CN221164431U - Automatic moving stacker and automatic stereoscopic warehouse - Google Patents

Abstract

The application discloses a self-moving stacker which comprises a moving mechanism, a material placing device and a material switching device. The moving mechanism moves the material placing device to the appointed position, and the material placing device is provided with a plurality of material placing plates for accommodating a plurality of materials, so that the material placing device can transport the plurality of materials in the process of carrying the materials at one time. In addition, the material switching device can convey materials from the inlet and the outlet of the roadway to the designated storage rack, and the materials placed on all the storage boards can be correspondingly placed on the corresponding storage rack, so that a plurality of materials can be directly stacked in one-time material conveying, and the conveying efficiency of the self-moving stacker is improved. The application also discloses an automatic stereoscopic warehouse.

Description

Automatic moving stacker and automatic stereoscopic warehouse

Technical Field

The application relates to the technical field of intelligent warehouse, in particular to a self-moving stacker and an automatic stereoscopic warehouse.

Background

With the continuous progress of the mechanization of the manufacturing industry, more and more goods need to be stored rapidly and accurately, and for this reason, an automatic stereoscopic warehouse is generated, which is a warehouse for storing goods by using high-rise stereoscopic shelves and automatically controlling a tunnel stacker by a computer to perform goods storing and taking operations. Tunnel stackers are special cranes developed along with the advent of automated stereoscopic warehouses, commonly referred to as stackers for short, and are the most important lifting and transporting equipment in automated stereoscopic warehouses. The stacker runs along the track in the tunnel of the automatic stereoscopic warehouse, stores the goods at the tunnel mouth into the designated goods lattice of the stereoscopic goods shelf, or takes out the materials in the designated goods lattice and conveys the materials to the tunnel mouth, so as to finish the warehouse-in and warehouse-out operation of the materials, thereby not only reducing the labor cost, but also improving the safety of product storage.

The travelling mechanism at the bottom of the existing stacker mostly adopts belt transmission, gear rack transmission or steel wheel transmission, and when in belt transmission, a belt is easy to age or break and needs frequent maintenance and overhaul; the gear and rack transmission is easy to generate tooth surface abrasion, dust is generated to pollute the production environment, and the running noise is high; the steel wheel transmission response speed is slower and the running noise is big. In addition, the existing stacker can only be installed and operated in the tunnel of the automatic stereoscopic warehouse, and the operation of the existing stacker is limited. Moreover, only one material can be transported to the corresponding designated cargo compartment at a time, so that the work efficiency cannot be improved.

How to improve the moving efficiency and the carrying efficiency of the stacker is a urgent problem for those skilled in the art.

Disclosure of utility model

The embodiment of the application provides a self-moving stacker to solve the problem of how to improve the moving efficiency and the carrying efficiency of the stacker in the prior art, and also provides an automatic stereoscopic warehouse.

The embodiment of the application provides a self-moving stacker, which comprises:

the moving mechanism has self-moving capability and can move according to a preset path;

The material placing device is arranged on the moving mechanism and can move along with the moving mechanism; the material placing device is provided with a plurality of parallel placing plates along the vertical direction, and the placing plates are used for bearing materials;

the material switching device is movably arranged on the material placing device and is positioned on one side opposite to the object placing plate and can move along the vertical direction;

The self-moving stacker is configured to: when the moving mechanism drives the material placing device to move to a material taking area, the material switching device rotates a first angle in the horizontal direction to clamp the material in the material taking area, moves to one side of the empty material placing plate along the vertical direction, and rotates a second angle in the horizontal direction to be opposite to the empty material placing plate; the material transfer device moves along a first direction so as to place the clamped material on the empty material placing plate;

And the like, until all empty storage plates are used for storing materials, the moving mechanism drives the material storage device to move to a storage area, and the materials on the target storage plates are placed on a target storage rack in the storage area through the material switching device; the object placing plates are one or more of the placing plates, the object placing frames are one or more of the placing frames, and the placing frames in the storage area are arranged in one-to-one opposite to the placing plates of the material placing device.

Optionally, the placing the material on the target object placing plate on the target object placing rack of the object storing area through the material transferring device includes:

determining a target commodity shelf of a storage area;

Controlling the moving mechanism to drive the material placing device to move to a roadway of the target storage rack in the storage area;

determining a target object placing plate corresponding to the target object placing frame;

And controlling the material switching device to move to the target object placing plate, and placing the material on the target object placing plate on a target object placing rack in the object storage area.

Optionally, the self-moving stacker is further configured to:

Determining the material of a target commodity shelf in a storage area;

Controlling the moving mechanism to drive the material placing device to move to a roadway of the target storage rack in the storage area;

determining a target object placing plate corresponding to the target object placing frame;

And controlling the material switching device to move to the target object placing plate, and placing the material on the target object placing frame in the object storing area on the target object placing plate.

Optionally, the material placement device further includes:

the supporting frames are distributed along the vertical direction and fixed on the moving mechanism;

The positioning piece is adjustably arranged on the supporting frame; the object placing plate is connected with the positioning piece so as to be positioned at the appointed position of the supporting frame along with the positioning piece.

Optionally, the material switching device includes:

A support slide having a slide assembly in the first direction and a transport assembly in the vertical direction to move in the first direction on the support frame by the slide assembly and to move in the vertical direction on the support frame by the transport assembly;

The rotating mechanism is arranged on the supporting sliding table and can rotate in the horizontal direction so as to rotate the materials arranged on the supporting sliding table to a corresponding angle;

The clamping mechanism is arranged on the rotating mechanism and performs telescopic movement in a second direction so as to clamp the material in an extending state and release the material in a retracting state.

Optionally, the rotating mechanism includes:

the first driving motor is arranged on the supporting sliding table;

the thread ring is arranged at the first driving end of the first driving motor;

the rotating disc is rotationally arranged on the supporting sliding table and used for bearing the materials;

The poking teeth are arranged on the circumferential end surface of the rotating disc and meshed with the threads of the thread ring;

The first driving end of the first driving motor drives the thread ring to rotate, so that the thread ring is meshed with the threads of the poking teeth, and the rotating disc is driven to rotate.

Optionally, the gripping mechanism includes:

The first driving cylinders are arranged on the rotating disc, and the first driving ends of the first driving cylinders are distributed along the second direction;

The clamping piece is connected with the first driving end of the first driving cylinder so as to perform telescopic motion along the second direction under the driving of the first driving end of the first driving cylinder, clamp the material when the first driving end of the first driving cylinder is in an extending state, and loosen the material when the first driving end of the first driving cylinder is in a retracting state;

The second driving cylinder is arranged on the rotating disc and connected with the clamping piece so as to perform telescopic movement along the first direction under the driving of the second driving end of the second driving cylinder.

Optionally, the conveying assembly includes:

the second driving motor is arranged on the support frame or the moving mechanism;

A transfer shaft; the switching shaft positioned at the upper top end and the lower top end of the support frame is connected with the second driving end of the second driving motor;

The transmission piece is wound around the switching shaft and forms a closed loop state;

The guide assembly is connected to the conveying piece and the supporting frame and driven by the conveying piece to move on the supporting frame along the vertical direction.

Optionally, the guide assembly includes:

The first sliding rail is arranged on two sides of the supporting sliding table along the vertical direction;

the first sliding block is arranged on the supporting sliding table and is connected with the conveying piece and the first sliding rail.

Optionally, the sliding assembly includes:

the second driving end of the third driving cylinder is connected with the supporting sliding table so as to drive the supporting sliding table to move along the first direction;

the second sliding rails are arranged on two sides of the supporting sliding table along the first direction;

The second sliding block is arranged on the supporting frame and is in sliding connection with the second sliding rail.

Optionally, the moving mechanism includes:

A body;

The driving motor is arranged on the machine body and used for driving the machine body to move;

And the control device is arranged in the machine body, connected with the driving motor and used for controlling the driving motor to move according to a preset path.

The embodiment of the application also provides an automatic stereoscopic warehouse, which comprises the self-moving stacker.

Compared with the prior art, the application has the following advantages:

The embodiment of the application provides a self-moving stacker which comprises a moving mechanism, a material placing device and a material switching device, wherein the moving mechanism has self-moving capability and can move according to a preset path. The material placing device is arranged on the moving mechanism and can move along with the moving mechanism. The material placing device is provided with a plurality of parallel placing plates along the vertical direction, and the placing plates are used for bearing materials. The material transfer device is movably arranged on the material placing device and is positioned on one side of the opposite object plates and can move along the vertical direction. The self-moving stacker is configured to: when the moving mechanism drives the material placing device to move to the material taking area, the material switching device rotates a first angle in the horizontal direction to clamp the material in the material taking area, then moves to one side of the empty material placing plate in the vertical direction, rotates a second angle in the horizontal direction to be opposite to the empty material placing plate, and moves along the first direction to place the clamped material on the empty material placing plate. And the like, until all empty storage plates are used for storing materials, the moving mechanism drives the material storage device to move to the storage area, and the materials on the target storage plates are placed on a target storage rack in the storage area through the material switching device.

According to the embodiment, the moving mechanism can move according to the preset path, so that the automatic navigation moving mechanism is directly scheduled, and the moving efficiency of the self-moving stacker is improved. The moving mechanism moves the material placing device to the appointed position, and the material placing device is provided with a plurality of material placing plates for accommodating a plurality of materials, so that the material placing device can transport the plurality of materials in the process of carrying the materials at one time. In addition, the material switching device can convey materials from the inlet and the outlet of the roadway to the designated storage rack, and the materials placed on all the storage boards can be correspondingly placed on the corresponding storage rack, so that a plurality of materials can be directly stacked in one-time material conveying, and the conveying efficiency of the self-moving stacker is improved.

Drawings

Fig. 1 is a schematic view of a self-moving stacker according to a first embodiment of the present application.

Fig. 2 is a perspective view of a self-moving stacker provided in a first embodiment of the present application.

Fig. 3 is a schematic structural view of a partial structure of a self-moving stacker provided in the first embodiment of the present application.

Fig. 4 is a schematic structural view of a partial structure of a rotating mechanism according to a first embodiment of the present application.

Fig. 5 is a schematic view of a moving mechanism according to a first embodiment of the present application.

Reference numerals:

The device comprises a moving mechanism 1, a machine body 11, a driving wheel 12, a driven wheel 13, a driving motor 14, a material placing device 2, a material placing plate 21, a supporting frame 22, a positioning piece 23, a material switching device 3, a supporting sliding table 4, a connecting plate 41, a sliding component 5, a second sliding rail 51, a conveying component 6, a first sliding rail 61, a first sliding block 62, a rotating mechanism 7, a first driving motor 71, a threaded ring 72, a rotating disc 73, a rotating output shaft 74, a clamping mechanism 8, a clamping piece 81 and a material 9.

Detailed Description

For a better understanding of the objects, technical solutions and advantages of the embodiments of the present application, those skilled in the art will clearly and completely describe the technical solutions of the embodiments of the present application 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.

It is further noted that terms like "on," "connected to" another element may be directly on, connected to, or may exist with respect to the other element. In contrast, when an element is referred to as being "directly on" or "directly connected" to another element, there are no intervening elements present.

In the embodiments of the present application, the terms "first," "second," "third," and the like are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. The data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprise," "include," "contain," and the like, mean that there are stated features, but do not exclude one or more other features. Spatially relative terms such as "upper," "lower," "left," "right," "front," "rear," and the like, may be used to refer to a spatial relationship of one feature to another in the drawings, and it is understood that the spatially relative terms may be used to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, when the device in the figures is inverted, features that are "below" its features are described as "above" its features.

The embodiment of the application provides a self-moving stacker to solve the problem of how to improve the moving efficiency and the carrying efficiency of the stacker in the prior art, and also provides an automatic stereoscopic warehouse.

Fig. 1 is a schematic view of a self-moving stacker according to a first embodiment of the present application. Fig. 2 is a perspective view of a self-moving stacker provided in a first embodiment of the present application. Fig. 3 is a schematic structural view of a partial structure of a self-moving stacker provided in the first embodiment of the present application. Fig. 4 is a schematic structural view of a partial structure of a rotating mechanism according to a first embodiment of the present application. Fig. 5 is a schematic view of a moving mechanism according to a first embodiment of the present application.

First embodiment

As shown in fig. 1 to 5, an embodiment of the present application provides a self-moving stacker, which includes a moving mechanism 1, a material 9 placement device 2 and a material 9 transfer device 3, wherein the moving mechanism 1 has a self-moving capability and can move according to a preset path. The material 9 placing device 2 is arranged on the moving mechanism 1 and can move along with the moving mechanism 1. The material 9 placement device 2 is provided with a plurality of parallel placement plates 21 in the vertical direction, and the placement plates 21 are used for carrying the material 9. The material 9 switching device 3 is movably arranged on the material 9 placing device 2 and is positioned on one side of the opposite object plate 21 and can move along the vertical direction. The self-moving stacker is configured to: when the moving mechanism 1 drives the material 9 placing device 2 to move to the material taking area, the material 9 switching device 3 rotates a first angle in the horizontal direction to clamp the material 9 in the material taking area, moves to one side of the empty material placing plate 21 in the vertical direction, rotates a second angle in the horizontal direction to be opposite to the empty material placing plate 21, and moves the material 9 switching device 3 in the first direction to place the clamped material 9 on the empty material placing plate 21. And the like, until all empty storage plates 21 are used for storing the materials 9, the moving mechanism 1 drives the material 9 storage device 2 to move to a storage area, and the materials 9 on the target storage plates 21 are placed on a target storage rack in the storage area through the material 9 switching device 3. Wherein, the object placing plates 21 are one or more of the placing plates 21, the object placing shelf is one or more of the placing shelves, and the placing shelf in the storage area is arranged opposite to the placing plates 21 of the material 9 placing device 2 one by one. The specific structure and connection manner of each device will be specifically described as follows.

Specifically, in the present embodiment, the moving mechanism 1 includes: the device comprises a machine body 11, a driving motor 14, a control device, a driving wheel 12 and a driven wheel 13, wherein the machine body 11 is a supporting carrier of the moving mechanism 1 and is also a protective shell of the moving mechanism 1. The machine body 11 can be internally provided with a driving motor 14 and a control device, and the material 9 placing device 2 and the material 9 switching device 3 can be arranged on the machine body 11. Specifically, the driving motor 14 is disposed inside the machine body 11 and is connected to a driving wheel 12 disposed on a base of the machine body 11, so as to drive the machine body 11 to move by driving the driving wheel 12. The driven wheels 13 are provided at corners of the base of the body 11 for providing support to the body 11 and smooth movement. The control device is arranged in the machine body 11, and in one example, the control device comprises a first control device for controlling the movement of the moving mechanism 1 and a second control device for controlling the operation of the material 9 switching device 3, wherein the first control device is in communication connection with the driving motor 14 and is used for controlling the driving motor 14 to move according to a preset path. The second control device is in communication connection with the material 9 switching device 3 and is used for controlling the material 9 switching device 3 to clamp and place the material 9 to a corresponding position. The first control device and the second control device can communicate to mutually cooperate to complete the acquisition of the material 9 and the placement of the material 9 for the moving mechanism 1 and the material 9 switching device 3.

In an example, the moving mechanism 1 further comprises a battery assembly, the battery assembly comprises a battery pack, a charging interface and a discharging interface, wherein the charging interface is used for acquiring electric energy provided by an external power supply, the battery pack is used for storing the electric energy and releasing the electric energy, and the discharging interface is respectively connected with the moving mechanism 1 and the material 9 switching device 3 and used for providing the electric energy for the moving mechanism 1 and the material 9 switching device 3.

In an example, the moving mechanism 1 further comprises sensing means or laser means for acquiring travel information in the moving route, the travel information comprising path information, obstacle information, material 9 information, etc. The induction device or the laser device feeds back the acquired migration information to the first control device and the second control device, and the first control device and the second control device control the moving mechanism 1 and the material 9 switching device 3 to acquire the material 9 and place the material 9 according to the migration information.

In an example, the moving mechanism 1 further includes a protection structure provided at a peripheral side of the bottom of the body 11 for preventing the body 11 from being crashed or deformed at the time of collision of the body 11.

In this embodiment, the material 9 placement device 2 is disposed on the body 11 of the moving mechanism 1 and can move along with the moving mechanism 1. The material 9 placement device 2 is provided with a plurality of parallel placement plates 21 in the vertical direction, and the placement plates 21 are used for carrying the material 9. In this embodiment, the material 9 placement device 2 further includes a supporting frame 22 and a positioning member 23, wherein the supporting frame 22 is distributed along a vertical direction and is fixed on the machine body 11 of the moving mechanism 1. In one example, the support frame 22 includes two opposite support bars and a cross bar, each of the support bars being distributed in a vertical direction, the cross bar being disposed on top of the two support bars and connecting the two support bars. The positioning piece 23 is adjustably arranged on the supporting frame 22, and the object placing plate 21 is connected with the positioning piece 23 so as to be positioned at a designated position of the supporting frame 22 along with the positioning piece 23. Wherein in an example, the positioning member 23 comprises a positioning plate or a positioning strip, or a positioning block, etc., and the positioning member 23 is disposed on the same side of the support frame 22. The positioning member 23 may be provided with an adjustable structure by which the distance between the object placing plates 21 connected to the positioning member 23 is conveniently adjusted. In an example, the adjustable structure of the positioning member 23 includes a bolt and a screw hole structure, the screw hole penetrates through the positioning member 23 and is disposed on the support frame 22, and the bolt is screwed to the screw hole to fix the positioning member 23 to the support frame 22. In an example, the adjustable structure of the positioning member 23 includes a positioning protrusion and a positioning slot, where the positioning slot penetrates the positioning member 23 and is disposed on the support frame 22, and the protrusion is clamped in the positioning slot to fix the positioning member 23 to the support frame 22. The material 9 placing device 2 is provided with a plurality of parallel placing plates 21 along the vertical direction, so that the self-moving stacker can more likely place the material 9 in one transportation process and transport a plurality of materials 9 at one time. In one example, the positioning members 23 are positioned at the designated positions of the supporting frame 22 according to the position of the shelf in the storage area, and the shelf in the storage area is plural and is distributed in parallel along the transverse direction and the longitudinal direction.

In an example, the connection manner of the storage plate 21 and the positioning member 23 may be first slidably connected and then fixedly connected, specifically, a slide rail is disposed on one side of the positioning member 23, and correspondingly, the storage plate 21 is provided with a slider, and the slider is slidably connected with the slide rail, so that the storage plate 21 may slide on the positioning member 23. After sliding to the designated position, one side of the positioning member 23 is provided with a screw hole and a bolt structure, so that the object placing plate 21 is fixed on the positioning member 23.

In this embodiment, the material 9 in the material taking area can be placed on one side of the empty material placing plate 21 through the material 9 transferring device 3, and after all empty material placing plates 21 are placed with the material 9, the material 9 on the target material placing plate 21 is placed on the target rack in the material storing area.

Specifically, in the present embodiment, the material 9 transferring device 3 includes a support slide 4, a rotating mechanism 7, and a gripping mechanism 8, wherein the support slide 4 has a slide assembly 5 in a first direction (arrow direction shown in fig. 2) and a conveying assembly 6 in a vertical direction to move in the first direction on a support frame 22 by the slide assembly 5, and to move in the vertical direction on the support frame 22 by the conveying assembly 6. The first direction is the direction of the material 9 in the horizontal direction relative to the object plate 21 of the transfer device 3. The rotating mechanism 7 is arranged on the supporting sliding table 4 and can rotate in the horizontal direction so as to rotate the material 9 arranged on the supporting sliding table 4 to a corresponding angle. The gripping mechanism 8 is provided to support the slide table 4 and performs a telescopic movement in a second direction to grip the material 9 in the extended state and to release the material 9 in the retracted state. The second direction is a direction perpendicular to the first direction in the horizontal direction.

In one example, the support slide table 4 is integrally in a square body structure, and a mounting space for mounting the rotating mechanism 7 is formed in the middle of the support slide table, and the rotating mechanism 7 is movably mounted in the mounting space. In one example, the rotation mechanism 7 includes a first drive motor 71, a screw ring 72, a rotation disk 73, and a setting gear, wherein the first drive motor 71 is provided on the support slide table 4. The screw ring 72 is disposed at the first driving end of the first driving motor 71 and can rotate synchronously with the first driving end of the first driving motor 71. In one example, the first drive end of the first drive motor 71 includes a rotary output shaft 74. The rotating disc 73 is rotatably arranged on the supporting sliding table 4 and is used for bearing the materials 9. In one example, the rotating disc 73 can rotate 360 degrees relative to the support slide table 4. In one example, the rotating disc 73 further comprises a maintenance wall arranged perpendicular to the disc of the rotating disc 73, the maintenance wall and the disc of the rotating disc 73 cooperating to define the displacement of the material 9 on the rotating disc 73. The poking teeth are arranged on the circumferential end face of the rotating disc 73 and are meshed with the threads of the thread rings 72, and the first driving end of the first driving motor 71 drives the thread rings 72 to rotate, so that the thread rings 72 are meshed with the threads of the poking teeth to drive the rotating disc 73 to rotate, and the material 9 is driven to rotate to a corresponding angle.

The rotating mechanism 7 is also used for adjusting the direction of the clamping mechanism 8, i.e. the clamping mechanism 8 is arranged on the rotating mechanism 7 and rotates along with the rotating mechanism 7. In one example, the gripping mechanism 8 includes a first driving cylinder, a gripping member 81, and a second driving cylinder, wherein the first driving cylinder is disposed on the rotating disk 73, and first driving ends of the first driving cylinders are distributed along the second direction. The clamping member 81 is connected with the first driving end of the first driving cylinder to perform telescopic movement along the second direction under the driving of the first driving end of the first driving cylinder, clamp the material 9 when the first driving end of the first driving cylinder is in the extending state, and loosen the material 9 when the first driving end of the first driving cylinder is in the retracting state. The second driving cylinder is disposed on the rotating disc 73 and connected to the gripping member 81 to perform telescopic movement along the first direction under the driving of the second driving end of the second driving cylinder. In one example, the gripper 81 includes a gripping arm or gripping plate.

After gripping the material 9, the material 9 needs to be placed on the corresponding placement plate 21. In this embodiment, the material 9 can be placed on the corresponding placement plate 21 by the sliding assembly 5 and the conveying assembly 6 in the material 9 placement device 2.

Specifically, in one example, the material 9 placement device 2 may be pushed to the vertically oriented placement plate 21 by the conveyor assembly 6, such that the material 9 may be pushed to the vertically oriented placement plate 21 by the conveyor assembly 6. The conveying assembly 6 comprises a second driving motor, a switching shaft, a conveying member and a guiding assembly, wherein the second driving motor is arranged on the supporting frame 22 or the moving mechanism 1. The switching shaft is arranged at the upper top end and the lower top end of the supporting frame 22, and the switching shaft at the lower top end is connected to the second driving end of the second driving motor. The transfer member is wound around the transfer shaft and forms a closed loop. In one example, the conveyor includes a conveyor chain and a conveyor belt. The guiding component is connected to the conveying member and the supporting frame 22, and moves on the supporting frame 22 along the vertical direction under the driving of the conveying member. In an example, the guiding assembly includes a first slide rail 61 and a first slide block 62, wherein the first slide rail 61 is disposed on two sides of the supporting slide table 4 in a vertical direction, and the first slide block 62 is disposed on the supporting slide table 4 and is connected with the conveying member and the first slide rail 61. The second driving motor drives the switching shaft to rotate so as to drive the conveying piece to rotate, and accordingly the first sliding block 62 drives the supporting sliding table 4 to move to the position of the supporting frame 22 where the object placing plate 21 with the specified height is located in the vertical direction.

In the position of the support frame 22 where the support sliding table 4 moves to the object placing plate 21 with a specified height, the material 9 placing device 2 can be pushed to the object placing plate 21 in the horizontal direction through the sliding component 5, so that the material 9 can be pushed to the object placing plate 21 in the horizontal direction through the sliding component 5.

In an example, the sliding assemblies 5 are provided at opposite sides of the support slide table 4, and the sliding assemblies 5 include: the third driving cylinder, the second slide rail 51 and the second slider, wherein the third driving cylinder is provided on the rotating disk 73, specifically, may be located on one side of the inside of the rotating disk 73 or on one side of the outside of the rotating disk 73. The second driving end of the third driving cylinder is arranged along the first direction, and the second driving end of the third driving cylinder is connected with the supporting sliding table 4 to drive the supporting sliding table 4 to move along the first direction. The second slide rails 51 are provided on both sides of the support slide table 4 in the first direction. The second sliding block is arranged on the supporting frame 22 and is in sliding connection with the second sliding rail 51, so that when the second driving end of the third driving cylinder drives the supporting sliding table 4, the supporting sliding table 4 can slide in the first direction through the second sliding rail 51 and the second sliding block, and the material 9 is pushed to the object placing plate 21 in the horizontal direction. In one example, the first slider 62 and the second slider are commonly disposed on a connection plate 41.

When the moving mechanism 1 drives the material 9 placing device 2 to move to the material taking area, the first driving end of the first driving motor 71 drives the thread ring 72 to rotate, so that the thread ring 72 is meshed with the thread of the shifting tooth to drive the rotating disc 73 to rotate, thereby driving the clamping mechanism 8 to rotate to a first angle, performing telescopic motion along the second direction under the driving of the first driving end of the first driving cylinder, and clamping the material 9 when the first driving end of the first driving cylinder is in an extending state. After the gripping mechanism 8 grips the material 9 in the gripping area, the second driving end of the second driving cylinder is driven to retract along the first direction, so that the gripping member 81 is retracted to a position close to the supporting sliding table 4. Then, the second driving motor drives the switching shaft to rotate so as to drive the conveying member to rotate, and thus the first sliding block 62 drives the supporting sliding table 4 to move to the position of the support frame 22 where the object placing plate 21 with the specified height is located along the vertical direction, and the position is one side of the empty object placing plate 21. The first driving end of the first driving motor 71 drives the clamping mechanism 8 to rotate in the horizontal direction by a second angle to be opposite to the empty storage plate 21 by driving the threaded ring 72 to rotate so that the threaded ring 72 is meshed with the threads of the shifting teeth to drive the rotating disc 73 to rotate, the second driving end of the second driving cylinder drives the clamping member 81 to extend in the first direction to a position close to the empty storage plate 21, and simultaneously, the first driving end of the first driving cylinder drives the clamping member 81 to retract in the second direction and releases the material 9 when the first driving end of the first driving cylinder is in a retracted state so as to place the clamped material 9 on the empty storage plate 21. And the like, until all empty storage plates 21 are used for storing the materials 9, the moving mechanism 1 drives the material 9 storage device 2 to move to a storage area, and the materials 9 on the target storage plates 21 are placed on a target storage rack in the storage area through the material 9 switching device 3. Wherein, the object placing plates 21 are one or more of the placing plates 21, the object placing shelf is one or more of the placing shelves, and the placing shelf in the storage area is arranged opposite to the placing plates 21 of the material 9 placing device 2 one by one.

Of course, in one example, the material 9 provided by other means may also be received directly by the material 9 transferring device 3.

In this embodiment, the material 9 on the target storage plate 21 is placed on the target storage rack of the storage area by the material 9 switching device 3, which includes: first, a target commodity shelf in a storage area is determined, namely, the position of the target commodity shelf in the storage area is determined, and the position information of the target commodity shelf comprises roadway information and height information of the target commodity shelf. Then, the moving mechanism 1 is controlled to drive the material 9 placing device 2 to move to a roadway of the target storage rack in the storage area. Then, the target placement plate 21 corresponding to the target placement rack is determined, wherein the determination of the target placement plate 21 corresponding to the target placement rack can be determined by the position information of the target placement rack, for example, the height information of the target placement plate 21 on the material 9 placement device 2 is determined by the height information of the target placement rack, so that the target placement plate 21 can have the same height as the target placement rack, and the material 9 on the target placement plate 21 can be pushed onto the target placement rack directly. Finally, the material 9 transferring device 3 is controlled to move to the target object placing plate 21, and the material 9 on the target object placing plate 21 is placed on a target object placing rack of the object storing area.

In an example, when the material 9 on the shelf of the storage area needs to be placed on the placement plate 21, this can be achieved by: the material 9 of the target commodity shelf in the storage area is determined, namely, the position of the target commodity shelf in the storage area is determined, and the position information of the target commodity shelf comprises the roadway information and the height information of the target commodity shelf. Then, the moving mechanism 1 is controlled to drive the material 9 placing device 2 to move to a roadway of a target object shelf in the storage area, and then, the target object placing plate 21 corresponding to the target object shelf is determined, wherein the determination of the target object placing plate 21 corresponding to the target object shelf can be determined through the position information of the target object shelf, for example, the height information of the target object placing plate 21 on the material 9 placing device 2 is determined through the height information of the target object shelf, so that the target object placing plate 21 can have the same height as the target object shelf, and the material 9 on the target object placing plate 21 can be directly pushed to the target object shelf. Finally, the material 9 transferring device 3 is controlled to move to the target object placing plate 21, and the material 9 on the target object placing frame in the object storing area is placed on the target object placing plate 21.

Further, the device for placing the material 9 on the rack in the storage area on the storage plate 21 specifically performs the following operations: the material 9 of the target storage rack in the storage area is determined, the moving mechanism 1 is controlled to drive the material 9 placing device 2 to move to a roadway of the target storage rack in the storage area, and the second driving end of the second driving cylinder is driven to retract along the first direction so as to retract the clamping piece 81 to a position close to the supporting sliding table 4. And, the first driving end of the first driving motor 71 drives the screw ring 72 to rotate, so that the screw ring 72 is meshed with the screw of the shifting tooth to drive the rotating disc 73 to rotate, and the clamping mechanism 8 is driven to rotate in the horizontal direction by a second angle to be opposite to the empty object placing plate 21. Then, the target object placing plate 21 corresponding to the target object placing rack is determined, the second driving motor drives the switching shaft to rotate so as to drive the conveying piece to rotate, and accordingly the first sliding block 62 drives the supporting sliding table 4 to move to the position of the support frame 22 where the object placing plate 21 with the specified height is located, and the position is one side of the empty object placing plate 21. At this time, the second driving end of the second driving cylinder is driven to extend along the first direction, so as to extend the clamping member 81 to a position close to the empty storage plate 21, and simultaneously, the first driving end of the first driving cylinder is driven to extend along the second direction, and the material 9 on the storage rack is clamped when the first driving end of the first driving cylinder is in the extending state. After the clamping mechanism 8 clamps the material 9 on the commodity shelf, the second driving end of the second driving cylinder is driven to retract along the first direction so as to retract the clamping piece 81 to a position close to the supporting sliding table 4. And the like, until all empty material placing plates 21 are used for placing materials 9, the moving mechanism 1 drives the material 9 placing device 2 to move to other working areas, and the material 9 on the material placing plates 21 is placed for other works through the material 9 switching device 3.

The embodiment of the application provides a self-moving stacker which comprises a moving mechanism 1, a material 9 placing device 2 and a material 9 switching device 3, wherein the moving mechanism 1 has self-moving capability and can move according to a preset path. The material 9 placing device 2 is arranged on the moving mechanism 1 and can move along with the moving mechanism 1. The material 9 placement device 2 is provided with a plurality of parallel placement plates 21 in the vertical direction, and the placement plates 21 are used for carrying the material 9. The material 9 switching device 3 is movably arranged on the material 9 placing device 2 and is positioned on one side of the opposite object plate 21 and can move along the vertical direction. The self-moving stacker is configured to: when the moving mechanism 1 drives the material 9 placing device 2 to move to the material taking area, the material 9 switching device 3 rotates a first angle in the horizontal direction to clamp the material 9 in the material taking area, moves to one side of the empty material placing plate 21 in the vertical direction, rotates a second angle in the horizontal direction to be opposite to the empty material placing plate 21, and moves the material 9 switching device 3 in the first direction to place the clamped material 9 on the empty material placing plate 21. And the like, until all empty storage plates 21 are used for storing the materials 9, the moving mechanism 1 drives the material 9 storage device 2 to move to a storage area, and the materials 9 on the target storage plates 21 are placed on a target storage rack in the storage area through the material 9 switching device 3.

According to the embodiment, the moving mechanism 1 can move according to the preset path, so that the automatic navigation moving mechanism 1 is directly scheduled, and the moving efficiency of the self-moving stacker is improved. The moving mechanism 1 moves the material 9 placement device 2 to a designated position, and the material 9 placement device 2 is provided with a plurality of placement plates 21 to accommodate a plurality of materials 9, so that the material 9 placement device 2 can transport a plurality of materials 9 in a single-time handling of the materials 9. In addition, the material 9 switching device 3 can convey the materials 9 from the inlet and outlet of the roadway to the designated storage rack, and can correspondingly place the materials 9 placed on all the storage boards 21 on the corresponding storage rack, so that a plurality of materials 9 can be directly stacked in one-time material 9 conveying, and the conveying efficiency of the self-moving stacker is improved.

Second embodiment

The embodiment of the application provides an automatic stereoscopic warehouse, which comprises the content of the self-moving stacker described in the first embodiment. The description will not be repeated here.

While the application has been described with respect to the preferred embodiments, the scope of the application is not limited thereto, and any person skilled in the art can make possible variations and modifications within the scope of the application without departing from the spirit and scope of the application. Therefore, the protection scope of the present application should be defined by the claims.

Claims (12)

1. A self-moving stacker comprising:

the moving mechanism has self-moving capability and can move according to a preset path;

The material placing device is arranged on the moving mechanism and can move along with the moving mechanism; the material placing device is provided with a plurality of parallel placing plates along the vertical direction, and the placing plates are used for bearing materials;

the material switching device is movably arranged on the material placing device and is positioned on one side opposite to the object placing plate and can move along the vertical direction;

The self-moving stacker is configured to: when the moving mechanism drives the material placing device to move to a material taking area, the material switching device rotates a first angle in the horizontal direction to clamp the material in the material taking area, moves to one side of the empty material placing plate along the vertical direction, and rotates a second angle in the horizontal direction to be opposite to the empty material placing plate; the material transfer device moves along a first direction so as to place the clamped material on the empty material placing plate;

And the like, until all empty storage plates are used for storing materials, the moving mechanism drives the material storage device to move to a storage area, and the materials on the target storage plates are placed on a target storage rack in the storage area through the material switching device; the object placing plates are one or more of the placing plates, the object placing frames are one or more of the placing frames, and the placing frames in the storage area are arranged in one-to-one opposite to the placing plates of the material placing device.

2. The self-moving stacker of claim 1, wherein said placing material on a target storage area on a target storage rack of said storage area by said material transfer device comprises:

determining a target commodity shelf of a storage area;

Controlling the moving mechanism to drive the material placing device to move to a roadway of the target storage rack in the storage area;

determining a target object placing plate corresponding to the target object placing frame;

And controlling the material switching device to move to the target object placing plate, and placing the material on the target object placing plate on a target object placing rack in the object storage area.

3. The self-moving stacker of claim 1, further configured to:

Determining the material of a target commodity shelf in a storage area;

Controlling the moving mechanism to drive the material placing device to move to a roadway of the target storage rack in the storage area;

determining a target object placing plate corresponding to the target object placing frame;

And controlling the material switching device to move to the target object placing plate, and placing the material on the target object placing frame in the object storing area on the target object placing plate.

4. The self-moving stacker of claim 1 wherein said material placement device further comprises:

the supporting frames are distributed along the vertical direction and fixed on the moving mechanism;

The positioning piece is adjustably arranged on the supporting frame; the object placing plate is connected with the positioning piece so as to be positioned at the appointed position of the supporting frame along with the positioning piece.

5. The self-moving stacker of claim 4 wherein said material transfer device comprises:

A support slide having a slide assembly in the first direction and a transport assembly in the vertical direction to move in the first direction on the support frame by the slide assembly and to move in the vertical direction on the support frame by the transport assembly;

The rotating mechanism is arranged on the supporting sliding table and can rotate in the horizontal direction so as to rotate the materials arranged on the supporting sliding table to a corresponding angle;

The clamping mechanism is arranged on the rotating mechanism and performs telescopic movement in a second direction so as to clamp the material in an extending state and release the material in a retracting state.

6. The self-moving stacker of claim 5 wherein said rotating mechanism comprises:

the first driving motor is arranged on the supporting sliding table;

the thread ring is arranged at the first driving end of the first driving motor;

the rotating disc is rotationally arranged on the supporting sliding table and used for bearing the materials;

The poking teeth are arranged on the circumferential end surface of the rotating disc and meshed with the threads of the thread ring;

The first driving end of the first driving motor drives the thread ring to rotate, so that the thread ring is meshed with the threads of the poking teeth, and the rotating disc is driven to rotate.

7. The self-moving stacker of claim 6 wherein said gripping mechanism comprises:

The first driving cylinders are arranged on the rotating disc, and the first driving ends of the first driving cylinders are distributed along the second direction;

The clamping piece is connected with the first driving end of the first driving cylinder so as to perform telescopic motion along the second direction under the driving of the first driving end of the first driving cylinder, clamp the material when the first driving end of the first driving cylinder is in an extending state, and loosen the material when the first driving end of the first driving cylinder is in a retracting state;

The second driving cylinder is arranged on the rotating disc and connected with the clamping piece so as to perform telescopic movement along the first direction under the driving of the second driving end of the second driving cylinder.

8. The self-moving stacker of claim 5 wherein said transport assembly comprises:

the second driving motor is arranged on the support frame or the moving mechanism;

A transfer shaft; the switching shaft positioned at the upper top end and the lower top end of the support frame is connected with the second driving end of the second driving motor;

The transmission piece is wound around the switching shaft and forms a closed loop state;

The guide assembly is connected to the conveying piece and the supporting frame and driven by the conveying piece to move on the supporting frame along the vertical direction.

9. The self-moving stacker of claim 8 wherein said guide assembly comprises:

The first sliding rail is arranged on two sides of the supporting sliding table along the vertical direction;

the first sliding block is arranged on the supporting sliding table and is connected with the conveying piece and the first sliding rail.

10. The self-moving stacker of claim 6 wherein said slide assembly comprises:

the second driving end of the third driving cylinder is connected with the supporting sliding table so as to drive the supporting sliding table to move along the first direction;

the second sliding rails are arranged on two sides of the supporting sliding table along the first direction;

The second sliding block is arranged on the supporting frame and is in sliding connection with the second sliding rail.

11. The self-moving stacker of claim 1 wherein said moving mechanism comprises:

A body;

The driving motor is arranged on the machine body and used for driving the machine body to move;

And the control device is arranged in the machine body, connected with the driving motor and used for controlling the driving motor to move according to a preset path.

12. An automated stereoscopic warehouse comprising a self-moving stacker as claimed in any one of claims 1 to 11.