CN106219125A

CN106219125A - Full-automatic compact shelving thesaurus

Info

Publication number: CN106219125A
Application number: CN201610721706.6A
Authority: CN
Inventors: 徐益平
Original assignee: Ningbo Chaoping Modern Furniture Co Ltd; Ningbo Is Towards Flat Intelligent Science And Technology Ltd
Current assignee: Ningbo Chaoping Modern Furniture Co Ltd; Ningbo Is Towards Flat Intelligent Science And Technology Ltd
Priority date: 2016-08-25
Filing date: 2016-08-25
Publication date: 2016-12-14
Anticipated expiration: 2036-08-25
Also published as: CN106219125B

Abstract

The invention discloses a kind of full-automatic compact shelving thesaurus, access including article passes in and out transfering channel, accessing operation window and compact shelving, the layer setting band box taking machine tool hands at compact shelving front passage moves car body and row shifting axle, setting mechanical hand lifting control mechanism on car body, compact shelving both sides are fixed and are set up parallel joint shifting axle above row separately；Row shifting axle moves to move on axles at two joints and drives box taking machine tool hands automatically pass in and out in the passage opened and access article；Article access turnover transfering channel two ends are docked with box taking machine tool hands and accessing operation window phase transfer respectively；The driving motor that joint moves the joint shifting through-drive axle of axle power transmission is set on row shifting axle；Joint moves and sets the coaster with coaster drive mechanism on axle, and coaster drives layer to move car body and passes in and out in the compact shelving passage opened, it is achieved box taking machine tool hands automatic access article on compact shelving.Can be automatically performed turnover access and window access management in entering compact shelving passage without personnel, the efficiency of management is high, and cost of labor is low.

Description

Full-automatic compact shelving thesaurus

Technical field

The present invention relates to a kind of compact shelving thesaurus, especially relate to the closeest on electric compact shelving of a kind of use Collection frame thesaurus.

Background technology

Conventional electric compact shelving is typically a kind of and places several groups of rail on ground, by one or more fixing row framves and several groups Electronic movable row is combined as combination compact shelving row, then rolls on rail by being located at the steel wheel of bottom shelf, by close Passage between collection frame adjacent column is opened, then carries out article storage in being manually entered passage by management personnel or user of service or look into A kind of high density storage storehouse taken.Owing to conventional electric compact shelving also needs to, by being manually entered in storehouse, find corresponding Storage area city, find the support body needing to open between compact shelving adjacent column, after opening support body, more manually use go-cart, push The passage opened carries out article storage or look into and takes；And deposit laminate in higher position if running into, then also need to use Eminence position can be operated by step ladder, causes management to use the most cumbersome and loaded down with trivial details.And owing to personnel need Storehouse to be entered also enters in the passage opened, and operates even with to step ladder, and this adds management the most undoubtedly Use potential safety hazard；Additionally, due to conventional electric compact shelving, use is needed manually to access, so the support body of whole compact shelving Highly arranging and generally will not accomplish the highest, and this also causes wasting a part of available height space of storehouse.

Summary of the invention

The present invention solves that existing electric compact shelving also exists management and uses the most cumbersome and loaded down with trivial details, the artificial one-tenth of management This height, there is use potential safety hazard, the most high present situation of space availability ratio and provide one that depositary management personnel can be made without entering In passage between the frame row of compact shelving storage reservoir area, it is possible to easily carrying out the access of object, management uses simple to operate, pipe Reason personnel cost is low, safe and reliable, the full-automatic compact shelving thesaurus that space availability ratio is high.

The present invention solves that the concrete technical scheme that above-mentioned technical problem is used is: a kind of full-automatic compact shelving storage Storehouse, including multiple row compact shelving, it is characterised in that: also include article access turnover transfering channel and article accessing operation window, The layer being provided with band box taking machine tool hands at multiple row compact shelving front end inlet escape way moves car body and lifting driving layer shifting car body many The row of row compact shelving front passage shift position move axle, and layer moves car body and is provided with box taking machine tool hands and drives box taking machine tool hands at car The internal lifting control mechanism being freely lifted, is respectively equipped with connection above the fixing row of multiple row compact shelving dual-side and erects row shifting The joint at axle two ends moves axle, and two joints move axle and are parallel to each other and compact shelving passage between equal and each adjacent column is paralleled；Adjacent column is close After passage between collection frame is opened, row shifting axle positions on two joint shifting axles are moved drive layer and are moved car body at the compact shelving opened Passage automatic access article are freed in and out in passage；Article access turnover transfering channel one end and layer move the box taking machine tool of car body Palmistry transfer docking, the other end docks with article accessing operation window phase transfer；Row shifting axle is provided with driving layer shifting car body and is beating Free in and out the driving servomotor of movement in the compact shelving passage opened and drive speed reducer for servo motor, driving servomotor to subtract Speed machine is provided with and saves the joint shifting through-drive axle moving the transmission of axle power；Joint moves axle and is provided with driving Timing Belt and for the company of installation Connecing row shifting axle and envoy moves axle and moves, along joint, the coaster that shaft length direction is moved, coaster is provided with and saves shifting through-drive axle phase power biography Passing the coaster drive mechanism of connection, coaster drive mechanism is provided with main driving synchronous pulley and main drive wheel axle, main drive wheel axle The joint shifting through-drive axle phase power transmission moved with row on axle is connected, and main driving live axle drives main driving synchronous pulley driving Moving on Timing Belt, the layer driving row shifting axle to be lifted moves car body and passes in and out in the adjacent column compact shelving passage opened, it is achieved take Box mechanical hand automatic access article on compact shelving.The present invention full-automatic dense storage storehouse is on the basis of former electric compact shelving On, the layer adding a cuff Full-automatic picking part mechanical hand moves car body, one group of key-course moves car body and is lifted on compact shelving thesaurus The row automatically moved move axle and joint moves axle, one group of article access turnover transfering channel and article accessing operation window, and layer moves car body Take to be lifted on and moved axle by row and save the lifting sky rail that shifting axle forms, improve the freedom that layer moves the turnover compact shelving thesaurus of car body Convenience flexibly, ground is high by property.The full-automatic taking mechanical hand organizing zones of different can be connected by access way more Sorting, final collection is bonded on one or several action pane；Make depositary management personnel need not enter storage reservoir area, it is possible to easily to enter The access of row object；Because overall process is all completed by machine, the automatic record of information, make compact shelving storage management degree completeer Kind；And depositary management personnel are without re-using step ladder etc auxiliary climbing tool, and this reduces the most largely and avoids storehouse The pipe personnel operation potential safety hazard when management occurs；Simultaneously because compact shelving support body is artificial without considering in height design Carry out storage and managenent operation factors, thus the height design to compact shelving support body the most again can in the case of storehouse height allows to the greatest extent Possible does more, and this also can effectively increase the memory space utilization rate on storehouse height, thus height space utilizes Rate can be more taller than what conventional electric compact shelving did, is effectively saved space, place capital construction cost, and this is at land used increasingly Under the existing land use situation that nervous land price is the highest, make full use of the height space of storehouse own particularly important.Management makes With simple to operate, management personnel's low cost, safe and reliable, space availability ratio is high.

As preferably, described lifting control mechanism includes lifting synchronous belt device and lifting drives motor, described lifting Synchronous belt device includes that lifting line slideway, lifting Timing Belt, lifting driving synchronous pulley and lifting drives motor, lifts straight line Guide rail is provided with lifting slider, and lifting Timing Belt is provided with Timing Belt pressing plate, and Timing Belt pressing plate is provided with for installing box taking machine The slide attachment plate of tool hands, is provided with lifting and drives motor outside body post section bar upper end, body post section bar lower end outside sets Having support castor, lifting to drive motor to be provided with lifting driving synchronous pulley, lifting drives synchronous pulley to be provided with lifting and synchronizes Band, lifting drives drive and control of electric machine lifting to drive synchronous pulley.Improve the lifting Synchronization Control to box taking machine tool hands stably may be used By property, improving the gravity to layer shifting car body and share supporting role, the gravity that layer moves car body reducing row shifting axle and joint shifting axle is made With.

As preferably, described row move axle and include that row bogie, row bogie are provided with the driving driving joint to move axle work Motor and driving speed reducer for servo motor, drive speed reducer for servo motor to be provided with joint and move through-drive axle, outside joint shifting through-drive axle End is provided with joint and moves axle power transmission outer end universal joint, and the joint of joint shifting through-drive axle moves dynamic being provided with of axle power transmission belt and takes box The layer of mechanical hand moves car body and frees in and out movement in passage between compact shelving thesaurus adjacent column；Row bogie side is provided with joint Move and drive Timing Belt, joint move driving motor and move the joint moving block frame of car body for installing the layer being provided with box taking machine tool hands, joint shifting Apparatus for suspension is provided with main driving synchronous pulley and joint moves and drives motor, and main driving synchronous pulley drives joint to move and drives Timing Belt, band Move joint moving block frame and move the movement on shaft length direction at row, it is achieved layer shifting car body is each before compact shelving thesaurus to be moved between row Position move.Improve layer and move the car body convenient reliable effectiveness of turnover, nothing automatically in the compact shelving adjacent column passage opened Needing pipe storehouse personnel to be manually entered in passage, can be automatically performed the management of access way accessing operation, efficiency is high, safe and reliable.

As preferably, described joint moves axle and includes that joint moves guide rail and drives Timing Belt, and joint moves guide rail and is provided with driving synchronization Band, power supply guide frame and coaster, coaster includes that coaster main body frame, coaster drive vehicle frame and coaster drive mechanism, and coaster drives Motor-car frame is provided with coaster drive mechanism, and coaster drive mechanism includes that coaster drives Timing Belt drive mechanism and coaster to drive and synchronizes Band idle wheel mechanism, coaster drives Timing Belt drive mechanism to be provided with main driving live axle and main driving synchronous pulley, main driving Live axle transmits mutually with the joint shifting through-drive axle external end head on row shifting axle and docks, and drives Timing Belt to drive Timing Belt through coaster Idle wheel mechanism and coaster drive Timing Belt drive mechanism to be connected at the tip position of joint shifting two ends, rail length direction, main drive wheel Axle drives main driving synchronous pulley, and band fly block joint on driving Timing Belt moves, it is achieved logical between adjacent compact shelving arranges Turnover in road is moved.Improve coaster and move the mobile convenience of automatically sliding on axle at joint.

As preferably, described box taking machine tool hands includes telescoping mechanism and folds up mechanism, and telescoping mechanism includes successively from upper And the flexible upper fork that lower flexible overlapping is set together, flexible in fork and telescoping mechanism base, when telescoping mechanism pulls open, flexible Upper fork and flexible middle fork stretch elongation along equidirectional on telescoping mechanism base, when telescoping mechanism folds, stretch and get in stocks Fork is superimposed on telescoping mechanism base with the contraction of flexible middle fork；Telescoping mechanism chassis side be provided with drive flexible in fork stretch out or Shrink the flexible middle fork folded and drive motor；Fold up mechanism include a pair mutually towards clamping or unclamp fold up lateral body assembly, single The individual lateral body assembly that folds up includes that article fold up side jig arm and fold up the straight line slide unit connecting plate that side jig arm is connected, straight line with article Slide unit connecting plate two ends are arranged over folding up sliding track mechanism, and back, straight line slide unit connecting plate two ends is provided with and folds up synchronous gear transport Mechanism, one piece of straight line slide unit connecting plate end is provided with and folds up driving means and fold up hunting gear wherein, folds up driving dress Put task driven and fold up hunting gear, drive a pair in opposite directions towards the lateral body assembly that folds up draw gripping article or open each other in and put Open article.Improving the archives to compact shelving thesaurus or the effective reliability of automatic access simple operation of file, efficiency is high, safety Property high, cost of labor is low, more high position can be carried out safe and reliable operation.

As preferably, described telescoping mechanism includes mechanical hand telescoping mechanism base, and mechanical hand telescoping mechanism base sets Having middle fork activity-oriented groove, middle fork activity-oriented groove to be provided with flexible middle fork, flexible middle fork is provided with flexible upper fork, and stretches Upper fork, flexible middle fork form the most top-down telescopic folding structure with mechanical hand telescoping mechanism base three；Mechanical hand Telescoping mechanism chassis side is provided with flexible middle fork and drives motor, pitches and drive motor to be provided with middle fork driving gear, middle fork in stretching Drive gear and be located at flexible in the middle fork at fork back drive tooth bar to be meshed drivings, drive drive flexible in pitch stretchs out or receives Contracting folds.Improve box taking machine tool hands different depth archives on compact shelving row or file carry out accessing operation, convenient reliably.

As preferably, the described driving means that folds up includes folding up driving motor and driving gear, folds up hunting gear bag Include and drive with folding up of driving that gear is meshed tooth bar and the A that is equipped with one piece of straight line slide unit connecting plate termination to fold up cunning Rail and A fold up slide block, are equipped with in another end, block straight line slide unit connecting plate two ends and fold up slide rail with A and A folds up slide block phase Chimeric B folds up slide block and B folds up slide rail；Fold up driving means task driven and fold up hunting gear, drive a pair in opposite directions towards Fold up lateral body assembly each other open relieving article or draw in gripping article.Raising folds up the synchronization driving of operation automatically reliably to be had Effect property.

As preferably, described layer moves car body both sides and is provided with the support castor servosystem of layer shifting car body, supports castor and watches Dress system includes flexible electricity cylinder, moves the flexible electricity cylinder being respectively fixedly connected with one group of driven by servomotor outside car body two at layer, And the telescopic end of two groups of flexible electricity cylinders all vertically is arranged down, connect in flexible electricity cylinder lower end and have support castor, support castor with Realize supporting castor with the flexible of flexible electricity cylinder the layer of hanging is moved the weight support of car body.The support castor system of bilateral can The weight support more effectively making moving body is shared, and shares and reduces moving body and be suspended on row and move and row are moved axle on axle Produced gravity, improves row and moves the use reliability and stability of axle, and simultaneous retractable electricity cylinder is the most convenient effectively raises locomotive Body on the ground be moved through motility, when running into protrusions such as there being raised track, spike is propped up in the lifting that can convenient pass through Wheel is fast solved, by property, to be moved through flexibility and reliability, a day rail box taking machine tool hands can be made to obtain more effective ground and prop up Support property and by property, effectively shares layer and moves the car body gravity to sky rail, improve sky rail row and move the safety and reliability of axle.

As preferably, described joint moves axle and is provided with power supply guide frame, and coaster is provided with electricity getting device, for being electrically directed to knot Structure includes that the confession being located on joint shifting guide rail is electrically directed to insulation tank and conduction length of powering is arranged, and power supply the long row of conduction be arranged on for being electrically directed to In insulating space in insulation tank, electricity getting device is provided with and extend in confession is electrically directed to insulation tank and connect with the power supply long row of conduction Touch the power taking rod of power taking, coaster while joint moves and slides on guide rail, the power taking nose head on electricity getting device all with supply conductance The long row of electricity contacts and obtains the electric energy that the long row of power supply conduction is accessed, electricity getting device the electric energy acquired by power taking rod is transferred into Axle is moved in electric driver to being provided with the joint taking thing mechanical hand.The power supply power taking safe and convenient improving compact shelving thesaurus is reliable Property, reducing potential safety hazard phenomenon occurs, and power supply power taking is easy to use reliably.

As preferably, described two groups flexible electricity cylinder is located at layer and moves the diagonally opposing corner position outside car body two, flexible electricity cylinder Lift servo motor, speed reducer for servo motor and the lifting electricity cylinder arranged including position from top to bottom, supports castor and is being in During support state, its foreign steamer bottom position moves vehicle bottom position less than layer, supports castor state when being in by track, supports Castor upwards rises to its foreign steamer bottom position under the effect of flexible electricity cylinder and moves vehicle bottom position higher than layer.A spike of bilateral Wheel system can more effectively make the weight support of moving body be shared, and shares and reduces moving body and be suspended on row and move on axle Row are moved gravity produced by axle, improves row and move the use reliability and stability of axle, the most convenient effective raising of simultaneous retractable electricity cylinder Moving body on the ground be moved through motility, when running into protrusions such as there being raised track, that can convenient pass through carries Ascending branch spike wheel is fast solved, by property, to be moved through flexibility and reliability, and a day rail box taking machine tool hands can be made to obtain more effectively Ground supports and by property, effectively share layer and move the car body gravity to sky rail, improve sky rail row and move the use of axle and safely may be used By property.

The invention has the beneficial effects as follows: the present invention full-automatic dense storage storehouse is on the basis of former electric compact shelving, increase The layer having added a cuff Full-automatic picking part mechanical hand moves car body, one group of key-course moves what car body automatically moved at compact shelving thesaurus Row move axle and joint moves axle, one group of article access turnover transfering channel and article accessing operation window.Access way can be by many groups The full-automatic taking mechanical hand of zones of different carries out connection sorting, and final collection is bonded on one or several action pane；Make depositary management Personnel need not enter storage reservoir area, it is possible to easily carries out the access of object；Because overall process is all completed by machine, letter Cease automatic record, make the level of informatization more perfect；And artificial without re-using step ladder etc aid, greatly reduce The operation potential safety hazard of depositary management personnel；Compact shelving support body height is without considering manually to carry out storage and managenent operation simultaneously, thus close It is higher that collection frame support body can do, thus can effectively increase and deposit object space utilization rate on height；Height space utilization rate can With more taller than what conventional electric compact shelving did, it is effectively saved space, place capital construction cost.Management uses simple to operate, management Personnel cost is low, safe and reliable, and space availability ratio is high.

Accompanying drawing illustrates:

The present invention is described in further detail with detailed description of the invention below in conjunction with the accompanying drawings.

Fig. 1 is the structural representation of the present invention full-automatic compact shelving thesaurus.

Fig. 2 is the plan structure schematic diagram of the present invention full-automatic compact shelving thesaurus.

Fig. 3 is the partial enlargement structural representation of the present invention full-automatic compact shelving thesaurus.

Fig. 4 is that the layer of the present invention full-automatic compact shelving thesaurus moves body construction schematic diagram.

Fig. 5 is the lateral parts observation structure schematic diagram of the present invention full-automatic compact shelving thesaurus.

Fig. 6 is that the layer of the present invention full-automatic compact shelving thesaurus moves car body by overhead track or out-of-flatness ground A kind of working state structure schematic diagram during face.

Fig. 7 is that the layer of the present invention full-automatic compact shelving thesaurus moves car body by overhead track or out-of-flatness ground Another kind of working state structure schematic diagram during face.

Fig. 8 is that the row in the present invention full-automatic compact shelving thesaurus move axle construction schematic diagram.

Fig. 9 is the joint moving block structural representation that in the present invention full-automatic compact shelving thesaurus, row move on axle.

Figure 10 is the structure for amplifying schematic diagram in Fig. 2 at D.

Figure 11 is that the joint in the present invention full-automatic compact shelving thesaurus moves axle construction schematic diagram.

Figure 12 is that the joint in the present invention full-automatic compact shelving thesaurus moves axle cross-sectional structure schematic diagram.

Figure 13 is the electricity getting device section view structure for amplifying schematic diagram that in the present invention full-automatic compact shelving thesaurus, joint moves on axle.

Figure 14 is that in the present invention full-automatic compact shelving thesaurus, the flexible of box taking machine tool hands folds up structural representation.

Figure 15 is the stretching structure schematic diagram of box taking machine tool hands in the present invention full-automatic compact shelving thesaurus.

Figure 16 is the stretching structure sectional structure schematic diagram of box taking machine tool hands in the present invention full-automatic compact shelving thesaurus.

Figure 17 is the structure during stretching structure extended state of box taking machine tool hands in the present invention full-automatic compact shelving thesaurus Schematic diagram.

Figure 18 be in the present invention full-automatic compact shelving thesaurus box taking machine tool hands fold up structural representation.

Figure 19 is that in the present invention full-automatic compact shelving thesaurus, the structure that folds up of box taking machine tool hands is shown from back observation structure It is intended to.

Detailed description of the invention

Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, Figure 15, figure 16, in the embodiment shown in Figure 17, Figure 18, Figure 19 figure, a kind of full-automatic compact shelving thesaurus, including multiple row compact shelving 1, also wraps Include article access turnover transfering channel 1D and article accessing operation window 1C, at multiple row compact shelving 1 front end inlet escape way The layer being provided with box taking machine tool hands moves car body 4 and lifting driving layer shifting car body 4 in multiple row compact shelving 1 front passage shift position Row move axle 2, layer moves car body 4 and moves arrow at axial movement A as shown in Figure 1 along row at the escape way of multiple row compact shelving front end Head direction, layer moves the elevating control being provided with box taking machine tool hands on car body 4 and driving box taking machine tool hands to be freely lifted in car body Mechanism, above the fixing row 1A of multiple row compact shelving dual-side, A is provided with connection and erects the joint shifting axle 3 at row shifting axle two ends respectively, Two joints move axle 3 and are parallel to each other and compact shelving passage 1E between equal and each adjacent column is paralleled；Two joint move axle 3 be parallel to each other and All move axle 2 with row to be arranged in a mutually vertical manner；After passage between adjacent column compact shelving is opened, row move axle 2 and move on axle 3 at two joints Position is moved drive layer shifting car body 4 and is freed in and out passage automatic access article in the compact shelving passage 1E opened, and layer moves car Body 4 is followed row and is moved axle 2 and move the joint on axle 3 direction at joint and move direction and see in Fig. 1 turnover direction shown in arrow B at；Article access into Go out transfering channel 1D one end to dock with the box taking machine tool palmistry transfer of layer shifting car body 4, the other end and article accessing operation window 1C Phase transfer is docked；Row move be provided with on axle 2 drive layer move car body 4 in compact shelving moves the compact shelving passage 1E that row 1B opens from By turnover movement driving servomotor 2B2 and drive speed reducer for servo motor 2B1, drive speed reducer for servo motor be provided with and Joint moves the joint of axle power transmission and moves through-drive axle 22；Joint moves and is provided with driving Timing Belt 32 on axle 3 and moves axle for mounting row And envoy moves axle and moves, along joint, the coaster 31 that shaft length direction is moved, coaster 31 is provided with and saves shifting through-drive axle 22 phase power biography Pass the coaster drive mechanism of connection, coaster drive mechanism is provided with main driving synchronous pulley 331 and main drive wheel axle 332, main The joint shifting through-drive axle 22 phase power transmission that live axle 332 moves with row on axle 3 is connected, and main driving live axle 332 drives main Driving synchronous pulley 331 to move on driving Timing Belt 32, it is adjacent open that the layer driving row shifting axle 2 to be lifted moves car body 4 Turnover in row compact shelving passage 1E, it is achieved box taking machine tool hands automatic access article on compact shelving.Lifting control mechanism includes Lifting synchronous belt device and lifting drive motor 4A, described lifting synchronous belt device 7(see Fig. 4) include lift line slideway 70, Lifting Timing Belt 71, lifting drive synchronous pulley 46 and lifting to drive motor 4A, lifting line slideway 70 are provided with lifting sliding Block 72, lifting Timing Belt 71 is provided with Timing Belt pressing plate 74, Timing Belt pressing plate 74 is provided with for installing box taking machine tool hands Slide attachment plate 73, constitute layer and move the main component of car body and use four vertical body post section bars 41 to install to be formed by connecting, Unilateral car body uses two vertical body post section bars 41, and two vertical body post section bar 41 lateral surface are installed connection car Crosspiece 4D strengthened by frame, improves whole layer further and moves bulk strength and the firm reliability of car body 4；Vertical body post section bar 41 Being provided with lifting outside upper end drives motor 4A and electrical control cubicles 4C, lifting driving motor 4A to be separately mounted to layer with electrical control cubicles 4C and move Position, both sides, car body 4 upper end, more utilizes the tare balance sharing equalizing layer shifting car body, improves mobile working stable Property, vertical body post section bar 41 lower end outside is provided with support castor, and lifting drives and is provided with lifting driving Timing Belt on motor Wheel 46, lifting drives and is provided with lifting Timing Belt 71 on synchronous pulley 46, and lifting drives drive and control of electric machine lifting to drive and synchronizes Belt wheel.Row move axle 2(and see Fig. 8) include row bogie 21, row bogie 21 is provided with the driving motor driving joint to move axle work 2A1 and driving speed reducer for servo motor 2A, drives and is provided with joint shifting through-drive axle 22 on speed reducer for servo motor 2A, and joint shifting axle passes Being provided with joint at moving axis 22 external end head and move axle power transmission outer end universal joint 23, joint moves the joint of through-drive axle 22 and moves the transmission of axle power Drive the layer being provided with box taking machine tool hands to move car body 4 and free in and out movement in passage 1E between compact shelving thesaurus adjacent column； Row bogie 21 side is provided with joint shifting and drives Timing Belt 25, joint shifting drive motor and are provided with the layer of box taking machine tool hands for installation Move car body 4 joint moving block frame 2B, joint moving block frame 2B on be provided with joint moving block support 2B5, main driving synchronous pulley 2B3 and Joint moves and drives motor, and main driving synchronous pulley 2B3 drives joint to move and drives Timing Belt 25, drives joint moving block frame 21 to move axle 2 at row Movement on length direction, it is achieved layer moves the car body 4 position before compact shelving 1 thesaurus between each mobile row and moves.Joint shifting is driven Galvanic electricity machine includes driving servomotor 2B2 and driving speed reducer for servo motor 2B1(to see Fig. 9).Joint moving block drives motor to drive Main driving synchronous pulley 3, joint moves to drive and is provided with joint shifting Timing Belt supporting plate 32 below Timing Belt 3, improves and joint is moved Timing Belt Effect is lifted in auxiliary support.Row bogie 21 adjacency is provided with joint shifting driving Timing Belt 25, joint moving block slide rail 252 and joint and moves and slide Vehicle frame 2B, joint moves to drive and is provided with joint shifting Timing Belt supporting plate 251 below Timing Belt 25, improves and joint moves the auxiliary driving Timing Belt Effect is lifted in support.Drive, on speed reducer for servo motor 2B1, main driving synchronous pulley 2B3 is installed.Main driving synchronous pulley 2B3 Dual-side is separately installed with and drives Timing Belt idle wheel 2B4, and two driving Timing Belt idle wheel 2B4 are pressed downward against touching and drive same in joint shifting On step band 25, two drive the wheel body diameter of the Timing Belt idle wheel 2B4 wheel body outside dimension less than main driving synchronous pulley 2B3. Row bogie 21 side be provided with at two ends row move limit switch 28, joint moving block frame 2B both sides be provided with arrange shifting spacing The joint that switch 28 matches moves limit sensor block 2B6.Joint is installed at row bogie 21 side two ends and moves Timing Belt tensioning tune Joint mechanism 26, improves the tensioning regulating effect driving Timing Belt.Row are installed at row bogie 21 side two ends and move the limit Cushion pad 27, row move limit buffer pad 14 and are arranged on row shifting position, limit switch 28 front.Improve joint moving block and improve joint shifting Coaster is the security reliability of sliding and running on row bogie, prevents phenomenon generation of damaging or wound.Driving servomotor slows down Being provided with two joints on machine 2A and move the inner universal joint 24 of axle power transmission, each joint moves the inner universal joint 24 of axle power transmission Moving through-drive axle 22 by joint respectively to be in transmission connection mutually with joint shifting axle power transmission outer end universal joint 23, two joints move axle power Transmission outer end universal joint 23 be arranged on row bogie 2 two ends cephalomere and move the joint shifting axle that axle is connected on support 29 and pass on from one to another graduating Power, drives row to move axle and moves on joint shifting axle, thus drive moving body freely to enter in the adjacent column compact shelving passage opened Go out to move into line access operation.Joint moves through-drive axle 22 and becomes to be obliquely installed on row bogie 2, and joint moves through-drive axle 22 in level Side is inclined upwardly and is connected to drive speed reducer for servo motor 2A and joint to move position between axle power transmission outer end universal joint 23. Improving joint and move through-drive axle space availability ratio on row bogie, preferably the row in useful space length move and obtain more on axle The joint of long size moves through-drive shaft size, it is thus achieved that to the power of joint shifting axle is steady and translational speed controls effectiveness.Joint moves axle 3 (see Figure 10, Figure 11) includes that joint moves guide rail 3A and drives Timing Belt 32, and joint moves and is provided with driving Timing Belt 32, power supply on guide rail 3A Guide frame and coaster 31, coaster 31 includes that coaster main body frame, coaster drive vehicle frame 33 and coaster drive mechanism, and coaster drives Being provided with coaster drive mechanism on vehicle frame 33, it is same that coaster drive mechanism includes that coaster drives Timing Belt drive mechanism and coaster to drive Bu Dai idle wheel mechanism, coaster drives Timing Belt drive mechanism to be provided with main drive wheel axle 332 and main driving synchronous pulley 331, main The joint shifting through-drive axle external end head 23 phase transmission driving live axle 332 to move on axle with row is docked, and drives Timing Belt 32 through sliding Car drives Timing Belt idle wheel mechanism and coaster to drive Timing Belt drive mechanism to be connected to joint and moves position, termination, two ends, rail length direction Putting place, main driving live axle 332 drives main driving synchronous pulley 331, and band fly block 31 is driving the shifting of the joint on Timing Belt 32 Dynamic, it is achieved between adjacent compact shelving arranges, the turnover in passage is moved.Timing Belt 32 is driven to drive Timing Belt idle wheel through coaster Mechanism and coaster drive Timing Belt drive mechanism to be connected at the tip position of joint shifting guide rail 3A length direction two ends, and main driving drives Wheel shaft 332 drives main driving synchronous pulley 331, and band fly block joint on driving Timing Belt 32 moves, it is achieved adjacent intensive Between frame row, the turnover in passage is moved；Box taking machine tool hands include telescoping mechanism 8 and fold up mechanism 9(see Figure 14, Figure 15, Figure 16, Figure 17, Figure 18, Figure 19), telescoping mechanism includes that mechanical hand connects support 8A, the most flexible overlapping and is set together Flexible upper fork 81, flexible middle fork 82 and telescoping mechanism base 83, when telescoping mechanism pulls open, flexible upper fork 81 and flexible middle fork 82 stretch elongation along equidirectional on telescoping mechanism base 83, when telescoping mechanism folds, and flexible upper fork and flexible middle fork Contraction is superimposed on telescoping mechanism base；Telescoping mechanism chassis side is provided with and drives stretching out or shrinking folding of flexible middle fork 82 Flexible in fork drive motor；Fold up mechanism include a pair mutually towards clamping or unclamp fold up lateral body assembly, single fold up side Body assembly includes that article fold up side jig arm 91 and fold up the straight line slide unit connecting plate 93 that side jig arm is connected, straight line slide unit with article Connecting plate 93 two ends are arranged above folding up sliding track mechanism, and back, straight line slide unit connecting plate two ends is provided with and folds up synchronous gear transport Mechanism, one piece of straight line slide unit connecting plate end is provided with and folds up driving means and fold up hunting gear wherein, folds up driving Device task driven folds up hunting gear, drive a pair in opposite directions towards the lateral body assembly that folds up draw gripping article or open each other in Decontrol article.Telescoping mechanism includes that mechanical hand connects support 8A, mechanical hand telescoping mechanism base 83, mechanical hand telescoping mechanism base Middle fork activity-oriented groove is installed on 83, middle fork activity-oriented groove is provided with flexible middle fork 82, flexible middle fork 82 is provided with Stretch upper fork 81, and flexible upper fork 81, flexible middle fork 82 are formed successively from upper with mechanical hand telescoping mechanism base 83 three Telescopic folding structure under and；Mechanical hand telescoping mechanism chassis side is provided with flexible middle fork and drives motor, pitches and drive electricity in stretching Being provided with middle pitching on machine and drive gear 852, middle fork drives gear 852 and the middle fork being located at flexible middle fork back drives tooth bar 824 Be meshed driving, drives and drives stretching out or shrinking folding of flexible middle fork 82.Fold up driving means include folding up driving motor and Drive gear 942, fold up driving motor and include folding up driving servomotor 941 and fold up driving servo deceleration machine 94, fold up with Dynamic device includes and drives what gear 942 was meshed to fold up driving tooth bar 931 and equal one piece of straight line slide unit connecting plate termination The A being provided with folds up slide rail 933 and A and folds up slide block 932, is mounted on and A in another end, block straight line slide unit connecting plate two ends Fold up slide rail 933 and A to fold up the B of slide block 932 tabling and fold up slide block 935 and B and fold up slide rail 934；Fold up driving means work Driving folds up hunting gear, drive a pair in opposite directions towards fold up lateral body assembly each other open relieving article or draw in gripping thing Product.In flexible, fork driving motor includes that middle pitching drives servomotor 851 and middle fork to drive servo deceleration machine 85, during raising is to stretching The driving of fork controls to stablize effectiveness, more flattens out steady.Middle fork drives servo deceleration machine 85 to be arranged on motor mounting rack 853. The upper fork directive wheel 822 of guide extension upper fork 81 is installed on fork 82 in flexible, and guide extension is pitched at middle fork alive The middle fork directive wheel 821 of telescopic slide in action-oriented groove.Middle fork activity-oriented groove includes that the side being located at flexible middle fork dual-side is led To groove 84 and the middle gathering sill 841 being located at below flexible middle fork, during side gathering sill 84 and middle gathering sill 841 realize jointly to stretching The flexible spacing guiding of fork 82.Flexible upper fork 81 back is provided with fork and drives tooth bar 811, and flexible middle fork 82 is provided with middle fork Jie's moving gear 86, mechanical hand telescoping mechanism base 83 is provided with Jie's moving gear driver blade 831, and middle fork Jie's moving gear 86 is simultaneously engaged Driving position between tooth bar 811 and Jie's moving gear driver blade 831 at upper fork, flexible middle fork 82 is band disorder of internal organs fork when flexible opening Jie's moving gear 86 engagement rotation in Jie's moving gear driver blade 831, and then make flexible upper fork 81 follow fork driving tooth bar 811 to stretching out direction engaged transmission.Middle fork Jie's moving gear 86 is pitched on Jie's movable gear shaft 861 in installing, middle fork Jie's movable gear shaft 861 And being provided with Jie's moving gear bearing 862 between middle fork Jie's moving gear 86, middle fork 861 liang of outer ends of Jie's movable gear shaft are arranged on the dynamic tooth of Jie On wheel shaft fixed block 863.It is provided with pallet fork at mechanical hand telescoping mechanism base 83 two ends to stretch limit sensors 832.Mechanical hand Telescoping mechanism base 83 is provided with the middle gathering sill 841 that in limit telescopic, fork is movable, and in flexible, fork 82 sets in low groove Having the roller axis of guide vertically downward, the roller axis of guide is provided with spacing guide roller 823, during spacing guide roller 823 is located at In gathering sill 841.In flexible, fork 82 employing has two upwards groove and the combinations of a downward groove combination on cross section Groove fork body structure, is located at two upwards positions between groove to low groove.Two upwards set on groove sidewall outside respectively Have one to be perpendicular to lateral wall and the outside roller axis of guide and one be perpendicular to lateral wall and the inside roller axis of guide, each It is mounted on roller on the roller axis of guide, the spacing guide extension of roller is pitched 82 rollings in the side gathering sill 84 on both sides；? The groove inner bottom part of one of them upwards groove is provided with the roller axis of guide vertically upward, and the roller axis of guide is provided with roller, shape Become the flexible middle fork 82 upper fork rollers 825 to flexible upper fork 81.In side gathering sill 84 outside wall surface, mechanical hand drag chain is installed Movable end support 87, mechanical hand drag chain movable end support 87 matches with mechanical hand drag chain movable end anchor ear 871 installation.Mechanical hand It is provided with limit limited screw 833 at telescoping mechanism base two ends.Straight line slide unit connecting plate 93 and article fold up side jig arm 91 it Between connect and have jig arm to connect support 92, jig arm connects support 92 and uses multiple independent L font to connect curved boom to constitute, and L font is even The one end connecing curved boom is fixedly connected with straight line slide unit connecting plate, and the other end and article fold up side jig arm 91 and are fixedly connected, many Individual L font connection curved boom interval is connected to straight line slide unit connecting plate and article fold up position between the jig arm of side.Article fold up side Jig arm is installed outside jig arm 92 and folds up activity thresholds sensing chip 911, connect in jig arm, on support 92, sensing article clip is installed Put the inductive transducer 921 of upper sensing chip outside the jig arm of side.It is mounted on linear movement guide on each jig arm connection support 92 Axle 922, on linear movement guide axle 922, set is provided with movable reset spring 912, and activity limit spring 912 set is arranged on straight line On motion guide axle 922, activity limit spring 923 one end is connected support 92 interior side contacts with jig arm, and the other end folds up with article Side jig arm 91 lateral surface contacts.Activity limit spring 923 both sides are provided with movable gag lever post 912, and movable gag lever post 912 one end is solid It is scheduled on article to fold up at side jig arm 91 lateral surface.It is respectively mounted at back position, two pieces of straight line slide unit connecting plate 32 terminations and is fixed with Folding up synchronization tooth bar 96, two of each end fold up synchro-meshing between synchronization tooth bar 96 and fold up synchromesh gear idle pulley 95.It is provided with on two pieces of straight line slide unit connecting plates 93 and folds up motion cabling drag chain 97 and drag chain fixed support, improve electrical traces Cloth line traffic control security reliability and kinematic dexterity, fold up and be provided with tooth bar idle pulley bearing 952 and tooth on synchromesh gear idle pulley 95 Bar idle pulley installs axle 951, and tooth bar idle pulley is installed axle 951 and projected upwardly to above two pieces of straight line slide unit connecting plates, folds up synchronous gear Wheel idle pulley 95 is fixedly connected by the back side of tooth bar idle pulley installation axle 951 with telescoping mechanism base 83.Layer moves car body both sides and sets Having layer to move car body and support castor servosystem 6, layer moves car body support castor servosystem 6 and includes flexible electricity cylinder, moves car body at layer The flexible electricity cylinder of one group of driven by servomotor, and all vertical court of telescopic end of two groups of flexible electricity cylinders it is respectively fixedly connected with outside two Lower setting, connects in flexible electricity cylinder lower end and has support castor 66, supports castor 66 and follows the flexible of flexible electricity cylinder and realize supporting The layer of hanging is moved the weight support of car body by castor 66.The flexible electricity cylinder of two groups of driven by servomotor is respectively provided at layer and moves car body 4 Diagonally opposing corner position outside two, namely one of which driven by servomotor flexible electricity cylinder be arranged on the left outside side of moving body Forward position, and another group driven by servomotor flexible electricity cylinder be arranged at the rear positions of the right lateral surface of moving body； Or the flexible electricity cylinder of one of which driven by servomotor is arranged on the rear positions of the left outside side of moving body, and another group The flexible electricity cylinder of driven by servomotor is arranged on the forward position of the right lateral surface of moving body.The flexible electricity of driven by servomotor Cylinder 6 includes lift servo motor 61, speed reducer for servo motor 62 and lifting electricity cylinder 63, the lifting that sequence of positions is arranged from top to bottom Electricity cylinder 63 upper end is connected with speed reducer for servo motor 62, and lifting electricity cylinder 63 lower end is connected with supporting castor 66.Lifting electricity cylinder Being provided with the lifting connecting rod 641 in downward direction lifted on 63, support castor 66 and be arranged in castor mounting seat 65, castor is installed Seat 65 upper ends are connected with the lifting connecting rod 641 of lifting electricity cylinder lower end.Layer moves 4 liang of outsides of car body and has been respectively fixedly connected with support The electric cylinder fixed support 24 of castor, speed reducer for servo motor 23 bottom is fixedly connected on outside moving body by adpting flange 64 At lower end position.Having flange through hole on adpting flange 64, lifting connecting rod 641 passes freely through downwards flange through hole and foot Wheel mounting seat 65 upper end links together, and lifts the connecting rod 641 elevating movement in flange through hole, drives and is arranged on castor peace Oscilaltion campaign followed by support castor on dress seat 65, and castor uses universal caster wheel, improves castor to supporting moving body Gravity support improves the flexible convenience rotated simultaneously, and reliability is passed through in relatively reliable effective raising.Two groups of servo electricity The flexible electricity cylinder 6 that machine drives down goes out the power of 750N simultaneously with moment pattern, and two combinations are calculated as the power of 1500N, and generally move Motor vehicles bodies is about 160Kg plus load, produces gravity and is about 1560N, bears if whole gravity is moved axle by row, then has It is probably the rigidity causing row to move axle and does not reaches safe and reliable；And adding after the present invention supports castor servosystem, due to Supporting castor and bear absolutely most gravity, final row move axle, and to be only subjected to the gravity of 60N the most permissible, carrying largely High row move the security reliability of axles.Secondly mode of operation two, compact shelving needs to set up rail to make support body to enter on the ground Row translation, mechanical hand, when track 6A by laying on ground, needs to carry out the control to flexible electricity cylinder 6 as shown in Fig. 6, Fig. 7 System, promotes support castor 66 height, and meanwhile, when only one group flexible electricity cylinder stress, servosystem can increase power output, Row are maintained to move the flat perseverance of stress of axle.Additionally mode of operation three, flexible electricity cylinder is to work, when there is out-of-flatness on ground with constant moment of force pattern When height rises and falls, self can automatically compensate, maintain row to move the flat perseverance of stress of axle.Joint moves axle and is provided with for being electrically directed to knot Structure, coaster is provided with electricity getting device 35(and sees Figure 13), power supply guide frame includes that the confession being located on joint shifting guide rail 3A is electrically directed to absolutely Edge groove and the power supply long row 37 of conduction, power supply conduction long row 37 be arranged in the insulating space supplying to be electrically directed in insulation tank, and power taking fills Putting to be provided with on 35 extend into for being electrically directed in insulation tank and row 37 long with power supply conduction contacts the power taking rod 351 of power taking, sliding Che Jie moves while sliding on guide rail, and all long with the power supply conduction row 37 of power taking rod 351 front ends on electricity getting device 35 connects Touching and obtain the electric energy that the long row of power supply conduction is accessed, the electric energy acquired by power taking rod is turned to access to be provided with and takes thing by electricity getting device The joint of mechanical hand moves axle in electric driver.Coaster drives and is provided with main driving idle wheel 331 in Timing Belt drive mechanism, and master drives Dynamic idle wheel 331 is arranged in coaster driving vehicle frame 33, and position, main driving synchronous pulley 331 both sides is all distributed and is provided with two masters Drive idle wheel 333, drive Timing Belt 32 to become the acoustic filed of S-shaped trend to guide between two unilateral main driving idle wheels 333 Structure, and be pressed downward against touching near two main driving idle wheels 333 of main driving synchronous pulley both sides and synchronize on 32 bands driving, main drives Dynamic synchronous pulley 331 upwards jack-up contact is below driving Timing Belt 32, and the wheel body outside dimension of main driving idle wheel 333 is less than The wheel body outside dimension of main driving synchronous pulley 331.It is same that coaster drives Timing Belt drive mechanism both sides to be mounted on coaster driving Bu Dai idle wheel mechanism, coaster drives Timing Belt idle wheel mechanism to include servo-actuated idle wheel 341 and servo-actuated idle wheel support 34, two servo-actuated Jie Wheel support 34 is separately mounted to coaster and drives position, Timing Belt drive mechanism both sides, and each servo-actuated idle wheel support 34 is provided with Two servo-actuated idle wheels 341, drive Timing Belt 32 to become S-shaped trend between two unilateral servo-actuated idle wheels 341, drive Timing Belt 32 One end extends to joint and moves guide rail 31 end, and the other end drives the active drive in Timing Belt idle wheel mechanism to be situated between with extending to coaster Take turns at 333.One row's coaster main BOGEY WHEEL 3B, coaster main BOGEY WHEEL 3B are installed by wheel shaft two end-rack in coaster main body frame 33 It is arranged in coaster main body frame.Include that being arranged on joint moves the guide rail indent gathering sill of the side of guide rail own for being electrically directed to insulation tank 361 and be arranged on the ambroin gathering sill 36 at guide rail indent gathering sill inwall, the outer wall of ambroin gathering sill 36 with lead Rail indent gathering sill internal face fits.The cross section of ambroin gathering sill 36 is that be inwardly recessed have the T that T font keeps flat Font guide groove structure, the T word termination of the T font gathering sill after keeping flat is arranged inwardly, and the long row 37 of power supply conduction is arranged on T font The inner groove of gathering sill.Ambroin gathering sill 36 has the ambroin lip care 362 of outwards turnover, ambroin lip care 362 turnovers are fitted in joint outside and move on guide rail 3A lateral surface, and the insulation safety improving row long to power supply conduction and power taking rod is reliable Property.Being provided with power taking rod on electricity getting device 35 to stretch guide pad 352, power taking rod stretches and has power taking rod in guide pad 352 and stretch Directed cavity, is provided with power taking rod and power taking rod ejector spring 353 in flexible directed cavity, power taking rod 351 one end are stretched out at power taking rod Flexible directed cavity outer row 37 long with power supply conduction contact, and the other end withstands in power taking rod ejector spring 353, and power taking rod ejects bullet Spring 353 is arranged on power taking rod and stretches at directed cavity the inner.Torch the inner that power taking rod 351 contacts with power taking rod ejector spring is prolonged Stretch and connect the circular step 355 having protrusion.Being provided with two groups of electricity getting devices 35 on coaster, two groups of electricity getting devices 35 are respectively mounted and set Put and move the two ends position of guide rail 3A length direction, the power taking rod 351 of two groups of electricity getting devices 35 with edge joint in coaster main body All stretching to for being electrically directed in insulation tank and the long row 37 of conduction of powering with same root contacts power taking, electricity getting device 35 is outside to be provided with Plastic insulation outer housing 354, improves the security reliability of power taking rod power taking, it is to avoid single power taking rod occurs that power taking once in a while is bad leads Causing whole power supply trouble phenomenon to occur, guarantee to a greater extent is powered reliable effectiveness.Improve whole electricity getting device further Insulation safety reliability.Joint shifting guide rail 3A slides the limit of extreme position being provided with sensing coaster near two ends position Position sensor 391, coaster two ends are provided with the sensing chip 312 matched with extreme position induction apparatus 391, improve coaster at joint Move the sliding security reliability on length direction on guide rail, it is to avoid the operation troubles appearance such as damage or break.Coaster Being provided with coaster directive wheel 311 in main body frame, coaster main body frame is arranged on joint by coaster directive wheel 311 and moves guide rail On the guiding wheel track of 3A.Joint moves and is provided with driving Timing Belt tensioning governor motion 38 at the two ends of guide rail 3A length direction, carries The high tensioning regulating effect to driving Timing Belt.Joint moves guide rail 3A and uses 9090 section material guide rails, installs attended operation and facilitates simple and direct, Production efficiency is high, and support strength is high.Joint moves guide rail 3A two ends side edge and is provided with coaster limit damper 39, improves coaster and exists Gliding motility moves at guide rail 3A two ends near joint, plays more preferable buffer limit effect, protection coaster to a greater extent The security reliability of sliding, it is to avoid occur shock damage wait interruption of service generation.In coaster main body frame, guide rail is installed Fixed support, improves the motion fixed guide effect to coaster.Multiple arse is installed bottom coaster main body frame guide Wheel 313, coaster main body frame is arranged on joint by arse directive wheel 313 and moves on the guiding wheel track of guide rail 3A, improves coaster The sliding guide reliability and stability on guide rail is moved at joint.Two groups of flexible electricity cylinders are located at layer and move the diagonally opposing corner position outside car body two Place, flexible electricity cylinder includes lift servo motor 61, speed reducer for servo motor 62 and the lifting electricity cylinder 63 that position is arranged from top to bottom, Support castor 66 is when being in holding state, and its foreign steamer bottom position moves vehicle bottom position less than layer, supports castor 66 at place State when by track, supports castor 66 and upwards rises to its foreign steamer bottom position under the effect of flexible electricity cylinder higher than layer shifting car Body bottom position.Layer moves car body 4 when moving on the ground being provided with protruding track 6A, and (moving direction is shown in Fig. 6, Fig. 7 arrow C institute Show direction).Support castor 66 and be automatically adjusted adjustable height according to the ground projection situation run into.Layer moves car body 4 top and installs Have and move the vehicle frame upper plate 4B that axle 2 lifting is connected with row；Lifting drives motor 4A to include lift servo motor 43 and lift servo Motor reducer 42, lift servo motor reducer 42 is provided with lift drive shaft 44, lift drive shaft 44 is provided with liter Fall drives synchronous pulley 46, lifting Timing Belt 71 to be arranged on lifting and drive on synchronous pulley 46, and lift drive shaft 44 is erected at layer Move upper end, both sides and the vehicle frame upper plate 4B lower position of car body 4.The lift drive shaft 44 of lift servo motor reducer 42 On lift drive shaft bearing 45 is installed, lift drive shaft bearing 45 is arranged on layer and moves vertical three-dimensional section bar 41 upper end of car body 4 Position, leaves height and drives Tong Bu for lifting Timing Belt 71 in lifting between lift drive shaft 44 with vehicle frame upper plate 4B bottom surface The height space distance of lifting is freely driven on belt wheel 46.Layer moves and is being mounted on liter near upper and lower side position inside car body 4 Lower limit bit switch 47 and limiting buffer pad 48.Cabling backplate 49 and lifting dee are installed on vertical three-dimensional section bar 41 side 491, lifting dee 491 side be provided with lifting drag chain 492, improve the automatically controlled wiring lead of elevating control install concentratedly and Safe and reliable property.Layer move each body post section bar 41 of car body 4 by three-dimensional section bar connecting angle pieces 4E and car body base and Car body top is installed and is fixed together, and raising layer moves the firm reliability of car body 4 entirety, structure is simplicity and installs maintenance Convenience.Lifting synchronous belt device 7 bottom is provided with Timing Belt tightening regulator 7A(and sees Figure 10), Timing Belt tightening regulator 7A includes that tensioning adjustable plate 75, tension wheel shaft 76, tensioning Timing Belt idle pulley 78, tensioning Timing Belt idle pulley bearing 77 and lifting synchronize Band backstand 79, lifting Timing Belt backstand 79 is fixedly connected on inside vehicle bottom to be located, and tensioning adjustable plate 75 has tensioning Adjustment hole 751, tensioning Timing Belt idle pulley 77 is arranged on lifting Timing Belt backstand 79 by tension wheel shaft 76, tension wheel shaft 76 Two ends are each provided at tensioning adjustment hole 751 lower position, are provided with tensioning between tensioning Timing Belt idle pulley 78 and tension wheel shaft 76 Timing Belt idle pulley bearing 77, lifting Timing Belt 71 bottom is arranged on tensioning Timing Belt idle pulley 78.Improve opening of lifting Timing Belt Tight regulating effect, regulate convenient effectively, improve the lifting Timing Belt steady elevating control effect to box taking machine tool hands.

Operating process: user logs into system by user name, can obtain the operation in extent of competence；User is by being The information in data base in system is found and is looked for the article information needing to look for, and is taken out operation.Now system is according to object institute Position, first detection taking mechanical hand whether be positioned among the escape way of compact shelving, if including taking mechanical hand Words, can first allow taking mechanical hand operate present instruction, and move in escape way, then by should compact shelving right in region Answering passage to open, taking mechanical hand is if in an idle state simultaneously, and the column direction of taking mechanical hand is at servomotor Driving under move, mobile open passway to corresponding compact shelving；The pickup of taking mechanical hand simultaneously promotes hands and is watching Take motor drives the floor height position of taken object on the most corresponding compact shelving of lower movement；Taking mechanical hand is moved to compact shelving open Passway；And after compact shelving is also opened, the joint direction of taking mechanical hand moves under the driving of servomotor, moves Move to compact shelving the corresponding joint position of taken object；After sensor all detects position, taking mechanical hand by object from Taking out on compact shelving, be placed in mechanical hand inside body, after being in place, folding up device can be clamping by object, is fixed on machinery Inside hands；Then the joint direction of taking mechanical hand can move, and moves back on compact shelving escape way, then taking mechanical hand In two, the layer direction of column direction, servomotor works simultaneously, will be moved to the interface position of access way, and mechanical hand is again by thing Part is placed on the interface of access way；After object is put well by mechanical hand, Hou You mechanism resets, and completes operation, under wait Once command；Object on interface is delivered to action pane position by access way, carries out for user.

Claims

1. a full-automatic compact shelving thesaurus, including multiple row compact shelving, it is characterised in that: also include article access turnover transfer Passage and article accessing operation window, the layer being provided with band box taking machine tool hands at multiple row compact shelving front end inlet escape way moves car Body and lifting drive layer to move the car body row in multiple row compact shelving front passage shift position and move axle, and layer moves car body and is provided with box taking machine The lifting control mechanism that tool hands and driving box taking machine tool hands are freely lifted in car body, at the fixing row of multiple row compact shelving dual-side Top is respectively equipped with to connect and erects row and move the joint at axle two ends and move axle, and two joints move axle and are parallel to each other and close between equal and each adjacent column Collection frame passage is parallel；After passage between adjacent column compact shelving is opened, row move axle position on two joint shifting axles and move band Dynamic layer moves car body and frees in and out passage automatic access article in the compact shelving passage opened；Article access turnover transfering channel One end is moved the box taking machine tool palmistry transfer of car body and is docked with layer, and the other end docks with article accessing operation window phase transfer；Row move Axle is provided with and drives layer shifting car body free in and out the driving servomotor of movement in the compact shelving passage opened and drive servo Motor reducer, drives speed reducer for servo motor to be provided with and save the joint shifting through-drive axle moving the transmission of axle power；Joint moves and sets on axle Have and drive Timing Belt and move the coaster that axle moves along joint shifting shaft length direction, on coaster for installing connection row shifting axle envoy Being provided with and move, with saving, the coaster drive mechanism that the transmission of through-drive axle phase power is connected, coaster drive mechanism is provided with main driving Timing Belt Wheel and main drive wheel axle, the joint shifting through-drive axle phase power transmission that main drive wheel axle moves with row on axle is connected, main driving driving wheel Axle drives main driving synchronous pulley to move on driving Timing Belt, and it is adjacent open that the layer driving row shifting axle to be lifted moves car body Turnover in row compact shelving passage, it is achieved box taking machine tool hands automatic access article on compact shelving.

2. according to the full-automatic compact shelving thesaurus described in claim 1, it is characterised in that: described lifting control mechanism includes Lifting synchronous belt device and lifting drive motor, and described lifting synchronous belt device includes lifting line slideway, lifting Timing Belt, liter Fall drives synchronous pulley and lifting to drive motor, lifting line slideway to be provided with lifting slider, and lifting Timing Belt is provided with synchronization Band pressing plate, Timing Belt pressing plate is provided with the slide attachment plate for installing box taking machine tool hands, and body post section bar sets outside upper end Having lifting driving motor, body post section bar lower end outside is provided with support castor, and lifting driving motor is provided with lifting and drives same Step belt wheel, lifting drives synchronous pulley to be provided with lifting Timing Belt, and lifting drives drive and control of electric machine lifting to drive synchronous pulley.

3. according to the full-automatic compact shelving thesaurus described in claim 1, it is characterised in that: described row move axle and include that row move car Frame, row bogie is provided with and drives joint move the driving motor of axle work and drive speed reducer for servo motor, drives servomotor to subtract Speed machine is provided with joint and moves through-drive axle, is provided with joint and moves axle power transmission outer end universal joint, joint at joint shifting through-drive axle external end head Move through-drive axle joint move axle power transmission belt move be provided with box taking machine tool hands layer move car body compact shelving thesaurus adjacent column it Between free in and out movement in passage；Row bogie side is provided with joint shifting and drives Timing Belt, joint shifting drive motor and set for installation The layer having box taking machine tool hands moves the joint moving block frame of car body, and joint moving block frame is provided with main driving synchronous pulley and joint moves and drives electricity Machine, main driving synchronous pulley drives joint to move and drives Timing Belt, drives joint moving block frame to move the movement on shaft length direction at row, real Existing layer moves car body position before compact shelving thesaurus between each mobile row and moves.

4. according to the full-automatic compact shelving thesaurus described in claim 1, it is characterised in that: described joint moves axle and includes that saving shifting leads Rail and driving Timing Belt, joint moves guide rail and is provided with driving Timing Belt, power supply guide frame and coaster, and coaster includes coaster main body car Frame, coaster drive vehicle frame and coaster drive mechanism, and coaster drives vehicle frame to be provided with coaster drive mechanism, and coaster drive mechanism includes Coaster drives Timing Belt drive mechanism and coaster to drive Timing Belt idle wheel mechanism, and coaster drives Timing Belt drive mechanism to be provided with master It is right that the joint shifting through-drive axle external end head driving live axle and main driving synchronous pulley, main drive wheel axle and row to move on axle transmits mutually Connect, drive Timing Belt to drive Timing Belt idle wheel mechanism and coaster to drive Timing Belt drive mechanism to be connected to joint through coaster and move guide rail At the tip position of length direction two ends, main driving live axle drives main driving synchronous pulley, and band fly block is driving Timing Belt On joint move, it is achieved between adjacent compact shelving arranges, the turnover in passage is moved.

5. according to the full-automatic compact shelving thesaurus described in claim 1, it is characterised in that: described box taking machine tool hands includes stretching Contracting mechanism and fold up mechanism, telescoping mechanism includes stretching the most from top to bottom flexible upper fork that overlapping is set together, flexible Middle fork and telescoping mechanism base, when telescoping mechanism pulls open, flexible upper fork is pitched along equidirectional at telescoping mechanism in flexible Stretching elongation on base, when telescoping mechanism folds, flexible upper fork is superimposed on telescoping mechanism base with the contraction of flexible middle fork；Stretch Contracting mechanism base side is provided with the flexible middle fork driving motor stretching out or shrinking folding of the flexible middle fork of driving；Fold up mechanism and include one To mutually towards clamping or unclamp fold up lateral body assembly, the single lateral body assembly that folds up includes that article fold up side jig arm and and article Folding up the straight line slide unit connecting plate that side jig arm is connected, straight line slide unit connecting plate two ends are arranged over folding up sliding track mechanism, straight line Back, slide unit connecting plate two ends is provided with and folds up synchronous gear transport mechanism, and one piece of straight line slide unit connecting plate end is provided with wherein Fold up driving means and fold up hunting gear, fold up driving means task driven and fold up hunting gear, drive a pair in opposite directions towards The lateral body assembly that folds up draw gripping article or open relieving article each other in.

6. according to the full-automatic compact shelving thesaurus described in claim 5, it is characterised in that: described telescoping mechanism includes machinery Hands telescoping mechanism base, mechanical hand telescoping mechanism base is provided with middle fork activity-oriented groove, and middle fork activity-oriented groove is provided with to be stretched Fork in contracting, flexible middle fork is provided with flexible upper fork, and flexible upper fork, flexible middle fork and mechanical hand telescoping mechanism base three Form the most top-down telescopic folding structure；Mechanical hand telescoping mechanism chassis side is provided with flexible middle fork and drives motor, stretches In contracting, fork driving motor is provided with middle fork and drives gear, and middle fork drives gear and the middle fork being located at flexible middle fork back drives tooth bar Be meshed driving, drives and drives stretching out or shrinking folding of flexible middle fork.

7. according to the full-automatic compact shelving thesaurus described in claim 5, it is characterised in that: the described driving means that folds up includes Fold up driving motor and drive gear, folding up hunting gear and include that be meshed with driving gear folds up driving tooth bar, Yi Ji The A that one piece of straight line slide unit connecting plate termination is equipped with folds up slide rail and A folds up slide block, at another block straight line slide unit connecting plate two ends End is equipped with and folds up slide rail with A and A folds up the B of slide block tabling and folds up slide block and B folds up slide rail；Fold up driving means work Fold up hunting gear as driving, drive a pair in opposite directions towards fold up lateral body assembly each other open relieving article or draw in gripping thing Product.

8. according to the full-automatic compact shelving thesaurus described in claim 1, it is characterised in that: described layer moves car body both sides and is provided with The support castor servosystem of layer shifting car body, supports castor servosystem and includes flexible electricity cylinder, move difference outside car body two at layer It is fixedly connected with the flexible electricity cylinder of one group of driven by servomotor, and the telescopic end of two groups of flexible electricity cylinders is all vertically arranged down, Flexible electricity cylinder lower end connects support castor, supports castor and follows the flexible of flexible electricity cylinder and realize the layer supporting castor to hanging Move the weight support of car body.

9. according to the full-automatic compact shelving thesaurus described in claim 4, it is characterised in that: described joint moves axle and is provided with power supply Guide frame, coaster is provided with electricity getting device, power supply guide frame include being located at joint move on guide rail for be electrically directed to insulation tank and The long row of power supply conduction, power supply conduction long row be arranged in the insulating space for being electrically directed in insulation tank, and electricity getting device is provided with to be stretched Entering to in being electrically directed to insulation tank and row long with power supply conduction contacts the power taking rod of power taking, coaster moves at joint and slides on guide rail Meanwhile, all long with the power supply conduction row of the power taking nose head on electricity getting device contacts and obtains what the long row of power supply conduction was accessed Electric energy, the electric energy acquired by power taking rod is turned to access to be provided with and takes the joint of thing mechanical hand and move axle for electric driver by electricity getting device In.

10. according to the full-automatic compact shelving thesaurus described in claim 8, it is characterised in that: described two groups flexible electricity cylinder sets Moving the diagonally opposing corner position outside car body two at layer, flexible electricity cylinder includes the lift servo motor of position setting from top to bottom, watches Taking motor reducer and lifting electricity cylinder, support castor is when being in holding state, and its foreign steamer bottom position moves at the bottom of car body less than layer Position, portion, supports castor state when being in by track, supports castor and upwards rises to its foreign steamer under the effect of flexible electricity cylinder Bottom position moves vehicle bottom position higher than layer.