CN106477220A - Automatic transferring equipment - Google Patents
Automatic transferring equipment Download PDFInfo
- Publication number
- CN106477220A CN106477220A CN201610885798.1A CN201610885798A CN106477220A CN 106477220 A CN106477220 A CN 106477220A CN 201610885798 A CN201610885798 A CN 201610885798A CN 106477220 A CN106477220 A CN 106477220A
- Authority
- CN
- China
- Prior art keywords
- axis
- connecting gear
- transfer
- slide rail
- pallet fork
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses automatic transferring equipment，Comprising shelf、The transfer track for its side being arranged at along shelf length direction and the first transfer dolly being arranged on transfer track and the second transfer dolly，Transfer dolly all includes Z axis connecting gear、Y-axis connecting gear and underframe mechanism，Z axis connecting gear is installed in underframe mechanism，Underframe mechanism is placed on transfer track by X-axis slide block，X-axis driver element and X-axis slide block drive connection，Control underframe mechanism is moved along a straight line on transfer track，Z axis connecting gear includes the Z axis driver element of Z axis slide rail and control Z axis slide rail motion，Y-axis connecting gear includes the Y-axis driver element of Y-axis slide rail and the slide rail motion of control Y-axis，Y-axis connecting gear is installed in the Z axis slide rail of Z axis connecting gear，The front end of the Y-axis slide rail of Y-axis connecting gear is convexly equipped with long pallet fork and short pallet fork.The conveying in tri- direction of product X, Y, Z is realized, can be in Z axis staying at random location.
Description
Technical field
The present invention relates to a kind of automatic transferring equipment.
Background technology
At present, traditional transfer equipment typically can only all carry out X-axis, the conveying of Y-axis both direction, it is impossible to be simultaneously achieved
The conveying of Z-direction, it is impossible to as needed product is positioned over any one layer of shelf, fails to realize product in Z axis optional position
Stop.
Content of the invention
The purpose of the present invention is to overcome the shortcomings of that prior art is present, and provides a kind of automatic transferring equipment.
The purpose of the present invention is achieved through the following technical solutions：
Automatic transferring equipment, feature is：Be arranged at comprising shelf, along shelf length direction its side transfer track and
The first transfer dolly being arranged on transfer track and the second transfer dolly, the first transfer dolly and the second transfer dolly knot
Structure is identical, all includes Z axis connecting gear, Y-axis connecting gear and underframe mechanism, and Z axis connecting gear is installed in underframe mechanism, bottom
Frame mechanism is placed on transfer track by X-axis slide block, X-axis driver element and X-axis slide block drive connection, and control underframe mechanism is moving
Move along a straight line on carrier rail road, the Z axis connecting gear includes the Z axis driver element of Z axis slide rail and control Z axis slide rail motion, Y-axis
Connecting gear includes the Y-axis driver element of Y-axis slide rail and the slide rail motion of control Y-axis, and Y-axis connecting gear is installed on Z axis conveyer
In the Z axis slide rail of structure, the front end of the Y-axis slide rail of Y-axis connecting gear is convexly equipped with long pallet fork and short pallet fork.
Further, above-mentioned automatic transferring equipment, wherein, distinguishes at the differing heights of the first transfer dolly both sides
The picking sensor being provided with for detecting barrier.
Further, above-mentioned automatic transferring equipment, wherein, the differing heights punishment of the second transfer dolly both sides
The picking sensor not being provided with for detecting barrier.
Further, above-mentioned automatic transferring equipment, wherein, the upper surface of the long pallet fork and short pallet fork is built-in with very
Empty adsorption mouth.
Further, above-mentioned automatic transferring equipment, wherein, the long pallet fork and short pallet fork are installed on same installation
On plate.
Further, above-mentioned automatic transferring equipment, wherein, the installing plate is provided with drive recorder.
Further, above-mentioned automatic transferring equipment, wherein, is provided with use on the Y-axis slide rail of the Y-axis connecting gear
In detection pallet fork deformation to penetrating photoelectric sensor.
Further, above-mentioned automatic transferring equipment, wherein, the first transfer dolly and the second transfer dolly are distinguished
Electrically connect with electric control system.
Yet further, above-mentioned automatic transferring equipment, wherein, the electric control system includes controller and master control PC
Machine, the controller are made up of Three Degree Of Freedom transmission servo controller, and master control PC is connected with controller by CAN network
Connect, Three Degree Of Freedom transmission servo controller is connected with the first transfer dolly and the second transfer dolly respectively by RS-232 bus,
Control drives X-axis driver element, Y-axis driver element and Z axis driver element.
Yet further, above-mentioned automatic transferring equipment, wherein, the long pallet fork and short pallet fork respectively have 2～4.
The substantive distinguishing features that technical solution of the present invention is projected and significant progress are mainly reflected in：
Transfer equipment of the present invention realizes the conveying in tri- direction of product X, Y, Z, and transfer dolly can carry out defeated in the X-axis direction
Send, on a track, be designed with 2 transfer dollies, 1 is used for for product delivering into shelf, in addition 1 be used for by product from
Take out in shelf, as needed product can be positioned over any one layer of shelf, stop of the product in Z axis optional position is realized,
Shelf are divided into multilayer, can be used for depositing many pieces of products, improve yield.Driving is installed on the Y-axis connecting gear of transfer dolly
Recorder continuously can be monitored, and real time record product is put into shelf by transfer dolly or is fetched into transfer dolly from shelf
On whole process, image can be taken out, quickly searched problem when going wrong, convenient keep in repair.
Description of the drawings
Fig. 1：The structural representation of present device；
Fig. 2：The structural representation of transfer dolly；
Fig. 3：The pallet fork contraction state schematic diagram of Y-axis connecting gear；
Fig. 4：The pallet fork of Y-axis connecting gear stretches out view.
The implication of each reference of in figure see the table below：
Specific embodiment
As shown in figure 1, automatic transferring equipment, is arranged at the transfer track of its side comprising shelf 3, along shelf length direction
1 and the first transfer dolly 2 for being arranged on transfer track and the second transfer dolly 4；Wherein 1 transfer dolly is responsible for product
Deliver in the shelf in track centre position from track side, the product for having detected then is taken out by another transfer dolly to be delivered to
Track other side has waited the position of splicing.Shelf are divided into multilayer (can need to set the number of plies) according to client, are arranged with 3 respectively
Individual shelf, between each shelf, floor height is equal.
First transfer dolly 2 is identical with 4 structure of the second transfer dolly, as shown in Fig. 2 all including Z axis connecting gear 21, Y
Axle connecting gear 22 and underframe mechanism 23, Z axis connecting gear 21 are installed in underframe mechanism 23, and underframe mechanism 23 is slided by X-axis
Block is placed on transfer track 1, X-axis driver element and X-axis slide block drive connection, control underframe mechanism 23 straight line on transfer track
Motion, Z axis connecting gear 21 include the Z axis driver element of Z axis slide rail and control Z axis slide rail motion, and Y-axis connecting gear 22 includes
Y-axis slide rail and the Y-axis driver element of control Y-axis slide rail motion, Y-axis connecting gear 22 are installed on the Z axis of Z axis connecting gear 21 and slide
On rail.
Transfer dolly can carry out X-axis, Y-axis, the conveying in three directions of Z axis.Transfer dolly becomes deformed transfer track 1 is up
When in conveying along X-direction, transfer dolly by Z axis connecting gear 21 and Y-axis connecting gear 22 can by product carry out Y-axis and
The conveying of Z-direction, it is achieved that the conveying to tri- direction of product X, Y, Z.
The front end of the Y-axis slide rail of Y-axis connecting gear 22 is convexly equipped with long pallet fork 221 and short pallet fork 222, as shown in Figure 3, Figure 4,
The upper surface of long pallet fork 221 and short pallet fork 222 is built-in with vacuum holding nozzle, and vacuum is opened, and product is adsorbed, and can prevent from moving
During dynamic, product drops.Long pallet fork 221 and short pallet fork 222 respectively have 2～4, are installed on same installing plate, on installing plate
Drive recorder is provided with, recorder can retrieve for examination image when going wrong with the running of record product, easy-to-look-up
Problem, process problem facilitate in time.
The picking sensor being separately installed with the differing heights of 2 both sides of the first transfer dolly for detecting barrier.The
The picking sensor being separately installed with the differing heights of two transfer dollies, 4 both sides for detecting barrier.When having detected barrier
When hindering thing, transfer dolly can be automatically stopped, and this mode is used for guaranteeing personal safety.
Y-axis connecting gear 22 can carry out rise and fall campaign with the vertical direction, realize shifting of the product in Z-direction
Dynamic.When product will enter shelf, long pallet fork 221 and short pallet fork 222 are while along slide rail movement, realize the shifting of product Y direction
Dynamic.Be provided with the Y-axis slide rail of Y-axis connecting gear 22 for detect pallet fork deformation to penetrating photoelectric sensor, can be used for inspection
Survey whether long pallet fork 221 and short pallet fork 222 have deformation, it is ensured that product does not fall out, while when ensureing that product enters shelf, will not
Bump against with the gripper shoe in shelf.
First transfer dolly 2 and the second transfer dolly 4 are electrically connected with electric control system respectively, and electric control system includes
Controller and master control PC, the controller are made up of Three Degree Of Freedom transmission servo controller, and master control PC passes through CAN net
Network is connected with controller, Three Degree Of Freedom transmission servo controller by RS-232 bus respectively with the first transfer dolly 2 and second
Transfer dolly 4 is connected, and control drives X-axis driver element, Y-axis driver element and Z axis driver element.
In sum, transfer equipment of the present invention realizes the conveying in tri- direction of product X, Y, Z, and transfer dolly can be in X-axis side
Conveyed upwards, on a track, be designed with 2 transfer dollies, 1 is used for for product delivering into shelf, in addition 1 with
In product is taken out from shelf, as needed product can be positioned over any one layer of shelf, realize product in any position of Z axis
The stop that puts, shelf are divided into multilayer, can be used for depositing many pieces of products, improve yield.Pacify on the Y-axis connecting gear of transfer dolly
Continuously can monitor equipped with drive recorder, real time record product is put into shelf or is fetched into from shelf by transfer dolly
Whole process on transfer dolly, can take out image, quickly searches problem when going wrong, convenient maintenance.
It should be noted that：The preferred embodiment of the present invention is the foregoing is only, is not limited to the power of the present invention
Sharp scope；While above description, the special personage for correlative technology field should understand and implement, therefore other without departing from
The equivalent change completed under disclosed spirit or modification, should be included in claim.
Claims (10)
1. automatic transferring equipment, it is characterised in that：Be arranged at comprising shelf, along shelf length direction the transfer track of its side with
And the first transfer dolly for being arranged on transfer track and the second transfer dolly, the first transfer dolly and the second transfer dolly
Structure is identical, all includes Z axis connecting gear, Y-axis connecting gear and underframe mechanism, and Z axis connecting gear is installed in underframe mechanism,
Underframe mechanism is placed on transfer track by X-axis slide block, X-axis driver element and X-axis slide block drive connection, and control underframe mechanism exists
Move along a straight line on transfer track, the Z axis connecting gear includes the Z axis driver element of Z axis slide rail and control Z axis slide rail motion, Y
Axle connecting gear includes the Y-axis driver element of Y-axis slide rail and the slide rail motion of control Y-axis, and Y-axis connecting gear is installed on Z axis transmission
In the Z axis slide rail of mechanism, the front end of the Y-axis slide rail of Y-axis connecting gear is convexly equipped with long pallet fork and short pallet fork.
2. automatic transferring equipment according to claim 1, it is characterised in that：The difference of the first transfer dolly both sides is high
The picking sensor being separately installed with degree for detecting barrier.
3. automatic transferring equipment according to claim 1, it is characterised in that：The difference of the second transfer dolly both sides is high
The picking sensor being separately installed with degree for detecting barrier.
4. automatic transferring equipment according to claim 1, it is characterised in that：In the upper surface of the long pallet fork and short pallet fork
It is equipped with vacuum holding nozzle.
5. the automatic transferring equipment according to claim 1 or 4, it is characterised in that：The long pallet fork and short pallet fork are installed on
On same installing plate.
6. automatic transferring equipment according to claim 5, it is characterised in that：The installing plate is provided with drive recorder.
7. automatic transferring equipment according to claim 1, it is characterised in that：Pacify on the Y-axis slide rail of the Y-axis connecting gear
Be equipped with for detect pallet fork deformation to penetrating photoelectric sensor.
8. automatic transferring equipment according to claim 1, it is characterised in that：The first transfer dolly and the second transfer little
Car is electrically connected with electric control system respectively.
9. automatic transferring equipment according to claim 8, it is characterised in that：The electric control system include controller and
Master control PC, the controller are made up of Three Degree Of Freedom transmission servo controller, and master control PC is by CAN network and control
Device connect, Three Degree Of Freedom transmission servo controller by RS-232 bus respectively with the first transfer dolly and the second transfer dolly phase
Even, control drives X-axis driver element, Y-axis driver element and Z axis driver element.
10. automatic transferring equipment according to claim 1, it is characterised in that：The long pallet fork and short pallet fork respectively have 2～4
Only.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610885798.1A CN106477220A (en) | 2016-10-11 | 2016-10-11 | Automatic transferring equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610885798.1A CN106477220A (en) | 2016-10-11 | 2016-10-11 | Automatic transferring equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106477220A true CN106477220A (en) | 2017-03-08 |
Family
ID=58269564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610885798.1A Pending CN106477220A (en) | 2016-10-11 | 2016-10-11 | Automatic transferring equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106477220A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107042980A (en) * | 2017-04-24 | 2017-08-15 | 华南理工大学 | Fork-lift type AGV dollies |
| CN107416448A (en) * | 2017-08-24 | 2017-12-01 | 苏州优备精密智能装备股份有限公司 | Liquid crystal panel automatic aging equipment |
| CN110155750A (en) * | 2019-07-03 | 2019-08-23 | 无锡宏盛智能装载技术有限公司 | Automatic loading and unloading machine for goods with trays |
| CN110224190A (en) * | 2019-05-07 | 2019-09-10 | 无锡先导智能装备股份有限公司 | Battery preliminary filling device and battery pre-fill system |
| CN110980081A (en) * | 2019-12-10 | 2020-04-10 | 上海道简机电科技有限公司 | Intelligent transfer robot for warehouse logistics, transfer method and transfer system |
| CN111392310A (en) * | 2020-04-23 | 2020-07-10 | 陕西商储物流有限公司 | Intelligent logistics storage system |
| WO2020169044A1 (en) * | 2019-02-21 | 2020-08-27 | 江苏华章物流科技股份有限公司 | Storage and retrieval mechanism, device, apparatus, system and method |
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| CN1891591A (en) * | 2005-07-06 | 2007-01-10 | 上海华虹Nec电子有限公司 | Manil putor automatic silicon-wafer grabbing system and method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107042980A (en) * | 2017-04-24 | 2017-08-15 | 华南理工大学 | Fork-lift type AGV dollies |
| CN107416448A (en) * | 2017-08-24 | 2017-12-01 | 苏州优备精密智能装备股份有限公司 | Liquid crystal panel automatic aging equipment |
| WO2020169044A1 (en) * | 2019-02-21 | 2020-08-27 | 江苏华章物流科技股份有限公司 | Storage and retrieval mechanism, device, apparatus, system and method |
| CN110224190A (en) * | 2019-05-07 | 2019-09-10 | 无锡先导智能装备股份有限公司 | Battery preliminary filling device and battery pre-fill system |
| CN110224190B (en) * | 2019-05-07 | 2021-12-14 | 无锡先导智能装备股份有限公司 | Battery pre-charging device and battery pre-charging system |
| CN110155750A (en) * | 2019-07-03 | 2019-08-23 | 无锡宏盛智能装载技术有限公司 | Automatic loading and unloading machine for goods with trays |
| CN110155750B (en) * | 2019-07-03 | 2023-12-01 | 无锡宏盛智能装载技术有限公司 | Automatic loading and unloading machine for pallet goods |
| CN110980081A (en) * | 2019-12-10 | 2020-04-10 | 上海道简机电科技有限公司 | Intelligent transfer robot for warehouse logistics, transfer method and transfer system |
| CN110980081B (en) * | 2019-12-10 | 2021-05-28 | 上海道简机电科技有限公司 | Intelligent transfer robot for warehouse logistics, transfer method and transfer system |
| CN111392310A (en) * | 2020-04-23 | 2020-07-10 | 陕西商储物流有限公司 | Intelligent logistics storage system |
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170308 |