storage rack

Abstract

The present application belongs to the technical field of material storage and transportation, and discloses a vertical warehouse, which comprises a rack, a moving and carrying device, a flow transfer device and a transfer device, at least two storage layers are arranged on the rack along the vertical direction; the moving and carrying device is arranged on one side of the rack, the moving and carrying device comprises a lifting mechanism and a moving mechanism, the moving mechanism is arranged on the output end of the lifting mechanism, the lifting mechanism is used for driving the moving mechanism to lift, and the moving mechanism is used for moving a material tray into the storage layer and moving the material tray out of the storage layer; the flow transfer device is used for receiving the material tray on the moving mechanism and / or transferring the material tray on the flow transfer device to the moving mechanism; the transfer device is arranged on the side of the rack away from the moving and carrying device, and the transfer device is used for transferring the material in the material tray on the flow transfer device to a processing position or transferring the material from the processing position to the flow transfer device. The vertical warehouse improves the utilization rate of the moving and carrying device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of material storage and transportation, and particularly relates to a vertical warehouse. BACKGROUND

[0002] The vertical warehouse, also known as an automatic vertical warehouse or an automated vertical warehouse, is an important part of a smart factory, can effectively utilize the whole factory space, and reduces the waste of manpower and time. Generally, the vertical warehouse comprises a rack, a transfer device and a mechanical hand. The transfer device can move a material tray carrying materials into the rack (into the warehouse) or out of the rack (out of the warehouse), and the mechanical hand can take the materials from the material tray and transfer them to a processing device on a production line to process the materials. Generally, for sheet metal parts, in order to fully utilize the space, a plurality of sheet metal raw materials are stacked in the material tray. When the mechanical hand takes the sheet metal raw materials from the material tray and puts them into the production line, the material tray is on the transfer device before all the sheet metal raw materials in the material tray are processed. The transfer device occupies the time for too long, which causes the transfer device to be unable to carry out the warehousing work of other sheet metal raw materials, and the utilization efficiency of the transfer device is low. SUMMARY

[0003] The purpose of the present application is to provide a vertical warehouse to solve the problem of low utilization efficiency of the transfer device.

[0004] To achieve this purpose, the present application adopts the following technical scheme:

[0005] The vertical warehouse comprises a rack, a transfer device, a flow device and a transfer device. The rack is provided with at least two storage layers in the vertical direction. The transfer device is arranged on one side of the rack. The transfer device comprises a lifting mechanism and a transfer mechanism. The transfer mechanism is arranged on the output end of the lifting mechanism. The lifting mechanism is used to drive the transfer mechanism to lift. The transfer mechanism is used to move a material tray into the storage layer and move the material tray out of the storage layer. The flow device is used to receive the material tray moved out of the rack by the transfer mechanism and / or transfer the material tray on the flow device from the flow device to the transfer mechanism. The transfer device is arranged on the side of the rack away from the transfer device. The transfer device is used to transfer materials in the material tray on the flow device to a processing position and / or transfer the materials from the processing position to the flow device.

[0006] Optionally, the transfer mechanism and the flow device both reciprocate the material tray in a first direction. The rack is arranged across the flow device in a second direction. The second direction is perpendicular to the first direction.

[0007] Optionally, the transferring mechanism comprises a mounting bracket and a sprocket transmission assembly, the sprocket transmission assembly comprises a driving sprocket, a driven sprocket, a driving chain, a connecting driving element and a material pulling hook, the driving sprocket and the driven sprocket are arranged on the mounting bracket in a spaced rotating manner, the connecting driving element is connected to the driving sprocket, the driving chain is wound around the driving sprocket and the driven sprocket, and the two ends of the driving chain are connected with the material pulling hook to form a closed loop, and the material pulling hook is used for hooking the material tray.

[0008] Optionally, the flow transferring device comprises a flow transferring frame and a flow transferring mechanism, the flow transferring mechanism is arranged on the flow transferring frame, and the flow transferring mechanism adopts a sprocket transmission structure.

[0009] Optionally, the transferring device further comprises a rack and an anti-falling mechanism, the transferring mechanism is arranged on the rack in a liftable manner, and the anti-falling mechanism is connected to the transferring mechanism and the lifting mechanism.

[0010] Optionally, the anti-falling mechanism comprises an anti-falling rack, a mounting seat, an anti-falling rack block and an anti-falling elastic element, the anti-falling rack is arranged on the rack in a vertical direction, the mounting seat is provided with a first guide structure which is inclined downward from one end away from the anti-falling rack to one end close to the anti-falling rack; the anti-falling rack block has a second guide structure, the anti-falling rack block is guided and connected to the first guide structure through the second guide structure; when the second guide structure is located at the lowest end of the first guide structure, the anti-falling rack block is engaged with the anti-falling rack, and when the second guide structure is located at the highest end of the first guide structure, the anti-falling rack block is separated from the anti-falling rack; the anti-falling elastic element is connected to the anti-falling rack block and the mounting seat, so that the second guide structure maintains a tendency to move to the lowest end of the first guide structure.

[0011] Optionally, a fixed beam is connected between the top of the rack and the top of the material rack.

[0012] Optionally, the transferring device comprises a rack body, a movable seat, a driving mechanism, a grabbing mechanism and a plate thickness detection mechanism, the movable seat is movably connected to the rack body through the driving mechanism, the driving mechanism is used for driving the movable seat to translate and lift, and the grabbing mechanism and the plate thickness detection mechanism are arranged on the movable seat.

[0013] Optionally, the plate thickness detecting mechanism further comprises a turnover assembly and a thickness detecting assembly, the turnover assembly is used for lifting the edge part of the plate, the thickness detecting assembly comprises a first detecting driving member, a fixed support, a sliding swing arm and an angle sensor, the first detecting driving member is arranged at the output end of the turnover assembly, the first detecting driving member is used for driving the fixed support to move along the inclined direction of the edge of the plate, the sliding swing arm is rotatably connected to the fixed support through a measuring rotating shaft, a clamping space for clamping the plate is formed between the sliding swing arm and the fixed support, and the sliding swing arm keeps a tendency of rotating towards the fixed support to clamp the plate when the thickness of the plate is measured, and the angle sensor is connected to the measuring rotating shaft, and the angle sensor is used for measuring the angle change value of the measuring rotating shaft.

[0014] Optionally, the sliding swing arm comprises a swing arm body and a roller, the swing arm body is rotatably connected to the fixed support through the measuring rotating shaft, and the roller is arranged at the cantilever end of the swing arm body, and the roller cooperates with the fixed support to form the clamping space.

[0015] The sheet metal vertical warehouse in the embodiment of the application adds a flow transfer device and a transfer device between the racks and the production line, the material tray containing materials can be placed on the flow transfer device without occupying the transfer device, and the utilization rate of the transfer device is improved under the premise that a plurality of materials are contained on the material tray. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a structural schematic view of the sheet metal vertical warehouse in the embodiment of the application;

[0017] Figure 2 is a structural schematic view of the lifting machine in the embodiment of the application;

[0018] Figure 3 is a partial structural schematic view of the transfer mechanism in the embodiment of the application;

[0019] Figure 4 is a structural schematic view of the chain wheel transmission assembly in the embodiment of the application;

[0020] Figure 5 is an exploded structural schematic view of the material pulling hook and the driving chain in the embodiment of the application;

[0021] Figure 6 is a structural schematic view of the guide assembly in the embodiment of the application;

[0022] Figure 7 is a structural schematic view of the lifting mechanism and the anti-falling mechanism in the embodiment of the application;

[0023] Figure 8 is Figure 7An enlarged schematic view of the middle A;

[0024] Figure 9 An exploded structural schematic view of the anti-falling mechanism in the embodiment of the present application;

[0025] Figure 10 An exploded structural schematic view of the anti-falling mechanism in the embodiment of the present application;

[0026] Figure 11 A structural schematic view of the rack in the embodiment of the present application;

[0027] Figure 12 A structural schematic view of the buffer mechanism in the embodiment of the present application;

[0028] Figure 13 A structural schematic view of the transfer device in the embodiment of the present application;

[0029] Figure 14 An enlarged structural schematic view of the middle B; Figure 13 An enlarged structural schematic view of the middle B;

[0030] Figure 15 A structural schematic view of the movable seat in the embodiment of the present application;

[0031] Figure 16 A structural schematic view of the connecting beam in the embodiment of the present application;

[0032] Figure 17 A structural schematic view of the movable beam in the embodiment of the present application;

[0033] Figure 18 A structural schematic view of the rack in the embodiment of the present application;

[0034] Figure 19 An enlarged structural schematic view of the middle C; Figure 18 An enlarged structural schematic view of the middle C;

[0035] In the figure:

[0036] 100, transfer device; 200, transfer device; 300, rack; 400, flow transfer device; 500, fixed beam; 600, material tray;

[0037] 110, transfer mechanism; 111, mounting bracket; 112, chain wheel transmission assembly; 1121, driving chain; 1122, connection driving member; 1123, material pulling hook; 11231, connecting part; 11232, hooking part; 11233, hook groove; 1124, second proximity sensor; 1125, driving sprocket; 1126, driven sprocket; 1127, tensioning wheel; 113, supporting assembly; 1131, roller seat; 1132, roller; 114, guiding assembly; 1141, sliding seat; 1142, first guide wheel; 1143, second guide wheel;

[0038] 120, fall protection mechanism; 121, mounting seat; 1211, first guide structure; 1212, accommodating groove; 1213, first inclined surface; 122, fall protection tooth block; 1221, second inclined surface; 1222, second guide structure; 123, fall protection rack; 124, fall protection elastic member;

[0039] 130, rack; 131, bottom cross beam; 132, top cross beam; 133, stand column;

[0040] 140, lifting mechanism; 141, traction member; 142, traction driving member; 143, driving sprocket; 144, reversing sprocket; 145, transmission sprocket; 146, fixing seat; 147, main shaft; 148, first proximity sensor;

[0041] 150, buffer mechanism; 151, buffer frame; 152, buffer;

[0042] 210, sheet thickness detection mechanism; 211, turnover assembly; 2111, turnover arm; 2112, turnover driving member; 2113, turnover grabbing member; 2114, rotating arm; 212, thickness detection assembly; 2121, fixing support; 21211, main body part; 21212, cantilever part; 21213, limiting part; 2122, sliding swing arm; 21221, swing arm body; 21222, roller; 2123, angle sensor; 2124, first detection driving member; 2125, second detection driving member;

[0043] 220, frame body; 221, gantry frame; 222, connecting beam;

[0044] 230, movable seat; 231, movable beam; 232, mounting frame;

[0045] 240, driving mechanism; 241, first driving assembly; 2411, first motor; 2412, first speed reducer; 2413, first rack; 2414, mounting plate; 2415, second monitoring member; 2416, first stop block; 2417, drag chain fixing bracket; 2418, first drag chain; 2419, second drag chain; 242, second driving assembly; 2421, second motor; 2422, second speed reducer; 2423, second rack; 2424, second gear; 2425, third monitoring member; 2426, second stop block;

[0046] 250, grabbing mechanism; 251, grabbing suction cup; 252, first monitoring member;

[0047] 260, separating mechanism; 261, first separating driving member; 262, second separating driving member; 263, separator;

[0048] 270, electric control box;

[0049] 310, rack body; 311, vertical rod; 312, support beam; 313, connecting rod; 314, material blocking block; 315, inclined pull rod; 316, sliding rail; 320, fourth monitoring member; 330, fifth monitoring member. DETAILED DESCRIPTION

[0050] The application will be further described below in conjunction with the drawings and examples. It should be understood that the specific examples described herein are intended to be merely illustrative of the application and not in limitation thereof. It should also be noted that, for the purpose of brevity of description, only portions of the structures relevant to the present application are shown in the drawings.

[0051] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0052] In the present application, unless otherwise explicitly specified and limited, the "upper" or "lower" of the first feature to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "upper", "above" and "on" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "below", "under" and "under" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0053] In the description of the present embodiment, the terms "upper", "lower", "left", "right" and other orientation or position relationships are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used to distinguish in description and have no special meaning.

[0054] Reference Figure 1As shown, the embodiment of the present application proposes a vertical warehouse, which comprises a transfer device 100, a rack 300, a flow device 400 and a transfer device 200. The rack 300 is provided with at least two storage layers in the vertical direction. The transfer device 100 and the transfer device 200 are respectively arranged on opposite sides of the rack 300. The transfer device 100 comprises a lifting mechanism 140 and a transfer mechanism 110. The transfer mechanism 110 is arranged at the output end of the lifting mechanism 140. The lifting mechanism 140 is used to drive the transfer mechanism 110 to ascend and descend. The transfer mechanism 110 is used to move a material tray 600 carrying materials into a storage layer and move the material tray 600 out of the storage layer. The transfer mechanism 110 can also transfer the material tray 600 to the flow device 400. The flow device 400 is used to receive the material tray 600 moved out by the transfer mechanism 110 and / or transfer the material tray 600 on the flow device 400 to the transfer mechanism 110. The transfer device 200 is used to transfer the materials on the material tray 600 from the flow device 400 to a processing position of a processing equipment in a production line and / or transfer the materials from the processing position to the material tray 600 on the flow device 400. The processing equipment can be, but is not limited to, a cutting equipment or a welding equipment.

[0055] The above vertical warehouse has the functions of warehousing and de-warehousing. When warehousing, the lifting mechanism 140 of the transfer device 100 lifts the transfer mechanism 110 to a target height. The transfer mechanism 110 transports the material tray 600 to the storage layer corresponding to the target height, and completes the warehousing action. When de-warehousing, according to the production requirements, the transfer mechanism 110 is lifted to the target height and transfers the material tray 600 in the storage layer corresponding to the target height to the transfer mechanism 110. The transfer mechanism 110 is lowered to the height of the flow device 400 and pushes the material tray 600 to the flow device 400. The flow device 400 transports the material tray 600 to a material taking position. The transfer device 200 grabs the materials on the material tray 600 and transfers them to the processing position. During the transfer of the materials by the transfer device 200, the material tray 600 is always on the flow device 400, and does not occupy the transfer device 100. Therefore, the transfer device 100 can continue to complete the raw material warehousing work. It can be understood that the materials processed by the production line or the materials that do not meet the detection requirements can be transferred to the material tray 600 on the flow device 400 by the transfer device 200. The flow device 400 transfers the material tray 600 to the transfer mechanism 110 and flows back to the rack 300. That is, the materials can be workpieces processed or raw materials not processed. When a plurality of processed workpieces are sequentially transferred to the material tray 600 at the material taking position, the transfer device 100 can still continue to complete the raw material warehousing work.

[0056] In this embodiment, to make reasonable use of space and shorten material conveying time, both the transfer mechanism 110 and the transfer device 400 reciprocate to convey the material pallet 600 along a horizontally arranged first direction. Specifically, the transfer mechanism 110 and the transfer device 200 are respectively arranged on opposite sides of the material rack 300 along the first direction. The material rack 300 spans above the transfer device 400 along a second direction perpendicular to the first direction. The transfer device 200 can transfer materials along the first direction or along other directions at an angle to the first direction, such as the second direction. The specific arrangement depends on the factory space layout and is not specifically limited here. For example, the first direction is... Figure 1 The middle X direction, the second direction is Figure 1 In the Y direction, the vertical direction is Figure 1 Central Z direction.

[0057] refer to Figures 2-12 As shown, the transfer mechanism 110 includes a mounting bracket 111 and a sprocket drive assembly 112. The transfer device 100 also includes a frame 130. The mounting bracket 111 is vertically and flexibly mounted on the frame 130 and connected to the lifting mechanism 140. The sprocket drive assembly 112 is mounted on the mounting bracket 111. The sprocket drive assembly 112 includes a drive sprocket 1125, a driven sprocket 1126, a drive chain 1121, a connecting drive component 1122, and a material pulling hook 1123. The drive sprocket 1125 and the driven sprocket 1126... Each sprocket 1126 is rotatably mounted on the mounting bracket 111 along a first direction via a central shaft. The connecting drive component 1122 is connected to the drive sprocket 1125 to drive the drive sprocket 1125 to rotate. The drive chain 1121 is wound around the drive sprocket 1125 and the driven sprocket 1126. Both ends of the drive chain 1121 are connected to the material pull hook 1123 to form a closed loop. The material pull hook 1123 can pull the material pallet 600 by engaging with the limiting groove provided on the material pallet 600.

[0058] The drive chain 1121 in the aforementioned transfer mechanism 110 can reciprocate along a first direction under the action of the connecting drive component 1122. The material hook 1123 can engage with the limiting groove on the material tray 600, and then pull the material tray 600 together with the drive chain 1121 to move away from the initial position until the material tray 600 is transferred to the destination position. Then the transfer mechanism 110 descends, and the material hook 1123 can disengage from the material tray 600. The material hook 1123 connects the two ends of the drive chain 1121, which is equivalent to saving one link of the drive chain 1121, making the structure more compact. The connection between the material hook 1123 and the drive chain 1121 is tighter, and the structural strength is higher.

[0059] refer to Figure 5As shown, in the embodiment, the pulling hook 1123 comprises a connecting part 11231 and a hooking part 11232, the connecting part 11231 is connected with the driving chain 1121, one end of the hooking part 11232 is connected with the connecting part 11231, and the other end extends along the first direction, a hook groove 11233 is arranged at the end of the hooking part 11232 away from the connecting part 11231, and the side groove side wall of the hook groove 11233 away from the connecting part 11231 can be used as a hook to hook the material tray 600 on the limiting groove, the hooked material tray 600 can be in contact with the groove bottom of the hook groove 11233, compared with directly setting the pulling hook 1123 as an L-shaped, the inclination of the material tray 600 can be reduced under the premise of ensuring the connection strength between the pulling hook 1123 and the driving chain 1121, and the material on the material tray 600 is not easy to slide on the material tray 600.

[0060] In order to further improve the stability of the connection between the pulling hook 1123 and the driving chain 1121, the driving chain 1121 adopts a double-row chain. Moreover, referring to Figure 4 As shown, in order to reasonably utilize the space on the mounting bracket 111, the driven sprocket 1126 is provided with two, which are respectively located on the opposite sides of the driving sprocket 1125 along the first direction, and then the connection driving part 1122 connected with the driving sprocket 1125 is located on the mounting bracket 111. Specifically, the sprocket transmission assembly 112 further comprises a tensioning wheel 1127, the driving sprocket 1125 is provided with a tensioning wheel 1127 on each of the opposite sides along the first direction, and the tensioning wheel 1127 and the driving sprocket 1125 are respectively located on the inner and outer sides of the driving chain 1121, and the interval of the two tensioning wheels 1127 along the first direction is adjustable, so as to adjust the tensioning degree of the driving chain 1121.

[0061] Referring to Figure 3 As shown, the sprocket transmission assembly 112 is provided with two along the second direction on the mounting bracket 111, so as to improve the stability when the material tray 600 is transferred. Specifically, in order to improve the consistency of the movement of the two sprocket transmission assemblies 112, the driving sprockets 1125 of the two sprocket transmission assemblies 112 are connected through the same center shaft. The connection driving part 1122 can specifically adopt a servo motor.

[0062] In this embodiment, the sprocket transmission assembly 112 further comprises a second proximity sensor 1124 in communication connection with the adapter driving member 1122, the second proximity sensor 1124 is used to monitor the position of the material pulling hook 1123, and the mounting bracket 111 is provided with the second proximity sensor 1124 on both sides in the first direction, and the two second proximity sensors 1124 correspond to the starting position and the end position of the material pulling hook 1123 respectively, when one of the second proximity sensors 1124 senses the material pulling hook 1123, the adapter driving member 1122 reversely drives the driving sprocket 1125, so as to reversely move the driving chain 1121. The starting position and the end position refer to the extreme positions of the material pulling hook 1123 on the opposite sides of the driving chain 1121 in the first direction, when the material pulling hook 1123 is in one of the extreme positions, the center of gravity of the material tray 600 can be completely transferred to the mounting bracket 111, and when the material pulling hook 1123 is in the other extreme position, the center of gravity of the material tray 600 can be completely transferred to the rack 300.

[0063] In order to further improve the stability of the material tray 600 during the transfer and reduce the load of the adapter driving member 1122, the material transferring mechanism 110 further comprises a supporting assembly 113, the supporting surface of the supporting assembly 113 is consistent with the conveying surface of the driving chain 1121, when the material tray 600 moves with the driving chain 1121, it abuts against the supporting surface of the supporting assembly 113, and the supporting assembly 113 can support the material tray 600.

[0064] In this embodiment, the supporting assembly 113 comprises a roller seat 1131 and a plurality of rollers 1132, the roller seat 1131 is fixedly arranged on the mounting bracket 111, and the plurality of rollers 1132 are rotatably arranged on the roller seat 1131 in the first direction, and the highest point of the roller 1132 is the supporting surface to support the material tray 600. Since the roller 1132 is in rolling contact with the material tray 600, the wear of the material tray 600 is small, and the service life of the material tray 600 is long. Specifically, the roller 1132 is arranged between the two sprocket transmission assemblies 112. In other embodiments, the supporting assembly 113 can also be a smooth supporting plate, which will not be described here.

[0065] Reference Figure 6 As shown in the figure, the material transferring mechanism 110 further comprises two guide assemblies 114, which are arranged on both sides of the mounting bracket 111 in the second direction, so as to improve the stability of the material transferring mechanism 110 during lifting. Reference Figure 5As shown, the guide assembly 114 includes a sliding seat 1141 and a first guide wheel group, wherein the sliding seat 1141 is fixedly arranged on the mounting bracket 111, and two groups of the first guide wheel group are rotatably arranged on the sliding seat 1141 in a horizontal direction and form a clamping space of the clamping frame 130, and any first guide wheel group includes at least two first guide wheels 1142 arranged in a vertical direction of the material rack 300.

[0066] Further, the sliding seat 1141 further includes a second guide wheel 1143 arranged on the sliding seat 1141, the second guide wheel 1143 is arranged between the two groups of the first guide wheel group, and the rotation axis of the second guide wheel 1143 is perpendicular to the rotation axis of the first guide wheel 1142, and the second guide wheel 1143 also rolls in contact with the clamping frame 130, so that the first guide wheel group and the second guide wheel 1143 are respectively attached to three surfaces of the clamping frame 130, and the stability is higher. Specifically, the second guide wheel 1143 is also arranged in two in the vertical direction of the material rack 300. Exemplarily, the rotation axis of the first guide wheel 1142 extends in the second direction, and the rotation axis of the second guide wheel 1143 extends in the first direction.

[0067] Reference Figure 7 As shown, the lifting mechanism 140 includes a traction member 141 and a traction drive member 142, the traction member 141 is connected with the anti-falling tooth block 122, and the traction drive member 142 provides traction power for the traction member 141. In the embodiment, the traction member 141 adopts a traction chain, and both ends of the traction chain are connected to the sliding seat 1141 and form a closed loop. The lifting mechanism 140 further includes a driving sprocket 143 and a reversing sprocket 144, both of which are rotatably arranged on the clamping frame 130, the traction drive member 142 is connected with the driving sprocket 143, and the traction chain is wound around the driving sprocket 143 and the reversing sprocket 144. In other embodiments, the lifting mechanism 140 can also adopt an electric winch arranged on the top of the clamping frame 130, which belongs to the prior art and will not be described here.

[0068] Specifically, the traction drive member 142 adopts a reduction motor, in order to facilitate the daily maintenance and repair of the reduction motor, the driving sprocket 143 is arranged at the bottom of the clamping frame 130, and the reversing sprocket 144 is arranged at the top of the clamping frame 130, so that the reduction motor connected with the driving sprocket 143 is also located at the bottom of the clamping frame 130, which is convenient for installation and daily maintenance and repair, and the traction drive member 142 arranged at the bottom of the clamping frame 130 can avoid the risk of the clamping frame 130 being heavier at the head and lighter at the feet, thereby improving the stability of the clamping frame 130. More specifically, the traction drive member 142 is fixed to the bottom of the clamping frame 130 through a fixing seat 146.

[0069] More specifically, the lifting mechanism 140 further comprises a transmission sprocket 145, a transmission chain, and a main shaft 147, the output shaft of the speed reducer motor and the main shaft 147 are both provided with a transmission sprocket 145, the transmission chain is wound between the transmission sprocket 145 on the speed reducer motor and the sprocket on the main shaft 147, and the drive sprocket 143 is provided with two on the main shaft 147. Correspondingly, the reversing sprocket 144 and the traction chain are also provided with two to synchronously lift the opposite sides of the transfer mechanism 110 respectively, thereby improving the stability.

[0070] Referring to Figure 11 As shown, the lifting mechanism 140 further comprises a first proximity sensor 148 in communication with the traction drive 142, and the upper and lower ends of the rack 130 are both provided with the first proximity sensor 148 for monitoring the height of the transfer mechanism 110, so as to timely control the transfer mechanism 110 to stop when the transfer mechanism 110 approaches the highest end or the lowest end of the rack 130, thereby avoiding collision between the transfer mechanism 110 and the rack 130.

[0071] Referring to Figure 2 and Figure 11 As shown, the rack 130 is provided as a rectangular frame structure as a whole, and the rack 130 comprises a bottom beam 131, a top beam 132, and a column 133, wherein the column 133 is provided with two, the bottom beam 131 connects the bottom ends of the two columns 133, and the top beam 132 connects the top portions of the two columns 133 to form a rectangular frame structure. Compared with the gantry 221, the arrangement of the bottom beam 131 further improves the stability of the rack 130 as a whole, and avoids positioning deviation between the columns 133, thereby reducing the difficulty of installing the columns 133 and the possibility of shaking of the rack 130.

[0072] At the same time, referring to Figure 1 As shown, the rack 130 and the rack 300 are connected with a fixed beam 500, the fixed beam 500 extends along the first direction and connects the top of the rack 130 and the top of the rack 300, so as to further improve the stability of the transfer device 100. Specifically, one end of the fixed beam 500 is connected with the top beam 132, and the other end is connected with the top of the rack 300, so as to avoid interference with the lifting of the transfer mechanism 110. More specifically, the fixed beam 500 is provided with at least two in the second direction.

[0073] Referring to Figure 2 , Figures 7-10As shown, in order to prevent the transfer mechanism 110 from falling rapidly when the transfer mechanism 110 is disconnected from the lifting mechanism 140, and further causing damage to the transfer mechanism 110 or the material on the transfer mechanism 110, the transfer device 100 further comprises a fall-preventing mechanism 120 connected between the transfer mechanism 110 and the lifting mechanism 140. The fall-preventing mechanism 120 comprises a mounting seat 121, a fall-preventing tooth block 122, a fall-preventing elastic member 124, and a fall-preventing tooth rack 123 arranged on the rack 130 in the vertical direction of the rack 130. The mounting seat 121 is fixed on the transfer mechanism 110, and a first guide structure 1211 is further arranged on the mounting seat 121 and inclined downward from the end of the mounting seat 121 away from the fall-preventing tooth rack 123 to the end of the mounting seat 121 close to the fall-preventing tooth rack 123. The fall-preventing tooth block 122 is connected to the lifting mechanism 140 and guided and connected to the first guide structure 1211 through a second guide structure 1222 arranged on the fall-preventing tooth block 122. When the second guide structure 1222 is located at the lowest end of the first guide structure 1211, the fall-preventing tooth block 122 protrudes from the side of the mounting seat 121 close to the fall-preventing tooth rack 123 and engages with the fall-preventing tooth rack 123. When the second guide structure 1222 is located at the highest end of the first guide structure 1211, the fall-preventing tooth block 122 is separated from the fall-preventing tooth rack 123. The fall-preventing elastic member 124 is connected to the fall-preventing tooth block 122 and the mounting seat 121 and provides an elastic force to the fall-preventing tooth block 122 to keep the second guide structure 1222 moving towards the lowest end of the first guide structure 1211.

[0074] When the lifting mechanism 140 normally pulls the transfer mechanism 110, the second guide structure 1222 is always located at the highest end of the first guide structure 1211 under the upward pulling force, the fall-preventing tooth block 122 is retracted and does not engage with the fall-preventing tooth rack 123, and the transfer mechanism 110 fixedly connected to the mounting seat 121 can normally be lifted. When the lifting mechanism 140 is disconnected from the transfer mechanism 110, the second guide structure 1222 loses the upward pulling force and moves towards the lowest end of the first guide structure 1211 under the action of the fall-preventing elastic member 124, the fall-preventing tooth block 122 protrudes from the mounting seat 121 and engages with the fall-preventing tooth rack 123, thereby locking the transfer mechanism 110 at the current position and reducing the risk of rapid falling of the transfer mechanism 110, thereby reducing the possibility of damage to the material or the transfer mechanism 110.

[0075] In particular, with continued reference to Figure 9 and Figure 10As shown, the mounting seat 121 is provided with a receiving groove 1212, the anti-falling tooth block 122 is located in the receiving groove 1212, and the first guide structure 1211 is arranged on the groove side wall of the receiving groove 1212. In the embodiment, the first guide structure 1211 is a guide hole, the second guide structure 1222 is a guide rod, the two oppositely arranged groove side walls of the receiving groove 1212 are each provided with a guide hole, the guide rod is slidably arranged in the guide hole, and the two ends of the guide rod are arranged outside the guide hole. The anti-falling elastic member 124 is a spring and is provided with two springs, and the two springs are respectively connected to the two ends of the guide rod to provide sufficient elastic force. The mounting seat 121 is a metal member with high strength to provide sufficient support force to the anti-falling tooth block 122. In other embodiments, the first guide structure 1211 is a guide rail, the second guide structure 1222 is a sliding block that is in sliding cooperation with the guide rail, or the first guide structure 1211 is a guide rail, and the second guide structure 1222 is a roller that is in rolling cooperation with the guide rail. That is, the guide connection can be rolling connection or sliding connection, which will not be described here.

[0076] In order to avoid the anti-falling tooth block 122 rotating around the guide rod in the receiving groove 1212, affecting the anti-falling effect of the anti-falling mechanism 120 or interfering with the normal lifting of the transfer mechanism 110, the cross section of the guide rod is rectangular, or Figure 6 As shown, the receiving groove 1212 is provided with a first inclined surface 1213 that is consistent with the inclination direction and inclination angle of the first guide structure 1211, and the lower surface of the anti-falling tooth block 122 is also provided with a second inclined surface 1221 that is consistent with the inclination direction and inclination angle of the first guide structure 1211. The first inclined surface 1213 abuts against the second inclined surface 1221, and the first inclined surface 1213 and the second inclined surface 1221 cooperate with each other to limit the rotation of the anti-falling tooth block 122.

[0077] More specifically, the mounting seat 121 is arranged in a U shape and includes a first side wall, a second side wall, and a bottom wall. The first side wall and the second side wall are each provided with a guide hole, and the bottom wall connects the first side wall and the second side wall to form the receiving groove 1212. Based on the premise that the mounting seat 121 is a metal member, the inner side of the first side wall and the inner side of the second side wall are formed into the first inclined surface 1213 by cutting to reduce the machining difficulty of the first inclined surface 1213.

[0078] In order to improve the stability of the anti-falling tooth block 122 and the anti-falling rack 123 when they are engaged and reduce the elastic coefficient of the anti-falling elastic member 124, the lower groove wall of the tooth groove on the anti-falling rack 123 and the lower wall surface of the tooth on the anti-falling tooth block 122 are both arranged horizontally. When the anti-falling tooth block 122 and the anti-falling rack 123 are engaged, the anti-falling tooth block 122 will not be subjected to the horizontal reaction force of the anti-falling rack 123, and the locking effect of the anti-falling tooth block 122 and the anti-falling rack 123 is better.

[0079] Reference Figure 12As shown, the hoist further comprises a buffer mechanism 150, which comprises a buffer frame 151 and buffers 152, the buffer frame 151 is arranged above the bottom cross beam 131 and below the transfer mechanism 110, and the buffers 152 are arranged on the buffer frame 151 to slow down the descending speed of the transfer mechanism 110 when it is lowered to the lowest position, so as to reduce the impact force and prolong the service life of the transfer mechanism 110.

[0080] In this embodiment, in order to increase the transfer distance of the transfer device 200 and improve the flexibility of the processing position setting on the production line, referring to Figures 13-17 As shown, the transfer device 200 comprises a frame body 220, a movable seat 230, a driving mechanism 240 and a grabbing mechanism 250, the grabbing mechanism 250 is arranged on the movable seat 230, the movable seat 230 is movably arranged on the frame body 220 and is driven by the driving mechanism 240, so as to realize translation or lifting relative to the frame body 220, and the grabbing mechanism 250 is used for grabbing materials.

[0081] For some materials such as plates, it is necessary to detect the basic parameters of the plates before entering the production line, such as plate weight, plate width, plate thickness, etc., on the basis of which, the transfer device 200 further comprises a plate thickness detection mechanism 210 arranged on the movable seat 230, and the plate thickness detection mechanism 210 is used for detecting the plate thickness.

[0082] Referring to Figures 13-15As shown, the plate thickness detection mechanism 210 provided in the embodiment includes a turnover assembly 211 and a thickness detection assembly 212, wherein the turnover assembly 211 is used to lift the edge portion of the plate, so that the plate grabbed by the turnover assembly 211 forms a gap with the support surface whereon the plate is located. It can be understood that the support surface can be the upper surface of another plate located below the plate, or the upper surface of the material tray whereon the plate is located, i.e. the plate can be stacked or placed individually. The thickness detection assembly 212 includes a first detection driving member 2124, a fixed support 2121, a sliding swing arm 2122 and an angle sensor 2123. The first detection driving member 2124 is arranged at the output end of the turnover assembly 211, and the fixed support 2121 is located at the output end of the first detection driving member 2124. The first detection driving member 2124 is used to drive the fixed support 2121 to move along the inclined direction of the edge of the plate. The sliding swing arm 2122 is rotatably connected to the fixed support 2121 through a measuring shaft. The fixed support 2121 is formed with a first clamping surface, and the sliding swing arm 2122 is formed with a second clamping surface. The first clamping surface and the second clamping surface jointly form a clamping space for clamping the plate. When measuring the thickness of the plate, the sliding swing arm 2122 keeps a tendency of rotating towards the fixed support 2121, i.e. the second clamping surface keeps a tendency of moving towards the first clamping surface, so as to be able to clamp the plate. The measuring shaft is connected with the angle sensor 2123, and the angle sensor 2123 is used to measure the angle change value of the measuring shaft from the starting position to the abutment of the second clamping surface and the plate.

[0083] Before the transfer device 200 transfers the plate, the turnover assembly 211 is used to turn over the plate, so that one end of the plate is lifted upwards, thereby enabling the fixed support 2121 or the sliding swing arm 2122 to be inserted below the plate along the inclined direction of the edge of the plate. Since the second clamping surface keeps a tendency of moving towards the first clamping surface, the sliding swing arm 2122 and the fixed support 2121 are respectively attached to the upper surface and the lower surface of the plate. The angle sensor 2123 can calculate the thickness of the plate by calculating the rotation angle of the measuring shaft, thereby reducing the probability of detection error. It can be understood that if the thickness of the plate detected by the plate thickness detection mechanism 210 does not meet the requirements, the plate can be returned to the rack 300.

[0084] In the embodiment, the angle sensor 2123 is an encoder, which has higher precision than other angle sensors 2123.

[0085] In order to keep the sliding swing arm 2122 in a tendency of rotating towards the fixed support 2121, the thickness detection assembly 212 further includes an elastic member (not shown in the figure), which is connected to the fixed support 2121 and the sliding swing arm 2122. Specifically, the detection elastic member is a tension spring, which is easier to replace than a torsion spring.

[0086] In other embodiments, the sliding swing arm 2122 can also have a tendency to rotate towards the fixed support 2121 by virtue of its elasticity, which will not be described here.

[0087] With continued reference to Figure 14 As shown, the fixed support 2121 includes a main body part 21211 and a cantilever part 21212, the main body part 21211 is fixed to the output end of the first detection driving member 2124, and the first clamping surface is formed on the cantilever part 21212. Specifically, the sliding swing arm 2122 is located below the cantilever part 21212, in order to reduce the difficulty of inserting the sliding swing arm 2122 under the plate, the sliding swing arm 2122 includes a swing arm body 21221 and a roller 21222, the swing arm body 21221 is rotatably arranged on the main body part 21211 by a measuring rotating shaft, and the roller 21222 is arranged at the cantilever end of the swing arm body 21221, the outer peripheral surface of the roller 21222 serves as the second clamping surface, which can reduce the friction between the sliding swing arm 2122 and the plate when the sliding swing arm 2122 translates relative to the plate. At the same time, the end of the cantilever part 21212 away from the main body part 21211 is provided with a guide surface gradually approaching the roller 21222 from the side away from the main body part 21211 to the side close to the main body part 21211, and the guide surface is connected with the first clamping surface to reduce the difficulty of the plate entering the clamping space.

[0088] Obviously, the thickness of the plate is related to the rotation angle of the sliding swing arm 2122, and the accuracy thereof is also affected by whether the actual moving distance of the first detection driving member 2124 is consistent with the preset distance, in order to improve the detection accuracy, the fixed support 2121 further includes a limiting part 21213, which is connected perpendicularly to the cantilever part 21212. After the plate is inserted into the clamping space, it can abut against the limiting part 21213, thereby achieving limiting. Specifically, the cantilever part 21212, the main body part 21211 and the limiting part 21213 are integrally bent and formed.

[0089] The thickness detection assembly 212 further includes a second detection driving member 2125, which is arranged on the output end of the first detection driving member 2124 through a fixed plate, and the fixed support 2121 is indirectly arranged on the output end of the first detection driving member 2124 by being arranged on the output end of the second detection driving member 2125. When the transfer device 200 hoists the plate, the entire plate thickness detection mechanism 210 can be located above the plate by driving the second detection driving member 2125, thereby reducing the occupied space in the plane of the plate and avoiding interference with other structures.

[0090] Since the driving stroke of the second detection driving member 2125, the first detection driving member 2124 and the turnover driving member 2112 is fixed, in the embodiment, the second detection driving member 2125, the first detection driving member 2124 and the turnover driving member 2112 all adopt air cylinders. Of course, in other embodiments, the above driving members can also adopt electric cylinders or oil cylinders, etc.

[0091] Referring to Figure 14 and Figure 15 , the turnover assembly 211 includes a turnover driving member 2112, a turnover arm 2111 and a turnover grabbing member 2113, the turnover grabbing member 2113 is arranged on the turnover arm 2111 and is used to grab the plate material, the turnover driving member 2112 is connected to the movable seat 230 and the turnover arm 2111 and is used to drive the turnover arm 2111 to turn over relative to the movable seat 230, so that the plate material grabbed by the turnover grabbing member 2113 forms a certain gap with the support surface where the plate material is located. It can be understood that the support surface can be the upper surface of other plate materials located below the plate material, or the upper surface of the material tray where the plate material is located, that is, the plate material can be stacked and placed or placed individually.

[0092] The turnover grabbing member 2113 adopts a suction cup, which can turn the plate material upward by adsorbing the upper surface of the edge of the plate material. Compared with other grabbing structures such as clamping jaws, the operation difficulty is low. Specifically, the turnover grabbing member 2113 adopts a vacuum suction cup, which can adsorb more types of plate materials and has a wide range of applications compared with an electromagnetic suction cup.

[0093] Continuing to refer to Figure 14 , in order to improve the stability of the plate thickness detection mechanism 210 on the movable seat 230, the turnover assembly 211 further includes a rotating arm 2114, the rotating arm 2114 is arranged at least in two intervals along the length direction of the turnover arm 2111, the turnover arm 2111 is connected to the movable seat 230 through the rotating arm 2114 rotatingly connected to the movable seat 230, which improves the stability of the turnover assembly 211 assembled on the movable seat 230, and the turnover driving member 2112 is also arranged in two intervals along the length direction of the turnover arm 2111.

[0094] Referring to Figure 13 , taking the side of the machining position located away from the rack 300 along the first direction as an example, the turnover arm 2111 extends along the first direction, and the first detection driving member 2124 drives the fixed support 2121 to move along the second direction. Of course, the first detection driving member 2124 can also drive the fixed support 2121 to move along the first direction.

[0095] Referring to Figure 13 , Figure 16 and Figure 17As shown, the frame 220 includes a gantry frame 221 and a connecting beam 222. Two gantry frames 221 are spaced apart along the first direction. The two ends of the connecting beam 222 are respectively connected to the two gantry frames 221 to form the frame 220. The drive mechanism 240 includes a first drive assembly 241 and a second drive assembly 242. The first drive assembly 241 includes a first motor 2411 and a first reducer 2412. The first motor 2411 is movably connected to the connecting beam 222 along the first direction through a mounting plate 2414 that is slidably connected to the connecting beam 222. The first reducer 2412 is connected to the first motor 2411 and is driven by the connecting beam 222. When the first motor 2411 is working, the movable seat 230 set on the mounting plate 2414 moves along the first direction under the action of the first motor 2411. The second drive assembly 242 includes a second motor 2421 and a second reducer 2422, wherein the second motor 2421 is mounted on the mounting plate 2414 and moves along the first direction together with the mounting plate 2414, and the second reducer 2422 is connected to the second motor 2421.

[0096] Specifically, the first motor 2411 and / or the second motor 2421 are servo motors to improve the accuracy of the movable seat 230 traveling in the first direction and / or the vertical direction, while the first reducer 2412 and / or the second reducer 2422 are planetary gear reducers. Compared with an integrated geared motor, the separate motor and reducer structure reduces the installation space required for the drive mechanism 240 in the first direction and the vertical direction, which is conducive to the miniaturization and high integration of the transfer device 200.

[0097] In this embodiment, to convert the rotational motion of the first motor 2411 into linear motion, the first drive assembly 241 further includes a first rack 2413 and a first gear. The first rack 2413 is disposed on the connecting beam 222 along a first direction, and the first gear is connected to the first reducer 2412 and meshes with the first rack 2413. Similarly, the second drive assembly 242 further includes a second rack 2423 and a second gear 2424. The second rack 2423 is disposed on the movable seat 230 along a vertical direction, and the second gear 2424 is connected to the second reducer 2422 and meshes with the second rack 2423. In other embodiments, the first drive assembly 241 and the second drive assembly 242 can also convert the rotational motion of the first motor 2411 and the second motor 2421 into linear motion through a belt drive structure or a sprocket drive structure, which will not be described in detail here.

[0098] Continue to refer to Figure 17As shown, the first driving assembly 241 further comprises a second monitoring member 2415 and a first stopper 2416, wherein the first motor 2411 stops working when the mounting plate 2414 moves into the detectable range of the second monitoring member 2415, and the first stopper 2416 is arranged in two along the first direction, and the first stopper 2416 as a hard stopper can further limit the moving stroke of the mounting plate 2414 in cooperation with the second monitoring member 2415, thereby improving the walking accuracy of the movable seat 230 along the first direction. Specifically, the second monitoring member 2415 is an optical switch.

[0099] Meanwhile, the first driving assembly 241 further comprises a drag chain fixing bracket 2417, a first drag chain 2418, a second drag chain 2419 and a drag chain guide plate, the drag chain guide plate is arranged on the connecting beam 222 along the first direction and is located on the opposite sides of the connecting beam 222 along the second direction with the first motor 2411 respectively, so as to avoid interference with the movement of the first motor 2411, the first drag chain 2418 is arranged on the drag chain guide plate, and the second drag chain 2419 is installed on the mounting plate 2414 through the drag chain fixing bracket 2417.

[0100] Continuing to refer to Figure 5 As shown, the second driving assembly 242 further comprises a third monitoring member 2425 and a second stopper 2426, the third monitoring member 2425 and the second stopper 2426 are similar to the second monitoring member 2415 and the first stopper 2416 in function, and are used to provide the accuracy of the movable seat 230 moving along the vertical direction, which will not be described here. The third monitoring member 2425 can also be an optical switch.

[0101] Referring to Figure 13 , Figure 15 and Figure 17 As shown, the movable seat 230 comprises a movable beam 231 and a mounting bracket 232, wherein the movable beam 231 is arranged on the mounting plate 2414 to slide along the vertical direction, the second rack 2423 is arranged on the movable beam 231, the mounting bracket 232 is arranged at the bottom of the movable beam 231, and the mounting bracket 232 is consistent with the shape of the plate material, for example, the plate material is a rectangular plate material, and the mounting bracket 232 is also arranged in a rectangular shape, and the grabbing mechanism 250 and the plate material thickness detection mechanism 210 are arranged on the mounting bracket 232.

[0102] Referring to Figure 15As shown, the grabbing mechanism 250 includes a plurality of grabbing suction cups 251 arranged at the bottom of the mounting frame 232, which are arranged in an array on the mounting frame 232 so as to keep the clamping force of the grabbing mechanism 250 on the sheet metal consistent everywhere, thereby improving the stability of the grabbing of the sheet metal. More specifically, the positions of the grabbing suction cups 251 on the mounting frame 232 are adjustable so as to adjust the positions of the grabbing suction cups 251 according to the size of the sheet metal, and the grabbing suction cups 251 are vacuum suction cups, and the grabbing mechanism 250 further includes a vacuum pump connected with the vacuum suction cups. In order to reduce the manufacturing cost of the transfer device 200, the vacuum suction cup serving as the turnover grabbing part 2113 in the above-mentioned sheet metal thickness detection mechanism 210 is also connected with the vacuum pump. In addition, the grabbing mechanism 250 further includes a first monitoring part 252 in communication connection with the vacuum pump, which is used to monitor the distance between the movable seat 230 and the sheet metal in the vertical direction, and to start the vacuum pump in time. The first monitoring part 252 can be, but is not limited to, a proximity switch. Specifically, the first monitoring part 252 is slidingly arranged on the mounting frame 232 along the vertical direction.

[0103] Based on the premise that the sheet metals are stacked up and down, in order to better separate the adjacent sheet metals, the transfer device 200 further includes a sheet separating mechanism 260, which includes a sheet separator 263, a first sheet separating driving part 261 and a second sheet separating driving part 262. The first sheet separating driving part 261 is arranged on the mounting frame 232 and is used to drive the sheet separator 263 to move to the edge of the sheet metal along the first direction or the second direction. The second sheet separating driving part 262 is arranged at the output end of the first sheet separating driving part 261 and is used to drive the sheet separator 263 to move along the vertical direction so as to be in contact with the edge of the sheet metal. The sheet separator 263 is arranged at the output end of the second sheet separating driving part 262 and is used to separate the sheet metal. The sheet separator 263 belongs to the prior art and will not be described here.

[0104] Meanwhile, the transfer device 200 further includes an electric control box 270 arranged on the movable seat 230, which is in communication connection with the driving mechanism 240, the sheet separating mechanism 260, the grabbing mechanism 250 and the sheet metal thickness detection mechanism 210, and is used to control the actions of the above-mentioned functional mechanisms.

[0105] When the plate material is transferred by the transfer device 200, the first driving assembly 241 moves the movable seat 230 to the material taking position, the second driving assembly 242 drives the movable seat 230 to descend and the plate material is grabbed by the grabbing mechanism 250, the distance between the movable seat 230 and the uppermost plate material is determined by the first monitoring member 252, the plate material is adsorbed by the grabbing suction cup 251 in time, the first and second separating driving members 261 and 262 respectively drive the separating device 263 to move, so that the separating device 263 is attached to the edge of the plate material, the separating device 263 separates the adjacent layers of plate materials, the arm driving member is retracted, so that the overturning grabbing member 2113 on the overturning arm 2111 drives the plate material to be overturned upward to a predetermined angle, the first and second detection driving members 2125 drive the fixed support 2121 and the sliding arm 2122 to move, so that the fixed support 2121 and the sliding arm 2122 are respectively attached to the upper surface and the lower surface of the plate material, and the angle of the plate material can be calculated according to the angle sensor 2123 to obtain the thickness of the plate material. After the thickness detection is completed, the fixed support 2121 and the sliding arm 2122 are away from the plate material, the overturning driving member 2112 is elongated, so that the overturning grabbing member 2113 on the overturning arm 2111 drives the plate material to return to the original state, the Z-axis driving assembly drives the movable seat 230 to rise to a safe height, the first driving assembly 241 transports the plate material grabbed by the grabbing suction cup 251 to the target position and descends to the material placing height, and the material placing work is completed.

[0106] Referring to Figures 18-19 As shown, the rack 300 comprises a rack body 310 and a fourth monitoring member 320. The materials enter and exit the storage layers along the second direction. The fourth monitoring members 320 corresponding to the storage layers are adjustably arranged on the rack body 310 along the height direction. The fourth monitoring members 320 are in communication connection with the lifting mechanism 140. The fourth monitoring members 320 are configured to sense the height of the transfer mechanism 110. The fourth monitoring members 320 are adjustably arranged on the rack body 310. The height of the fourth monitoring members 320 on the rack body 310 can be adjusted according to the transfer mechanism 110, so that the transfer mechanism 110 can accurately stop at the target height to complete the taking and placing of the materials.

[0107] Referring to Figure 19 As shown, the rack body 310 is provided with a slide rail 316 extending along the vertical direction. The fourth monitoring member 320 is slidingly arranged on the slide rail 316. The fourth monitoring member 320 is steplessly adjusted along the vertical direction of the rack body 310 by sliding on the slide rail 316. In order to improve the stability of the fourth monitoring member 320 after position adjustment, the rack 300 further comprises a positioning member. The positioning member is in threaded connection with the fourth monitoring member 320. The positioning member is tightly pressed against the slide rail 316 by screwing the positioning member, so that the fourth monitoring member 320 is fixed on the slide rail 316. Of course, the fourth monitoring member 320 can also be fixed on the slide rail 316 by the cooperation of the nut and the stud.

[0108] Specifically, referring to Figure 18 As shown, the rack body 310 includes four upright rods 311 arranged in a rectangular shape, and support beam sets, wherein the support beam sets are arranged in the vertical direction to form multiple storage layers, and the flow transfer device 400 is arranged below the support beam set of the bottom layer, and any support beam set includes two support beams 312 arranged in the second direction, and the support beams 312 extend in the first direction and are fixedly connected to two upright rods 311 arranged in the first direction.

[0109] In order to improve the stability of the rack 300, the rack body 310 further includes link rod sets, and the link rod sets are arranged in the vertical direction on the upright rods 311, and any link rod set includes two link rods 313 arranged in the first direction, and the link rods 313 extend in the second direction and are fixedly connected to two upright rods 311 arranged in the second direction. It should be emphasized that the number of link rod sets is less than the number of support beam sets to avoid interference of the link rods 313 with the taking and placing of materials. Exemplarily, the link rod sets are provided with at least three, one of which is arranged below the support beam set of the bottom layer, another of which is arranged above the support beam set of the top layer, and at least one of which is arranged in the middle of the upright rods 311.

[0110] Further, the rack body 310 further includes diagonal rods 315, at least two diagonal rods 315 are staggered and connected to two upright rods 311 arranged in the second direction, further improving the structural stability of the rack 300.

[0111] Generally, the spacing between adjacent storage layers on the rack 300 is fixed, and if the spacing is too large, the storage space will be wasted, and if the spacing is too small, it may not be able to adapt to materials of various heights, and at the same time, it will interfere with the taking and placing of materials by the transfer mechanism 110. On this basis, in the rack 300 of the present embodiment, the spacing between adjacent storage layers and the spacing between the storage layers and the connection layers are adjustable, corresponding to the support beam sets, that is, the height of the support beam 312 on the upright rod 311 is adjustable. Specifically, one of the support beam 312 and the upright rod 311 is provided with a strip-shaped hole extending in the vertical direction of the upright rod 311, and the other of the support beam 312 and the upright rod 311 is provided with a threaded hole, and the support beam 312 and the upright rod 311 are fixedly connected by a fastener arranged in the strip-shaped hole and the threaded hole, and the height of the support beam 312 relative to the upright rod 311 can be adjusted by adjusting the position of the fastener in the strip-shaped hole.

[0112] In order to limit the material transferred to the rack body 310, the rack body 310 comprises a material blocking block 314 arranged on the support beam 312. Specifically, the material blocking block 314 is arranged on one side of the support beam 312 close to the inclined rod 315 to make full use of the space on the support beam 312. At the same time, the cross section of the support beam 312 is arranged in an L shape, two support beams 312 in the same support beam group are arranged symmetrically along the second direction, and the end of the support beam 312 arranged horizontally extends to the direction of the other support beam 312, so as to limit the first direction movement of the material tray 600.

[0113] In the embodiment, the rack 300 further comprises a fifth monitoring member 330, and the top of the rack 300 and the bottom of the rack 300 are both provided with the fifth monitoring member 330 in communication connection with the transfer device 100, and the fifth monitoring member 330 is also configured to detect the height of the taking and placing mechanism of the taking and placing device. Specifically, the fifth monitoring member 330 arranged at the top of the rack 300 and the fifth monitoring member 330 arranged at the bottom of the rack 300 can respectively limit the maximum height and the minimum height when the transfer mechanism 110 is lifted, thereby reducing the invalid stroke of the transfer mechanism 110 during lifting.

[0114] Reference Figure 1 As shown, the flow transfer device 400 comprises a flow transfer frame and a flow transfer mechanism, and the flow transfer mechanism is arranged on the flow transfer frame and used to convey the material tray 600 to the material taking position and the transfer mechanism 110. Exemplarily, the flow transfer mechanism also adopts a chain wheel transmission structure. Obviously, in order to avoid the interference between the rack 300 and the transfer device 200, the moving stroke of the flow transfer mechanism is greater than the width of the rack 300 along the conveying direction of the flow transfer mechanism.

[0115] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. For those skilled in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the scope of the present application. Here, it is unnecessary and impossible to enumerate all the embodiments. Any modification, equivalent substitution and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A storage and retrieval system, characterized by, The rack comprises: a rack (300) having at least two storage layers arranged in a vertical direction; a transfer device (100) arranged on one side of the rack (300), the transfer device (100) comprising a lifting mechanism (140) and a transfer mechanism (110), the transfer mechanism (110) being arranged at an output end of the lifting mechanism (140), the lifting mechanism (140) being used to drive the transfer mechanism (110) to lift, the transfer mechanism (110) being used to move a material tray (600) into the storage layer and move the material tray (600) out of the storage layer; a flow transfer device (400) used to receive the material tray moved out of the rack (300) by the transfer device (100) and / or used to transport the material tray on the flow transfer device (400) to the transfer mechanism (110); a transfer device (200) arranged on a side of the rack (300) away from the transfer device (100), the transfer device (200) being used to transfer material in the material tray (600) on the flow transfer device (400) to a processing position and / or transfer the material from the processing position to the flow transfer device (400); wherein the transfer device (100) further comprises a rack (130) and an anti-falling mechanism (120), the transfer mechanism (110) being arranged on the rack (130) in a liftable manner, the anti-falling mechanism (120) connecting the transfer mechanism (110) and the lifting mechanism (140), the anti-falling mechanism (120) comprising an anti-falling rack (123), a mounting seat (121), an anti-falling tooth block (122), and an anti-falling elastic element (124), the anti-falling rack (123) being arranged on the rack (130) in a vertical direction, the mounting seat (121) having a first guide structure (1211) inclined downward from an end away from the anti-falling rack (123) to an end close to the anti-falling rack (123); the anti-falling tooth block (122) has a second guide structure (1222), the anti-falling tooth block (122) being guided and connected with the first guide structure (1211) through the second guide structure (1222); when the second guide structure (1222) is located at the lowest end of the first guide structure (1211), the anti-falling tooth block (122) is engaged with the anti-falling rack (123), and when the second guide structure (1222) is located at the highest end of the first guide structure (1211), the anti-falling tooth block (122) is separated from the anti-falling rack (123); the anti-falling elastic element (124) is connected between the anti-falling tooth block (122) and the mounting seat (121) to make the second guide structure (1222) have a tendency to move to the lowest end of the first guide structure (1211).

2. The storage and retrieval system of claim 1, wherein, The transfer mechanism (110) and the flow transfer device (400) reciprocate the material pallet (600) in a first direction, the rack (300) is arranged above the flow transfer device (400) in a second direction, and the first direction is perpendicular to the second direction.

3. The storage and retrieval system of claim 1, wherein, The transfer mechanism (110) comprises a mounting bracket (111) and a chain wheel transmission assembly (112), the chain wheel transmission assembly (112) comprises a driving chain wheel (1125), a driven chain wheel (1126), a driving chain (1121), a connecting driving element (1122) and a material pulling hook (1123), the driving chain wheel (1125) and the driven chain wheel (1126) are rotatably arranged on the mounting bracket (111) at intervals, the connecting driving element (1122) is connected to the driving chain wheel (1125), the driving chain (1121) is wound around the driving chain wheel (1125) and the driven chain wheel (1126), and both ends of the driving chain (1121) are connected with the material pulling hook (1123) to form a closed loop, and the material pulling hook (1123) is used for hooking the material pallet (600).

4. The storage and retrieval system of claim 1, wherein, The flow transfer device (400) comprises a flow transfer frame and a flow transfer mechanism, the flow transfer mechanism is arranged on the flow transfer frame, and the flow transfer mechanism adopts a chain wheel transmission structure.

5. The storage and retrieval system of claim 1, wherein, A fixed beam (500) is connected between the top of the rack (130) and the top of the rack (300).

6. The storage and retrieval system of any of claims 1-4, wherein, The transfer device (200) comprises a frame body (220), a movable seat (230), a driving mechanism (240), a grabbing mechanism (250) and a plate thickness detection mechanism (210), the movable seat (230) is movably connected to the frame body (220) through the driving mechanism (240), the driving mechanism (240) is used for driving the movable seat (230) to translate and lift, and the grabbing mechanism (250) and the plate thickness detection mechanism (210) are arranged on the movable seat (230).

7. The storage and retrieval system of claim 6, wherein, The plate thickness detection mechanism (210) comprises a turnover assembly (211) and a thickness detection assembly (212), the turnover assembly (211) is used for turning up an edge part of a plate, the thickness detection assembly (212) comprises a first detection driving element (2124), a fixed support (2121), a sliding swing arm (2122) and an angle sensor (2123), the first detection driving element (2124) is arranged at an output end of the turnover assembly (211), the first detection driving element (2124) is used for driving the fixed support (2121) to move along an inclined direction of an edge of the plate, the sliding swing arm (2122) is rotatably connected to the fixed support (2121) through a measuring shaft, a clamping space for clamping the plate is formed between the sliding swing arm (2122) and the fixed support (2121), and when the thickness of the plate is measured, the sliding swing arm (2122) keeps a tendency of rotating towards the fixed support (2121) to clamp the plate, the angle sensor (2123) is connected to the measuring shaft, and the angle sensor (2123) is used for measuring an angle change value of the measuring shaft.

8. The storage and retrieval system of claim 7, wherein, The sliding swing arm (2122) comprises a swing arm body (21221) and a roller (21222), the swing arm body (21221) is rotatably connected to the fixed support (2121) through the measuring shaft, and the roller (21222) is arranged at a cantilever end of the swing arm body (21221), the roller (21222) cooperates with the fixed support (2121) to form the clamping space.

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