Stacking equipment and automated storage systems

Abstract

This application discloses a stacking device and an automated storage and retrieval system, including a first moving mechanism, a second moving mechanism, a third moving mechanism, and a material fixing mechanism. The second moving mechanism is located at the moving end of the first moving mechanism and moves along a first direction under the drive of the first moving mechanism. The third moving mechanism is located at the moving end of the second moving mechanism and moves along a second direction under the drive of the second moving mechanism. The material fixing mechanism is located at the moving end of the third moving mechanism and moves along a third direction under the drive of the third moving mechanism, used to acquire and fix materials. The first direction, the second direction, and the third direction are perpendicular to each other. This application utilizes the material fixing mechanism to acquire materials. Compared to traditional forklift picking, the material fixing mechanism can simultaneously fix the material after acquiring it, thereby improving the stability of material conveying and essentially eliminating the risk of materials falling from the forks.

Description

Technical Field

[0001] This application relates to the field of material conveying technology, specifically to a stacking device and a vertical storage system. Background Technology

[0002] Fragile materials such as glass, like screens, are typically transported to automated storage and retrieval systems (AS / RS) after production is complete. AS / RS can store multiple materials separately to prevent damage to these fragile materials during storage.

[0003] Current stacking equipment typically uses forks to lift materials, move them to the target location in the automated storage and retrieval system (AS / RS), and then place them there. The forks in current stacking equipment generally use metal plates inserted into the bottom of the material to lift it. While this fork structure facilitates insertion, the stability of the material on the forks needs improvement. Some stacking equipment incorporates two or more long, strip-shaped metal plates to increase the contact area between the forks and the bottom of the material, thus improving stability. However, when the stacking equipment moves the material, there is still a risk of it falling off the forks. Utility Model Content

[0004] This application provides a stacking device and an automated storage system to improve the problem of poor stability in material conveying by the stacking device and the risk of materials falling during the conveying process.

[0005] In a first aspect, embodiments of this application provide a stacking device, including: First moving mechanism; The second moving mechanism is located at the moving end of the first moving mechanism, so as to move along the first direction under the drive of the first moving mechanism; A third moving mechanism is provided at the moving end of the second moving mechanism to move along a second direction under the drive of the second moving mechanism; A material fixing mechanism is provided at the moving end of the third moving mechanism, and moves along a third direction under the drive of the third moving mechanism to obtain and fix the material; The first direction, the second direction, and the third direction are perpendicular to each other.

[0006] Optionally, the material fixing mechanism includes a material picking plate frame and a clamping assembly. The material picking plate frame is mounted on the moving end of the third moving mechanism. The driving part of the clamping assembly is located below the material picking plate frame, and the clamping part of the clamping assembly is located on the material picking plate frame. The driving part of the clamping assembly is connected to the clamping part and is used to drive the clamping part to move so as to clamp or release the material.

[0007] Optionally, the clamping assembly includes a clamping drive motor, a first connecting rod, two second connecting rods, two limiting guide rails, and two moving blocks. The clamping drive motor is located below the material picking plate frame, and its output end extends through the material picking plate frame to above it. The center of the first connecting rod is connected to the output end of the clamping drive motor, so that the first connecting rod can rotate with the output end of the clamping drive motor. The two second connecting rods are respectively hinged to both ends of the first connecting rod. One end of the second connecting rod away from the first connecting rod is rotatably connected to one of the moving blocks, and the other end of the second connecting rod away from the first connecting rod is rotatably connected to the other moving block. The two limiting guide rails are respectively arranged opposite to each other on both sides of the first connecting rod, and one moving block slides in cooperation with one limiting guide rail.

[0008] Optionally, the movable block and the second connecting rod are connected by a connecting bearing, and the portion of the connecting bearing located between the movable block and the second connecting rod is fitted with a snap-fit ​​ring, which is adapted to snap-fit ​​the snap-fit ​​interface of the material.

[0009] Optionally, the clamping assembly has a clamping state and a releasing state. When the clamping assembly is in the clamping state, the length direction of the first connecting rod forms an angle with the linear guiding direction of the limiting guide rail, and the two second connecting rods are parallel to each other. The two moving blocks are respectively located at the first position of the corresponding limiting guide rail. When the clamping assembly is in the released state, the length direction of the first link is parallel to the linear guiding direction of the limiting guide rail, and the length directions of the two second links are on the same straight line, and the two moving blocks are respectively located at the second position of the corresponding limiting guide rail. Wherein, the distance between the two moving blocks at the first position is less than the distance between the two moving blocks at the second position.

[0010] Optionally, a sensing plate is provided on one side of the moving block, and two first proximity sensors are provided on the material picking plate frame. The two first proximity sensors are respectively located on one side of the two moving blocks, and the sensing end of one of the first proximity sensors is located on the moving path of one of the sensing plates. One of the first proximity sensors is positioned close to the first position, and the other of the first proximity sensors is positioned close to the second position.

[0011] Optionally, the material fixing mechanism further includes two tension springs, one end of which is connected to one of the moving blocks and the other end of which is connected to the material picking plate frame, and the other end of which is connected to another moving block and the other end of which is connected to the material picking plate frame, and both tension springs are always in a stretched state.

[0012] Optionally, the material receiving plate is provided with a second proximity sensor on each of the two sides along the third direction. The second proximity sensor is used to detect whether the workstation for storing the material is in an idle state.

[0013] Optionally, the material picking plate is provided with a material proximity switch, which is signal-connected to the clamping drive motor and is used to detect the position of the material and start and stop the clamping drive motor according to the position of the material.

[0014] Secondly, embodiments of this application provide an automated storage system, including the stacking device described in the first aspect.

[0015] Therefore, the embodiments of this application utilize a first moving mechanism, a second moving mechanism, and a third moving mechanism to drive the material fixing mechanism to move upwards in the first, second, and third directions. These three directions are perpendicular to each other, forming a three-dimensional structure, enabling the material fixing mechanism to move in this three-dimensional direction and complete material picking and unloading. Furthermore, by using the material fixing mechanism to pick up material, compared to traditional forklift picking, the material fixing mechanism can simultaneously fix the material after picking it up, thereby improving the stability of material conveying and essentially eliminating the risk of material falling from the forks. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0017] Figure 1 This is a schematic diagram of the structure of a stacking device provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a material fixing mechanism in a stacking device from a first perspective, provided in an embodiment of this application. Figure 3 This is a schematic diagram of the material fixing mechanism in a stacking device from a second perspective, provided as an embodiment of this application. Figure 4 This is a schematic diagram of the material fixing mechanism in a stacking device from a third-person perspective, provided as an embodiment of this application. Figure 5 This is a schematic diagram of the structure of the first moving mechanism in a stacking device from a fourth perspective, provided in an embodiment of this application. Figure 6 This is a schematic diagram of the structure of the first moving mechanism in a stacking device from a fifth perspective, provided in an embodiment of this application. Figure 7 This is a schematic diagram of the structure of the second moving mechanism in a stacking device provided in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of an auxiliary guide beam in a stacking device provided in an embodiment of this application.

[0018] Explanation of reference numerals in the attached figures: 1. First moving mechanism; 11. First guide rail; 12. First moving motor; 13. First moving slider; 14. First moving gear; 15. First rack; 2. Second moving mechanism; 21. Second guide rail; 22. Second moving motor; 23. Second moving slider; 24. Second moving gear; 25. Second rack; 26. Support frame; 27. Roller; 3. Third moving mechanism; 4. Material fixing mechanism; 41. Material picking plate frame; 42. Clamping assembly; 421. Clamping drive motor; 422. First connecting rod; 423. Second connecting rod; 424. Limiting guide rail; 425. Moving block; 43. Sensing plate; 44. First proximity sensor; 45. Second proximity sensor; 46. Tension spring; 47. Material proximity switch; 48. Snap-fit ​​ring; 5. Electrical control cabinet; 6. Auxiliary guide beam; 61. Buffer pad. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or specifying the number of technical features indicated. Therefore, features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0021] Please see Figures 1 to 8This application provides a stacking device, including a first moving mechanism 1, a second moving mechanism 2, a third moving mechanism 3, and a material fixing mechanism 4. The second moving mechanism 2 is located at the moving end of the first moving mechanism 1 and moves along a first direction under the drive of the first moving mechanism 1. The third moving mechanism 3 is located at the moving end of the second moving mechanism 2 and moves along a second direction under the drive of the second moving mechanism 2. The material fixing mechanism 4 is located at the moving end of the third moving mechanism 3 and moves along a third direction under the drive of the third moving mechanism 3, for acquiring and fixing materials. The first direction, the second direction, and the third direction are perpendicular to each other.

[0022] The technical solution provided in this application utilizes a first moving mechanism 1, a second moving mechanism 2, and a third moving mechanism 3 to drive a material fixing mechanism 4 to move upwards in a first direction, a second direction, and a third direction. These three directions are perpendicular to each other, forming a three-dimensional structure, enabling the material fixing mechanism 4 to move in this three-dimensional direction and complete material picking and unloading. Furthermore, by using the material fixing mechanism 4 to pick up material, compared to traditional forklift picking, the material fixing mechanism 4 can simultaneously fix the material after picking it up, thereby improving the stability of material conveying and essentially eliminating the risk of material falling from the forks.

[0023] In some embodiments, see Figure 3 The material fixing mechanism 4 includes a material picking plate frame 41 and a clamping assembly 42. The material picking plate frame 41 is located at the moving end of the third moving mechanism 3. The driving part of the clamping assembly 42 is located below the material picking plate frame 41, and the clamping part of the clamping assembly 42 is located on the material picking plate frame 41. The driving part of the clamping assembly 42 is connected to the clamping part and is used to drive the clamping part to move, so as to clamp or release the material. When the stacking device needs to pick up and put down materials, the first moving mechanism 1 and the second moving mechanism 2 cooperate to transport the material fixing mechanism 4 to one side of the workstation where the material is located. Then, the third moving mechanism 3 drives the material fixing mechanism 4 to the bottom of the workstation where the material is located. Then, the second moving mechanism 2 drives the material fixing mechanism 4 to rise, thereby lifting the material from the workstation. When the material is on the material fixing mechanism 4, the clamping component 42 of the material fixing mechanism 4 will move to clamp and fix the material. Finally, the first moving mechanism 1, the second moving mechanism 2 and the third moving mechanism 3 cooperate to move the material fixing mechanism 4 to the vertical storage room for storing materials, and place the material on a workstation in the vertical storage room for storing materials.

[0024] Further, please see Figure 4The clamping assembly 42 includes a clamping drive motor 421, a first connecting rod 422, two second connecting rods 423, two limiting guide rails 424, and two moving blocks 425. A clamping drive motor 421 is located below the material picker frame 41, and its output end extends through the material picker frame 41 to above it. The center of the first connecting rod 422 is connected to the output end of the clamping drive motor 421, so that the first connecting rod 422 can rotate as the output end of the clamping drive motor 421 rotates. Two second connecting rods 423 are respectively hinged to the two ends of the first connecting rod 422. The end of one second connecting rod 423 away from the first connecting rod 422 is rotatably connected to a moving block 425, and the end of the other second connecting rod 423 away from the first connecting rod 422 is rotatably connected to another moving block 425. Two limiting guide rails 424 are respectively arranged opposite to each other on both sides of the first connecting rod 422, and one moving block 425 slides in cooperation with one limiting guide rail 424. The initial state of the first connecting rod 422 is that its length direction is consistent with the third direction. When the clamping drive motor 421 starts, the first connecting rod 422 rotates along with the output shaft of the clamping drive motor 421. At this time, the length direction of the first connecting rod 422 forms an angle with the third direction. The two ends of the first connecting rod 422 drive the two second connecting rods 423 to move, so that the two second connecting rods 423, which were originally located on the same straight line in the third direction, become two second connecting rods 423 facing each other and parallel, and the length direction of the second connecting rod 423 forms an angle with the second direction. As the two second connecting rods 423 move toward each other, the end of the second connecting rod 423 away from the first connecting rod 422 pulls the moving block 425 toward the direction of the first connecting rod 422. And because of the function of the limit guide rail 424, the moving block 425 can only move linearly along the third direction. The two moving blocks 425 move toward each other, reducing the distance between the two moving blocks 425, so that the two moving blocks 425 can clamp the material located between the two moving blocks 425.

[0025] Furthermore, the movable block 425 and the second connecting rod 423 are connected by a connecting bearing. The portion of the connecting bearing located between the movable block 425 and the second connecting rod 423 is fitted with a snap-fit ​​ring 48, which engages with the material's snap-fit ​​interface. Specifically, when the clamping drive motor 421 starts, it transmits the motion of the clamping drive motor 421 to the second connecting rod 423 via the first connecting rod 422. The second connecting rod 423 then pulls the movable block 425 toward the first connecting rod 422. At this time, the connecting bearing also moves toward the first connecting rod 422 until the snap-fit ​​ring 48 on the connecting bearing engages with the material's snap-fit ​​interface, thus completing the clamping and fixing of the material.

[0026] In some embodiments, the clamping assembly 42 has a clamping state and a releasing state. When the clamping assembly 42 is in the clamping state, the length direction of the first connecting rod 422 forms an angle with the linear guiding direction of the limiting guide rail 424, and the two second connecting rods 423 are parallel. The two moving blocks 425 are respectively located at the first position of the corresponding limiting guide rail 424. At this time, the distance between the two moving blocks 425 is the largest, so as to make the maximum distance convenient for placing the material on the picking plate.

[0027] When the clamping assembly 42 is in the released state, the length direction of the first connecting rod 422 is parallel to the linear guiding direction of the limiting guide rail 424, and the length directions of the two second connecting rods 423 are on the same straight line. The two moving blocks 425 are respectively located in the second position of the corresponding limiting guide rail 424. The interval between the two moving blocks 425 in the first position is less than the interval between the two moving blocks 425 in the second position, so that when the two moving blocks 425 are in the second position, they can clamp the material. Specifically, the clamping can be achieved by engaging the snap ring 48 described in the previous embodiment with the snap interface of the material, thereby clamping the material.

[0028] In some embodiments, see Figure 3 and Figure 4 A sensing plate 43 is provided on one side of the moving block 425, and two first proximity sensors 44 are provided on the material handling plate 41. The two first proximity sensors 44 are respectively located on one side of the two moving blocks 425, and the sensing end of one first proximity sensor 44 is located on the moving path of one sensing plate 43. When the moving block 425 moves to a specific position, the sensing plate 43 will trigger the first proximity sensor 44, shut down the clamping drive motor 421, and stop the moving block 425 from moving, thus playing a limiting role. Among them, one first proximity sensor 44 is set close to the first position, and the other first proximity sensor 44 is set close to the second position, so that the positioning of the two moving blocks 425 at two different positions can be achieved with the fewest possible number of first proximity sensors 44. When the two moving blocks 425 move to their respective first positions, the sensing plate 43 of one of the moving blocks 425 moves to the detection end of the first proximity sensor 44 near the first position and triggers the first proximity sensor 44. At this time, the clamping drive motor 421 stops running after receiving the signal from the first proximity sensor 44, thus limiting the movement of the moving block 425 and preventing damage to components. When the two moving blocks 425 move to their respective second positions, the sensing plate 43 of one of the moving blocks 425 moves to the detection end of the first proximity sensor 44 near the second position and triggers the first proximity sensor 44. At this time, the clamping drive motor 421 stops running after receiving the signal from the first proximity sensor 44, thus limiting the movement of the moving block 425 in the second position and preventing damage to some components due to the continuous operation of the clamping drive motor 421.

[0029] In some embodiments, see Figure 3 and Figure 4 The material fixing mechanism 4 also includes two tension springs 46. One end of one tension spring 46 is connected to a moving block 425, and the other end is connected to the material picking plate 41. One end of the other tension spring 46 is connected to another moving block 425, and the other end is connected to the material picking plate 41. Both tension springs 46 are always in a stretched state. By setting the tension springs 46, the tension springs 46 always exert a pulling force on the moving block 425. Since the end of the tension spring 46 fixed to the material picking plate 41 is located between the first connecting rod 422 and the moving block 425, the direction of the pulling force exerted by the tension spring 46 on the moving block 425 is always towards the first connecting rod 422. That is, the moving block 425 will always be subjected to a pulling force moving in the direction of the first connecting rod 422, thereby effectively preventing the clamping effect of the two moving blocks 425 on the material from decreasing or disappearing when the clamping drive motor 421 is damaged or there is a power outage. In addition, when the two moving blocks 425 move to the second position, so that the parts on the moving blocks 425 that are adapted to the material clamping or the snap ring 48 connected to the moving blocks 425 are adapted to the material clamping, the clamping drive motor 421 can be directly turned off. Due to the action of the tension spring 46, the material can still be kept stable and fixed by the clamping force from the moving blocks 425.

[0030] It should be noted that when the movable block 425 is in the first position, because the two second links 423 are on the same straight line along the third direction, and the moving direction of the movable block 425 is also on the same straight line as the length direction of the second links 423, even if the tension spring 46 exerts a tension on the movable block 425, the movable block 425 will not move on the limit guide rail 424 due to the action of the second links 423. It will not move along the limit guide rail until the clamping drive motor 421 starts, drives the first link 422 to rotate, and changes the direction of the second link 423.

[0031] In some embodiments, see Figure 3 and Figure 4The material handling rack 41 is equipped with second proximity sensors 45 on both sides along the third direction. The second proximity sensors 45 are used to detect whether the workstation for storing materials is in an idling state. The detection direction of the second proximity sensors 45 is the third direction. That is, when the first moving mechanism 1, the second moving mechanism 2 and the third moving mechanism 3 cooperate to send the material fixing mechanism 4 to one side of the workstation for storing materials, the workstation will be located on the side of the second proximity sensor 45 in the third direction. When the second proximity sensor 45 does not detect that there is material stored in the workstation, the third moving mechanism 3 will drive the material fixing mechanism 4 to move towards the workstation along the third direction until the material is placed on the workstation, effectively avoiding collisions between materials.

[0032] In some embodiments, see Figure 3 and Figure 4 The material pick-up plate 41 is equipped with a material proximity switch 47, which is signal-connected to the clamping drive motor 421. The material proximity switch 47 detects the position of the material and starts and stops the clamping drive motor 421 based on the material position. When the material pick-up plate 41 approaches the material, until the distance between the material and the material pick-up plate 41 reaches a distance sufficient to trigger the material proximity switch 47, the material proximity switch 47 detects that the material is now on the material pick-up plate 41, indicating that the material pick-up plate 41 has successfully picked up the material. The clamping drive motor 421 then starts, driving the clamping assembly 42 to move and complete the clamping and fixing of the material.

[0033] In some embodiments, see Figure 5 and Figure 6 The first moving mechanism 1 includes a first guide rail 11, a first moving motor 12, a first moving slider 13, a first moving gear 14, and a first rack 15. The first moving slider 13 is slidably mounted on the first guide rail 11. The first moving motor 12 is connected to the first moving slider 13, and the output end of the first moving motor 12 is connected to the first moving gear 14. The first rack 15 is located on one side of the first guide rail 11 and is parallel to the first guide rail 11. Both the first guide rail 11 and the first rack 15 extend along a first direction. The first moving gear 14 meshes with the first rack 15, so that when the first moving motor 12 is started, the first moving gear 14 rotates and, due to the meshing action of the first rack 15, moves along the extension direction of the first rack 15, thereby driving the first moving slider 13 to move along the first guide rail 11, and thus driving the second moving mechanism 2 mounted on the first moving slider 13 to move along the first direction.

[0034] In some embodiments, see Figure 7The second moving mechanism 2 includes a second guide rail 21, a second moving motor 22, a second moving slider 23, a second moving gear 24, and a second rack 25. The second moving slider 23 is slidably mounted on the second guide rail 21. The second moving motor 22 is connected to the second moving slider 23, and the output end of the second moving motor 22 is connected to the second moving gear 24. The second rack 25 is located on one side of the second guide rail 21 and is parallel to the second guide rail 21. Both the second guide rail 21 and the second rack 25 extend along a second direction. The second moving gear 24 meshes with the second rack 25, so that when the second moving motor 22 is started, the second moving gear 24 rotates and, due to the meshing action of the second rack 25, moves along the extension direction of the second rack 25, thereby driving the second moving slider 23 to move along the second guide rail 21, and thus driving the third moving mechanism 3 mounted on the second moving slider 23 to move along the second direction.

[0035] Further, please see Figure 7 and Figure 8 The second moving mechanism 2 also includes a support frame 26, which is mounted on the first moving slider 13 and extends along a second direction. One side of the support frame 26 along the first direction is used to mount a second guide rail 21. At least two rollers 27 are provided on the side of the support frame 26 away from the first moving slider 13 along the second direction, and are arranged opposite each other along a third direction. The stacking device also includes an auxiliary guide beam 6, which is located at the top of the support frame 26 along the second direction and between the two rollers 27 arranged opposite each other along the third direction. Both rollers 27 roll in engagement with the auxiliary guide beam 6. The auxiliary guide beam 6 extends along the first direction so that when the second moving mechanism 2 moves along the first direction, the top of the second moving mechanism 2 can also roll in engagement with the auxiliary guide beam 6 through the rollers 27, thereby increasing the stability of movement.

[0036] Additionally, the auxiliary guide beam 6 is provided with buffer pads 61 at both ends along the first direction, and the support frame 26 is located between the two buffer pads 61 to provide buffer protection for the support frame 26.

[0037] In some embodiments, the third moving mechanism 3 can also have the same structure as the first moving mechanism 1 or the second moving mechanism 2, that is, it can realize the movement of the material fixing mechanism 4 located on the third moving mechanism 3 in a third direction through the cooperation of a transmission structure such as a motor, gear, rack and pinion. Of course, the third moving mechanism 3 can also adopt a transmission structure of motor and worm gear, or it can directly use a linear motor to drive the material fixing mechanism 4, which will not be elaborated here.

[0038] In some embodiments, see Figure 1The stacking device also includes an electrical control cabinet 5, which contains various electrical components and wires for connecting different devices. At least some of the electrical components in the control cabinet 5 can be electrically connected to the first moving mechanism 1, the second moving mechanism 2, the third moving mechanism 3, and the material fixing mechanism 4, so that the control cabinet 5 can provide power and control signals to the first moving mechanism 1, the second moving mechanism 2, the third moving mechanism 3, and the material fixing mechanism 4. The specific structure and internal electrical structure of the control cabinet 5 are not the focus of this application, and since the control cabinet 5 is already existing equipment, its specific structure will not be described in detail here.

[0039] Embodiments of this application also provide an automated storage and retrieval system (AS / RS) including the stacking device described in any of the foregoing embodiments. Since the AS / RS has a stacking device, the AS / RS already possesses the structure and beneficial effects of the stacking device, and will not be elaborated further here.

[0040] The basic concepts have been described above. Obviously, for those skilled in the art, the detailed disclosure above is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore remain within the spirit and scope of the exemplary embodiments of this application.

[0041] Furthermore, this application uses specific terms to describe embodiments of the application. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of the application. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0042] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of the present application requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0043] For each patent, patent application, patent application publication, and other material such as articles, books, specifications, publications, and documents referenced in this application, the entire contents of that patent application are incorporated herein by reference, except for historical application documents that are inconsistent with or conflict with the content of this application, and documents that limit the broadest scope of the claims of this application (currently or subsequently appended to this application). It should be noted that if there are any inconsistencies or conflicts between the descriptions, definitions, and / or terminology used in the supplementary materials of this application and the content of this application, the descriptions, definitions, and / or terminology used in this application shall prevail.

[0044] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A stacking device, characterized in that include: First moving mechanism; The second moving mechanism is located at the moving end of the first moving mechanism, so as to move along the first direction under the drive of the first moving mechanism; A third moving mechanism is provided at the moving end of the second moving mechanism to move along a second direction under the drive of the second moving mechanism; A material fixing mechanism is provided at the moving end of the third moving mechanism, and moves along a third direction under the drive of the third moving mechanism to obtain and fix the material; The first direction, the second direction, and the third direction are perpendicular to each other.

2. The stacking device according to claim 1, characterized in that The material fixing mechanism includes a material picking plate frame and a clamping assembly. The material picking plate frame is mounted on the moving end of the third moving mechanism. The driving part of the clamping assembly is located below the material picking plate frame, and the clamping part of the clamping assembly is located on the material picking plate frame. The driving part of the clamping assembly is connected to the clamping part and is used to drive the clamping part to move so as to clamp or release the material.

3. The stacking device according to claim 2, characterized in that The clamping assembly includes a clamping drive motor, a first connecting rod, two second connecting rods, two limiting guide rails, and two moving blocks. The clamping drive motor is located below the material picking plate frame, and its output end extends through the material picking plate frame to above it. The center of the first connecting rod is connected to the output end of the clamping drive motor, so that the first connecting rod can rotate with the output end of the clamping drive motor. The two second connecting rods are respectively hinged to the two ends of the first connecting rod. The end of one second connecting rod away from the first connecting rod is rotatably connected to one of the moving blocks, and the end of the other second connecting rod away from the first connecting rod is rotatably connected to the other moving block. The two limiting guide rails are respectively arranged opposite to each other on both sides of the first connecting rod, and one moving block slides in cooperation with one limiting guide rail.

4. The stacking device according to claim 3, characterized in that The movable block and the second connecting rod are connected by a connecting bearing. The portion of the connecting bearing located between the movable block and the second connecting rod is fitted with a snap-fit ​​ring, which is adapted to snap-fit ​​the material's snap-fit ​​interface.

5. The stacking device of claim 3, wherein The clamping assembly has a clamping state and a releasing state. When the clamping assembly is in the clamping state, the length direction of the first connecting rod forms an angle with the linear guiding direction of the limiting guide rail, and the two second connecting rods are parallel to each other. The two moving blocks are respectively located at the first position of the corresponding limiting guide rail. When the clamping assembly is in the released state, the length direction of the first link is parallel to the linear guiding direction of the limiting guide rail, and the length directions of the two second links are on the same straight line, and the two moving blocks are respectively located at the second position of the corresponding limiting guide rail. Wherein, the distance between the two moving blocks at the first position is less than the distance between the two moving blocks at the second position.

6. The stacking device according to claim 5, characterized in that, A sensing plate is provided on one side of the moving block, and two first proximity sensors are provided on the material picking plate frame. The two first proximity sensors are respectively located on one side of the two moving blocks, and the sensing end of one of the first proximity sensors is located on the moving path of one of the sensing plates. One of the first proximity sensors is positioned close to the first position, and the other of the first proximity sensors is positioned close to the second position.

7. The stacking device according to claim 3, characterized in that, The material fixing mechanism also includes two tension springs. One end of one tension spring is connected to one of the moving blocks and the other end is connected to the material picking plate frame. One end of the other tension spring is connected to another moving block and the other end is connected to the material picking plate frame. Both tension springs are always in a stretched state.

8. The stacking device according to claim 3, characterized in that, The material handling plate is provided with a second proximity sensor on each of its two sides along the third direction. The second proximity sensor is used to detect whether the workstation for storing the material is in an idle state.

9. The stacking device according to claim 3, characterized in that, The material pick-up plate is equipped with a material proximity switch, which is signal-connected to the clamping drive motor. The material proximity switch is used to detect the position of the material and start and stop the clamping drive motor according to the position of the material.

10. A vertical warehouse storage system, characterized in that, Includes the stacking device as described in any one of claims 1 to 9.

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