CN118877408A - Stacking and panel distribution device and three-dimensional storage system - Google Patents

Abstract

The invention discloses a stacking and board distributing device and a three-dimensional storage system, and relates to the technical field of logistics storage; the roadway vehicle can move along a first direction; the first lifting assembly is arranged on the roadway vehicle and is configured to move up and down relative to the roadway vehicle so as to adjust the up and down position of the first lifting assembly; the first telescopic fork is arranged on the first lifting assembly and is configured to be telescopic along the second direction; the second lifting assembly is arranged on the first lifting assembly and is configured to move up and down relative to the first lifting assembly so as to adjust the up and down position of the second lifting assembly; the second telescopic fork is arranged on the second lifting assembly and is positioned above the first telescopic fork, the second telescopic fork is configured to be telescopic along a second direction, and the lower end of the telescopic part of the second telescopic fork is provided with a plate taking assembly; the first direction, the second direction and the up-down direction are perpendicular. The invention can realize the discharging and the entering of the whole stack of the plates, can precisely control the discharging quantity of the plates, and improves the discharging efficiency of the plates.

Description

Stacking and panel distribution device and three-dimensional storage system

Technical Field

The present invention relates to the technical field of logistics warehousing, and in particular to a stacking and plate matching device and a three-dimensional warehousing system.

Background Art

At present, with the intensification of industrial automation, the logistics and warehousing industry has entered a period of vigorous development to meet the needs of enterprises for automatic control and management, efficiency improvement and cost reduction. As land supply becomes increasingly tight, enterprises' warehouses tend to be three-dimensionally designed to achieve the purpose of small footprint and improved space utilization. In the automated intelligent warehousing and logistics system, the aisle stacker, as its core part, can complete the cargo handling operation to realize the cargo out of the warehouse and into the warehouse.

In the field of sheet materials, the existing stacking device delivers stacks of sheets delivered by forklifts to the shelves of the stereoscopic warehouse, and can deliver the entire stack of sheets on the shelves out of the warehouse. However, in actual warehousing and logistics work, the number of sheets delivered by forklifts may be inconsistent, which results in the storage space of the shelves not being fully utilized. In addition, the number of sheets cannot be accurately controlled when the sheets are shipped out of the warehouse, and the stacking device needs to enter and exit the stereoscopic warehouse multiple times, which results in low efficiency in shipping sheets out of the warehouse.

Summary of the invention

The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a stacking and matching device and a three-dimensional storage system, which can realize the whole stack of plates to be taken out of the warehouse and put into the warehouse, and can accurately control the number of plates to be taken out of the warehouse, thereby improving the efficiency of the plates to be taken out of the warehouse.

A first aspect of the present invention provides a stacking and distributing device, which includes:

an alley vehicle capable of moving in a first direction;

A first lifting assembly is disposed on the lane vehicle and is configured to be movable in an up-and-down direction relative to the lane vehicle to adjust an up-and-down position of the first lifting assembly;

a first telescopic fork, which is disposed on the first lifting assembly and is configured to be telescopic along a second direction;

a second lifting assembly, which is disposed on the first lifting assembly and is configured to be movable in an up-down direction relative to the first lifting assembly to adjust the up-down position of the second lifting assembly;

A second telescopic fork is arranged on the second lifting assembly and is located above the first telescopic fork. The second telescopic fork is configured to be telescopic along a second direction. A plate taking assembly is provided at the lower end of the telescopic portion of the second telescopic fork. The first direction, the second direction and the up-down direction are perpendicular to each other.

The stacking and plate matching device according to the first embodiment of the present invention has at least the following beneficial effects: when it is necessary to complete the work of putting a whole stack of plates into a warehouse, the first telescopic fork can be used to fork the whole stack of plates on the feeding station, and the first telescopic fork can be moved in the first direction by the lane vehicle and the first lifting assembly can adjust the up and down position of the first telescopic fork, so that the first telescopic fork can deliver the whole stack of plates to the corresponding storage station; when it is necessary to complete the work of taking plates out of the warehouse and there is no specific requirement for the number of plates, the first telescopic fork can be used to fork the whole stack of plates on the storage station, and the lane vehicle and the first lifting assembly can be used to deliver the whole stack of plates to the corresponding unloading station. In this way, the whole stack of plates can be put into and out of the warehouse.

In addition, when it is necessary to complete the work of unloading the plates and there are specific requirements for the number of plates, the second lifting assembly can be used to adjust the upper and lower positions of the second telescopic fork, prompting the second telescopic fork to cooperate with the plate-taking assembly to place the plates on the storage station one by one on the first telescopic fork, so as to complete the neat stacking of the plates and accurately control the number of plates unloading, so as to achieve the plate matching work and improve the efficiency of unloading the plates. In addition, when it is necessary to unload a single plate, the second lifting assembly can be used to adjust the upper and lower positions of the second telescopic fork, prompting the second telescopic fork to cooperate with the plate-taking assembly to grab a single plate on the storage station and unload it.

In some embodiments of the present invention, the plate removing assembly includes a plurality of vacuum suction cups, and the upper end of each of the vacuum suction cups is connected to the telescopic portion of the second telescopic fork.

In some embodiments of the present invention, the first lifting assembly includes a first lifting frame and a first driving assembly, the first lifting frame is connected to the tunnel vehicle in an up and down sliding manner, and the first driving assembly is used to drive the first lifting frame to move up and down relative to the tunnel vehicle to control the up and down position of the first lifting frame.

In some embodiments of the present invention, the first driving component comprises:

A first rotating driving member, which is provided on the lane vehicle;

A winding drum, two of which are connected to the output end of the first rotating drive member;

Two first rope wheels are provided and are respectively arranged on two opposite sides of the first lifting frame along the first direction;

A second rope wheel, which is provided in plurality and is arranged on the tunnel vehicle, wherein the second rope wheel is arranged at a position higher than the first rope wheel;

Two steel wire ropes are provided and are respectively arranged corresponding to the two winding drums and the two first rope pulleys. One end of the steel wire rope is connected to the winding drum, and the other end of the steel wire rope is wound around the second rope pulley and the first rope pulley, and connected to the first lifting frame. The connection between the steel wire rope and the first lifting frame is higher than the first rope pulley.

In some embodiments of the present invention, the second lifting assembly includes a second lifting frame and a second driving assembly, the second lifting frame is slidably connected to the first lifting frame up and down, and the second driving assembly is used to drive the second lifting frame to move up and down relative to the first lifting frame to control the up and down position of the second lifting frame.

In some embodiments of the present invention, the second driving assembly comprises:

A second rotary driving member is provided on the second lifting frame,

a transmission shaft connected to an output end of the second rotary drive member;

Gears, the gears are provided at opposite ends of the transmission shaft;

A rack extends in the up-down direction and is disposed on the first lifting frame, and the rack is meshedly connected with the gear.

In some embodiments of the present invention, at least two first telescopic forks are provided and are spaced apart along a first direction; at least two second telescopic forks are provided and are spaced apart along the first direction, and both the first telescopic fork and the second telescopic fork are bidirectional telescopic forks.

A second aspect of the present invention provides a three-dimensional storage system, which includes:

a shelf extending in a first direction;

A panel stacking device as described in the first aspect embodiment.

The three-dimensional storage system according to the second aspect of the embodiment of the present invention has at least the following beneficial effects: by moving the aisle vehicle relative to the shelf along the first direction and adjusting the upper and lower positions of the first telescopic fork by the first lifting assembly, the first telescopic fork is enabled to pick up and place a whole stack of plates at the storage station of the shelf, thereby realizing the warehousing and warehousing of a whole stack of plates; and, when there are strict requirements on the number of plates to be taken out of the warehouse, the plates on the storage station of the shelf can be placed one by one on the first telescopic fork by the second telescopic fork, so that the plates can be neatly stacked, and the number of plates can be controlled, thereby completing the warehousing and plate matching work and improving the warehousing efficiency.

In some embodiments of the present invention, two shelves are provided and are spaced apart along the second direction to form a lane extending along the first direction, and the stacking and paneling device is configured to be movable along the lane.

In some embodiments of the present invention, the three-dimensional storage system further includes:

A plate feeding station is arranged outside the lane and located on one side of the lane along the first direction;

A plate discharging mechanism, which is arranged outside the lane and located on one side of the lane along the first direction;

A plate conveying line extends along a first direction, and the plate conveying line is arranged below any of the shelves and connected to the plate discharging mechanism.

Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description, claims and drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the three-dimensional structure of a panel stacking device in use according to an embodiment of the present invention;

FIG2 is a schematic diagram of the three-dimensional structure of a stacking and matching panel device provided in an embodiment of the present invention;

3 is a schematic diagram of the installation of the second lifting assembly, the first telescopic fork and the second telescopic fork on the first lifting frame in the stacking and distributing device for panels provided in an embodiment of the present invention;

FIG4 is a front view of a three-dimensional storage system provided according to an embodiment of the present invention;

5 is a schematic diagram of the positions of a plate feeding platform, a plate discharging mechanism and a plate conveying line relative to the shelf in a three-dimensional storage system provided according to an embodiment of the present invention.

1. The stacking and distributing device includes: 100, a stacking and distributing device; 110, a lane vehicle; 111, a driving wheel; 112, a driven wheel; 120, a track; 130, a first lifting assembly; 131, a first lifting frame; 132, a first rotating driving member; 133, a winding drum; 134, a first rope pulley; 135, a second rope pulley; 136, a wire rope; 140, a first telescopic fork; 150, a second lifting assembly; 151, a second lifting frame; 152, a second rotating driving member; 153, a transmission shaft; 154, a gear; 155, a rack; 160, a second telescopic fork; 170, a vacuum suction cup; 200, a shelf; 210, a lane; 300, a plate feeding platform; 400, a plate discharging mechanism; 500, a plate; 600, a plate conveyor line.

DETAILED DESCRIPTION

Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

In the description of the present invention, it is to be understood that a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

The following describes a stacking and panel distribution device and a three-dimensional storage system provided according to an embodiment of the present invention with reference to FIGS. 1 to 5 .

As shown in FIG. 1 to FIG. 3 , the panel stacking and distributing device 100 according to the first embodiment of the present invention can be applied to a three-dimensional storage system of panels 500 to achieve the transportation of the panels 500 .

The stacking and matching device 100 of this embodiment can realize the whole stack of plates 500 to be taken out of the warehouse and put into the warehouse, and can accurately control the number of plates 500 to be taken out of the warehouse, thereby improving the efficiency of the plates 500 to be taken out of the warehouse. The stacking and matching device 100 has a first direction, a second direction, and an up-down direction, wherein the first direction is perpendicular to the second direction and the up-down direction respectively, and the second direction is perpendicular to the up-down direction. In this embodiment, it is assumed that the first direction is the front-to-back direction, and the second direction is the left-to-right direction.

The structure of the stacking and plate dispensing device 100 of the present embodiment includes an aisle vehicle 110, a first lifting assembly 130, a first telescopic fork 140, a second lifting assembly 150, a second telescopic fork 160 and a plate taking assembly.

The lane vehicle 110 can move in the first direction. In this embodiment, as shown in FIG. 1 and FIG. 2 , a driving wheel 111 and a driven wheel 112 are provided at the bottom of the lane vehicle 110, and the central axis of the driving wheel 111 and the central axis of the driven wheel 112 both extend in the second direction. There are two driving wheels 111, which are arranged at intervals in the second direction, and the two driving wheels 111 are driven to rotate by the same motor. There are two driven wheels 112, which are arranged at intervals in the second direction, and the driving wheel 111 is located on one side of the lane vehicle 110 in the first direction, and the driven wheel 112 is located on the other side of the lane vehicle 110 in the first direction.

Tracks 120 are provided on the lower and upper sides of the lane vehicle 110. The track 120 extends in the first direction. The driving wheel 111 and the driven wheel 112 are in rolling contact with the upper surface of the lower track 120. In addition, a plurality of rotatable limiting wheels are provided on the top and bottom of the lane vehicle 110. The central axis of the limiting wheels extends in the up-down direction. For the upper track 120, limiting wheels are provided on both sides of the upper track 120 in the second direction, and the limiting wheels are in rolling contact with the track 120; for the lower track 120, limiting wheels are provided on both sides of the lower track 120 in the second direction, and the limiting wheels are in rolling contact with the track 120.

When the motor is running, the driving wheel 111 and the driven wheel 112 walk on the lower track 120, so that the lane vehicle 110 moves along the first direction. At this time, the setting of the limiting wheel can limit the lane vehicle 110 in the second direction, so that the lane vehicle 110 moves smoothly and avoids the lane vehicle 110 from shaking in the second direction. It can be understood that the structure of the lane vehicle 110 is the prior art, and this embodiment does not improve the specific structure of the lane vehicle 110. Therefore, those skilled in the art should understand its specific structure and working principle, which will not be described in detail here.

In the process of the lane vehicle 110 moving along the track 120, in order to accurately control the position of the lane vehicle 110 along the first direction, a first distance measuring component is added, and the first distance measuring component is configured to measure the distance of the lane vehicle 110 moving along the first direction. Specifically, the first distance measuring component can be an ultrasonic distance measuring sensor, a laser distance measuring sensor, an infrared distance measuring sensor or a radar sensor. The first distance measuring component and the lane vehicle 110 can be electrically connected to a control device such as an industrial control machine. The control device can control the lane vehicle 110 to stop according to the distance measurement value of the first distance measuring component, thereby accurately controlling the position of the lane vehicle 110 in the first direction.

In this embodiment, the first ranging component includes a laser ranging sensor and a reflector. The reflector is arranged on one side of the track 120 along the first direction, and the laser ranging sensor is arranged on the tunnel vehicle 110. The laser emitted by the transmitting part of the laser ranging sensor can be reflected by the reflector and received by the receiving part of the laser ranging sensor. In this way, the position of the laser ranging sensor relative to the reflector can be measured, so that the movement distance of the tunnel vehicle 110 in the first direction can be obtained, and the position of the tunnel vehicle 110 in the first direction can be accurately controlled.

In addition, both ends of the laneway vehicle 110 in the first direction are provided with anti-collision buffers, which can be made of rubber. When the laneway vehicle 110 moves too far in the first direction and is about to collide, the anti-collision buffers can play a certain impact buffering effect.

In this embodiment, the roadway vehicle 110 includes a vehicle body, a column and a crossbeam, the column extends in the up-down direction, the crossbeam extends in the first direction, two columns are provided, and are arranged at a certain interval along the first direction. The lower end of the column is fixedly connected to the vehicle body, and the opposite ends of the crossbeam are respectively fixedly connected to the upper ends of the two columns, as shown in Figures 1 and 2.

The first lifting assembly 130 is disposed on the lane vehicle 110, and the first lifting assembly 130 is configured to be able to move in the up-down direction relative to the lane vehicle 110 to adjust the up-down position of the first lifting assembly 130. The first telescopic fork 140 is disposed on the first lifting assembly 130, and the first telescopic fork 140 is configured to be able to telescope in the second direction. The first telescopic fork 140 is used to fork a whole stack of plates 500. The first telescopic fork 140 can move in the up-down direction together with the first lifting assembly 130 to adjust the height position of the first telescopic fork 140 through the first lifting assembly 130, and can move in the first direction together with the lane vehicle 110 to adjust the front and rear position of the first telescopic fork 140 through the lane vehicle 110. Therefore, through the cooperation of the lane vehicle 110 and the first lifting assembly 130, the first telescopic fork 140 can be enabled to take and place the whole stack of plates 500 in the corresponding storage station.

It is understandable that the number of plates 500 that the first telescopic fork 140 can fork is not limited, and the number of plates 500 that the first telescopic fork 140 can bear can be set according to actual conditions.

The structure of the first lifting assembly 130 includes a first lifting frame 131 and a first driving assembly.

The first lifting frame 131 is connected to the lane vehicle 110 in a sliding manner up and down. Specifically, the first lifting frame 131 can be connected to the pillar of the lane vehicle 110 in a sliding manner through a slide rail and a slider pair or a guide wheel structure, so that the first lifting frame 131 can move up and down smoothly relative to the lane vehicle 110. It can be understood that the shape of the first lifting frame 131 is not limited, and it can be formed by connecting multiple profiles in the vertical, horizontal and longitudinal directions.

The first telescopic fork 140 can be installed on the first lifting frame 131 by bolts. At least two first telescopic forks 140 are provided, and all first telescopic forks 140 are arranged at a certain interval along the first direction. The first telescopic fork 140 can be a unidirectional telescopic fork or a bidirectional telescopic fork.

In some examples, the first telescopic fork 140 is a one-way telescopic fork, and the first telescopic fork 140 can only extend along one side in the second direction. Then, a storage station can only be set on one side of the first telescopic fork 140 along the second direction. When the first telescopic fork 140 forks a whole stack of plates 500 and retracts, the first telescopic fork 140 and the whole stack of plates 500 are located within the projection area of the first lifting frame 131 along the up-down direction. At this time, the first telescopic fork 140 is in a reset state, and the lane vehicle 110 can drive the whole stack of plates 500 to move along the first direction. When the fork arm of the first telescopic fork 140 drives the whole stack of plates 500 to extend, the first telescopic fork 140 can place the whole stack of plates 500 on the storage station. At this time, the first telescopic fork 140 is in a working state, and the lane vehicle 110 cannot move along the first direction to prevent the first telescopic fork 140 from colliding with the shelf 200. Therefore, for the panel stacking device 100 , a shelf 200 with a plurality of storage stations can only be arranged on one side of the panel stacking device 100 along the second direction.

In other examples, the first telescopic fork 140 is a bidirectional telescopic fork, and the first telescopic fork 140 can be extended along two opposite sides in the second direction, respectively. Then, storage stations can be provided on both opposite sides of the first telescopic fork 140 in the second direction. When the fork arm of the first telescopic fork 140 drives the whole stack of plates 500 to extend toward one side in the second direction, the first telescopic fork 140 can place the whole stack of plates 500 on the storage station on that side; when the fork arm of the first telescopic fork 140 drives the whole stack of plates 500 to extend toward the other side in the second direction, the first telescopic fork 140 can place the whole stack of plates 500 on the storage station on that side. Therefore, for the stacking and matching plate device 100, shelves 200 with multiple storage stations can be provided on both opposite sides of the stacking and matching plate device 100 in the second direction.

In this embodiment, the first telescopic fork 140 is a bidirectional telescopic fork. Specifically, the first telescopic fork 140 is a three-section telescopic fork.

The first driving assembly is used to drive the first lifting frame 131 to move up and down relative to the lane vehicle 110 to control the up and down position of the first lifting frame 131 .

In this embodiment, as shown in FIGS. 1 to 3 , the first driving assembly includes a first rotating driving member 132 , a winding drum 133 , a first rope wheel 134 , a second rope wheel 135 and a steel wire rope 136 .

The first rotating driving member 132 is disposed on the lane vehicle 110. The first rotating driving member 132 may include a motor and a reducer, and the output shaft of the motor is connected to the input end of the reducer. The first rotating driving member 132 is used to drive the winding drum 133 to rotate forward or reversely. In this embodiment, the first rotating driving member 132 is disposed on one side of the lane vehicle 110 along the first direction.

There are two winding drums 133, and both winding drums 133 are connected to the output end of the first rotating drive member 132. The winding drum 133 is used to reel in or unreel the wire rope 136. In this embodiment, the reducer has two output ends, which are respectively connected to the two winding drums 133. The two winding drums 133 are symmetrically arranged along the second direction with respect to the reducer. When the output end of the first rotating drive member 132 rotates forward, the two winding drums 133 can rotate forward at the same time; when the output end of the first rotating drive member 132 rotates reversely, the two winding drums 133 can rotate reversely at the same time.

Two first rope wheels 134 are provided, and one of the first rope wheels 134 is provided on one side of the first lifting frame 131 along the first direction, and the other first rope wheel 134 is provided on the other side of the first lifting frame 131 along the first direction. The central axes of the two first rope wheels 134 extend along the first direction. In this embodiment, the first rope wheels 134 are installed on the first lifting frame 131 through a wheel seat, so that the first rope wheels 134 can rotate around their own central axes relative to the first lifting frame 131.

There are multiple second rope sheaves 135, and multiple second rope sheaves 135 are arranged on the tunnel vehicle 110. The setting position of the second rope sheave 135 is higher than the setting position of the first rope sheave 134. The central axes of all the second rope sheaves 135 extend along the second direction. Specifically, the second rope sheave 135 is installed on the crossbeam of the tunnel vehicle 110 through a wheel seat, and the number of second rope sheaves 135 can be set according to actual conditions. The second rope sheave 135 is used to change the direction of the wire rope 136 and provide support for the wire rope 136, so that the wire rope 136 can be wound around the first rope sheave 134, and provide tension to the first rope sheave 134 and the first lifting frame 131.

In this embodiment, two second sheaves 135 are provided on both sides of the crossbeam of the roadway vehicle 110 in the second direction. For one side of the crossbeam in the second direction, the two second sheaves 135 are both provided at one end of the crossbeam in the first direction close to the first rotary drive member 132, and the two second sheaves 135 are arranged at intervals in the first direction. For the other side of the crossbeam in the second direction, the two second sheaves 135 are respectively provided at opposite ends of the crossbeam in the first direction.

Two steel wire ropes 136 are provided, and the two steel wire ropes 136 are respectively arranged corresponding to the two winding drums 133 and the two first rope wheels 134. One end of each steel wire rope 136 is connected to the corresponding winding drum 133, and the other end of the steel wire rope 136 is wound around the corresponding second rope wheel 135 and the corresponding first rope wheel 134, and is fixedly connected to the first lifting frame 131. The connection between the steel wire rope 136 and the first lifting frame 131 is higher than the first rope wheel 134.

Specifically, one end of one of the steel wire ropes 136 is connected to one of the winding drums 133, and the other end of the steel wire rope 136 extends upward and passes around the two second rope pulleys 135 on the crossbeam of the tunnel vehicle 110, then extends downward and is wound around the first rope pulley 134 close to the first rotating drive member 132, and finally, extends upward and is fixedly connected to the crossbeam of the tunnel vehicle 110.

One end of another steel wire rope 136 is connected to another winding drum 133, and the other end of the steel wire rope 136 extends upward and passes around two second rope pulleys 135 on the crossbeam of the tunnel vehicle 110, then extends downward and is wound around the first rope pulley 134 away from the first rotating drive member 132, and finally, extends upward and is fixedly connected to the crossbeam of the tunnel vehicle 110.

Therefore, when the first rotary drive member 132 drives the two winding drums 133 to rotate forward, the steel wire rope 136 can be unwound, prompting the first lifting frame 131 to move downward; when the first rotary drive member 132 drives the two winding drums 133 to rotate reversely, the steel wire rope 136 can be reeled in, prompting the first lifting frame 131 to move upward. In this process, the first rope wheel 134 is a movable pulley, and the second rope wheel 135 is a fixed pulley.

In addition, a second distance measuring component is added, and the second distance measuring component is used to measure the distance that the first lifting frame 131 moves in the up-down direction. The structure of the second distance measuring component is the same as that of the first distance measuring component. The laser distance measuring sensor in the second distance measuring component is set on the crossbeam of the lane vehicle 110, and the reflector in the second distance measuring component is set on the top of the first lifting frame 131. The second distance measuring component and the first rotating driving member 132 are electrically connected to the control device respectively. The control device can control the first rotating driving member 132 to stop according to the distance measurement value of the second distance measuring component, thereby accurately controlling the position of the first lifting frame 131 in the up-down direction.

Of course, it is not excluded that the first drive assembly adopts other lifting and adjusting devices, such as a screw drive device.

The second lifting assembly 150 is disposed on the first lifting assembly 130 , and the second lifting assembly 150 is configured to be movable in the up-down direction relative to the first lifting assembly 130 to adjust the up-down position of the second lifting assembly 150 .

The second telescopic fork 160 is disposed on the second lifting assembly 150, and the second telescopic fork 160 is located above the first telescopic fork 140, and the second telescopic fork 160 is configured to be telescopic in the second direction. The plate taking assembly is disposed at the lower end of the telescopic portion of the second telescopic fork 160. The second telescopic fork 160 is used to drive the plate taking assembly to move in the second direction, so that the plate taking assembly can take and place the plate 500. The second telescopic fork 160 and the plate taking assembly can move along the first direction and the up-and-down direction with the first lifting frame 131, and the second telescopic fork 160 and the plate taking assembly can move up and down relative to the first lifting frame 131 and the first telescopic fork 140, and the plate taking assembly can move relative to the first lifting frame 131 in the second direction.

The second lifting assembly 150 includes a second lifting frame 151 and a second driving assembly.

The second lifting frame 151 is slidably connected to the first lifting frame 131 up and down. Specifically, the second lifting frame 151 can be slidably connected to the first lifting frame 131 through a slide rail and slider pair or a guide wheel structure, so that the second lifting frame 151 can move up and down smoothly relative to the first lifting frame 131. It can be understood that the shape of the second lifting frame 151 is not limited, and it can be formed by connecting multiple profiles in a crisscross manner.

The second telescopic fork 160 can be installed on the second lifting frame 151 by bolts, and the second telescopic fork 160 and the first telescopic fork 140 can be arranged opposite to each other in the upper and lower directions. At least two second telescopic forks 160 are provided, and all the second telescopic forks 160 are arranged at a certain interval along the first direction. The second telescopic fork 160 can be a unidirectional telescopic fork or a bidirectional telescopic fork. When the first telescopic fork 140 is a unidirectional telescopic fork, the second telescopic fork 160 is a unidirectional telescopic fork. When the first telescopic fork 140 is a bidirectional telescopic fork, the second telescopic fork 160 is a bidirectional telescopic fork.

It is understandable that the first telescopic fork 140 and the second telescopic fork 160 are prior art, and those skilled in the art should understand their specific structures and working principles, which will not be described in detail here. In this embodiment, the first telescopic fork 140 and the second telescopic fork 160 are both bidirectional telescopic forks.

The plate removal assembly includes a plurality of vacuum suction cups 170, and the upper end of each vacuum suction cup 170 is fixedly connected to the telescopic portion of the second telescopic fork 160. After the telescopic portion (i.e., the fork arm) of the second telescopic fork 160 is extended, the vacuum suction cup 170 can be used to vacuum adsorb the plate 500 on the storage station, and the second telescopic fork 160 cooperates with the second lifting assembly 150 so that the vacuum suction cup 170 stacks the plate 500 on the first telescopic fork 140. It can be understood that the number of vacuum suction cups 170 can be selected according to actual conditions, and multiple vacuum suction cups 170 can be arranged in an array. The vacuum suction cup 170 can be installed on the telescopic portion of the second telescopic fork 160 through a bracket.

Of course, it is not ruled out that the plate removal assembly is a clamping assembly, and the cylinder is used to drive two clamping blocks that are oppositely arranged to approach each other, so that the clamping blocks can firmly clamp the plate 500.

The second driving assembly is used to drive the second lifting frame 151 to move up and down relative to the first lifting frame 131 to control the up and down position of the second lifting frame 151 .

In this embodiment, as shown in FIGS. 1 to 3 , the second driving assembly includes a second rotating driving member 152 , a transmission shaft 153 , a gear 154 and a rack 155 .

The second rotary drive member 152 is disposed on the second lifting frame 151. The second rotary drive member 152 may include a motor and a reducer. The motor may be a servo motor. The second rotary drive member 152 is used to drive the transmission shaft 153 to rotate forward or reverse.

The transmission shaft 153 is fixedly connected to the output end of the second rotating driving member 152. The length of the transmission shaft 153 extends along the first direction. The transmission shaft 153 is installed on the second lifting frame 151 through a bearing seat. The transmission shaft 153 is passed through the reducer to achieve fixed connection with the output end of the reducer. Alternatively, the transmission shaft 153 includes two sub-axes, which are respectively connected to the two output ends of the reducer, and the two sub-axes are symmetrically arranged with respect to the reducer along the first direction. When the output end of the second rotating driving member 152 rotates forward, the transmission shaft 153 can rotate forward; when the output end of the second rotating driving member 152 rotates reversely, the transmission shaft 153 can rotate reversely.

Gears 154 are provided at opposite ends of the transmission shaft 153, and the gears 154 are coaxially arranged with the transmission shaft 153. The gears 154 can rotate together with the transmission shaft 153. Two racks 155 are provided, and they are respectively arranged corresponding to the two gears 154 on the transmission shaft 153. The length of the racks 155 extends in the up-down direction, and the racks 155 are arranged on the first lifting frame 131, and the racks 155 are fixed relative to the first lifting frame 131. The racks 155 are meshed and connected with the gears 154.

It is understandable that the arrangement position of the rack 155 will not hinder the up and down movement of the second lifting frame 151. When the second rotary drive member 152 drives the transmission shaft 153 to drive the two gears 154 to rotate forward, the second lifting frame 151 can drive the second telescopic fork 160 and the plate taking assembly to move upward relative to the first lifting frame 131; when the second rotary drive member 152 drives the transmission shaft 153 to drive the two gears 154 to rotate reversely, the second lifting frame 151 can drive the second telescopic fork 160 and the plate taking assembly to move downward relative to the first lifting frame 131.

In addition, a third distance measuring component can be added, and the third distance measuring component is used to measure the distance that the second lifting frame 151 moves in the up-down direction. The structure of the third distance measuring component is the same as that of the first distance measuring component. The laser distance measuring sensor in the third distance measuring component is arranged on the first lifting frame 131, and the reflector in the third distance measuring component is arranged on the second lifting frame 151. The third distance measuring component and the second rotating driving member 152 are electrically connected to the control device respectively. The control device can control the second rotating driving member 152 to stop according to the distance measurement value of the third distance measuring component, thereby accurately controlling the position of the second lifting frame 151 in the up-down direction.

Of course, it is not excluded that the structure of the second drive assembly is the same as that of the first drive assembly, or that the second drive assembly adopts other lifting and adjusting devices such as a screw drive device.

In the process of using the stacking and panelizing device 100 of the first aspect of the embodiment of the present invention, when it is necessary to complete the storage of a whole stack of plates 500, the extension action of the first telescopic fork 140 can be utilized to enable the first telescopic fork 140 to fork the whole stack of plates 500 on the feeding station, and through the resetting action of the first telescopic fork 140, the whole stack of plates 500 is located in the middle position of the first lifting frame 131 in the second direction, so as to prevent the whole stack of plates 500 from affecting the movement of the aisle vehicle 110 along the first direction.

Then, the aisle vehicle 110 is moved along the first direction to accurately adjust the positions of the first telescopic fork 140 and the entire stack of plates 500 in the first direction. Subsequently, the first lifting assembly 130 is lifted and lowered to accurately adjust the upper and lower positions of the first telescopic fork 140 and the entire stack of plates 500, so that the first telescopic fork 140 can extend and deliver the entire stack of plates 500 to the corresponding storage station, thereby realizing the storage of the entire stack of plates 500.

Of course, in order to prevent the whole stack of plates 500 from being scratched during the movement along the second direction, the first lifting assembly 130 can be used to appropriately raise the position of the first telescopic fork 140. When the first telescopic fork 140 is fully extended, the first lifting assembly 130 drives the first telescopic fork 140 to move downward, so that the whole stack of plates 500 is transferred from the supporting surface of the first telescopic fork 140 to the storage station. In addition, before the first telescopic fork 140 forks the whole stack of plates 500, the first lifting assembly 130 is used to appropriately lower the position of the first telescopic fork 140. When the first telescopic fork 140 is fully extended, the first lifting assembly 130 drives the first telescopic fork 140 to move upward, so as to lift the whole stack of plates 500, so that the whole stack of plates 500 is transferred from the feeding station to the supporting surface of the first telescopic fork 140.

When the work of removing the plates 500 from the warehouse needs to be completed and there is no specific requirement for the number of plates 500, the first telescopic fork 140 can be extended to enable the first telescopic fork 140 to fork away the entire stack of plates 500 on the storage station, and the first telescopic fork 140 can be reset to move the entire stack of plates 500 to the middle position of the first lifting frame 131 in the second direction.

Then, through the coordinated operation of the aisle vehicle 110 and the first lifting assembly 130, the positions of the first telescopic fork 140 and the entire stack of plates 500 in the first direction and the up and down directions are precisely adjusted, so that the first telescopic fork 140 can extend and deliver the entire stack of plates 500 to the corresponding unloading station, thereby realizing the unloading of the entire stack of plates 500.

When the work of taking the plates 500 out of the warehouse needs to be completed and there is a specific requirement for the number of plates 500, the second telescopic fork 160, the plate taking assembly and the second lifting assembly 150 can be used. The second lifting assembly 150 is used to adjust the upper and lower positions of the second telescopic fork 160 and the plate taking assembly, and the second telescopic fork 160 is fully extended to move the plate taking assembly along the second direction to the top of the whole stack of plates 500 at the storage station.

Then, the second lifting assembly 150 drives the second telescopic fork 160 and the plate taking assembly to move downward to a proper position, so that the plate taking assembly can fix the top plate 500 on the whole stack of plates 500. If the plate taking assembly is a vacuum suction cup 170, the vacuum suction cup 170 can fix the top plate 500 by suction through vacuum adsorption.

Next, the second lifting assembly 150 drives the second telescopic fork 160 and the plate taking assembly to move upward a certain distance, and through the resetting action of the second telescopic fork 160, the plate 500 on the plate taking assembly moves along the second direction to the middle position of the first lifting frame 131.

Subsequently, the second lifting assembly 150 drives the second telescopic fork 160 and the plate picking assembly to move downward, enabling the plate picking assembly to place the plate 500 on the supporting surface of the first telescopic fork 140. In this way, according to the plate matching situation, the plates 500 on the storage station can be placed one by one on the first telescopic fork 140 to complete the neat stacking of multiple plates 500, and the number of plates 500 out of the warehouse can be accurately controlled, thereby realizing the plate matching work and improving the efficiency of the plates 500 out of the warehouse.

In addition, if a single plate 500 needs to be taken out of the warehouse, there is no need to use the first telescopic fork 140. Only the second lifting assembly 150 is needed to adjust the upper and lower positions of the second telescopic fork 160 and the plate taking assembly, so that the plate taking assembly can grab the single plate 500 on the storage station and take it out of the warehouse.

As shown in FIG. 1 to FIG. 5 , the three-dimensional storage system according to the second embodiment of the present invention includes a shelf 200 and a stacking and panel distribution device 100 according to the first embodiment.

The length of the shelf 200 extends along the first direction. It is understandable that the shelf 200 can be formed by connecting a plurality of profiles along the vertical, horizontal and longitudinal directions. The shelf 200 is provided with a plurality of storage stations, and the plurality of storage stations are arranged along the up and down directions and the first direction respectively. The specifications of each storage station are consistent. At the storage station, the shelf 200 is provided with at least two support rods, and the support rods can be square aluminum materials. When the first telescopic fork 140 takes and places the whole stack of plates 500 at the storage station, sufficient space is left between the support rods so that the first telescopic fork 140 can be inserted.

In some embodiments, the stacking and matching device 100 and the shelf 200 are arranged in a one-to-one correspondence. The shelf 200 is arranged on one side of the stacking and matching device 100 along the second direction. If there are multiple shelves 200 and they are arranged at intervals along the second direction, a stacking and matching device 100 is matched for each shelf 200.

In other embodiments, one stacking and matching device 100 and two shelves 200 are correspondingly arranged to form a storage unit. It is understandable that the three-dimensional storage system can be provided with one or more storage units.

For each storage unit, as shown in FIG. 4 and FIG. 5 , one stacking and matching panel device 100 is provided, and two shelves 200 are provided. The two shelves 200 are arranged at a certain interval along the second direction to form a lane 210. The length of the lane 210 extends along the first direction, and the width of the lane 210 can meet the installation requirements of the stacking and matching panel device 100. The stacking and matching panel device 100 is configured to be movable along the length direction of the lane 210. At this time, the first telescopic fork 140 and the second telescopic fork 160 are both bidirectional telescopic forks, which enable the first telescopic fork 140 and the plate taking assembly to take and place the plates 500 on the two shelves 200. In this way, the number of stacking and matching panel devices 100 can be saved, and the cost of the three-dimensional storage system can be reduced.

In some embodiments, the three-dimensional storage system further includes a plate feeding platform 300 , a plate discharging mechanism 400 , and a plate conveying line 600 .

The sheet material feeding platform 300 is arranged outside the lane 210, and the sheet material feeding platform 300 is located on one side of the lane 210 along the first direction. The sheet material feeding platform 300 can support a whole stack of sheets 500, and facilitate the first telescopic fork 140 to fork the whole stack of sheets 500. The sheet material feeding platform 300 includes a plurality of support rods arranged at intervals along the first direction, the cross-sectional shape of the support rods is square, and the length of the support rods extends along the second direction. The plurality of support rods together define a sheet material support surface, i.e., a feeding station. Therefore, the fork arm of the forklift can place a whole stack of sheets 500 on the sheet material support surface, and the fork arm of the first telescopic fork 140 can fork the whole stack of sheets 500 from the sheet material support surface.

The sheet material discharging mechanism 400 is arranged outside the lane 210, and the sheet material discharging mechanism 400 is located at one side of the lane 210 along the first direction. The sheet material discharging mechanism 400 has a discharging station. It can be understood that the sheet material discharging mechanism 400 can be consistent with the structure of the sheet material feeding platform 300, so that a forklift can fork and deliver the sheet material; the sheet material discharging mechanism 400 can also be a roller conveyor to deliver the stored sheet material 500 to the next processing equipment.

In this embodiment, the plate discharging mechanism 400 is a 90° angle conveyor. The plate discharging mechanism 400 and the plate feeding platform 300 are both located on the same side of the storage unit in the first direction, and the plate feeding platform 300 is arranged opposite to one of the shelves 200 in the first direction, and the plate discharging mechanism 400 is arranged opposite to the other shelf 200 in the first direction.

The length of the plate conveyor line 600 extends along the first direction, and the conveying direction of the plate conveyor line 600 extends along the first direction. The plate conveyor line 600 is arranged below any shelf 200, and a sufficiently large space is left below the storage station at the bottom of the shelf 200 to arrange the plate conveyor line 600. In addition, the plate conveyor line 600 is connected to the plate discharging mechanism 400. In this embodiment, the plate conveyor line 600 is a roller conveyor, and the length of the plate conveyor line 600 is equal to the length of the shelf 200.

It can be understood that the stacking and distributing device 100 has a first telescopic fork 140 and a second telescopic fork 160. Through the cooperation between the aisle vehicle 110, the first lifting assembly 130 and the first telescopic fork 140, the first telescopic fork 140 can fork the whole stack of plates 500 on the plate feeding platform 300 and deliver them to the corresponding storage station on the shelf 200. Moreover, the first telescopic fork 140 can also fork the whole stack of plates 500 at the corresponding storage station on the shelf 200 and deliver them to the discharging station of the plate discharging mechanism 400.

In addition, through the aisle vehicle 110, the first lifting assembly 130, the first telescopic fork 140, the second lifting assembly 150, the second telescopic fork 160 and the plate picking assembly, the plate picking assembly can grab a single plate 500 at the corresponding storage station on the shelf 200, and stack the plates 500 one by one on the first telescopic fork 140. When the stacking quantity reaches the set value, it is uniformly sent to the discharging station of the plate discharging mechanism 400 through the first telescopic fork 140.

In addition, through the lane vehicle 110, the first lifting assembly 130, the second lifting assembly 150, the second telescopic fork 160 and the plate taking assembly, the plate taking assembly can grab a single plate 500 of the corresponding storage station on the shelf 200 and send it to the plate conveyor line 600, and send the single plate 500 to the plate discharging mechanism 400 through the plate conveyor line 600, so that the speed of discharging the plate can be accelerated, and the lane vehicle 110 does not need to move back and forth between the plate discharging mechanism 400 and the corresponding storage station every time the plate 500 is out of the warehouse. Moreover, after the plate taking assembly grabs the single plate 500, since the lane vehicle 110 does not need to move in the first direction, the first lifting assembly 130 and the second lifting assembly 150 are used to adjust the upper and lower positions of the second telescopic fork 160 and the plate taking assembly, so that the plate taking assembly can place the single plate 500 on the plate conveyor line 600, thereby saving energy consumption. In this way, the orderly out-of-warehouse of the single plate 500 can be achieved.

In some embodiments, the first lifting frame 131 is provided with a first photoelectric switch, and the first photoelectric switch is used to detect whether there is a plate 500 on the first telescopic fork 140 .

In some embodiments, each storage station of the shelf 200 is provided with a second photoelectric switch, and the second photoelectric switch is used to detect whether there is a plate 500 at the storage station.

In a specific embodiment, each storage station of the shelf 200 is provided with a distance measuring component, which is located above the storage station and emits a detection light downward. The distance measuring component can be a laser distance measuring sensor or an infrared distance measuring sensor. The distance measuring component can detect whether there is a plate 500 at the storage station, and can detect the number of plates 500 at the storage station. For each storage station, the number of distance measuring components is at least two, and they are arranged in an array.

It can be understood that since the thickness h of each plate 500 is basically the same, the height distance H between the distance measuring component and the supporting surface at the storage station is known. Therefore, when there is no plate 500 placed at the storage station, the distance detection value of the distance measuring component is the largest; when a plate 500 is placed at the storage station, the distance detection value of the distance measuring component decreases, specifically (H-h); when eight plates 500 are placed at the storage station, the distance detection value of the distance measuring component is (H-8*h). Therefore, the number of plates 500 at the storage station can be calculated.

Due to the progress of the plate matching work, the number of plates 500 in some storage stations has not reached the maximum value, so the distance measuring component can obtain the number of plates 500 that can still be placed in some storage stations. Therefore, when the first telescopic fork 140 supports the whole stack of plates 500 and enters the plate 500 storage work, the second lifting assembly 150, the second telescopic fork 160 and the plate taking assembly are used to grab the top plate 500 on the first telescopic fork 140 and send it to the storage station until the number of plates 500 in the storage station reaches the maximum value, thereby fully utilizing the storage space of the shelf 200.

The distance measuring component and the stacking and matching plate device 100 are electrically connected to the control device respectively. The control device is configured to control the operation of the stacking and matching plate device 100 according to the number of plates 500 at the storage station in a not fully loaded state obtained by the distance measuring component, and control the plate taking assembly on the second telescopic fork 160 to place the top plate 500 on the first telescopic fork 140 on the not fully loaded storage station until the number of plates 500 at the storage station reaches the maximum value.

During the use of the three-dimensional storage system of the second embodiment of the present invention, the aisle vehicle 110 is moved relative to the shelf 200 along the first direction, and the upper and lower positions of the first telescopic fork 140 are adjusted by the first lifting assembly 130, so that the first telescopic fork 140 can take and place a whole stack of plates 500 at the storage station of the shelf 200, so that the whole stack of plates 500 can be put into and out of the warehouse; and when there are strict requirements on the number of plates 500 to be taken out of the warehouse, the plates 500 on the storage station of the shelf 200 can be placed one by one on the first telescopic fork 140 by the second telescopic fork 160, so that the plates 500 can be neatly stacked, and the number of plates 500 can be controlled, thereby completing the work of out-of-warehouse and panel matching, and improving the out-of-warehouse efficiency.

In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims (10)

1. The stack arrangement of plates, characterized in that it comprises:

A roadway vehicle movable in a first direction;

The first lifting assembly is arranged on the roadway vehicle and is configured to move up and down relative to the roadway vehicle so as to adjust the up and down position of the first lifting assembly;

A first telescopic fork provided on the first lifting assembly and configured to be telescopic in a second direction;

The second lifting assembly is arranged on the first lifting assembly and is configured to move along the up-down direction relative to the first lifting assembly so as to adjust the up-down position of the second lifting assembly;

The second telescopic fork is arranged on the second lifting assembly and is positioned above the first telescopic fork, the second telescopic fork is configured to be telescopic along a second direction, and a plate taking assembly is arranged at the lower end of a telescopic part of the second telescopic fork; the first direction, the second direction and the up-down direction are perpendicular.

2. The stacking plate assembly of claim 1 wherein the plate removing assembly comprises a plurality of vacuum cups, an upper end of each vacuum cup being connected to a telescoping portion of the second telescoping fork.

3. The stacking and slab arrangement of claim 1 wherein the first lift assembly comprises a first lift frame slidably coupled to the roadway vehicle up and down and a first drive assembly for driving the first lift frame up and down relative to the roadway vehicle to control the up and down position of the first lift frame.

4. A stacking plate device as claimed in claim 3 wherein said first drive assembly comprises:

The first rotary driving piece is arranged on the roadway vehicle;

The winding drums are provided with two winding drums and are connected with the output ends of the first rotary driving parts;

the first rope wheels are provided with two rope wheels and are respectively arranged on two opposite sides of the first lifting frame along the first direction;

the second rope wheels are provided with a plurality of rope wheels and are arranged on the roadway vehicle, and the arrangement positions of the second rope wheels are higher than those of the first rope wheels;

The steel wire rope is provided with two steel wire ropes, the two steel wire ropes are respectively arranged corresponding to the two winding drums and the two first rope pulleys, one end of each steel wire rope is connected with each winding drum, the other end of each steel wire rope is wound on the corresponding second rope pulley and the corresponding first rope pulley and is connected with the corresponding first lifting frame, and the connecting position of each steel wire rope and the corresponding first lifting frame is higher than the corresponding first rope pulley.

5. The stacking plate device of claim 3 or 4 wherein the second lift assembly comprises a second lift frame slidably coupled to the first lift frame up and down, and a second drive assembly for driving the second lift frame up and down relative to the first lift frame to control the up and down position of the second lift frame.

6. The stacking plate device of claim 5 wherein the second drive assembly comprises:

a second rotary driving piece which is arranged on the second lifting frame,

A transmission shaft connected with the output end of the second rotary driving piece;

the gears are arranged at the opposite ends of the transmission shaft;

and the rack extends along the up-down direction and is arranged on the first lifting frame, and the rack is meshed with the gear.

7. The stacking plate assembly of claim 1 wherein the first telescoping fork is at least two and spaced apart in a first direction; the second telescopic fork is provided with at least two telescopic forks and is arranged along the first direction at intervals, and the first telescopic fork and the second telescopic fork are bidirectional telescopic forks.

8. The three-dimensional warehouse system, its characterized in that includes:

A shelf extending in a first direction;

a stacking plate assembly as claimed in any one of claims 1 to 7.

9. The stereoscopic warehouse system of claim 8, wherein the racks are two and spaced apart along the second direction to form a lane extending along the first direction, the stacking panel assembly configured to be movable along the lane.

10. The stereoscopic warehouse system of claim 9, further comprising:

the plate feeding table is arranged outside the roadway and is positioned at one side of the roadway along the first direction;

the plate discharging mechanism is arranged outside the roadway and is positioned at one side of the roadway along the first direction;

And the plate conveying line extends along the first direction, is arranged below any goods shelf and is connected with the plate discharging mechanism.