CN108249084A - A kind of bi-directional expansion grabbing device applied to tiered warehouse facility and fetch and deliver method - Google Patents
A kind of bi-directional expansion grabbing device applied to tiered warehouse facility and fetch and deliver method Download PDFInfo
- Publication number
- CN108249084A CN108249084A CN201611245087.4A CN201611245087A CN108249084A CN 108249084 A CN108249084 A CN 108249084A CN 201611245087 A CN201611245087 A CN 201611245087A CN 108249084 A CN108249084 A CN 108249084A
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- Prior art keywords
- level
- telescopic arm
- arm
- drive
- warehouse facility
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Classifications
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- 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
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
A kind of bi-directional expansion grabbing device applied to tiered warehouse facility and fetch and deliver method, grabbing device includes three-level or so Telescopic boom mechanism and grasping mechanism, grasping mechanism includes electric cylinders, tooth plate and picking pawl, electric cylinders are installed on three-level telescopic arm, crawl is fixed on electric cylinders with tooth plate and stretches head, picking pawl is installed on three-level telescopic arm lower part, and the tooth of picking pawl upper end is engaged with tooth plate.It solves the problems, such as small bottom surface or bores picking and placeing for bottom surface cargo.In the case of can meeting grasping condition when cargo top, cargo is fetched and delivered by Grasp Modes, realize small bottom surface or bores picking and placeing for bottom surface cargo.
Description
Technical field
The present invention relates to bi-directional expansion mechanisms, can realize that bi-directional expansion can simultaneously realize crawl function, specially a kind of
Applied to tiered warehouse facility bi-directional expansion grabbing device and fetch and deliver method.
Background technology
Tiered warehouse facility can realize that warehouse high level rationalizes using tiered warehouse facility equipment, access automation, easy to operateization:From
Dynamicization tiered warehouse facility is the higher form of the present art.The main body of automatic stereowarehouse is risen by shelf, laneway type stacking
Heavy-duty machine, enter and (go out) library workbench and transport and (go out) automatically and operation control system form.Shelf are steel construction or armored concrete
The building or structure of structure are standard-sized goods yard spaces in shelf, and aisle stacking crane is navigated between shelf
Tunnel in, complete to deposit, withdraw the work of goods.Computer and bar codes technique are used in management.Since shelf are at 5 meters or more, people
Work has been difficult to operate shelf into goods is traveled out, thus machinery must be relied on to carry out operation.Existing bi-directional expansion pallet fork is backing
Formula picking mode, when object cargo is can not then use when small bottom surface or cone bottom surface, use scope has significant limitation.
Invention content
Above-mentioned the deficiencies in the prior art are directed to, the purpose of the present invention is to provide the bi-directional expansions applied to tiered warehouse facility
Grabbing device and pallet piling up method is fetched and delivered, small bottom surface or when picking and placeing problem of bottom surface cargo of cone are being encountered, when cargo top can expire
In the case of sufficient grasping condition, cargo is fetched and delivered by Grasp Modes, realize small bottom surface or bores picking and placeing for bottom surface cargo.
In order to achieve the above objectives, a kind of bi-directional expansion grabbing device applied to tiered warehouse facility of the invention, including three-level
Left and right Telescopic boom mechanism and grasping mechanism, which is characterized in that the grasping mechanism includes electric cylinders, tooth plate and picking pawl, the electricity
Cylinder is installed on three-level telescopic arm, and crawl is fixed on electric cylinders with tooth plate and stretches head, and picking pawl is installed under three-level telescopic arm
Portion, the tooth of picking pawl upper end are engaged with tooth plate.
Further, the three-level Telescopic boom mechanism includes level-one telescopic arm, two level telescopic arm, and three-level telescopic arm stretches
Driving motor, cam driven bearing, drive chain, chain sheave, drive rack, drive gear and driven gear.
Further, drive gear is installed on level-one telescopic arm, drive gear is connect with driving motor, sliding tooth rotation
Dynamic to drive driven gear, drive rack is installed on two level telescopic arm, and drive rack is engaged with driven gear, passes through two level telescopic arm
The chain at both ends is bridged with sheave, and two drivings are fixed on level-one telescopic arm with chain one end, and the other end is fixed on three-level and stretches
Arm.
Further, level-one telescopic arm is fixed in fixed seat, and two rows of cams have been left and right symmetrically arranged on level-one telescopic arm
Driven bearing.
Further, fluted on two level telescopic arm, the two rows of cam driven bearings for being installed on level-one Telescopic boom are inlayed
In in two grooves of the inside of two level telescopic arm.
Further, three-level telescopic arm is equipped with symmetrical two rows of cam driven bearings, is installed on three-level telescopic arm
Two rows of cam driven bearings be embedded in two grooves on the outside of two level telescopic arm.
A kind of tiered warehouse facility fetches and delivers method, includes the following steps：
A, driving motor drive two level telescopic arm to protrude horizontally up or retract, and three-level are driven to stretch by the movement of two level telescopic arm
Arm protrudes horizontally up or retracts；
B, after three-level telescopic arm stretches out or retracts in place, signal that control system is sent out, crawl is stretched out with electric cylinders, is captured
It is moved down with tooth plate, drives picking pawl folding, capture kinds of goods；
Kinds of goods are placed into designated position, two level telescopic arm and the contracting of three-level telescopic arm by C, the signal that control system is sent out, picking pawl
Origin position is returned to, goods is fetched and delivered in waiting next time.
Further, in step A, driving motor rotation drives the drive gear rotation being fixed on level-one telescopic arm, drives
Moving gear drives driven gear, and driven gear rotation drives to be moved horizontally with the drive rack that itself is engaged, and two level is driven to stretch
Arm horizontal movement, when two level telescopic arm protrudes horizontally up, the chain sheave of two level telescopic arm end has level to drive chain
Power on direction drives three-level telescopic arm to realize left right horizontal movement.
The present invention has the advantages that：Cargo is fetched and delivered by Grasp Modes, solves small bottom surface or cone bottom surface goods
Object picks and places problem, realizes small bottom surface or bores picking and placeing for bottom surface cargo.
Description of the drawings
Fig. 1 is the telescopic arm left position picking schematic diagram of the present invention.
Fig. 2 is the telescopic arm origin schematic diagram of the present invention.
Fig. 3 is the right position picking schematic diagram of telescopic arm of the present invention.
Fig. 4 is the picking claw portion schematic diagram of the present invention.
Specific embodiment
Below by specific embodiment and with reference to attached drawing, the present invention is described in further detail.
A kind of bi-directional expansion grabbing device applied to tiered warehouse facility of the present invention includes level-one telescopic arm 1, and two level is stretched
Arm 2, three-level telescopic arm 3, telescopic drive motor 4, cam driven bearing 5, drive chain 6, chain sheave 7, drive rack 8,
Drive gear 9, driven gear 10, grasping mechanism include crawl electric cylinders 11, crawl tooth plate 12, picking pawl 13.
Level-one telescopic arm is fixed in fixed seat 14, and two rows of cam follower shafts have been left and right symmetrically arranged on level-one telescopic arm 1
Hold 5, fluted on two level telescopic arm 2, the two rows of cam driven bearings 5 for being installed on level-one Telescopic boom 1 are embedded in two level and stretch
In two grooves of the inside of arm 2, three-level telescopic arm 3 is equipped with symmetrical two rows of cam driven bearings 5, is installed on three-level
Two rows of cam driven bearings 5 of telescopic arm 3 are embedded in two grooves in 2 outside of two level telescopic arm, and two electric cylinders 11 are installed on
On three-level telescopic arm 3, crawl tooth plate 12 is fixed on electric cylinders 11 and stretches head, and four picking pawls 13 are installed on three-level telescopic arm
3 lower parts, the tooth of 13 upper end of picking pawl are engaged with tooth plate 12.Drive gear 9 is installed, drive gear 9 is with driving on level-one telescopic arm 1
Dynamic motor 4 connects, and the rotation of drive gear 9 drives driven gear 10, and drive rack 8 is installed on two level telescopic arm 2, drive rack 8
It engages with driven gear 10, is bridged by the chain sheave 7 at 2 both ends of two level telescopic arm, two drivings are fixed with 8 one end of chain
In level-one telescopic arm 1, the other end is fixed on three-level telescopic arm 3.
A kind of tiered warehouse facility fetches and delivers method, and driving motor 4 rotates, and drives the drive gear 9 being fixed on level-one telescopic arm 1
Rotation, drive gear 9 drive driven gear 10, and the rotation of driven gear 10 drives the drive rack 8 engaged with itself to move horizontally,
It, can since the cam driven bearing 5 being installed on level-one telescopic arm 1 is embedded on two level telescopic arm 2 in two grooves of inside
To ensure that 2 maintenance level of two level telescopic arm moves left and right, and drive rack 8 is fixed on two level telescopic arm 2, so as to pass through
The rotation of driving motor 4 drives 2 horizontal movement of two level telescopic arm, when two level telescopic arm 2 protrudes horizontally up, 2 end of two level telescopic arm
Chain sheave 7 have power in horizontal direction to drive chain 6, since level-one telescopic arm 1 is fixed in 6 one end of drive chain,
The other end is fixed on three-level telescopic arm 3, and the cam driven bearing 5 being installed on three-level telescopic arm 3 is embedded in two level and stretches
In 2 superolateral two grooves of arm, it is ensured that 3 maintenance level of three-level telescopic arm moves left and right, and is stretched so as to fulfill by two level
The movement of contracting arm 2 drives the effect of 3 realization left right horizontal movement of three-level telescopic arm.
Crawl electric cylinders 11 make the action of stretching or retraction after three-level telescopic arm 3 is stretched out and either retracted in place,
Fixed crawl tooth plate 12 moves up and down on telescopic head by crawl electric cylinders, drives and is taken with crawl with what tooth plate engaged
13 folding of goods pawl, so as to fulfill the purpose of cargo is fetched and delivered.
Claims (8)
1. a kind of bi-directional expansion grabbing device applied to tiered warehouse facility, including three-level or so Telescopic boom mechanism and grasping mechanism,
It is characterized in that, the grasping mechanism includes electric cylinders, tooth plate and picking pawl, the electric cylinders are installed on three-level telescopic arm, grab
It takes tooth plate and is fixed on electric cylinders and stretch head, picking pawl is installed on three-level telescopic arm lower part, and the tooth of picking pawl upper end is nibbled with tooth plate
It closes.
2. a kind of bi-directional expansion grabbing device applied to tiered warehouse facility as described in claim 1, which is characterized in that described three
Grade Telescopic boom mechanism includes level-one telescopic arm, two level telescopic arm, three-level telescopic arm, telescopic drive motor, cam driven bearing, drive
Dynamic chain, chain sheave, drive rack, drive gear and driven gear.
3. a kind of bi-directional expansion grabbing device applied to tiered warehouse facility as claimed in claim 2, which is characterized in that level-one is stretched
Drive gear is installed, drive gear is connect with driving motor, and drive gear rotation drives driven gear, drive rack on contracting arm
Two level telescopic arm is installed on, drive rack is engaged with driven gear, is bridged by the chain at two level telescopic arm both ends with sheave, two
Item driving is fixed on level-one telescopic arm with chain one end, and the other end is fixed on three-level telescopic arm.
4. a kind of bi-directional expansion grabbing device applied to tiered warehouse facility as claimed in claim 2, which is characterized in that level-one is stretched
Contracting arm is fixed in fixed seat, and two rows of cam driven bearings have been left and right symmetrically arranged on level-one telescopic arm.
5. a kind of bi-directional expansion grabbing device applied to tiered warehouse facility as claimed in claim 2, which is characterized in that two level is stretched
Fluted on contracting arm, the two rows of cam driven bearings for being installed on level-one Telescopic boom are embedded in two of inside of two level telescopic arm
In groove.
6. a kind of bi-directional expansion grabbing device applied to tiered warehouse facility as claimed in claim 2, which is characterized in that three-level is stretched
Contracting arm is equipped with symmetrical two rows of cam driven bearings, and the two rows of cam driven bearings for being installed on three-level telescopic arm are embedded in
In two grooves on the outside of two level telescopic arm.
7. a kind of tiered warehouse facility fetches and delivers method, include the following steps：
A, driving motor drive two level telescopic arm to protrude horizontally up or retract, and three-level are driven to stretch by the movement of two level telescopic arm
Arm protrudes horizontally up or retracts；
B, after three-level telescopic arm stretches out or retracts in place, signal that control system is sent out, crawl is stretched out with electric cylinders, is captured
It is moved down with tooth plate, drives picking pawl folding, capture kinds of goods；
Kinds of goods are placed into designated position, two level telescopic arm and the contracting of three-level telescopic arm by C, the signal that control system is sent out, picking pawl
Origin position is returned to, goods is fetched and delivered in waiting next time.
8. a kind of tiered warehouse facility as claimed in claim 7 fetches and delivers pallet piling up method, which is characterized in that in step A, driving motor turns
It is dynamic, the drive gear rotation being fixed on level-one telescopic arm is driven, drive gear drives driven gear, and driven gear rotation drives
It is moved horizontally with the drive rack that itself is engaged, drives two level telescopic arm horizontal movement, when two level telescopic arm protrudes horizontally up, two
The chain sheave of grade telescopic arm end has drive chain the power in horizontal direction, and three-level telescopic arm is driven to realize left and right horizontal
Movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611245087.4A CN108249084A (en) | 2016-12-29 | 2016-12-29 | A kind of bi-directional expansion grabbing device applied to tiered warehouse facility and fetch and deliver method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611245087.4A CN108249084A (en) | 2016-12-29 | 2016-12-29 | A kind of bi-directional expansion grabbing device applied to tiered warehouse facility and fetch and deliver method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108249084A true CN108249084A (en) | 2018-07-06 |
Family
ID=62719930
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611245087.4A Pending CN108249084A (en) | 2016-12-29 | 2016-12-29 | A kind of bi-directional expansion grabbing device applied to tiered warehouse facility and fetch and deliver method |
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| Country | Link |
|---|---|
| CN (1) | CN108249084A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795855A (en) * | 2019-01-25 | 2019-05-24 | 湖州哥伦布物流科技有限公司 | A kind of tiered warehouse facility disk tool transfer robot |
| CN110203631A (en) * | 2019-05-22 | 2019-09-06 | 南京定时达快运股份有限公司 | A kind of Intelligent logistics distribution system |
| CN110406902A (en) * | 2019-05-30 | 2019-11-05 | 苏州荣世吉自动化设备有限公司 | A kind of bi-directional expansion device |
| CN110775510A (en) * | 2019-12-05 | 2020-02-11 | 福建省农业机械化研究所(福建省机械科学研究院） | Grabbing type upper and lower rack machine |
| CN110834894A (en) * | 2019-11-21 | 2020-02-25 | 南京有多利科技发展有限公司 | Carrying device and carrying method for high-efficiency cargo transfer |
| CN111547496A (en) * | 2020-05-22 | 2020-08-18 | 速博达(深圳)自动化有限公司 | Clamping jaw assembly, clamping jaw mechanism and clamping device |
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| CN103086300A (en) * | 2013-01-29 | 2013-05-08 | 陕西科技大学 | Light stacking robot pallet fork device |
| CN204917861U (en) * | 2015-08-31 | 2015-12-30 | 北京首钢国际工程技术有限公司 | Coil of strip stacker is with heavily loaded bidirectional scalability device |
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| CN205708575U (en) * | 2016-04-29 | 2016-11-23 | 广东华为现代物流有限公司 | One quickly removes goods shuttle |
| CN206476382U (en) * | 2016-12-29 | 2017-09-08 | 长春北方化工灌装设备股份有限公司 | A kind of tiered warehouse facility claw is flexible to fetch and deliver goods device |
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2016
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| EP0619166A1 (en) * | 1993-04-05 | 1994-10-12 | UNIVER S.p.A. | Pneumatically actuated gripping device |
| US6199490B1 (en) * | 1996-06-08 | 2001-03-13 | “AFB” Anlagen-und Filterbau GmbH & Co. KG | Telescopic platform for receipt of loads |
| CN101885456A (en) * | 2010-06-24 | 2010-11-17 | 西安航天动力机械厂 | Telescopic fork |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795855A (en) * | 2019-01-25 | 2019-05-24 | 湖州哥伦布物流科技有限公司 | A kind of tiered warehouse facility disk tool transfer robot |
| CN110203631A (en) * | 2019-05-22 | 2019-09-06 | 南京定时达快运股份有限公司 | A kind of Intelligent logistics distribution system |
| CN110406902A (en) * | 2019-05-30 | 2019-11-05 | 苏州荣世吉自动化设备有限公司 | A kind of bi-directional expansion device |
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| CN110834894A (en) * | 2019-11-21 | 2020-02-25 | 南京有多利科技发展有限公司 | Carrying device and carrying method for high-efficiency cargo transfer |
| CN110834894B (en) * | 2019-11-21 | 2020-07-03 | 南京有多利科技发展有限公司 | Carrying device and carrying method for high-efficiency cargo transfer |
| CN110775510A (en) * | 2019-12-05 | 2020-02-11 | 福建省农业机械化研究所(福建省机械科学研究院） | Grabbing type upper and lower rack machine |
| CN110775510B (en) * | 2019-12-05 | 2024-06-04 | 福建省农业机械化研究所(福建省机械科学研究院） | Grabbing type upper and lower frame machine |
| CN111547496A (en) * | 2020-05-22 | 2020-08-18 | 速博达(深圳)自动化有限公司 | Clamping jaw assembly, clamping jaw mechanism and clamping device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 130012 No. 177, Software 3 Road, Changchun High-tech Development Zone, Jilin Province Applicant after: Changchun Rongcheng Intelligent Equipment Manufacturing Co., Ltd. Applicant after: Changchun blue boat Technology Co., Ltd. Applicant after: Changchun wisdom and intelligent packaging equipment Co., Ltd. Address before: 130012 No. 177, Software 3 Road, Changchun High-tech Development Zone, Jilin Province Applicant before: Changchun North Chemical Filling Equipment Co., Ltd. Applicant before: Changchun blue boat Technology Co., Ltd. Applicant before: Changchun wisdom and intelligent packaging equipment Co., Ltd. |
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20180706 |