An automated three-dimensional warehouse stacker

Abstract

This patent relates to special equipment for automated stereoscopic warehouses in production lines, specifically to an automated stereoscopic warehouse stacker, comprising: a ceiling rail, a floor rail, a walking mechanism, a lifting mechanism, a cargo-carrying mechanism, a blocking mechanism arranged on the lower side of the ceiling rail, an electric control cabinet arranged on the side of the lifting mechanism, the walking mechanism arranged on the floor rail, the lifting mechanism arranged between the walking mechanism and the ceiling rail, and the cargo-carrying mechanism arranged on the side of the lifting mechanism; the automated stereoscopic warehouse stacker designed by this patent has a simple structure, is easy to install and maintain, can achieve stable operation in the three-axis directions of walking, lifting, and telescoping, and has high safety and intelligence, significantly improving the safety and intelligence of automated stereoscopic warehouse stacking.

Description

Technical field:

[0001] This patent relates to special equipment for automated high-bay warehouses in production lines, and specifically to a stacking crane for automated high-bay warehouses. Background technology:

[0002] In scenarios such as automated production lines or warehouse logistics stations, some materials and products often need to be stacked and placed in automated high-bay warehouses. Therefore, stacking cranes, as an important type of handling and stacking equipment, are crucial. However, current stacking cranes in high-bay warehouses have poor operating stability. Therefore, it is necessary to design a stacking crane for automated high-bay warehouses. Summary of the invention:

[0003] This patent proposes an automated three-dimensional warehouse stacker. The specific technical solution is as follows:

[0004] An automated three-dimensional warehouse stacker, comprising: a ceiling rail, a floor rail, a traveling mechanism, a lifting mechanism, a cargo-carrying mechanism, a blocking mechanism arranged below the ceiling rail, an electric control cabinet arranged on the side of the lifting mechanism, the traveling mechanism arranged above the floor rail, the lifting mechanism arranged between the traveling mechanism and the ceiling rail, and the cargo-carrying mechanism arranged on the side of the lifting mechanism;

[0005] The walking mechanism includes: a walking mechanism frame, a walking mechanism base, a walking mechanism driving motor, a reducer, a walking mechanism gear, a walking mechanism rack, a first walking wheel, a first detection sensor, a first ground rail guide wheel group, a second walking wheel, a second detection sensor, a second ground rail guide wheel group, a first limit travel switch, and a second limit travel switch; the walking mechanism driving motor is arranged on the walking mechanism frame, the walking mechanism driving motor drives the walking mechanism gear through the reducer, the walking mechanism gear is toothed with the walking mechanism rack, and the walking mechanism rack is arranged in a relatively fixed direction on the ground rail. The walking mechanism base is arranged on the walking mechanism frame; the first walking wheel, the first detection sensor, the first ground rail guide wheel group, and the first limit travel switch are arranged at one end of the walking mechanism frame; the second walking wheel, the second detection sensor, the second ground rail guide wheel group, and the second limit travel switch are arranged at the other end of the walking mechanism frame; the first walking wheel and the second walking wheel are arranged on the ground rail; the first ground rail guide wheel group and the second ground rail guide wheel group are both arranged on both sides of the ground rail; the first detection sensor and the second detection sensor are used for obstacle detection and can be laser radar sensors;

[0006] The lifting mechanism includes: a column, a column top plate, a column bottom plate, a ceiling rail guide wheel group, a lifting mechanism drive motor, a motor drive wheel, a drive chain, a driving sprocket, a first bearing, a second bearing, a first lifting drive wheel, a second lifting drive wheel, a first chain, a second chain, a first lifting driven wheel, a second lifting driven wheel, a first lifting guide rail, a second lifting guide rail, a first limiter, and a second limiter; the column is arranged between the column top plate and the column bottom plate; the ceiling rail guide wheel group is arranged on the column top plate and on both sides of the ceiling rail; the column bottom plate is arranged on the walking mechanism base; the first lifting guide rail and the second lifting guide rail are arranged on the side of the column; the first bearing and the second bearing are arranged on both sides of the column end; the lifting mechanism driving motor is arranged on the lower end side surface of the column, the lifting mechanism driving motor is drivingly connected to the motor driving wheel, and the motor driving wheel is drivingly connected to the driving sprocket through the driving chain; the driving sprocket is arranged on the first bearing; the first lifting driving wheel and the second lifting driving wheel are both arranged on the first bearing; the first lifting driven wheel and the second lifting driven wheel are both arranged on the second bearing; the first lifting driving wheel is connected to the first lifting driven wheel through the first chain; the second lifting driving wheel is connected to the second lifting driven wheel through the second chain; the first limiting member is arranged on the bottom plate of the column or on the lower end side surface of the column; the second limiting member is arranged under the top plate of the column or on the upper end side surface of the column;

[0007] The cargo loading mechanism includes: a cargo loading mechanism frame, a cargo loading mechanism side plate, a cargo loading mechanism drive motor, a telescopic fork, a first lifting tension mechanism, a second lifting tension mechanism, a first slider, a second slider, a guide plate, a through-beam sensor, and a third detection sensor; the cargo loading mechanism drive motor is connected to the telescopic fork drive and is arranged on the cargo loading mechanism frame; the third detection sensor is arranged on the side of the cargo loading mechanism frame and is used for storage position detection of the automated vertical warehouse, which can be a diffuse reflection sensor; the guide plate is arranged on both sides of the cargo loading mechanism frame; the through-beam sensor is arranged on the guide plate; the first lifting tension mechanism, the second lifting tension mechanism, the first slider, and the second slider are all arranged on the cargo loading mechanism side plates, and the cargo loading mechanism side plates are arranged on the cargo loading mechanism frame Side view; the first lifting and tensioning mechanism includes: a first connecting member, a first upper bolt, a first spring, and a first lower bolt; the first upper bolt and the first lower bolt are respectively arranged at the two ends of the first connecting member, and the first spring is sleeved on the first lower bolt and / or the first upper bolt; the second lifting and tensioning mechanism includes: a second connecting member, a second upper bolt, a second spring, and a second lower bolt; the second upper bolt and the second lower bolt are respectively arranged at the two ends of the second connecting member, and the second spring is sleeved on the second lower bolt and / or the second upper bolt; the first lifting and tensioning mechanism and the second lifting and tensioning mechanism are respectively connected to the first chain and the second chain of the lifting mechanism; the first slider and the second slider are respectively slidably connected to the first lifting guide rail and the second lifting guide rail of the lifting mechanism.

[0008] Also includes:

[0009] The first limit travel switch baffle and the second limit travel switch baffle are arranged on the sides of both ends of the floor rail, corresponding to the first limit travel switch and the second limit travel switch in the walking mechanism respectively; a buffer is arranged on the upper side of the floor rail; a floor rail foot pad is used to fix the floor rail; and a maintenance platform is arranged on the side of the lifting mechanism.

[0010] This patented design is an automated high-bay warehouse stacker with a simple structure, easy installation and maintenance, capable of stable operation in the three-axis directions of walking, lifting, and telescoping, with high safety and intelligence, significantly improving the safety and intelligence of automated high-bay warehouse stacking. Description of the drawings:

[0011] Figure 1This is a structural schematic diagram of an automated stereoscopic warehouse stacker in an embodiment of the present patent; in the figure, 1 represents the overhead rail, 2 represents the floor rail, 3 represents the walking mechanism, 4 represents the lifting mechanism, 5 represents the cargo mechanism, 6 represents the blocking mechanism, 7 represents the electric control cabinet, 8 represents the maintenance platform, 21 represents the first limit travel switch baffle, 22 represents the second limit travel switch baffle, 23 represents the buffer, 24 represents the floor rail foot pad, 309 represents the first floor rail guide wheel group, 312 represents the second floor rail guide wheel group, 313 represents the first limit travel switch, 314 represents the second limit travel switch, and 404 represents the overhead rail guide wheel group.

[0012] Figure 2 This is a structural schematic diagram of the walking mechanism in an automated stereoscopic warehouse stacker in an embodiment of this patent; in the figure, 301 represents a walking mechanism frame, 302 represents a walking mechanism base, 303 represents a walking mechanism drive motor, 304 represents a reducer, 305 represents a walking mechanism gear, 306 represents a walking mechanism rack, 307 represents a first walking wheel, 308 represents a first detection sensor, 309 represents a first ground rail guide wheel group, 310 represents a second walking wheel, 311 represents a second detection sensor, and 312 represents a second ground rail guide wheel group.

[0013] Figure 3 This is a structural schematic diagram of the lifting mechanism in an automated three-dimensional warehouse stacker in an embodiment of the present patent; in the figure, 401 represents a column, 402 represents a column top plate, 403 represents a column bottom plate, 404 represents a ceiling rail guide wheel group, 405 represents a lifting mechanism drive motor, 406 represents a motor drive wheel, 407 represents a drive chain, 408 represents a driving sprocket, 409 represents a first bearing, 410 represents a second bearing, 411 represents a first lifting drive wheel, 412 represents a second lifting drive wheel, 413 represents a first chain, 414 represents a second chain, 415 represents a first lifting driven wheel, 416 represents a second lifting driven wheel, 417 represents a first lifting guide rail, 418 represents a second lifting guide rail, 419 represents a first limit member, and 420 represents a second limit member.

[0014] Figure 4This is a structural schematic diagram of a loading mechanism in an automated stereoscopic warehouse stacker in an embodiment of the present patent; in the figure, 501 represents a loading mechanism frame, 502 represents a loading mechanism side plate, 503 represents a loading mechanism drive motor, 504 represents a telescopic fork, 505 represents a first lifting and tensioning mechanism, 506 represents a second lifting and tensioning mechanism, 507 represents a first slider, 508 represents a second slider, 509 represents a guide plate, 510 represents a corresponding sensor, 511 represents a third detection sensor, 512 represents a first connecting member, 513 represents a first upper bolt, 514 represents a first spring, 515 represents a first lower bolt, 516 represents a second connecting member, 517 represents a second upper bolt, 518 represents a second spring, and 519 represents a second lower bolt. Specific implementation method:

[0015] Example:

[0016] An automated three-dimensional warehouse stacker, comprising: a ceiling rail 1, a floor rail 2, a traveling mechanism 3, a lifting mechanism 4, a cargo-carrying mechanism 5, a blocking mechanism 6 disposed below the ceiling rail, and an electric control cabinet 7 disposed on the side of the lifting mechanism. The traveling mechanism is disposed above the floor rail, the lifting mechanism is disposed between the traveling mechanism and the ceiling rail, and the cargo-carrying mechanism is disposed on the side of the lifting mechanism.

[0017] The walking mechanism includes: a walking mechanism frame 301, a walking mechanism base 302, a walking mechanism drive motor 303, a reducer 304, a walking mechanism gear 305, a walking mechanism rack 306, a first walking wheel 307, a first detection sensor 308, a first ground rail guide wheel group 309, a second walking wheel 310, a second detection sensor 311, a second ground rail guide wheel group 312, a first limit travel switch 313, and a second limit travel switch 314; the walking mechanism drive motor is arranged on the walking mechanism frame, the walking mechanism drive motor drives the walking mechanism gear through the reducer, the walking mechanism gear is toothed with the walking mechanism rack, and the walking mechanism rack is arranged on the ground rail and is relatively fixed. direction; the walking mechanism base is arranged on the walking mechanism frame; the first walking wheel, the first detection sensor, the first ground rail guide wheel group, and the first limit travel switch are arranged at one end of the walking mechanism frame; the second walking wheel, the second detection sensor, the second ground rail guide wheel group, and the second limit travel switch are arranged at the other end of the walking mechanism frame; the first walking wheel and the second walking wheel are arranged on the ground rail; the first ground rail guide wheel group and the second ground rail guide wheel group are both arranged on both sides of the ground rail; the first detection sensor and the second detection sensor are used for obstacle detection and can be laser radar sensors; the structure is simple and easy to install and maintain, thereby achieving stable and safe walking operation and a high degree of intelligence;

[0018] The lifting mechanism includes: a column 401, a column top plate 402, a column bottom plate 403, a ceiling rail guide wheel group 404, a lifting mechanism drive motor 405, a motor drive wheel 406, a drive chain 407, a driving sprocket 408, a first bearing 409, a second bearing 410, a first lifting drive wheel 411, a second lifting drive wheel 412, a first chain 413, a second chain 414, a first lifting driven wheel 415, a second lifting driven wheel 416, a first lifting guide rail 417, a second lifting guide rail 418, a first limiter 419, and a second limiter 420;

[0019] The column is arranged between the column top plate and the column bottom plate; the overhead rail guide wheel group is arranged on the column top plate and on both sides of the overhead rail; the column bottom plate is arranged on the walking mechanism base; the first lifting guide rail and the second lifting guide rail are arranged on the side of the column; the first bearing and the second bearing are arranged at both ends of the column; the lifting mechanism drive motor is arranged on the lower end side of the column, the lifting mechanism drive motor is connected to the motor drive wheel, and the motor drive wheel is connected to the driving sprocket through the drive chain; the driving sprocket is arranged The first bearing; the first lifting drive wheel and the second lifting drive wheel are both arranged on the first bearing; the first lifting driven wheel and the second lifting driven wheel are both arranged on the second bearing; the first lifting drive wheel and the first lifting driven wheel are connected by a first chain; the second lifting drive wheel and the second lifting driven wheel are connected by a second chain; the first limiter is arranged on the bottom plate of the column or on the side of the lower end of the column; the second limiter is arranged under the top plate of the column or on the side of the upper end of the column; the structure is simple, easy to install and maintain, thereby cooperating with the walking mechanism to achieve stable walking and lifting operation with high safety;

[0020] The cargo loading mechanism includes: a cargo loading mechanism frame 501, a cargo loading mechanism side plate 502, a cargo loading mechanism drive motor 503, a telescopic fork 504, a first lifting tension mechanism 505, a second lifting tension mechanism 506, a first slider 507, a second slider 508, a guide plate 509, a through-beam sensor 510, and a third detection sensor 511; the cargo loading mechanism drive motor is connected to the telescopic fork drive and is arranged on the cargo loading mechanism frame; the third detection sensor is arranged on the side of the cargo loading mechanism frame for storage position detection of the automated vertical warehouse, which can be a diffuse reflection sensor; the guide plate is arranged on both sides of the cargo loading mechanism frame; the through-beam sensor is arranged on the guide plate; the first lifting tension mechanism, the second lifting tension mechanism, the first slider, and the second slider are all arranged on the cargo loading mechanism side plate, and the cargo loading mechanism side plate is arranged on the side of the cargo loading mechanism frame; the first lifting tension mechanism includes: a first connecting member 512, The first upper bolt 513, the first spring 514, the first lower bolt 515; the first upper bolt and the first lower bolt are respectively arranged at the two ends of the first connecting member, and the first spring is sleeved on the first lower bolt and / or the first upper bolt; the second lifting tension mechanism includes: a second connecting member 516, a second upper bolt 517, a second spring 518, and a second lower bolt 519; the second upper bolt and the second lower bolt are respectively arranged at the two ends of the second connecting member, and the second spring is sleeved on the second lower bolt and / or the second upper bolt; the first lifting tension mechanism and the second lifting tension mechanism are respectively connected to the first chain and the second chain of the lifting mechanism; the first slider and the second slider are respectively slidably connected to the first lifting guide rail and the second lifting guide rail of the lifting mechanism; the structure is simple and easy to install and maintain, thereby cooperating with the walking mechanism and the lifting mechanism to achieve stable operation in the three-axis directions of walking, lifting and telescopic with high safety and high intelligence.

[0021] Also includes:

[0022] The first limit travel switch baffle 21 and the second limit travel switch baffle 22 arranged on the side surfaces of the two ends of the ground rail correspond to the first limit travel switch and the second limit travel switch in the walking mechanism respectively; the buffer 23 is arranged on the upper side of the ground rail; the ground rail foot pad 24 is used to fix the ground rail; and the maintenance platform 8 is arranged on the side of the lifting mechanism.

Claims

1. An automated three-dimensional warehouse stacker, characterized in that: include: A ceiling rail (1), a floor rail (2), a running mechanism (3), a lifting mechanism (4), a cargo carrying mechanism (5), a blocking mechanism (6) arranged on the lower side of the ceiling rail, and an electric control cabinet (7) arranged on the side of the lifting mechanism. The running mechanism is arranged on the floor rail, the lifting mechanism is arranged between the running mechanism and the ceiling rail, and the cargo carrying mechanism is arranged on the side of the lifting mechanism. The walking mechanism comprises: a walking mechanism frame (301), a walking mechanism base (302), a walking mechanism drive motor (303), a reducer (304), a walking mechanism gear (305), a walking mechanism rack (306), a first walking wheel (307), a first detection sensor (308), a first ground rail guide wheel group (309), a second walking wheel (310), a second detection sensor (311), a second ground rail guide wheel group (312), a first limit travel switch (313), and a second limit travel switch (314); the walking mechanism drive motor is arranged on the walking mechanism frame, and the walking mechanism The driving motor drives the walking mechanism gear through the reducer, and the walking mechanism gear is toothed with the walking mechanism rack; the walking mechanism base is arranged on the walking mechanism frame; the first walking wheel, the first detection sensor, the first ground rail guide wheel group, and the first limit travel switch are arranged at one end of the walking mechanism frame; the second walking wheel, the second detection sensor, the second ground rail guide wheel group, and the second limit travel switch are arranged at the other end of the walking mechanism frame; the first walking wheel and the second walking wheel are arranged on the ground rail; the first ground rail guide wheel group and the second ground rail guide wheel group are both arranged on both sides of the ground rail; The lifting mechanism comprises: a column (401), a column top plate (402), a column bottom plate (403), a ceiling rail guide wheel group (404), a lifting mechanism drive motor (405), a motor drive wheel (406), a drive chain (407), a driving sprocket (408), a first bearing (409), a second bearing (410), a first lifting drive wheel (411), a second lifting drive wheel (412), a first chain (413), a second chain (414), a first lifting driven wheel (415), a second lifting driven wheel (416), a first lifting guide rail (417), a second lifting guide rail (418), a first limiting member (419), and a second limiting member (420); the column is arranged between the column top plate and the column bottom plate; the ceiling rail guide wheel group is arranged on the column top plate and on both sides of the ceiling rail; the column bottom plate is arranged on the walking machine The lifting mechanism is a bottom plate of the upright column, and the lifting mechanism is a bottom plate of the upright column, and the lifting mechanism is a bottom plate of the upright column, wherein ... The cargo loading mechanism comprises: a cargo loading mechanism frame (501), a cargo loading mechanism side plate (502), a cargo loading mechanism driving motor (503), a telescopic fork (504), a first lifting tension mechanism (505), a second lifting tension mechanism (506), a first slider (507), a second slider (508), a guide plate (509), a beam sensor (510), and a third detection sensor (511); the cargo loading mechanism driving motor is connected to the telescopic fork driving mechanism and is arranged on the cargo loading mechanism frame; the third detection sensor is arranged on the side of the cargo loading mechanism frame; the guide plate is arranged on both sides of the cargo loading mechanism frame; the beam sensor is arranged on the guide plate; the first lifting tension mechanism, the second lifting tension mechanism, the first slider, and the second slider are all arranged on the cargo loading mechanism side plate, and the cargo loading mechanism side plate is arranged on the side of the cargo loading mechanism frame; the first lifting tension mechanism The invention comprises: a first connecting member (512), a first upper bolt (513), a first spring (514), and a first lower bolt (515); the first upper bolt and the first lower bolt are respectively arranged at the two ends of the first connecting member, and the first spring is sleeved on the first lower bolt and / or the first upper bolt; the second lifting tension mechanism comprises: a second connecting member (516), a second upper bolt (517), a second spring (518), and a second lower bolt (519); the second upper bolt and the second lower bolt are respectively arranged at the two ends of the second connecting member, and the second spring is sleeved on the second lower bolt and / or the second upper bolt; the first lifting tension mechanism is connected to the first chain of the lifting mechanism, and the second lifting tension mechanism is connected to the second chain of the lifting mechanism; the first slider is slidably connected to the first lifting guide rail of the lifting mechanism, and the second slider is slidably connected to the second lifting guide rail of the lifting mechanism.

2. The automated high-bay warehouse stacker according to claim 1, characterized in that: Also includes: A first limit travel switch baffle (21) and a second limit travel switch baffle (22) are arranged on the side surfaces of both ends of the ground rail, wherein the first limit travel switch baffle corresponds to the first limit travel switch in the traveling mechanism, and the second limit travel switch baffle corresponds to the second limit travel switch in the traveling mechanism.

3. The automated high-bay warehouse stacker according to claim 2, characterized in that: Also includes: A buffer (23) is provided on the upper side of the ground rail.

4. The automated high-bay warehouse stacker according to claim 3, characterized in that: Also includes: Floor rail pads (24).

5. An automated high-bay warehouse stacker according to any one of claims 1 to 4, characterized in that: Also includes: A maintenance platform (8) is provided on the side of the lifting mechanism.

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