A dual-drive lifting device for intelligent warehouse stacker

Abstract

The present invention provides a dual-drive lifting device for an intelligent warehousing stacker, which belongs to the technical field of warehousing equipment. It solves the technical problems that during the existing process of goods rising or falling, the forks may shake, the goods may fall from the forks, and the goods cannot be stacked at fixed positions according to demand. A dual-drive lifting device for an intelligent warehousing stacker includes a lifting frame, a stacking frame arranged on the lifting frame, and a mounting frame is arranged on the top of the lifting frame, and the mounting frame is fixed at the center of the warehouse ceiling. The present invention has the ability to realize automatic material picking and fixed-point stacking within the range of a limiting ring frame, reducing the labor of personnel, and can adjust the stability accordingly according to the weight distribution of the materials fixed by the stacking frame and the swing amplitude of the stacking frame during lifting and stacking. While completing the lifting and lowering action of the stacking frame, it further improves the stability during the stacking process.

Description

Technical Field

[0001] The invention belongs to the technical field of storage equipment and relates to a dual-drive lifting device, in particular to a dual-drive lifting device of an intelligent storage stacker. Background Art

[0002] A stacker refers to a special machine that uses a fork or a string rod as a picking device to grab, transport and stack or pick and place unit goods from high-rise shelves in warehouses, workshops, etc. Therefore, the stability of the stacker in lifting and lowering goods is extremely important. In the prior art, most stackers adopt a forced drive type, that is, a motor directly drives the fork to rise and fall through a traction rope. During the implementation of the above solution, that is, when the fork drives the goods to rise or fall, the fork will shake, and there is a safety hazard of the goods falling from the fork. In addition, the stacker can only simply realize the ability of lifting and stacking, and cannot perform stacking work at a fixed position according to demand, affecting the overall stacking efficiency. Summary of the invention

[0003] The purpose of the present invention is to address the above-mentioned problems existing in the prior art and to propose a dual-drive lifting device for an intelligent warehousing stacker. The technical problem to be solved by the invention is: how to realize the ability of automatic material picking and fixed-point stacking within the range of the limiting ring frame, reduce the workload of personnel, and make corresponding adjustments and stability according to the weight distribution of the materials fixed by the stacking frame and the swing amplitude of the stacking frame during lifting and stacking, while completing the lifting and lowering action of the stacking frame, further improving the stability during the stacking process.

[0004] The purpose of the present invention can be achieved by the following technical solutions:

[0005] A dual-drive lifting device for an intelligent warehouse stacker, comprising a lifting frame and a stacking frame arranged on the lifting frame, a mounting frame is arranged on the top of the lifting frame, the mounting frame is fixed at the center of the warehouse ceiling, a positioning frame is rotatably connected to the mounting frame, a circle of limiting ring frames are fixed on the periphery of the warehouse ceiling, a lead screw slide is arranged between the positioning frame and the limiting ring frame, one end of the lead screw slide is slidably connected to the limiting ring frame, the other end of the lead screw slide is fixedly connected to the positioning frame, a regulating seat is threadedly connected to the lead screw slide, and a servo motor is arranged in the regulating seat Machine one, the bottom of the regulating seat is rotatably connected to the regulating frame, and the output shaft of the servo motor one is coaxially fixedly connected to the regulating frame, and an omnidirectional stacking and lifting assembly is arranged in the regulating frame, and a pair of driving screws are rotatably connected to the lifting frame, and the top ends of the two driving screws are rotatably connected to the mounting frame, and a connecting assembly is arranged on the stacking frame, the connecting assembly is threadedly connected to the two driving screws, and a driving assembly for controlling the operation of the two driving screws is arranged in the lifting frame, and the omnidirectional stacking and lifting assembly is connected to the stacking frame through a quick-release assembly.

[0006] The working principle of the present invention is that the two driving screws can be controlled by the driving assembly to lift the stacking frame to the regulating frame, so as to realize the fixed connection between the omnidirectional stacking lifting assembly and the stacking frame through the quick-install assembly. After the stacking frame is connected with the omnidirectional stacking lifting assembly, the stacking frame is detached from the threaded connection with the two driving screws through the connecting assembly. At this time, the operation of the lead screw slide and the rotation of the adjusting frame itself can make the omnidirectional stacking lifting assembly drive the stacking frame to move to any position within the range of the limiting ring frame, thereby improving the stacking efficiency and stacking accuracy, and realizing the ability of automatic material picking and stacking within the range of the limiting ring frame, reducing the labor of personnel, and the omnidirectional stacking lifting assembly has the ability of automatic adjustment and stability. When connected with the stacking frame, it can be adjusted and stabilized accordingly according to the weight distribution of the materials fixed by the stacking frame and the swing amplitude of the stacking frame during lifting and stacking, so as to further improve the stability during the stacking process while completing the lifting ability of the stacking frame.

[0007] The connection assembly includes a pair of fixed sleeves fixed on the stacking frame and a pair of movable sleeves rotatably connected to the stacking frame. The two movable sleeves and the corresponding fixed sleeves form a sleeve-like structure, and the sleeve-like structure is threadedly connected to the corresponding driving screw.

[0008] By adopting the above structure, the movable sleeve can be rotated at will, so that when it is connected with the corresponding fixed sleeve, it can form a sleeve-like structure, and be sleeved with the corresponding driving screw to realize the ability of thread transmission. When the stacker needs to be disconnected from the two driving screws, the two movable sleeves can rotate the flap to form a gap, which is convenient for the detachment and disassembly of the stacking frame and improves the overall operation process.

[0009] A servo motor 2 is fixed in the stacking frame, and the output shaft of the servo motor 2 is coaxially fixedly connected to a driving gear 1. A pair of transmission gears 1 are rotatably connected in the stacking frame, and the two transmission gears 1 are meshed with the driving gear 1. A pair of transmission worm gears are arranged in the stacking frame, and the two transmission worm gears are coaxially fixedly connected to the corresponding movable sleeve rotating shafts, and transmission worms are coaxially fixed on the two transmission gears 1, and the two transmission worms are meshed with the corresponding transmission worm gears.

[0010] By adopting the above structure, the driving gear one can be driven to rotate by the servo motor two. When the driving gear one rotates, it will drive the two transmission gears one to rotate. When the two transmission gears one rotate, they will drive the corresponding transmission worm to rotate. When the two transmission worms rotate, they will drive the corresponding transmission worm wheels to rotate. When the two transmission worm wheels rotate, they can drive the two movable sleeves to rotate, thereby automatically completing the state change between the movable sleeve and the corresponding fixed sleeve, improving the overall work efficiency, and automatically realizing the connection or detachment of the stacking rack and the two driving screws.

[0011] The driving assembly includes a driving motor fixed on the lifting frame and a driving shaft rotating in the lifting frame, one end of the driving shaft is connected to the output shaft of the driving motor through a coupling, and the other end of the driving shaft is coaxially fixedly connected with a driving bevel gear 1, a driving bevel gear 2 is rotatably connected in the lifting frame, the driving bevel gear 1 is meshed with the driving bevel gear 2, and a driving worm is coaxially fixed on the driving bevel gear 2, and a pair of driving worm wheels are rotatably connected in the lifting frame, the two driving worm wheels are meshed with the driving worm, and the two driving worm wheels are coaxially fixedly connected to the corresponding driving screws.

[0012] By adopting the above structure, the driving motor can be used to drive the driving shaft to rotate, and the driving shaft can further drive the driving bevel gear 1 to rotate, and the driving bevel gear 1 can further drive the driving bevel gear 2 to rotate, and the driving bevel gear 2 can further drive the driving worm to rotate. When the driving worm rotates, it will drive the two driving worm gears to rotate, and when the two driving worm gears rotate, they will drive the corresponding driving screws to rotate, thereby realizing the operating ability of the driving screws, and facilitating the action of lifting the stacking rack to the bottom of the control rack.

[0013] A pair of clamping plates are slidably connected to the stacking frame, and a bidirectional lead screw is rotatably connected inside the stacking frame, and the bidirectional lead screw is threadedly connected to the two clamping plates, a meshing gear 1 is coaxially fixed to the middle of the bidirectional lead screw, a servo motor 7 is fixed inside the stacking frame, and the output shaft of the servo motor 7 is coaxially fixedly connected to a meshing gear 2, and the meshing gear 1 is meshed with the meshing gear 2.

[0014] By adopting the above structure, the servo motor seven can drive the meshing gear two to rotate, and the meshing gear two will drive the meshing gear one to rotate, and the meshing gear one will drive the bidirectional lead screw to rotate, and the bidirectional lead screw will drive the two clamping plates to clamp the materials, thereby realizing the subsequent stacking work and improving the overall stacking efficiency.

[0015] An inner gear ring is fixed in the positioning frame, a servo motor three is fixed in the mounting frame, an output shaft of the servo motor three is coaxially fixedly connected with a meshing gear three, and the meshing gear three is meshed with the inner gear ring.

[0016] With the above structure, the meshing gear three can be driven to rotate by the servo motor three. After the meshing gear three rotates, it will mesh with the inner gear ring to drive the adjustment frame to rotate as a whole, thereby achieving a comprehensive stacking angle, and then cooperating with the operation of the lead screw slide rail to improve the stacking range and stacking accuracy.

[0017] The omnidirectional stacking lifting assembly includes a pair of output shafts rotatably connected to the regulating frame, an output shaft sleeve sleeved on each output shaft, the two output shafts are staggered, each output shaft sleeve is provided with a movable groove, each movable groove is in the shape of an annular groove, a pair of clamping grooves are provided at the bottom of each movable groove, each clamping groove is in the shape of a round head inner groove, a pair of clamping blocks are fixed on each output shaft, the clamping blocks are in the shape of a semicircular plate, the round head part of each pair of clamping blocks is plugged into the corresponding clamping groove, and each One end of the output shaft sleeve is coaxially connected to a pushing ring plate, a reset spring is fixed between each pushing ring plate and the inner wall of the regulating frame, and a winding wheel is coaxially fixed to each output shaft rod and the output shaft sleeve, one end of a pull rope is fixed to each winding wheel, and the other end of each pull rope is connected to a corresponding quick-release component, and a pair of servo motors four are fixed in the regulating frame, the output shafts of the two servo motors four are coaxially fixedly connected to the corresponding output shaft rods, and a control component for controlling the sliding of the two output shaft sleeves is provided in the regulating frame.

[0018] By adopting the above structure, the translational movement of the output shaft sleeve can be controlled by the control component. When the output shaft sleeve does not need to translate, the reset spring will push the output shaft sleeve, so that the snap groove opened in the output shaft sleeve and the snap block on the output shaft rod are always in a snap connection state, so that the servo motor four can drive the output shaft rod and the output shaft sleeve to rotate synchronously, and realize the ability of synchronous reeling, thereby realizing the basic lifting ability, and then controlling the output shaft sleeve to translate through the control component, so that the snap block is separated from the connection with the snap groove. At this time, when the output shaft rod is driven to rotate by the servo motor four, power is transmitted between the output shaft rod and the output shaft sleeve through the control component, so that the output shaft sleeve and the output shaft rod rotate in opposite directions, thereby realizing the adjustment of the inclination angles of the front, rear, left and right positions of the stacking frame, so as to make corresponding adjustments and stability according to the weight distribution of the materials fixed by the stacking frame and the swing amplitude of the stacking frame during lifting and stacking.

[0019] The control assembly includes a control frame arranged between two output shafts, the control frame is fixedly connected to the inner wall of the regulating frame, each output shaft is coaxially fixedly connected with a driving bevel gear three, each output shaft sleeve is coaxially fixedly connected with a driving bevel gear four, each driving bevel gear four and the corresponding driving bevel gear three form a bevel gear group one, a pair of sliding threaded cylinders are slidably connected in the control frame, one end of each sliding threaded cylinder is rotatably connected with a push bevel gear, each push bevel gear is meshed with the corresponding bevel gear group one, a transmission gear two is rotatably connected in the control frame, a pair of transmission screws one are coaxially fixed on the transmission gear two, each transmission screw one is threadedly connected with the corresponding sliding threaded cylinder, and a servo motor five is fixed in the control frame, the output shaft of the servo motor five is coaxially fixedly connected with the driving gear two, and the driving gear two is meshed with the transmission gear two.

[0020] By adopting the above structure, the driving gear 2 can be driven to rotate by the servo motor 5. After the driving gear 2 rotates, it will drive the transmission gear 2 to rotate. After the transmission gear 2 rotates, it will drive the corresponding transmission screw 1 to rotate. Once the two transmission screws rotate, they will drive the corresponding sliding threaded cylinders to expand or contract. The two sliding threaded cylinders further drive the top push bevel gear to move. When the top push bevel gear is pushed out, the driving bevel gear 4 is pushed. The driving bevel gear 4 further drives the output shaft sleeve to move, so as to realize the disengagement of the connection state between the buckle block and the buckle groove. When the top push bevel gear completes the meshing with the driving bevel gear 4 and the driving bevel gear 3, it can be used as a power transmission structure between the driving bevel gear 4 and the driving bevel gear 3. When the output shaft is driven to rotate by the servo motor 4, the output shaft drives the driving bevel gear 3 to rotate, and the driving bevel gear 3 drives the top push bevel gear to rotate. After the top push bevel gear rotates, it will drive the driving bevel gear 4 to rotate. After the driving bevel gear 4 rotates, it will drive the output shaft sleeve to rotate in the opposite direction, so as to realize the ability of automatic adjustment.

[0021] The quick-loading assembly includes a quick-loading frame fixedly connected to the bottom end of each pull rope, and four quick-connecting grooves opened on the top surface of the stacking frame. A pair of tensioning blocks are slidably connected in each of the quick-loading frames, and each pair of tensioning blocks is buckled and matched with the bottom of the corresponding quick-connecting groove. A transmission gear three is rotatably connected in each quick-loading frame, and a pair of transmission screws two are coaxially fixed on the transmission gear three. Each transmission screw two is threadedly connected to the corresponding tensioning block, and a servo motor six is ​​fixed in the quick-loading frame, and the output shaft of the servo motor six is ​​coaxially fixedly connected to a drive gear three, and the drive gear three is meshed with the transmission gear three. An auxiliary bucket is fixed at the notch of each quick-connecting groove, a magnetic suction plate one is fixed to the bottom of each quick-connecting groove, and a magnetic suction plate two that is adsorbed and matched with the magnetic suction plate one is fixed to the bottom surface of each quick-loading frame.

[0022] By adopting the above structure, the quick-loading frame can be conveniently entered into the quick-connecting groove through the auxiliary bucket, and then the pre-docking can be quickly realized through the adsorption cooperation between the magnetic suction plate 1 and the magnetic suction plate 2. When the quick-loading frame and the quick-connecting groove are completely docked, the driving gear 3 can be driven to rotate by the servo motor 6. After the driving gear 3 rotates, it will drive the transmission gear 3 to rotate. After the transmission gear 3 rotates, it will drive the two transmission screws 2 to rotate. After the two transmission screws 2 rotate, they will drive the corresponding tensioning blocks to expand, so as to realize the buckling cooperation with the bottom of the quick-connecting groove, and further realize the fixed connection between the all-round stacking lifting assembly and the stacking frame.

[0023] Compared with the existing technology, the dual-drive lifting equipment of the intelligent warehouse stacker has the following advantages:

[0024] 1. Through the operation of the lead screw guide rail and the rotation of the positioning frame itself, the omnidirectional stacking lifting assembly can drive the stacking frame to move to any position within the range of the limiting ring frame, thereby improving the stacking efficiency and stacking accuracy, and realizing the ability of automatic material picking and fixed-point stacking within the range of the limiting ring frame, thereby reducing the workload of personnel.

[0025] 2. The all-round stacking and lifting components have the ability to automatically adjust and stabilize. When connected to the stacking rack, they can make corresponding adjustments and stabilize according to the weight distribution of the materials fixed by the stacking rack and the swing amplitude of the stacking rack during lifting and stacking. This can not only complete the lifting capacity of the stacking rack, but also further improve the stability during the stacking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the present invention.

[0027] Figure 2 It is a schematic diagram of the structure of some components in the present invention.

[0028] Figure 3 It is a schematic diagram of the structure of the driving component in the present invention.

[0029] Figure 4 It is a structural schematic diagram of the connection component in the present invention.

[0030] Figure 5 It is a schematic diagram of the structure inside the position adjustment frame of the present invention.

[0031] Figure 6 It is a structural schematic diagram of the output shaft sleeve in the present invention performing reverse operation.

[0032] Figure 7 It is a structural schematic diagram of the synchronous operation of the output shaft sleeve in the present invention.

[0033] Figure 8 It is a structural schematic diagram of the quick-install component in the present invention.

[0034] Fig. 9 This is a schematic diagram of the structure of the connection between the clamping block and the clamping slot in the present invention.

[0035] Fig.10 This is a schematic diagram of the structure inside the control frame of the present invention.

[0036] Fig.11 This is a schematic diagram of the structure of the connection between the limit ring frame and the lead screw slide rail in the present invention.

[0037] In the figure, 1, lifting frame; 2, stacking frame; 3, mounting frame; 4, adjusting frame; 5, limiting ring frame; 6, lead screw slide rail; 7, regulating seat; 8, servo motor one; 9, regulating frame; 10, driving screw; 11, fixed sleeve; 12, movable sleeve; 13, servo motor two; 14, driving gear one; 15, transmission gear one; 16, transmission worm gear; 17, transmission worm; 18, driving motor; 19, driving shaft; 20, driving bevel gear one; 21, driving bevel gear two; 22, driving worm; 23, driving worm gear; 24, clamping plate; 25, two-way lead screw; 26, meshing gear one; 27, servo motor seven; 28, meshing gear two; 29, inner gear ring; 30, servo motor three; 31, meshing 3. Combining gear three; 32. Output shaft; 33. Output shaft sleeve; 34. Movable groove; 35. Snap-in groove; 36. Snap-in block; 37. Push ring plate; 38. Return spring; 39. Winding wheel; 40. Pull rope; 41. Servo motor four; 42. Control frame; 43. Driving bevel gear three; 44. Driving bevel gear four; 45. Sliding threaded cylinder; 46. Pushing bevel gear; 47. Transmission gear two; 48. Transmission screw one; 49. Servo motor five; 50. Driving gear two; 51. Quick-mount frame; 52. Quick-connect groove; 53. Tension block; 54. Transmission gear three; 55. Transmission screw two; 56. Servo motor six; 57. Driving gear three; 58. Auxiliary bucket; 59. Magnetic plate one; 60. Magnetic plate two. DETAILED DESCRIPTION

[0038] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0039] like Figure 1-Figure 11As shown, a dual-drive lifting device of an intelligent warehouse stacker includes a lifting frame 1, a stacking frame 2 arranged on the lifting frame 1, a mounting frame 3 is arranged on the top of the lifting frame 1, the mounting frame 3 is fixed at the center of the warehouse ceiling, a positioning frame 4 is rotatably connected to the mounting frame 3, a circle of limiting ring frames 5 are fixed on the periphery of the warehouse ceiling, a lead screw slide 6 is arranged between the positioning frame 4 and the limiting ring frames 5, one end of the lead screw slide 6 is slidably connected to the limiting ring frame 5, and the other end of the lead screw slide 6 is fixedly connected to the positioning frame 4, an adjusting seat 7 is threadedly connected to the lead screw slide 6, and a servo motor is arranged in the adjusting seat 7 Machine 1 8, the bottom of the regulating seat 7 is rotatably connected to the regulating frame 9, and the output shaft of the servo motor 1 8 is coaxially fixedly connected to the regulating frame 9, and an omnidirectional stacking and lifting assembly is arranged in the regulating frame 9, and a pair of driving screws 10 are rotatably connected to the lifting frame 1, and the top ends of the two driving screws 10 are rotatably connected to the mounting frame 3, and a connecting assembly is arranged on the stacking frame 2, and the connecting assembly is threadedly connected to the two driving screws 10, and a driving assembly for controlling the operation of the two driving screws 10 is arranged in the lifting frame 1, and the omnidirectional stacking and lifting assembly is connected to the stacking frame 2 through a quick-release assembly.

[0040] The two driving screws 10 can be controlled by the driving component to lift the stacking frame 2 to the regulating frame 9, so as to realize the fixed connection between the all-round stacking lifting component and the stacking frame 2 through the quick-install component. After the stacking frame 2 is connected with the all-round stacking lifting component, the stacking frame 2 is detached from the threaded connection with the two driving screws 10 through the connecting component. At this time, the all-round stacking lifting component can drive the stacking frame 2 to move to any position within the range of the limit ring frame 5 through the operation of the lead screw slide 6 and the rotation of the adjustment frame 4 itself, thereby improving the stacking efficiency and stacking accuracy, and realizing the ability of automatic material collection and stacking within the range of the limit ring frame 5, reducing the labor of personnel, and the all-round stacking lifting component has the ability of automatic adjustment and stability. When connected with the stacking frame 2, it can be adjusted and stabilized accordingly according to the weight distribution of the materials fixed by the stacking frame 2 and the swing amplitude of the stacking frame 2 during lifting and stacking, so as to complete the lifting ability of the stacking frame 2 and further improve the stability during the stacking process.

[0041] The connecting assembly includes a pair of fixed sleeves 11 fixed on the stacking frame 2 and a pair of movable sleeves 12 rotatably connected to the stacking frame 2. The two movable sleeves 12 and the corresponding fixed sleeves 11 form a sleeve-like structure, and the sleeve-like structure is threadedly connected to the corresponding driving screw 10.

[0042] By adopting the above structure, the movable sleeve 12 can be rotated at will, so that when it is connected with the corresponding fixed sleeve 11, it can form a sleeve-like structure, and be sleeved with the corresponding driving screw 10 to realize the ability of threaded transmission. When the stacker needs to be disconnected from the two driving screws 10, the two movable sleeves 12 can rotate the flap to form a gap, which is convenient for the disassembly of the stacking frame 2 and improves the overall operation process.

[0043] A servo motor 13 is fixed in the stacking frame 2, and the output shaft of the servo motor 13 is coaxially fixedly connected to a driving gear 14. A pair of transmission gears 15 are rotatably connected in the stacking frame 2, and the two transmission gears 15 are meshed with the driving gear 14. A pair of transmission worm gears 16 are arranged in the stacking frame 2, and the two transmission worm gears 16 are coaxially fixedly connected to the corresponding rotating shafts of the movable sleeve plate 12, and transmission worms 17 are coaxially fixed on the two transmission gears 15, and the two transmission worms 17 are meshed with the corresponding transmission worm gears 16.

[0044] By adopting the above structure, the driving gear 14 can be driven to rotate by the servo motor 2 13. When the driving gear 14 rotates, it will drive the two transmission gears 15 to rotate. When the two transmission gears 15 rotate, they will drive the corresponding transmission worm 17 to rotate. When the two transmission worm 17 rotate, they will drive the corresponding transmission worm wheel 16 to rotate. When the two transmission worm wheels 16 rotate, they can drive the two movable sleeve plates 12 to rotate, thereby automatically completing the state change between the movable sleeve plate 12 and the corresponding fixed sleeve plate 11, improving the overall work efficiency, and automatically realizing the connection or separation work between the stacking rack 2 and the two driving screws 10.

[0045] The driving assembly includes a driving motor 18 fixed on the lifting frame 1 and a driving shaft 19 rotating in the lifting frame 1, one end of the driving shaft 19 is connected to the output shaft of the driving motor 18 through a coupling, and the other end of the driving shaft 19 is coaxially fixedly connected with a driving bevel gear 1 20, a driving bevel gear 2 21 is rotatably connected in the lifting frame 1, the driving bevel gear 1 20 is meshed with the driving bevel gear 21, and a driving worm 22 is coaxially fixed on the driving bevel gear 21, and a pair of driving worm wheels 23 are rotatably connected in the lifting frame 1, both driving worm wheels 23 are meshed with the driving worm 22, and both driving worm wheels 23 are coaxially fixedly connected to the corresponding driving screw 10.

[0046] By adopting the above structure, the driving motor 18 can be used to drive the driving shaft 19 to rotate, and the driving shaft 19 can further drive the driving bevel gear 1 20 to rotate, and the driving bevel gear 1 20 can further drive the driving bevel gear 2 21 to rotate, and the driving bevel gear 21 can further drive the driving worm 22 to rotate. When the driving worm 22 rotates, it will drive the two driving worm wheels 23 to rotate. When the two driving worm wheels 23 rotate, they will drive the corresponding driving screw 10 to rotate, thereby realizing the operating ability of the driving screw 10, and conveniently completing the action of lifting the stacking rack 2 to the bottom of the regulating rack 9.

[0047] A pair of clamping plates 24 are slidably connected to the stacking frame 2, and a bidirectional lead screw 25 is rotatably connected inside the stacking frame 2, and the bidirectional lead screw 25 is threadedly connected to the two clamping plates 24, a meshing gear 1 26 is coaxially fixed to the middle of the bidirectional lead screw 25, a servo motor 7 27 is fixed inside the stacking frame 2, and the output shaft of the servo motor 7 27 is coaxially fixedly connected to a meshing gear 2 28, and the meshing gear 1 26 is meshed with the meshing gear 2 28.

[0048] By adopting the above structure, the servo motor seven 27 can drive the meshing gear two 28 to rotate, and the meshing gear two 28 will drive the meshing gear one 26 to rotate after the meshing gear one 26 rotates, and the bidirectional lead screw 25 will drive the two clamping plates 24 to clamp the materials, thereby realizing the subsequent stacking work and improving the overall stacking efficiency.

[0049] An inner gear ring 29 is fixed in the positioning frame 4 , a servo motor 30 is fixed in the mounting frame 3 , and an output shaft of the servo motor 30 is coaxially fixedly connected with a meshing gear 31 , which meshes with the inner gear ring 29 .

[0050] With the above structure, the servo motor 3 30 can drive the meshing gear 3 31 to rotate. After the meshing gear 3 31 rotates, it will mesh with the inner gear ring 29 to drive the adjustment frame 4 to rotate as a whole, thereby achieving a comprehensive stacking angle, and then cooperating with the operation of the lead screw slide 6 to improve the stacking range and stacking accuracy.

[0051] The omnidirectional stacking lifting assembly includes a pair of output shafts 32 rotatably connected to the regulating frame 9, and an output shaft sleeve 33 sleeved on each output shaft 32. The two output shafts 32 are arranged in an interlaced manner, and a movable groove 34 is provided in each output shaft sleeve 33. Each movable groove 34 is in the shape of an annular groove. A pair of clamping grooves 35 are provided at the bottom of each movable groove 34. Each clamping groove 35 is in the shape of a round head inner groove. A pair of clamping blocks 36 are fixed on each output shaft 32. The clamping blocks 36 are in the shape of a semicircular plate. The round head part of each pair of clamping blocks 36 is plugged into the corresponding clamping groove 35, and each output shaft One end of the sleeve 33 is coaxially connected to a pushing ring plate 37 for rotation, a return spring 38 is fixed between each pushing ring plate 37 and the inner wall of the regulating frame 9, and a winding wheel 39 is coaxially fixed to each output shaft rod 32 and the output shaft sleeve 33, one end of a pull rope 40 is fixed to each winding wheel 39, and the other end of each pull rope 40 is connected to a corresponding quick-release component, and a pair of servo motors four 41 are fixed in the regulating frame 9, the output shafts of the two servo motors four 41 are coaxially fixedly connected to the corresponding output shaft rod 32, and a control component for controlling the sliding of the two output shaft sleeves 33 is provided in the regulating frame 9.

[0052] By adopting the above structure, the translational movement of the output shaft sleeve 33 can be controlled by the control component. When the output shaft sleeve 33 does not need to translate, the return spring 38 will push the output shaft sleeve 33, so that the buckle groove opened in the output shaft sleeve 33 and the buckle block on the output shaft rod 32 are always in a buckle connection state, so that the servo motor four 41 can drive the output shaft rod 32 and the output shaft sleeve 33 to rotate synchronously, realize the ability of synchronous reeling, thereby realizing the basic lifting ability, and then control the output shaft sleeve 33 to translate through the control component, so that the buckle block is separated from the connection with the buckle groove. At this time, when the output shaft rod 32 is driven to rotate by the servo motor four 41, the output shaft rod 32 and the output shaft sleeve 33 are transmitted power through the control component, so that the output shaft sleeve 33 and the output shaft rod 32 rotate in opposite directions, and the inclination angles of the four positions of the stacking frame 2, namely the front, rear, left and right, are adjusted, so as to make corresponding adjustments and stability according to the weight distribution of the materials fixed by the stacking frame 2 and the swing amplitude of the stacking frame 2 during lifting and stacking.

[0053] The control assembly includes a control frame 42 arranged between the two output shafts 32, the control frame 42 is fixedly connected to the inner wall of the regulating frame 9, each output shaft 32 is coaxially fixedly connected with a driving bevel gear three 43, each output shaft sleeve 33 is coaxially fixedly connected with a driving bevel gear four 44, each driving bevel gear four 44 and the corresponding driving bevel gear three 43 form a bevel gear set one, a pair of sliding threaded cylinders 45 are slidably connected in the control frame 42, one end of each sliding threaded cylinder 45 is rotatably connected with a push bevel gear 46, and each push bevel gear 46 is meshed with the corresponding bevel gear set one, a transmission gear two 47 is rotatably connected in the control frame 42, a pair of transmission screws one 48 are coaxially fixed on the transmission gear two 47, each transmission screw one 48 is threadedly connected with the corresponding sliding threaded cylinder 45, and a servo motor five 49 is fixed in the control frame 42, and the output shaft of the servo motor five 49 is coaxially fixedly connected with a driving gear two 50, and the driving gear two 50 is meshed with the transmission gear two 47.

[0054] With the above structure, the servo motor 5 49 can be used to drive the driving gear 2 50 to rotate. When the driving gear 2 50 rotates, it will drive the transmission gear 2 47 to rotate. When the transmission gear 2 47 rotates, it will drive the corresponding transmission screw 1 48 to rotate. The rotation of the two transmission screws 1 48 will drive the corresponding sliding threaded cylinders 45 to expand or contract. The two sliding threaded cylinders 45 further drive the push bevel gear 46 to move. When the push bevel gear 46 is pushed out, it pushes the driving bevel gear 4 44. The driving bevel gear 44 further drives the output shaft sleeve 33 to move, so that the buckle block and The snap groove connection state is disengaged. When the push bevel gear 46 completes the engagement with the driving bevel gear four 44 and the driving bevel gear three 43, it can be used as a power transmission structure between the driving bevel gear four 44 and the driving bevel gear three 43. When the output shaft 32 is driven to rotate by the servo motor four 41, the output shaft 32 drives the driving bevel gear three 43 to rotate, and the driving bevel gear three 43 drives the push bevel gear 46 to rotate. After the push bevel gear 46 rotates, it will drive the driving bevel gear four 44 to rotate. After the driving bevel gear four 44 rotates, it will drive the output shaft sleeve 33 to rotate in the opposite direction, thereby realizing the ability of automatic adjustment.

[0055] The quick-loading assembly includes a quick-loading frame 51 fixedly connected to the bottom end of each pull rope 40, and four quick-connecting grooves 52 opened on the top surface of the stacking frame 2. A pair of tensioning blocks 53 are slidably connected in each quick-loading frame 51, and each pair of tensioning blocks 53 are buckled and matched with the bottom of the corresponding quick-connecting groove 52. A transmission gear three 54 is rotatably connected in each quick-connecting frame, and a pair of transmission screws two 55 are coaxially fixed on the transmission gear three 54. Each transmission screw two 55 is threadedly connected to the corresponding tensioning block 53. A servo motor six 56 is fixed in the quick-loading frame 51, and the output shaft of the servo motor six 56 is coaxially fixedly connected to a driving gear three 57, and the driving gear three 57 is meshed with the transmission gear three 54. An auxiliary bucket 58 is fixed at the notch of each quick-connecting groove 52, a magnetic suction plate one 59 is fixed to the bottom of each quick-connecting groove 52, and a magnetic suction plate two 60 that is adsorbed and matched with the magnetic suction plate one 59 is fixed to the bottom surface of each quick-loading frame 51.

[0056] By adopting the above structure, the quick-loading frame 51 can be conveniently entered into the quick-connecting groove 52 through the auxiliary bucket 58, and then the pre-docking can be quickly achieved through the adsorption cooperation between the magnetic suction plate 1 59 and the magnetic suction plate 2 60. When the quick-loading frame 51 and the quick-connecting groove 52 are docked, the servo motor 6 56 can be used to drive the driving gear 3 57 to rotate. After the driving gear 3 57 rotates, it will drive the transmission gear 3 54 to rotate. After the transmission gear 3 54 rotates, it will drive the two transmission screws 2 55 to rotate. After the two transmission screws 2 55 rotate, they will drive the corresponding tensioning blocks 53 to expand, so as to achieve the buckle cooperation with the bottom of the quick-connecting groove 52, and further realize the fixed connection between the all-round stacking lifting assembly and the stacking frame 2.

[0057] The working principle of the present invention is as follows: the meshing gear 28 is driven to rotate by the servo motor 7 27, and the meshing gear 28 rotates and drives the meshing gear 1 26 to rotate, and the meshing gear 1 26 rotates and drives the bidirectional lead screw 25 to rotate, and the bidirectional lead screw 25 rotates and drives the two clamping plates 24 to clamp and fix the material, and then the driving shaft 19 is driven to rotate by the driving motor 18, and the driving shaft 19 further drives the driving bevel gear 1 20 to rotate, and the driving bevel gear 1 20 further drives the driving bevel gear 21 to rotate, and the driving bevel gear 21 further drives the driving worm 22 to rotate, and the driving worm 22 rotates and drives the two driving worm wheels 23 to rotate, and the two driving worm wheels 23 rotate and drive the corresponding driving screw 10 to rotate, so as to realize the operation ability of the driving screw 10, and complete the action of lifting the stacking frame 2 to the bottom of the regulating frame 9, and after the quick-loading frame 51 and the quick-connecting groove 52 are connected, the servo motor 6 5 6 drives the driving gear three 57 to rotate, and the driving gear three 57 rotates and drives the transmission gear three 54 to rotate, and the transmission gear three 54 rotates and drives the two transmission screws 2 55 to rotate, and the two transmission screws 2 55 rotate and drive the corresponding tensioning block 53 to expand, so as to achieve the buckle fit with the bottom of the quick-connect groove 52, and the driving gear one 14 is driven to rotate by the servo motor two 13, and the driving gear one 14 rotates and drives the two transmission gears one 15 to rotate, and the two transmission gears one 15 rotate and drive the corresponding transmission worm 17 to rotate, and the two transmission worm 17 rotate and drive the corresponding transmission worm wheel 16 to rotate, and the two transmission worm wheels 16 rotate and drive the two movable sleeve plates 12 to rotate, so as to automatically complete the state change between the movable sleeve plate 12 and the corresponding fixed sleeve plate 11, so that the stacking rack 2 is disconnected from the two driving screws 10, and at this time, the meshing gear three 31 is driven to rotate by the servo motor three 30, After the meshing gear three 31 rotates, it will mesh with the inner gear ring 29 to drive the adjustment frame 4 to rotate as a whole, so as to achieve a comprehensive stacking angle, and then cooperate with the operation of the lead screw slide rail 6, so that the all-round stacking lifting assembly can drive the stacking frame 2 to move to any position within the range of the limiting ring frame 5, thereby improving the stacking efficiency and stacking accuracy. During the stacking process, the servo motor five 49 drives the driving gear two 50 to rotate, and the driving gear two 50 rotates, which drives the transmission gear two 47 to rotate, and the transmission gear two 47 rotates, which drives the corresponding transmission screw one 48 to rotate, and the two transmission screws one 48 rotate, which drives the corresponding sliding threaded cylinders 45 to expand or contract, and the two sliding threaded cylinders 45 further drive the push bevel gear 46 to move, and when the push bevel gear 46 is pushed out, the driving bevel gear four 44 is squeezed and pushed, and the driving bevel gear four 44 further drives the output shaft sleeve 33 to move.The snap block is disengaged from the snap groove connection state. When the push bevel gear 46 completes the meshing with the driving bevel gear four 44 and the driving bevel gear three 43, it can be used as a power transmission structure between the driving bevel gear four 44 and the driving bevel gear three 43. When the output shaft 32 is driven to rotate by the servo motor four 41, the output shaft 32 drives the driving bevel gear three 43 to rotate, and the driving bevel gear three 43 drives the push bevel gear 46 to rotate. After the push bevel gear 46 rotates, it will drive the driving bevel gear four 44 to rotate. After the driving bevel gear four 44 rotates, it will drive the output shaft sleeve 33 to rotate in the opposite direction, so as to realize the front, rear, left and right positions of the stacking rack 2. The inclination angle is adjusted to be stable according to the weight distribution of the materials fixed by the stacking frame 2 and the swing amplitude of the stacking frame 2 during lifting and stacking. When the two push bevel gears 46 are retracted, the return spring 38 will push the output shaft sleeve 33, so that the buckle groove opened in the output shaft sleeve 33 and the buckle block on the output shaft rod 32 are always in a buckle connection state, so that the servo motor 41 can drive the output shaft rod 32 and the output shaft sleeve 33 to rotate synchronously, realize the ability of synchronous winding, and thus realize the basic lifting ability. Through the cooperation of the two operating modes, the lifting ability of the stacking frame 2 is achieved, and the stability of the stacking process is further improved.

[0058] In summary, the two driving screws 10 are controlled by the driving component to lift the stacking frame 2 to the regulating frame 9, so as to realize the fixed connection between the all-round stacking lifting component and the stacking frame 2 through the quick-install component. After the stacking frame 2 is connected with the all-round stacking lifting component, the stacking frame 2 is detached from the threaded connection with the two driving screws 10 through the connecting component. At this time, the operation of the lead screw slide 6 and the rotation of the adjusting frame 4 itself can make the all-round stacking lifting component drive the stacking frame 2 to move to any position within the range of the limit ring frame 5, thereby improving the stacking efficiency and stacking accuracy, and realizing the ability of automatic material picking and stacking within the range of the limit ring frame 5, reducing the labor of personnel, and the all-round stacking lifting component has the ability of automatic adjustment and stability. When connected with the stacking frame 2, it can be adjusted and stabilized accordingly according to the weight distribution of the materials fixed by the stacking frame 2 and the swing amplitude of the stacking frame 2 during lifting and stacking, so as to complete the lifting ability of the stacking frame 2 and further improve the stability during the stacking process.

[0059] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A dual-drive lifting device for an intelligent warehouse stacker, comprising a lifting frame (1) and a stacking frame (2) arranged on the lifting frame (1), characterized in that: The top of the lifting frame (1) is provided with a mounting frame (3), which is fixed at the center of the warehouse ceiling. A positioning frame (4) is rotatably connected to the mounting frame (3). A circle of limiting ring frames (5) are fixed on the periphery of the warehouse ceiling. A lead screw guide (6) is provided between the positioning frame (4) and the limiting ring frames (5). One end of the lead screw guide (6) is slidably connected to the limiting ring frames (5), and the other end of the lead screw guide (6) is fixedly connected to the positioning frame (4). A regulating seat (7) is threadedly connected to the lead screw guide (6), and a servo motor (8) is provided in the regulating seat (7). The bottom of the regulating seat (7) is rotatably connected to the regulating seat (7). A regulating frame (9) is provided, and the output shaft of a servo motor (8) is coaxially fixedly connected to the regulating frame (9), and an all-round stacking lifting component is arranged in the regulating frame (9), and a pair of driving screws (10) are rotatably connected to the lifting frame (1), and the top ends of the two driving screws (10) are rotatably connected to the mounting frame (3), and a connecting component is arranged on the stacking frame (2), and the connecting component is threadedly connected to the two driving screws (10), and a driving component for controlling the operation of the two driving screws (10) is arranged in the lifting frame (1), and the all-round stacking lifting component is connected to the stacking frame (2) through a quick-install component.

2. The dual-drive lifting device of the intelligent warehouse stacker according to claim 1, characterized in that: The connection assembly comprises a pair of fixed sleeves (11) fixed on the stacking frame (2), and a pair of movable sleeves (12) rotatably connected to the stacking frame (2); the two movable sleeves (12) and the corresponding fixed sleeves (11) form a sleeve-like structure, and the sleeve-like structure is threadedly connected to the corresponding driving screw (10).

3. The dual-drive lifting device of the intelligent warehouse stacker according to claim 2, characterized in that: A servo motor 2 (13) is fixed inside the stacking frame (2), and the output shaft of the servo motor 2 (13) is coaxially fixedly connected to a driving gear 1 (14). A pair of transmission gears 1 (15) are rotatably connected inside the stacking frame (2), and the two transmission gears 1 (15) are meshed with the driving gear 1 (14). A pair of transmission worm gears (16) are arranged inside the stacking frame (2), and the two transmission worm gears (16) are coaxially fixedly connected to the corresponding rotating shafts of the movable sleeve plate (12). A transmission worm (17) is coaxially fixed on the two transmission gears 1 (15), and the two transmission worm gears (17) are meshed with the corresponding transmission worm gears (16).

4. The dual-drive lifting device of the intelligent warehouse stacker according to claim 1, characterized in that: The driving assembly comprises a driving motor (18) fixed on the lifting frame (1), and a driving shaft (19) rotating in the lifting frame (1), one end of the driving shaft (19) is connected to the output shaft of the driving motor (18) through a coupling, and the other end of the driving shaft (19) is coaxially fixedly connected to a driving bevel gear 1 (20), a driving bevel gear 2 (21) is rotatably connected in the lifting frame (1), the driving bevel gear 1 (20) is meshed with the driving bevel gear 2 (21), and a driving worm (22) is coaxially fixed on the driving bevel gear 2 (21), and a pair of driving worm wheels (23) are rotatably connected in the lifting frame (1), the two driving worm wheels (23) are both meshed with the driving worm (22), and the two driving worm wheels (23) are both coaxially fixedly connected to the corresponding driving screw (10).

5. The dual-drive lifting device of the intelligent warehouse stacker according to claim 1, characterized in that: A pair of clamping plates (24) are slidably connected to the stacking frame (2), and a bidirectional lead screw (25) is rotatably connected inside the stacking frame (2), and the bidirectional lead screw (25) is threadedly connected to the two clamping plates (24), a meshing gear 1 (26) is coaxially fixed to the middle of the bidirectional lead screw (25), a servo motor 7 (27) is fixed inside the stacking frame (2), and the output shaft of the servo motor 7 (27) is coaxially fixedly connected to a meshing gear 2 (28), and the meshing gear 1 (26) is meshed with the meshing gear 2 (28).

6. The dual-drive lifting device of the intelligent warehouse stacker according to claim 1, characterized in that: An inner gear ring (29) is fixed in the positioning frame (4), a servo motor three (30) is fixed in the mounting frame (3), and an output shaft of the servo motor three (30) is coaxially fixedly connected with a meshing gear three (31), and the meshing gear three (31) is meshed with the inner gear ring (29).

7. The dual-drive lifting device of the intelligent warehouse stacker according to claim 1, characterized in that: The omnidirectional stacking lifting assembly comprises a pair of output shafts (32) rotatably connected to the regulating frame (9), and an output shaft sleeve (33) sleeved on each output shaft (32). The two output shafts (32) are arranged in an interlaced manner. A movable groove (34) is provided in each output shaft sleeve (33). Each movable groove (34) is in the shape of an annular groove. A pair of clamping grooves (35) are provided at the bottom of each movable groove (34). Each clamping groove (35) is in the shape of a round head inner groove. A pair of clamping blocks (36) are fixed on each output shaft (32). The clamping blocks (36) are in the shape of a semicircular plate. The round head portion of each pair of clamping blocks (36) is plugged into the corresponding clamping groove (35). One end of the output shaft sleeve (33) is coaxially rotatably connected with a push ring plate (37), a return spring (38) is fixed between each push ring plate (37) and the inner wall of the regulating frame (9), and a reel (39) is coaxially fixed on each output shaft rod (32) and the output shaft sleeve (33), one end of a pull rope (40) is fixed on each reel (39), and the other end of each pull rope (40) is connected to a corresponding quick-install component, and a pair of servo motors (41) are fixed in the regulating frame (9), the output shafts of the two servo motors (41) are coaxially fixedly connected with the corresponding output shaft rod (32), and a control component for controlling the two output shaft sleeves (33) to slide is arranged in the regulating frame (9).

8. The dual-drive lifting device of the intelligent warehouse stacker according to claim 7, characterized in that: The control assembly comprises a control frame (42) arranged between two output shafts (32), the control frame (42) being fixedly connected to the inner wall of the regulating frame (9), each output shaft (32) being coaxially fixedly connected to a driving bevel gear three (43), each output shaft sleeve (33) being coaxially fixedly connected to a driving bevel gear four (44), each driving bevel gear four (44) and the corresponding driving bevel gear three (43) forming a bevel gear set one, a pair of sliding threaded cylinders (45) being slidably connected in the control frame (42), one end of each sliding threaded cylinder (45) being rotatably connected to a top A push bevel gear (46) is provided, each of which is meshed with a corresponding bevel gear set 1. A transmission gear 2 (47) is rotatably connected in the control frame (42). A pair of transmission screws 1 (48) is coaxially fixed on the transmission gear 2 (47). Each transmission screw 1 (48) is threadedly connected with a corresponding sliding threaded cylinder (45). A servo motor 5 (49) is fixed in the control frame (42). The output shaft of the servo motor 5 (49) is coaxially fixedly connected with a drive gear 2 (50). The drive gear 2 (50) is meshed with the transmission gear 2 (47).

9. The dual-drive lifting device of the intelligent warehouse stacker according to claim 7, characterized in that: The quick-install assembly comprises a quick-install frame (51) fixedly connected to the bottom end of each pull rope (40), four quick-connection grooves (52) opened on the top surface of the stacking frame (2), a pair of tensioning blocks (53) slidably connected in each quick-install frame (51), each pair of tensioning blocks (53) is buckled and matched with the bottom of the corresponding quick-connection groove (52), and each quick-install frame is rotatably connected with a transmission gear three (54), a pair of transmission screw rods two (55) are coaxially fixed on the transmission gear three (54), and each transmission screw rod two (55) is rotatably connected with the corresponding tensioning block (53). The tightening block (53) is threadedly connected, and a servo motor six (56) is fixed in the quick-mounting frame (51). The output shaft of the servo motor six (56) is coaxially fixedly connected with a driving gear three (57). The driving gear three (57) is meshed with the transmission gear three (54). An auxiliary bucket (58) is fixed at the notch of each quick-connecting groove (52). A magnetic attraction plate one (59) is fixed at the bottom of each quick-connecting groove (52). A magnetic attraction plate two (60) that is adsorbed and matched with the magnetic attraction plate one (59) is fixed on the bottom surface of each quick-mounting frame (51).

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