CN112777206B - Lifting cargo carrying platform of stacker - Google Patents
Lifting cargo carrying platform of stacker Download PDFInfo
- Publication number
- CN112777206B CN112777206B CN202110110236.0A CN202110110236A CN112777206B CN 112777206 B CN112777206 B CN 112777206B CN 202110110236 A CN202110110236 A CN 202110110236A CN 112777206 B CN112777206 B CN 112777206B
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- screw rod
- frame
- carrying platform
- driving
- cargo carrying
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- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 238000003466 welding Methods 0.000 claims abstract description 39
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 230000009471 action Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000012546 transfer Methods 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 2
- 239000000969 carrier Substances 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000003578 releasing effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0428—Transfer means for the stacker crane between the alleys
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to the technical field of stackers, in particular to a lifting cargo carrying platform of a stacker, which comprises a cargo carrying platform frame, wherein an upper layer clamping mechanism and a lower layer conveying mechanism are arranged on the cargo carrying platform frame, the upper layer clamping mechanism comprises a welding frame and a welding frame lifting driving mechanism for controlling the welding frame to lift, a screw rod is connected to the welding frame through a bearing, a first driving part for driving the screw rod I is arranged at the same time, two screw rod nuts I with opposite rotation directions are connected to the screw rod I, a bidirectional telescopic manipulator is fixedly connected to the screw rod nuts I, and the two bidirectional telescopic manipulators are oppositely arranged; the lower conveying mechanism comprises a conveying belt and a conveying belt transmission system; the advantages are that: the bidirectional synchronous clamping driving system of the technology can realize the picking and placing of soft package goods between the lifting cargo bed and the goods shelf of the tunnel stacker within a certain size range, and meanwhile, the double-layer mechanism of the technology can realize the movement of the goods in the X+, X-, Y+ and Y-directions.
Description
Technical Field
The invention relates to the technical field of stackers, in particular to a lifting cargo carrying platform of a stacker.
Background
The track tunnel stacker technology is widely applied to stereoscopic warehouses, is a crane operating in a narrow tunnel of a high-rise goods shelf, can greatly improve the area and space utilization rate of the warehouses, and is a main device of an automatic warehouse.
At present, a cargo carrying platform of a tunnel type stacker only can be used for taking and placing a storage box, a carton, a tray and the like with fixed sizes, after the cargo carrying platform is lifted to a specified cargo rack height, a cargo carrying platform fork stretches out, a cargo box with the same width is transferred onto the cargo carrying platform, then the stacker is used for transferring the cargo box to a specified position along a tunnel, and the cargo box is transferred by the same method.
The above prior art has the following disadvantages: the conventional stacker cargo bed can only take and put the goods with fixed size or put the goods on the tray and the storage box, the packing requirement on the products must be in the form of packing with fixed forms such as cartons or wooden boxes, or the products are required to be put on the carriers, and the products and the carriers of each model are required to be in one-to-one correspondence, and a carrier recovery auxiliary system is required to be added. For soft package goods with variable sizes, such as packages packaged by woven bags, the goods cannot be transferred directly between the goods shelves and the stacker load table.
Based on this, the present application is hereby proposed.
Disclosure of Invention
The invention aims to provide a stacker lifting cargo carrying platform so as to realize the transfer of soft package cargoes with non-fixed sizes between a stereoscopic warehouse goods shelf and the stacker lifting cargo carrying platform.
In order to achieve the above object, the technical scheme of the present invention is as follows:
The lifting cargo carrying platform of the stacker comprises a cargo carrying platform frame, wherein an upper layer clamping mechanism and a lower layer conveying mechanism are arranged on the cargo carrying platform frame, the upper layer clamping mechanism comprises a welding frame and a welding frame lifting driving mechanism for controlling the welding frame to lift, a first driving part for driving a first screw rod is connected to the welding frame through a bearing, a first screw nut for driving the first screw rod is connected to the first screw rod, a two-way telescopic manipulator is fixedly connected to the first screw nut, and the two-way telescopic manipulators are oppositely arranged; the lower conveying mechanism comprises a conveying belt and a conveying belt transmission system.
Further, a linear guide mechanism is arranged between the welding frame and the cargo carrying platform frame.
Further, the welding frame lifting driving mechanism comprises a second screw rod and a second driving part for driving the second screw rod, the second driving part is fixed on the carrying platform frame, the second screw rod is connected on the carrying platform frame through a bearing, and a second screw rod nut fixedly connected with the welding frame is arranged on the second screw rod.
Further, a plurality of guide rails I parallel to the screw rods I are fixed on the welding frame, and the bidirectional telescopic manipulator is connected to the guide rails I in a sliding mode.
Further, the conveyer belt transmission system comprises a third driving part and a driving shaft, wherein the third driving part and the driving shaft are arranged above the cargo carrying platform frame, the third driving part is used for driving the driving shaft, a driven shaft is arranged on the conveyer belt, synchronizing wheels are arranged on the driving shaft and the driven shaft, the synchronizing wheels on the driving shaft and the synchronizing wheels on the driven shaft are transmitted through the synchronizing belt, and the synchronizing belt and the synchronizing wheels are arranged along the frame body of the cargo carrying platform frame.
Further, the conveyor belt is provided with a plurality of conveyor belts, and a fluent strip device is arranged between two adjacent conveyor belts.
Further, a fluent strip lifting driving mechanism is arranged on the cargo carrying platform frame.
The invention has the advantages that: the bidirectional synchronous clamping driving system of the technology can realize the picking and placing of soft package goods between the lifting cargo carrying platform and the goods shelf of the tunnel stacking machine within a certain size range, and meanwhile, the double-layer mechanism of the technology can realize the movement of the goods in the X+, X-, Y+ and Y-directions.
Drawings
FIG. 1 is a schematic view of a three-dimensional construction of the present invention in an embodiment;
FIG. 2 is a schematic view of a configuration of a pallet frame in an embodiment;
FIG. 3 is a schematic view of the configuration of the clamping system in an embodiment;
FIG. 4 is a schematic top view of FIG. 3;
FIG. 5 is a schematic view of the configuration of the conveying system in the embodiment;
FIG. 6 is a schematic diagram of the lower view of FIG. 5;
FIG. 7 is a schematic view of a bidirectional telescopic manipulator according to an embodiment;
FIG. 8 is a schematic view of an embodiment of the device in operation;
description of the reference numerals
100. Cargo bed frame, 101.C type slot, 102. Guide rail two;
200. The welding device comprises an upper clamping mechanism, a welding frame, a guide wheel, a 203 sliding block, a first driving part, a 205 guide rail, a 206 mounting plate, a 207 screw rod, a 208 screw rod nut, a 209 screw rod, a 210 second driving part and a 211 screw rod nut;
300. the lower layer conveying mechanism comprises a conveying belt 301, a fluent strip device 303, a synchronous belt 304, a fluent strip lifting driving device 305, a third driving part 306, a driving shaft 307, a driven shaft 308 and synchronous wheels;
400. Bidirectional telescopic manipulator 401. Fork-drag, 402. Fork-push.
Detailed Description
The present invention is described in further detail below with reference to examples.
The embodiment provides a lifting cargo carrying platform of a stacker, as shown in fig. 1, which is used for carrying non-fixed-size soft package commodities on a stereoscopic warehouse roadway stacker, and comprises a cargo carrying platform frame 100, a lower conveying mechanism 300 and an upper holding and clamping mechanism 200. The X-direction and Y-direction hereinafter are in accordance with the directions indicated in fig. 1.
As shown in fig. 3, the upper clamping mechanism 200 includes a U-shaped welding frame 201 and a welding frame lifting driving mechanism for controlling the welding frame 201 to lift, wherein the middle part of the welding frame 201 is connected with a first screw rod 207 through a bearing and is provided with a first driving part 204 for driving the first screw rod 207, the first screw rod 207 is arranged along the X direction, and the first driving part 204 adopts a servo motor with a speed reducer and is arranged in the middle of the first screw rod 207. Two screw nuts 208 with opposite rotation directions are connected to two sides of the first driving part 204 on the first screw rod 207, and a bidirectional telescopic manipulator 400 is fixedly connected to the screw nuts 208 through a mounting plate 206. The synchronous approaching or separating of the two bidirectional telescopic manipulators 400 is realized through the first screw rod 207, and the clamping and releasing actions are realized.
This two-way synchronous clamp actuating system can realize getting between tunnel class stacker lift cargo bed and goods shelves of soft package goods in certain size range and put, compares simultaneously in traditional mode, and the position of self can be placed in the middle all the time in the operation between goods storehouse and cargo bed of assurance material that this kind of function can be fine, especially soft package's goods, and it is difficult to guarantee its position is in the middle all the time in the transfer process with traditional mode.
As shown in fig. 4, in order to make the approaching or separating movement and the bidirectional telescoping movement of the bidirectional telescoping manipulator 400 more stable, in this embodiment, two ends of the welding frame 201Y are both provided with a first guide rail 205 parallel to a first lead screw 207, and the bidirectional telescoping manipulator 400 and the first guide rail 205 are slidably connected through mounting plates 206, that is, each bidirectional telescoping manipulator 400 and the welding frame 201 are connected through three mounting plates 206.
As shown in fig. 2 to 4, a linear guide mechanism is provided between the welding frame 201 and the cargo table frame 100, that is, a guide wheel 202 and a slider 203 are provided on both sides of the welding frame 201X, and a C-shaped groove 101 and a second guide rail 102 are provided on the cargo table frame 100. Such a design reduces the precision requirements of the lifting action for machining. The welding frame lifting driving mechanism of the embodiment comprises a second screw rod 209 and a second driving part 210 for driving the second screw rod 209, wherein the second driving part 210 adopts a motor and is fixed on the carrying platform frame 100, the second screw rod 209 is connected on the carrying platform frame 100 through a bearing, and a second screw nut 211 fixedly connected with the welding frame 201 is arranged on the second screw rod 209. The length of the second screw 209 of the present embodiment is smaller than the height of the cargo table frame 100, so as to avoid interference between the upper clamping mechanism 200 and the lower conveying mechanism 300.
The lower layer conveying mechanism 300 comprises a conveying belt 301 and a conveying belt transmission system, the conveying belt 301 can move cargoes from the buffer area of the stacker to the cargo carrying platform or move cargoes from the cargo carrying platform to the buffer area, compared with the operation of the cargoes by means of mechanical hand pushing, the space is saved, and the cargoes are easy to deform due to large friction, and are easy to accurately and easily operate back and forth between two positions. As shown in fig. 5 and 6, the conveyor belt transmission system of the present embodiment includes a third driving part 305 disposed above the cargo bed frame 100 and a driving shaft 306, the third driving part 305 employs a motor with a speed reducer, and the driving shaft 306 is connected to the cargo bed frame 100 through a bearing. The third driving part 305 is used for driving the driving shaft 306 to rotate (the transmission between the driving shaft and the driving shaft can be through gears, or through synchronous wheels and synchronous belts as shown in the figure). The conveyer belt 301 is provided with a driven shaft 307, the conveyer belt 301 is driven to rotate by the driven shaft 307, both ends of the driving shaft 306 and the driven shaft 307 are provided with synchronizing wheels 308, and the synchronizing wheels 308 on the driving shaft 306 and the synchronizing wheels 308 on the driven shaft 307 are driven by the synchronizing belt 303.
The timing belt 303, the timing wheel 308 and the driving shaft 306 of the present embodiment are disposed along the frame body of the cargo table frame 100, and the driving mechanism is disposed above the cargo table frame 100, so that the conveying area is more concise, and interference is reduced.
Further, the conveyor belt of this embodiment is divided into a plurality of conveyor belts 301, and a fluent strip device 302 is disposed between two adjacent conveyor belts 301, and the fluent strip device 302 is used for reducing friction between the cargo and the lifting cargo platform. Meanwhile, since the conveying direction of the conveyor belt and the telescopic direction of the bidirectional telescopic manipulator 400 are not generally in one direction, the top of the cargo bed frame 100 is further provided with a fluent strip lifting driving mechanism 304 in this embodiment. For example, in the device of the present embodiment, the belt is conveyed along the X direction, and the bidirectional telescopic manipulator 400 stretches along the Y direction, that is, friction between the cargo and the loading platform includes friction in both directions of the X axis and the Y axis. When the goods are transferred on the Y axis, the fluent strip is lifted, so that the conveyor belt is prevented from being rubbed transversely; when X-axis transfer occurs to the goods, the fluent strip descends, the goods are completely contacted with the conveying belt and conveyed by the conveying belt, and compared with a traditional stacker lifting table, the design for changing the conveying direction is achieved by rotating a fork, and the structure of the embodiment is simpler.
The bidirectional telescopic manipulator 400 of this embodiment is in the prior art, and has a three-stage structure (more stages or two stages are also possible), and a driving device is built in to realize bidirectional telescopic, where the first stage of the bidirectional telescopic manipulator 400 is used to realize fixation with the welding frame 201, and the second and third stages are used for bidirectional movement in the Y-axis direction. Meanwhile, a shifting fork is further arranged at two ends of the bidirectional telescopic manipulator 400 in the Y direction, the shifting fork is connected with the bidirectional telescopic manipulator 400 through a bearing, a built-in motor of the bidirectional telescopic manipulator 400 is used for controlling the bidirectional telescopic manipulator 400 to rotate, the shifting fork rotates by 90 degrees after the bidirectional telescopic manipulator 400 stretches to a designated position, and after the bidirectional telescopic manipulator 400 performs the next action (lifting or shrinking), goods are dragged or pushed to the corresponding position by the shifting fork.
The device of the embodiment is mainly applied to a stacker, the use principle is as follows,
And (5) taking out the goods from the stacker for warehouse-out: assuming that the goods to be taken by the stacker is A0, the stacker is moved to a specified position, and the cargo bed is lifted to a specified height. The fluent strip lifting driving mechanism 304 works, and the fluent strip ascends; simultaneously, the welding frame lifting driving mechanism works to lower the welding frame 201 to a working position; the two bidirectional telescopic manipulators 400 work synchronously and extend to the Y+ direction to the right position as shown in FIG. 8; the first driving part 204 drives the two-side bidirectional telescopic manipulators 400 to synchronously clamp the goods A0 through the first screw rod 207 and the first screw nut 208; fork-drag 401 rotates 90 degrees to the blocking position; the bi-directional telescoping manipulator 400 works, carrying the cargo A0 along the fluent strip in the Y-direction, into the cargo bed; the fork-drag 401 rotates to retract, and simultaneously the two-side bidirectional telescopic mechanical arm 400 is loosened; the welding frame lifting driving mechanism works to drive the welding frame 201 to ascend back to the avoidance position; the fluent strip lifting driving mechanism 304 drives the fluent strip device 302 to descend, and the goods AO are placed on the conveying belt 301; the conveyor belt drive system operates to transfer the load along the x+ direction to the buffer area of the stacker.
And (6) warehousing the stock of the stacker: assuming that the goods to be accessed by the stacker are A1, the A1 moves in the X-direction in the buffer zone through the conveying belt 301, meanwhile, the carrying platform conveying belt 301 works, the goods A1 in the buffer zone are butted, and the A1 is conveyed onto the carrying platform from the buffer zone; the stacker walks to a designated position, and the cargo carrying platform lifts to a designated height with the cargo A1; the fluent strip lifting driving mechanism 304 works, and the fluent strip ascends; the welding frame lifting driving mechanism drives the welding frame to descend to a working position; the first driving part 204 drives the two-side bidirectional telescopic mechanical arm 400 to synchronously clamp the goods A1 through the first screw rod 207 and the first screw nut 208; simultaneously, the shifting fork-pushing 402 rotates 90 degrees to reach the blocking position; the bidirectional telescopic manipulator 400 works and stretches out to the right direction along with the A1; pushing A1 into the cargo space, synchronously moving the bidirectional telescopic manipulator 400 to two sides to release A1, and resetting the shifting fork-pushing 402; the bi-directional telescoping manipulator 400 operates and retracts to the home position.
The above embodiments are only for illustrating the inventive concept and not for limiting the inventive claims, and all insubstantial modifications of the inventive concept by using the same should fall within the scope of the inventive concept.
Claims (5)
1. The utility model provides a stacker lift cargo bed, includes cargo bed frame, its characterized in that: the cargo carrying platform comprises a cargo carrying platform frame, wherein an upper layer clamping mechanism and a lower layer conveying mechanism are arranged on the cargo carrying platform frame, the upper layer clamping mechanism comprises a welding frame and a welding frame lifting driving mechanism for controlling the welding frame to lift, a screw rod is connected to the welding frame through a bearing, a first driving part for driving the screw rod I is arranged at the same time, two screw rod nuts I with opposite rotation directions are connected to the screw rod I, a bidirectional telescopic manipulator is fixedly connected to the screw rod nuts I, and the two bidirectional telescopic manipulators are oppositely arranged; the lower conveying mechanism comprises a conveying belt and a conveying belt transmission system;
the conveyor belts are provided with a plurality of conveyor belts, a fluent strip device is arranged between two adjacent conveyor belts, and a fluent strip lifting driving mechanism is arranged on the cargo carrying platform frame;
The two ends of the bidirectional telescopic manipulator in the telescopic direction are provided with a shifting fork and a built-in motor for rotating the shifting fork, the shifting fork rotates 90 degrees after the bidirectional telescopic manipulator stretches to a designated position, and after the bidirectional telescopic manipulator performs the next action, goods are dragged or pushed to the corresponding position by the shifting fork.
2. A stacker lift truck according to claim 1 wherein: a linear guide mechanism is arranged between the welding frame and the cargo carrying platform frame.
3. A stacker lift truck according to claim 2 wherein: the welding frame lifting driving mechanism comprises a second screw rod and a second driving part for driving the second screw rod, the second driving part is fixed on the carrying platform frame, the second screw rod is connected on the carrying platform frame through a bearing, and a second screw rod nut fixedly connected with the welding frame is arranged on the second screw rod.
4. A stacker lift truck according to claim 1 wherein: the welding frame is fixedly provided with a plurality of guide rails I which are parallel to the screw rods I, and the bidirectional telescopic manipulator is connected to the guide rails I in a sliding mode.
5. A stacker lift truck according to claim 1 wherein: the conveying belt transmission system comprises a third driving part and a driving shaft, wherein the third driving part and the driving shaft are arranged above the cargo carrying platform frame, the third driving part is used for driving the driving shaft, a driven shaft is arranged on the conveying belt, synchronizing wheels are arranged on the driving shaft and the driven shaft, the synchronizing wheels on the driving shaft and the synchronizing wheels on the driven shaft are transmitted through the synchronizing belt, and the synchronizing belt, the synchronizing wheels and the driving shaft are arranged along the frame body of the cargo carrying platform frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110110236.0A CN112777206B (en) | 2021-01-27 | 2021-01-27 | Lifting cargo carrying platform of stacker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110110236.0A CN112777206B (en) | 2021-01-27 | 2021-01-27 | Lifting cargo carrying platform of stacker |
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| Publication Number | Publication Date |
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| CN112777206A CN112777206A (en) | 2021-05-11 |
| CN112777206B true CN112777206B (en) | 2024-10-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110110236.0A Active CN112777206B (en) | 2021-01-27 | 2021-01-27 | Lifting cargo carrying platform of stacker |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119821903A (en) * | 2025-03-19 | 2025-04-15 | 山东辰禾智能装备有限公司 | Rod member warehouse-in transmission device and working method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107628403A (en) * | 2017-09-27 | 2018-01-26 | 广东友力智能科技有限公司 | A kind of automated storage and retrieval system |
| CN214526060U (en) * | 2021-01-27 | 2021-10-29 | 三力士股份有限公司 | Stacker lift carries cargo bed |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002167008A (en) * | 2000-11-30 | 2002-06-11 | Murata Mach Ltd | Article transfer device |
| JP6597061B2 (en) * | 2014-09-02 | 2019-10-30 | 株式会社ダイフク | Goods transport equipment |
| CN208265711U (en) * | 2017-04-24 | 2018-12-21 | 深圳市鸿鹭工业设备有限公司 | A kind of intelligent limit piler |
| CN110161943A (en) * | 2018-02-11 | 2019-08-23 | 国网上海市电力公司 | A kind of intelligence trident stacking machine control system |
| CN111762492B (en) * | 2020-07-08 | 2024-08-13 | 苏州盟萤电子科技有限公司 | Stacker and three-dimensional warehouse system |
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- 2021-01-27 CN CN202110110236.0A patent/CN112777206B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107628403A (en) * | 2017-09-27 | 2018-01-26 | 广东友力智能科技有限公司 | A kind of automated storage and retrieval system |
| CN214526060U (en) * | 2021-01-27 | 2021-10-29 | 三力士股份有限公司 | Stacker lift carries cargo bed |
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