CN211004405U - Intelligent tray type double-column stacker - Google Patents
Intelligent tray type double-column stacker Download PDFInfo
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- CN211004405U CN211004405U CN201921415363.6U CN201921415363U CN211004405U CN 211004405 U CN211004405 U CN 211004405U CN 201921415363 U CN201921415363 U CN 201921415363U CN 211004405 U CN211004405 U CN 211004405U
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Abstract
The utility model discloses an intelligence tray formula double-column stacker, include: the intelligent control of the stacker is realized by arranging the walking positioning device, the lifting positioning device and the photoelectric detection device on the stacker, intelligently identifying the horizontal position of the stacker, the vertical position of the load carrying rack and the weight and the placing condition of goods on the load carrying rack, and intelligently controlling the stacker to work, the working efficiency of the stacker is improved.
Description
Technical Field
The utility model relates to an automatic change three-dimensional storage commodity circulation technical field, concretely relates to intelligence tray formula double-column stacker.
Background
The stacker is very important logistics carrying equipment in a stereoscopic warehouse, and is mainly used for running along a fixed track in a roadway of a high-rise goods shelf warehouse and taking out goods positioned on a platform of a specified roadway port and storing the goods into a specified goods shelf lattice; or conversely, the goods in the specified goods shelf grids are taken out and conveyed to the platform of the specified road junction, and the corresponding warehouse entry and exit operation is finished.
The stacker mainly comprises three directions of movement which are respectively defined as X-axis movement, Y-axis movement and Z-axis movement, and three driving mechanisms are respectively used for completing corresponding warehouse entry and exit operations. The X-axis movement realizes a walking function, so that the stacker reaches the position of the specified number of rows of goods shelves in a certain roadway; the Y-axis movement realizes the lifting function, so that the stacker reaches the position of the number of layers of the specified goods shelf of a certain roadway; the Z-axis movement realizes the telescopic function of the fork, so that the stacker can take the goods at the designated position out or put the goods into the designated position.
The stacker structure is generally divided into a single-upright post and a double-upright post, and the single-upright post stacker means that a rack structure consists of 1 upright post, a lower cross beam, an upper cross beam and a cargo carrying platform. The double-upright stacker is characterized in that a rack structure consists of 2 uprights, a lower cross beam, an upper cross beam and a cargo carrying platform.
In the prior art, the tray type stacker is generally a double-column stacker, and the top rail and the ground rail are not positioned at the center of the roadway, so that when the stacker picks and places goods, the phenomenon of uneven stress exists on two sides of the roadway. Meanwhile, the lifting mechanism adopts the inclined diagonal position of the steel wire rope to lift and pull, so that the steel wire rope is stressed too much, and the required lifting motor is large in output. The tray type stacker has the advantages of overlarge overall mechanical structure, material waste, heavier weight, larger motor type selection, larger energy consumption and low efficiency.
In the prior art, although the tray type stacker is matched with various detection measures, the intelligent degree is still insufficient, for example, obstacles or people enter a roadway by mistake, the stacker cannot realize intelligent sensing and automatic stop, if goods have local superwidth, the stacker cannot realize intelligent sensing and automatic alarm during goods taking.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides an intelligence tray formula double-column stacker to reach the horizontal position of intelligent recognition stacker, the vertical position of load carrier and the weight of load carrier goods and the condition of putting, intelligent control stacker work improves stacker work efficiency's purpose.
In order to achieve the above purpose, the technical scheme of the utility model is as follows: an intelligent tray type double-column stacker, comprising: the ground rail is movably provided with a chassis, the chassis is provided with a travelling mechanism, a left upright post and a right upright post, the travelling mechanism is used for controlling the chassis to move on the ground rail, the travelling mechanism comprises a travelling positioning device, the top ends of the left upright post and the right upright post are fixedly provided with an upper cross beam, the upper cross beam is movably arranged on the sky rail, the left upright post and the right upright post are movably provided with a goods carrying rack, the goods carrying rack is arranged between the left upright post and the right upright post, the left upright post or the right upright post is provided with a lifting mechanism, the lifting mechanism is used for controlling the goods carrying rack to lift, the goods carrying rack is provided with a lifting positioning device, the goods carrying rack is provided with two telescopic forks which are arranged in parallel, the telescopic direction of the forks is vertical to the space of the upright posts, and the goods carrying rack is provided with a photoelectric detection device for sensing the quantity and the placing style of materials, the chassis is also provided with a control cabinet and a crawling ladder, the control cabinet is used for controlling the walking mechanism, the lifting mechanism and the pallet fork and is also used for receiving and processing data fed back by the walking positioning device, the lifting positioning device and the photoelectric detection device, and the control cabinet is connected with an external power supply through a sliding contact line.
Compared with the prior art, this application realizes the intelligent control to the stacker through setting up walking positioner, lift positioner and photoelectric detection device on the stacker, and the horizontal position of intelligent recognition stacker, the vertical position of load carrier and the weight and the condition of putting of load carrier goods, intelligent control stacker work improves stacker work efficiency.
Further, the running gear still includes: the walking motor is used for controlling the driving wheel assembly to work according to a control instruction sent by the control cabinet, the driving wheel assembly is used for providing walking power for the chassis, the driven wheel assembly is used for assisting the chassis to walk on the ground rail, the ground rail guiding wheel assembly is used for guiding the chassis to walk on the ground rail, the ground rail guiding wheel assembly is clamped in a rail groove of the ground rail, and the guiding wheels rotate in the rail groove, so that the moving stability of the chassis is improved.
Furthermore, the travelling mechanism further comprises an anti-dumping device, the top end of the anti-dumping device is arranged on the chassis, and the bottom end of the anti-dumping device is clamped on two sides of the ground rail.
Furthermore, a fixed pulley assembly and a head rail guide wheel assembly are arranged on the cross beam, the fixed pulley assembly is used for assisting the goods carrying rack to lift, and the head rail guide wheel assembly is used for guiding the cross beam to walk on the head rail.
Further, the lifting mechanism includes: the lifting mechanism comprises a lifting motor, a lifting winding drum and an upright post guide wheel assembly, wherein the lifting motor is used for controlling the working of the lifting winding drum according to a control instruction sent by a control cabinet, the lifting winding drum is used for controlling the lifting of a cargo carrying rack, the upright post guide wheel assembly is used for guiding the cargo carrying rack to lift on an upright post, the upright post guide wheel assembly is arranged at two ends of the cargo carrying rack, the upright post guide wheel assembly is clamped in a rail groove of the upright post, and the guide wheel rotates in the rail groove, so that the lifting stability of the lifting mechanism is improved.
Furthermore, elevating system still includes movable pulley assembly, movable pulley assembly sets up the both ends at the loading frame, movable pulley assembly is used for cooperating with fixed pulley assembly, and supplementary loading frame goes up and down, and fixed pulley and the supplementary loading frame of movable pulley go up and down have improved the stability that loading frame goes up and down.
Furthermore, a telescopic motor is arranged in the goods carrying rack and used for controlling the fork to stretch.
Furthermore, an encoder is integrated in the control cabinet and used for encoding position data fed back by the walking positioning device and the lifting positioning device, the positioning device is arranged, and positioning of any position is achieved through high-precision closed-loop control.
The utility model has the advantages of as follows:
(1) the utility model discloses a set up walking positioner, lift positioner and photoelectric detection device on the stacker, realize the intelligent control to the stacker, the horizontal position of intelligent recognition stacker, the vertical position of load carrier and the weight of load carrier goods and the condition of putting, intelligent control stacker work improves stacker work efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
Fig. 1 is a schematic structural view of an intelligent tray type double-column stacker disclosed in the embodiment of the present invention;
fig. 2 is a schematic front view of a chassis structure disclosed in an embodiment of the present invention;
fig. 3 is a schematic side view of a chassis structure disclosed in an embodiment of the present invention;
fig. 4 is a schematic structural view of a left upright column disclosed in the embodiment of the present invention;
fig. 5 is a schematic structural view of a right column disclosed in the embodiment of the present invention;
fig. 6 is a schematic view of an upper cross beam mounting structure disclosed in an embodiment of the present invention;
fig. 7 is a schematic view of a cargo rack and a lifting mechanism assembly according to an embodiment of the present invention;
the corresponding part names indicated by the numbers and letters in the drawings:
1. a ground rail; 2. a trolley line; 3. a chassis; 4. a left upright post; 5. an upper cross beam; 6. a sky rail; 7. a load carrier; 8. a control cabinet; 9. climbing a ladder; 10. a right upright post; 11. a traveling motor; 12. a drive wheel assembly; 13. a driven wheel assembly; 14. an anti-toppling device; 15. a ground rail guide wheel assembly; 16. a walking positioning device; 21. a lifting motor; 22. a lifting drum; 31. a fixed pulley assembly; 32. a head rail guide wheel assembly; 41. a lifting positioning device; 42. a movable pulley assembly; 43. a column guide wheel assembly; 44. a pallet fork; 45. a photoelectric detection device.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The utility model provides an intelligence tray formula double-column stacker, its theory of operation is through setting up walking positioner, lift positioner and photoelectric detection device on the stacker, realizes the intelligent control to the stacker to reach the horizontal position of intelligent recognition stacker, the vertical position of load carrier and the weight of load carrier goods and the condition of putting, intelligent control stacker work improves stacker work efficiency's purpose.
The present invention will be described in further detail with reference to examples and embodiments.
An intelligent tray type double-upright stacker as shown in fig. 1-7, the stacker comprising: the ground rail 1 and the sky rail 6, a chassis 3 is movably arranged on the ground rail 1, a traveling mechanism, a left upright post 4 and a right upright post 10 are arranged on the chassis 3, the traveling mechanism is used for controlling the chassis 3 to move on the ground rail 1, the traveling mechanism comprises a traveling positioning device 16, an upper beam 5 is fixedly arranged at the top ends of the left upright post 4 and the right upright post 10, the upper beam 5 is movably arranged on the sky rail 6, a loading rack 7 is movably arranged on the left upright post 4 and the right upright post 10, the loading rack 7 is arranged between the left upright post 4 and the right upright post 10, a lifting mechanism is arranged on the left upright post 4 or the right upright post 10 and used for controlling the loading rack 7 to lift, a lifting positioning device 41 is arranged on the loading rack 7, two telescopic forks 44 are arranged on the loading rack 7, the two forks 44 are arranged in parallel, and the telescopic direction of the forks 44 is perpendicular to the space of the upright posts, the goods carrying rack 7 is provided with a photoelectric detection device 45 used for sensing the quantity and the placing style of the materials, the chassis 3 is further provided with a control cabinet 8 and a ladder 9, the control cabinet 8 is used for controlling the walking mechanism, the lifting mechanism and the pallet fork 44 and is also used for receiving and processing data fed back by the walking positioning device 16, the lifting positioning device 41 and the photoelectric detection device 45, and the control cabinet 8 is connected with an external power supply through the sliding contact line 2.
Wherein, the bottom setting of switch board 8 and cat ladder 9 is on chassis 3, and vertical end setting is on left stand 4 or right stand 10, and this embodiment is fixed the lateral wall of switch board 8 and cat ladder 9 on right stand 10, and elevating system sets up on left stand 4.
Compared with the prior art, this application realizes the intelligent control to the stacker through setting up walking positioner 16, lift positioner 41 and photoelectric detection device 45 on the stacker, and the horizontal position of intelligent recognition stacker, the vertical position of load carrier 7 and the weight of load carrier 7 goods and the condition of putting, intelligent control stacker work improves stacker work efficiency.
Wherein, running gear still includes: walking motor 11, drive wheel subassembly 12, from driving wheel subassembly 13 and ground rail 1 leading wheel subassembly, walking motor 11 is used for controlling drive wheel subassembly 12 work according to the control command that switch board 8 sent, drive wheel subassembly 12 is used for providing the power of walking for chassis 3, driven wheel subassembly 13 is used for assisting chassis 3 and walks on ground rail 1, ground rail 1 leading wheel subassembly is used for guiding chassis 3 and walks on ground rail 1, ground rail 1 leading wheel subassembly card is established in the track inslot of ground rail 1, and the leading wheel rotates in the track inslot, has increased the stability that chassis 3 removed.
The travelling mechanism further comprises an anti-toppling device 14, the top end of the anti-toppling device 14 is arranged on the chassis 3, and the bottom end of the anti-toppling device 14 is clamped on two sides of the ground rail 1.
The beam is provided with a fixed pulley assembly 31 and a head rail 6 guide wheel assembly, the fixed pulley assembly 31 is used for assisting the goods carrying rack 7 to lift, and the head rail 6 guide wheel assembly is used for guiding the beam to walk on the head rail 6.
Wherein, elevating system includes: the lifting mechanism comprises a lifting motor 21, a lifting winding drum 22 and an upright post guide wheel assembly 43, wherein the lifting motor 21 is used for controlling the lifting winding drum 22 to work according to a control instruction sent by a control cabinet 8, the lifting winding drum 22 is used for controlling the loading frame 7 to lift, the upright post guide wheel assembly 43 is used for guiding the loading frame 7 to lift on an upright post, the upright post guide wheel assembly 43 is arranged at two ends of the loading frame 7, the upright post guide wheel assembly 43 is clamped in a rail groove of the upright post, and a guide wheel rotates in the rail groove, so that the lifting stability of the lifting mechanism is improved.
The lifting mechanism further comprises movable pulley assemblies 42, the movable pulley assemblies 42 are arranged at two ends of the load carrier 7, the movable pulley assemblies 42 are used for being matched with the fixed pulley assemblies 31 to assist the load carrier 7 to lift, the fixed pulleys and the movable pulleys assist the load carrier 7 to lift, and the lifting stability of the load carrier 7 is improved.
Wherein, be provided with flexible motor in the year goods shelves 7, flexible motor is used for controlling fork 44 to stretch out and draw back.
An encoder is integrated in the control cabinet 8 and used for encoding position data fed back by the walking positioning device 16 and the lifting positioning device 41, the positioning device is arranged, and positioning of any position is achieved through high-precision closed-loop control.
On the X axis, the control cabinet 8 controls the running motor 11 to work, the running motor 11 controls the driving wheel assembly 12 to enable the stacker to move on the ground rail 1, on the Y axis, the control cabinet 8 controls the lifting motor 21 to work, the lifting motor 21 controls the lifting drum 22 to enable the goods carrying rack 7 to lift on the left upright post 4 and the right upright post 10, on the Z axis, the control cabinet 8 controls the telescopic motor to work, and the telescopic motor controls the goods fork 44 to enable the goods fork 44 to stretch out and draw back on the goods carrying rack 7. The walking positioning device 16 can synchronously feed back the walking coordinate position of the stacker, the positioning at any position is realized through high-precision closed-loop control, the lifting positioning device 41 can synchronously feed back the lifting coordinate position of the goods carrying table, the positioning at any position is realized through high-precision closed-loop control, the placement pattern and the number of the bins on the intelligent sensing goods carrying table can be realized by the photoelectric detection system, the data are fed back to the control cabinet 8, the control cabinet 8 processes the data, and the stacker is controlled to place materials.
The control cabinet 8 can be a control system integrated with a single chip microcomputer or an industrial control computer.
The utility model discloses an overcome the not enough of conventional art, provide a high-efficient intelligent tray formula double-column stacker, because this stacker mechanical structure has simplified to compressed entablature 5 spaces, adopt this stacker overall arrangement can be than the storage goods position of traditional stacker overall arrangement one deck more under same area and height, improved space utilization greatly.
What has just been said above is the preferred embodiment of the utility model discloses an intelligence tray formula double-column stacker that should point out, to the ordinary skilled person in this field, under the prerequisite that does not deviate from the utility model discloses the creation of conception, can also make a plurality of deformations and improvements, these all belong to the utility model discloses a protection scope.
Claims (8)
1. The utility model provides an intelligence tray formula double-column stacker which characterized in that, stacker includes: the ground rail is movably provided with a chassis, the chassis is provided with a travelling mechanism, a left upright post and a right upright post, the travelling mechanism is used for controlling the chassis to move on the ground rail, the travelling mechanism comprises a travelling positioning device, the top ends of the left upright post and the right upright post are fixedly provided with an upper cross beam, the upper cross beam is movably arranged on the sky rail, the left upright post and the right upright post are movably provided with a goods carrying rack, the goods carrying rack is arranged between the left upright post and the right upright post, the left upright post or the right upright post is provided with a lifting mechanism, the lifting mechanism is used for controlling the goods carrying rack to lift, the goods carrying rack is provided with a lifting positioning device, the goods carrying rack is provided with two telescopic forks which are arranged in parallel, the telescopic direction of the forks is vertical to the space of the upright posts, and the goods carrying rack is provided with a photoelectric detection device for sensing the quantity and the placing style of materials, the chassis is also provided with a control cabinet and a crawling ladder, the control cabinet is used for controlling the walking mechanism, the lifting mechanism and the pallet fork and is also used for receiving and processing data fed back by the walking positioning device, the lifting positioning device and the photoelectric detection device, and the control cabinet is connected with an external power supply through a sliding contact line.
2. The intelligent tray type double-column stacker according to claim 1, wherein the traveling mechanism further comprises: the walking motor is used for controlling the driving wheel assembly to work according to a control instruction sent by the control cabinet, the driving wheel assembly is used for providing walking power for the chassis, the driven wheel assembly is used for assisting the chassis to walk on the ground rail, and the ground rail guide wheel assembly is used for guiding the chassis to walk on the ground rail.
3. The intelligent tray type double-column stacker according to claim 2, wherein the traveling mechanism further comprises an anti-toppling device, the top end of the anti-toppling device is arranged on the chassis, and the bottom end of the anti-toppling device is clamped on two sides of the ground rail.
4. The intelligent tray type double-column stacker according to claim 1, wherein the cross beam is provided with a fixed pulley assembly and a head rail guide wheel assembly, the fixed pulley assembly is used for assisting the goods carrying rack to lift, and the head rail guide wheel assembly is used for guiding the cross beam to walk on the head rail.
5. The intelligent tray type double-column stacker according to claim 1, wherein the lifting mechanism comprises: the lifting mechanism comprises a lifting motor, a lifting winding drum and an upright post guide wheel assembly, wherein the lifting motor is used for controlling the lifting winding drum to work according to a control instruction sent by a control cabinet, the lifting winding drum is used for controlling the goods carrying rack to lift, and the upright post guide wheel assembly is used for guiding the goods carrying rack to lift on an upright post.
6. The intelligent tray type double-column stacker according to claim 4, wherein the lifting mechanism further comprises movable pulley assemblies, the movable pulley assemblies are arranged at two ends of the loading frame, and the movable pulley assemblies are used for being matched with the fixed pulley assemblies to assist the loading frame in lifting.
7. The intelligent tray type double-column stacker according to claim 1, wherein a telescopic motor is arranged in the cargo carrying rack and used for controlling the fork to be telescopic.
8. The intelligent tray type double-column stacker according to claim 1, wherein an encoder is integrated in the control cabinet, and the encoder is used for encoding position data fed back by the walking positioning device and the lifting positioning device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921415363.6U CN211004405U (en) | 2019-08-28 | 2019-08-28 | Intelligent tray type double-column stacker |
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| CN201921415363.6U CN211004405U (en) | 2019-08-28 | 2019-08-28 | Intelligent tray type double-column stacker |
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| CN211004405U true CN211004405U (en) | 2020-07-14 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111792576A (en) * | 2020-07-20 | 2020-10-20 | 哈工大机器人(山东)物流科技有限公司 | Stacking and selecting device |
| CN111960013A (en) * | 2020-09-14 | 2020-11-20 | 临沂临工智能信息科技有限公司 | Automatic three-dimensional warehousing system |
| CN112047269A (en) * | 2020-09-14 | 2020-12-08 | 临沂临工智能信息科技有限公司 | Bidirectional fork type heavy-load stacking AGV and operation method thereof |
| CN113460916A (en) * | 2021-07-05 | 2021-10-01 | 浙江中扬立库技术有限公司 | Heavy stacker and control system thereof |
| CN113460552A (en) * | 2021-07-05 | 2021-10-01 | 浙江中扬立库技术有限公司 | Intensive intelligent vertical warehouse storage system |
| CN113562371A (en) * | 2021-07-09 | 2021-10-29 | 中国核电工程有限公司 | Liftable rod box temporary storage device |
| CN113562665A (en) * | 2021-04-21 | 2021-10-29 | 中国核电工程有限公司 | Rod box stacking machine |
| CN114852925A (en) * | 2021-02-04 | 2022-08-05 | 沈阳新松机器人自动化股份有限公司 | High-speed dual-drive stacker |
| CN116513678A (en) * | 2023-05-11 | 2023-08-01 | 苏州富士德物流设备有限公司 | Full-automatic stacking equipment for storage |
-
2019
- 2019-08-28 CN CN201921415363.6U patent/CN211004405U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111792576A (en) * | 2020-07-20 | 2020-10-20 | 哈工大机器人(山东)物流科技有限公司 | Stacking and selecting device |
| CN111960013A (en) * | 2020-09-14 | 2020-11-20 | 临沂临工智能信息科技有限公司 | Automatic three-dimensional warehousing system |
| CN112047269A (en) * | 2020-09-14 | 2020-12-08 | 临沂临工智能信息科技有限公司 | Bidirectional fork type heavy-load stacking AGV and operation method thereof |
| CN114852925A (en) * | 2021-02-04 | 2022-08-05 | 沈阳新松机器人自动化股份有限公司 | High-speed dual-drive stacker |
| CN113562665A (en) * | 2021-04-21 | 2021-10-29 | 中国核电工程有限公司 | Rod box stacking machine |
| CN113562665B (en) * | 2021-04-21 | 2022-12-27 | 中国核电工程有限公司 | Rod box stacking machine |
| CN113460916A (en) * | 2021-07-05 | 2021-10-01 | 浙江中扬立库技术有限公司 | Heavy stacker and control system thereof |
| CN113460552A (en) * | 2021-07-05 | 2021-10-01 | 浙江中扬立库技术有限公司 | Intensive intelligent vertical warehouse storage system |
| CN113562371A (en) * | 2021-07-09 | 2021-10-29 | 中国核电工程有限公司 | Liftable rod box temporary storage device |
| CN116513678A (en) * | 2023-05-11 | 2023-08-01 | 苏州富士德物流设备有限公司 | Full-automatic stacking equipment for storage |
| CN116513678B (en) * | 2023-05-11 | 2023-11-07 | 苏州富士德物流设备有限公司 | Full-automatic stacking equipment for storage |
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