Stacking robot for automatic storage

Abstract

The invention relates to the technical field of stacking machines, provides a stacking robot for automatic storage, and solves the problem of low efficiency caused by design defects of existing equipment. The bottom of the base is provided with a ground rail extending along a storage roadway; the horizontal driving parts are symmetrically arranged on the two sides of the base and used for driving the base to move along the ground rail; the stand column is vertically fixed above the base, and a cross beam extending transversely is arranged at the top of the stand column; the hoisting assembly is arranged on one side of the stand column in a sliding mode; the vertical driving part is arranged on one side of the stand column and used for driving the hoisting assembly to move in the vertical direction; the access platform is arranged on the hoisting assembly and has an initial state, a first-stage extension state and a second-stage extension state of which the spans are increased in sequence; the goods weight is automatically adapted through the telescopic state of the storing and taking platform, excessive extension during light load is reduced, structural stability during heavy load is improved, energy consumption is reduced, and efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of stackers, and particularly to a stacking robot for automated warehousing. Background Art

[0002] With the development of productivity and the expansion of production scale, the required warehousing space also expands accordingly. However, when the land use is restricted and it is difficult to expand the area of the material warehouse, it can only develop in the space, turning the single-story warehouse into a multi-story or stereoscopic warehouse. The rail-guided stacker crane is a special crane that has developed with the emergence of stereoscopic warehouses. It is a crane operating in the narrow aisles of high-rise shelves and is usually simply referred to as a stacker. The stacker has an important impact on the inbound and outbound efficiency of the stereoscopic warehouse and is one of the key equipment of the stereoscopic warehouse.

[0003] Chinese Patent Publication No. CN212403375U discloses a rail-guided high-precision stacker. The rail-guided high-precision stacker includes a horizontal movement mechanism arranged on the ground, a column provided on the horizontal movement mechanism, a vertical movement mechanism arranged along the length direction of the column, a load-carrying platform provided on the vertical movement mechanism, and a telescopic access platform mechanism arranged along the length direction of the load-carrying platform. It is characterized in that: the horizontal movement mechanism, the vertical movement mechanism, and the telescopic access platform mechanism all include parallel slide rails, racks, a base slidably installed on the slide rails, and a driving mechanism fixed to the base and connected to the rack through a gear; when storing and retrieving goods of different sizes, this utility model usually adopts a fixed telescopic stroke and a uniform movement strategy, resulting in excessive elongation, increased energy consumption, and low efficiency. Summary of the Invention

[0004] Therefore, in view of the above problems, the present invention provides a stacking robot for automated warehousing to solve the problem of low efficiency caused by design defects in existing equipment.

[0005] To achieve the above object, the present invention is realized through the following technical solutions:

[0006] A stacking robot for automated warehousing, comprising:

[0007] A base, with a ground rail extending along the warehousing aisle provided at the bottom;

[0008] Horizontal driving components, symmetrically arranged on both sides of the base, for driving the base to move along the ground rail;

[0009] A column, vertically fixed above the base, and a cross beam extending horizontally is provided at the top thereof;

[0010] A lifting assembly, slidably arranged on one side of the column;

[0011] A vertical driving component, provided on one side of the column, is used to drive the lifting assembly to move in the vertical direction;

[0012] An access platform, provided on the lifting assembly, has an initial state, a first-level extended state, and a second-level extended state with gradually increasing spans;

[0013] An access driving component is used to switch the state of the access platform;

[0014] A weight detection module, provided below the access platform, is used to detect the weight of the goods in real time and output a weight signal;

[0015] A controller is electrically connected to the horizontal driving component, the vertical driving component, the access driving component, and the weight detection module respectively. The controller pre-stores:

[0016] A weight threshold;

[0017] A dynamic displacement mapping table, storing the horizontal moving distance and the vertical moving distance corresponding to different weight ranges;

[0018] A telescopic state decision logic is configured to perform the following operations:

[0019] According to the weight range to which the weight signal belongs, control the horizontal driving component and the vertical driving component to drive the base and the lifting assembly to move to the target positions in the corresponding displacement mapping table respectively;

[0020] After reaching the target position, if the weight signal ≤ the first threshold, control the access driving component to switch the access platform from the initial state to the first-level extended state;

[0021] If the weight signal > the weight threshold, the access platform is switched from the initial state to the second-level extended state.

[0022] Further, the controller also pre-stores a load limit threshold greater than the weight threshold. The controller is further configured to:

[0023] Before the base and the lifting assembly start to move, if the weight signal > the load limit threshold, trigger an overload alarm and prohibit the access platform from telescoping.

[0024] Further, the horizontal driving component includes a moving frame. A pressure-bearing wheel is rotatably provided inside the moving frame. The pressure-bearing wheel contacts the top of the ground rail. A guide wheel set is provided outside the moving frame. The guide wheel set contacts both sides of the ground rail.

[0025] Further, the vertical driving component includes a rope winding frame, a rope winding roller, a lifting rope and a lifting wheel. The rope winding roller is rotatably arranged in the rope winding frame. The lifting wheel is arranged at the top of the column. One end of the lifting rope is wound around the outer side of the rope winding roller. The other end of the lifting rope extends upward, bypasses the lifting wheel and is connected to the lifting component.

[0026] Further, the lifting component includes a mounting frame, a V-shaped rail and a plurality of limiting wheel groups. Each of the limiting wheel groups is symmetrically arranged on both sides of the mounting frame. The V-shaped rail is arranged on both sides of the column. Each of the limiting wheel groups is in contact with the surface of the V-shaped rail.

[0027] Further, the bottom of the access platform is provided with tooth patterns. The access driving component includes a guiding frame, a driving wheel and a plurality of transmission wheels. The driving wheel is arranged at the bottom of the guiding frame. The access platform is arranged at the top of the guiding frame. Each of the transmission wheels is arranged side by side in the guiding frame. Each of the transmission wheels meshes with at least two of the transmission wheels and the tooth patterns at the bottom of the access platform.

[0028] Further, the access platform includes a first-level plate, a second-level plate, a pushing wheel and a pushing rope. The second-level plate is slidably arranged on the top of the first-level plate. The pushing wheel is arranged at one end of the first-level plate. One end of the pushing rope is connected to the guiding frame. The other end of the pushing rope bypasses the pushing wheel and is connected to one end of the second-level plate.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0030] 1. Through the dynamic matching of the weight signal and the displacement mapping table, the present invention enables the telescopic state of the access platform to automatically adapt to the weight of the goods, reduces the excessive elongation during light load, increases the structural stability during heavy load, reduces energy consumption and increases efficiency.

[0031] 2. The present invention predicts the moving distance according to the weight, avoids the time-consuming secondary positioning of "arriving first and then adjusting", and shortens the single access cycle.

[0032] 3. The present invention triggers different elongation states according to the weight threshold, reduces the ineffective telescopic stroke of the access platform. For example, the size of light-load goods is smaller and there is no need to fully extend. Different levels of elongation states can match storage racks with different depths. After the storage rack is expanded, a different depth from the original storage rack can be adopted to make more efficient use of space. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic structural diagram of an embodiment of the present invention;

[0034] Figure 2 is a schematic structural diagram of the horizontal driving component of an embodiment of the present invention;

[0035] Figure 3Schematic diagram of the mounting frame structure according to an embodiment of the present invention;

[0036] Figure 4 Schematic diagram of the access platform structure according to an embodiment of the present invention;

[0037] Figure 5 Schematic sectional view of the access platform according to an embodiment of the present invention.

[0038] Description of reference numerals

[0039] Base 1; ground rail 11;

[0040] Horizontal driving member 2; moving frame 21; bearing wheel 22; guide wheel set 23;

[0041] Column 3; cross beam 31;

[0042] Lifting assembly 4; mounting frame 41; V-shaped rail 42; limit wheel set 43;

[0043] Vertical driving member 5; rope winding frame 51; rope winding roller 52; lifting rope 53; lifting wheel 54;

[0044] Access platform 6; tooth pattern 61; first-level plate 62; second-level plate 63; pushing wheel 64; pushing rope 65;

[0045] Access driving member 7; guide frame 71; driving wheel 72; transmission wheel 73;

[0046] Weight detection module 8;

[0047] Controller 9. Detailed implementation manners

[0048] The following will describe in detail the implementation manners of the present invention with reference to specific embodiments, so as to fully understand how the present invention uses technical means to solve technical problems and the implementation process of achieving technical effects and implement accordingly.

[0049] Embodiment

[0050] As Figures 1 to 5 shown, a stacking robot for an automated warehouse includes:

[0051] A base 1, with a ground rail 11 extending along the warehouse aisle provided at the bottom;

[0052] Horizontal driving members 2, symmetrically arranged on both sides of the base 1, for driving the base 1 to move along the ground rail 11;

[0053] Columns 3, vertically fixed above the base 1, with a horizontally extending cross beam 31 provided at the top;

[0054] A lifting assembly 4, slidably arranged on one side of the column 3;

[0055] A vertical driving component 5 is provided on one side of the column 3 and is used to drive the lifting assembly 4 to move in the vertical direction;

[0056] An access platform 6 is provided on the lifting assembly 4 and has an initial state, a first-stage extended state, and a second-stage extended state with gradually increasing spans;

[0057] An access driving component 7 is used to switch the state of the access platform 6;

[0058] A weight detection module 8 is provided below the access platform 6 and is used to detect the weight of the goods in real time and output a weight signal;

[0059] A controller 9 is electrically connected to the horizontal driving component 2, the vertical driving component 5, the access driving component 7, and the weight detection module 8 respectively. The controller 9 pre-stores:

[0060] A weight threshold;

[0061] A dynamic displacement mapping table that stores the horizontal movement distance and the vertical movement distance corresponding to different weight ranges;

[0062] A telescopic state decision logic, which is configured to perform the following operations:

[0063] According to the weight range to which the weight signal belongs, control the horizontal driving component 2 and the vertical driving component 5 to drive the base 1 and the lifting assembly 4 to move to the target positions in the corresponding displacement mapping table;

[0064] After reaching the target position, if the weight signal ≤ the first threshold, control the access driving component 7 to switch the access platform 6 from the initial state to the first-stage extended state;

[0065] If the weight signal > the weight threshold, the access platform 6 is switched from the initial state to the second-stage extended state.

[0066] Wherein, the extension amount of the second-stage extended state is the limit state to which the access platform can extend, and the extension amount of the first-stage extended state is 1 / 3 - 2 / 3 of the extension amount of the second-stage extended state. In this embodiment, the extension amount of the first-stage extended state is 1 / 2 of the extension amount of the second-stage extended state; the controller 9 uses a pcl controller, and the weight detection module 8 uses a weighing sensor, both of which can be purchased on the market and will not be elaborated here.

[0067] By dynamically matching the weight signal with the displacement mapping table, the telescopic state of the access platform 6 automatically adapts to the weight of the goods, reducing excessive elongation during light loads, increasing structural stability during heavy loads, reducing energy consumption and increasing efficiency; predicting the moving distance based on the weight to avoid the time-consuming secondary positioning of "arriving first and then adjusting", and shortening the single access cycle; triggering different elongation states according to the weight threshold to reduce the ineffective telescopic stroke of the access platform. For example, the size of light-load goods is smaller and does not need to be fully extended. Different levels of elongation states can match storage racks with different depths. After the storage rack is expanded, a different depth from the original storage rack can be adopted to make more efficient use of space.

[0068] The controller 9 further prestores a load limit threshold greater than the weight threshold, and the controller 9 is further configured to:

[0069] Before the base 1 and the lifting assembly 4 start to move, if the weight signal > the load limit threshold, trigger an overload alarm and prohibit the access platform 6 from telescoping.

[0070] By setting a load limit threshold (such as 120% of the rated load), an alarm is triggered during overload and the operation is completely prohibited to form a protection mechanism.

[0071] The horizontal driving component 2 includes a moving frame 21. A bearing wheel 22 is rotatably arranged in the moving frame 21. The bearing wheel 22 contacts the top of the ground rail 11. A guide wheel set 23 is arranged outside the moving frame 21. The guide wheel set 23 contacts both sides of the ground rail 11; the main load is borne by the contact between the bearing wheel 22 and the top of the ground rail 11, and the guide wheel set 23 restricts the lateral offset.

[0072] The vertical driving component 5 includes a rope-receiving frame 51, a rope-receiving roller 52, a lifting rope 53 and a lifting wheel 54. The rope-receiving roller 52 is rotatably arranged in the rope-receiving frame 51. The lifting wheel 54 is arranged at the top of the column 3. One end of the lifting rope 53 is wound around the outside of the rope-receiving roller 52. The other end of the lifting rope 53 extends upward, bypasses the lifting wheel 54 and is connected to the lifting assembly 4.

[0073] By forming a movable pulley structure with the lifting rope 53 passing around the lifting wheel 54, the load torque of the motor is reduced. The lifting rope 53 is made of steel wire rope, and the rope-receiving roller 52 is driven by a servo motor.

[0074] The lifting assembly 4 includes a mounting frame 41, a V-shaped rail 42 and four groups of limiting wheel sets 43. Each group of limiting wheel sets is symmetrically arranged on both sides of the mounting frame 41. The V-shaped rail 42 is arranged on both sides of the column 3. Each group of limiting wheel sets 43 contacts the surface of the V-shaped rail 42.

[0075] The bottom of the access platform 6 is provided with tooth patterns 61. The access driving component 7 includes a guide frame 71, a driving wheel 72, and three transmission wheels 73. The driving wheel 72 is arranged at the bottom of the guide frame 71, the access platform 6 is arranged at the top of the guide frame 71, and the transmission wheels 73 are arranged side by side in the guide frame 71. Each of the transmission wheels 73 meshes with two of the transmission wheels 73 and the tooth patterns 61 at the bottom of the access platform 6.

[0076] The access platform 6 includes a primary plate 62, a secondary plate 63, a pushing wheel 64, and a pushing rope 65. The secondary plate 63 is slidably arranged on the top of the primary plate 62. The pushing wheel 64 is arranged at one end of the primary plate 62. One end of the pushing rope 65 is connected to the guide frame 71, and the other end of the pushing rope 65 bypasses the pushing wheel 64 and is connected to one end of the secondary plate 63. Among them, the number of the pushing wheels 64 and the pushing ropes 65 is two. One group is used to synchronously push out the secondary plate 63 while the primary plate 62 is pushed out, and the other group is used to synchronously retract the secondary plate 63 while the primary plate 62 is retracted, which can effectively increase the span of the access platform 6.

[0077] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, those skilled in the art should understand that various changes can be made to the present invention in terms of form and details without departing from the spirit and scope of the present invention defined by the appended claims, and all such changes are within the protection scope of the present invention.

Claims

1. A stacking robot for automated warehousing, characterized in that: include: A base, the bottom of which is provided with a ground rail extending along the storage lane; A horizontal driving component is symmetrically arranged on both sides of the base, and is used to drive the base to move along the ground rail; A column, vertically fixed above the base, with a horizontally extending beam provided on the top; A lifting assembly is slidably arranged on one side of the column; A vertical driving component, disposed on one side of the column, for driving the lifting assembly to move in a vertical direction; The access platform is arranged on the lifting assembly and has an initial state, a primary extension state and a secondary extension state with the span increasing successively; An access drive component, used for switching the state of the access platform; A weight detection module is provided below the storage and access platform and is used to detect the weight of the goods in real time and output a weight signal; A controller is electrically connected to the horizontal drive component, the vertical drive component, the access drive component and the weight detection module respectively, and the controller pre-stores: Weight threshold; Dynamic displacement mapping table, storing horizontal and vertical movement distances corresponding to different weight intervals; The scaling state decision logic is configured to perform the following operations: According to the weight interval to which the weight signal belongs, controlling the horizontal driving component and the vertical driving component to respectively drive the base and the lifting assembly to move to the target position in the corresponding displacement mapping table; After reaching the target position, if the weight signal is less than or equal to the first threshold, the access drive component is controlled to switch the access platform from the initial state to the first extension state; If the weight signal is greater than the weight threshold, the access platform switches from the initial state to the secondary extension state.

2. The stacking robot for automated warehousing according to claim 1, characterized in that: The controller also pre-stores a load limit threshold value greater than the weight threshold value, and the controller is further configured as follows: Before the base and the lifting assembly start to move, if the weight signal is greater than the load limit threshold, an overload alarm is triggered and the storage and access platform is prohibited from extending or retracting.

3. The stacking robot for automated warehousing according to claim 1, characterized in that: The horizontal driving component comprises a moving frame, a pressure wheel is rotatably arranged in the moving frame, the pressure wheel contacts the top of the ground rail, and a guide wheel group is arranged outside the moving frame, the guide wheel group contacts the two sides of the ground rail.

4. The stacking robot for automated warehousing according to claim 1, characterized in that: The vertical driving component includes a rope collecting frame, a rope collecting roller, a lifting rope and a lifting wheel. The rope collecting roller is rotatably arranged in the rope collecting frame, the lifting wheel is arranged on the top of the column, one end of the lifting rope is wrapped around the outside of the rope collecting roller, and the other end of the lifting rope extends upward and passes around the lifting wheel and then is connected to the lifting assembly.

5. The stacking robot for automated warehousing according to claim 1, characterized in that: The lifting assembly includes a mounting frame, a V-shaped rail, and a plurality of limiting wheel groups, each of which is symmetrically arranged on both sides of the mounting frame, the V-shaped rail is arranged on both sides of the column, and each of the limiting wheel groups contacts the surface of the V-shaped rail.

6. The stacking robot for automated warehousing according to claim 1, characterized in that: The bottom of the access platform is provided with teeth, and the access drive component includes a guide frame, a driving wheel, and a plurality of transmission wheels. The driving wheel is arranged at the bottom of the guide frame, and the access platform is arranged at the top of the guide frame. Each of the transmission wheels is arranged side by side in the guide frame, and each of the transmission wheels is engaged with the teeth of at least two of the transmission wheels and the bottom of the access platform.

7. The stacking robot for automated warehousing according to claim 6, characterized in that: The storage and retrieval platform includes a primary plate, a secondary plate, a pushing wheel and a pushing rope. The secondary plate is slidably arranged on the top of the primary plate, the pushing wheel is arranged at one end of the primary plate, one end of the pushing rope is connected to the guide frame, and the other end of the pushing rope is connected to one end of the secondary plate after passing through the pushing wheel.

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