Longitudinal and transverse multi-channel stereoscopic warehouse with truss manipulator type stacking machine

Abstract

The utility model discloses a vertical and horizontal multi-channel stereoscopic warehouse with a truss manipulator type stacker, which comprises a cantilever type stereoscopic steel structure warehouse, a plurality of vertical main tracks arranged at the tops of two sides of the cantilever type stereoscopic steel structure warehouse, and a plurality of vertical channels arranged inside the cantilever type stereoscopic steel structure warehouse; the two sides of the longitudinal channel are provided with a plurality of steel structure goods shelves, and transverse overline channels are reserved at the two ends of each steel structure goods shelf. The longitudinal moving system comprises two longitudinal beams and two cross beams; the longitudinal beams respectively walk on the main rails through the walking mechanisms; the transverse moving system comprises two vertical columns arranged in the vertical direction and a walking connecting beam arranged in the longitudinal direction; the two ends of the walking connecting beam walk on the rails of the two cross beams through walking wheel mechanisms respectively and are connected with the top ends of the two stand columns respectively. The pallet fork platform is longitudinally arranged, and the two ends of the pallet fork platform are hinged to the lifting driving systems on the two stand columns respectively; a plurality of pallet forks used for stretching out in the side direction to fork the goods on the steel structure goods shelf are arranged above the lifting device. The warehouse is simple in structure and simple and reliable in goods storing and taking actions.

Description

Technical Field

[0001] The utility model relates to the technical field of warehousing, in particular to a vertical and horizontal multi-channel stereoscopic warehouse with a truss manipulator stacker. Background Art

[0002] With the development of automation and intelligent technology, in order to improve the degree of automation, save costs and improve product quality and output in pipe prefabrication plants, more and more pipe stereoscopic warehouses are used. The application of pipe stereoscopic warehouses can reduce the storage area, and at the same time, computer technology can be used to realize intelligent automation of pipe storage and retrieval, reduce labor, and improve efficiency and accuracy. Therefore, a pipe stereoscopic warehouse with large storage capacity, simple structure and convenient storage is needed.

[0003] However, the three-dimensional pipe fittings warehouse in the prior art usually needs to be equipped with a truss robot for each row of shelves. For warehouses with large heights, the truss robot also needs to be equipped with a high-strength vertical drive mechanism to ensure vertical rigidity, which makes the cost of the automated pipe fittings storage warehouse in the prior art relatively high. Utility Model Content

[0004] In view of the above-mentioned defects of the prior art, the utility model provides a vertical and horizontal multi-channel stereoscopic warehouse with a truss manipulator stacker. Multiple rows of shelves in the warehouse can share a set of truss manipulators, which can effectively reduce system costs.

[0005] To achieve the above-mentioned purpose, the utility model provides a vertical and horizontal multi-channel stereoscopic warehouse with a truss manipulator stacker, which comprises:

[0006] The cantilevered three-dimensional steel structure warehouse has main tracks extending longitudinally on the top of both sides, and multiple longitudinal channels extending longitudinally are arranged inside; multiple steel structure shelves are arranged on both sides of the longitudinal channels; and cross-line channels extending transversely are reserved at both ends of each steel structure shelf;

[0007] The longitudinal moving system includes two longitudinal beams and two transverse beams; the two longitudinal beams travel on the main tracks on both sides of the cantilevered three-dimensional steel structure warehouse through the walking mechanism;

[0008] The lateral movement system comprises two vertically arranged columns and a longitudinally arranged walking connection beam; both ends of the walking connection beam respectively travel on the tracks of the two beams through a walking wheel mechanism and are respectively connected to the top ends of the two columns;

[0009] The fork platform is arranged longitudinally, and its two ends are respectively hinged to the lifting drive systems on the two columns; a plurality of forks arranged transversely are arranged above it, and when the fork platform is facing the steel structure shelf, the forks can be extended sideways to fork the goods on the steel structure shelf.

[0010] The further improvement of the utility model is that: the lengths of the steel structure shelves along the longitudinal direction are equal, and the widths of the cross-line channels along the longitudinal direction are equal;

[0011] When the transverse moving system moves from one longitudinal channel to another longitudinal channel, the lifting drive system drives the fork platform to rise to a high position, so that the bottom end of the fork platform is higher than the top end of the steel structure shelf, and both columns are facing the cross-line channel.

[0012] A further improvement of the utility model is that: a positioning piece is pre-buried in the ground at the intersection of the cross-line channel and the longitudinal channel, and the positioning piece is provided with two upward positioning holes; a positioning device is provided at the bottom of the two columns, and the positioning device includes a vertically telescopic positioning rod; the buried position of the positioning piece satisfies that, when the positioning rod of the positioning device is inserted downward into the positioning hole, the fork platform faces the steel structure shelves on both sides thereof, and the columns face the cross-line channels on both sides of the steel structure shelves.

[0013] A further improvement of the utility model is that each of the positioning devices comprises a positioning drive motor, which is transmission-connected to two screw rod lifting mechanisms via a first sprocket and a chain; the screw rod lifting mechanisms are used to drive the positioning rod to move vertically.

[0014] A further improvement of the utility model is that the steel structure shelf comprises a plurality of support columns distributed in the longitudinal direction; a plurality of transverse cantilever support tubes pointing to the longitudinal channel in the horizontal direction are installed on the side of each support column, and the transverse cantilever support tubes at the same height of each support column constitute a layer of the steel structure shelf for supporting goods; a limiting plate is arranged at the cantilever end of the transverse cantilever support tube to prevent the goods mounted on the transverse cantilever support tube from falling.

[0015] A further improvement of the utility model is that a counterweight device is also arranged inside the column, and the counterweight device includes a fixed pulley located at the top of the column, and a steel cable mounted on the fixed pulley, one end of which is connected to the fork platform, and the other end of which is connected to a freely liftable counterweight block inside the column.

[0016] A further improvement of the utility model is that: a vertical linear slide rail and a rack are arranged on the column; the lifting drive system includes a support plate slidably arranged on the linear slide rail, a servo motor reducer with a driving gear is arranged on the support plate, and the gear is meshed with the rack to realize the lifting drive; an articulated rod is arranged on the support plate, which is connected to the articulated seat at the end of the fork platform in an articulated manner.

[0017] The device provided by the utility model has the following technical effects:

[0018] 1. Small footprint, multiple rows of shelves can share one set of truss manipulator stacker, high space utilization;

[0019] 2. During the process of storing and retrieving goods, the bottom of the column can be fixed to the positioning hole on the ground through a positioning device, so that the bottom of the column is not easy to swing, which enhances the rigidity of the column and makes the process of storing and retrieving goods more stable.

[0020] 3. The warehouse has a simple structure, is easy to manufacture, and the operations for storing and retrieving goods are simple and reliable.

[0021] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional view of a vertical and horizontal multi-channel warehouse with a truss manipulator stacker;

[0023] Figure 2 This is a side view of a cantilevered three-dimensional steel structure warehouse;

[0024] Figure 3 This is a top view of the cantilevered three-dimensional steel structure warehouse;

[0025] Figure 4 This is a partial view of the cantilevered three-dimensional steel structure warehouse;

[0026] Figure 5 It is a stereoscopic view of the longitudinal movement system;

[0027] Figure 6 It is a stereoscopic view of the lateral movement system;

[0028] Figure 7 It is a stereoscopic view of the positioning device. DETAILED DESCRIPTION

[0029] The following describes the implementation of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0030] It should be noted that the illustrations provided in the following embodiments are only used to schematically illustrate the basic concept of the present invention, and thus the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0031] Some exemplary embodiments of the present invention are described for the purpose of illustration. It should be understood that the present invention may be implemented in other ways not specifically shown in the drawings.

[0032] like Figures 1 to 7 As shown, an embodiment of the utility model provides a vertical and horizontal multi-channel three-dimensional warehouse with a truss manipulator stacker, which includes: a truss manipulator stacker composed of a longitudinal movement system 10, a transverse movement system 20, and a fork platform 30, and a cantilevered three-dimensional steel structure warehouse 50.

[0033] like Figure 2 , Figure 3 , Figure 4 As shown, in this embodiment, main rails 51 extending in the longitudinal direction are arranged on the top of both sides of the cantilevered three-dimensional steel structure warehouse 50. A plurality of longitudinal passages 52 extending in the longitudinal direction are arranged inside the cantilevered three-dimensional steel structure warehouse 50. A plurality of steel structure shelves 53 are arranged on both sides of the longitudinal passage 52; and cross-line passages 54 extending in the transverse direction are reserved at both ends of each steel structure shelf 53. The lengths of the steel structure shelves 53 in the longitudinal direction are equal, and the widths of the cross-line passages 54 in the longitudinal direction are equal.

[0034] The steel structure shelf 53 includes a plurality of support columns 55 distributed in the longitudinal direction; a plurality of transverse cantilever support tubes 56 pointing to the longitudinal channel 52 in the horizontal direction are installed on the side of each support column 55, and the transverse cantilever support tubes 56 at the same height of each support column 55 constitute a layer of the steel structure shelf 53 for supporting goods; each steel structure shelf 53 includes multiple layers. A limit plate 57 is provided at the cantilever end of the transverse cantilever support tube 56 to prevent the goods erected on the transverse cantilever support tube 56 from falling. The top of each support column 55 is also connected to a top longitudinal beam 58 arranged in the longitudinal direction. The goods carried by the steel structure shelf 53 can be in various forms, for example, a pallet can be used to carry pipe fittings, or a straight pipe fitting can be directly erected on the cantilever support tube 56.

[0035] like Figure 5As shown, the longitudinal moving system 10 is used to drive the truss manipulator stacker to move longitudinally. The longitudinal moving system 10 has a rectangular frame structure, which includes two longitudinal beams 11 and two transverse beams 12; the two longitudinal beams 11 travel on the main tracks 51 on both sides of the cantilevered three-dimensional steel structure warehouse 50 through a walking mechanism. A rack is also provided on the side of the main track 51, and the longitudinal moving system 10 provides longitudinal thrust through a gear rack mechanism. In this embodiment, a distribution box and a control cabinet are also installed on the longitudinal moving system 10.

[0036] like Figure 6 As shown, the lateral movement system 20 is used to drive the truss manipulator stacker to move longitudinally (cross-line movement). The lateral movement system 20 includes two vertically arranged columns 21 and a longitudinally arranged walking connection beam 22. The two ends of the walking connection beam 22 respectively travel on the tracks of the two beams 12 through the walking wheel mechanism, and are respectively connected to the top ends of the two columns 21.

[0037] The fork platform 30 is arranged longitudinally, and its two ends are respectively hinged to the lifting drive system 23 on the two columns 21; a plurality of forks 31 arranged transversely are arranged above it, and when the fork platform 30 faces the steel structure shelf 53, the forks 31 can be extended laterally to fork the goods on the steel structure shelf 53. In addition to extending laterally, the forks can also be slightly lifted upward to facilitate lifting of goods (straight pipes or pallets carrying pipes).

[0038] In addition to lifting, the fork platform 30 can also move longitudinally under the drive of the longitudinal movement system 10. When moving longitudinally, the fork platform 30 and the column are located in a longitudinal channel 52. The process of the fork platform 30 moving from one longitudinal channel 52 to another longitudinal channel 52 under the drive of the transverse movement system 20 is called cross-line movement; due to the obstruction of the steel structure shelves 53 on both sides of the longitudinal channel 52, the cross-line movement process needs to avoid the steel structure shelves 53. For this reason, cross-line channels 54 are reserved at both ends of the steel structure shelves 53 in this embodiment.

[0039] When the lateral moving system 20 moves from one longitudinal channel 52 to another longitudinal channel 52 (cross-line movement process), the lifting drive system 23 drives the fork platform 30 to rise to a high position, so that the bottom end of the fork platform 30 is higher than the top end of the steel structure shelf 53, and the two columns 21 are facing the cross-line channel 54, so that interference of the mechanical structure can be avoided during the cross-line movement.

[0040] like Figure 3 , Figure 6 , Figure 7As shown, the cargo fork platform 30 for carrying goods is only connected to the column 21, and the column 21 is only connected to the lateral movement system 20 through the top. The overall rigidity of the structure is insufficient, and the bottom end of the column 21 is easy to swing, especially when the cargo fork platform 30 is raised and lowered and the cargo fork 31 is extended from the side to fork heavier goods. In order to ensure accurate positioning and the stability of the column 21. A positioning member is pre-buried in the ground at the intersection of the cross-line channel 54 and the longitudinal channel, and the positioning member is provided with two upward positioning holes 60; a positioning device 61 is provided at the bottom of the two columns 21, and the positioning device 61 includes a vertically telescopic positioning rod 62; the buried position of the positioning member is satisfied that when the positioning rod 62 of the positioning device 61 is inserted downward into the positioning hole 60, the cargo fork platform 30 is facing the steel structure shelves 53 on both sides thereof, and the column 21 is facing the cross-line channel 54 on both sides of the steel structure shelf 53. Therefore, each time the stored goods are forked, the positioning device 61 inserts the positioning rod 62 into the positioning hole 60, which can limit the bottom end of the column 21 in the horizontal direction to prevent it from swinging and causing the goods to become unstable.

[0041] matrix, such as Figure 7 As shown, each positioning device 61 includes a positioning drive motor 63, which is connected to the driven sprockets 65 of two screw lifting mechanisms 64 through a first sprocket 66 and a chain (not shown in the figure); the screw lifting mechanism 64 is used to drive the positioning rod 62 to move vertically.

[0042] like Figure 6 As shown, a counterweight device is also provided inside the column 21, and the counterweight device includes a fixed pulley 24 located at the top of the column 21, and a steel cable mounted on the fixed pulley 24, one end of which is connected to the fork platform 30, and the other end is connected to a counterweight block that can be freely lifted and lowered inside the column 21. A vertical linear slide rail and a rack are provided on the column 21; the lifting drive system 23 includes a support plate slidably provided on the linear slide rail, and a servo motor reducer with a driving gear is provided on the support plate, and the gear is meshed with the rack to realize the lifting drive; an articulated rod is provided on the support plate, which is connected to the articulated seat at the end of the fork platform 30 by an articulated manner. By providing a counterweight device, the force on the lifting drive system 23 can be reduced.

[0043] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed in the present invention shall still be covered by the claims of the present invention.

Claims

1. A vertical and horizontal multi-channel three-dimensional warehouse with a truss manipulator stacker, characterized in that include: A cantilevered three-dimensional steel structure warehouse (50) is provided with main rails (51) extending in the longitudinal direction at the top of both sides, and a plurality of longitudinal channels (52) extending in the longitudinal direction are provided inside the warehouse; a plurality of steel structure shelves (53) are provided on both sides of the longitudinal channels (52); and cross-line channels (54) extending in the transverse direction are reserved at both ends of each steel structure shelf (53); A longitudinal moving system (10) comprises two longitudinal beams (11) and two transverse beams (12); the two longitudinal beams (11) respectively travel on main tracks (51) on both sides of the cantilever type three-dimensional steel structure warehouse (50) through a traveling mechanism; The lateral movement system (20) comprises two vertically arranged columns (21) and a longitudinally arranged walking connection beam (22); both ends of the walking connection beam (22) respectively travel on the tracks of the two transverse beams (12) through walking wheel mechanisms and are respectively connected to the top ends of the two columns (21); The fork platform (30) is arranged in the longitudinal direction, and its two ends are respectively hinged to the lifting drive systems (23) on the two uprights (21); a plurality of forks (31) arranged in the transverse direction are arranged above the fork platform (30), and when the fork platform (30) faces the steel structure shelf (53), the forks (31) can be extended sideways to fork and pick up goods on the steel structure shelf (53).

2. A vertical and horizontal multi-channel three-dimensional warehouse with a truss manipulator stacker according to claim 1, characterized in that: The lengths of the steel structure shelves (53) along the longitudinal direction are equal, and the widths of the cross-line channels (54) along the longitudinal direction are equal; When the transverse moving system (20) moves from one longitudinal channel (52) to another longitudinal channel (52), the lifting drive system (23) drives the fork platform (30) to rise to a high position, so that the bottom end of the fork platform (30) is higher than the top end of the steel structure shelf (53), and the two columns (21) are facing the cross-line channel (54).

3. A vertical and horizontal multi-channel three-dimensional warehouse with a truss manipulator stacker according to claim 1, characterized in that: A positioning piece is pre-buried in the ground at the intersection of the cross-line channel (54) and the longitudinal channel, and the positioning piece is provided with two upward positioning holes (60); a positioning device (61) is provided at the bottom of the two columns (21), and the positioning device (61) includes a vertically telescopic positioning rod (62); the embedding position of the positioning piece satisfies that when the positioning rod (62) of the positioning device (61) is inserted downward into the positioning hole (60), the fork platform (30) faces the steel structure shelves (53) on both sides thereof, and the columns (21) face the cross-line channels (54) on both sides of the steel structure shelves (53).

4. A vertical and horizontal multi-channel three-dimensional warehouse with a truss manipulator stacker according to claim 3, characterized in that: Each positioning device (61) comprises a positioning drive motor (63), and the positioning drive motor (63) is connected to two screw lifting mechanisms (64) through a first sprocket (66) and a chain; the screw lifting mechanisms (64) are used to drive the positioning rod (62) to move vertically.

5. The vertical and horizontal multi-channel three-dimensional warehouse with a truss manipulator stacker according to claim 1, characterized in that: The steel structure shelf (53) comprises a plurality of support columns (55) distributed in the longitudinal direction; a plurality of transverse cantilever support tubes (56) pointing in the horizontal direction toward the longitudinal channel (52) are installed on the side of each support column (55); the transverse cantilever support tubes (56) at the same height of each support column (55) constitute a layer of the steel structure shelf (53) for supporting goods; and a limiting plate (57) is arranged at the cantilevered end of the transverse cantilever support tube (56) to prevent the goods mounted on the transverse cantilever support tube (56) from falling.

6. The vertical and horizontal multi-channel three-dimensional warehouse with a truss manipulator stacker according to claim 1, characterized in that: A counterweight device is also provided inside the column (21), and the counterweight device comprises a fixed pulley (24) located at the top of the column (21), and a steel cable mounted on the fixed pulley (24), one end of which is connected to the fork platform (30), and the other end of which is connected to a freely liftable counterweight block inside the column (21).

7. A vertical and horizontal multi-channel three-dimensional warehouse with a truss manipulator stacker according to claim 6, characterized in that: The column (21) is provided with a vertical linear slide rail and a rack; the lifting drive system (23) comprises a support plate slidably arranged on the linear slide rail, a servo motor reducer with a driving gear is arranged on the support plate, and the gear is meshed with the rack to realize the lifting drive; an articulated rod is arranged on the support plate, and is connected to the articulated seat at the end of the fork platform (30) in an articulated manner.

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