A storage and retrieval device

Abstract

Base comprises support, castor, and frame upper is provided with guide rail, and support and conveyer frames movable end contact site are provided with recoil spring or rubber cushion, and castor is arranged on the pin of base bottom four, to carry mobile handler location.

Description

Technical Field

[0001] The invention belongs to the technical field of warehousing, and in particular relates to a goods storing and retrieving device. Background Art

[0002] The fork is a commonly used storage and retrieval device for stackers. It is usually directly installed on the stacker and travels through the aisles between the shelves to complete the task of automatically storing and retrieving items.

[0003] Since the goods are placed in the shelves, the fork usually needs to move in at least two directions to store and retrieve the goods. Taking the retrieval of goods as an example, the fork needs to extend the gripper into the shelf, hold the goods tightly, and then move the goods out of the shelf to take out the goods. When the gripper is extended into and moved out of the shelf, the gripper moves in a straight line. When the gripper holds and releases the goods, the gripper moves relative to the goods. Generally speaking, these two movement directions are perpendicular to each other.

[0004] In order to achieve the above-mentioned two-directional movement, the clamping assembly in the fork currently generally adopts a multi-stage telescopic fork structure. For example, in the patent "CN216190829U-A Clamping and Shifting Fork", the clamping assembly includes a three-stage telescopic fork body: an outer fork, a middle fork, and an inner fork. The relative approach and separation of the clamping assembly realizes the clamping and release of the goods, and the outer fork, middle fork, and inner fork are telescopically extended to realize the movement of the goods. This type of fork body is relatively complex in structure and has many parts, which also leads to a low upper limit of the clamping force and transportation capacity of the clamping assembly. If it is changed to a simple single-fork structure (i.e., the clamping claw is a single section rather than a telescopic multi-section), the linear movement of the single fork cannot be achieved, so that the fork loses one direction of movement, reducing the practicality of the fork.

[0005] At present, single-fork structure storage and retrieval devices that can meet the movement in two directions are also relatively common in actual applications. For example, the single-fork structure (grabbing arm) of the "CN201922402485.8 ground box loading robot" is used. However, the telescopic cylinder 31 that drives the clamping action of the grabbing arm needs to be set on the door beam frame 3, and the door beam frame 3 itself is a part of the lifting assembly for lifting. Therefore, there are complex structures and unreasonable arrangement of parts. There are also complex circuit arrangements of the telescopic cylinder 31, which increases the burden on the driving component in the lifting assembly, namely the rotating motor 21, and other problems, resulting in increased use costs. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a storage and retrieval device with a reasonable and reliable clamping claw driving mode.

[0007] The content of the present invention includes a base, a mobile seat slidably arranged on the base, and a clamping claw slidably arranged on the mobile seat, a driving wheel rotatably arranged on the mobile seat, a transmission assembly cooperating with the driving wheel is provided on the clamping claw, the driving wheel rotates to drive the clamping claw to move through the transmission assembly, the axis of the driving wheel is parallel to the sliding direction of the mobile seat, and a sliding through hole is provided at the axis position of the driving wheel, and also includes a transmission shaft rotatably arranged on the base, the transmission shaft is parallel to the sliding direction of the mobile seat, and the transmission shaft is linearly slidably matched with the sliding through hole.

[0008] The invention further comprises a linear drive device arranged on the base, and an output end of the linear drive device is connected to the moving seat.

[0009] Furthermore, the linear drive device and the transmission shaft are respectively arranged on both sides of the base, and further include fixing plates arranged at both ends of the base for fixing the linear drive device and the transmission shaft.

[0010] Furthermore, the linear drive device includes a screw rod rotatably arranged on the base, the screw rod is threadedly engaged with the movable seat, and a rotation drive device is provided on the opposite side of the two fixed plates. The output end of the rotation drive device is connected to the drive wheel through the fixed plate, and the two fixed plates are respectively provided with driven wheels connected to the screw rod and the transmission shaft.

[0011] Furthermore, the base is provided with a wire groove between the screw rod and the transmission shaft, and the movable seat is provided with a notch at the wire groove.

[0012] The present invention further comprises guide rails arranged on both sides of the base, and sliders which are slidably matched with the guide rails are arranged on both sides of the movable seat.

[0013] Furthermore, two groups of the clamping jaws are arranged opposite to each other at both ends of the movable base, and the two groups of the clamping jaws are connected by a synchronization component.

[0014] Furthermore, the synchronization component includes a rotating shaft arranged at the center of the movable seat, a connecting rod connecting the center to the rotating shaft, and two swing arms hinged to the ends of the connecting rod, and the other ends of the two swing arms are hinged to the clamping claws.

[0015] Furthermore, the clamp includes a connecting portion connected to the movable seat and extending toward both sides of the base, and a clamping portion arranged at the end of the connecting portion and extending toward the top of the base. It also includes a supporting platform fixed on the base, and the clamping portion protrudes above the support platform.

[0016] The invention further comprises a rotating platform which is arranged on a side of the base away from the moving seat.

[0017] The beneficial effect of the present invention is that the present invention provides a driving wheel and a transmission assembly on the mobile seat, and a transmission shaft that linearly slides with the driving wheel is provided on the base, so that the rotation of the transmission shaft is transmitted through the driving wheel and the transmission assembly to drive the movement of the clamping claw. In this way, the clamping and releasing actions of the clamping claw are driven and controlled by the transmission shaft provided on the base. The mobile driving device of the clamping claw does not need to be provided on the mobile seat but is provided on the base for the movement of the mobile seat, providing a more reasonable and reliable installation position for the mobile driving device of the clamping claw, while facilitating the circuit layout of the mobile driving device of the clamping claw, so that there are no power parts, electronic components and cables on the entire mobile seat, simplifying the structure of the mobile seat, and reducing the driving burden of the mobile driving device of the mobile seat; providing a simpler and more reliable arrangement method for the mobile driving device of the mobile seat and the mobile driving device of the clamping claw, and providing a basis for a more compact storage and retrieval device structure. In addition, by arranging the axis of the driving wheel parallel to the sliding direction of the mobile seat, the movement of the mobile seat will not affect the coordination and drive of the transmission shaft and the driving wheel, so that the movement of the mobile seat and the clamping and releasing actions of the clamping claw are independent of each other and do not interfere with each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Attachment Figure 1 It is a structural schematic diagram of the present invention;

[0019] Attachment Figure 2 This is a schematic diagram of the structure of the present invention after the support platform is hidden;

[0020] Attachment Figure 3 It is a partial enlarged view of the clamping jaw driving device of the present invention;

[0021] Attachment Figure 4 This is a top view of the present invention after the support platform is hidden.

[0022] In the figure, 131-base; 132-support platform; 133-grip; 134-grip driving device; 1341-moving seat; 1342-driving wheel; 1343-transmission assembly; 13431-gear; 13432-rack; 1344-sliding through hole; 1345-transmission shaft; 1346-screw; 1347-fixed plate; 1348-rotation driving device; 1349-driving wheel; 13410-driven wheel; 13411-guide rail; 13412-slider; 13413-sliding seat; 135-synchronizing assembly; 1351-rotating shaft; 1352-connecting rod; 1353-swing arm; 136-cable trough. DETAILED DESCRIPTION

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0024] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0025] In addition, the terms "first," "second," and so on, used in this disclosure are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referenced. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this disclosure, "plurality" means at least two, such as two or three, unless otherwise specifically defined.

[0026] In the present invention, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; it can mean mechanical connection, electrical connection, physical connection, or wireless communication connection; it can mean direct connection or indirect connection through an intermediate medium; it can mean internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0028] As attached Figure 1-4As shown, the present invention includes a base 131, a clamping claw driving device 134 arranged on the base 131 and a clamping claw 133 arranged on the clamping claw driving device 134, the clamping claw driving device 134 includes a movable seat 1341 slidably arranged on the base 131, and the clamping claw 133 is slidably arranged on the movable seat 1341. Preferably, the sliding direction of the movable seat 1341 is perpendicular to the sliding direction of the clamping claw 133. The self-sliding of the clamping claw 133 realizes the clamping and releasing of the goods. The sliding of the movable seat 1341 drives the clamping claw 133 to move, so that the clamping claw 133 moves to the position of the goods for clamping, or drives the clamping claw 133 that clamps the goods to move to the target position.

[0029] A driving wheel 1342 is rotatably provided on the movable seat 1341, and a transmission assembly 1343 cooperating with the driving wheel 1342 is provided on the clamping jaw 133. The driving wheel 1342 rotates to drive the clamping jaw 133 to move through the transmission assembly 1343. The axis of the driving wheel 1342 is parallel to the sliding direction of the movable seat 1341, and a sliding through hole 1344 is provided at the axis position of the driving wheel 1342. It also includes a transmission shaft 1345 rotatably provided on the base 131, and the transmission shaft 1345 is parallel to the sliding direction of the movable seat 1341, and the transmission shaft 1345 is linearly slidably matched with the sliding through hole 1344.

[0030] The present invention provides a driving wheel 1342 and a transmission assembly 1343 on the mobile seat 1341, and provides a transmission shaft 1345 on the base 131 that linearly slides with the driving wheel 1342, so that the rotation of the transmission shaft 1345 is transmitted through the driving wheel 1342 and the transmission assembly 1343 to drive the movement of the clamping claw 133. In this way, the clamping and releasing actions of the clamping claw 133 are driven and controlled by the transmission shaft 1345 provided on the base 131. The mobile driving device of the clamping claw 133 does not need to be provided on the mobile seat 1341 but is provided on the mobile seat. The movable base 131 of 1341 provides a more reasonable and reliable installation location for the mobile drive device of the clamp 133, and at the same time facilitates the circuit layout of the mobile drive device of the clamp 133, so that there are no power parts, electronic components and cables on the entire movable base 1341, which simplifies the structure of the movable base 1341 and reduces the driving burden of the mobile drive device of the movable base 1341; it provides a simpler and more reliable arrangement method for the mobile drive device of the movable base 1341 and the mobile drive device of the clamp 133, and provides a basis for a more compact storage and retrieval device structure layout. In addition, by setting the axis of the driving wheel 1342 parallel to the sliding direction of the movable base 1341, the movement of the movable base 1341 will not affect the coordination and drive of the transmission shaft 1345 and the driving wheel 1342, so that the movement of the movable base 1341 and the clamping and releasing actions of the clamp 133 are independent of each other and will not interfere with each other.

[0031] Among them, the transmission shaft 1345 and the sliding through hole 1344 are linearly slidably matched, and the sliding through hole 1344 can only slide linearly along the axis of the transmission shaft 1345 and cannot rotate relatively. When the transmission shaft 1345 rotates, it will drive the sliding through hole 1344 and the driving wheel 1342 to rotate synchronously; specifically, the linear sliding match can be a non-circular sliding match between the transmission shaft 1345 and the sliding through hole 1344, that is, the cross-section of the transmission shaft 1345 and the sliding through hole 1344 adopts a rectangular, polygonal or elliptical shape, and the size of the transmission shaft 1345 is slightly smaller than the size of the sliding through hole 1344, allowing relative sliding when relative rotation is impossible.

[0032] There are many ways to implement the transmission component 1343, which can be a gear rack, a conveyor belt, or a similar transmission structure that can convert rotational motion into linear motion, such as Figure 3 As shown, the clamping jaw 133 is fixed on the sliding seat 13413, and the sliding seat 13413 is slidably matched with the movable seat 1341 through the guide rail; taking the transmission component 1343 as a gear rack structure as an example, the outer side of the driving wheel 1342 is provided with external teeth, and the driving wheel 1342 and the external teeth are combined to form a gear 13431, and a rack 13432 meshing with the gear 13431 is fixedly provided on the clamping jaw 133 or the sliding seat 13413, and the rotation of the gear 13431 drives the movement of the rack 13432 and thus drives the clamping jaw 1 33 and the sliding seat 13413 move, driving the clamping claw 133 to perform a clamping action; when the transmission component 1343 is a conveyor belt, the driving wheel 1342 serves as the driving wheel of the transmission belt, and a driven wheel is provided on the movable seat 1341, and the belt is sleeved on the driving wheel and the driven wheel. At this time, the clamping claw 133 or the sliding seat 13413 is fixedly connected to the belt through a belt buckle, and the rotation of the driving wheel 1342 will drive the belt to move in a straight line, thereby driving the clamping claw 133 and the sliding seat 13413 to move, driving the clamping claw 133 to perform a clamping action.

[0033] In one embodiment, the present invention also includes a linear drive device arranged on the base 131, and the output end of the linear drive device is connected to the moving seat 1341, which is used to drive the moving seat 1341 to move, thereby realizing the movement and transportation of the clamp 133 and the goods. The linear drive device can be in the form of a cylinder, a hydraulic cylinder or a linear module, etc., which can be selected according to actual needs.

[0034] In this embodiment, the linear drive device and the transmission shaft 1345 are respectively arranged on both sides of the base 131, and also include fixing plates 1347 arranged at both ends of the base 131 for fixing the linear drive device and the transmission shaft 1345. The linear drive device and the transmission shaft 1345 are respectively arranged on both sides of the base 131, so that the weight distribution of the storage and retrieval device is uniform and the structure is compact and reasonable.

[0035] In one of the preferred embodiments, the linear drive device adopts the form of a linear module. Specifically, the linear drive device includes a screw rod 1346 rotatably arranged on the base 131, and the screw rod 1346 is threadedly matched with the movable seat 1341. A rotation drive device 1348 is provided on the opposite side of the two fixed plates 1347. The output end of the rotation drive device 1348 passes through the fixed plate 1347 and is connected to the driving wheel 1349. The two fixed plates 1347 are respectively provided with a driven wheel 13410 connected to the screw rod 1346 and the transmission shaft 1345. The rotation drive device 1348 can be a rotary cylinder or a motor, preferably a servo motor, to achieve precise position control of the clamping claw 133 and the movable seat 1341. In this embodiment, the screw rod 1346 and the transmission shaft 1345 are symmetrically arranged, and are respectively provided by the rotation drive device 1348 arranged on the two fixed plates 1347 in combination with the driving wheel 1349 and the driven wheel 13410 drives rotation; the screw rod 1346 and the transmission shaft 1345, the two fixed plates 1347, the two sets of driving wheels 1349 and the driven wheels 13410, and the two sets of rotating drive devices 1348 are all arranged symmetrically in pairs with the center of gravity of the base 131, ensuring that the center of gravity is constant while rationally utilizing the space of the base 131 to ensure compactness. The present invention changes the driving mode of the clamping jaw 133 so that the two rotating drive devices 1348 are both fixed on the base 131, thereby making the structure of the cargo storage and retrieval device more compact and reasonable, and making the size of the cargo storage and retrieval device smaller, while facilitating the line layout and maintenance of the two rotating drive devices 1348. Therefore, the rotating drive device 1348 that drives the clamping jaw 133 to clamp is set on the base 131 instead of on the movable seat 1341, thereby not limiting the model selection and scale selection of the rotating drive device 1348, and can provide the clamping jaw 133 with greater clamping force and moving force.

[0036] The base 131 is provided with a wire groove 136 between the screw rod 1346 and the transmission shaft 1345, and the movable seat 1341 is provided with a notch at the wire groove 136, which further simplifies the line arrangement of the two rotating drive devices 1348. By providing the notch on the movable seat 1341, the weight and material of the movable seat 1341 can also be reduced, thereby reducing the driving loss and cost.

[0037] The present invention also includes guide rails 13411 arranged on both sides of the base 131. Sliders 13412 that slide with the guide rails 13411 are arranged on both sides of the movable seat 1341 to improve the guidance and smoothness of the movable seat 1341 during movement. In addition, a group of guide rails 13411 are arranged on each side of the base 131 to improve stability.

[0038] In the present invention, only one clamping jaw 133 can be provided, and a fixed limiting structure, such as a block, can be provided on the other side of the movable seat 1341 in the moving direction of the clamping jaw 133. At this time, the movement of a single clamping jaw 133 toward the fixed limiting structure is clamping, and the movement away from the fixed limiting structure is releasing. In one preferred embodiment, the clamping jaw 133 is relatively provided with two groups at both ends of the movable seat 1341. The two groups of the clamping jaws 133 are connected by a synchronization component 135. When one of the clamping jaws 133 moves, the synchronization component 135 drives the other clamping jaw 133 to move relative to each other, thereby realizing the relative clamping and releasing of the two clamping jaws 133.

[0039] like Figure 3 As shown, the synchronization component 135 includes a rotating shaft 1351 arranged at the center of the movable seat 1341, a connecting rod 1352 connected to the center and the rotating shaft 1351, and two swing arms 1353 hinged to the ends of the connecting rod 1352. The other ends of the two swing arms 1353 are hinged to the clamping claw 133. When the transmission component 1343 drives the clamping claw 133 to be connected to the transmission component 1343 to move, it will drive the swing arm 1353 to swing, and then drive the connecting rod 1352 to rotate along the rotating shaft 1351. The other end of the connecting rod 1352 drives the other swing arm 1353 to swing and then drives the other clamping claw 133 to move synchronously. In this embodiment, the two clamping claws 133 can be driven to move synchronously by a set of driving wheels 1342 and the transmission component 1343, thereby reducing the structural complexity and improving the cargo clamping effect of the cargo storage and retrieval device.

[0040] In one embodiment, the clamping claw 133 includes a connecting portion connected to the movable seat 1341 and extending toward both sides of the base 131, and a clamping claw portion provided at the end of the connecting portion and extending toward the top of the base 131. It also includes a support platform 132 fixedly provided on the base 131, and the clamping claw 133 protrudes above the support platform 132. In this embodiment, a support platform 132 is provided on the base 131, which can be used to support the goods to be clamped and reduce the clamping burden of the clamping claw 133. It can also serve as a shell to wrap and protect the various components used to drive the clamping claw 133 to clamp and move, thereby improving the practicality, service life and aesthetics of the cargo storage and retrieval device. The clamping claw 133 is L-shaped, extending from both sides of the base 131 and the support platform 132, and the clamping claw portion acts above the support platform 132.

[0041] The present invention further includes a rotating platform disposed on the side of the base 131 away from the movable base 1341, which is used to drive the base 131 to rotate and improve the freedom of movement of the cargo storage and retrieval device.

[0042] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

Claims

1. A device for storing and retrieving goods, characterized in that: The invention comprises a base (131), a movable base (1341) slidably arranged on the base (131), and a clamping claw (133) slidably arranged on the movable base (1341), wherein a driving wheel (1342) is rotatably arranged on the movable base (1341), and a transmission assembly (1343) matched with the driving wheel (1342) is provided on the clamping claw (133), and the driving wheel (1342) rotates to drive the clamping claw (133) to move through the transmission assembly (1343), the axis of the driving wheel (1342 is parallel to the sliding direction of the movable base (1341), and a sliding through hole (1344) is provided at the axis position of the driving wheel (1342), and further comprises a transmission shaft (1345) rotatably arranged on the base (131), the transmission shaft (1345) is parallel to the sliding direction of the movable base (1341), and the transmission shaft (1345) is linearly slidably matched with the sliding through hole (1344); The movable driving device of the clamping jaw does not need to be arranged on the movable seat but is arranged on the base for the movable seat to move, so that there are no power parts, electronic components and cables on the movable seat, reducing the driving burden of the movable driving device of the movable seat.

2. The cargo storage and retrieval device according to claim 1, wherein: It also includes a linear drive device arranged on the base (131), and the output end of the linear drive device is connected to the moving seat (1341).

3. The cargo storage and retrieval device according to claim 2, wherein: The linear drive device and the transmission shaft (1345) are respectively arranged on both sides of the base (131), and further comprises fixing plates (1347) arranged at both ends of the base (131) for fixing the linear drive device and the transmission shaft (1345).

4. The cargo storage and retrieval device according to claim 3, wherein: The linear drive device includes a screw rod (1346) rotatably arranged on the base (131), the screw rod (1346) being threadedly engaged with the movable base (1341), and a rotation drive device (1348) being provided on opposite sides of the two fixed plates (1347). The output end of the rotation drive device (1348) passes through the fixed plate (1347) and is connected to a driving wheel (1349), and a driven wheel (13410) connected to the screw rod (1346) and the transmission shaft (1345) is respectively provided on the two fixed plates (1347).

5. The cargo storage and retrieval device according to claim 4, wherein: The base (131) is provided with a wire groove (136) between the screw rod (1346) and the transmission shaft (1345), and the movable seat (1341) is provided with a notch at the wire groove (136).

6. The cargo storage and retrieval device according to any one of claims 1 to 5, characterized in that: It also includes guide rails (13411) arranged on both sides of the base (131), and sliders (13412) are arranged on both sides of the movable seat (1341) and are slidably matched with the guide rails (13411).

7. The cargo storage and retrieval device according to any one of claims 1 to 5, characterized in that: Two groups of the clamping jaws (133) are arranged opposite to each other at both ends of the movable seat (1341), and the two groups of the clamping jaws (133) are connected via a synchronization component (135).

8. The cargo storage and retrieval device according to claim 7, wherein: The synchronization component (135) includes a rotating shaft (1351) arranged at the center of the movable seat (1341), a connecting rod (1352) connected to the rotating shaft (1351) at the center, and two swing arms (1353) hinged to the ends of the connecting rod (1352), and the other ends of the two swing arms (1353) are hinged to the clamping claw (133).

9. The cargo storage and retrieval device according to claim 7, wherein: The clamping claw (133) includes a connecting portion connected to the movable seat (1341) and extending toward both sides of the base (131), and a clamping claw (133) portion provided at the end of the connecting portion and extending toward the top of the base (131), and also includes a supporting platform (132) fixedly provided on the base (131), and the clamping claw (133) portion protrudes above the supporting platform (132).

10. The cargo storage and retrieval device according to claim 9, wherein: It also includes a rotating platform arranged on a side of the base (131) away from the moving seat (1341).

Images