A material conveying device

Abstract

A material conveying device includes a storage bin and a transfer device. The storage bin includes a storage frame and multiple placement tracks arranged at intervals from top to bottom on the storage frame. Each placement track corresponds to a mobile frame. The transfer device includes a lifting platform and a conveying track mounted on the lifting platform. A push-pull track and a push-pull rack are mounted on the lifting platform. A push-pull trolley is slidably mounted on the push-pull track. The push-pull trolley is equipped with a push-pull motor module and a push-pull module. The rotational output end of the push-pull motor module is connected to a push-pull drive shaft. The push-pull drive shaft is equipped with a push-pull gear that meshes with the push-pull rack. This invention can extend the service life of equipment, reduce the frequency of maintenance and adjustment, and improve the continuity of warehousing operations. Furthermore, the push-pull trolley can be linked with a locking device, enabling the locking device to automatically lock / unlock the mobile frame on the storage frame without an additional power source, ensuring the stability of the mobile frame during storage.

Description

Technical Field

[0001] This invention relates to the field of material storage and conveying devices, and specifically to a material conveying device. Background Technology

[0002] Sheet metal is a very common basic material in machining. In order to save storage space, automated material warehouses are usually used to store sheet metal.

[0003] The automated three-dimensional storage warehouse disclosed in the technical solution of reference application number CN202510573167.5 mostly adopts a servo motor-driven chain transmission method for its horizontal conveyor loading and unloading platform. The movement of the moving frame between the conveyor loading and unloading platform and the sheet material moving frame is achieved by the engagement of the locking blocks on the chain and the locking devices on the moving frame. However, since the chain is usually placed horizontally on the conveyor loading and unloading platform, when the locking blocks on the chain engage with the locking devices on the moving frame, at least the middle part of the chain above the sprocket will drop due to its own weight, directly resting between the sprocket and the conveyor platform. This causes additional friction between the chain and the platform during operation, increasing transmission resistance and easily leading to accelerated chain wear, transmission jamming, and other phenomena, affecting transmission stability and positioning accuracy. At the same time, during long-term operation, the continuous friction caused by gravity will accelerate chain wear, causing the chain tension to drop rapidly, requiring frequent maintenance and adjustment, increasing operation and maintenance costs, and frequent downtime for maintenance also affects the efficiency of warehousing operations. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the present invention provides a material conveying device.

[0005] The technical solution adopted by this invention to solve its technical problem is:

[0006] A material conveying device includes a storage bin and a transfer device. The storage bin includes a storage frame and multiple placement tracks arranged at intervals from top to bottom on the storage frame. Each placement track corresponds to a movable frame. The transfer device includes a lifting track, a lifting platform that is movably mounted on the lifting track, a lifting drive unit for connecting and driving the lifting platform, and a conveying track mounted on the lifting platform. The device is characterized in that: a push-pull track and a push-pull rack are installed on the lifting platform; a push-pull trolley for driving the movable frame is slidably mounted on the push-pull track; the push-pull trolley is equipped with a push-pull motor module and a push-pull module that can be connected to and separated from the movable frame; the rotary output end of the push-pull motor module is connected to a push-pull drive shaft; and the push-pull drive shaft is equipped with a push-pull gear that meshes with the push-pull rack.

[0007] In this invention, the push-pull motor module has two rotary output shafts, both of which are connected to the push-pull transmission shaft. The push-pull transmission shaft is supported and mounted on the push-pull cart by a push-pull bearing seat. Push-pull gears are installed on both push-pull transmission shafts, and each push-pull gear meshes with a push-pull rack.

[0008] In this invention, the push-pull motor module is equipped with a push-pull encoder.

[0009] In this invention, each of the lifting drive units includes a lifting motor module mounted on a lifting drive base and a chain drive mechanism that is connected to the lifting motor module. The lifting chain of the chain drive mechanism is connected to the lifting platform.

[0010] In this invention, the front and rear ends of the mobile frame are provided with mobile guide wheel sets for cooperating with the placement track and the conveying track; the placement track includes a placement guide rail installed on the storage frame, and the conveying track includes a conveying guide rail provided on the lifting platform. When the lifting platform is raised to the docking position with the placement guide rail, each placement guide rail docks with a conveying guide rail in the horizontal direction.

[0011] In this invention, the mobile frame is provided with a storage space for accommodating and placing materials.

[0012] In this invention, the push-pull module includes a push-pull handle on the push-pull cart, and the movable frame is provided with a push-pull mating part adapted to the push-pull handle. The push-pull mating part is provided with a push-pull buckle groove that matches the push-pull handle, and the inlet and outlet of the push-pull buckle groove are located at the bottom of the push-pull mating part.

[0013] In this invention, the side of the push-pull buckle groove closest to the movable frame is a pushing straight surface, and the inlet and outlet of the push-pull buckle groove are provided with guide slopes. The upper end of the guide slope is connected to the lower end of the pushing straight surface, and the lower end extends obliquely towards the movable frame and is connected to the bottom surface of the push-pull mating part.

[0014] In this invention, the material conveying device also includes multiple locking devices that correspond one-to-one with the placement track. Each locking device corresponds to a movable frame on the placement track. The locking device is configured to lock and release the corresponding movable frame under the linkage of the material transfer device.

[0015] In this invention, the locking device includes a locking module, which includes a locking component and a telescopic mechanism. The locking component includes a locking frame, a locking shaft, and a locking swing arm. The locking frame is fixed to the storage rack or the placement guide rail. The locking shaft is rotatably mounted on the locking frame. One end of the locking swing arm is a bushing fixed to the locking shaft, and the other end is a locking limit part. The bushing is provided with a swing arm linkage part for linking the locking swing arm to rotate around the locking shaft. The movable frame is provided with a movable lock part having a locking surface. The placement guide rail is provided with a limit module. The push-pull cart is provided with a linkage pressure part for driving the telescopic mechanism to switch between an extended state and a retracted state when it picks up or puts down the movable frame.

[0016] When the telescopic end of the telescopic mechanism remains extended, the extension of the telescopic end of the telescopic mechanism extends the support swing arm linkage part to rotate the locking swing arm, causing the upper end of the locking limit part to rise to the height of the limiting pressing locking surface, thus limiting the movement stroke of the moving frame.

[0017] When the telescopic end of the telescopic mechanism remains in the retracted state, the telescopic end of the telescopic mechanism retracts, and the locking swing arm rotates to reset so that the upper end of the locking limit part is lower than the bottom of the locking surface of the movable lock part, thereby unlocking the movable frame.

[0018] The beneficial effects of this invention are as follows: The push-pull unit of this invention includes a push-pull moving unit, a push-pull track, and a push-pull rack. The push-pull gear of the push-pull moving unit meshes with the push-pull rack to realize the movement of the push-pull trolley of the push-pull moving unit. This use of gear and rack meshing transmission instead of traditional chain transmission avoids the friction and jamming problems caused by the weight of the chain on the traditional conveyor pick-and-place table, reduces transmission resistance and component wear, extends equipment life, reduces maintenance and adjustment frequency, and improves the continuity of warehousing operations. Furthermore, the push-pull trolley can be linked with a locking device, allowing the locking device to automatically lock / unlock the moving frame on the storage rack without an additional power source, preventing displacement during storage and further ensuring operational stability. Moreover, the locking device can be simultaneously activated during the push-pull trolley's movement in and out of the push-pull slot, further improving overall operational efficiency. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0020] Figure 1 Three-dimensional material conveying device Figure 1 ;

[0021] Figure 2 Three-dimensional material conveying device Figure 2 ;

[0022] Figure 3 for Figure 2 Enlarged view of A in the middle;

[0023] Figure 4 This is a schematic diagram of the installation of the pushcart;

[0024] Figure 5 A 3D view of the movable frame;

[0025] Figure 6 This is a schematic diagram of the installation of the push-pull detection module;

[0026] Figure 7 for Figure 6 Enlarged view of B in the middle;

[0027] Figure 8 A 3D view of the locking module;

[0028] Figure 9 A schematic diagram illustrating the cooperation between the locking swing arm and the telescopic mechanism;

[0029] Figure 10 This is a schematic diagram of the internal structure of the telescopic mechanism;

[0030] Figure 11 A schematic diagram illustrating the process of a locked module transitioning from a locked state to an unlocked state.

[0031] Figure 12 A schematic diagram illustrating the process of the telescopic mechanism changing from a locked state to an unlocked state;

[0032] Figure 13 A schematic diagram illustrating the process of pulling out one of the movable frames of the trolley.

[0033] Figure 14 A schematic diagram illustrating the process of a push-pull trolley pushing a mobile frame back to the storage rack;

[0034] Figure 15 This is a schematic diagram of one of the mobile frames being transferred to the lifting platform. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0036] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, top, bottom, inside, outside, vertical, horizontal, longitudinal, counterclockwise, clockwise, circumferential, radial, axial, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0037] Furthermore, unless otherwise explicitly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection using welding, a detachable connection using bolts, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0038] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0039] Reference Figure 1-15 A material conveying device includes a storage bin 1 and a transfer device 2. The storage bin 1 includes a storage frame 11 and multiple placement tracks arranged at intervals from top to bottom on the storage frame 11. Each placement track corresponds to a movable frame 12 for placing materials. The transfer device 2 includes a lifting track, a lifting platform 21 that is movably mounted on the lifting track, a lifting drive unit 22 for connecting and driving the lifting platform 21 to lift, and a conveying track mounted on the lifting platform 21. The lifting platform 21 is equipped with a push-pull track and a push-pull rack 23. A push-pull trolley 24 for driving the movable frame 12 is slidably mounted on the push-pull track. The push-pull trolley 24 is equipped with a push-pull motor module 25 and a push-pull module that can be connected and separated from the movable frame 12. The rotation output end of the push-pull motor module 25 is connected to a push-pull drive shaft 251. The push-pull drive shaft 251 is equipped with a push-pull gear 252 that meshes with the push-pull rack 23. The placement track, the conveying track, and the push-pull track are arranged in parallel.

[0040] In this embodiment, the push-pull motor module 25 has two rotary output shafts, each connected to a push-pull transmission shaft 251. The push-pull transmission shaft 251 is supported on the push-pull carriage 24 via a push-pull bearing seat 253. Each push-pull transmission shaft 251 is equipped with a push-pull gear 252, and each push-pull gear 252 meshes with a push-pull rack 23 to achieve stable reciprocating movement of the push-pull carriage 24 on the push-pull track. Simultaneously, the push-pull track includes two parallel push-pull guide rails 211 mounted on the lifting platform 21. The push-pull carriage 24 is equipped with push-pull guide blocks 241 that slide and guide with the parallel push-pull guide rails 211 to ensure smooth operation of the push-pull carriage 24. Furthermore, the push-pull motor module 25 is equipped with a push-pull encoder for real-time feedback of movement speed and position information, ensuring the stopping accuracy of the push-pull carriage 24.

[0041] In this embodiment, there are two storage bins 1, symmetrically arranged on the left and right sides of the transfer device 2. Each storage bin 1 has a storage frame 11 connected to one of the lifting rails. The lifting platform 21 is provided with a lifting guide structure for cooperating with the lifting rails to ensure stable operation of the lifting platform 21 during lifting. Further, the lifting rail includes two lifting guide rails 27 symmetrically installed on the same storage frame 11. The two lifting guide rails 27 extend vertically and are arranged parallel to each other. Each lifting rail corresponds to one lifting guide structure, and each lifting guide structure includes guide wheel assemblies 28 installed on both sides of the lifting platform 21. Each guide wheel assembly 28 corresponds to one lifting guide rail 27, and the guide wheel assembly 28 slides and guides the lifting guide rail 27.

[0042] In this embodiment, the material transfer device 2 further includes two lifting frames 26. The top of each lifting frame 26 is connected to a storage frame 11 of the storage silo 1 via a lifting drive seat 261. Each lifting frame 26 is equipped with a corresponding lifting drive unit 22. The two lifting drive units 22 operate synchronously. The action output terminals of the two lifting drive units 22 are respectively connected to the two ends of the lifting platform 21 to ensure the synchronicity and stability of the lifting platform 21 during the lifting process. Furthermore, each of the lifting drive units 22 includes a lifting motor module 221 mounted on a lifting drive base 261 and two chain drive mechanisms that are connected to the lifting motor module 221. The lifting chain 224 of the chain drive mechanism is connected to the lifting platform 21. The chain drive mechanism includes a drive sprocket 222, a driven sprocket 223, and a lifting chain 224 sleeved on the drive sprocket 222 and the driven sprocket 223. The drive sprocket 222 is connected to the output shaft of the lifting motor module 221 through a lifting drive shaft 225. The lifting drive shaft 225 and the driven sprocket 223 are rotatably mounted on the lifting frame 26. One end of the lifting chain 224 is wound around the drive sprocket 222 and connected to the lifting platform 21, while the other end is wound around the driven sprocket 223 and connected to the lifting platform 21. The lifting motor module 221 drives the drive sprocket 222 to rotate, thereby driving the lifting chain 224 to operate, so that the lifting platform 21 can move stably up and down along the lifting track.

[0043] In this embodiment, the lifting motor module 221 is equipped with a lifting encoder for real-time feedback of lifting speed and position information, ensuring the stopping accuracy of the lifting platform 21. Simultaneously, the storage rack 11 is equipped with a lifting positioning detection module corresponding to each storage track position. This module includes a first positioning sensor 100 and a second positioning sensor 200, both used to detect the position of the lifting platform 21. Combined with the lifting encoder signal from the lifting motor module 221, dual-redundant position verification is achieved, ensuring the positioning accuracy of the lifting platform 21 during the lifting process of the moving frame 12, thus improving the reliability and safety of the system operation. Furthermore, the guide wheel assembly 28 corresponding to the position of the first positioning sensor 100 is equipped with a lifting sensor 300 for positioning in conjunction with the first positioning sensor 100 or the second positioning sensor 200. When the lifting platform 21 reaches the target position, the first positioning sensor 100 or the second positioning sensor 200 detects the signal from the lifting sensor 300 and immediately feeds it back to the control device, thereby controlling the lifting platform 21 to stop lifting.

[0044] In this embodiment, the push-pull motor module 25, the lifting motor module 221, the first positioning sensor 100 and the second positioning sensor 200 are all connected to the control device. The control device controls the running sequence of the push-pull motor module 25 and the lifting motor module 221 according to the preset program to ensure that the material picking and putting action and the lifting movement are precisely linked.

[0045] In this embodiment, the front and rear ends of the mobile frame 12 are provided with moving guide wheel assemblies for cooperating with the placement track and the conveying track. The moving guide wheel assembly includes a plurality of storage guide wheels 121 arranged at intervals along the moving direction of the mobile frame 12. The storage guide wheels 121 are rotatably mounted on the mobile frame 12. The placement track includes two placement guide rails 13 symmetrically mounted on the storage frame 11. The conveying track includes two conveying guide rails 29 provided on the lifting platform 21. When the lifting platform 21 is raised to the docking position with the placement guide rail 13, each placement guide rail 13 docks with one conveying guide rail 29 in the horizontal direction, so that the conveying guide rail 29 and the placement guide rail 13 are precisely docked in the horizontal direction, ensuring that the material is transferred smoothly and stably.

[0046] In this embodiment, the movable frame 12 is provided with a storage space for accommodating and placing materials. When materials are placed in the storage space, they are less likely to slip or tip over, effectively improving the stability and safety of material storage. Furthermore, the top of the movable frame 12 is provided with multiple material limiting shafts 122, which together with the top of the movable frame 12 form the storage space.

[0047] In this embodiment, the material conveying device also includes multiple locking devices corresponding one-to-one with the placement track. Each placement track is provided with a locking device, and each locking device locks a movable frame 12 on a placement track. The locking device is configured to lock and release the corresponding movable frame 12 under the linkage of the material transfer device 2, so that the material transfer device 2 can drive the locking device to lock or release the movable frame 12, ensuring that the material transfer device 2 can smoothly remove the corresponding movable frame 12 from the placement track, or accurately send the corresponding movable frame 12 back to the corresponding placement track and lock it.

[0048] Furthermore, the locking device includes at least two locking modules 3, with each storage rail 13 corresponding to at least one locking module 3. Each locking module 3 includes a locking assembly and a telescopic mechanism. The locking assembly includes a locking frame 31, a locking shaft 32, and a locking swing arm 33. The locking frame 31 is fixed to the storage frame 11 or the storage rail 13. Preferably, the locking frame 31 has a frame connecting part 311, which is fixed to the storage rail 13 by bolts. The locking shaft 32 is rotatably mounted on the locking frame 31. One end of the locking swing arm 33 is a bushing 331 fitted and fixed to the locking shaft 32, and the other end is a locking limiting part 332 for restricting the movement of the moving frame 12 in the pull-out direction. The bushing 331 has a swing arm linkage part 333 for linkage of the locking swing arm 33 to rotate around the locking shaft 32. The moving frame 12 is equipped with a movable lock. The movable locking part 123 has a locking surface 123a; the placement guide rail 13 is provided with a limiting module 4; the push-pull cart 24 is provided with a linkage pressure part 242 for driving the telescopic mechanism to switch between an extended state and a retracted state when it picks up and puts down the movable frame 12; the lower end of the locking limiting part 332 is connected to the bushing 331, and the other end is inclined upward toward the limiting module 4; when the telescopic end of the telescopic mechanism is in the extended state, the telescopic end of the telescopic mechanism extends the support swing arm linkage part 333 to rotate the locking swing arm 33, so that the upper end of the locking limiting part 332 is raised to the height of the limiting pressure locking surface 123a, thus limiting the movement stroke of the movable frame 12; when the telescopic end of the telescopic mechanism is in the retracted state, the telescopic end of the telescopic mechanism retracts, and the locking swing arm 33 rotates to reset so that the upper end of the locking limiting part 332 is lower than the bottom of the locking surface 123a of the movable locking part 123, thereby unlocking the movable frame 12.

[0049] In the above structure, the moving frame 12 is limited by the limiting module 4 and the upper end of the locking limiting part 332, so that the left and right movement of the moving frame 12 is restricted between the limiting module 4 and the upper end of the locking limiting part 332, thereby locking the moving frame 12. It should be noted that the locking of the moving frame 12 at this time only restricts the current moving frame 12 to a small range of movement, rather than completely locking it. This design facilitates the smooth docking of the push-pull cart 24 with the moving frame 12 during subsequent loading and unloading operations, and the maximum movement range does not exceed 50mm, which can be changed by adjusting the limiting module 4. Furthermore, the limiting module 4 includes a buffer seat installed on the placement guide rail 13 and an elastic element provided on the buffer seat, the elastic element being an elastic rubber pad.

[0050] In this embodiment, the telescopic mechanism includes a lock housing 34, a locking pressure rod 35, a locking push rod 36, and a locking spring 37. The lock housing 34 is provided with a linkage locking groove 34a. The two ends of the lock housing 34 are respectively provided with a pressure rod protrusion hole and a push rod protrusion hole. The pressure rod protrusion hole and the push rod protrusion hole are axially connected to the linkage locking groove 34a. The inner wall of the linkage locking groove 34a is provided with a plurality of guide ribs 34b evenly distributed in the circumferential direction.

[0051] Furthermore, the locking pressure rod 35 and the locking push rod 36 are arranged axially and slidably disposed within the linkage locking groove 34a. The outer wall of the locking pressure rod 35 is provided with multiple guide grooves 350 that slide one-to-one with the guide ribs 34b to restrict the rotation of the locking pressure rod 35 and guide the locking pressure rod 35 to slide axially along the linkage locking groove 34a. One end of the locking pressure rod 35 is provided with a pressure rod telescopic module 35a extending from the pressure rod extension hole, and the other end is provided with multiple locking helical teeth 351 arranged sequentially along the circumference. There are three locking helical teeth 351, each of which guides... The groove 350 corresponds to a locking helical tooth 351 and extends through the outer side of the corresponding locking helical tooth 351; the locking helical tooth 351 includes a locking guide slope 3511 and a locking guide straight surface 3512. In the locking guide slope 3511 and the locking guide straight surface 3512 of the same locking helical tooth 351, the first end of the locking guide slope 3511 is connected to the first end of the locking guide straight surface 3512, and the tail end of the locking guide slope 3511 is connected to the tail end of the locking guide straight surface 3512 of other locking helical teeth 351.

[0052] In this embodiment, the locking push rod 36 is axially movable along the linkage locking groove 34a. One end of the locking push rod 36 is provided with a plurality of circumferentially evenly distributed retraction helical teeth 361 and a plurality of circumferentially evenly distributed extension helical teeth 362. There are three retraction helical teeth 361 and three extension helical teeth 362. The retraction helical tooth 361 includes a retraction guide inclined surface 3611 and a retraction guide straight surface 3612. In the retraction guide inclined surface 3611 and the retraction guide straight surface 3612 of the same retraction helical tooth 361, the first end of the retraction guide inclined surface 3611 is connected to the retraction guide straight surface 3612. The first end of 612 is connected, and the tail end of the retraction guide slope 3611 is connected to the tail end of the retraction guide straight surface 3612 of other retraction helical teeth 361; similarly, the protruding helical tooth 362 includes an protruding guide slope 3621 and an protruding guide straight surface 3622. In the protruding guide slope 3621 and the protruding guide straight surface 3622 of the same protruding helical tooth 362, the first end of the protruding guide slope 3621 is connected to the first end of the protruding guide straight surface 3622, and the tail end of the protruding guide slope 3621 is connected to the tail end of the protruding guide straight surface 3622 of other protruding helical teeth 362.

[0053] Furthermore, an extending helical tooth 362 is provided between two circumferentially adjacent retracting helical teeth 361. The extending guide surface 3622 of the extending helical tooth 362 and the retraction guide inclined surface 3611 of an adjacent retracting helical tooth 361 form an extending tooth groove 36a. The extending guide inclined surface 3621 of the extending helical tooth 362 and the retraction guide straight surface 3612 of another adjacent retracting helical tooth 361 form a retraction tooth groove 36b. An anti-rotation groove 36c is provided in the retraction tooth groove 36b. One end of the anti-rotation groove 36c is flush with the end of the retraction tooth groove 36b, and the other end extends away from the retraction tooth groove 36b. The anti-rotation groove 36c is used to allow the guide rib 34b to be inserted when the telescopic mechanism is in the unlocked state, thereby facilitating the retraction and unlocking of the locking push rod 36.

[0054] Furthermore, the other end of the locking push rod 36 is provided with a push rod extension part 363 that passes through the push rod extension hole; the locking spring 37 is fitted outside the push rod extension part 363 and located inside the linkage lock groove 34a, and the two ends of the locking spring 37 respectively press against the lock shell 34 and the locking push rod 36.

[0055] In this embodiment, when the locking spring 37 is deployed and the guide rib 34b is inserted into the protruding tooth groove 36a, the push rod telescopic part 363 extends out of the lock housing 34 and supports the swing arm linkage part 333. The upper end of the locking limiting part 332 is higher than the locking surface 123a. At least a portion of the retracting helical tooth 361 spatially overlaps with the locking helical tooth 351 in the axial direction of the locking pressure rod 35. Specifically, when the telescopic mechanism is in the locked state, the locking spring 37 is deployed, the push rod telescopic part 363 of the locking push rod 36 extends out of the lock housing 34, and the guide rib 34b is inserted into the protruding tooth groove 36a and presses against the protruding tooth groove. On the groove surface of 36a, the anti-rotation groove 36c is staggered from the guide rib 34b. The retraction guide slope 3611 of the retraction helical tooth 361 and the locking guide slope 3511 of the locking helical tooth 351 have a projected overlapping area in the axial direction of the locking pressure rod 35, so that the direction can be reversed by the sliding contact between the locking guide slope 3511 and the retraction guide slope 3611 when unlocking. The push rod extension part 363 extends out of the lock housing 34 from the push rod extension hole and supports the swing arm linkage part 333. Moreover, the upper end of the locking limit part 332 is higher than the bottom of the locking surface 123a of the movable lock part 123, so as to realize the automatic locking of the movable frame 12.

[0056] In this embodiment, the push-pull cart 24 is provided with a linkage pressing part 242. When the linkage pressing part 242 of the push-pull cart 24 presses the pressure rod telescopic module 35a, the locking helical tooth 351 pushes the locking push rod 36 to move axially and compresses the locking spring 37. After the locking push rod 36 rotates circumferentially, the guide rib 34b inserts into the anti-rotation groove 36c, the push rod telescopic part 363 retracts, and the locking limiting part 332 is lower than the locking surface 123a. Specifically: When the telescopic mechanism is switched to the unlocked state, the locking spring 37 unfolds, the locking push rod 36 retracts into the lock housing 34, and the retraction guide slope 3611 slides along the locking guide slope 3511 to change direction until the guide rib 34b corresponds to the anti-rotation groove 36c and is inserted into the anti-rotation groove 36c. At this time, the push rod telescopic part 363 retracts into the pressure rod extension hole, and the upper end of the locking limit part 332 is lower than the bottom of the locking surface 123a of the movable lock part 123, realizing the automatic unlocking of the movable frame 12; moreover, the extension guide slope 3621 of the extension helical tooth 362 and the locking guide slope 3511 of the locking helical tooth 351 have a projected overlapping area in the axial direction of the locking pressure rod 35, so that the direction can be changed through the sliding contact between the locking guide slope 3511 and the extension guide slope 3621 when unlocking.

[0057] In this embodiment, when the linkage pressing part 242 of the push-pull cart 24 presses the pressure rod telescopic module 35a, the locking helical tooth 351 pushes the locking push rod 36 axially away from the guide rib 34b, and the locking spring 37 is compressed until the guide rib 34b separates from the locking push rod 36. At this time, the protruding guide slope 3621 of the protruding helical tooth 362 or the retracting guide slope 3611 of the retracting helical tooth 361 abuts against the locking guide slope 3511 of the locking helical tooth 351, locking the mechanism. Spring 37 unfolds and pushes locking push rod 36 towards guide rib 34b. Under the action of the locking guide slope 3511 of locking helical tooth 351, circumferential rotation occurs, causing guide rib 34b to insert into protruding tooth groove 36a and press against the groove surface of protruding tooth groove 36a, or to insert guide rib 34b into anti-rotation groove 36c. This, in turn, pushes locking push rod 36 axially outward via locking pressure rod 35 or axially retracts under the action of locking spring 37, thus achieving the telescopic switching of locking push rod 36. Furthermore, since locking push rod 36 achieves locking and releasing actions through rotation, push rod telescopic part 363 can change sides to support swing arm linkage part 333, reducing the probability of push rod telescopic part 363 completely deforming to one side.

[0058] In this embodiment, the pressure rod telescopic module 35a includes a pressure rod telescopic part 353 axially connected to the locking pressure rod 35 and a linkage ball 38 disposed on the end of the pressure rod telescopic part 353. The linkage ball 38 is used to roll on the linkage pressure surface of the linkage pressure part 242 when it cooperates with the linkage pressure part 242, thereby reducing the frictional resistance between the two and avoiding excessive friction between the pressure rod telescopic module 35a of the telescopic mechanism when the push-pull cart 24 moves up and down relative to the telescopic mechanism. Furthermore, the pressure rod telescopic part 353 is provided with a ball groove for installing the linkage ball 38, and a limiting nut for restricting the linkage ball 38 in the ball groove is fitted and fixed on the pressure rod telescopic part 353. The limiting nut is provided with a ball protrusion opening for the linkage ball 38 to protrude partially.

[0059] In this embodiment, the push-pull module is provided at both the left and right ends of the push-pull cart 24, corresponding to the two storage bins 1 respectively. The push-pull module includes at least two push-pull handles 240 arranged from front to back on the push-pull cart 24. The movable frame 12 is provided with a push-pull mating part 124 adapted to the push-pull handle 240. Each push-pull handle 240 is mated with one push-pull mating part 124. The push-pull mating part 124 is provided with a push-pull buckle groove 1241 that matches the push-pull handle 240. The inlet and outlet of the push-pull buckle groove 1241 are located at the bottom of the push-pull mating part 124.

[0060] In this embodiment, the push-pull handle 240 includes an inner push-pull shaft 2401 and an outer push-pull shaft 2402. The push-pull cart 24 is provided with handle mounting positions corresponding to the push-pull handles 240. The inner push-pull shaft 2401 is fixedly installed in the handle mounting position. The outer push-pull shaft 2402 is rotatably fitted outside the inner push-pull shaft 2401 and located in the handle mounting position. When the push-pull handle 240 enters the push-pull latch groove 1241 of the push-pull mating part 124, the rotation of the outer push-pull shaft 2402 can reduce the frictional resistance between the push-pull handle 240 and the push-pull latch groove 1241.

[0061] In this embodiment, the side of the push-pull buckle groove 1241 away from the movable frame 12 is a pull surface 1242, and the side of the push-pull buckle groove 1241 near the movable frame 12 is a push surface 1243. Both the pull surface 1242 and the push surface 1243 are vertically arranged. The inlet and outlet of the push-pull buckle groove 1241 are provided with guide slopes 1244. The upper end of the guide slope 1244 is connected to the lower end of the push surface 1243, and the lower end extends obliquely towards the movable frame 12 and is connected to the bottom surface of the push-pull mating part 124. The guide slope 1244 is used to facilitate the push-pull outer shaft 2402 of the handle to extend into the push-pull buckle groove 1241. The linkage pressing part 242 is provided with a linkage pressing surface for cooperating with the pressure rod telescopic module 35a. The linkage pressing surface includes a main pushing surface 2421 and a lower pushing surface 2422 located at the lower end of the main pushing surface 2421. The upper end of the lower pushing surface 2422 is connected to the bottom end of the main pushing surface 2421, and the lower end extends downward and in an arc towards the push-pull vehicle 24.

[0062] like Figure 13 As shown, the process of the push-pull trolley 24 pulling one of the movable frames 12 out of the storage rack 11 is as follows:

[0063] Step 1: The lifting platform 21 first moves to the pre-push-pull height corresponding to the moving frame 12 and is detected by the second positioning sensor 200; then the push-pull trolley 24 is controlled to move towards the moving frame 12 by a preset frame engagement distance, so that the push-pull engagement part 124 of the moving frame 12 corresponds to the push-pull handle 240 on the push-pull trolley 24; during this process, the main push surface 2421 presses against the pressure rod telescopic module 35a, the pressure rod telescopic module 35a is compressed into the lock housing 34, so that the locking helical tooth 351 pushes the locking push rod 36 to move axially away from the guide rib 34b, the locking spring 37 is compressed until the guide rib 34b separates from the locking push rod 36, at which time the retracting helical tooth 361 abuts against the locking guide inclined surface 3511 of the locking helical tooth 351.

[0064] Step 2: Control the lifting platform 21 to rise to the final push-pull height and be detected by the first positioning sensor 100. The distance between the pre-push-pull height and the final push-pull height can be set within the range of 30-150mm. During this process, the push-pull outer shaft 2402 of the push-pull handle 240 first contacts the guide slope 1244. The guide slope 1244 is subjected to force and moves the moving frame 12 towards the limit module 4, thereby moving the locking surface 123a away from the upper end of the locking limit part 332 and preventing the locking surface 123a from interfering with the rotation and reset of the locking limit part 332. During the sliding process of the push-pull outer shaft 2402 on the guide slope 1244, the main push surface 2421 separates from the pressure rod telescopic module 35a. The pressure rod telescopic module 35a extends and resets under the action of the locking spring 37 and slides on the lower push surface 2422. As the lifting platform 21 continues to rise, the locking spring 37 unfolds and pushes the locking push rod 36 towards the guide rib 34b, causing the push rod telescopic part 3 of the locking push rod 36 to move towards the guide rib 34b. 63 retracts the lock housing 34, allowing the locking swing arm 33 to rotate in the unlocking direction under the gravity of the locking limit part 332 and the tension of the return spring 39. At the same time, the locking push rod 36 rotates circumferentially under the action of the locking guide slope 3511 of the locking helical tooth 351, causing the guide rib 34b to insert into the anti-rotation groove 36c. At this time, the push rod telescopic part 363 retracts, and the locking limit part 332 is lower than the locking surface 123a. Thus, the locking limit part 332 can no longer limit the moving frame 12, realizing the unlocking of the moving frame 12. When the lifting platform 21 is raised to the final push-pull height, the push-pull outer shaft 2402 of the push-pull handle 240 separates from the guide slope 1244 and fully enters the push-pull buckle groove 1241, realizing the transmission connection with the moving frame 12.

[0065] Step 3: Then the push-pull unit drives the push-pull trolley 24 to move. Through the cooperation of the push-pull handle 240 and the push-pull buckle 1241, the moving frame 12 is pulled from the storage frame 11 to the lifting platform 21, completing the transfer action of the moving frame 12.

[0066] like Figure 14 As shown, the process by which the push-pull trolley 24 pushes the movable frame 12 back to the storage rack 11 is as follows:

[0067] Step 1: Control the lifting platform 21 to rise to the final push-pull height and be detected by the first positioning sensor 100. Then, the push-pull trolley 24 drives the moving frame 12 to move to the corresponding placement track.

[0068] Step 2: Next, control the lifting platform 21 to descend to the pre-pull height and be detected by the second positioning sensor 200. During this process, the lower push surface 2422 first abuts against the pressure rod telescopic module 35a, and as the lifting platform 21 descends, it continuously squeezes the pressure rod telescopic module 35a, causing it to gradually retract. At the same time, the locking helical tooth 351 drives the locking push rod 36 to move axially against the elastic force of the locking spring 37. The guide rib 34b gradually separates from the locking push rod 36, and the push rod telescopic part 363 of the locking push rod 36 extends out of the lock housing 34 to push the locking swing arm 33 to rotate downward in the locking direction. When the lower push surface 2422 completely passes over the pressure rod telescopic module 35a and the main push surface 2421 presses against the pressure rod telescopic module 35a, the locking limit part 332 rises to the highest position.

[0069] Step 3: When the lifting platform 21 descends to the pre-pull height, the push-pull handle 240 disengages from the push-pull buckle groove 1241, separating the moving frame 12 from the push-pull trolley 24. Then, the push-pull trolley 24 is controlled to reset away from the pressure rod telescopic module 35a. Subsequently, the lifting platform 21 continues to descend to the unloading height or the reset height, completing one storage and retrieval cycle. During the process of the push-pull trolley 24 resetting away from the pressure rod telescopic module 35a, the locking spring 37 unfolds, driving the locking push rod 36 to retract into the lock housing 34 until the locking push rod 36 rotates circumferentially under the action of the locking guide slope 3511 of the locking helical tooth 351, causing the guide rib 34b to insert into the position of the protruding tooth groove 36a, thereby locking the moving frame 12.

[0070] In this embodiment, the lock housing 34 includes a linkage lock seat 341 and a first locking end cover 342 and a second locking end cover 343 respectively installed at both ends of the linkage lock seat 341 by bolt connection. The linkage lock groove 34a is provided in the linkage lock seat 341. The guide rib 34b can be integrally formed in the linkage lock groove 34a of the linkage lock seat 341 by wire cutting. Alternatively, a mounting hole is opened on the outer side of the linkage lock seat 341 to radially penetrate and connect to the linkage lock groove 34a. Then, the guide rib 34b is installed on the linkage lock seat 341 by bolt connection, and the inner end of the guide rib 34b protrudes into the linkage lock groove 34a, thereby achieving the same guiding purpose. The pressure rod protrusion hole and the push rod protrusion hole are respectively provided on the first end cover and the second end cover.

[0071] In this embodiment, at least one return spring 39 for providing elastic restoring force is connected between the locking swing arm 33 and the locking frame 31. One end of the return spring 39 is connected to the locking limit part 332, and the other end is connected to the locking frame 31. When the telescopic mechanism is locked, the push rod extension part 363 of the locking push rod 36 is always supported on the swing arm linkage part 333, keeping the return spring 39 in the extended state. When the telescopic mechanism is unlocked, the elastic restoring force of the return spring 39 drives the locking swing arm 33 to rotate, causing the locking limit part 332 to disengage from the movable lock part 123 at the bottom of the movable frame 12, thereby releasing the movable frame 12. At the same time, the swing arm linkage part 333 can also drive the locking push rod 36 to retract through the tension of the return spring 39, improving the retraction response speed of the locking push rod 36 and ensuring the reliability and timeliness of the locking state switching. In addition, a detection wheel 321 is fixedly mounted on the locking shaft 32, and a locking state detection switch 800 is provided on the locking frame 31 to detect whether the locking swing arm 33 is in the raised state in conjunction with the detection wheel 321. The locking state detection switch 800 is connected to the control device to ensure the quality of use of the locking device.

[0072] In this embodiment, the lifting platform 21 is equipped with an origin induction switch 400 and two push-pull detection modules, each corresponding to a storage bin 1, thereby improving the accuracy of picking up and placing the movable frame 12 on each storage bin 1. Further, the push-pull detection module includes a first-side induction switch 500 and a second-side induction switch 600. The origin induction switch 400, the first-side induction switch 500, and the second-side induction switch 600 are all connected to the control device. The push-pull trolley 24 is equipped with a push-pull sensing plate 700. During the process of the push-pull trolley 24 pushing the movable frame 12 to the placement track, when the movable frame 12 is in place, the push-pull sensing plate 700 triggers the first-side induction switch 500. After receiving the signal, the control device controls the push-pull trolley 24 to stop pushing the movable frame 12, and then controls... The control device controls the lifting platform 21 to descend to the pre-pull height; then it controls the push-pull trolley 24 to reset until the origin induction switch 400 is triggered by the push-pull induction plate 700, at which point the control device stops controlling the movement of the push-pull trolley 24, thus completing a complete work cycle; similarly, during the process of the push-pull trolley 24 pulling the moving frame 12 to the lifting platform 21, when the second-side induction switch 600 is triggered by the push-pull induction plate 700, the control device issues a command to stop the push-pull trolley 24 from pulling, indicating that the moving frame 12 has been pulled onto the lifting platform 21.

[0073] The above description is only a preferred embodiment of the present invention. Any technical solution that achieves the purpose of the present invention by essentially the same means is within the protection scope of the present invention.

Claims

1. A material conveying device, comprising a storage bin (1) and a transfer device (2), wherein the storage bin (1) comprises a storage frame (11) and a plurality of placement tracks arranged at intervals from top to bottom on the storage frame (11), and a movable frame (12) is placed on each placement track; the transfer device (2) comprises a lifting track, a lifting platform (21) movably mounted on the lifting track, a lifting drive unit (22) for connecting and driving the lifting platform (21) to lift, and a conveying track mounted on the lifting platform (21), characterized in that: The lifting platform (21) is equipped with a push-pull rail and a push-pull rack (23). A push-pull trolley (24) for moving the moving frame (12) is slidably installed on the push-pull rail. The push-pull trolley (24) is equipped with a push-pull motor module (25) and a push-pull module that can be connected and separated from the moving frame (12). The rotation output end of the push-pull motor module (25) is connected to a push-pull transmission shaft (251). The push-pull transmission shaft (251) is equipped with a push-pull gear (252) that meshes with the push-pull rack (23). The material conveying device also includes multiple locking devices that correspond one-to-one with the placement track. Each locking device corresponds to a movable frame (12) on the placement track. The locking device is configured to lock and release the corresponding movable frame (12) under the linkage of the material transfer device (2). The locking device includes a locking module (3), which includes a locking component and a telescopic mechanism. The locking component includes a locking frame (31), a locking shaft (32), and a locking swing arm (33). The locking frame (31) is fixed to the storage rack (11) or the storage guide rail (13). The locking shaft (32) is rotatably mounted on the locking frame (31). One end of the locking swing arm (33) is a bushing (331) fitted and fixed on the locking shaft (32), and the other end is a locking limit. The bushing (331) is provided with a swing arm linkage part (333) for linkage locking the swing arm (33) to rotate around the locking shaft (32); the movable frame (12) is provided with a movable lock part (123) with a locking surface (123a); the placement guide rail (13) is provided with a limit module (4); the push-pull cart (24) is provided with a linkage pressure part (242) for driving the telescopic mechanism extension end to switch between the extended state and the retracted state when it picks up and puts down the movable frame (12). When the telescopic end of the telescopic mechanism remains extended, the telescopic end of the telescopic mechanism extends to support the swing arm linkage part (333) to rotate the locking swing arm (33), causing the upper end of the locking limit part (332) to rise to the height of the limiting abutment locking surface (123a), thus limiting the travel of the moving frame (12). When the telescopic end of the telescopic mechanism remains in the retracted state, the telescopic end of the telescopic mechanism retracts, and the locking arm (33) rotates and resets so that the upper end of the locking limit part (332) is lower than the bottom of the locking surface (123a) of the movable lock part (123), thereby unlocking the movable frame (12). The telescopic mechanism includes a lock housing (34), a locking pressure rod (35), a locking push rod (36), and a locking spring (37). The lock housing (34) is provided with a linkage lock groove (34a). The two ends of the lock housing (34) are respectively provided with a pressure rod extension hole and a push rod extension hole. The pressure rod extension hole and the push rod extension hole are axially connected to the linkage lock groove (34a). The inner wall of the linkage lock groove (34a) is provided with a plurality of guide ribs (34b) evenly distributed along the circumference. The locking rod (35) and the locking push rod (36) are arranged axially and slidably disposed in the linkage locking groove (34a). The outer wall of the locking rod (35) is provided with a plurality of guide grooves (350) that slide one-to-one with the guide ribs (34b) to restrict the rotation of the locking rod (35) and guide the locking rod (35) to slide axially along the linkage locking groove (34a). One end of the locking rod (35) is provided with a rod extension module (35a) extending from the rod extension hole, and the other end is provided with a plurality of locking helical teeth (351) arranged sequentially along the circumference. The locking push rod (36) can move axially along the linkage lock groove (34a). One end of the locking push rod (36) is provided with a plurality of retracting helical teeth (361) evenly distributed in the circumferential direction and a plurality of extending helical teeth (362) evenly distributed in the circumferential direction. An extending helical tooth (362) is provided between two circumferentially adjacent retracting helical teeth (361). The extending guide surface (3622) of the extending helical tooth (362) and the retracting guide inclined surface (3611) of an adjacent retracting helical tooth (361) form an extending tooth groove (36a). The extending guide inclined surface (3621) of the extending helical tooth (362) and the retracting guide straight surface (3612) of another adjacent retracting helical tooth (361) form a retracting tooth groove (36b). An anti-rotation groove (36c) is provided in the retracting tooth groove (36b). The other end of the locking push rod (36) is provided with a push rod extension part (363) that passes through the push rod extension hole; the locking spring (37) is fitted outside the push rod extension part (363) and located inside the linkage lock groove (34a), and the two ends of the locking spring (37) respectively press against the lock shell (34) and the locking push rod (36); When the linkage pressing part (242) of the push-pull cart (24) presses the pressure rod telescopic module (35a), the locking helical tooth (351) pushes the locking push rod (36) to move axially and compress the locking spring (37). After the locking push rod (36) rotates circumferentially, the guide rib (34b) inserts into the anti-rotation groove (36c), the push rod telescopic part (363) retracts, and the locking limiting part (332) is lower than the locking surface (123a).

2. The material conveying device according to claim 1, characterized in that: The push-pull motor module (25) has two rotating output shafts. Both rotating output shafts of the push-pull motor module (25) are connected to the push-pull transmission shaft (251). The push-pull transmission shaft (251) is supported and mounted on the push-pull carriage (24) by a push-pull bearing seat (253). Push-pull gears (252) are installed on both push-pull transmission shafts (251), and each push-pull gear (252) meshes with a push-pull rack (23).

3. A material conveying device according to claim 2, characterized in that: The push-pull motor module (25) is equipped with a push-pull encoder.

4. A material conveying device according to claim 2, characterized in that: Each of the lifting drive units (22) includes a lifting motor module (221) mounted on a lifting drive base (261) and a chain drive mechanism that is connected to the lifting motor module (221) for transmission. The lifting chain (224) of the chain drive mechanism is connected to the lifting platform (21).

5. A material conveying device according to claim 1, characterized in that: The front and rear ends of the mobile frame (12) are provided with mobile guide wheel sets for cooperating with the placement track and the conveying track; the placement track includes a placement guide rail (13) installed on the storage frame (11), and the conveying track includes a conveying guide rail (29) provided on the lifting platform (21). When the lifting platform (21) is raised to the docking position with the placement guide rail (13), each placement guide rail (13) docks with a conveying guide rail (29) in the horizontal direction.

6. A material conveying device according to claim 1, characterized in that: The mobile frame (12) is provided with a storage space for accommodating and placing materials.

7. A material conveying device according to claim 1, characterized in that: The push-pull module includes a push-pull handle (240) on the push-pull cart (24), and a push-pull mating part (124) adapted to the push-pull handle (240) is provided on the moving frame (12). The push-pull mating part (124) is provided with a push-pull buckle groove (1241) that matches the push-pull handle (240). The inlet and outlet of the push-pull buckle groove (1241) are located at the bottom of the push-pull mating part (124).

8. A material conveying device according to claim 7, characterized in that: The side of the push-pull buckle groove (1241) near the movable frame (12) is a push surface (1243). The inlet and outlet of the push-pull buckle groove (1241) are provided with guide slopes (1244). The upper end of the guide slope (1244) is connected to the lower end of the push surface (1243), and the lower end extends obliquely towards the movable frame (12) and is connected to the bottom surface of the push-pull mating part (124).

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