the side support remote from the top rack.

7. The warehouse stacker as in claim 3 wherein the lift module further comprises a shut-off shaft disposed along a length of the top rack, the associated shaft being rotated by the lift motor;

and two ends of the associated shaft are respectively connected with the transmission mechanisms inside the two side supports.

8. The warehouse stacker as in claim 2 wherein the lift comprises a bottom plate and two side edges connected to the side supports, the telescoping modules being disposed on the bottom plate;

the ends of the two side edges, which are close to the side supports, are provided with telescopic correlation sensors for detecting the telescopic action of the telescopic modules.

9. The warehouse stacker as in claim 1, wherein a lift photosensor is provided at each of the basket support locations on a side of the side support facing away from the basket support to detect the position of the telescoping module.

10. The warehouse stacker as in any one of claims 1-9, further comprising a control relay module comprising a control box and a control circuit board;

the control circuit board is arranged in the control box,

the control box is arranged at the end part of the side support far away from the top frame.