Automatic plate stereoscopic warehouse

Abstract

The utility model provides an automatic plate stereoscopic warehouse, and belongs to the technical field of stereoscopic warehouses, the automatic plate stereoscopic warehouse comprises a conveying line, a stacking machine, a front goods shelf, a rear goods shelf, a ground guide rail and a control device, and the stacking machine comprises a frame body, a lifting frame, a walking mechanism and a lifting mechanism; the conveying line is provided with a first driving wheel, and the lifting frame is provided with a push-pull mechanism and a second driving wheel. The first driving wheel, a second driving wheel on the stacking machine and the push-pull mechanism are controlled and matched by the control device to achieve movement of the tray, the position of the tray can be stably controlled, and the stability of the in-out warehouse process is guaranteed. The push-pull mechanism can completely push the trays into the front goods shelf or the rear goods shelf. The walking mechanism driven by the gear and the rack can avoid slipping, and the supporting strength is guaranteed through the supporting wheels adjusted in the side direction. The lifting mechanism ensures that the lifting frame does not deflect by synchronously lifting the four corners of the lifting frame. And after the cutting and blanking procedures are integrated, the plate in-out warehouse efficiency and the workpiece circulation efficiency of the warehouse are improved.

Description

Technical Field

[0001] This application belongs to the field of automated warehouse technology, and more specifically, relates to an automated board storage warehouse. Background Technology

[0002] Automated storage and retrieval systems (AS / RS) for sheet metal are primarily used for the storage, retrieval, and inbound management of sheet metal, and are widely installed in various engineering machinery manufacturing companies. For large and thick sheets, due to their large size and weight, automated inbound and outbound processes can significantly reduce manpower. For example, utility model patent CN2873700Y discloses an automated storage and retrieval system for sheet metal, designed to improve the efficiency of automated storage and retrieval systems for sheet metal.

[0003] In this solution, the bottom of the pallet used to carry the sheet metal is equipped with rollers for easy transfer. However, since the rollers at the bottom of the pallet are in a free state, they are prone to tilting during transfer, resulting in low stability. For large, thick sheets, stability during the inbound and outbound process is particularly important. Furthermore, for existing automated storage and retrieval systems (AS / RS) for sheet metal, the pallet lifting and lowering process driven by the stacker crane needs to be synchronized to prevent tilting of the lifting frame on the stacker crane. In addition, for large, thick sheets, they often need to be transferred to the cutting and finishing process after being taken out of the warehouse, which is not integrated into the warehouse, leading to reduced efficiency. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this application provides an automated three-dimensional warehouse for sheet metal. While achieving automated inbound and outbound operations, the stability of the inbound and outbound processes is ensured by placing the drive wheels of the transport pallets on conveyor lines and lifting frames. Pallets can also be stably lifted and lowered on stacker cranes without tilting. Furthermore, the entire warehouse integrates cutting and blanking processes, improving the efficiency of sheet metal inbound and outbound operations and the turnover efficiency of workpieces, thus achieving partial automation of the production line.

[0005] To achieve the above objectives, the technical solution of this application provides an automated three-dimensional warehouse for sheet metal, including a conveyor line, a stacker crane, a front rack, a rear rack, a ground guide rail, and a control device. The front rack and the rear rack are arranged in parallel and spaced apart. The ground guide rail is set between the front rack and the rear rack. The stacker crane includes a frame body, a lifting frame, a traveling mechanism, and a lifting mechanism. The frame body is slidably mounted on the ground guide rail through the traveling mechanism. The lifting mechanism is mounted on the frame body. The lifting frame is vertically slidably mounted on the frame body and connected to the output end of the lifting mechanism. A goods passage is provided at the bottom of the front rack. The inlet end of the conveyor line is located on the side of the front rack away from the rear rack. The outlet end of the conveyor line extends into the goods passage. The lifting frame can be aligned with the outlet end of the conveyor line along the ground guide rail. The top of the conveyor line is provided with a first driving wheel and a first driven wheel arranged along its transmission direction. The two edges of the lifting frame facing the front rack and the rear rack are both delivery edges. Both delivery edges are equipped with a push-pull mechanism and a second driving wheel. The top of the lifting frame is also distributed with a second driven wheel. The first driving wheel, the lifting mechanism and the traveling mechanism, the second driving wheel and the push-pull mechanism are all controlled by the control device.

[0006] The control device includes common PLC controllers and computer monitoring systems (WCS) used in automated warehouses. During inbound operations, the conveyor belt, via a first drive wheel and a push-pull mechanism and second drive wheel on the lifting frame, transports pallets with sheet metal to the lifting frame. The stacker crane, through its traveling and lifting mechanisms, aligns the lifting frame with the corresponding storage location on the front or rear shelf. The second drive wheel and push-pull mechanism then fully push the pallet into the storage location. During outbound operations, the stacker crane, through its traveling and lifting mechanisms, aligns the lifting frame with the corresponding storage location on the front or rear shelf. The second drive wheel and push-pull mechanism pull the pallet out onto the lifting frame. The stacker crane, through its traveling and lifting mechanisms, aligns the lifting frame with the conveyor belt. The push-pull mechanism and second drive wheel, in conjunction with the first drive wheel, transport the pallet onto the conveyor belt for outbound transport. The entire process operates automatically under the control of the control device, achieving automated inbound and outbound operations. Since the movement of the pallet is achieved through the cooperation of the first drive wheel on the conveyor line, the second drive wheel on the lifting frame, and the push-pull mechanism, there is no need to set rollers at the bottom of the pallet. Furthermore, since the rolling of the first and second drive wheels is controlled by the control device, the position of the pallet can be stably controlled and is not easy to deviate, thus ensuring the stability of the inbound and outbound process.

[0007] Optionally, each push-pull mechanism includes a horizontal push-pull cylinder, a vertical plate, a sliding seat, a swing cylinder, a connecting shaft, a push-pull inner baffle, and a rotating shaft. Both the horizontal push-pull cylinder and the swing cylinder are controlled by a control device. The horizontal push-pull cylinder is fixedly installed on the top of the lifting frame. The sliding seat is slidably installed on the delivery edge of the lifting frame and fixedly connected to the output end of the horizontal push-pull cylinder. The horizontal push-pull cylinder can drive the sliding seat to extend beyond the delivery edge. The swing cylinder is hinged to the sliding seat, and the extension / retraction direction of the swing cylinder's output end is perpendicular to the sliding direction of the sliding seat. The connecting shaft extends laterally... The extension is mounted on the output end of the swing cylinder and hinged to the output end of the swing cylinder. The end of the connecting shaft away from the swing cylinder is fixedly connected to the inner baffle of the push-pull mechanism. The rotating shaft is rotatably mounted on the sliding seat. One end of the rotating shaft is fixedly connected to the inner baffle of the push-pull mechanism, and the other end of the rotating shaft is fixedly connected to the vertical plate, with the connection point eccentrically set with respect to the geometric center of the vertical plate. The connection point between the connecting shaft and the inner baffle of the push-pull mechanism is eccentrically set with respect to the axis of the rotating shaft. The vertical plate is located on the edge of the sliding seat away from the horizontal push-pull cylinder, and the extension direction of the rotating shaft of the vertical plate is parallel to the sliding direction of the sliding seat.

[0008] Because the rotation axis of the vertical plate is off-center from its own geometric center, the swing cylinder can drive the rotation axis to rotate through extension and retraction, realizing the erection and tilting of the vertical plate. When the vertical plate is erected, the horizontal push-pull cylinder pushes the sliding seat to make the vertical plate abut against the pallet, pushing the pallet completely into the front or rear rack. When the vertical plate is tilted, the horizontal push-pull cylinder pushes the sliding seat to make the vertical plate extend into the inside of the pallet. At this time, the rotation drive mechanism erects the vertical plate again, and the vertical plate rotates to hook the inside of the pallet. The horizontal push-pull cylinder pulls the vertical plate to pull the pallet out of the front or rear rack. During the warehousing process, when the pallet separates from the second drive wheel, due to the certain gap between the second drive wheel and the front or rear rack, a part of the pallet still protrudes outside the front or rear rack. The push-pull mechanism can completely push the pallet into the front or rear rack to avoid the pallet obstructing the operation of the stacker crane, and the push-pull mechanism can also pull out the pallet that has penetrated into the front or rear rack.

[0009] Optionally, the top of the sliding seat has a first U-shaped groove extending along its sliding direction. Two mounting plates are fixedly mounted between the opposite sidewalls of the first U-shaped groove, with the two mounting plates spaced apart from each other. A rotating shaft passes through the two mounting plates and can rotate. A swing cylinder is hinged to the bottom wall of the first U-shaped groove. Two sets of abutment rings are fixedly sleeved on the outer side of the rotating shaft, and the two sets of abutment rings abut against the opposite sidewalls of the two mounting plates. When the pallet is pushed or pulled, the force exerted by the pallet on the vertical plate can be transmitted to the mounting plates and the sliding seat through the abutment rings on the rotating shaft, thus avoiding the force being transmitted to the swing cylinder, improving loading and unloading capacity. Furthermore, the two sets of abutment rings clamp the mounting plates, further ensuring the stability of the rotating shaft.

[0010] Optionally, the output end of the swing cylinder has a laterally extending through hole, and the end of the connecting shaft away from the push-pull inner baffle passes through the through hole and is fitted with a limiting pin. This arrangement enables the swing cylinder output end to be hinged to the connecting shaft and prevents the connecting shaft from disengaging from the swing cylinder.

[0011] Optionally, the traveling mechanism includes a traveling frame, a drive motor, and two sets of roller assemblies. The traveling frame is installed at the bottom of the frame body, and the drive motor is fixedly connected to the traveling frame. The two sets of roller assemblies are respectively installed at both ends of the traveling frame. The ground guide rail includes a linear guide rail and lateral racks arranged in parallel at the bottom of the linear guide rail. Each set of roller assemblies includes a traveling gear, a movable cover, a support wheel, a pin, several adjusting bolts, and two lateral rollers. The support wheel is installed inside the movable cover. Both ends of the traveling frame are provided with mounting cavities, and the pins are horizontally fixed in the corresponding mounting cavities. Between the inner walls of the two rollers, the extension direction of the pin is perpendicular to the extension direction of the ground guide rail. The movable cover is slidably sleeved on the outside of the pin. Several adjusting bolts are screwed from the outside sides through the side wall of the mounting cavity and abut against the outer side wall of the movable cover. The bottom of the support wheel extends out of the movable cover and the mounting cavity and abuts against the top of the linear guide rail. Two lateral rollers in each roller assembly roll and abut against the two sides of the linear guide rail respectively. The output end of the drive motor is connected to at least one traveling gear in the two roller assemblies. The traveling gear meshes with the lateral rack. The drive motor is controlled by the control device.

[0012] The drive motor moves the stacker crane along the ground guide rail by driving the traveling gear along the rack, preventing slippage. Lateral rollers limit the lateral position between the traveling mechanism and the ground guide rail, preventing deviation. Support wheels support the weight of the stacker crane. The movable cover, as the mounting part of the support wheels, moves synchronously with the support wheels. By tightening the adjusting bolts on both sides, the lateral position of the movable cover and support wheels can be adjusted to ensure that the support wheels are directly above the linear guide rail, preventing skew and ensuring the stability of the stacker crane's movement and its ability to bear large, thick plates. The teeth of the lateral rack face sideways, making the axis of the traveling gear vertical. The traveling gear does not bear the weight of the stacker crane; the weight is entirely borne by the support wheels, reducing the risk of damage to the traveling gear and ensuring the stability of the stacker crane's movement.

[0013] Optionally, the system also includes a barcode sensor and several barcodes. The barcode sensor is mounted on the main frame, and the barcodes are placed on the front and rear racks, arranged along the extension direction of the ground guide rails. The barcode sensor can move and align with any barcode as the frame moves. When the stacker crane moves to the designated storage location, the barcode sensor can detect the corresponding barcode, allowing the control device to stop the stacker crane at the specific storage location.

[0014] Optionally, both ends of the ground guide rail are equipped with stops, and both ends of the traveling frame are equipped with buffers that are positioned opposite to the stops. When the stacker crane reaches the end of the ground guide rail, the buffers abut against the stops to mitigate the impact.

[0015] Optionally, the lifting mechanism includes a dual-shaft geared motor, a synchronous gear, a frequency converter, two connecting shafts, two sets of rollers, and two sets of cables. The two output ends of the dual-shaft geared motor are arranged coaxially in opposite directions, and the dual-shaft geared motor is fixedly connected to the top of the frame body. The two sets of rollers are respectively connected to the two output ends of the dual-shaft geared motor through a connecting shaft. The synchronous gear is fixedly sleeved on the outside of one of the connecting shafts. The two sets of cables are respectively wound around the outside of the two sets of rollers in the same direction. The frequency converter is connected to the dual-shaft geared motor and the frequency converter is connected to the control device.

[0016] The lifting mechanism has two sets, which are symmetrically arranged on both sides of the central axis at the top of the frame body. The synchronous gears of the two sets of lifting mechanisms mesh with each other. Fixed pulleys are provided at the four corners of the top of the frame body. The ends of the four cables in the two sets of lifting mechanisms that are away from the drums pass around a fixed pulley and are fixedly connected to the four corners of the lifting frame.

[0017] Two dual-axis geared motors drive four sets of rollers to rotate. Four cables are symmetrically arranged at the top of the main frame, and each cable is connected to one of the four corners of the lifting frame, ensuring that the force on each cable is the same. The two lifting mechanisms are powered by two sets of dual-axis geared motors, which provides more sufficient power compared to using a single motor. This is suitable for lifting heavy goods. The two lifting mechanisms are meshed with synchronous gears, ensuring the synchronicity of their lifting and preventing the lifting frame from tilting. In each lifting mechanism, compared to using a single-axis geared motor to drive the rollers through a single drive shaft, the dual-axis geared motors can more evenly distribute power from both sides to the two rollers. The force on the two rollers and the two connecting shafts is more similar, further ensuring the consistency of the lifting frame's four corners during lifting.

[0018] Optionally, the main frame has longitudinal beams located at the four corners, and the outer wall of the lifting frame is provided with roller sets corresponding to each longitudinal beam. Each roller set includes two rollers that roll and clamp on both sides of the corresponding longitudinal beam. The lifting frame clamps the four longitudinal beams through the roller sets and slides along the longitudinal beams to ensure the stability of the lifting.

[0019] Optionally, it also includes an electromagnetic crane, an overhead track, an AGV trolley, and a cutting machine. The cutting machine is located on the side of the conveyor line away from the front shelf. The overhead track is set at the top between the inlet end of the conveyor line and the cutting machine. The electromagnetic crane is slidably mounted on the overhead track, and the AGV trolley is movably mounted at the cutting machine. Both the electromagnetic crane and the cutting machine are controlled by a control device, which also includes a PDA. The AGV trolley is controlled by the PDA.

[0020] For large, thick plates, they often need to be transferred to the cutting process after leaving the warehouse. Once the plates are transported to the conveyor line, they can be directly transported to the cutting machine by an electromagnetic crane. Then, an AGV (Automated Guided Vehicle) moves to the vicinity of the cutting machine, and the electromagnetic crane moves the cut workpieces to the AGV for transport, thus completing the transfer of the workpieces. At this point, the entire automated sheet metal warehouse can achieve automatic warehousing, warehousing, cutting, and transfer, improving the efficiency of sheet metal entry and exit and the flow of workpieces, achieving automation of a portion of the production line.

[0021] The advantages of the technical solution in this application compared to the prior art are as follows:

[0022] Pallet movement is achieved through the coordinated action of a first drive wheel on the conveyor line, a second drive wheel on the stacker crane, and a push-pull mechanism, eliminating the need for rollers on the bottom of the pallet. Since the rolling of the first and second drive wheels is controlled by a control device, the pallet's position can be stably controlled, preventing skewing and ensuring stability during the inbound and outbound process. The push-pull mechanism can completely push the pallet into the front or rear rack, preventing it from interfering with the stacker crane's movement. Furthermore, the push-pull mechanism can pull pallets out of the front and rear racks. The gear and rack driven walking mechanism prevents slippage, and laterally adjustable support wheels ensure support strength. The lifting mechanism ensures the lifting frame does not skew by synchronously lifting the four corners. By integrating the cutting and blanking process, the warehouse improves the efficiency of sheet metal inbound and outbound operations and the turnover rate of workpieces. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the overall structure of an automated sheet metal storage warehouse.

[0025] Figure 2 for Figure 1 Schematic diagram of the three-dimensional structure at point A in the middle;

[0026] Figure 3 This is a schematic diagram of a stacker crane structure;

[0027] Figure 4 This is a schematic diagram of the lifting frame structure;

[0028] Figure 5 This is a side view of the push-pull mechanism when the vertical plate is erected.

[0029] Figure 6 A schematic diagram of the push-pull mechanism when the vertical plate tilts;

[0030] Figure 7 This is a schematic diagram of the connection structure between the vertical plate and the swing cylinder;

[0031] Figure 8 This is a schematic diagram of the walking mechanism.

[0032] Figure 9 This is a schematic diagram of the internal structure of the roller assembly;

[0033] Figure 10 This is a top view of the roller assembly structure;

[0034] Figure 11 This is a schematic diagram of the connection structure between the two sets of lifting mechanisms.

[0035] Icons: 100. Pallet; 1. Conveyor line; 101. First drive wheel; 102. First driven wheel; 2. Stacker crane; 21. Main frame; 211. Longitudinal beam; 22. Lifting frame; 221. Delivery edge; 222. Second drive wheel; 223. Second driven wheel; 224. Roller; 23. Ladder; 3. Traveling mechanism; 301. Traveling frame; 302. Drive motor; 303. Roller assembly; 304. Traveling gear; 305. Movable cover; 306. Support wheel; 307. Pin; 308. Adjusting bolt; 309. Side roller; 310. Mounting cavity; 311. Barcode sensor; 312. Buffer; 4. Lifting mechanism; 401. Dual-axis geared motor; 402. Synchronous gear; 403. Variable frequency drive 404. Connecting shaft; 405. Roller; 406. Cable; 407. Fixed pulley; 408. Coupling; 409. Bearing seat; 5. Push-pull mechanism; 501. Horizontal push-pull cylinder; 502. Vertical plate; 503. Sliding seat; 504. Swing cylinder; 505. Connecting shaft; 506. Push-pull inner baffle; 507. Rotating shaft; 508. First U-shaped groove; 509. Mounting plate; 510. Abutment ring; 511. Through hole; 512. Limit pin; 513. Second U-shaped groove; 6. Front rack; 601. Goods aisle; 7. Rear rack; 8. Ground guide rail; 801. Linear guide rail; 802. Lateral rack; 803. Stop block; 9. Electromagnetic crane; 10. Overhead guide rail; 11. AGV trolley; 12. Cutting machine. Detailed Implementation

[0036] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0037] Example:

[0038] This embodiment provides an automated three-dimensional warehouse for sheet metal, based on... Figures 1 to 4 As shown, the system includes a conveyor line 1, a stacker crane 2, a front rack 6, a rear rack 7, a ground guide rail 8, and a control device. The front rack 6 and rear rack 7 are arranged in parallel with intervals, and the ground guide rail 8 is positioned between them. The stacker crane 2 includes a frame body 21, a lifting frame 22, a traveling mechanism 3, and a lifting mechanism 4. The frame body 21 is slidably mounted on the ground guide rail 8 via the traveling mechanism 3. The stacker crane 2 moves along the ground guide rail 8 via the traveling mechanism 3 to move along the front rack 6 and rear rack 7. The lifting mechanism 4 is mounted on the frame body 21, and the lifting frame 22 is vertically slidably mounted on the frame body 21 and connected to the output end of the lifting mechanism 4. The lifting frame 22 is used to carry pallets 100, on which materials are placed. The lifting mechanism 4 drives the lifting frame 22 to move up and down to align with the corresponding storage location on the front rack 6 or rear rack 7. A goods passage 601 is provided at the bottom of the front shelf 6. The inlet end of the conveyor line 1 is located on the side of the front shelf 6 away from the rear shelf 7, and the outlet end of the conveyor line 1 extends into the goods passage 601. The lifting frame 22 can be aligned with the outlet end of the conveyor line 1 along the ground guide rail 8. The pallet 100 is transported from the conveyor line 1 through the goods passage 601 to the lifting frame 22. The top of the conveyor line 1 is provided with a first drive wheel 101 and a first driven wheel 102 arranged along its transmission direction. The two edges of the lifting frame 22 facing the front shelf 6 and the rear shelf 7 are both delivery edges 221. The delivery edges 221 are the edges where the pallet 100 moves out of or into the lifting frame 22. Both delivery edges 221 are equipped with a push-pull mechanism 5 and a second drive wheel 222. The top of the lifting frame 22 is also provided with a second driven wheel 223. The first drive wheel 101, the lifting mechanism 4 and the traveling mechanism 3, the second drive wheel 222 and the push-pull mechanism 5 are all controlled by a control device.

[0039] The control device includes common PLC controllers and computer monitoring systems (WCS) used in automated warehouses. Upon receiving the pallet 100 with its plates, it is placed at the inlet end of conveyor line 1. Conveyor line 1, controlled by the control device, uses a first drive wheel 101 to move the pallet 100 through the cargo aisle 601 and transport it to the lifting frame 22 aligned with the cargo aisle 601. During transport, the first driven wheel 102 ensures the stability of the pallet 100. Conveyor line 1, through the first drive wheel 101 and in conjunction with the push-pull mechanism 5 and the second drive wheel 222 on the lifting frame 22, transports the pallet 100 with its plates from the delivery edge 221 to the lifting frame 22. The stacker crane 2, through the traveling mechanism 3 and the lifting mechanism 4, aligns the lifting frame 22 with the corresponding storage location on the front shelf 6 or rear shelf 7, and then uses the second drive wheel 222 and the push-pull mechanism 5 to fully push the pallet 100 into the storage location. The second driven wheel 223 ensures the stability of the pallet 100 during transport and support on the lifting frame 22. During outbound processing, the stacker crane 2, via the traveling mechanism 3 and the lifting mechanism 4, aligns the lifting frame 22 with the corresponding storage location on the front shelf 6 or rear shelf 7. The second drive wheel 222 and the push-pull mechanism 5 pull the pallet 100 onto the lifting frame 22. The stacker crane 2, via the traveling mechanism 3 and the lifting mechanism 4, aligns the lifting frame 22 with the conveyor line 1. The push-pull mechanism 5 and the second drive wheel 222, in conjunction with the first drive wheel 101, transport the pallet 100 onto the conveyor line 1 for outbound processing. The entire process operates automatically under the control of the control device, achieving automated inbound and outbound operations. Because the movement of the pallet 100 is achieved through the cooperation of the first drive wheel 101 on the conveyor line 1, the second drive wheel 222 on the lifting frame 22, and the push-pull mechanism 5, there is no need to install rollers at the bottom of the pallet 100. Furthermore, since the rolling of the first drive wheel 101 and the second drive wheel 222 is controlled by the control device, the position of the pallet 100 can be stably controlled, preventing tilting and ensuring the stability of the inbound and outbound process.

[0040] Among them, based on Figures 4 to 7As shown, each push-pull mechanism 5 includes a horizontal push-pull cylinder 501, a vertical plate 502, a sliding seat 503, a swing cylinder 504, a connecting shaft 505, a push-pull inner baffle 506, and a rotating shaft 507. Both the horizontal push-pull cylinder 501 and the swing cylinder 504 are controlled by a control device. The horizontal push-pull cylinder 501 is fixedly installed on the top of the lifting frame 22. The sliding seat 503 is slidably installed on the delivery edge 221 of the lifting frame 22 and fixedly connected to the output end of the horizontal push-pull cylinder 501. The horizontal push-pull cylinder 501 can drive the sliding seat 503 to extend beyond the delivery edge 221. The swing cylinder 504 is hinged to the sliding seat 503, and the extension / retraction direction of the output end of the swing cylinder 504 is perpendicular to the sliding direction of the sliding seat 503. The connecting shaft 505 extends laterally to the output end of the swing cylinder 504 and is hinged to the output end of the swing cylinder 504. The end of the connecting shaft 505 away from the swing cylinder 504 is fixedly connected to the push-pull inner baffle 506. The rotating shaft 507 is rotatably mounted on the sliding seat 503. One end of the rotating shaft 507 is fixedly connected to the push-pull inner baffle 506, and the other end of the rotating shaft 507 is fixedly connected to the vertical plate 502. The connection point is eccentrically set with respect to the geometric center of the vertical plate 502. The connection point between the connecting shaft 505 and the push-pull inner baffle 506 is eccentrically set with respect to the axis of the rotating shaft 507. The vertical plate 502 is located on the edge of the sliding seat 503 away from the horizontal push-pull cylinder 501, and the extension direction of the rotating shaft of the vertical plate 502 is parallel to the sliding direction of the sliding seat 503.

[0041] In use, the connection point between the connecting shaft 505 and the push-pull inner baffle 506 is eccentrically positioned with respect to the axis of the rotating shaft 507. The connecting shaft 505, the push-pull inner baffle 506, and the rotating shaft 507 form a Z-shaped structure. The output end of the swing cylinder 504 can be extended or retracted, allowing the rotating shaft 507 to rotate via the connecting shaft 505 and the push-pull inner baffle 506. Furthermore, since the rotating shaft 507 of the vertical plate 502 is eccentrically positioned from its own geometric center, the rotating shaft 507 causes the vertical plate 502 to stand upright and tilt. When the vertical plate 502 is upright, the horizontal push-pull cylinder 501 pushes the sliding seat 503, causing the vertical plate 502 to abut against the pallet 100, pushing the pallet 100 completely into the front shelf 6 or the rear shelf 7. When the vertical plate 502 tilts, the horizontal push-pull cylinder 501 pushes the sliding seat 503, causing the vertical plate 502 to extend into the inside of the pallet 100. Then, the rotation drive mechanism raises the vertical plate 502, which rotates and hooks onto the inside of the pallet 100. The horizontal push-pull cylinder 501 pulls the vertical plate 502 to remove the pallet 100 from the front shelf 6 or rear shelf 7. During the warehousing process, when the pallet 100 separates from the second drive wheel 222, due to a certain gap between the second drive wheel 222 and the front shelf 6 or rear shelf 7, a portion of the pallet 100 extends beyond the front shelf 6 or rear shelf 7. The push-pull mechanism 5 can completely push the pallet 100 into the front shelf 6 or rear shelf 7 to prevent the pallet 100 from obstructing the operation of the stacker crane 2, and the push-pull mechanism 5 can also pull out the pallet 100 that has extended into the front shelf 6 or rear shelf 7.

[0042] The sliding seat 503 has a first U-shaped groove 508 extending along its sliding direction at its top. Two mounting plates 509 are fixedly mounted between the opposite sidewalls of the first U-shaped groove 508, spaced apart from each other. A rotating shaft 507 passes through the two mounting plates 509 and is rotatable. A swing cylinder 504 is hinged to the bottom wall of the first U-shaped groove 508. Two sets of abutment rings 510 are fixedly sleeved on the outer side of the rotating shaft 507, and the two sets of abutment rings 510 abut against the opposite sidewalls of the two mounting plates 509. The two mounting plates 509 not only mount the rotating shaft 507 but also prevent the rotating shaft 507 from tilting. When the pallet 100 is pushed or pulled, the force applied by the pallet 100 to the vertical plate 502 can be transmitted to the mounting plate 509 and the sliding seat 503 through the abutment ring 510 on the rotating shaft 507, so as to avoid the force being transmitted to the swing cylinder 504, thereby improving the loading and unloading capacity. Furthermore, the two sets of abutment rings 510 clamp the mounting plate 509, further ensuring the stability of the rotating shaft 507. The output end of the swing cylinder 504 has a laterally extending through hole 511. The end of the connecting shaft 505 away from the inner baffle 506 passes through the through hole 511 and is fitted with a limiting pin 512. This arrangement enables the hinge connection between the output end of the swing cylinder 504 and the connecting shaft 505, and prevents the connecting shaft 505 from disengaging from the swing cylinder 504. In this embodiment, the top of the lifting frame 22 is also provided with a second U-shaped groove 513, within which the sliding seat 503 slides to ensure its stability.

[0043] Furthermore, based on Figure 3 , Figure 8 , Figure 9 and Figure 10As shown, the walking mechanism 3 includes a walking frame 301, a drive motor 302, and two sets of roller assemblies 303. The walking frame 301 is installed at the bottom of the frame body 21, and the drive motor 302 is fixedly connected to the walking frame 301. The two sets of roller assemblies 303 are respectively installed at both ends of the walking frame 301. The ground guide rail 8 includes a linear guide rail 801 and lateral racks 802 arranged in parallel at the bottom of the linear guide rail 801. Each set of roller assemblies 303 includes a walking gear 304, a movable cover 305, a support wheel 306, a pin 307, several adjusting bolts 308, and two lateral rollers 309. The support wheel 306 is installed inside the movable cover 305. Both ends of the walking frame 301 are provided with mounting cavities 310. The pin 307 is horizontally fixed between the corresponding inner walls of the mounting cavities 310, and the extension direction of the pin 307 is perpendicular to the extension direction of the ground guide rail 8. The movable cover 305 is slidably sleeved on the outside of the pin 307. Several adjusting bolts 308 are screwed from both sides through the side wall of the mounting cavity 310 and abut against the outer side wall of the movable cover 305. The bottom of the support wheel 306 extends out of the movable cover 305 and the mounting cavity 310 and abuts against the top of the linear guide rail 801. Two lateral rollers 309 in each set of roller assemblies 303 roll against both sides of the linear guide rail 801 respectively. The output end of the drive motor 302 is connected to at least one traveling gear 304 in the two sets of roller assemblies 303. The traveling gear 304 meshes with the lateral rack 802. The drive motor 302 is controlled by a control device.

[0044] In this embodiment, the output end of the drive motor 302 is connected to the traveling gear 304 in one of the roller assemblies 303, or there are two drive motors 302, each connected to the traveling gear 304 in one of the roller assemblies 303. Alternatively, there is only one drive motor 302, which simultaneously drives two traveling gears 304 to rotate via a synchronous belt or other conventional method. The drive motor 302 drives the traveling gear 304 to move along the lateral rack 802, thereby enabling the stacker crane 2 to move along the ground guide rail 8 and preventing slippage between the stacker crane 2 and the ground guide rail 8. The lateral rollers 309 are used to limit the lateral position between the traveling mechanism 3 and the ground guide rail 8 to prevent deviation. The support wheels 306 are used to support the weight of the stacker crane 2. The teeth of the lateral rack 802 face to the side, which makes the axis of the traveling gear 304 vertical. The traveling gear 304 is not used to bear the weight of the stacker 2. The weight of the stacker 2 is entirely borne by the support wheel 306. The traveling gear 304 is not easily damaged, which ensures the stability of the movement of the stacker 2.

[0045] The movable cover 305, serving as the mounting part of the support wheel 306, slides synchronously along the pin 307 with the support wheel 306. By tightening the adjusting bolts 308 on both sides, the lateral positions of the movable cover 305 and the support wheel 306 can be adjusted to ensure that the support wheel 306 is directly above the linear guide rail 801, preventing the support wheel 306 from tilting, ensuring the stability of the stacker crane 2's movement, and guaranteeing its load-bearing capacity for large, thick plates. In this embodiment, there are two pins 307, located on both sides of the support wheel 306's rotating shaft. Of course, to ensure connection stability, the number of pins 307 can be increased. Simultaneously, in this embodiment, there are four adjusting bolts 308, arranged in pairs on both sides of the movable cover 305, pressing and fixing the movable cover 305 in place. Of course, the number of pins 307 can also be set to six or eight, etc., to increase the stability of the support.

[0046] Furthermore, it also includes a barcode sensor 311 and several barcodes (not shown in the attached diagram). The barcode sensor 311 is installed on the frame body 21, and the several barcodes are set on the front shelf 6 and the rear shelf 7, arranged along the extension direction of the ground guide rail 8. The barcode sensor 311 can move and align with any barcode as the frame body 21 moves. When the stacker crane 2 moves to the designated storage location, the barcode sensor 311 can detect the corresponding barcode, so that the stacker crane 2 can be stopped at the specific storage location through the control device. At the same time, both ends of the ground guide rail 8 are provided with stops 803, and both ends of the traveling frame 301 are equipped with buffers 312 that are opposite to the stops 803. When the stacker crane 2 runs to the end of the ground guide rail 8, the buffers 312 abut against the stops 803 to reduce the impact.

[0047] Furthermore, based on Figure 3 , Figure 4 and Figure 11As shown, the lifting mechanism 4 includes a dual-axis geared motor 401, a synchronous gear 402, a frequency converter 403, two connecting shafts 404, two sets of rollers 405, and two sets of cables 406. The two output ends of the dual-axis geared motor 401 are coaxially arranged in opposite directions, and the dual-axis geared motor 401 is fixedly connected to the top of the frame body 21. The two sets of rollers 405 are respectively connected to the two output ends of the dual-axis geared motor 401 through a connecting shaft 404. The synchronous gear 402 is fixedly sleeved on the outside of one of the connecting shafts 404. The two sets of cables 406 are wound around the outside of the two sets of rollers 405 in the same direction. The frequency converter 403 is connected to the dual-axis geared motor 401 and to the control device. The dual-axis geared motor 401 can drive the two rollers 405 at the same height to synchronously raise and lower the cables 406. Based on this structure, there are two sets of lifting mechanisms 4. The two sets of lifting mechanisms 4 are symmetrically arranged on both sides of the central axis at the top of the frame body 21. The synchronous gears 402 of the two sets of lifting mechanisms 4 mesh with each other. Fixed pulleys 407 are provided at the four corners of the top of the frame body 21. The ends of the four cables 406 in the two sets of lifting mechanisms 4 that are away from the drum 405 pass around a fixed pulley 407 and are fixedly connected to the four corners of the lifting frame 22 respectively.

[0048] In operation, two dual-axis geared motors 401 drive four sets of rollers 405 to rotate. Four cables 406 are symmetrically arranged on the top of the frame body 21, and each cable 406 is connected to one of the four corners of the lifting frame 22, ensuring that each cable 406 experiences the same force. The two lifting mechanisms 4 are powered by two sets of dual-axis geared motors 401, which provides more sufficient power compared to using a single motor. This is suitable for lifting heavy goods. The two lifting mechanisms 4 are meshed with synchronous gears 402, ensuring the synchronicity of their lifting and preventing the lifting frame 22 from tilting. In each lifting mechanism 4, compared to using a single-axis geared motor to drive the rollers 405 through a single drive shaft, the dual-axis geared motors 401 can more evenly transmit power from both sides to the two rollers 405. The force on the two rollers 405 and the two connecting shafts 404 is more similar, further ensuring the consistency of the lifting of the four corners of the lifting frame 22.

[0049] In this embodiment, the lifting mechanism 4 also includes a coupling 408, a bearing (not shown in the attached drawings), and a bearing seat 409. The output end of the dual-shaft reduction motor 401, the connecting shaft 404, and the roller 405 are sequentially connected via the coupling 408. The roller 405 is rotatably mounted on the frame body 21 via the bearing and the bearing seat 409, thus achieving the overall mounting and connection of the lifting mechanism 4. Simultaneously, a ladder 23 is also provided on the side of the frame body 21 to facilitate the installation and maintenance of the lifting mechanism 4.

[0050] Furthermore, the frame body 21 has longitudinal beams 211 located at the four corners, and the outer wall of the lifting frame 22 is provided with roller sets 224 corresponding to each longitudinal beam 211. Each set of rollers 224 includes two rollers 224 that roll and clamp on both sides of the corresponding longitudinal beam 211. In this case, the vertical guide rail serves both as the track for the lifting frame 22 to move up and down and as the support structure for the frame body 21. The lifting frame 22 clamps the four longitudinal beams 211 through the roller sets 224 and slides along the longitudinal beams 211 to ensure the stability of the lifting.

[0051] Furthermore, based on Figure 1 As shown, the system also includes an electromagnetic crane 9, an overhead track, an AGV trolley 11, and a cutting machine 12. The cutting machine 12 is located on the side of the conveyor line 1 away from the front shelf 6. The overhead track is positioned at the top between the inlet end of the conveyor line 1 and the cutting machine 12. The electromagnetic crane 9 is slidably mounted on the overhead track, and the AGV trolley 11 is movably mounted at the cutting machine 12. Both the electromagnetic crane 9 and the cutting machine 12 are controlled by a control device, which also includes a PDA. The AGV trolley 11 is controlled via the PDA. The cutting machine 12 can be a CNC laser cutting machine 12 or a CNC flame / plasma cutting machine 12. In this embodiment, both the CNC laser cutting machine 12 and the CNC flame / plasma cutting machine 12 are provided as a set, and they are symmetrically arranged on both sides of the overhead track.

[0052] In use, after the sheet metal is transported from the warehouse to the inlet of conveyor line 1, the operator can use the control device to transport the sheet metal to the CNC laser cutting machine 12 or the CNC flame / plasma cutting machine 12 using the electromagnetic crane 9 according to the management instructions. The sheet metal is then cut into workpieces according to the management instructions and data cutting program. The operator controls the AGV trolley 11 to the cutting machine 12 station via PDA, and uses the electromagnetic crane 9 to transfer the cut workpieces from the cutting machine 12 to the AGV trolley 11, thus realizing the transfer of workpieces.

[0053] For large, thick plates, they often need to be transferred to the cutting process after leaving the warehouse. Once the plates are transported to conveyor line 1, they can be directly transported to the cutting machine 12 for cutting via electromagnetic crane 9. Then, AGV cart 11 moves to the vicinity of the cutting machine 12, and the electromagnetic crane 9 moves the cut plates to the AGV cart 11, where they are transported to complete the transfer process. At this point, the entire automated plate storage warehouse can achieve automatic warehousing, warehousing, cutting, and transfer, improving the efficiency of plate entry and exit and the flow of workpieces, achieving automation of a partial production line.

[0054] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An automated three-dimensional warehouse for sheet metal, characterized in that: The system includes a conveyor line, a stacker crane, a front rack, a rear rack, a ground rail, and a control device. The front rack and the rear rack are arranged in parallel and spaced apart. The ground rail is located between the front rack and the rear rack. The stacker crane includes a frame body, a lifting frame, a traveling mechanism, and a lifting mechanism. The frame body is slidably mounted on the ground rail via the traveling mechanism. The lifting mechanism is mounted on the frame body. The lifting frame is vertically slidably mounted on the frame body and connected to the output end of the lifting mechanism. A goods passage is provided at the bottom of the front rack. The inlet end of the conveyor line is located away from the front rack. On one side of the rear shelf, the delivery end of the conveyor line extends into the cargo channel. The lifting frame can be aligned with the delivery end of the conveyor line along the ground guide rail. The top of the conveyor line is provided with a first driving wheel and a first driven wheel arranged along its transmission direction. The two edges of the lifting frame facing the front shelf and the rear shelf are both delivery edges. Each of the two delivery edges is equipped with a push-pull mechanism and a second driving wheel. The top of the lifting frame is also provided with a second driven wheel. The first driving wheel, the lifting mechanism, the traveling mechanism, the second driving wheel, and the push-pull mechanism are all controlled by the control device.

2. The automated panel storage warehouse as described in claim 1, characterized in that: Each push-pull mechanism includes a horizontal push-pull cylinder, a vertical plate, a sliding seat, a swing cylinder, a connecting shaft, a push-pull inner baffle, and a rotating shaft. Both the horizontal push-pull cylinder and the swing cylinder are controlled by the control device. The horizontal push-pull cylinder is fixedly installed on the top of the lifting frame. The sliding seat is slidably installed on the delivery edge of the lifting frame and fixedly connected to the output end of the horizontal push-pull cylinder. The horizontal push-pull cylinder can drive the sliding seat to extend beyond the delivery edge. The swing cylinder is hinged to the sliding seat, and the extension / retraction direction of the output end of the swing cylinder is perpendicular to the sliding direction of the sliding seat. The connecting shaft extends laterally and is arranged within the... The output end of the swing cylinder is hinged to the output end of the swing cylinder. The end of the connecting shaft away from the swing cylinder is fixedly connected to the inner push-pull baffle. The rotating shaft is rotatably mounted on the sliding seat. One end of the rotating shaft is fixedly connected to the inner push-pull baffle. The other end of the rotating shaft is fixedly connected to the vertical plate, and the connection point is eccentrically set with respect to the geometric center of the vertical plate. The connection point between the connecting shaft and the inner push-pull baffle is eccentrically set with respect to the axis of the rotating shaft. The vertical plate is located on the edge of the sliding seat away from the horizontal push-pull cylinder, and the extension direction of the rotating shaft of the vertical plate is parallel to the sliding direction of the sliding seat.

3. The automated panel storage warehouse as described in claim 2, characterized in that: The top of the sliding seat is provided with a first U-shaped groove extending along its sliding direction. Two mounting plates are fixedly mounted between the opposite sidewalls of the first U-shaped groove. The two mounting plates are spaced apart from each other. The rotating shaft passes through the two mounting plates and can rotate. The swing cylinder is hinged to the bottom wall of the first U-shaped groove. Two sets of abutment rings are fixedly sleeved on the outside of the rotating shaft. The two sets of abutment rings abut against the opposite sidewalls of the two mounting plates.

4. The automated three-dimensional warehouse for sheet metal as described in claim 2 or 3, characterized in that: The output end of the swing cylinder has a laterally extending through hole, and the end of the connecting shaft away from the push-pull inner baffle passes through the through hole and is fitted with a limiting pin.

5. The automated sheet metal storage warehouse as described in claim 1, characterized in that: The walking mechanism includes a walking frame, a drive motor, and two sets of roller assemblies. The walking frame is installed at the bottom of the main frame body, and the drive motor is fixedly connected to the walking frame. The two sets of roller assemblies are respectively installed at both ends of the walking frame. The ground guide rail includes a linear guide rail and lateral racks arranged parallel to each other at the bottom of the linear guide rail. Each set of roller assemblies includes a walking gear, a movable cover, a support wheel, a pin, several adjusting bolts, and two lateral rollers. The support wheel is installed inside the movable cover. Each end of the walking frame has a mounting cavity, and the pin is horizontally fixed between the corresponding inner walls of the mounting cavities. The pin extends perpendicularly to the ground guide rail. The movable cover is slidably fitted onto the outside of the pin. Several adjusting bolts are screwed from both external sides through the sidewalls of the mounting cavity and abut against the outer sidewalls of the movable cover. The bottom of the support wheel extends out of the movable cover and the mounting cavity and abuts against the top of the linear guide rail. Two lateral rollers in each set of roller assemblies roll against both sides of the linear guide rail. The output end of the drive motor is connected to at least one of the traveling gears in the two sets of roller assemblies. The traveling gear meshes with the lateral rack. The drive motor is controlled by the control device.

6. The automated sheet metal storage warehouse as described in claim 5, characterized in that: It also includes a barcode sensor and several barcodes. The barcode sensor is installed on the frame body, and the several barcodes are set on the front shelf and the rear shelf. The several barcodes are arranged along the extension direction of the ground guide rail. The barcode sensor can move and align with any of the barcodes as the frame body moves.

7. The automated three-dimensional warehouse for sheet metal as described in claim 5 or 6, characterized in that: Both ends of the ground guide rail are equipped with stops, and both ends of the walking frame are equipped with buffers that are positioned opposite to the stops.

8. The automated panel storage warehouse as described in claim 1, characterized in that: The lifting mechanism includes a dual-axis geared motor, a synchronous gear, a frequency converter, two connecting shafts, two sets of rollers, and two sets of cables. The two output ends of the dual-axis geared motor are arranged coaxially in opposite directions, and the dual-axis geared motor is fixedly connected to the top of the frame body. The two sets of rollers are respectively connected to the two output ends of the dual-axis geared motor through a connecting shaft. The synchronous gear is fixedly sleeved on the outside of one of the connecting shafts. The two sets of cables are respectively wound around the outside of the two sets of rollers in the same direction. The frequency converter is connected to the dual-axis geared motor and the control device. The lifting mechanism has two sets, which are symmetrically arranged on both sides of the central axis at the top of the frame body. The synchronous gears of the two sets of lifting mechanisms mesh with each other. Fixed pulleys are provided at the four corners of the top of the frame body. The ends of the four cables in the two sets of lifting mechanisms that are away from the drum pass around a fixed pulley and are fixedly connected to the four corners of the lifting frame.

9. The automated three-dimensional warehouse for sheet metal as described in claim 8, characterized in that: The main frame has longitudinal beams at the four corners, and the outer side wall of the lifting frame is provided with roller sets corresponding to each of the longitudinal beams. Each roller set includes two rollers that are rolled and clamped on both sides of the corresponding longitudinal beam.

10. The automated three-dimensional warehouse for sheet metal as described in claim 1, 2, 3, 5, 6, 8, or 9, characterized in that: It also includes an electromagnetic crane, an overhead track, an AGV trolley, and a cutting machine. The cutting machine is located on the side of the conveyor line away from the front shelf. The overhead track is set at the top between the inlet end of the conveyor line and the cutting machine. The electromagnetic crane is slidably mounted on the overhead track. The AGV trolley is movably mounted at the cutting machine. Both the electromagnetic crane and the cutting machine are controlled by the control device, which also includes a PDA. The AGV trolley is controlled by the PDA.

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