Heavy-load long and large four-stand-column type stacking machine carrying equipment

Abstract

The utility model discloses heavy-load long and large four-stand-column type stacking machine carrying equipment which comprises a stacking machine, the stacking machine comprises an upper cross beam, a lower cross beam and stand columns connected to the four corners of the upper cross beam and the lower cross beam, and an objective table is arranged between the upper cross beam and the lower cross beam. Two groups of carrying robots with adjustable horizontal spacing are mounted on the objective table; a vertical driving assembly used for driving the objective table to be adjusted up and down is installed on the stand column. According to the stacking machine, long and large goods with large mass can be stacked and carried, the two sets of carrying robots with the adjustable horizontal distance are further arranged on the stacking machine and used for carrying the goods, the carrying robots have the ultra-thin and heavy-load functions, the long and large goods are carried into goods positions of a goods shelf, and the large and long goods can be conveyed to the goods positions of the goods shelf according to the sizes of the long and large goods. The distance between the two carrying robots and the vertical positions of the carrying robots are changed by judging the size and the weight of the goods, and stacking and carrying of the goods of different sizes, different weights, different lengths and large sizes are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of stackers, in particular to a heavy-load long and large four-column stacker handling device. Background Art

[0002] With economic development, automated warehouses are widely used in various industries. Currently, the handling equipment used in high-rise warehouses includes stackers and forklifts. When handling long and large cargo, single-column stackers cannot meet the handling needs. Double-column stackers can cause the fork cantilever to deform during heavy-load handling, which is dangerous. Due to the large size of the cargo, the required forklift is too large to work in the narrow aisle warehouse environment.

[0003] The patent publication number is CN114084849A, and the patent name is an existing patent technology of a material box handling robot, which specifically discloses "including a U-shaped body, a gantry lifting mechanism, a folding mechanism, multiple driving wheels, a controller and a battery pack, the U-shaped body is used to surround the material box between the end arms, the gantry lifting mechanism is arranged at one end where the two end arms of the U-shaped body are connected, and the gantry main body can be bent and connected to the U-shaped body; the roller is arranged on the U-shaped body and driven by a lifting motor; the roller is provided with a wire rope, and the wire rope passes around the fixed pulley to connect the lifting plate; the fixed pulley is arranged at the top of the gantry; a plurality of telescopic plates are provided on the inner side of the lifting plate, and the lifting plates are connected by an electric lifting rod, and the telescopic plates are driven to retract by an electromagnet". The handling robot disclosed in the above-mentioned prior art cannot be used in the process of handling heavy and long large goods.

[0004] At present, the main method for transporting heavy and long goods in factories is to use a crane combined with a lifting suction cup. If the suction force of the lifting suction cup is too strong during transportation, it may be difficult to separate the workpiece when releasing it, causing operational difficulties; if the suction force of the lifting suction cup is too weak, it may not be able to firmly fix the workpiece, increasing the risk of falling off. In addition, this transportation method cannot randomly transport goods to the storage space on the shelf. Utility Model Content

[0005] The technical problem to be solved by the utility model is: how to provide a four-column stacker handling device for handling heavy-loaded long and large goods.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] A heavy-load, long, large four-column stacker handling equipment includes a stacker, which includes an upper crossbeam, a lower crossbeam, and columns connected at the four corners of the two. A loading platform is provided between the upper and lower crossbeams, and two groups of handling robots with adjustable horizontal spacing are installed on the loading platform; a vertical drive component is installed on the column to drive the loading platform to adjust up and down.

[0008] The present application sets up a four-column stacker, which can stack and transport long, large and heavy goods. The stacker of the present application is also provided with two groups of handling robots with adjustable horizontal spacing for transporting goods. The handling robots have ultra-thin and heavy-load functions, which can realize the movement of long and large goods into the shelf positions. For different sizes of long and large goods, the two handling robots judge the size and weight of the goods, change the spacing between the two handling robots, and the vertical position of the handling robots, so as to realize the stacking and transportation of long and large goods of different sizes and weights.

[0009] As a further solution of the present invention: robot track plates are installed at the bottom of the two groups of transport robots, and the two groups of transport robots are connected by a scissor-type assembly, which can drive the robot track plates to move horizontally on the loading platform.

[0010] As a further solution of the present invention: the scissor-type fork assembly includes a scissor-type fork telescopic frame and a hydraulic cylinder installed on the scissor-type fork telescopic frame, wherein both ends of the scissor-type fork telescopic frame are movably connected to two handling robots respectively.

[0011] As a further solution of the present invention: a lifting mechanism is installed inside the transport robot.

[0012] As a further solution of the present invention: a visual sensor is provided in front of the transport robot, and distance measuring sensors are provided on both sides.

[0013] As a further solution of the present invention: a maintenance rack is provided on the outer side of each of the columns, and a control cabinet is installed between two of the columns.

[0014] As a further solution of the present invention: climbing frames for connecting to the vertical drive assembly are provided at both ends of the loading platform, wherein the climbing frames are slidably connected to the slide rails provided on the inner side of the column.

[0015] As a further solution of the present invention: the vertical drive assembly includes a motor and a chain, wherein the motor is installed on the top of the column, the motor is connected to the gear, the outer side of the gear is engaged with the chain, and the other end of the chain is connected to the climbing frame.

[0016] As a further solution of the present invention: a plurality of pulleys are provided at the bottom of the lower cross beam, and the pulleys can be slidably connected to the ground rails provided below the stacker.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] First, the present application sets up a four-column stacker, which can stack and transport long, large and heavy goods. In addition, the stacker of the present application is also provided with two groups of handling robots with adjustable horizontal spacing for handling goods. The handling robots have ultra-thin and heavy-load functions, which can realize the movement of long and large goods into the shelf positions. For different sizes of long and large goods, the two handling robots judge the size and weight of the goods and change the spacing between the two handling robots and the vertical position of the handling robots to realize the stacking and transportation of long and large goods of different sizes and weights.

[0019] Secondly, the handling robot of this application has a visual sensor in the front and a ranging sensor on the side. The visual sensor recognizes the barcode on the goods and obtains the size and weight information of the goods, thereby intelligently judging the required distance between the two handling robots and controlling the track plate of the handling robot to move along the X-axis of the loading platform. The ranging sensor of the handling robot measures the distance to determine the moving distance of the handling robot along the X-axis of the loading platform, thereby realizing intelligent control. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the heavy-load, long, large four-column stacker handling equipment in the entire system according to an embodiment of the utility model;

[0021] Figure 2 This is a schematic diagram of a heavy-duty, long, large four-column stacker handling device and a pickup rack according to an embodiment of the present invention;

[0022] Figure 3 This is a structural diagram of a heavy-duty, long, large four-column stacker handling device according to an embodiment of the present invention;

[0023] Figure 4 This is a partial schematic diagram of the coordination of the column, chain and motor in an embodiment of the present utility model;

[0024] Figure 5 Schematic diagram of two groups of transporter robots and a scissor-type telescopic frame according to an embodiment of the present invention;

[0025] Description of reference numerals:

[0026] 1. Stacker; 11. Upper crossbeam; 12. Handling robot; 13. Robot track plate; 14. Loading platform; 15. Scissor lift; 16. Hydraulic cylinder; 17. Lower crossbeam; 18. Chain; 19. Column; 110. Control cabinet; 111. Maintenance rack; 112. Pulley; 113. Motor; 114. Climbing frame;

[0027] 2. Pick-up shelves;

[0028] 3. Ground rail;

[0029] 4. Vertical warehouse shelves. DETAILED DESCRIPTION

[0030] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the embodiments described are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0031] Reference Figure 1 and Figure 2 A heavy-loaded, long, and large four-column stacker handling equipment is suitable for handling heavy-loaded, long, and large goods. It includes a stacker 1, which runs on a ground rail 3 installed on the ground. When the stacker 1 runs along the ground rail 3 and moves to the side of the pickup rack 2 and the vertical warehouse rack 4, it can unload the goods.

[0032] Reference Figure 3 The stacker 1 includes an upper beam 11, a handling robot 12, a robot track plate 13, a loading platform 14, a scissor-type telescopic frame 15, a hydraulic cylinder 16, a lower beam 17, a chain 18, a column 19, a control cabinet 110, a maintenance frame 111, a pulley 112, a motor 113 and a climbing frame 114, wherein the upper beam 11 and the lower beam 17 are distributed in parallel, the upper beam 11 is located directly above the lower beam 17, and the four corner positions of the two are fixed by columns 19, so the upper beam 11, the lower beam 17 and the four columns 19 constitute a rectangular structure as a whole.

[0033] Reference Figure 3 and Figure 5 The main body of the handling robot 12 is used to carry goods to the destination cargo location. It has good carrying capacity. The lifting mechanism is placed in the main body of the handling robot. The lifting mechanism can use a wedge-shaped lifting platform to lift the goods; a visual sensor is set in front of the handling robot 12, and ranging sensors are set on both sides. The visual sensor recognizes the barcode on the goods and obtains the size and weight information of the goods, so as to intelligently judge the required distance between the two handling robots 12; the handling robot track plate 13 moves along the loading platform 14 on the X-axis, and the ranging sensor measures the distance to determine the moving distance of the handling robot 12 along the X-axis of the loading platform. In this process, the distance between the two handling robots 12 is adjusted by controlling the hydraulic cylinder 16.

[0034] Reference Figure 3 The loading platform 14 is installed between the upper beam 11 and the lower beam 17, and the loading platform 14 is arranged parallel to the upper beam 11 and the lower beam 17. Both ends of the loading platform 14 are connected to a climbing frame 114, and then the climbing frame 114 is slidably connected to the slide rail provided on the inner side of the column 19;

[0035] Furthermore, a slide rail is provided on the top of the loading platform 14, wherein two groups of robot track plates 13 are slidably connected to the slide rail, and a handling robot 12 is provided on the two robot track plates 13, that is, the handling robot 12 can move on the robot track plates 13, and a scissors-type telescopic frame 15 is connected between the two robot track plates 13, and a hydraulic cylinder 16 is installed on the scissors-type telescopic frame 15, so that the extension and contraction of the scissors-type telescopic frame 15 can be adjusted by the hydraulic cylinder 16, thereby adjusting the distance between the two robot track plates 13, and the robot track plates 13 can be driven to slide along the slide rail on the loading platform 14, thereby adjusting the distance between the two handling robots 12, that is, the position in the X-axis direction. This process can be determined according to the size and weight of the goods to be handled, and this application is not limited to it.

[0036] Reference Figure 3 and Figure 4 , a motor 113 is provided on the top of each column 19, and the motor 113 is connected to a gear, which is installed on the top of the column 19. The outer side of the gear is meshed with a chain 18, and the other end of the chain 18 is connected to the climbing frame 114. It should be noted that this application has four columns 19, so four chains 18 are also provided. The two chains 18 on the same side are respectively connected to the two ends of the top of the climbing frame 114 in that direction; by controlling the operation of the motor 113, the motor 113 can drive the gear to rotate, and the rotation of the gear then drives the climbing frame 114 to rise or fall through the chain 18, thereby realizing adjustment in the Y-axis direction, and then indirectly driving the handling robot 12 and the handled goods to adjust in the Y-axis direction. This process can be determined according to the size and weight of the handled goods, and this application is not limited.

[0037] It should be noted that at least two groups of chains 18 are provided, and are respectively provided on both sides of the stacker 1. The provision of four chains in this application is only one of the implementation methods and should not be understood as a limitation to this application.

[0038] Furthermore, maintenance racks 111 are provided on the outside of the columns 19 to facilitate maintenance of the stacker 1 by staff. A control cabinet 110 is also installed between two of the columns 19. The control cabinet 110 is used to control the entire stacker 1, such as the control of the hydraulic cylinder 16, the motor 113, and the visual sensor and the distance sensor.

[0039] Reference Figure 3 A plurality of pulleys 112 are provided at the bottom of the lower crossbeam 17. The pulleys 112 can be slidably connected to the ground rails 3 provided under the stacker 1. It should be noted that the number of pulleys 112 depends on the actual situation and is not limited in this application.

[0040] The specific operating principles of this application are as follows:

[0041] When in use, the four-column stacker 1 first moves along the double ground rails 3 to the pickup point, and the handling robot 12 walks along the robot track plate 13 to the pickup position of the pickup shelf 12. Each item is marked with a barcode, and the handling robot 12 uses visual detection technology to intelligently determine the size and weight information of the item. The two handling robots 12 use ranging sensors to reasonably adjust the distance between the two handling robots to carry out the pickup work;

[0042] After the goods are picked up, the handling robot 12 returns to the four-post stacker 1, having completed its task. The four-post stacker 1 then moves along the dual ground rails 3 to the destination row, where the stacker's lifting mechanism lifts the loading platform 14 to the destination level. At this point, the robot track plate 13 of the handling robot 12 aligns with the rails on the shelf. The two handling robots 12 are synchronously controlled to move from the robot track plate 13 on the loading platform 14 to the rail mechanism in the cargo area. The two handling robots 12 then perform a synchronous lifting action to place the long, large goods on the support base of the cargo area. The lifting mechanism of the handling robot 12 then retracts, and the handling robot 12 returns to the loading platform of the four-post stacker via the rails.

[0043] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A heavy-load, long, large four-column stacker handling device, comprising a stacker (1), characterized in that: The stacker (1) comprises an upper crossbeam (11), a lower crossbeam (17) and columns (19) connected at four corner positions of the two, a loading platform (14) is provided between the upper crossbeam (11) and the lower crossbeam (17), and two groups of handling robots (12) with adjustable horizontal spacing are installed on the loading platform (14); a vertical driving component for driving the loading platform (14) to adjust up and down is installed on the column (19).

2. The heavy-load, long, large four-column stacker handling equipment according to claim 1, characterized in that: The bottoms of the two groups of transport robots (12) are both equipped with robot track plates (13), and the two groups of transport robots (12) are connected by a scissor-fork assembly, which can drive the robot track plates (13) to move horizontally on the loading platform (14).

3. The heavy-load, long, large four-column stacker handling equipment according to claim 2, characterized in that: The scissor-fork assembly comprises a scissor-fork telescopic frame (15) and a hydraulic cylinder (16) mounted on the scissor-fork telescopic frame (15), wherein both ends of the scissor-fork telescopic frame (15) are movably connected to two transport robots (12).

4. The heavy-load, long, large four-column stacker handling equipment according to claim 1, characterized in that: A lifting mechanism is installed inside the transport robot (12).

5. The heavy-load, long, large four-column stacker handling equipment according to claim 1, characterized in that: A visual sensor is provided in front of the transport robot (12), and distance measuring sensors are provided on both sides.

6. The heavy-load, long, large four-column stacker handling equipment according to claim 1, characterized in that: A maintenance frame (111) is provided on the outside of each of the columns (19), and a control cabinet (110) is installed between two of the columns (19).

7. The heavy-load, long, large four-column stacker handling equipment according to claim 1, characterized in that: Climbing frames (114) for connecting to the vertical drive assembly are provided at both ends of the loading platform (14), wherein the climbing frames (114) are slidably connected to the slide rails provided on the inner side of the column (19).

8. The heavy-load, long, large four-column stacker handling equipment according to claim 7, characterized in that: The vertical drive assembly includes a motor (113) and a chain (18), wherein the motor (113) is installed on the top of the column (19), the motor (113) is connected to a gear, the outer side of the gear is engaged with the chain (18), and the other end of the chain (18) is connected to the climbing frame (114).

9. The heavy-load, long, large four-column stacker handling equipment according to claim 1, characterized in that: A plurality of pulleys (112) are provided at the bottom of the lower crossbeam (17), and the pulleys (112) can be slidably connected to the ground rails (3) provided below the stacker (1).

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