CN110510321B - Automatic change storehouse - Google Patents
Automatic change storehouse Download PDFInfo
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- CN110510321B CN110510321B CN201910898541.3A CN201910898541A CN110510321B CN 110510321 B CN110510321 B CN 110510321B CN 201910898541 A CN201910898541 A CN 201910898541A CN 110510321 B CN110510321 B CN 110510321B
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- 230000008859 change Effects 0.000 title claims description 3
- 239000000463 material Substances 0.000 claims abstract description 130
- 238000007599 discharging Methods 0.000 claims abstract description 63
- 230000005540 biological transmission Effects 0.000 claims abstract description 50
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 41
- 230000033001 locomotion Effects 0.000 claims abstract description 38
- 230000000007 visual effect Effects 0.000 claims abstract description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 50
- 239000010959 steel Substances 0.000 claims description 50
- 230000000670 limiting effect Effects 0.000 claims description 16
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 230000007306 turnover Effects 0.000 claims description 4
- 238000003860 storage Methods 0.000 description 6
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 239000002184 metal Substances 0.000 description 5
- 229910052751 metal Inorganic materials 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000003466 welding Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007306 functionalization reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses an automatic material warehouse, which comprises a material warehouse main body (1), a tray (2), a feeding and discharging trolley (3) and a trolley travelling system (4); the material warehouse main body (1) comprises a material warehouse main body frame (11), a material warehouse up-and-down moving bracket (12) and a material warehouse up-and-down moving system (13). The invention can control the movement of the feeding and discharging trolley, the movement of the up-and-down moving bracket and the horizontal movement of the tray through the transmission of the motor and the speed reducer by the chain wheels and the chain, and has high degree of automation; the multi-layer material warehouse space can be customized according to the use requirement for storing materials and products, so that the material warehouse is more flexible to use and the functional requirement of the material warehouse is realized; the device has a visual recognition function based on a camera and is used for recognizing the position, the outline and the like of the workpiece.
Description
Technical Field
The invention relates to storage equipment, in particular to an automatic material warehouse.
Background
The material warehouse is a module device of industrial automation, and the material warehouse is used for automatically storing processed raw materials or processed finished products through industrial transmission. A complete stock warehouse is generally composed of a feeding device, a three-dimensional multi-layer storage shelf and a discharging device, so that the requirements of storage and feeding and discharging in the industrial production process are met, along with the rapid development of an automation technology, the transmission control of the stock warehouse also tends to be automatic and intelligent, the production efficiency can be effectively improved, and great significance is brought to the improvement of the automation degree of workshops. However, the material warehouse in the prior art has a simple structure and a single function, and can not meet the demands of functionalization, intellectualization, automation and flexibility on material and finished product storage in the current industrial production process.
Disclosure of Invention
The invention aims to provide an automatic stock house which can control the movement of a feeding and discharging trolley, the movement of an up-and-down moving bracket and the horizontal movement of a tray through the transmission of a motor and a speed reducer through a chain wheel and a chain, and has a visual recognition function and is used for recognizing the characteristics of a workpiece.
The invention is realized in the following way:
An automatic material warehouse comprises a material warehouse main body, a tray, a feeding and discharging trolley and a trolley travelling system; the material warehouse main body comprises a material warehouse main body frame, a material warehouse up-and-down moving support and a material warehouse up-and-down moving system, wherein a pair of vertically arranged portal channel steels are arranged on two sides of the material warehouse main body frame, a plurality of portal channel steel bearings are arranged on the material warehouse up-and-down moving support, and the portal channel steel bearings can be embedded in the portal channel steels in a matching manner and drive the material warehouse up-and-down moving support to move up and down along the portal channel steels; two sides of the up-and-down motion system of the material warehouse are provided with second chains through second driving chain wheels, two sides of the up-and-down motion bracket of the material warehouse are symmetrically provided with second driven chain wheels, the bottom of the second chains are connected with the second driven chain wheels in a meshed manner and synchronously driven, and two ends of the second chains are respectively fixed on the main frame of the material warehouse; the two sides of the tray are arranged on the up-and-down moving support of the material warehouse and move up and down synchronously with the up-and-down moving support of the material warehouse, a plurality of first tray supporting square tubes are symmetrically arranged at the upper parts of the two sides of the main body frame, a pair of moving support tray supporting square tubes are symmetrically arranged at the two sides of the up-and-down moving support of the material warehouse, a second bracket supporting square tube is respectively arranged at the tops of the two sides of the feeding and discharging trolley, and the tray can move along the first tray supporting square tubes, the pair of moving support tray supporting square tubes and the second bracket supporting square tubes which are horizontally arranged; two sides of the trolley traveling system are provided with a pair of side feeding and discharging trolley guide channel steel fixed on the main body frame of the material warehouse, and the feeding and discharging trolley horizontally moves along the side feeding and discharging trolley guide channel steel.
The material warehouse main body frame in be equipped with vision system camera, vision system camera is located the top of business turn over material dolly.
The material warehouse up-and-down moving support comprises a first material warehouse support, a second material warehouse support, a connecting beam, a moving support tray supporting square tube, a first alternating current motor, a first speed reducer, an output shaft, a first driving sprocket, a first transmission shaft, a first chain, a tensioning sprocket, a first driven sprocket, an up-and-down moving driven shaft stop piece, a lower connecting square tube, a second driven sprocket, a portal channel steel bearing and a chain clamping block;
The first material warehouse support and the second material warehouse support are connected through a pair of connecting beams and a lower connecting square tube, and a pair of movable support tray supporting square tubes are respectively fixed on the inner walls of the first material warehouse support and the second material warehouse support; the first alternating current motor is connected with a first speed reducer arranged on the outer wall of the second material warehouse bracket, one end of an output shaft is arranged in the first speed reducer, a first driving sprocket is arranged on the output shaft, the other end of the output shaft is connected with one end of a first transmission shaft, and the other end of the first transmission shaft is arranged on the inner wall of the first material warehouse bracket through another first driving sprocket; the two tensioning chain wheels are respectively arranged on the inner walls of the first material warehouse bracket and the second material warehouse bracket, a pair of first driven chain wheels are respectively arranged on the inner walls of the first material warehouse bracket and the second material warehouse bracket, a pair of first chains are respectively arranged on the two first driving chain wheels after bypassing the tensioning chain wheels and the first driven chain wheels, and a pair of first chains are respectively provided with chain clamping blocks; a pair of up-and-down motion driven shafts are correspondingly arranged on the first material warehouse bracket and the second material warehouse bracket respectively through up-and-down motion driven shaft stop pieces, and a pair of second driven chain wheels are respectively arranged on the pair of up-and-down motion driven shafts; and a plurality of portal channel steel bearings are arranged on the inner walls of the first material warehouse bracket and the second material warehouse bracket.
The top parts of the first material warehouse support and the second material warehouse support are respectively provided with an upper limiting block; one of the connecting beams is provided with a front limiting block, and the tray can be contacted with the front limiting block when moving.
The material warehouse up-and-down motion system comprises a second alternating current motor, a second speed reducer, a second coupler, a second transmission shaft, a second driving sprocket, a second chain, a counterweight component and an encoder component; the second alternating current motor is arranged on the second speed reducer, two ends of the second coupler are respectively connected with an output shaft of the second speed reducer and one end of the second transmission shaft, and one end of the second transmission shaft is fixed on the main body frame of the material warehouse through the second bearing seat; the two second driving chain wheels are respectively fixed at two ends of the second transmission shaft, one end of a pair of second chains is fixed at the top of the main body frame of the material warehouse and is meshed with the two second driving chain wheels for transmission, the other end of the pair of second chains respectively bypasses the two second driven chain wheels positioned at the bottom of the main body frame of the material warehouse and is then fixed at the top of the main body frame of the material warehouse, and the pair of second chains are respectively provided with a counterweight component in a matching way; the encoder assembly is mounted on the second drive shaft.
The counterweight assembly comprises a counterweight driven sprocket, a counterweight driven sprocket shaft, a counterweight connecting piece and a counterweight sheet; the counterweight connecting piece is arranged on the counterweight driven sprocket through a counterweight driven sprocket shaft, and a plurality of counterweight plates are longitudinally stacked and fixedly arranged on the counterweight connecting piece.
The encoder assembly comprises a large synchronous wheel, a synchronous belt, a small synchronous wheel, an encoder fixing piece, an encoder and a third transmission shaft; the large synchronous wheel is arranged on the second transmission shaft, the encoder fixing piece is fixed on the main body frame of the material warehouse, the third transmission shaft is arranged on the encoder fixing piece, the small synchronous wheel is arranged on the third transmission shaft, and the synchronous belt is sleeved between the large synchronous wheel and the small synchronous wheel; the encoder is fixed on the encoder fixing piece and connected with the third transmission shaft.
The tray comprises a tray plane, tray hooks and tray wheels; the pair of tray hooks are welded at two ends of the plane of the tray respectively, and can be matched and clamped on the chain clamping block, so that the up-and-down moving bracket of the material warehouse drives the tray to move up and down synchronously; the tray wheels are arranged at two ends of the tray plane, so that the tray wheels can horizontally move on the first tray supporting square tube, the pair of movable bracket tray supporting square tubes and the second bracket supporting square tube.
The feeding and discharging trolley comprises a feeding and discharging trolley frame, hooks, land wheels, side guide wheels and a second bracket supporting square tube; the second bracket support square tubes are arranged at the tops of the two ends of the feeding and discharging trolley frame, and tray wheels of the tray can roll on the second bracket support square tubes; the hook is arranged at one end of the feeding and discharging trolley frame and is matched and clamped with a clamping block of the trolley travelling system, so that the trolley travelling system can drive the feeding and discharging trolley to travel; the side guide wheels can be installed in the side feeding and discharging trolley guide channel steel of the trolley travelling system in a matched mode, so that the feeding and discharging trolley can move linearly along the side feeding and discharging trolley guide channel steel.
The trolley traveling system comprises a third alternating current motor, a third speed reducer, a third driving sprocket, a speed reducer fixing seat, a third driven sprocket, a sprocket fixing seat and side feeding and discharging trolley guide channel steel; the third alternating current motor is connected with a third speed reducer which is installed on the ground through a speed reducer fixing seat, and a third driving sprocket is connected with an output shaft of the third speed reducer; the third driven sprocket is arranged on a sprocket fixing seat fixed on the ground, the third driving sprocket is connected with the third driven sprocket through a chain, and a clamping block is arranged on the chain and is matched and clamped with a hook of the feeding and discharging trolley, so that the feeding and discharging trolley can move through the transmission of the chain; a pair of side feeding and discharging trolley guide channel steel is respectively fixed on the main body frame of the material warehouse.
The invention can control the movement of the feeding and discharging trolley, the movement of the up-and-down moving bracket and the horizontal movement of the tray through the transmission of the motor and the speed reducer by the chain wheels and the chain, and has high degree of automation; the multi-layer material warehouse space can be customized according to the use requirement for storing materials and products, so that the material warehouse is more flexible to use and the functional requirement of the material warehouse is realized; the device has a visual recognition function based on a camera and is used for recognizing the position, the outline and the like of the workpiece.
Drawings
FIG. 1 is a perspective view of an automated warehouse of the present invention;
FIG. 2 is a perspective view of a magazine body in an automated magazine according to the present invention;
FIG. 3 is a top perspective view of a magazine body frame in an automated magazine according to the present invention;
FIG. 4 is a bottom perspective view of a magazine body frame in an automated magazine according to the present invention;
FIG. 5 is a side perspective view of a magazine up and down moving rack in an automated magazine according to the present invention;
FIG. 6 is another side perspective view of a magazine up and down moving rack in an automated magazine according to the present invention;
FIG. 7 is a bottom perspective view of a magazine up and down moving rack in an automated magazine according to the present invention;
FIG. 8 is a perspective view of a magazine up and down motion system in an automated magazine according to the present invention;
FIG. 9 is a perspective view of a tray in an automated warehouse of the present invention;
FIG. 10 is a perspective view of a feed and discharge cart in an automated warehouse of the present invention;
Fig. 11 is a perspective view of a cart running system in an automated warehouse in accordance with the present invention.
In the figure, 1 stock body, 11 stock body frames, 111 vision system cameras, 112 portal channel steel, 113 first tray support square tubes, 12 stock up-and-down moving brackets, 121 first stock brackets, 122 second stock brackets, 123 connecting beams, 124 moving bracket tray support square tubes, 125 first alternating current motors, 126 first speed reducers, 127 first bearing seats, 128 output shafts, 129 first tensioning sleeves, 1210 first driving sprockets, 1211 first couplings, 1212 first transmission shafts, 1213 first chains, 1214 tensioning sprocket mounting pieces, 1215 tensioning sprockets, 1216 first driven sprockets, 1217 up-and-down moving driven shafts, 1218 up-and-down moving stop plates, 1219 down connecting square tubes, 1220 second driven sprockets, 1221 portal channel steel bearings, 1222 upper limiting blocks, 1223 front limiting blocks, 1224 chain clamping blocks, 13 stock up-and-down moving systems, 131 second alternating current motors, 132 second speed reducers, a 133 second coupling, a 134 second bearing, a 135 second drive shaft, a 136 second drive sprocket, a 137 second tensioning sleeve, a 138 second chain, a 139 first chain set screw, a 1310 second chain set screw, a 1311 counterweight driven sprocket, a 1312 counterweight driven sprocket shaft, a 1314 counterweight connection, a 1315 counterweight plate, a 1316 third tensioning sleeve, a 1317 large synchronizing wheel, a 1318 timing belt, a 1319 small synchronizing wheel, a 1320 fourth tensioning sleeve, a 1321 encoder fixing, a 1322 encoder, a 1323 third drive shaft, a 2 tray, a 21 tray plane, a 22 tray hook, a 23 tray wheel, a 24 bearing, a 3 feed and discharge trolley, a 31 feed and discharge trolley frame, a 32 hook, a 33 ground wheel, a 34 side guide wheel, a 35 side guide wheel fixing, a 36 trolley positioning member, a 37 second tray support square tube, a 4 trolley travel system, a 41 third alternating current motor, a 42 third speed reducer, a 43 fifth tensioning sleeve, a 44 third drive sprocket, the device comprises a 45 speed reducer fixing seat, a 46 chain guide supporting sheet metal, a 47 driven sprocket adjusting piece, a 48 third driven sprocket, a 49 sprocket fixing seat, 410 side feeding and discharging trolley guide channel steel, a 411 channel steel fixing piece, a 412 channel steel supporting piece, a 413 cylinder fixing piece and a 414 positioning cylinder.
Detailed Description
The invention will be further described with reference to the drawings and the specific examples.
Referring to fig. 1, an automated warehouse includes a warehouse body 1, a tray 2, a feeding and discharging trolley 3 and a trolley traveling system 4; referring to fig. 2, the stock base body 1 includes a stock base body frame 11, a stock base up-down moving support 12 and a stock base up-down moving system 13, referring to fig. 4, a pair of vertically arranged portal channel steel 112 is symmetrically arranged at two sides of the stock base body frame 11, referring to fig. 6, a plurality of portal channel steel bearings 1221 are symmetrically arranged on the stock base up-down moving support 12, the portal channel steel bearings 1221 can be matched and embedded in the portal channel steel 112 and drive the stock base up-down moving support 12 to move up and down along the portal channel steel 112, preferably, 4 portal channel steel bearings 1221 are arranged in each portal channel steel 112 up-down, so that the moving track of the stock base up-down moving support 12 is ensured to be a straight line; referring to fig. 8, second chains 138 are symmetrically installed on both sides of the up-and-down movement system 13 of the material warehouse through second driving sprockets 136, and referring to fig. 7, second driven sprockets 1220 are symmetrically installed on both sides of the up-and-down movement support 12 of the material warehouse, the bottoms of the second chains 138 are engaged with the second driven sprockets 1220 and synchronously driven, and both ends of the second chains 138 are respectively fixed on the main frame 11 of the material warehouse through first chain fixing screws 139 and second chain fixing screws 1310; referring to fig. 9, two sides of a tray 2 are arranged on a vertical moving bracket 12 of a material warehouse and move up and down synchronously with the vertical moving bracket 12 of the material warehouse, referring to fig. 3, a plurality of first tray supporting square tubes 113 are symmetrically arranged at the upper parts of two sides of a main body frame 11, a pair of moving bracket tray supporting square tubes 124 are symmetrically arranged at two sides of the vertical moving bracket 12 of the material warehouse, referring to fig. 10, a second bracket supporting square tube 37 is respectively arranged at the tops of two sides of a feeding and discharging trolley 3, and the tray 2 can move horizontally along the first tray supporting square tubes 113, the pair of moving bracket tray supporting square tubes 124 and the second bracket supporting square tubes 37 which are horizontally arranged after moving up and down; referring to fig. 11, a pair of side-in-out trolley guide channels 410 fixed on the main body frame 11 of the warehouse are symmetrically arranged on two sides of the trolley traveling system 4, and the in-out trolley 3 moves horizontally along the side-in-out trolley guide channels 410.
Referring to fig. 4, a vision system camera 111 is disposed in the main body frame 11 of the material warehouse, and the vision system camera 111 is located above the feeding and discharging trolley 3 and is used for identifying contour information and position information of materials or workpieces so as to meet various requirements.
Preferably, the main body frame 11 of the material warehouse is formed by welding a plurality of square pipes and a plurality of iron plates and assembling the square pipes and the iron plates through screws and nuts, and can be assembled into different frame structures according to the storage requirement so as to meet the requirements of storage and movement of the material feeding trolley 3.
Referring to fig. 5 to 7, the up-and-down moving rack 12 includes a first rack 121, a second rack 122, a connecting beam 123, a moving rack tray supporting square tube 124, a first ac motor 125, a first speed reducer 126, a first bearing block 127, an output shaft 128, a first tensioning sleeve 129, a first driving sprocket 1210, a first coupling 1211, a first driving shaft 1212, a first chain 1213, a tensioning sprocket mounting 1214, a tensioning sprocket 1215, a first driven sprocket 1216, an up-and-down moving driven shaft 1217, an up-and-down moving driven shaft stop 1218, a lower connecting square tube 1219, a second driven sprocket 1220, a portal channel steel bearing 1221, and a chain block 1224.
The first and second warehouse supports 121 and 122 are connected by a pair of connecting beams 123 and a lower connecting square tube 1219, preferably, the first and second warehouse supports 121 and 122 can be made of steel plates and are fixed with the pair of connecting beams 123 and the lower connecting square tube 1219 by screws, the pair of connecting beams 123 are symmetrically positioned at the upper parts of the first and second warehouse supports 121 and 122, and the lower connecting square tube 1219 is positioned at the lower parts of the first and second warehouse supports 121 and 122 to form a main support structure of the warehouse up-down moving support 12; a pair of movable bracket tray supporting square tubes 124 are welded and fixed on the inner walls of the first and second magazine brackets 121 and 122, respectively, and are horizontally positioned above a pair of connecting beams 123; the first alternating current motor 125 is connected with a first speed reducer 126 arranged on the outer wall of the second material warehouse bracket 122, one end of an output shaft 128 is arranged in the first speed reducer 126 through a first bearing seat 127, a first driving sprocket 1210 is arranged on the output shaft 128 through a first tensioning sleeve 129, the other end of the output shaft 128 is connected with one end of a first transmission shaft 1212 through a first coupler 1211, and the other end of the first transmission shaft 1212 is arranged on the inner wall of the first material warehouse bracket 121 through another first driving sprocket 1210; the two tensioning sprockets 1215 are respectively mounted on the inner walls of the first warehouse bracket 121 and the second warehouse bracket 122 through the tensioning sprocket mounting piece 1214 by an internal shaft and a bearing, a pair of first driven sprockets 1216 are respectively mounted on the inner walls of the first warehouse bracket 121 and the second warehouse bracket 122, a pair of first chains 1213 are respectively wound around the tensioning sprockets 1215 and the first driven sprockets 1216 and then are correspondingly mounted on the two first driving sprockets 1210, preferably, the first chains 1213 are in tensioning arrangement in a T-shaped structure, and the pair of first chains 1213 are provided with chain clamping blocks 1224; a pair of up-and-down moving driven shafts 1217 are correspondingly mounted on the corresponding processing holes of the first magazine bracket 121 and the second magazine bracket 122 through up-and-down moving driven shaft stop pieces 1218, respectively, and a pair of second driven sprockets 1220 are correspondingly mounted on the pair of up-and-down moving driven shafts 1217 through bearings, respectively, and the up-and-down moving driven shaft stop pieces 1218 can be used for limiting the rotation amplitude of the pair of second driven sprockets 1220; a plurality of portal channel steel bearings 1221 are mounted on the inner walls of the first warehouse support 121 and the second warehouse support 122 by self-contained mounting plates through screws, and preferably 4 portal channel steel bearings 1221 are used for being matched with the portal channel steel 112 to realize up-down linear movement.
Preferably, the top of the first and second warehouse supports 121 and 122 are provided with upper limiting blocks 1222 for limiting the highest point of the upward movement of the warehouse up-and-down moving support 12.
One of the connecting beams 123 is provided with a front limiting block 1223, and the tray 2 can contact with the front limiting block 1223 when moving, so as to limit the maximum distance of the tray 2 moving outwards. Preferably, a pair of front limiting blocks 1223 are symmetrically arranged on the connecting beam 123 at the outer end, so as to ensure the limiting effect on the tray 2.
Preferably, the first and second magazine brackets 121 and 122 are provided with U-grooves 12202, and the tension sprocket mounting member 1214 is screwed to the U-grooves 12202 and moves up and down along the U-grooves 12202, so as to adjust the up and down positions of the two tension sprockets 1215, thereby adjusting the tension of the pair of first chains 1213.
Referring to fig. 8, the up-and-down movement system 13 of the warehouse includes a second ac motor 131, a second speed reducer 132, a second coupling 133, a second bearing 134, a second transmission shaft 135, a second driving sprocket 136, a second tensioning sleeve 137, a second chain 138, a first chain fixing screw 139, a second chain fixing screw 1310, a counterweight assembly, and an encoder assembly; the second ac motor 131 is mounted on the second speed reducer 132, both ends of the second coupling 133 are respectively connected with an output shaft of the second speed reducer 132 and one end of the second transmission shaft 135, and one end of the second transmission shaft 135 is fixed on the magazine main body frame 11 through the second bearing seat 134; the two second driving sprockets 136 are symmetrically fixed at two ends of the second transmission shaft 135 through second tensioning sleeves 137 respectively, one ends of a pair of second chains 138 are fixed at the top of the material warehouse main body frame 11 through first chain fixing screws 139 respectively and are meshed with the two second driving sprockets 136 for transmission, the other ends of the pair of second chains 138 are fixed at the top of the material warehouse main body frame 11 through second chain fixing screws 1310 after bypassing the two second driven sprockets 1220 positioned at the bottom of the material warehouse main body frame 11 respectively, and counterweight components are arranged on the pair of second chains 138 in a matching manner; the encoder assembly is mounted on the second transmission shaft 135 at one side of the second transmission shaft 135.
The weight assembly includes a weight driven sprocket 1311, a weight driven sprocket shaft 1312, a weight connector 1314, and a weight stack 1315; the weight driven sprocket 1311 is engaged with the second chain 138 for transmission, the weight connector 1314 is mounted on the weight driven sprocket 1311 through the weight driven sprocket shaft 1312 via an internal bearing, and a plurality of weight plates 1315 are longitudinally stacked and fixedly mounted on the weight connector 1314 by long bolts, so that the stability of the second chain 138 during transmission can be balanced by the weight.
Preferably, the weight link 1314 is provided with a weight driven sprocket shaft stop piece 1313, and the weight driven sprocket shaft 1312 can contact with the weight driven sprocket shaft stop piece 1313 when rotating, so as to limit the rotating position of the weight driven sprocket shaft 1312.
The encoder assembly includes a third tension sleeve 1316, a large synchronizing wheel 1317, a synchronizing belt 1318, a small synchronizing wheel 1319, a fourth tension sleeve 1320, an encoder fixture 1321, an encoder 1322 and a third drive shaft 1323; the large synchronizing wheel 1317 is mounted on the second transmission shaft 135 through a third tensioning sleeve 1316, the encoder fixing member 1321 is fixed on the material warehouse main body frame 11 through bolts, the third transmission shaft 1323 is mounted on the encoder fixing member 1321 through an internal bearing, the small synchronizing wheel 1319 is coaxially mounted on the third transmission shaft 1323 through a fourth tensioning sleeve 1320, and the synchronizing belt 1318 is sleeved between the large synchronizing wheel 1317 and the small synchronizing wheel 1319; the encoder 1322 is fixed to the encoder fixing member 1321 and connected to the third driving shaft 1323, for measuring the number of rotations of the third driving shaft 1323 by the movements of the large synchronizing wheel 1317 and the small synchronizing wheel 1319, thereby measuring the up-and-down movement stroke of the magazine up-and-down movement bracket 12.
Referring to fig. 9, the tray 2 includes a tray plane 21, a tray hook 22, tray wheels 23 and bearings 24; the pair of tray hooks 22 are symmetrically welded at two ends of the tray plane 21 respectively, the pair of tray hooks 22 can be matched and clamped on the chain clamping blocks 1224, and when the first chain 1213 is transmitted, the up-and-down moving bracket 12 of the material warehouse drives the tray 2 to move up and down synchronously, so that the tray 2 moves and stops; the tray wheels 23 are respectively arranged at two ends of the tray plane 21 through bearings 24, so that the tray wheels 23 can horizontally move on the first tray supporting square tube 113, the pair of movable bracket tray supporting square tubes 124 and the second bracket supporting square tube 37, and the movement of the tray 2 in different spaces is realized; preferably, four tray wheels 23 are symmetrically arranged at four corners of the tray plane 21 to ensure stable movement of the tray 2; the tray plane 21 may be an integral structure formed by welding a metal plate and a square tube.
Referring to fig. 10, the feeding and discharging trolley 3 includes a feeding and discharging trolley frame 31, a hook 32, a land wheel 33, a side guide wheel 34, a side guide wheel fixing member 35 and a second bracket supporting square tube 37; the pair of second bracket support square tubes 37 are symmetrically arranged at the tops of two ends of the feeding and discharging trolley frame 31, and the tray wheels 23 can roll on the pair of second bracket support square tubes 37; the hook 32 is arranged at one end of the feeding and discharging trolley frame 31 and is matched and clamped with a clamping block of the trolley traveling system 4, so that the trolley traveling system 4 can drive the feeding and discharging trolley 3 to travel; the plurality of land wheels 33 are respectively arranged at the bottom of the feeding and discharging trolley frame 31, the plurality of side guide wheels 34 are respectively arranged at two sides of the bottom of the feeding and discharging trolley frame 31 through the side guide wheel fixing pieces 35 by the inner shafts and bearings, and the side guide wheels 34 can be arranged in the side feeding and discharging trolley guide channel steel 410 of the trolley traveling system 4 in a matching way, so that the feeding and discharging trolley 3 can move linearly along the side feeding and discharging trolley guide channel steel 410. Preferably, the feeding and discharging trolley frame 31 can be an integrated frame formed by welding and processing a plurality of square pipes, and the frame structure can be manufactured according to the integral structure and the actual use requirement.
The trolley positioning pieces 36 are symmetrically arranged on two sides of one end of the feeding and discharging trolley frame 31, and the trolley positioning pieces 36 are in matched contact with piston head parts extending out of the positioning air cylinders 414 of the trolley traveling system 4, so that the feeding and discharging trolley 3 can be ensured to move to a correct preset position. Preferably, the trolley positioning member 36 may be a machined member provided with a chamfer groove.
Referring to fig. 11, the trolley traveling system 4 includes a third ac motor 41, a third speed reducer 42, a fifth tension sleeve 43, a third driving sprocket 44, a speed reducer fixing seat 45, a chain guiding supporting sheet metal 46, a driven sprocket adjusting member 47, a third driven sprocket 48, a sprocket fixing seat 49, a side feeding and discharging trolley guiding channel 410, a channel fixing member 411, a channel supporting member 412, a cylinder fixing member 413 and a positioning cylinder 414; the third alternating current motor 41 is connected with a third speed reducer 42 which is arranged on the ground through a speed reducer fixing seat 45, and a third driving sprocket 44 is connected with an output shaft of the third speed reducer 42 through a fifth tensioning sleeve 43; the third driven sprocket 48 is arranged on a sprocket fixing seat 49 fixed on the ground through a driven sprocket adjusting piece 47, the third driving sprocket 44 is connected with the third driven sprocket 48 through a chain (not shown in the figure), a U-shaped groove (not shown in the figure) is arranged on the driven sprocket adjusting piece 47, and the installation position of the third driven sprocket 48 can be adjusted, so that the tensioning degree of the chain is adjusted, and a clamping block is arranged on the chain and is matched and clamped with the hook 32 of the feeding and discharging trolley 3, so that the feeding and discharging trolley 3 can move through the transmission of the chain; the chain is arranged in the chain guide supporting sheet metal 46, and two ends of the chain guide supporting sheet metal 46 are respectively connected to the speed reducer fixing seat 45 and the chain wheel fixing seat 49, so that the functions of supporting and guiding the chain can be achieved; a pair of side-feeding and discharging trolley guide channel steel 410 is fixed on the main body frame 11 of the material warehouse through channel steel fixing pieces 411 respectively and is fixedly supported on the ground through channel steel supporting pieces 412 respectively, and is used for ensuring that the feeding and discharging trolley 3 moves back and forth along a fixed route; a pair of positioning cylinders 414 are correspondingly installed on a pair of side feeding and discharging trolley guide channel steel 410 through cylinder fixing pieces 413, and are located at one side part of the side feeding and discharging trolley guide channel steel 410, and can be used for limiting the moving range of the discharging trolley 3.
The working principle of the automatic stock house of the invention is as follows:
The magazine main body frame 11 of the magazine main body 1 is provided with a plurality of layers of support square tubes to place the pallet 2, and the stored raw materials or works are placed on the pallet 2. The movement of the tray 2 is moved and released by means of the catching and separation of the tray hooks 22 welded to the tray 2 and the chain stoppers 1224 fixed to the first chain 1213, and the up-and-down movement of the tray 2 is achieved by means of the up-and-down movement of the magazine up-and-down movement bracket 12 in the magazine main frame 11 via the engagement of the sprocket chain. When the tray 2 moves to different heights, the tray is horizontally moved by the chain sprocket to enter and exit the magazine body 1 at the corresponding height. At the bottommost layer of the material warehouse main body frame 11, the material warehouse is realized by driving the material warehouse through the material warehouse-in and material warehouse-out trolley 3 through a chain wheel chain, so that the pallet 2 is brought to the space outside the material warehouse main body 1, and further, the material is conveniently taken and discharged by operators. The material warehouse main body frame 11 is arranged on the feeding and discharging trolley 3 in a layering way and is used for installing cameras and identifying a visual system, so that contour information and position information of materials or workpieces can be identified, and various subsequent requirements can be met.
The above embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention, therefore, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. An automatic change storehouse, characterized by: comprises a material warehouse main body (1), a tray (2), a feeding and discharging trolley (3) and a trolley travelling system (4); the material warehouse main body (1) comprises a material warehouse main body frame (11), a material warehouse up-and-down moving support (12) and a material warehouse up-and-down moving system (13), a pair of vertically arranged portal channel steels (112) are arranged on two sides of the material warehouse main body frame (11), a plurality of portal channel steel bearings (1221) are arranged on the material warehouse up-and-down moving support (12), the portal channel steel bearings (1221) can be matched and embedded in the portal channel steels (112), and the material warehouse up-and-down moving support (12) is driven to move up and down along the portal channel steels (112); two sides of the up-and-down movement system (13) of the material warehouse are provided with second chains (138) through second driving chain wheels (136), two sides of the up-and-down movement support (12) of the material warehouse are symmetrically provided with second driven chain wheels (1220), the bottom of the second chains (138) is meshed with the second driven chain wheels (1220) and synchronously driven, and two ends of the second chains (138) are respectively fixed on the main body frame (11) of the material warehouse; two sides of the tray (2) are arranged on the up-and-down moving support (12) of the material warehouse and move up and down synchronously with the up-and-down moving support (12) of the material warehouse, a plurality of first tray supporting square tubes (113) are symmetrically arranged at the upper parts of two sides of the main body frame (11), a pair of moving support tray supporting square tubes (124) are symmetrically arranged at two sides of the up-and-down moving support (12) of the material warehouse, second tray supporting square tubes (37) are respectively arranged at the tops of two sides of the feeding and discharging trolley (3), and the tray (2) can move along the first tray supporting square tubes (113), the pair of moving support tray supporting square tubes (124) and the second tray supporting square tubes (37) which are horizontally arranged; two sides of the trolley traveling system (4) are provided with a pair of side feeding and discharging trolley guide channel steel (410) fixed on the main body frame (11) of the material warehouse, and the feeding and discharging trolley (3) horizontally moves along the side feeding and discharging trolley guide channel steel (410); a visual system camera (111) is arranged in the material warehouse main body frame (11), and the visual system camera (111) is positioned above the feeding and discharging trolley (3);
The warehouse up-and-down motion system (13) comprises a second alternating current motor (131), a second speed reducer (132), a second coupler (133), a second transmission shaft (135), a second driving sprocket (136), a second chain (138), a counterweight component and an encoder component; the second alternating current motor (131) is arranged on the second speed reducer (132), two ends of the second coupler (133) are respectively connected with an output shaft of the second speed reducer (132) and one end of the second transmission shaft (135), and one end of the second transmission shaft (135) is fixed on the material warehouse main body frame (11) through the second bearing (134); two second driving chain wheels (136) are respectively fixed at two ends of a second transmission shaft (135), one end of a pair of second chains (138) is fixed at the top of the material warehouse main body frame (11) and is meshed with the two second driving chain wheels (136) for transmission, the other end of the pair of second chains (138) respectively bypasses two second driven chain wheels (1220) positioned at the bottom of the material warehouse main body frame (11) and is then fixed at the top of the material warehouse main body frame (11), and weight components are arranged on the pair of second chains (138) in a matching mode; the encoder assembly is mounted on a second drive shaft (135).
2. The automated warehouse of claim 1, wherein: the warehouse up-and-down moving bracket (12) comprises a first warehouse bracket (121), a second warehouse bracket (122), a connecting beam (123), a moving bracket tray supporting square tube (124), a first alternating current motor (125), a first speed reducer (126), an output shaft (128), a first driving sprocket (1210), a first transmission shaft (1212), a first chain (1213), a tensioning sprocket (1215), a first driven sprocket (1216), an up-and-down moving driven shaft (1217), an up-and-down moving driven shaft stop piece (1218), a lower connecting square tube (1219), a second driven sprocket (1220), a portal channel steel bearing (1221) and a chain clamping block (1224);
The first material warehouse support (121) and the second material warehouse support (122) are connected through a pair of connecting beams (123) and a lower connecting square tube (1219), and a pair of movable support tray supporting square tubes (124) are respectively fixed on the inner walls of the first material warehouse support (121) and the second material warehouse support (122); the first alternating current motor (125) is connected with a first speed reducer (126) arranged on the outer wall of the second material warehouse bracket (122), one end of an output shaft (128) is arranged in the first speed reducer (126), one first driving sprocket (1210) is arranged on the output shaft (128), the other end of the output shaft (128) is connected with one end of a first transmission shaft (1212), and the other end of the first transmission shaft (1212) is arranged on the inner wall of the first material warehouse bracket (121) through the other first driving sprocket (1210); the two tensioning chain wheels (1215) are respectively arranged on the inner walls of the first material warehouse bracket (121) and the second material warehouse bracket (122), a pair of first driven chain wheels (1216) are respectively arranged on the inner walls of the first material warehouse bracket (121) and the second material warehouse bracket (122), a pair of first chains (1213) are respectively arranged on the two first driving chain wheels (1210) after bypassing the tensioning chain wheels (1215) and the first driven chain wheels (1216), and chain clamping blocks (1224) are respectively arranged on the pair of first chains (1213); a pair of up-and-down motion driven shafts (1217) are correspondingly arranged on the first material warehouse bracket (121) and the second material warehouse bracket (122) through up-and-down motion driven shaft stop pieces (1218), and a pair of second driven chain wheels (1220) are respectively arranged on the pair of up-and-down motion driven shafts (1217); and a plurality of portal channel steel bearings (1221) are arranged on the inner walls of the first material warehouse bracket (121) and the second material warehouse bracket (122).
3. The automated warehouse as claimed in claim 2, wherein: the tops of the first material warehouse bracket (121) and the second material warehouse bracket (122) are respectively provided with an upper limiting block (1222); one of the connecting beams (123) is provided with a front limiting block (1223), and the tray (2) can be contacted with the front limiting block (1223) when moving.
4. The automated warehouse of claim 1, wherein: the counterweight assembly comprises a counterweight driven sprocket (1311), a counterweight driven sprocket shaft (1312), a counterweight connecting piece (1314) and a counterweight sheet (1315); the counterweight driven sprocket (1311) is meshed with the second chain (138) for transmission, the counterweight connecting piece (1314) is arranged on the counterweight driven sprocket (1311) through a counterweight driven sprocket shaft (1312), and a plurality of counterweight plates (1315) are longitudinally stacked and fixedly arranged on the counterweight connecting piece (1314).
5. The automated warehouse of claim 1, wherein: the encoder assembly comprises a large synchronous wheel (1317), a synchronous belt (1318), a small synchronous wheel (1319), an encoder fixing piece (1321), an encoder (1322) and a third transmission shaft (1323); the large synchronizing wheel (1317) is mounted on the second transmission shaft (135), the encoder fixing piece (1321) is fixed on the material warehouse main body frame (11), the third transmission shaft (1323) is mounted on the encoder fixing piece (1321), the small synchronizing wheel (1319) is mounted on the third transmission shaft (1323), and the synchronizing belt (1318) is sleeved between the large synchronizing wheel (1317) and the small synchronizing wheel (1319); the encoder (1322) is fixed to the encoder fixing member (1321) and is connected to the third transmission shaft (1323).
6. The automated warehouse of claim 1, wherein: the tray (2) comprises a tray plane (21), a tray hook (22) and tray wheels (23); a pair of tray hooks (22) are respectively welded at two ends of the tray plane (21), and the pair of tray hooks (22) can be matched and clamped on the chain clamping blocks (1224) so that the up-and-down moving bracket (12) of the material warehouse drives the tray (2) to move up and down synchronously; a plurality of tray wheels (23) are arranged at two ends of the tray plane (21), so that the tray wheels (23) can horizontally move on the first tray supporting square tube (113), the pair of movable bracket tray supporting square tubes (124) and the second bracket supporting square tube (37).
7. The automated warehouse of claim 1, wherein: the feeding and discharging trolley (3) comprises a feeding and discharging trolley frame (31), a hook (32), a land wheel (33), a side guide wheel (34) and a second bracket supporting square tube (37); a pair of second bracket supporting square tubes (37) are arranged at the tops of two ends of the feeding and discharging trolley frame (31), and tray wheels (23) of the tray (2) can roll on the pair of second bracket supporting square tubes (37); the hook (32) is arranged at one end of the feeding and discharging trolley frame (31) and is matched and clamped with a clamping block of the trolley travelling system (4), so that the trolley travelling system (4) can drive the feeding and discharging trolley (3) to travel; the bottom of business turn over dolly frame (31) is installed respectively to a plurality of land wheel (33), and a plurality of side leading wheel (34) are installed respectively in the bottom both sides of business turn over dolly frame (31), and side leading wheel (34) can match and install in the side of dolly travelling system (4) goes out dolly guide channel-section steel (410), make business turn over dolly (3) can follow side and go out dolly guide channel-section steel (410) rectilinear motion.
8. The automated warehouse of claim 1, wherein: the trolley traveling system (4) comprises a third alternating current motor (41), a third speed reducer (42), a third driving sprocket (44), a speed reducer fixing seat (45), a third driven sprocket (48), a sprocket fixing seat (49) and side feeding and discharging trolley guide channel steel (410); the third alternating current motor (41) is connected with a third speed reducer (42) arranged on the ground through a speed reducer fixing seat (45), and a third driving sprocket (44) is connected with an output shaft of the third speed reducer (42); the third driven sprocket (48) is arranged on a sprocket fixing seat (49) fixed on the ground, the third driving sprocket (44) is connected with the third driven sprocket (48) through a chain, and a clamping block is arranged on the chain and is matched and clamped with a hook (32) of the feeding and discharging trolley (3), so that the feeding and discharging trolley (3) can move through the transmission of the chain; a pair of side-in and side-out trolley guide channel steel (410) are respectively fixed on the main body frame (11) of the material warehouse.
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| CN201910898541.3A CN110510321B (en) | 2019-09-23 | 2019-09-23 | Automatic change storehouse |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111301912A (en) * | 2019-12-29 | 2020-06-19 | 武汉文林科技有限公司 | Built-in laminator commentaries on classics work or material rest of automatic synchronization business turn over material |
| CN111153090A (en) * | 2019-12-30 | 2020-05-15 | 维特罗伯特机械（苏州）有限公司 | Double-material tower storehouse |
| CN112455986A (en) * | 2020-11-24 | 2021-03-09 | 中国电子科技集团公司第三十八研究所 | Fixed lifting machine for automatic stereoscopic warehouse |
| CN112478557A (en) * | 2020-12-14 | 2021-03-12 | 大族激光科技产业集团股份有限公司 | Multi-layer automatic warehouse-in and warehouse-out warehouse |
| CN114394387B (en) * | 2021-12-07 | 2024-01-02 | 湖南红太阳光电科技有限公司 | Trolley for storing and transporting carrier plates |
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