A split linkage type retreat stopper mechanism for stereoscopic storage

Abstract

The application discloses a three-dimensional storage split linkage type retreat stopper mechanism, which comprises a deflection mechanism arranged on a goods shelf and a pushing mechanism arranged on a lifting machine platform. The deflection mechanism comprises a blocking rod arranged on the goods shelf and rotating in a vertical plane. The blocking rod comprises a vertical position state deflected to a shuttle vehicle driving path and a horizontal state deflected below the shuttle vehicle driving path. The pushing direction of the pushing mechanism is perpendicular to the rotating axis direction of the blocking rod. A butt joint height difference detection assembly is arranged between the pushing mechanism and the deflection mechanism, and the butt joint height difference detection assembly detects the height position deviation of the lifting machine platform relative to the goods shelf. The pushing mechanism drives the blocking rod to deflect around the shaft and makes the blocking rod deflect from the vertical position state to the horizontal position state. The deflection mechanism on the goods shelf and the pushing mechanism on the lifting machine platform can produce mutual linkage action, so that the smooth transfer of the shuttle vehicle is ensured.

Description

Technical Field

[0001] This invention belongs to the field of warehousing, and specifically relates to a split-linkage anti-reverse device mechanism for three-dimensional warehousing. Background Technology

[0002] Two-way or four-way shuttles used in automated warehouses generally achieve layer-changing tasks through a hoist platform. Therefore, a stop device needs to be installed at the connection between the rack and the hoist platform to prevent the shuttle from running out of control and causing unnecessary losses when the hoist platform is not ready (before reaching the designated layer). Currently used stop mechanisms are generally integral structures, installed on the rack, and the position of the stop lever is controlled separately on one side of the rack. Because they lack linkage with the hoist platform, the following situations may occur: (1) When the hoist platform has not reached the designated layer, due to the lack of linkage between the two mechanisms, the stop lever is already in the open state, causing the shuttle to run out of the rack and be damaged; (2) When the lifting height of the hoist platform exceeds the range, the travel guide rail on the rack and the travel guide rail on the hoist platform cannot be effectively connected. Due to the lack of linkage between the two mechanisms, the shuttle cannot be transferred smoothly.

[0003] Therefore, in order to solve the problem that the current method of controlling the position of the backstop lever on one side of the shelf lacks linkage with the hoist platform, a split-type backstop mechanism with linkage capability is needed. Summary of the Invention

[0004] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a split-linkage anti-reverse device mechanism for three-dimensional storage, which enables the deflection mechanism on the shelf and the pushing mechanism on the hoist platform to interact with each other, thereby ensuring the smooth transfer of the shuttle.

[0005] Technical solution: To achieve the above objectives, the technical solution of the present invention is as follows:

[0006] A split-linkage anti-reverse mechanism for automated storage includes a deflection mechanism mounted on a shelf and a pushing mechanism mounted on a hoist platform. The deflection mechanism includes a stop bar rotatably mounted on the shelf in a vertical plane. The stop bar has two states: a vertical position within the shuttle's travel path and a lateral position below the shuttle's travel path. The pushing direction of the pushing mechanism is perpendicular to the rotation axis of the stop bar. A docking height difference detection component is provided between the pushing mechanism and the deflection mechanism to detect the height deviation of the hoist platform relative to the shelf. The pushing mechanism drives the stop bar to deflect around an axis, causing the stop bar to deflect from the vertical position to the lateral position.

[0007] Furthermore, the rotating end of the stop bar is provided with an elastic reset member, and the stop bar is connected to the shelf through the elastic reset member. When the pushing mechanism is separated from the stop bar, the stop bar rotates back to the vertical position through the elastic reset member.

[0008] Furthermore, the stop bar includes a rotating shaft for rotating on the shelf, and a push arm is provided on the rotating shaft at a distance from the stop bar. The push arm is located outside the shuttle path, one end of the push arm is fixedly mounted on the rotating shaft and the other end is a free end. The push arm is located in the thrust direction of the pushing mechanism. The pushing mechanism drives the push arm, the rotating shaft and the stop bar to rotate together around the axis of the rotating shaft.

[0009] Furthermore, it also includes a guide push rod located between the push arm and the push mechanism and mounted on the shelf. The guide push rod is located on the displacement path of the moving end of the push mechanism. One end of the guide push rod contacts the rod body of the push arm, and the other end is a free end that forms a docking end for docking or separating the push structure.

[0010] Furthermore, the pushing mechanism includes a linear displacement mechanism and a power rod disposed on the movable end of the linear displacement mechanism. The power rod is colinearly disposed with the guide push rod. The linear displacement mechanism drives the power rod to push the guide push rod towards the push arm or to move away from the guide push rod in the opposite direction.

[0011] Furthermore, the linear displacement mechanism is a rack and pinion mechanism.

[0012] Furthermore, the docking height difference detection component includes a fixed magnetic block disposed on the docking end and a movable magnetic block that is vertically guided and movably disposed on the push end of the power rod. The magnetic poles of the movable magnetic block and the fixed magnetic block are opposite. The upper and lower ends of the movable magnetic block are elastically connected to the push end via elastic elements. Position detection elements are respectively disposed on both ends of the push end corresponding to the stroke of the movable magnetic block. When the power rod docks with the movable push rod, the movable magnetic block compresses the elastic element upward or downward.

[0013] Furthermore, a mounting cavity is recessed on the end face of the pusher tip, and the movable magnetic block is correspondingly disposed in the mounting cavity, with the movable magnetic block being vertically spaced from the inner wall of the mounting cavity.

[0014] Furthermore, with the end face of the pusher tip in contact with the end face of the docking end, the movable magnetic block and the fixed magnetic block are in a gap-like non-contact configuration.

[0015] Furthermore, a guide rod is provided along the vertical radial line inside the mounting cavity, and a movable hole is provided on the movable magnetic block for the guide rod to move through.

[0016] Beneficial effects: This invention uses a pushing mechanism on the lifting platform to drive the deflection mechanism on the shelf to deflect. That is, the stop bar can only change position when the lifting mechanism reaches the designated position, and the two are interconnected. This solution avoids the phenomenon of the stop bar actuating before the lifting platform reaches the designated layer; moreover, by using a pushing mechanism to drive the deflection mechanism at a fixed point, it also improves the accuracy of the connection between the lifting platform and the travel track on the shelf, ensuring smooth transfer of the shuttle. Attached Figure Description

[0017] Appendix Figure 1 This is a schematic diagram showing the state of the lifting platform of the present invention when it is raised and lowered to the designated shelf.

[0018] Appendix Figure 2 For the purposes of this invention, see appendix. Figure 1 A schematic diagram of the deflection mechanism installed on the shelf in the desired state;

[0019] Appendix Figure 3 Appendix to this invention Figure 1 Top view;

[0020] Appendix Figure 4 This is a schematic diagram of the present invention, showing how the power rod pushes the push arm to deflect, causing the stop lever to be in a lateral position.

[0021] Appendix Figure 5 Appendix of the present invention Figure 4 Top view;

[0022] Appendix Figure 6 This is a schematic diagram of the installation of the docking height difference detection component of the present invention relative to the power rod and the guide push rod;

[0023] Appendix Figure 7 This is a half-sectional structural diagram of the docking height difference detection component of the present invention;

[0024] Appendix Figure 8 This is a schematic diagram showing the position of the docking height difference detection component when the height of the power rod is lower than that of the guide push rod during the docking process. Detailed Implementation

[0025] The invention will now be further described with reference to the accompanying drawings.

[0026] As attached Figure 1 To be continued Figure 5As shown, a split-linkage anti-reverse mechanism for a three-dimensional warehouse includes a deflection mechanism 10 mounted on a shelf and a pushing mechanism mounted on the elevator platform 30, which are linked together. The deflection mechanism 10 includes a stop bar 14 rotatably mounted on the shelf in a vertical plane. The stop bar 14 is located on one side of the shelf travel track 50. The stop bar 14 has two states: a vertical position within the shuttle travel path and a lateral position below the shuttle travel path. In the vertical position, it is used to block the shuttle, with the top of the stop bar higher than the travel track to prevent the shuttle from running off the travel track. In the lateral position, the stop bar is lower than the upper surface of the travel track and located below the lowest surface of the shuttle travel path. The pushing direction of the pushing mechanism is perpendicular to the rotation axis of the stop bar 14. The pushing mechanism directly or indirectly drives the stop bar 14 to rotate around an axis. The pushing mechanism drives the stop bar 14 to deflect around an axis and causes the stop bar 14 to deflect from the vertical position to the lateral position, thereby opening the shuttle travel path and allowing the shuttle to move from the shelf side to the lifting platform.

[0027] The deflection mechanism 10 on the shelf is driven by the pushing mechanism on the lifting platform to deflect. That is, the stop bar 14 can only change its position when the lifting mechanism is raised or lowered to the designated position. The two are linked together. This solution can avoid the phenomenon that the stop bar 14 will move before the lifting platform reaches the designated layer.

[0028] Furthermore, by driving the deflection mechanism at a fixed point, the deflection mechanism can only be deflected when the lifting mechanism is displaced to a specified height and the movement of the driving mechanism corresponds to the driving point of the deflector. This improves the docking accuracy between the lifting platform and the running track on the rack, ensuring the smooth transfer of the shuttle.

[0029] As attached Figure 2 As shown, the rotating end of the stop lever 14 is provided with an elastic reset member 15, and the stop lever 14 is connected to the shelf through the elastic reset member 15. When the pushing mechanism is separated from the stop lever 14, the stop lever 14 rotates back to the vertical position through the elastic reset member 15. After the shuttle car moves from the shelf travel track 50 to the hoist platform travel track 31, the pushing mechanism resets, and the stop lever 14 is reset by the elastic force of the elastic reset member 15.

[0030] The elastic reset element 15 is a torsion spring, and the stop bar 14 includes a rotating shaft 11 for rotating on the shelf, with the torsion spring sleeved on the rotating shaft. The stop bar 14 is located close to the shelf crossbeam 00, and the rotating shaft of the stop bar 14 is lower than the shelf crossbeam. When the stop bar 14 is in the vertical state, it can be limited by the shelf crossbeam.

[0031] As attached Figure 2 As shown, the stop bar 14 includes a rotating shaft 11 for rotating on the shelf. A bearing seat 12 is provided on the rotating shaft. Two sets of stop bars on the rotating shaft are respectively positioned for two shelf travel guide rails. Push arms 13 are positioned on the rotating shaft 11 at a distance from the stop bar 14, and the push arms 13 are located outside the shuttle's path to prevent interference with the shuttle's displacement. One end of the push arm 13 is fixed to the rotating shaft, and the other end is a free end. The push arm 13 is located in the thrust direction of the pushing mechanism. The pushing mechanism drives the push arm, rotating shaft, and stop bar to rotate together around the axis of the rotating shaft. Both the push arm and the pushing mechanism are located outside the shuttle's displacement path to avoid motion interference.

[0032] Preferably, the torsion spring is located at the push arm, and the torsion arm of the torsion spring acts on the push arm and the spring fixing block 16 respectively. The spring fixing block is located on the shelf.

[0033] As attached Figure 1 To be continued Figure 5 As shown, it also includes a guide push rod 20 located between the push arm and the push mechanism and mounted on a shelf. A guide seat 21 is provided on the shelf, and the guide push rod is movably mounted on the guide seat 21. The guide push rod 20 is located on the displacement path of the movable end of the push mechanism. One end of the guide push rod 20 contacts the rod body of the push arm 13, and a roller 22 is provided at this end to reduce friction. The other end is a free end and forms a docking end 20a for docking or separating the push structure.

[0034] The pushing mechanism includes a linear displacement mechanism and a power rod 42 disposed on the movable end of the linear displacement mechanism. The power rod 42 is colinearly arranged with the guide push rod 20. The linear displacement mechanism drives the power rod 42 to push the guide push rod 20 towards the push arm or to move away from the guide push rod 20 in the opposite direction. The power rod and guide push rod further enhance the equivalence of the lifting platform and the rack in the height direction, ensuring that the rack travel guide rail 50 and the lifting platform travel guide rail 31 are at the same height, thus ensuring smooth shuttle transfer.

[0035] The separate design of the guide push rod 20 and the power rod 42 ensures that the backstop will not affect the shelf layers passed by the hoist platform during its movement, greatly improving the service life of the backstop.

[0036] The linear displacement mechanism is a gear and rack mechanism, an electric push rod mechanism, etc. This embodiment uses a gear and rack mechanism, including a drive motor 44, a drive gear 45 connected to the output end of the drive motor, a rack 43 meshing with the drive gear 45, a power rod 42 connected to the rack 43, and a linear bearing 41 provided on the hoist platform to guide the displacement of the power rod 42.

[0037] As attached Figure 6As shown, a docking height difference detection component 60 is provided between the push end of the pushing mechanism and the docking end of the deflection mechanism. The docking height difference detection component is used to detect the height position deviation of the lifting platform relative to the shelf when the pushing mechanism and the deflection mechanism are docked. Based on the detected height deviation, the lifting platform is then raised or lowered by the corresponding height, so that the lifting platform travel track 31 and the shelf travel track 50 are at the same height position. This avoids a large height difference between the lifting platform travel track 31 and the shelf travel track 50 due to lifting platform malfunction, and ensures that the shuttle can smoothly transfer between the two.

[0038] As attached Figure 6 and attached Figure 7 As shown, the docking height difference detection component 60 includes a fixed magnetic block 62 disposed on the docking end 20a and a movable magnetic block 63 vertically guided and movably disposed on the push end 42a of the power rod 42. The magnetic poles of the movable magnetic block and the fixed magnetic block are opposite, and there is an attractive force between the movable magnetic block and the fixed magnetic block. The upper and lower ends of the movable magnetic block 63 are elastically connected to the push end via elastic elements 64, which are return springs. Position detection elements 65 are respectively disposed on both ends of the push end corresponding to the stroke of the movable magnetic block 63. The position detection elements 65 are any one of pressure sensors, strain gauges, distance sensors, etc., and are used to detect the position change of the movable magnetic block. When the power rod docks with the movable push rod, the movable magnetic block 63 compresses the elastic element 64 upward or downward. Its working principle is as follows:

[0039] When the hoist platform is lifted and displaced to the designated floor, and the power rod 42 is not fully aligned with the guide push rod 20, the forward push of the power rod 42 can drive the guide push rod 20 to move forward and drive the push arm 13 to deflect. However, at this time, the hoist platform travel track 31 and the rack travel track 50 are not at the same height. There is a height difference between the two travel guide tracks, which is not conducive to the docking and transfer of the shuttle car, and there is even a risk that the shuttle car will run out of the travel track.

[0040] In this scheme, when the power rod is pushed forward, the docking height difference detection component is activated. When the push tip 42a is still far away from the docking end 20a, the movable magnetic block 63 is in a free state and is located in the middle of the two elastic elements 64. When the push tip 42a approaches the docking end 20a, the movable magnetic block 63 is attracted by the magnetic force of the fixed magnetic block 62. The movable magnetic block is subjected to a lateral adsorption force. However, when there is a height difference between the movable magnetic block and the fixed magnetic block, due to the different magnetic field line distribution density between the two, the movable magnetic block is subjected to a vertical component force. The movable magnetic block tends to move towards the fixed magnetic block 62 in the vertical direction. The closer the two are, the more obvious this tendency and effect are. The movable magnetic block and the fixed magnetic block reach equilibrium when they are at the same height.

[0041] During the upward or downward displacement of the movable magnetic block, the movable magnetic block compresses the elastic element on the corresponding side. There is a positional change between the movable magnetic block and the position detection element on the corresponding side. The position detection element detects the amount of change and then drives the lifting platform to make adaptive fine adjustments to the lifting height through the control system. This ensures that the lifting platform travel track 31 and the shelf travel track 50 are not at the same height.

[0042] As attached Figure 8 The diagram shows the position of the docking height difference detection component when the height of the power rod is lower than that of the guide push rod during the docking process.

[0043] The end face of the pusher tip 42a is recessed with a mounting cavity 61, and the movable magnetic block 63 is correspondingly disposed in the mounting cavity. The movable magnetic blocks 63 are vertically spaced from the inner wall of the mounting cavity, and this spacing provides displacement space for the movable magnetic blocks.

[0044] With the end face of the push tip 42a in contact with the end face of the mating end 20a, the movable magnetic block 63 and the fixed magnetic block 62 are in a gap-type non-contact arrangement, that is, one end of the movable magnetic block 63 facing the opening of the mounting cavity is located inside the mounting cavity, or one side of the fixed magnetic block 63 facing the push tip 42a is recessed into the end face of the mating end 20a.

[0045] This eliminates the vertical friction between the two magnetic blocks during the lifting and adjustment of the elevator platform, and also makes it easier to separate the power rod and the guide push rod.

[0046] A guide rod 66 is arranged along a vertical radial line inside the mounting cavity, and a movable hole is provided through the movable magnet 63 for the guide rod to move through. Preferably, the guide rod 66 has an arc-shaped rod structure, with its concave side facing the fixed magnet. The arc-shaped guide rod 66 allows the movable magnet to have a certain degree of lateral displacement when it moves up and down. Through the superposition of horizontal magnetic attraction forces, the movable magnet can move more easily.

[0047] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A split linkage retainer mechanism for a stereoscopic warehouse, characterized by: The device comprises a deflection mechanism (10) arranged on a rack and a pushing mechanism arranged on a lifting platform, the deflection mechanism (10) comprises a deflector (14) arranged on the rack and rotating in a vertical plane, the deflector (14) comprises a vertical position state deflected to a shuttle traveling path and a horizontal state deflected below the shuttle traveling path, the pushing direction of the pushing mechanism is perpendicular to the rotating axis direction of the deflector (14), a docking height difference detection assembly (60) is arranged between the pushing mechanism and the deflection mechanism, the docking height difference detection assembly detects the height position deviation of the lifting platform relative to the rack; the pushing mechanism drives the deflector (14) to deflect around the shaft and deflects the deflector from the vertical position state to the horizontal position state. The deflector (14) comprises a rotating shaft (11) arranged on the rack, a push arm (13) is arranged on the rotating shaft (11) at a distance from the deflector (14), and the push arm (13) is located outside the shuttle path, one end of the push arm (13) is fixedly arranged on the rotating shaft and the other end is a free end, and the push arm (13) is located in the thrust direction of the pushing mechanism; the pushing mechanism drives the push arm, the rotating shaft and the deflector to rotate around the rotating shaft axis as the center; Further comprising a guide push rod (20) arranged between the push arm and the pushing mechanism and arranged on the rack, the guide push rod (20) is located in the displacement path of the movable end of the pushing mechanism, one end of the guide push rod (20) contacts the rod body of the push arm (13), and the other end is a free end and constitutes a docking end (20a) for docking or separating the pushing structure; The pushing mechanism comprises a linear displacement mechanism and a power rod (42) arranged at the movable end of the linear displacement mechanism, the power rod (42) is arranged in line with the guide push rod (20), and the linear displacement mechanism drives the power rod (42) to push the guide push rod (20) or reversely displace away from the guide push rod (20); The docking height difference detection assembly (60) comprises a fixed magnetic block (62) arranged on the docking end (20a) and a movable magnetic block (63) movably arranged on the pushing end (42a) of the power rod (42) in the vertical direction, the opposite poles of the movable magnetic block and the fixed magnetic block are opposite, the upper and lower ends of the movable magnetic block (63) are respectively elastically connected to the pushing end through elastic members (64), and position detection elements (65) are arranged at both ends of the pushing end corresponding to the stroke of the movable magnetic block (63); in the state that the power rod docks the movable push rod, the movable magnetic block (63) is compressed upward or downward by the elastic members (64).

2. The three-dimensional storage split-linkage retreat-stop mechanism according to claim 1, characterized in that: The rotating end of the deflector (14) is provided with an elastic reset member (15), and the deflector (14) is connected to the rack through the elastic reset member (15), in the state that the pushing mechanism is separated from the deflector (14), the deflector (14) is reset from the horizontal position state to the vertical position state through the elastic reset member (15).

3. The three-dimensional storage split-linkage retreat-stop mechanism according to claim 1, characterized in that: The linear displacement mechanism is a gear and rack mechanism.

4. The three-dimensional storage split-linkage retreat-stop mechanism according to claim 1, characterized in that: The end face of the pushing end (42a) is concave with a mounting cavity (61), the movable magnetic block (63) is correspondingly arranged in the mounting cavity, and the movable magnetic block (63) is vertically spaced from the cavity inner wall of the mounting cavity.

5. The three-dimensional storage body-divided linkage type retreat-preventing device mechanism according to claim 4, characterized by: In the state that the end face of the pushing end (42a) is in contact with the end face of the butt joint end (20a), the movable magnetic block (63) and the fixed magnetic block (62) are gap type non-contact arrangement.

6. The three-dimensional storage body-divided linkage type retreat-preventing device mechanism according to claim 4, characterized by: The mounting cavity is provided with a guide rod (66) along the vertical radial line, and the movable magnetic block (63) is provided with a movable hole through which the guide rod is movably arranged.

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