[0021] An automated three-dimensional warehouse demonstration teaching aid box, including: a pallet rack 68 and a double-pillar tunnel stacker 64 are installed on the inner bottom of the box 47, and a roller conveyor 67, a carrier 65 and a manipulator are installed on the other side of the bottom plate 66.
[0022] Said box 47, the bottom of the box 47 is provided with wheels 46, the side wall is provided with a pull rod 52, the box 47 is composed of each box surface and the box cover 49 connected by a seamless hinge 51, and the box is also provided with a limit The inside of the box is provided with a control layer 50, and the inside of the box is provided with a lifting mechanism 71. The overall box is compact, light in weight and easy to carry.
[0023] The double-column tunnel stacker 64 includes: a left bottom plate 1, a motor 2 and a left support base 3 are installed above the left bottom plate 1, and one end of the lead screw 4 passing through the support frame 19 under the base 16 is connected to On the left support base 3, the other end is connected to the right support base on the right base plate 17, one end of the smooth guide rail 21 passing through the support frame 2 19 under the base 16 is connected to the left base plate, and the other end is connected to the bumper 17 A maintenance ladder 5 is installed on the support frame 18, the base 16 is installed, one end of the lead screw 14 is connected to the connecting plate 7, the other end is connected to the support 15 provided on the base 16, and one end of the stage guide 6 is connected to the connecting plate 7. The other end is connected to the support base 20 arranged on the base 16; the carrier 11 is screwed to the screw 14 through the conversion block 12 and the screw nut 13, and at the same time, the other end of the carrier is connected to the carrier On the rail 6 of the stage, the second screw 10 and the second screw nut 9 and the fork 8 driven by the second screw and the second screw nut are arranged on the stage.
[0024] Jointly realize the movement of the stacker in three directions in space. They are:
[0025] The stacker moves horizontally in the X direction on the roadway. The double-column roadway stacker moves in the horizontal direction (X direction) along the roadway composed of the lead screw 4 and the smooth guide 21, which is a simulation of the real stacker For the movement on the ground rail, the lead screw 4 is fixed on the left base plate 1 with the left support base 3 to form a lower rail. The smooth guide rail 21 is fixed on the left base plate 1 by the support frame 18 on both sides to form a balanced guide rail. A screw nut is installed on the screw 4, and the motor 2 drives the rotation of the screw 4 to realize the horizontal movement of the nut. The movement is transmitted to the base 16 through the conversion block, which drives the entire stacker to move forward, thereby realizing the horizontal movement of the double-column roadway stacker.
[0026] The vertical lifting movement of the stage 11 along the Z direction. In order to realize the vertical movement of the stage 11 up and down, a screw transmission mechanism is adopted in the design, wherein the screw 14 is matched with the screw nut 13 and the conversion block 12 Cooperating with the screw nut 13, the conversion block 12 is fixed to the stage 11. When the lead screw 14 is fixed by the support base 15 and cooperates with the motor to receive power to rotate, the lead screw nut 13 drives the conversion block 12 and the stage 11 to rise steadily. At the same time, the stage 11 cooperates with the smooth rod 6 to form a balance mechanism, and at the same time drives the stage 11 to move on the smooth track 6, so as to realize the movement in the Z-axis direction. This method has high axial rigidity and stable movement.
[0027] The telescopic movement of the fork 8 along the Y direction is completed by the telescopic movement of the fork 8. The fork 8 is mounted on a conversion block on the second screw nut 9, and the conversion block is matched with the second screw nut 9. When the motor drives the screw to rotate, the screw nut moves forward, thereby driving the telescopic movement of the fork 8. The movement of the stored and stored goods in the Y direction is realized.
[0028] The roller conveyor 67 includes: a roller fixing plate 22, a frame one 26, a roller is arranged on the upper end of the frame two 31, one end of the roller 30 is inserted into a circular hole opened on the frame two 31, and the other end of the roller Connect the small sprocket 29 meshing with the inner chain 32. One end of the first roller is inserted into the circular hole opened on the frame two 31, and the other end is coaxially connected with the small sprocket 29 and the large sprocket 27, and the large sprocket passes through The outer chain 25 is connected to the second sprocket 24 connected to the motor 23, and a baffle 28 is also provided at one end of the second frame 31.
[0029] The small sprocket 29 cooperates with the inner chain 32 as the main transmission mechanism. Under the power transmission of the motor 23, the small sprocket 24 drives the large sprocket 27 to start to rotate, which is driven by the rotation of the roller coaxial with the large sprocket 27. The small sprocket on the upper side rotates, the rotation of the small sprocket drives the inner chain 32 to walk, and the walking of the chain drives the other small sprockets to rotate, so as to achieve the purpose of rotating each roller. A baffle 28 is installed at one end of the roller machine. Prevent accidents during the transfer of cargo pallets.
[0030] The manipulator 66 includes a base 33. The small manipulator arm 35 at the upper end of the base 33 is connected to the large manipulator 34 through the interlocking lead screw three 36 and the lead screw nut three 37. The gripper 41 passes through the lead screw four 39 and the screw The bar nut 40 is connected to the motor in the motor placement box 38, the base 33 is provided with a rotating base 44, and the fixed plate 45 connected to the lower end of the rotating base is connected to the meshing gear one 42 and gear two 43.
[0031] The manipulator mainly has three kinds of movements, namely the rotation of the manipulator 34, the up and down movement of the manipulator 35 and the movement of the gripper 41 to grab the goods. The rotation of the mechanical arm 34 is achieved by the cooperation of the gear one 42 and the gear two 43, wherein the gear one 42 is connected to the motor as a driving wheel, and the gear two 43 is connected to the rotatable rotating base 44 with the axis of the fixed disk 45 as the axis. When the driving wheel gear 42 rotates, the rotating base 44 will rotate at the same time, so as to achieve the purpose of rotating the manipulator. The lifting mechanism of the claw is mainly composed of the screw nut three 36 and the screw nut three 37. The screw nut three 37 is fixed with the claw part. When the screw nut three 36 rotates under the driving of the motor, the screw nut three 37 carries the hand When the claw part rises, the purpose of rising is achieved. The mechanism part grasped by the claw is mainly composed of the motor placement box 38, the screw rod 39, the screw nut 40 and the claw 41. The mechanical principle is that the motor drives the lead screw 39 to rotate, and the lead screw nut 40 on it is connected to the pawl 41 through a linkage slider mechanism. When the lead screw nut 40 moves forward, the pawl 41 can form a grasping action. .
[0032] The lifting mechanism 71 includes: a lead screw support seat 53, a lead screw 54 and a lead screw nut 63 are arranged on the lead screw support seat 53, and one end of the support link 57 is connected to the lead through a support link connecting piece 56 The conversion block 55 on the bar nut five 63, the other end of the supporting link 57 is connected to the sliding block 59 through the supporting link connecting piece 60, the smooth rod 61 passes through the sliding block 59, one end is connected to the polished rod support base 58, and the other end is connected to a pad Block 62. When the motor drives the lead screw 54 to rotate, the lead screw nut five 63 moves forward and lifts the supporting connecting rod 57, the slider 59 moves on the smooth rod 61, and the upper connecting rod slider mechanism slowly rises to achieve the lift The purpose of l.
[0033] The overall size of the box body is length*width*height=750mm*500mm*650mm.
[0034] The present invention is used as follows: under the lifting action of the lifting mechanism 71, the control layer 70 is raised to the plane of the box body, and then the box body cover is fixed with a stopper, and finally the demonstration starts. The demonstration part includes the completion of the two major movements of inventory warehousing and taking out of the warehouse. The first is the inventory warehousing process. Under the control of the PLC console, various agencies coordinate and cooperate to complete the goods from the AGV trolley to the roller conveyor 67 (in ) Warehouse transfer, sorted by the manipulator 66, arrives at the double-pillar lane stacker 64, and finally stored in the pallet rack 68. The overall warehousing process is reversed.
