Front and back double drive anti-interference lifting goods cabinet

Abstract

The present application relates to the technical field of automated stereoscopic warehouse, and discloses a front-rear double-drive anti-interference lifting goods cabinet, which comprises a front goods shelf, a rear goods shelf and a lifting mechanism located between the two, an adjusting table is slidably arranged on the lifting table, upper and lower fork frames capable of respectively bearing pallets are slidably arranged on the adjusting table in layers, a driving mechanism is in transmission connection with the two fork frames, a selective locking mechanism is used for locking one of the fork frames, the locked fork frame serves as a transmission counter-force component, the adjusting table is moved relative to the lifting table, and the other fork frame is driven to move relative to the adjusting table in the same direction, so as to superimpose a bidirectional pallet taking and delivering stroke, the locking state is switched by locking first and then releasing, and the lifting or walking is allowed after the adjusting table and the movable fork frame are reset and all locking rods are locked in place. The present application can improve the taking and delivering stroke and the stability of heavy load, and reduce the risk of motion interference.

Description

Technical Field

[0001] This invention relates to the field of automated storage and retrieval systems (AS / RS), and more particularly to a front and rear dual-drive anti-interference lifting container. Background Technology

[0002] A lifting container is an automated warehousing device that uses a lifting mechanism to transfer pallets or materials between storage locations at different heights and inbound / outbound workstations. To improve the utilization rate of the container's internal space, some lifting containers have shelves on the front and rear sides of the lifting channel, and a pallet picking and delivering mechanism that can extend and retract in the front-to-back direction is installed on the lifting platform. After the lifting platform moves to the target storage location, the pallet picking and delivering mechanism extends to the corresponding side shelf and enters under the pallet. Through a small lifting and lowering of the lifting platform, the pallet is lifted off the storage location or placed back into the storage location. Then, the pallet picking and delivering mechanism retracts, thereby completing the retrieval or storage of the pallet.

[0003] Since the same pallet picking and delivery mechanism needs to extend into the front and rear racks respectively, the pallet picking and delivery mechanism not only needs to have bidirectional telescopic capability, but also needs to have a large effective picking and delivery stroke. Existing structures usually expand the picking and delivery range by lengthening the fork or using multi-stage telescopic fork. However, as the length of the fork and the number of telescopic stages increase, the space occupied in the front and rear directions in the retracted state increases accordingly, which can easily lead to an increase in the size of the lifting platform and the aisle width between the front and rear racks, thereby increasing the overall footprint of the lifting container.

[0004] Meanwhile, when the fork extends into the storage position and carries a heavy pallet, the extended part of the fork forms a large cantilever. As the extension length of the fork increases, the effective overlap length between the fork and the supporting structure decreases, which can easily lead to problems such as deflection, vibration, skewness, or jamming. Especially when storing or retrieving sheet metal, bar stock, molds, and other large or heavy-duty materials, higher requirements are placed on the structural strength of the fork, the guiding accuracy, and the anti-eccentric load capacity of the lifting platform. After the pallet is removed, it is also necessary to bring the center of gravity of the pallet back to the middle area of ​​the lifting platform as much as possible to reduce the eccentric load generated during lifting and movement.

[0005] To reduce the extension and retraction stroke required by the fork itself, some pallet picking and delivery mechanisms can add a movable intermediate support structure between the lifting platform and the fork, so that the intermediate support structure and the fork can work together to pick up and deliver pallets. However, when the intermediate support structure and the fork are equipped with separate drive devices or perform movement actions sequentially, it will increase the complexity of the drive components, transmission structure and control program, and may prolong the movement cycle of the fork extension and retraction. For pallet picking and delivery mechanisms with upper and lower fork, it is also necessary to control the movement state of the two fork separately and avoid the two fork from moving unexpectedly at the same time and from lifting or moving before the fork is fully retracted, otherwise it may cause movement interference between the fork, pallet and rack.

[0006] Therefore, how to meet the bidirectional picking and delivery requirements of the front and rear racks while ensuring that the intermediate load-bearing structure and the movable fork form a compact and reliable linkage movement, in order to reduce independent drive components, shorten the extension length of the fork itself, improve the stability of heavy-load support, and avoid interference between different forks and lifting actions, has become a technical problem that needs to be further solved in this field. Summary of the Invention

[0007] The purpose of this invention is to provide a front and rear dual-drive anti-interference lifting cabinet to solve the problems of existing bidirectional pallet picking and delivering mechanisms that require a large fork extension stroke to accommodate pallet picking and delivering on both the front and rear shelves. This results in an increase in the retraction size of the picking and delivering mechanism and the width of the aisle, a decrease in support stability when extended under heavy load, and difficulty in reliably coordinating the adjustment platform, upper and lower forks and lifting actions, which can easily lead to motion interference.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: a front and rear dual-drive anti-interference lifting cabinet, comprising a front shelf and a rear shelf, wherein an aisle is formed between the front shelf and the rear shelf, and a lifting mechanism is provided in the aisle, the lifting mechanism comprising a vertical frame capable of moving along the aisle and a lifting platform capable of lifting relative to the vertical frame, characterized in that a pallet picking and delivering device is provided on the lifting platform, the pallet picking and delivering device comprising: An adjustment platform is slidably mounted on the lifting platform along the arrangement direction of the front and rear shelves; The upper and lower forks are located at different heights and are slidably mounted on the adjustment platform along the arrangement direction. The upper and lower forks are each capable of supporting a pallet. Both the upper drive gear and the lower drive gear are rotatably mounted on the adjustment platform; The upper rack is mounted on the upper fork and meshes with the upper drive gear; The lower rack is mounted on the lower fork and meshes with the lower drive gear; A drive mechanism, mounted on the adjustment platform, includes a drive source and is connected to the upper drive gear and the lower drive gear respectively, for driving the upper drive gear and the lower drive gear to rotate in opposite directions; A selective locking mechanism is provided on the lifting platform and has a first working state of locking the upper fork relative to the lifting platform and releasing the lower fork, and a second working state of locking the lower fork relative to the lifting platform and releasing the upper fork. In the first working state, the upper rack remains fixed relative to the lifting platform, and the meshing action between the upper drive gear and the upper rack drives the adjusting platform to move relative to the lifting platform along the target direction. The lower drive gear simultaneously drives the lower rack and the lower fork to move relative to the adjusting platform along the target direction. In the second working state, the lower rack remains fixed relative to the lifting platform, and the meshing action between the lower drive gear and the lower rack drives the adjusting platform to move relative to the lifting platform along the target direction. The upper drive gear simultaneously drives the upper rack and the upper fork to move relative to the adjusting platform along the target direction. The target direction is the direction toward the front shelf or the rear shelf.

[0009] Preferably, the selective locking mechanism further has a transport state in which both the upper fork and the lower fork are locked relative to the lifting platform; when switching between the first working state and the second working state, the selective locking mechanism keeps at least one of the upper fork and the lower fork in the locked state.

[0010] Preferably, the selective locking mechanism includes four upper electromagnetic telescopic locking rods corresponding to the upper fork and four lower electromagnetic telescopic locking rods corresponding to the lower fork, and the upper fork and the lower fork are respectively provided with locking holes for the corresponding electromagnetic telescopic locking rods to be inserted; The four upper electromagnetic telescopic locking rods are divided into two groups of upper locking rods spaced apart along the arrangement direction, each group of upper locking rods including two upper electromagnetic telescopic locking rods; the four lower electromagnetic telescopic locking rods are divided into two groups of lower locking rods spaced apart along the arrangement direction, each group of lower locking rods including two lower electromagnetic telescopic locking rods. In the first working state, a set of upper locking rods located on the side of the upper fork away from the target direction is inserted into the corresponding locking hole, and another set of upper locking rods and the lower electromagnetic telescopic locking rod are removed from the corresponding locking hole. In the second working state, a set of lower locking rods located on the side of the lower fork away from the target direction is inserted into the corresponding locking hole, and another set of lower locking rods and the upper electromagnetic telescopic locking rod are removed from the corresponding locking hole. In the transport state, all four upper electromagnetic telescopic locking rods and all four lower electromagnetic telescopic locking rods are inserted into the corresponding locking holes.

[0011] Preferably, it also includes a controller and a locking detection element for detecting the locking status of each electromagnetic telescopic locking rod; The controller is configured to, when switching between the first working state and the second working state or changing the target direction, first control the locking rod group located on the side of the fork to be locked away from the target direction to insert into the corresponding locking hole, and after the locking detection element confirms that the locking rod group is locked in place, control the locking rod group currently in the locked state to exit the corresponding locking hole.

[0012] Preferably, the controller allows the lifting platform to rise and / or the upright to move along the tunnel only when the locking detection element confirms that all four upper electromagnetic telescopic locking rods and four lower electromagnetic telescopic locking rods are inserted into the corresponding locking holes, thus placing the selective locking mechanism in the transport state.

[0013] Preferably, the drive mechanism includes a servo motor mounted on the adjustment platform, a first transmission branch connecting the servo motor and the upper drive gear, and a second transmission branch connecting the servo motor and the lower drive gear; the first transmission branch is used to make the upper drive gear rotate in the same direction as the output shaft of the servo motor, and the second transmission branch is used to make the lower drive gear rotate in the opposite direction to the output shaft of the servo motor.

[0014] Preferably, a drive synchronizing pulley and a drive gear are fixedly mounted on the output shaft of the servo motor; The first transmission branch includes a driven synchronous pulley fixedly coaxially with the upper drive gear, and a synchronous belt connecting the driving synchronous pulley and the driven synchronous pulley, so that the driven synchronous pulley, the upper drive gear and the output shaft of the servo motor rotate in the same direction; The drive gear meshes externally with the lower drive gear, causing the lower drive gear to rotate in the opposite direction to the output shaft of the servo motor.

[0015] Preferably, the adjusting platform is provided with guide portions that slide with the upper fork and the lower fork, and the travel of the adjusting platform relative to the lifting platform and the travel of the unlocked fork relative to the adjusting platform together constitute the pallet picking and delivering travel; when the unlocked fork is in the maximum extended position, the unlocked fork still maintains the support overlap with the corresponding guide portion along the arrangement direction.

[0016] Preferably, in the first or second working state, the locked fork can serve as the transmission reaction member of the drive mechanism while carrying the first pallet, and the unlocked fork is used to carry and pick up the second pallet.

[0017] The present invention has the following beneficial effects: 1. This invention changes the transmission constraint state of the drive mechanism by selectively locking the upper or lower fork: the drive unit connected to the locked fork drives the adjustment platform to move relative to the lifting platform by means of the transmission reaction force formed by the fork, and the other drive unit simultaneously drives the unlocked fork to move relative to the adjustment platform in the same direction, thereby converting the drive output that originally acted on the two forks separately into a composite motion of the adjustment platform and the movable fork. By switching the output direction of the locked fork and the drive mechanism, the same set of drive mechanisms can realize bidirectional pallet picking and delivery to the front or rear shelf.

[0018] 2. This invention allows the travel of the adjusting platform relative to the lifting platform and the travel of the movable fork relative to the adjusting platform to be superimposed during the same driving process to form the pallet picking and delivering travel. When the driving mechanism runs in the reverse direction, the adjusting platform and the movable fork simultaneously retract to the middle of the lifting platform. Therefore, while obtaining the same bidirectional picking and delivering distance, it can reduce the extension length and retraction size required by the fork itself, reduce the size of the lifting platform and aisle along the pallet picking and delivering direction, and ensure that the fork still maintains a large support overlap with the adjusting platform at the maximum extension position. This reduces the risk of fork overhang, deflection, skewness and jamming, and improves the stability of heavy-duty pallet picking and delivering and returning to the center.

[0019] 3. Both the upper and lower forks of this invention can independently carry the pallet and can alternately function as moving pick-up and delivery components and transmission reaction components depending on the locking state. The servo motor drives the upper drive gear through a synchronous belt drive branch and drives the lower drive gear through the external meshing of the drive gear and the lower drive gear, so that the upper drive gear and the lower drive gear form a rotation output in opposite directions. By switching the locked fork, the adjustment platform and the other fork can form a compound movement in the same direction, without the need to configure separate drivers for the adjustment platform, upper fork, and lower fork, thereby improving the functional reuse of the drive mechanism and fork and simplifying the drive structure of the pallet pick-up and delivery device.

[0020] 4. During the switching of the working states of the upper and lower forks, this invention first locks the fork to be locked and confirms that the locking is in place before releasing the locking of the other fork. This ensures that there is always a reliable transmission reaction force reference during the compound telescopic process, preventing both forks from being in a free state at the same time. At the same time, the lifting platform is allowed to rise or the upright frame is allowed to move along the aisle only when all the upper and lower electromagnetic telescopic locking rods are locked in place and the selective locking mechanism is in the transport state. Since the locking rods cannot be fully inserted into the corresponding locking holes when the adjusting platform or movable fork is not reset, it can prevent the forks from rising or falling or moving in the extended state, reducing the risk of motion interference between the forks, pallets and front and rear racks. Attached Figure Description

[0021] Figure 1This is a schematic diagram of the overall three-dimensional structure of a front and rear dual-drive anti-interference lifting cargo cabinet according to the present invention; Figure 2 This is a top view of the front and rear dual-drive anti-interference lifting cargo cabinet of the present invention; Figure 3 This is a three-dimensional structural diagram of the lifting mechanism of the present invention; Figure 4 This is a three-dimensional structural diagram of the pallet picking and delivering device of the present invention installed on a lifting platform; Figure 5 This is a schematic diagram of the lifting platform and selective locking mechanism of the present invention; Figure 6 This is a schematic diagram of the assembly structure of the adjustment platform, upper fork, and lower fork of the present invention; Figure 7 This is a schematic diagram of the structure and movement direction of the upper and lower forks sliding relative to the adjustment platform in this invention; Figure 8 This is a schematic diagram of the transmission structure between the drive mechanism of the present invention and the upper and lower forks; Figure 9 A schematic diagram showing the working state of the lower forklift locked and the upper forklift extending to one side of the roadway; Figure 10 A schematic diagram showing the working state of the lower forklift locked and the upper forklift extending to the other side of the roadway; Figure 11 This is a front view schematic diagram of the structure when the upper and lower forks of the present invention are respectively carrying a pallet.

[0022] In the diagram: 101, front rack; 102, rear rack; 103, lifting mechanism; 104, upright frame; 105, lifting platform; 200, adjusting platform; 201, guide section; 301, upper fork carriage; 302, lower fork carriage; 400, selective locking mechanism; 401, locking hole; 501, servo motor; 502, upper drive gear; 503, lower drive gear; 504, upper rack; 505, lower rack; 506, driving synchronous pulley; 507, driving gear; 508, driven synchronous pulley; 509, synchronous belt; A, second pallet; B, first pallet; L1, travel distance of the adjusting platform relative to the lifting platform; L2, travel distance of the unlocked fork carriage relative to the adjusting platform. Detailed Implementation

[0023] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0024] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0025] In this embodiment, the arrangement direction of the front shelf 101 and the rear shelf 102 is defined as the front-back direction. The side facing the front shelf 101 is called the front side, and the side facing the rear shelf 102 is called the rear side. The "target direction" referred to herein is the direction of movement of the pallet picking and delivering device when performing pallet picking and delivering actions towards the front shelf 101 or the rear shelf 102.

[0026] Example 1: Basic Structure of Lifting Container and Pallet Picking and Delivery Device Reference Figures 1 to 11 This embodiment provides a front and rear dual-drive anti-interference lifting cabinet, including a front shelf 101, a rear shelf 102 and a lifting mechanism 103. The front shelf 101 and the rear shelf 102 are arranged opposite to each other, forming an aisle between them. The front shelf 101 and the rear shelf 102 are respectively provided with multiple storage positions arranged along the vertical direction and the aisle length direction. Each storage position is used to support pallets and place plates, rods, molds or other materials on the pallets.

[0027] The lifting mechanism 103 is installed in the aisle and includes a frame 104 and a lifting platform 105. The frame 104 can move along the length of the aisle so that the lifting platform 105 corresponds to storage locations in different columns. The lifting platform 105 can be raised and lowered vertically relative to the frame 104 so that the lifting platform 105 corresponds to storage locations at different heights.

[0028] In one embodiment, the bottom of the upright frame 104 is provided with traveling wheels, and a track that cooperates with the traveling wheels is provided in the aisle. The upright frame 104 moves along the track by a traveling drive device. The lifting platform 105 can be connected to the lifting drive device by a chain, synchronous belt, wire rope or gear and rack mechanism. The specific traveling structure of the upright frame 104 and the specific lifting structure of the lifting platform 105 can be selected according to the load-bearing capacity and installation conditions of the container.

[0029] like Figure 4 , Figure 5 , Figure 6 As shown, a pallet picking and delivering device is provided on the lifting platform 105. The pallet picking and delivering device includes an adjusting platform 200, an upper fork 301, a lower fork 302, a drive mechanism, and a selective locking mechanism 400.

[0030] The adjustment platform 200 is slidably mounted on the lifting platform 105 in the front-to-back direction. A linear guide rail, roller guide rail, slide rail slider assembly or other linear guide structure can be provided between the lifting platform 105 and the adjustment platform 200 to enable the adjustment platform 200 to move forward or backward relative to the lifting platform 105.

[0031] The adjustment platform 200 has a preset center position located in the middle of the lifting platform 105. When the adjustment platform 200 is in the preset center position, the adjustment platform 200 is basically centered on the lifting platform 105 in the front-back direction, so that the lifting platform 105 maintains a relatively balanced load distribution when it is lifted or moves with the upright 104.

[0032] The upper fork carriage 301 and the lower fork carriage 302 are located at different heights. The upper fork carriage 301 is located above the lower fork carriage 302. Both the upper fork carriage 301 and the lower fork carriage 302 are slidably mounted on the adjusting platform 200 in the front-to-back direction and can each carry a pallet.

[0033] In this embodiment, both the upper fork carriage 301 and the lower fork carriage 302 include two parallel fork arms with a spacing between them adapted to the pallet. The fork arms can extend into the fork-taking space at the bottom of the pallet. The pallet can be transferred between the fork carriage and the support structure of the storage location by a small lifting motion of the lifting platform 105.

[0034] like Figure 7 As shown, the adjustment platform 200 is provided with guide parts 201 that slide with the upper fork 301 and the lower fork 302 respectively. The guide parts 201 can be guide rails, guide grooves, roller groups, sliders or combinations of the above structures. The guide parts 201 are used to limit the movement direction of the corresponding fork and provide support for the fork and the pallet it carries.

[0035] The upper fork carriage 301 and the lower fork carriage 302 each have a retracted position. When in the retracted position, the upper fork carriage 301 and the lower fork carriage 302 are basically within the range of the lifting platform 105 in the front-to-back direction, so as to avoid the fork carriages extending outside the lifting platform 105 and interfering with the front rack 101, the rear rack 102, the pallet or other components.

[0036] The travel of the adjusting platform 200 relative to the lifting platform 105 constitutes the first travel segment L1, and the travel of the unlocked fork relative to the adjusting platform 200 constitutes the second travel segment L2. The first travel segment L1 and the second travel segment L2 together constitute the effective pallet picking and delivering stroke of the pallet picking and delivering device.

[0037] When the fork is not locked and moved to its maximum extension position, a portion of the fork remains within the corresponding guide portion 201 and maintains a support overlap with the guide portion 201 in the front-to-back direction. By maintaining the support overlap, the cantilever length of the extended portion of the fork can be reduced, thereby reducing the possibility of the fork flexing, tilting, vibrating, or jamming when carrying heavy loads.

[0038] Example 2: Single-drive dual-branch transmission and composite telescopic mechanism Reference Figures 6 to 10 Based on Example 1, this example describes the combined extension and retraction process of the drive mechanism and the pallet picking and delivering device.

[0039] The drive mechanism is mounted on the adjustment platform 200 and moves together with the adjustment platform 200. The drive mechanism includes a drive source, a first transmission branch, a second transmission branch, an upper drive gear 502, and a lower drive gear 503.

[0040] In this embodiment, the drive source is a servo motor 501, which is fixedly mounted on the adjustment platform 200 and can rotate forward or backward under the control of the controller. like Figure 8 As shown, a drive synchronizing wheel 506 and a drive gear 507 are fixedly mounted on the output shaft of the servo motor 501. The drive synchronizing wheel 506 and the drive gear 507 can rotate synchronously with the output shaft of the servo motor 501.

[0041] The first transmission branch includes a driving synchronous pulley 506, a driven synchronous pulley 508, and a synchronous belt 509. The driven synchronous pulley 508 is coaxially fixed with the upper drive gear 502. The synchronous belt 509 is wound around the driving synchronous pulley 506 and the driven synchronous pulley 508 in a non-crossing manner. When the servo motor 501 is running, the driving synchronous pulley 506 drives the driven synchronous pulley 508 to rotate through the synchronous belt 509. Since the synchronous belt 509 is arranged in a non-crossing manner, the driven synchronous pulley 508 and the upper drive gear 502 rotate in the same direction as the output shaft of the servo motor 501.

[0042] The second transmission branch includes a drive gear 507, which is an external gear and meshes with the lower drive gear 503. When the drive gear 507 rotates with the output shaft of the servo motor 501, it drives the lower drive gear 503 to rotate in the opposite direction through external meshing.

[0043] Therefore, the upper drive gear 502 rotates in the same direction as the output shaft of the servo motor 501, while the lower drive gear 503 rotates in the opposite direction to the output shaft of the servo motor 501, forming a rotational output in opposite directions.

[0044] The upper drive gear 502 is rotatably mounted on the adjustment platform 200, and the upper fork 301 is provided with an upper rack 504 extending in the front-back direction. The upper drive gear 502 meshes with the upper rack 504.

[0045] The lower drive gear 503 is rotatably mounted on the adjustment platform 200, and the lower fork 302 is provided with a lower rack 505 extending in the front-back direction. The lower drive gear 503 meshes with the lower rack 505.

[0046] The rotation directions of the upper drive gear 502 and the lower drive gear 503, as well as their meshing positions with the corresponding racks, are coordinated so that when one fork is locked relative to the lifting platform 105, the movement direction of the adjusting platform 200 relative to the lifting platform 105 is the same as the movement direction of the other unlocked fork relative to the adjusting platform 200.

[0047] like Figure 9 and Figure 10 As shown, when the selective locking mechanism 400 locks the lower fork 302 relative to the lifting platform 105 and releases the upper fork 301, the lower fork 302 and the lower rack 505 disposed on the lower fork 302 remain fixed relative to the lifting platform 105.

[0048] When the servo motor 501 is running, the drive gear 507 drives the lower drive gear 503 to rotate. Since the lower rack 505 remains fixed relative to the lifting platform 105, the meshing action between the lower drive gear 503 and the lower rack 505 cannot drive the lower fork 302 to move relative to the lifting platform 105. Instead, it generates a driving force on the adjustment platform 200 on which the lower drive gear 503 is installed, causing the adjustment platform 200 to move relative to the lifting platform 105 in the target direction.

[0049] At the same time, the active synchronous pulley 506 drives the upper drive gear 502 to rotate through the synchronous belt 509 and the driven synchronous pulley 508. The upper drive gear 502 drives the upper rack 504 and the upper fork 301 to move relative to the adjustment table 200 in the same target direction.

[0050] Therefore, during the same driving process, the adjustment platform 200 generates a first travel L1 relative to the lifting platform 105, and the upper fork 301 generates a second travel L2 relative to the adjustment platform 200. The actual picking and delivering travel of the upper fork 301 relative to the lifting platform 105 is the superposition of the first travel L1 and the second travel L2.

[0051] Figure 9 and Figure 10 The working states shown are all characterized by the lower fork 302 being locked and the upper fork 301 being released. The difference between the two lies in the different rotation directions of the servo motor 501. Figure 9In the indicated state, the regulating platform 200 and the upper forklift 301 move together toward one side of the aisle; Figure 10 In the indicated state, the adjusting table 200 and the upper forklift 301 move together toward the other side of the aisle, thereby enabling the upper forklift 301 to pick up and deliver pallets to the front shelf 101 or the rear shelf 102 respectively.

[0052] When the servo motor 501 runs in reverse, the upper drive gear 502 and the lower drive gear 503 rotate in opposite directions simultaneously. The lower drive gear 503 engages with the fixed lower rack 505 in the opposite direction, causing the adjustment table 200 to move toward the preset center position. At the same time, the upper drive gear 502 drives the upper rack 504 and the upper fork 301 to move in the opposite direction relative to the adjustment table 200. Therefore, the adjustment table 200 and the upper fork 301 retract in conjunction during the same driving process, rather than retracting the upper fork 301 separately first and then returning the adjustment table 200 to the preset center position separately.

[0053] When pallet picking and dropping operations need to be performed by the lower fork 302, the selective locking mechanism 400 locks the upper fork 301 relative to the lifting platform 105 and releases the lower fork 302. At this time, the upper fork 301 and the upper rack 504 remain fixed relative to the lifting platform 105.

[0054] The meshing action between the upper drive gear 502 and the fixed upper rack 504 drives the adjustment platform 200 to move relative to the lifting platform 105 in the target direction. The lower drive gear 503 drives the lower rack 505 and the lower fork 302 to move relative to the adjustment platform 200 in the same target direction, thereby forming a compound extension and retraction of the adjustment platform 200 and the lower fork 302 in the same direction.

[0055] In the two working states described above, the upper fork 301 and the lower fork 302 can alternately serve as transmission reaction components and movable picking and delivering components. By switching the locked fork, there is no need to set up an independent drive device for the adjustment table 200, so that the upper fork 301 or the lower fork 302 can selectively complete the pallet picking and delivering operation.

[0056] The transmission ratio of the first transmission branch and the second transmission branch can be determined based on the pallet picking and feeding distance, the allowable stroke of the adjusting table 200, the fork length and the rated load. The first segment of the travel L1 and the second segment of the travel L2 can be the same or set according to a preset ratio.

[0057] like Figures 9 to 11As shown, the lower fork 302 can be selectively locked while carrying the first pallet B and serves as a transmission reaction member of the drive mechanism; the upper fork 301 is used to carry or pick up the second pallet A. Correspondingly, the upper fork 301 can also serve as a transmission reaction member while carrying a pallet, and the lower fork 302 performs the picking and picking operation of another pallet. Thus, the locked fork is not just a fixed member when unloaded, but can participate in the drive transmission while carrying a pallet, so that the pallet picking and picking device can pick up and pick up another pallet while temporarily storing one pallet.

[0058] Example 3: Selective locking mechanism and anti-interference control Reference Figures 3 to 5 , Figure 9 and Figure 10 The selective locking mechanism 400 is provided on the lifting platform 105, including four upper electromagnetic telescopic locking rods corresponding to the upper fork 301 and four lower electromagnetic telescopic locking rods corresponding to the lower fork 302. The upper fork 301 and the lower fork 302 are respectively provided with locking holes 401 for the corresponding electromagnetic telescopic locking rods to be inserted.

[0059] The four upper electromagnetic telescopic locking rods are divided into two groups of upper locking rods spaced apart in the front-to-back direction, each group including two upper electromagnetic telescopic locking rods; the four lower electromagnetic telescopic locking rods are correspondingly divided into two groups of lower locking rods, each group including two lower electromagnetic telescopic locking rods.

[0060] The selective locking mechanism 400 has a first working state, a second working state, and a transport state.

[0061] In the first working state, a set of upper locking rods on the side of the upper fork 301 away from the target direction is inserted into the corresponding locking hole 401, so that the upper fork 301 is locked relative to the lifting platform 105; another set of upper locking rods and each lower electromagnetic telescopic locking rod remain retracted, so that the lower fork 302 can move relative to the adjusting platform 200.

[0062] In the second working state, a set of lower locking rods located on the side of the lower fork 302 away from the target direction is inserted into the corresponding locking hole 401, so that the lower fork 302 is locked relative to the lifting platform 105; another set of lower locking rods and each upper electromagnetic telescopic locking rod remain retracted, so that the upper fork 301 can move relative to the adjusting platform 200.

[0063] In the working state, the locking lever assembly that implements locking is located outside the movement path of the adjustment table 200 and the guide 201, and the locking lever assembly on the target direction side remains retracted to avoid obstructing the extension of the adjustment table 200.

[0064] In the transport state, all four upper electromagnetic telescopic locking rods and all four lower electromagnetic telescopic locking rods are inserted into the corresponding locking holes 401, so that the upper fork 301 and the lower fork 302 are locked relative to the lifting platform 105.

[0065] This embodiment also includes a controller and a locking detection device. The locking detection device is used to detect the extended and retracted states of each electromagnetic telescopic locking rod to determine whether the corresponding locking rod group is locked or retracted. When switching the locked fork or changing the target direction, the controller adopts a control sequence of locking first and then releasing, so that at least one fork remains locked during the switching process. Before switching the locked fork or changing the target direction, the controller first controls the servo motor 501 to reset to the preset initial angle, so that the adjustment table 200 returns to the preset center position and the movable fork returns to the retracted position. At this time, the locking hole 401 on the locked fork is aligned with the corresponding locking rod group, and the controller then switches the locking rod group according to the sequence of locking first and then releasing.

[0066] The servo motor 501 has a rotation feedback function. The position of the adjustment table 200 and the movable fork have a definite correspondence with the rotation angle of the servo motor 501. When the servo motor 501 resets to the preset initial angle, the adjustment table 200 returns to the preset center position, and the movable fork synchronously returns to the retracted position.

[0067] When the regulating table 200 or the movable fork is not reset, the locking hole 401 and the corresponding electromagnetic telescopic locking rod cannot be fully aligned, and the selective locking mechanism 400 cannot enter the transportation state. The controller only allows the lifting table 105 to rise or the upright frame 104 to move along the roadway when the locking detection element confirms that all electromagnetic telescopic locking rods are locked in place and the selective locking mechanism 400 is in the transportation state.

[0068] Working principle Before operation, the adjustment platform 200 is in the preset neutral position, the upper fork 301 and the lower fork 302 are both in the retracted position, the selective locking mechanism 400 is in the transport state, and after the controller confirms that all electromagnetic telescopic locking rods are locked in place, it allows the upright frame 104 to move and the lifting platform 105 to rise and fall, so that the pallet picking and delivering device corresponds to the target cargo location.

[0069] When the upper fork 301 performs the picking and delivering operation, a set of lower locking rods located on the side of the lower fork 302 away from the target direction remains locked, while the remaining locking rods retract. The lower fork 302 and the lower rack 505 serve as fixed transmission reaction components.

[0070] When the servo motor 501 is running, the meshing action between the lower drive gear 503 and the fixed lower rack 505 drives the adjustment table 200 to move along the target direction; at the same time, the upper drive gear 502 drives the upper rack 504 and the upper fork 301 to move relative to the adjustment table 200 in the same direction, so that the travel strokes L1 and L2 are superimposed to form the pallet picking and delivering stroke.

[0071] By changing the rotation direction of the servo motor 501, the adjustment table 200 and the upper fork 301 can extend to the front shelf 101 or the rear shelf 102. After the pallet transfer is completed, the servo motor 501 rotates in the opposite direction, causing the adjustment table 200 and the upper fork 301 to retract synchronously.

[0072] When the lower fork 302 performs the picking and delivering operation, the upper fork 301 is locked accordingly and acts as a transmission reaction member, while the lower fork 302 acts as a movable picking and delivering member. Its combined extension and retraction process corresponds to the process described above.

[0073] After the operation is completed, the servo motor 501 returns to the preset initial angle, so that the adjustment table 200 returns to the preset center position and the movable fork returns to the retracted position. At this time, each locking hole 401 is aligned with the corresponding electromagnetic telescopic locking rod, and all locking rods are inserted into place, so that the selective locking mechanism 400 returns to the transport state, and then the lifting table 105 is allowed to rise or the upright frame 104 is allowed to move.

[0074] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A front and rear dual-drive anti-interference lifting container, comprising a front shelf (101) and a rear shelf (102), wherein an aisle is formed between the front shelf (101) and the rear shelf (102), and a lifting mechanism (103) is provided in the aisle, the lifting mechanism (103) comprising a stand (104) movable along the aisle and a lifting platform (105) movable relative to the stand (104), characterized in that, The lifting platform (105) is equipped with a pallet picking and delivering device, which includes: An adjustment table (200) is slidably mounted on a lifting platform (105) along the arrangement direction of the front shelf (101) and the rear shelf (102); The upper fork carriage (301) and the lower fork carriage (302) are located at different heights and are slidably mounted on the adjustment platform (200) along the arrangement direction. The upper fork carriage (301) and the lower fork carriage (302) are each capable of carrying a pallet. The upper drive gear (502) and the lower drive gear (503) are both rotatably mounted on the adjustment table (200); The upper rack (504) is disposed on the upper fork (301) and meshes with the upper drive gear (502); The lower rack (505) is disposed on the lower fork (302) and meshes with the lower drive gear (503); The driving mechanism is disposed on the adjustment table (200), including a driving source and respectively connected to the upper driving gear (502) and the lower driving gear (503) for driving the upper driving gear (502) and the lower driving gear (503) to rotate in opposite directions; A selective locking mechanism (400) is disposed on the lifting platform (105) and has a first working state in which the upper fork (301) is locked relative to the lifting platform (105) and the lower fork (302) is released, and a second working state in which the lower fork (302) is locked relative to the lifting platform (105) and the upper fork (301) is released; In the first working state, the upper rack (504) remains fixed relative to the lifting platform (105), and the meshing action between the upper drive gear (502) and the upper rack (504) drives the adjusting platform (200) to move relative to the lifting platform (105) along the target direction. The lower drive gear (503) simultaneously drives the lower rack (505) and the lower fork (302) to move relative to the adjusting platform (200) along the target direction. In the second working state, the lower rack (505) remains fixed relative to the lifting platform (105), and the meshing action between the lower drive gear (503) and the lower rack (505) drives the adjusting platform (200) to move relative to the lifting platform (105) along the target direction. The upper drive gear (502) simultaneously drives the upper rack (504) and the upper fork (301) to move relative to the adjusting platform (200) along the target direction. The target direction is the direction toward the front shelf (101) or the rear shelf (102).

2. The front and rear dual-drive anti-interference lifting cargo cabinet according to claim 1, characterized in that: The selective locking mechanism (400) also has a transport state in which both the upper fork (301) and the lower fork (302) are locked relative to the lifting platform (105); when switching between the first working state and the second working state, the selective locking mechanism (400) keeps at least one of the upper fork (301) and the lower fork (302) in the locked state.

3. The front and rear dual-drive anti-interference lifting cargo cabinet according to claim 2, characterized in that: The selective locking mechanism (400) includes four upper electromagnetic telescopic locking rods corresponding to the upper fork (301) and four lower electromagnetic telescopic locking rods corresponding to the lower fork (302). The upper fork (301) and the lower fork (302) are respectively provided with locking holes (401) for the corresponding electromagnetic telescopic locking rods to be inserted. The four upper electromagnetic telescopic locking rods are divided into two groups of upper locking rods spaced apart along the arrangement direction, each group of upper locking rods including two upper electromagnetic telescopic locking rods; the four lower electromagnetic telescopic locking rods are divided into two groups of lower locking rods spaced apart along the arrangement direction, each group of lower locking rods including two lower electromagnetic telescopic locking rods. In the first working state, a set of upper locking rods on the side of the upper fork (301) away from the target direction is inserted into the corresponding locking hole (401), and another set of upper locking rods and the lower electromagnetic telescopic locking rod are removed from the corresponding locking hole (401). In the second working state, a set of lower locking rods located on the side of the lower fork (302) away from the target direction is inserted into the corresponding locking hole (401), and another set of lower locking rods and the upper electromagnetic telescopic locking rod are withdrawn from the corresponding locking hole (401). In the transport state, all four upper electromagnetic telescopic locking rods and all four lower electromagnetic telescopic locking rods are inserted into the corresponding locking holes (401).

4. The front and rear dual-drive anti-interference lifting cargo cabinet according to claim 3, characterized in that: It also includes a controller and a locking detection device for detecting the locking status of each electromagnetic telescopic locking rod; The controller is configured to, when switching between the first working state and the second working state or changing the target direction, first control the locking rod group located on the side of the fork to be locked away from the target direction to insert into the corresponding locking hole (401), and after the locking detection element confirms that the locking rod group is locked in place, control the locking rod group currently in the locked state to exit the corresponding locking hole (401).

5. A front and rear dual-drive anti-interference lifting cargo cabinet according to claim 4, characterized in that: The controller allows the lifting platform (105) to rise and / or allows the stand (104) to move along the tunnel only when the locking detection element confirms that all four upper electromagnetic telescopic locking rods and four lower electromagnetic telescopic locking rods are inserted into the corresponding locking holes (401), so that the selective locking mechanism (400) is in the transport state.

6. The front and rear dual-drive anti-interference lifting container according to claim 1, characterized in that: The drive mechanism includes a servo motor (501) mounted on the adjustment platform (200), a first transmission branch connecting the servo motor (501) and the upper drive gear (502), and a second transmission branch connecting the servo motor (501) and the lower drive gear (503); the first transmission branch is used to make the upper drive gear (502) and the output shaft of the servo motor (501) rotate in the same direction, and the second transmission branch is used to make the lower drive gear (503) and the output shaft of the servo motor (501) rotate in opposite directions.

7. A front and rear dual-drive anti-interference lifting cargo cabinet according to claim 6, characterized in that: The output shaft of the servo motor (501) is fixedly equipped with an active synchronous pulley (506) and an active gear (507). The first transmission branch includes a driven synchronous pulley (508) fixedly coaxially with the upper drive gear (502), and a synchronous belt (509) connecting the driving synchronous pulley (506) and the driven synchronous pulley (508), so that the driven synchronous pulley (508), the upper drive gear (502) and the output shaft of the servo motor (501) rotate in the same direction; The drive gear (507) meshes externally with the lower drive gear (503) so that the lower drive gear (503) rotates in the opposite direction to the output shaft of the servo motor (501).

8. The front and rear dual-drive anti-interference lifting cargo cabinet according to claim 1, characterized in that: The adjustment platform (200) is provided with guides (201) that slide with the upper fork (301) and the lower fork (302). The travel of the adjustment platform (200) relative to the lifting platform (105) and the travel of the unlocked fork relative to the adjustment platform (200) together constitute the pallet picking and delivering travel. When the unlocked fork is in the maximum extended position, the unlocked fork still maintains the support overlap with the corresponding guide (201) along the arrangement direction.

9. A front and rear dual-drive anti-interference lifting cargo cabinet according to claim 1, characterized in that: In either the first or second working state, the locked fork can act as a transmission reaction component of the drive mechanism while carrying the first pallet, and the unlocked fork is used to carry and pick up the second pallet.

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