Stacking machine and goods storing and taking system

Abstract

The stacking machine comprises a bearing module, and the bearing module comprises a cargo carrying platform and is used for bearing a shuttle vehicle and supporting the shuttle vehicle to walk; the rotating plate is arranged on the side of the cargo carrying platform in the first horizontal direction, the rotating plate has the freedom degree of rotating around the second horizontal direction relative to the cargo carrying platform, and the rotating plate can guide the shuttle vehicle to walk; the driving assembly drives the rotating plate to adjust the angle in the second horizontal direction; the first horizontal direction is perpendicular to the walking direction of the stacking machine, and the second horizontal direction is parallel to the walking direction of the stacking machine. According to the invention, the angle of the rotating plate can be flexibly adjusted according to the relative position relation between the cargo carrying platform and the goods shelf, and the gap between the cargo carrying platform and the goods shelf is filled up, so that the shuttle vehicle is supported and guided to move from the cargo carrying platform of the stacker to the goods shelf along the required angle, and the shuttle vehicle smoothly runs to the goods shelf.

Description

Technical Field

[0001] The present invention relates to the field of warehousing technology, in particular to a stacker and a cargo storage and retrieval system. Background Art

[0002] The automated warehouse combines stackers with shuttles to achieve deep automatic storage. The stacker transports the sub-trolley to the designated location of the lane, and then the shuttle continues to store and retrieve the goods. This system reduces the number of stackers used by increasing the depth of the lane. It achieves dense storage. The modular combination of equipment increases the warehouse utilization rate by more than 30%.

[0003] In actual production, it is found that when the stacker and the shuttle are docked with the shelf, and the shuttle is carrying goods from the loading platform to the shelf, the steel wire rope of the stacker will extend to a certain extent, usually about 10 mm. This will cause a height difference between the loading platform and the shelf. This height difference will cause the shuttle to get stuck at the shelf, making it difficult to drive from the stacker to the shelf. In addition, due to installation errors, the gap between the stacker's loading platform and the shelf may increase during the lifting process, which will also make it difficult for the shuttle to drive to the shelf. How to make the shuttle drive smoothly to the shelf is a technical problem that needs to be solved urgently in this field. Summary of the invention

[0004] To this end, the present invention provides a stacker and a goods storage and retrieval system, which enable the shuttle vehicle to smoothly travel to the shelf.

[0005] In order to solve the above technical problems, the present invention provides a stacker, including a carrying module, wherein the carrying module includes: A cargo platform, the cargo platform is used to carry the shuttle vehicle and support the shuttle vehicle to move; A turntable assembly, comprising a turntable, the turntable being arranged at the side of the cargo platform along the first horizontal direction, the turntable having a degree of freedom to rotate about a second horizontal direction relative to the cargo platform, and the turntable being capable of supporting and guiding the shuttle vehicle to travel; A driving assembly, wherein the driving assembly drives the rotating plate to adjust an angle around the second horizontal direction; The first horizontal direction is perpendicular to the moving direction of the stacker, and the second horizontal direction is parallel to the moving direction of the stacker.

[0006] Furthermore, two rotating plates are provided on both sides of the cargo platform along the first horizontal direction, and the two rotating plates on the same side of the cargo platform are arranged at a distance along the second horizontal direction.

[0007] Furthermore, the cargo platform is connected to support blocks at both ends along the first horizontal direction, the bottom of the rotating plate is connected to a first ear plate, and the first ear plate is connected to the support blocks via a first hinge shaft.

[0008] Furthermore, the driving assembly includes a motor, a screw rod, a moving block and a connecting rod, the screw rod has the freedom to rotate around the first horizontal direction, the moving block is threadedly connected to the screw rod, one end of the connecting rod can be rotatably connected to the moving block, and the other end of the connecting rod can be rotatably connected to the rotating plate, and the motor drives the rotating plate to rotate around the second horizontal direction through the screw rod, the moving block and the connecting rod.

[0009] Furthermore, a second ear plate is provided at the bottom of the rotating plate, a third ear plate is connected to the moving block, one end of the connecting rod is connected to the second ear plate via a second hinge shaft, and the other end of the connecting rod is connected to the third ear plate via a third hinge shaft.

[0010] Furthermore, a positioning pin is connected to the moving block, and the positioning pin extends along the first horizontal direction.

[0011] Furthermore, the motor is installed at the bottom of the cargo platform, the bottom of the cargo platform is connected to a bearing seat, the screw rod is connected to the bearing seat, the motor is connected to the screw rod through a sprocket and chain transmission, two moving blocks are connected to the screw rod, and the two moving blocks drive the rotating plates on both sides of the cargo platform to adjust the angles through the connecting rod respectively.

[0012] The present invention also provides a cargo storage and retrieval system, characterized in that it includes the stacker, shuttle car and shelf, the shelf is provided with a docking platform, the turntable is arranged between the cargo platform and the docking platform and guides the shuttle car to travel from the cargo platform to the shelf.

[0013] Furthermore, a docking plate is connected to the docking platform, and the rotating plate is docked with the docking plate.

[0014] Furthermore, the docking platform is connected with a positioning block, the positioning block is provided with a positioning hole, and the positioning hole and the positioning pin are positioned with each other.

[0015] The above technical solution of the present invention has the following advantages compared with the prior art: 1) The stacker and the cargo storage and retrieval system of the present invention include a rotating plate, which can flexibly adjust the angle according to the relative position relationship between the cargo platform and the shelf to fill the gap between the cargo platform of the stacker and the shelf, thereby supporting and guiding the shuttle car to move from the upper edge of the cargo platform of the stacker to the shelf at a required angle, so that the shuttle car can smoothly drive to the shelf; 2) In the stacker and cargo storage and retrieval system of the present invention, two rotating plates are provided on each side of the cargo loading platform to support two sets of wheels of the shuttle vehicle; 3) The stacker and cargo storage and retrieval system of the present invention is provided with a support block on the side of the cargo platform and a first ear plate at the bottom of the rotating plate, so as to facilitate the rotation connection between the rotating plate and the cargo platform; 4) The stacker and the cargo storage and retrieval system of the present invention, the driving assembly includes a motor, a screw rod, a moving block and a connecting rod, the driving assembly has a simple structure, is easy to operate and maintain, and saves costs; 5) The stacker and the cargo storage and retrieval system of the present invention facilitates the rotational connection between the connecting rod and the rotating plate and the moving block by providing a second ear plate at the bottom of the rotating plate and a third ear plate on the upper surface of the moving block; 6) The stacker and the goods storage and retrieval system of the present invention has positioning pins connected to the moving block, which can position the stacker and the shelf; 7) The stacker and the cargo storage and retrieval system of the present invention have a motor and a lead screw connected to the bottom of the cargo platform, and the structure of the platform module is more compact; the motor drives the lead screw to rotate through the sprocket and chain, and the same lead screw can drive the rotating plates on both sides of the cargo platform to adjust the angle; 8) The stacker and the cargo storage and retrieval system of the present invention has a docking plate provided on the docking platform to facilitate the shuttle vehicle to travel between the stacker and the shelf; 9) In the stacker and the cargo storage and retrieval system of the present invention, a positioning block is provided on the docking platform to facilitate the mutual positioning between the stacker and the shelf. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0017] Figure 1 This is a front view of the platform module and the shelf in the present invention when docking; Figure 2 for Figure 1 A partial enlarged view of the middle A; Figure 3 for Figure 1 A partial enlarged view of point B in the middle; Figure 4 This is an axial view of the platform module and the shelf when docking in the present invention.

[0018] Explanation of the reference numerals in the drawings in the specification: 101, cargo platform; 102, rotating plate; 103, supporting block; 104, first ear plate; 105, motor; 106, screw rod; 107, moving block; 108, connecting rod; 109, second ear plate; 110, third ear plate; 111, locating pin; 112, bearing seat; 113, driving sprocket; 114, driven sprocket; 115, chain; 201, docking platform; 202, docking plate; 203, locating block. DETAILED DESCRIPTION

[0019] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0020] See also Figures 1 to 4 As shown, one embodiment of the stacker provided by the present invention.

[0021] The stacker includes a load-bearing module, and the load-bearing module includes: The cargo platform 101 is used to carry the shuttle and support the shuttle to move; The turntable assembly includes a turntable 102, which is disposed on the side of the cargo platform 101 along the first horizontal direction. The turntable 102 has a degree of freedom to rotate about a second horizontal direction relative to the cargo platform 101, and the turntable 102 can support and guide the shuttle vehicle to travel; A driving assembly, wherein the driving assembly drives the rotating plate 102 to adjust an angle around the second horizontal direction; The first horizontal direction is perpendicular to the moving direction of the stacker, and the second horizontal direction is parallel to the moving direction of the stacker.

[0022] The cargo platform 101 has an upper cargo platform surface facing upwards, and the shuttle vehicle stops on the upper cargo platform surface and travels along the upper cargo platform surface. The turntable 102 has an upper turntable surface facing upwards, and the shuttle vehicle passes through the upper turntable surface when driving out of the upper cargo platform surface and travels under the support and guidance of the upper turntable surface. For example, when the gap between the shelf and the cargo platform is too large, the turntable 102 is adjusted to fill the gap between the shelf and the cargo platform, and the shuttle vehicle reaches the shelf via the turntable. When the height of the shelf is higher than the height of the upper cargo platform surface, the angle of the turntable 102 is adjusted to make the upper turntable surface face obliquely upwards, the upper turntable surface droops toward one side of the upper cargo platform surface, and the upper turntable surface rises toward one side of the shelf. The shuttle vehicle travels obliquely upwards under the guidance of the upper turntable surface, so as to prevent the problem of jamming caused by the height difference between the upper cargo platform surface and the shelf.

[0023] Since the rotating plate 102 needs to rotate within a certain range of angles, the rotating plate 102 cannot abut against the cargo platform 101, otherwise it will hinder the rotation of the rotating plate 102. The gap between the rotating plate 102 and the cargo platform 101 is sufficient as long as it does not hinder the rotation of the rotating plate 102, so it is much smaller than the wheels of the shuttle vehicle, so that the shuttle vehicle can easily cross the gap. There is a gap between the rotating plate 102 and the cargo platform 101, which is convenient for the rotating plate 102 to adjust its angle.

[0024] The rotating plate 102 can flexibly adjust the angle according to the relative position relationship between the cargo platform 101 and the shelf, thereby guiding the shuttle vehicle to move from the cargo platform 101 of the stacker to the shelf at a required angle, solving the problem of positioning accuracy between the stacker and the shelf.

[0025] In this embodiment, two rotating plates 102 are provided on both sides of the cargo platform 101 along the first horizontal direction, and the two rotating plates 102 on the same side of the cargo platform 101 are arranged at a distance along the second horizontal direction.

[0026] Since the main function of the rotating plate 102 is to guide the shuttle vehicle to move forward, the rotating plate 102 only contacts the wheels of the shuttle vehicle. The shuttle vehicle generally has two sets of wheels. Two rotating plates 102 are arranged on each side of the cargo platform to support the two sets of wheels of the shuttle vehicle to travel. The two rotating plates 102 on the same side of the cargo platform 101 are spaced a certain distance apart.

[0027] In this embodiment, the cargo platform 101 is connected with support blocks 103 at both ends along the first horizontal direction, the bottom of the rotating plate 102 is connected with a first ear plate 104, and the first ear plate 104 is connected with the support block 103 via a first hinge shaft.

[0028] The first hinge axis extends along the second horizontal direction, and the first ear plate 104 and the support block 103 can rotate relative to each other through the first hinge axis. By arranging the support block 103 on the side of the cargo platform 101 and arranging the first ear plate 104 on the bottom of the rotating plate 102, the rotating plate 102 is conveniently connected to the cargo platform 101 for rotation.

[0029] In this embodiment, the driving assembly includes a motor 105, a screw rod 106, a moving block 107 and a connecting rod 108. The screw rod 106 has the freedom to rotate around the first horizontal direction. The moving block 107 is threadedly connected to the screw rod 106. One end of the connecting rod 108 is rotatably connected to the moving block 107, and the other end of the connecting rod 108 is rotatably connected to the rotating plate 102. The motor 105 drives the rotating plate 102 to rotate around the second horizontal direction through the screw rod 106, the moving block 107 and the connecting rod 108.

[0030] After the motor 105 is started, the screw rod 106 is driven to rotate, and the moving blocks 107 fixed at both ends of the screw rod 106 move in opposite directions as the screw rod 106 rotates. The rotating plate 102 connected to the moving block 107 by the connecting rod 108 is driven by the connecting rod 108 to adjust the angle. The driving assembly includes the motor 105, the screw rod 106, the moving block 107 and the connecting rod 108. The driving assembly has a simple structure, is easy to operate and maintain, and saves costs.

[0031] In this embodiment, a second ear plate 109 is provided at the bottom of the rotating plate 102, a third ear plate 110 is connected to the moving block 107, one end of the connecting rod 108 is connected to the second ear plate 109 via a second hinge shaft, and the other end of the connecting rod 108 is connected to the third ear plate 110 via a third hinge shaft.

[0032] The second hinge axis and the third hinge axis both extend along the second horizontal direction. The connecting rod 108 and the second ear plate 109 can rotate relative to each other through the second hinge axis, and the connecting rod 108 and the third ear plate 110 can rotate relative to each other through the third hinge axis.

[0033] In this embodiment, a positioning pin 111 is connected to the moving block 107 , and the positioning pin 111 extends along the first horizontal direction.

[0034] When the shuttle car travels from the stacker to the target shelf, the relative position requirements between the cargo platform and the target shelf are relatively strict. Therefore, the target shelf and the stacker need to be positioned relative to each other. A positioning pin 111 is set on the moving block 107. When the moving block 107 moves along the first horizontal direction to adjust the angle of the rotating plate 102, the positioning pin 111 moves along the first horizontal direction for positioning.

[0035] Specifically, the turn plate 102 has a working state and a non-working state. In the working state, the turn plate 102 is in a horizontal state or a nearly horizontal state, and the two sides of the turn plate 102 are connected to the cargo platform 101 and the shelf. In the non-working state, the turn plate 102 is in an upright state. During the process of adjusting the angle of the turn plate 102, the turn plate 102 rotates from a vertical state to a horizontal state, the moving block 107 moves along a first horizontal direction close to the shelf, and the positioning pin 111 moves in a direction close to the shelf, and can be positioned with the shelf. The positioning pin 111 is connected to the moving block 107, which can position the stacker and the shelf in the walking direction of the stacker.

[0036] In this embodiment, the motor 105 is installed at the bottom of the cargo platform 101, and a bearing seat 112 is connected to the bottom of the cargo platform 101. The screw rod 106 is connected to the bearing seat 112. The motor 105 is connected to the screw rod 106 through an active sprocket 113, a driven sprocket 114 and a chain 115. Two moving blocks 107 are connected to the screw rod 106, and the two moving blocks 107 drive the rotating plates 102 on both sides of the cargo platform 101 to adjust their angles through connecting rods 108.

[0037] The housing of the motor 105 and the bearing seat 112 are fixedly connected to the cargo platform 101, and the screw rod 106 passes through the inner hole of the bearing seat 112. The motor 105 and the screw rod 106 are connected to the bottom of the cargo platform 101, and the structure of the platform module is more compact. The driving sprocket 113 is connected to the power output shaft of the motor 105, and the driven sprocket 114 is connected to the screw rod 106. The chain 115 drives the driving sprocket 113 and the driven sprocket 114. The motor 105 drives the screw rod 106 to rotate through the driving sprocket 113, the driven sprocket 114 and the chain 115. The screw rod 106 is a bidirectional threaded screw rod. When the screw rod 106 rotates in one direction, the two moving blocks 107 are close to each other. When the screw rod 106 rotates in the other direction, the two moving blocks 107 are away from each other. The same screw rod 106 can drive the rotating plates 102 on both sides of the cargo platform 101 to adjust the angle. When the motor 105 is started, the driving sprocket 113 is driven to rotate, the driving sprocket 113 drives the driven sprocket 114 to rotate through the chain 115, and the driven sprocket 114 drives the screw rod 106 to rotate.

[0038] See also Figures 1 to 4 As shown, one embodiment of the cargo storage and retrieval system disclosed in the present invention.

[0039] The cargo storage and retrieval system includes the above-mentioned stacker, shuttle car (not shown in the figure) and shelf, the above-mentioned shelf includes a docking platform 201, the above-mentioned turntable 102 is arranged between the above-mentioned cargo platform 101 and the above-mentioned docking platform 201 and guides the above-mentioned shuttle car to travel from the above-mentioned cargo platform 101 to the above-mentioned docking platform 201.

[0040] When the stacker travels to the target shelf, the docking platform 201 of the target shelf docks with the rotating plate 102 of the stacker, and the driving assembly drives the rotating plate 102 to rotate and adjust the angle, so that the rotating plate 102 docks with the docking platform 201 of the target shelf. The shuttle on the cargo platform 101 travels to the docking platform 201 of the target shelf under the guidance of the rotating plate 102.

[0041] In this embodiment, a docking plate 202 is connected to the docking platform 201 , and the rotating plate 102 is docked with the docking plate 202 .

[0042] The docking platform 201 is connected to a docking plate 202. When the stacker travels to the target shelf, the docking plate 202 of the target shelf docks with the rotating plate 102 of the stacker. The rotating plate 102 is rotated and adjusted by the driving assembly so that the rotating plate 102 docks with the docking plate 202 of the target shelf. The shuttle on the cargo platform 101 travels to the docking plate 202 of the target shelf under the guidance of the rotating plate 102. Specifically, each docking platform 201 is provided with two docking plates 202, which are docked with the two rotating plates 102 on one side of the cargo platform 101 respectively.

[0043] In this embodiment, a positioning block 203 is connected to the docking platform 201 . The positioning block 203 is provided with a positioning hole. The positioning hole and the positioning pin 111 are positioned with each other.

[0044] When the shuttle car travels from the stacker to the target shelf, the relative position requirements between the rotating plate 102 and the docking plate 202 of the target shelf are relatively strict. Therefore, the target shelf and the stacker need to be positioned with each other. The docking platform 201 is connected to a positioning block 203, and a positioning hole is provided on the positioning block 203. During the process of adjusting the angle of the rotating plate 102, the positioning pin 111 of the stacker is inserted into the positioning hole along the first horizontal direction, and cooperates with the positioning hole of the shelf to achieve positioning. At the same time, the positioning hole guides the moving block 107 to move along the first horizontal direction.

[0045] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A stacker, comprising a load-bearing module, characterized in that: The carrier module comprises: A cargo platform, the cargo platform is used to carry the shuttle vehicle and support the shuttle vehicle to move; A turntable assembly, comprising a turntable, the turntable being arranged at the side of the cargo platform along the first horizontal direction, the turntable having a degree of freedom to rotate about a second horizontal direction relative to the cargo platform, and the turntable being capable of supporting and guiding the shuttle vehicle to travel; A driving assembly, wherein the driving assembly drives the rotating plate to adjust an angle around the second horizontal direction; The first horizontal direction is perpendicular to the moving direction of the stacker, and the second horizontal direction is parallel to the moving direction of the stacker.

2. The stacker according to claim 1, characterized in that: Two rotating plates are provided on both sides of the cargo platform along the first horizontal direction, and the two rotating plates on the same side of the cargo platform are arranged at a distance along the second horizontal direction.

3. The stacker according to claim 1, characterized in that: The cargo platform is connected to support blocks at both ends along the first horizontal direction, the bottom of the rotating plate is connected to a first ear plate, and the first ear plate is connected to the support blocks via a first hinge shaft.

4. The stacker according to claim 1, characterized in that: The driving assembly includes a motor, a screw, a moving block and a connecting rod. The screw has the freedom to rotate around the first horizontal direction. The moving block is threadedly connected to the screw. One end of the connecting rod is rotatably connected to the moving block, and the other end of the connecting rod is rotatably connected to the rotating plate. The motor drives the rotating plate to rotate around the second horizontal direction through the screw, the moving block and the connecting rod.

5. The stacker according to claim 4, characterized in that: A second ear plate is provided at the bottom of the rotating plate, a third ear plate is connected to the moving block, one end of the connecting rod is connected to the second ear plate via a second hinge shaft, and the other end of the connecting rod is connected to the third ear plate via a third hinge shaft.

6. The stacker according to claim 4, characterized in that: The moving block is connected with a positioning pin, and the positioning pin extends along the first horizontal direction.

7. The stacker according to claim 5, characterized in that: The motor is installed at the bottom of the cargo platform, and the bottom of the cargo platform is connected to a bearing seat, the screw rod is connected to the bearing seat, the motor is connected to the screw rod through a sprocket and chain transmission, and two moving blocks are connected to the screw rod, and the two moving blocks drive the rotating plates on both sides of the cargo platform to adjust the angles through the connecting rod respectively.

8. A cargo storage and retrieval system, characterized in that: It comprises the stacker, shuttle car and shelf as described in any one of claims 1 to 7, wherein the shelf is provided with a docking platform, and the turning plate is arranged between the cargo platform and the docking platform and guides the shuttle car to travel from the cargo platform to the shelf.

9. The cargo storage and retrieval system according to claim 8, characterized in that: A docking plate is connected to the docking platform, and the rotating plate is docked with the docking plate.

10. The cargo storage and retrieval system according to claim 8, characterized in that: The docking platform is connected to a positioning block, and the positioning block is provided with a positioning hole, and the positioning hole and the positioning pin of the stacker according to claim 6 are mutually positioned.

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