Efficient and simple automatic storage library
Through the combination of the stacking robot and the horizontal adjustment mechanism, efficient bilateral stacking and stable stacking of the barrel are achieved, solving the problems of low efficiency and insufficient capacity in the prior art, and improving the simplicity and economic benefits of the automatic storage library.
Patent Information
- Application Number
- CN202422159317.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-04
- Publication Date
- 2025-07-04
- Estimated Expiration
- 2034-09-04
AI Technical Summary
When handling goods such as turnover boxes and barrels, existing automatic storage systems have problems such as low efficiency, complex mechanical structure, low inventory capacity and long installation and commissioning cycle, especially in situations where there are single varieties and high efficiency requirements.
The stacking robot, the robot support frame, the empty barrel incoming material conveyor and the horizontal adjustment mechanism are used to achieve double-side simultaneous stacking through the jaws on the beam, and combined with the pyramid-type barrel stacking and the horizontal adjustment mechanism to ensure the stability of the stacking platform.
It improves barrel stacking efficiency, increases storage capacity, simplifies system structure, reduces complexity, and improves economic benefits.
Smart Images
Figure CN223059779U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of intelligent warehouses, and particularly to an efficient and concise automatic storage repository. Background Art
[0002] In modern logistics or production processes, the usage of standard carriers of goods (such as turnover boxes, round barrels of various specifications, etc.) is increasing, and the requirements for automatic storage of such materials are also getting higher and higher. For example, customers pursue higher floor efficiency, higher beat, and simpler structures, etc.
[0003] In the prior art, for the handling of such materials, the common method is to use a roadway stacker + telescopic fork + storage rack for storage. This traditional warehousing system has problems such as low efficiency, complex mechanical structure, low unit inventory capacity, and long installation and commissioning cycle. In some occasions with a single variety, high efficiency requirements, and limited inventory space, this automatic storage system is not practical. Utility Model Content
[0004] In order to improve the efficiency of stacking goods in the automatic storage repository, increase the storage capacity of the storage repository, and improve the simplicity of the storage repository, this application provides an efficient and concise automatic storage repository.
[0005] The efficient and concise automatic storage repository provided by this application adopts the following technical solutions:
[0006] An efficient and concise automatic storage repository includes a stacking manipulator, a manipulator support frame, and an empty barrel feeding conveyor. The manipulator support frame, the slide rail of the stacking manipulator, and the empty barrel feeding conveyor are all fixedly installed on the ground in the warehouse. The slide rail is located in the middle of the stacking manipulator, and the empty barrel feeding conveyor is located at the end of the slide rail;
[0007] A cross beam is installed on the lifting mechanism of the stacking manipulator. A set of clamping jaws is detachably installed on each of the two arms of the cross beam, and the two sets of clamping jaws are symmetric about the column of the stacking manipulator;
[0008] Two stacking platforms are installed on the ground of the warehouse. The two stacking platforms are located on both sides of the slide rail, and a horizontal adjustment mechanism is installed on each of the two stacking platforms.
[0009] By adopting the above technical solution, during the process of stacking empty barrels, the barrels can be placed on the empty barrel feeding conveyor. The empty barrel feeding conveyor continuously transports the empty barrels to one end of the slide rail. The lifting mechanism on the stacking manipulator drives the crossbeam to move downward. The grippers on both arms of the crossbeam simultaneously grab multiple barrels. The lifting mechanism drives the crossbeam to move upward. The sliding base drives the column, crossbeam, and empty barrels to slide to the preset position for stacking barrels. The lifting mechanism drives the crossbeam to move downward again, and the grippers release the barrels, achieving the technical effect of automatically stacking the barrels. Since two groups of grippers are respectively installed on both arms of the crossbeam and used in conjunction with two stacking platforms, the technical effect of simultaneously stacking barrels on both sides can be achieved through the stacking manipulator, effectively improving the efficiency of the stacker for stacking empty barrels. Since a horizontal adjustment mechanism is installed on the stacking platform, the levelness of the stacking platform can be adjusted through the horizontal adjustment mechanism to ensure the stability of the stacked barrels.
[0010] Preferably, the stacking platform includes a plurality of load-bearing rods, and a plurality of groups of cushion rails are fixedly installed on the plurality of load-bearing rods, and the plurality of groups of cushion rails are respectively located directly below the plurality of grippers;
[0011] The horizontal adjustment mechanism includes a plurality of groups of leveling supports, and the plurality of groups of leveling supports are respectively fixedly installed on the ground directly below the load-bearing rods;
[0012] Adjusting screws are respectively fixedly installed at the tops of the plurality of leveling supports. Through holes adapted to the adjusting screws are formed on the load-bearing rods, and the adjusting screws penetrate through the through holes and extend to the tops of the load-bearing rods;
[0013] Adjusting nuts are respectively threadedly connected to the adjusting screws, and washers are respectively coaxially sleeved on the adjusting screws. The plurality of washers respectively abut between the load-bearing rods and the adjusting nuts.
[0014] By adopting the above technical solution, when it is necessary to adjust the levelness of the stacking platform, the operator can use tools to adjust the height of the adjusting nuts, achieving the technical effect of adjusting the height and levelness of the load-bearing rods and the stacking platform.
[0015] Preferably, each group of cushion rails respectively includes two sub-rails, and the two sub-rails are both fixedly installed on the surfaces of the plurality of load-bearing rods, and the bottoms of the bottom-layer barrels are respectively placed on the two sub-rails.
[0016] By adopting the above technical solution, the two sub-rails can form a support for the bottom of the barrel.
[0017] Preferably, guardrails are respectively fixedly connected to the opposite side walls of the two sub-rails, and the two guardrails are arranged in an outwardly expanding shape in the upward direction. The guardrails can reduce the occurrence of the barrels shifting and deviating from the cushion rails.
[0018] Preferably, the load-bearing rod is a C-shaped steel, the C-shaped steel includes a bottom plate and a top plate, the through holes are all formed in the bottom plate, and the end of the adjusting screw rod extending out of the through hole is located between the bottom plate and the top plate.
[0019] By adopting the above technical solution, using a C-shaped steel for the load-bearing rod can make the end of the adjusting screw rod embedded between the bottom plate and the top plate, preventing the adjusting screw rod from protruding from the surface of the load-bearing rod.
[0020] Preferably, a sky rail is fixedly connected to the top of the manipulator support frame, and the sky rail is erected directly above the slide rail; a guide seat is fixedly connected to the top of the column of the stacking manipulator, and the guide seat is slidably connected to the sky rail.
[0021] By adopting the above technical solution, the sky rail and the guide seat cooperate with each other to limit the sliding trajectory of the stacking manipulator during the sliding process of the stacking manipulator, further improving the sliding stability of the stacking manipulator.
[0022] In summary, an efficient and concise automatic storage library of the present application includes at least one of the following beneficial technical effects:
[0023] 1. Since two groups of clamping jaws are respectively installed on the two arms of the cross beam and used in combination with two stacking platforms, the technical effect of simultaneously stacking drums bilaterally can be achieved through the stacking manipulator, which can effectively improve the stacking efficiency of the stacker for empty drums;
[0024] 2. The bottom of the drum can be supported by two sub-rails. For the drums at the bottom layer of the drum stack, both sides of the bottom of the drum are in contact with the top of the sub-rails. For the drums above the second layer, four-point support is formed by the edges of two adjacent drums at the bottom. Moreover, the drum stack on the stacking platform is stacked in a pyramid shape as a whole, with high stack stability. At the same time, the cumbersome shelf structure can be omitted and the storage capacity of the storage library can be improved;
[0025] 3. By the combination and use of the adjusting screw rod and the adjusting nut, the operator can adjust the height of the adjusting nut with the help of tools to achieve the technical effect of adjusting the height and levelness of the load-bearing rod and the stacking platform. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] Figure 1 is a schematic diagram showing the overall structure of the stacker in the embodiment of the present application.
[0027] Figure 2 is a schematic diagram showing the drum stacking structure in the embodiment of the present application.
[0028] Figure 3 is a schematic diagram showing the overall structure of the stacking platform in the embodiment of the present application.
[0029] Figure 4 isFigure 2 An enlarged schematic view at position A, mainly used to show the overall structure of the leveling structure.
[0030] Figure 5 It is a schematic view used in the embodiment of the present application to show the stacking structure of the bottom-layer barrels.
[0031] Figure 6 It is a schematic view used in the embodiment of the present application to show the stacking structure between layers of barrels.
[0032] Explanation of reference numerals: 1, stacking manipulator; 11, slide rail; 12, lifting mechanism; 13, cross beam; 14, gripper; 15, column; 16, guide seat; 2, manipulator support frame; 21, overhead rail; 3, empty barrel feeding conveyor; 4, stacking platform; 41, load-bearing rod; 411, bottom plate; 412, top plate; 42, cushion rail; 421, sub-rail; 422, guardrail; 5, horizontal adjustment mechanism; 51, leveling support; 52, adjustment screw; 53, adjustment nut; 54, gasket. Detailed implementation manners
[0033] The following further elaborates on the present application in conjunction with the attached Figures 1-6 drawings.
[0034] Embodiment
[0035] The embodiment of the present application discloses an efficient and concise automatic storage repository. Referring to Figure 1 , it includes a stacking manipulator 1, a manipulator support frame 2, and an empty barrel feeding conveyor 3. The manipulator support frame 2, the slide rail 11 of the stacking manipulator 1, and the empty barrel feeding conveyor 3 are all fixedly installed on the ground in the warehouse. The slide rail 11 is located in the middle of the stacking manipulator 1, and the empty barrel feeding conveyor 3 is located at one end of the slide rail 11; a cross beam 13 is installed on the lifting mechanism 12 of the stacking manipulator 1, and a set of grippers 14 are respectively detachably installed on the two arms of the cross beam 13, and the two sets of grippers 14 are symmetric about the column 15 of the stacking manipulator 1; two stacking platforms 4 are installed on the ground of the warehouse, the two stacking platforms 4 are located on both sides of the slide rail 11, and horizontal adjustment mechanisms 5 are respectively installed on the two stacking platforms 4.
[0036] During the process of stacking empty barrels, the barrels can be placed on the empty barrel feeding conveyor 3. The empty barrel feeding conveyor 3 continuously conveys the empty barrels to one end of the slide rail 11. The lifting mechanism 12 on the stacking manipulator 1 drives the cross beam 13 to move downward, and the grippers 14 on the two arms of the cross beam 13 simultaneously grab multiple barrels. The lifting mechanism 12 drives the cross beam 13 to move upward, and the sliding base drives the column 15, the cross beam 13, and the empty barrels to slide to the preset position for stacking barrels. The lifting mechanism 12 drives the cross beam 13 to move downward again, and the grippers 14 release the barrels, achieving the technical effect of automatically stacking the barrels.
[0037] It should be noted that in the embodiment of the present application, the empty barrel feeding conveyor 3 adopts a drum-type automatic conveyor belt, which can continuously convey the empty barrels to be stacked to the end of the stacker, ensuring efficient stacking by the stacker.
[0038] In addition, the empty barrel feeding conveyor 3 is embedded with a round barrel positioning mechanism to ensure accurate grasping by the manipulator. The round barrel positioning mechanism adopts a vision positioning system, which is a prior art and will not be elaborated here.
[0039] Since two groups of grippers 14 are respectively installed on the two arms of the cross beam 13 and used in conjunction with two stacking platforms 4, the technical effect of simultaneously stacking round barrels on both sides can be achieved through the stacking manipulator 1, effectively improving the efficiency of the stacker in stacking empty barrels.
[0040] Since a horizontal adjustment mechanism 5 is installed on the stacking platform 4, the levelness of the stacking platform 4 can be adjusted through the horizontal adjustment mechanism 5 to ensure the stability of the round barrel stacking.
[0041] Among them, referring to Figure 1 , in the embodiment of the present application, the number of grippers 14 detachably installed on the two arms of the cross beam 13 by screws is 2. The two grippers 14 on the two arms of the cross beam 13 are respectively erected above the two stacking platforms 4. The stacking manipulator 1 can grasp 4 empty round barrels at one time and stack the round barrels on the two stacking platforms 4 respectively. In some other embodiments, according to actual usage needs, the number of groups of grippers 14, the number of stacking platforms 4, and the number of grippers 14 can be adjusted, which will not be limited here.
[0042] In addition, the manipulator support frame 2 externally located outside the stacking manipulator 1 can support the overhead rail 21, avoid unauthorized personnel entering the storage area, reduce the situation of unauthorized personnel damaging the stack shape, and protect the safety of personnel in the warehouse at the same time.
[0043] Referring to Figure 1 、 Figure 2 and Figure 3 , the stacking platform 4 includes a number of load-bearing rods 41, a number of groups of cushion rails 42 are fixedly installed on the number of load-bearing rods 41, and the number of groups of cushion rails 42 are respectively located directly below the number of grippers 14; the horizontal adjustment mechanism 5 includes a number of groups of leveling supports 51, and the number of groups of leveling supports 51 are respectively fixedly installed on the ground directly below the load-bearing rods 41; the tops of the number of leveling supports 51 are respectively fixedly installed with adjustment screws 52, through holes adapted to the adjustment screws 52 are opened on the load-bearing rods 41, and the adjustment screws 52 penetrate through the through holes and extend to the tops of the load-bearing rods 41; adjustment nuts 53 are respectively threadedly connected to the adjustment screws 52, and spacer washers 54 are respectively coaxially sleeved on the adjustment screws 52, and the number of spacer washers 54 respectively abut between the load-bearing rods 41 and the adjustment nuts 53.
[0044] When it is necessary to adjust the level of the stacking platform 4, the operator can use tools to adjust the height of the adjusting nut 53, so as to achieve the technical effects of adjusting the height and level of the load-bearing rod 41 and the stacking platform 4.
[0045] Referring to Figure 4 , in the embodiment of the present application, the load-bearing rod 41 is preferably made of C-shaped steel. The C-shaped steel includes a bottom plate 411 and a top plate 412. The through holes are all opened on the bottom plate 411, and the end of the adjusting screw 52 extending out of the through hole is located between the bottom plate 411 and the top plate 412.
[0046] The load-bearing rod 41 made of C-shaped steel can make the end of the adjusting screw 52 embedded between the bottom plate 411 and the top plate 412, preventing the adjusting screw 52 from protruding from the surface of the load-bearing rod 41.
[0047] Referring to Figure 3 , Figure 5 and Figure 6 , each group of cushion rails 42 respectively includes two sub-rails 421. The two sub-rails 421 are both fixedly installed on the surfaces of a plurality of load-bearing rods 41, and the bottoms of the bottom-layer barrels are respectively placed on the two sub-rails 421.
[0048] Among them, the two sub-rails 421 can form a support for the bottom of the barrel. For the bottom-layer barrels of the barrel stack, the two sides of the bottom of the barrel are in contact with the tops of the sub-rails 421. For the barrels above the second layer, the edges of two adjacent barrels at the bottom form four-point support, and the barrel stack on the stacking platform 4 as a whole is stacked in a pyramid shape, with a relatively high stack stability. At the same time, the cumbersome shelf structure can be omitted, improving the storage capacity of the storage.
[0049] Referring to Figure 3 , guardrails 422 are respectively fixedly connected to the opposite side walls of the two sub-rails 421, and the two guardrails 422 are arranged in an outward-expanded shape in the upward direction. The guardrails 422 can reduce the occurrence of the situation where the barrels shift and deviate from the cushion rails 42.
[0050] Referring to Figure 1 and Figure 2 , a sky rail 21 is fixedly connected to the top of the manipulator support frame 2, and the sky rail 21 is erected directly above the slide rail 11; a guide seat 16 is fixedly connected to the top of the column 15 of the stacking manipulator 1, and the guide seat 16 is slidably connected to the sky rail 21.
[0051] The sky rail 21 and the guide seat 16 cooperate with each other, which can limit the sliding trajectory of the stacking manipulator 1 during the sliding process of the stacking manipulator 1, further improving the sliding stability of the stacking manipulator 1.
[0052] The implementation principle of an efficient and concise automatic storage repository in an embodiment of this application is as follows: A drum can be placed on the empty drum feeding conveyor 3, and the empty drum feeding conveyor 3 continuously transports the empty drums to one end of the slide rail 11. The lifting mechanism 12 on the stacking manipulator 1 drives the cross beam 13 to move downward, and the grippers 14 on both arms of the cross beam 13 simultaneously grab multiple drums. The lifting mechanism 12 drives the cross beam 13 to move upward, and the sliding base drives the column 15, the cross beam 13, and the empty drums to slide to the preset position for stacking drums. The lifting mechanism 12 drives the cross beam 13 to move downward again, and the grippers 14 release the drums, achieving the technical effect of automatically stacking drums; Since two groups of grippers 14 are respectively installed on both arms of the cross beam 13 and used in conjunction with two stacking platforms 4, the technical effect of simultaneously stacking drums on both sides can be achieved through the stacking manipulator 1, effectively improving the efficiency of the stacker for stacking empty drums; The bottom of the drum can be supported by two sub-rails 421. For the drums at the bottom layer of the drum stack, both sides of the bottom of the drum are in contact with the top of the sub-rails 421. For the drums above the second layer, four-point support is formed by the edges of two adjacent drums at the bottom. Moreover, the overall drum stack on the stacking platform 4 is stacked in a pyramid shape, with relatively high stack stability, and at the same time, the cumbersome shelf structure can be omitted.
[0053] The above are all the preferred embodiments of this application, and the protection scope of this application is not limited thereby. Therefore, all equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.
Claims
1. An efficient and concise automatic repository, characterized in that, It includes a stacking manipulator (1), a manipulator support frame (2), and an empty barrel feeding conveyor (3). The manipulator support frame (2), the slide rail (11) of the stacking manipulator (1), and the empty barrel feeding conveyor (3) are all fixedly installed on the ground in the warehouse. The slide rail (11) is located in the middle of the stacking manipulator (1), and the empty barrel feeding conveyor (3) is located at the end of the slide rail (11). A cross beam (13) is installed on the lifting mechanism (12) of the stacking manipulator (1). A set of clamping jaws (14) are respectively detachably installed on the two arms of the cross beam (13), and the two sets of clamping jaws (14) are symmetric about the column (15) of the stacking manipulator (1). Two stacking platforms (4) are installed on the ground of the warehouse. The two stacking platforms (4) are located on both sides of the slide rail (11), and a horizontal adjustment mechanism (5) is respectively installed on the two stacking platforms (4).
2. An efficient and concise automatic repository according to claim 1, characterized in that, The stacking platform (4) includes a number of load-bearing rods (41). A number of sets of cushion rails (42) are fixedly installed on the number of load-bearing rods (41), and the number of sets of cushion rails (42) are respectively located directly below the number of clamping jaws (14). The horizontal adjustment mechanism (5) includes a number of sets of leveling supports (51). The number of sets of leveling supports (51) are respectively fixedly installed on the ground directly below the load-bearing rods (41). Adjusting screws (52) are respectively fixedly installed on the tops of the number of leveling supports (51). A number of through holes adapted to the adjusting screws (52) are opened on the load-bearing rods (41). The adjusting screws (52) penetrate through the through holes and extend to the tops of the load-bearing rods (41). Adjusting nuts (53) are respectively threadedly connected to the adjusting screws (52). Washers (54) are respectively coaxially sleeved on the adjusting screws (52). The number of washers (54) are respectively abutted between the load-bearing rods (41) and the adjusting nuts (53).
3. An efficient and concise automatic repository according to claim 2, characterized in that, Each set of cushion rails (42) respectively includes two sub-rails (421). The two sub-rails (421) are both fixedly installed on the surfaces of the number of load-bearing rods (41). The bottoms of the bottom-layer round barrels are respectively placed on the two sub-rails (421).
4. An efficient and concise automatic repository according to claim 3, characterized in that, Guardrails (422) are respectively fixedly connected to the opposite side walls of the two sub-rails (421), and the two guardrails (422) are arranged in an outward-expanded shape in the upward direction.
5. An efficient and concise automatic repository according to claim 2, characterized in that, The load-bearing rod (41) is a C-shaped steel. The C-shaped steel includes a bottom plate (411) and a top plate (412). The through holes are all opened on the bottom plate (411). The end parts of the adjusting screws (52) extending out of the through holes are located between the bottom plate (411) and the top plate (412).
6. An efficient and concise automatic repository according to claim 1, characterized in that, The top of the manipulator support frame (2) is fixedly connected with a sky rail (21). The sky rail (21) is erected directly above the slide rail (11). The top of the column (15) of the stacking manipulator (1) is fixedly connected with a guide seat (16). The guide seat (16) is slidably connected with the sky rail (21).