CN110745440A - Intelligent mold three-dimensional warehouse and control method thereof - Google Patents
Intelligent mold three-dimensional warehouse and control method thereof Download PDFInfo
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- CN110745440A CN110745440A CN201911041270.6A CN201911041270A CN110745440A CN 110745440 A CN110745440 A CN 110745440A CN 201911041270 A CN201911041270 A CN 201911041270A CN 110745440 A CN110745440 A CN 110745440A
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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
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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
- B65G1/0407—Storage devices mechanical using stacker cranes
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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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
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Abstract
The invention discloses an intelligent mold three-dimensional warehouse and a control method thereof, wherein the three-dimensional warehouse comprises mold frames, each mold frame comprises a row of a plurality of vertical mold cabinets, and each vertical mold cabinet comprises a row of a plurality of shelf units with different heights; the three-dimensional garage also comprises a travelling crane channel and a transfer trolley; each shelf unit comprises a left angle steel and a right angle steel, and two ends of each angle steel are welded on two first stand columns of the die cabinet; the transfer trolley comprises a trolley frame, and a power driving mechanism for enabling the pallet to reach the designated horizontal position of the mould frame is arranged on the trolley frame; the frame is also provided with a lifting mechanism for lifting the tray, and a lifting part of the lifting mechanism is provided with a fork mechanism for moving the heavy mould from the upper part of the frame to the upper part of the shelf unit of the mould frame; the key of the method is that the automatic scanning position information is sent to the main controller to control the main motor, the traction machine and the telescopic motor, so as to realize automatic access. The three-dimensional warehouse and the control method thereof are accurate, convenient and high in automation degree.
Description
Technical Field
The invention relates to the technical field of heavy-duty mold storage and placement mechanical equipment for automobile parts in automobile parts industry, in particular to an intelligent mold three-dimensional warehouse and a control method for automatically picking and placing heavy molds by utilizing the three-dimensional warehouse.
Background
In the automobile parts industry, many dies for die-casting automobile parts are heavy dies, the weight of the dies is generally 2.5t to 3t, and some dies even weigh 5 t. In consideration of saving the floor area, the molds are generally stacked layer by using the mold rack, that is, a row of multiple shelf units are vertically combined into one mold cabinet, a row of multiple mold cabinets are horizontally combined into one mold rack, and each mold is placed in the corresponding shelf unit.
The method solves the problems of three layers, namely, the problem of how to arrange the die frame to enable the dies to be more reasonably and orderly placed; secondly, how to set up the concrete structure of the transfer car, make it move and carry the heavy mould after using to the appointed shelf unit of the mould shelf, or will need the heavy mould used to take out the question of the corresponding shelf unit; and thirdly, the automation and the intelligent degree of the mould taking and placing process are improved as much as possible, the manual operation is reduced as much as possible, the labor is saved, and the taking and placing efficiency and the taking accuracy are improved.
The transfer trolley for carrying and moving the molds has several rigid requirements, and firstly, the trolley body and the internal action structure thereof need to be specially designed to bear the molds with the weight of 5t, so that the smooth and stable carrying process of the molds is ensured; and secondly, each internal structure of the vehicle body is as compact and reasonable as possible, so that the vehicle body is convenient to install on the transfer vehicle, and the transfer vehicle is prevented from being too large and heavy. Specifically, if a mold with common weight is carried, a power element driven by an air cylinder or an oil cylinder can be arranged on the transfer trolley, but because the dead weight of a die-casting mold in the automobile distribution industry is too large, the air cylinder cannot drive and bear the mold with the large tonnage at all, even if a large oil cylinder is used, the requirement on load bearing can be met, the volume and the weight of the power element are too large, the integral dead weight and the volume of the transfer trolley are too large, and the transfer trolley is heavy, large in occupied area, high in energy consumption and poor in practicability.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent mold three-dimensional warehouse which can stably and accurately convey heavy molds to a designated shelf unit of a mold frame or can accurately take out and convey the heavy molds from the designated shelf unit.
The invention provides an intelligent mold three-dimensional library, which comprises mold racks, wherein each mold rack comprises a row of a plurality of vertical mold cabinets, and each vertical mold cabinet comprises a column of a plurality of shelf units with different heights; the three-dimensional warehouse also comprises a travelling crane channel extending along the length direction of the mould frame and a transfer trolley positioned on the travelling crane channel; a pallet is arranged on the transfer trolley, and the heavy mold is arranged on the pallet;
each shelf unit comprises a left angle steel and a right angle steel which extend along the thickness direction of the die frame and are used for bearing the tray, and two ends of each angle steel are welded on two first stand columns of the die cabinet;
the transfer trolley comprises a trolley frame, and a power driving mechanism for enabling the pallet to reach the designated horizontal position of the mould frame is arranged on the trolley frame; the frame is also provided with a lifting mechanism for lifting the tray, and a lifting part of the lifting mechanism is provided with a fork mechanism for moving the heavy mould from the upper part of the frame to the upper part of the shelf unit of the mould frame;
the pallet fork mechanism comprises a telescopic arm, the pallet is placed on the telescopic arm, and the telescopic arm comprises a fixed arm, a transition arm and a sliding arm;
the fixing arm is rotatably provided with a plurality of first gears which are meshed in sequence, wherein at least one first gear is a driving wheel driven by a telescopic motor, other first gears are driven wheels, the fixing arm comprises two first side walls and a bottom wall, a first sliding groove penetrates through the inner surface of each first side wall along the telescopic direction, and a lower rack is fixed on the upper surface of the bottom wall;
the transition arm comprises two side plates and a plurality of connecting shafts for connecting the two side plates, and each connecting shaft is rotatably provided with a second gear meshed with the lower rack; a first upper rack meshed with the first gear is fixed on the lower surface of one side plate in the inner part; the outer surface of each side plate is provided with an upper row of guide wheels and a lower row of guide wheels along the telescopic direction;
the sliding arm consists of two second side walls and a cover plate, a second sliding chute penetrates through the inner surface of each second side wall along the telescopic direction, and a second upper rack meshed with a second gear is fixed on the lower surface of the cover plate;
two rows of upper guide wheels of the transition arm are respectively in sliding fit in the two second sliding grooves of the sliding arm, and two rows of lower guide wheels of the transition arm are respectively in sliding fit in the two first sliding grooves of the fixed arm.
Compared with the prior art, the intelligent mold three-dimensional warehouse adopting the structure has the following advantages.
The forward extending action principle of the telescopic arm of the fork mechanism is analyzed independently: the telescopic motor drives the first gear serving as a driving wheel to positively transmit, so that other first gears are driven to positively transmit, and all the first gears positively transmit to push the first upper rack forward, so that the transition arm extends forwards by a standard stroke d relative to the transfer trolley; when the transition arm extends forwards, the lower part of the second gear of the transition arm is meshed with the lower rack of the fixed arm, so that the second gear can also rotate forwards, and the linear stroke of the forward rotation of the second gear is the standard stroke d of the transition arm; and because the upper part of the second gear is meshed with the second upper rack, when the second gear rotates in the positive direction, the sliding arm is pushed by the second upper rack, so that the sliding arm also extends forwards by a standard stroke d relative to the transition arm, and then the standard stroke d of the transition arm extending forwards relative to the transfer trolley is superposed, and the sliding arm extends forwards by two standard strokes, namely 2d relative to the transfer trolley. And controlling the telescopic motor to enable the standard forward extending stroke d to be half of the length of the telescopic arm, so that the sliding arm can finally extend forward by the length of a complete telescopic arm relative to the transfer trolley. At this time, when the telescopic motor is rotated reversely for the same number of turns, the movable wall is retracted 2d, the transition arm is retracted 1d, and the movable wall, the transition arm, and the fixed arm are overlapped again in the telescopic direction. In a similar way, if the telescopic motor rotates reversely, the sliding arm can extend backwards by the length of one telescopic arm relative to the transfer trolley.
The load condition of the telescopic arm is analyzed, the weight of the sliding arm and the upper part of the sliding arm is downwards loaded on the transition arm through the two rows of upper guide wheels, the two rows of upper guide wheels smoothly and stably load, the smoothness of the transverse movement of the sliding arm is guaranteed, and the upper guide wheels are clamped in the two second sliding grooves in the inner surfaces of the two second side walls of the sliding arm to form a U-shaped clamping connection, so that the fork which bears a heavy mold is prevented from overturning and being unstable on the whole when the sliding arm is completely extended; similarly, the weight of the transition arm and the upper part of the transition arm is also loaded downwards on the fixed arm through the two rows of lower guide wheels, so that the fork is further ensured to be stably extended and retracted under high load, move smoothly and not overturn when being fully extended.
In conclusion, the fork mechanism extends the telescopic arm loaded with the heavy mold to the front and back directions, and the extending distance is equal to the length of the telescopic arm, so that the heavy mold is moved and conveyed from the upper part of the transfer trolley to the upper part of the mold frame along the thickness direction of the mold frame; in this way, the tray is conveyed to the specified transverse position of the die frame by the aid of the transfer trolley with the power mechanism and the lifting mechanism which is arranged on the frame and used for lifting the fork mechanism, the tray, the rack and the lifting mechanism are comprehensively operated, and an automatic process that the heavy die is stably and accurately conveyed to the specified shelf unit of the die frame or is accurately taken out of the specified shelf unit and conveyed away is realized; moreover, the pallet fork is heavy in load and can bear heavy molds from 2.5t to 3t, even 5 t; the telescopic process is smooth and stable, and the whole fork can not overturn when the sliding arm is completely extended; moreover, compare heavy huge hydraulic cylinder formula tradition fork, the fork compact structure of this application, it is small, the dead weight is light, and it is light smooth-going to remove.
Preferably, the number of the die frames is even, two die frames in the middle are arranged in a back-to-back fit manner, the die frame positioned on the outermost side is arranged singly, and a travelling channel is formed by a gap between the single die frame on the outer side and the double-layer die frame or a gap between the double-layer die frame and the double-layer die frame; therefore, the three-dimensional mold warehouse formed by integrating the plurality of mold racks multiplies the storage number of the molds in a limited floor area; and two middle mold frames are arranged back to back, and the mold frames on the side sides are independently arranged, so that the mold frames are arranged on two sides of each travelling channel, and the two sides of each travelling channel are combined with the two-way telescopic fork mechanism, and the two rows of mold frames are placed and taken out simultaneously by using one transfer trolley, so that the structure is simplified, the occupation ratio of the mold frames in a limited space is increased, and more molds are convenient to store.
The power driving mechanism preferably comprises a main motor, a first reduction gearbox and two wheel carriers which are arranged on the frame, wherein an output shaft of the main motor extends into the first reduction gearbox, an output shaft of the first reduction gearbox is a first bidirectional shaft, each end of the first bidirectional shaft is fixedly provided with a driving wheel, and each wheel carrier is rotatably provided with a driving driven wheel meshed with the driving wheel on the same side; two main racks respectively arranged at two sides of the separated frame are laid in each driving channel, and a parallel guide rail is arranged at the outer side of each main rack; each driving driven wheel is meshed with the main rack on the same side, a left row of main guide wheels and a right row of main guide wheels are rotatably arranged on the frame, each main guide wheel is placed on the guide rail on the same side, and each main guide wheel is provided with a limiting wheel used for clamping the guide rail along the axial direction; therefore, the power mechanism of the transfer trolley, such as the main motor, the first reduction gearbox, the wheel carrier, the driving wheel, the driven wheel and the like, is compact and reasonable in layout, and the volume of the transfer trolley is reduced as much as possible; after the motor is decelerated and reversed through the first reduction gearbox, the torque is transmitted to two directions and is driven to run from two sides of the vehicle body, and the stress is uniform and stable; more importantly, the driving wheel, the driving driven wheel and the main rack are only responsible for meshing transmission without bearing heavy load, the weight of the vehicle body is placed and borne on the guide rail by the two rows of main guide wheels, and the stress area is large enough to effectively support the load of the heavy mold; moreover, the left limiting wheel and the right limiting wheel clamp the two guide rails when seen from the width direction of the vehicle body, so that the transverse dislocation of the vehicle body is avoided, the running gear is ensured to be always meshed with the main rack, and the stability of the vehicle is further improved.
The lifting mechanism preferably comprises a top frame and four guide posts arranged on a frame of the transfer trolley, and the top ends of the four guide posts are respectively fixed with four corners of the top frame; a plurality of fixed pulleys are arranged on the top frame; the guide post is matched with a lift car in a sliding manner, the lift car is composed of an upper rectangular frame, a lower rectangular frame and four second stand columns for connecting the two rectangular frames, the four second stand columns are arranged at four corners of the two rectangular frames, and the fork mechanism is fixed on the lower rectangular frame; the lift car is provided with a movable pulley; the lifting mechanism also comprises a traction machine with a traction rope, and the traction rope is led out of the traction machine, bypasses each fixed pulley and each movable pulley and is fixed with the top frame to form a pulley block; therefore, the lifting mechanism provides stable traction force by the traction machine, and the traction rope is wound on the movable pulley and the fixed pulley to form a labor-saving pulley block, so that the mechanism can stably lift and lift a heavy mold with the lifting weight of 2.5-5 t; the tray for placing the heavy-duty mold, the lift car and the guide post are in sliding fit, so that the lifting stability of the heavy-duty mold is further enhanced; the whole mechanism is vertically arranged, so that the floor area at the bottom is small, and the mechanism is suitable for being arranged on a frame of a transfer trolley so as to ensure that the structure of the transfer trolley is compact and reasonable; moreover, as can be seen from the analysis of the previous paragraph, the fork mechanism is compact, light and small in occupied area, so that the lifting mechanism for lifting the fork mechanism is natural, light and compact, and small in occupied area, so that the volume and the weight of the whole transfer trolley are further reduced; the mechanism does not need to adopt an oil cylinder and an air cylinder, so that an oil way and an air way circulating system are omitted, and the transfer trolley is lighter; moreover, the four guide columns are distributed in four corners, so that the overall stability of the lifting mechanism is enhanced; and the lift car is also a frame structure formed by the second upright post and the rectangular frame, so that the strength and the bearing capacity of the lift car can be ensured, the dead weight of the lift car is reduced to the maximum extent, the traction force of the traction machine is applied to a die as much as possible, and the heavy load of the lifting mechanism is further increased.
The lifting mechanism is further preferably provided with three fixed pulleys and two movable pulleys, and the traction rope is led out from the traction machine, reversed by the first fixed pulley, sequentially rounds the second fixed pulley, the first movable pulley, the third fixed pulley and the second movable pulley and is fixed with the top frame; therefore, the traction force can be reduced to 1/4 by the pulley block, and the heavy load of the lifting mechanism is further increased, so that the lifting mechanism is more suitable for the requirement of a heavy mold; and a fixed pulley is additionally arranged at a position close to the traction machine to change the direction of the traction rope, so that the traction process is more smooth and stable.
The other preferable mode of the lifting mechanism is that the upper rectangular frame is provided with fully closed hoops which correspond to the guide posts one by one, and four side surfaces of the fully closed hoops, which are in contact with the guide posts, are provided with rolling shafts; the lower rectangular frame is provided with semi-closed hoops which correspond to the guide columns one to one; the three side surfaces of the semi-closed hoop, which are contacted with the guide post, are provided with rolling shafts; therefore, the upper part adopts the totally closed hoop, so that the sliding fit between the car and the guide post is firm, and the separation of the car is avoided; moreover, each side face of the hoop, which is in contact with the guide post, is provided with the roller, so that the friction between the car and the guide post is further lubricated, and the noise and the abrasion between the car and the guide post are reduced.
Preferably, the traction machine is screwed on the guide post in a suspending way through the transition support; an electric cabinet is arranged on the frame, a main controller is arranged in the electric cabinet, the traction machine, the main motor and the telescopic motor are all electrically connected with the main controller, and an operating platform which is also electrically connected with the main controller is arranged on the surface of the electric cabinet; the traction machine is accommodated in an electric cabinet box body of the transfer trolley, and a partition plate is arranged between the traction machine and the main controller; the main motor, the first reduction gearbox, the wheel carrier, the driving wheel and the driven wheel are also positioned in the electric cabinet body, and the parts and the traction machine are positioned on the same side of the partition plate; a longitudinal protective sleeve plate is also arranged on the transition support, and a traction rope section between the traction machine and the first fixed pulley is accommodated in the protective sleeve plate; therefore, the traction machine is connected with the second upright post through the transition support, the connection is firm and reliable, the distance between the traction machine and the top fixed pulley is shortened, the invalid length of the traction rope is reduced, and the energy consumption is saved; the power parts of the traction machine and the transfer trolley are all internally accommodated in the electric cabinet body, so that the whole structure is compact and reasonable, the electric cabinet body is protected and shielded to a certain extent, and the electric cabinet is dustproof and waterproof, and the whole structure is attractive and tidy; similarly, a traction rope section between the traction machine and the first fixed pulley is also internally wrapped in the protective sleeve plate for protection, so that the rope section is prevented from being accidentally touched, and the lifting stability of the lift car is ensured; moreover, a clapboard is arranged in the electric cabinet and is used for separating power parts of the traction machine and the transfer trolley from the main controller, thereby preventing the traction rope of the traction machine and other power elements from polluting precision elements such as the main controller; finally, the main controller is connected with the traction machine, the main motor and the telescopic motor, so that the output of the three power sources can be precisely controlled, the bracket and the die can be accurately conveyed into the corresponding shelf unit on the die frame, the operation table is connected with the main controller, manual control is provided for automatically placing the die, position information corresponding to the die is input when the die is taken away conveniently, and the automation of taking out the die is realized.
Preferably, the number of the telescopic arms is two, and the distance between the outer surfaces of the two telescopic arms is smaller than the distance between the two angle steels of the same shelf unit; the telescopic motor is positioned between the two telescopic arms, an output shaft of the telescopic motor extends into a second reduction gearbox, an output shaft of the second reduction gearbox is a second bidirectional shaft, and two ends of the second bidirectional shaft respectively extend into the fixed arms at two sides and are fixed with the two first gears; thus, one telescopic motor drives two telescopic arms simultaneously, and the two telescopic arms can be ensured to be synchronously telescopic, so that the stress balance is ensured, the stability of the mold during moving is improved, and the overall load of the forklift is doubled; moreover, the distance between the outer surfaces of the two telescopic arms is smaller than the distance between the two angle steels of the same shelf unit, namely the two angle steels are hollowed out, so that the telescopic arms are prevented from interfering with the angle steels when being lifted, and the tray is suspended and placed.
Preferably, a connecting frame is arranged between the two telescopic arms and comprises a top metal plate and a front bottom connecting plate and a rear bottom connecting plate, two ends of each bottom connecting plate are respectively in threaded connection with the two fixing arms, the middle part of the top metal plate is provided with an upper arch slab, the front end and the rear end of the top metal plate are provided with L-shaped plates, the two L-shaped plates are respectively in threaded connection with the front bottom connecting plate and the rear bottom connecting plate, and a second reduction gearbox shell is in threaded connection with the lower; the lower surfaces of the two bottom connecting plates are in threaded connection with the lower rectangular frame; like this, two flexible arms firm in connection, and each part overall arrangement is compact reasonable, the assembly of being convenient for, and has reduced fork truck's whole volume.
As a further preference, a gear box is fixed on the lower surface of the bottom wall of the fixing arm, the main body part of the first gear is installed in the gear box, a long hole parallel to the lower rack penetrates through the bottom wall of the fixing arm, and the upper parts of all the first gears extend out of the gear box through the long holes so as to realize meshing with the first upper rack; due to the design, a proper mounting position is provided for the first gear, the first gear and the lower rack are ensured to be staggered, and the multi-stage transmission parts of the forklift are ensured to operate independently and do not interfere with each other.
The invention aims to solve another technical problem of providing a control method for automatically taking and placing a mold by using the intelligent mold three-dimensional library accurately, conveniently and automatically.
Another technical solution of the present invention is to provide a control method for automatically picking and placing a mold by using the intelligent mold stereo library of the present application, which includes the following steps:
the mold placing process comprises:
a. sticking a bar code with information of a specific storage position of the mould on each mould;
b. placing the mould on a tray, and placing the tray on a transfer trolley positioned at the entrance of a traffic channel;
c. scanning the bar code by using a bar code scanner, and sending the information of the specific storage position of the scanned mould to the main controller;
d. the main controller drives the main motor to rotate forward for a fixed number of turns, so that the transfer trolley reaches the designated transverse position of the die frame;
e. the main controller drives the traction machine to rotate forward for a fixed number of turns, so that the fork mechanism rises to a height slightly higher than the height of the angle steel of the corresponding shelf unit;
f. the main controller drives the telescopic motor to rotate forwards or reversely, the sliding arm extends forwards or backwards completely to enable the tray to be positioned above the angle steel of the corresponding shelf unit, and then the traction machine is driven reversely to enable the pallet fork mechanism to fall to a height slightly lower than the angle steel in a small range, so that the mould and the tray are completely placed on the angle steel of the corresponding shelf unit;
the mold taking-out process comprises the following steps:
inputting specific stored position information of a mold to be taken out on an operation platform of an electric cabinet, converting the number of rotation turns of a driving main motor and a traction machine by a main controller according to the position information so as to enable a transfer trolley to reach a corresponding transverse position, lifting a forklift mechanism to a height slightly lower than that of angle steel of a shelf unit by a lifting mechanism, and then driving a telescopic motor to extend forwards or backwards so as to enable a sliding arm to be positioned at a height slightly lower than that of a tray; then, the traction machine is continuously driven to lift the pallet fork mechanism in a small range, and the pallet is lifted and separated from the angle steel; and then the sliding arm is completely retracted, and the traction machine and the main motor are reversely reset, so that the pallet fork mechanism returns to the ground and the transfer trolley returns to the entrance of the travelling crane channel.
The intelligent mold three-dimensional warehouse and the control method thereof have the advantages that: the automatic and accurate placement and removal of the mold are realized, the automation and intelligence degrees of the two processes are very high, and the mold can be automatically placed without manual intervention by only placing the mold on a transfer vehicle positioned at the entrance of a travelling vehicle channel and scanning bar codes; or the transfer trolley can automatically advance, ascend, extend and take the molds away and reversely move to the entrance of the travelling crane channel only by inputting the specific position information of the molds to be taken away on the operating platform; therefore, the labor is effectively saved, and the method is accurate, quick and efficient; moreover, all parts in the transfer trolley are reasonable in layout, completely bear the requirements of heavy molds, are smoothly carried, are compact, reduce the weight and the volume of the whole transfer trolley, and are scientific in overall design of the layout of the mold frame, the travelling channel and the transfer trolley, so that the molds are placed and stored as much as possible, and are reasonable in distribution and convenient to take and place.
Drawings
Fig. 1 is a schematic structural diagram of a power part of a frame of an intelligent mold stereo garage.
Fig. 2 is a schematic structural view of the lower limit position of the car of the intelligent mold stereo garage according to the invention.
Fig. 3 is a schematic structural view of the upper limit position of the car of the intelligent mold stereo garage according to the present invention.
Fig. 4 is an enlarged schematic structural diagram of a car of the intelligent mold stereo garage.
Fig. 5 is a schematic structural view of the lifting mechanism of the intelligent mold stereo garage, with the car removed, of the invention.
Fig. 6 is a schematic structural view of the lifting mechanism of the intelligent mold three-dimensional warehouse, which is provided with the lift car, the electric control box shell and the protective sleeve plate removed.
Fig. 7 is a schematic structural diagram of a fork mechanism of the intelligent mold three-dimensional warehouse.
FIG. 8 is a schematic structural view of the fork mechanism of the intelligent mold three-dimensional warehouse of the present invention with the top metal plate removed.
Fig. 9 is an exploded view of the fork mechanism of the intelligent mold three-dimensional warehouse of the invention.
Fig. 10 is a schematic view of the structure of fig. 9 after being deflected by a certain angle.
Fig. 11 is a schematic top view of a half-section of the fork mechanism of the intelligent mold stereo garage, which is cut from the section of the first gear.
Fig. 12 is a schematic top view of a half section of the fork mechanism of the intelligent mold stereo garage, which is cut from the section of the second gear.
Fig. 13 is a schematic structural diagram of the intelligent mold stereo library of the invention.
Fig. 14 is a schematic structural view of the intelligent mold stereo garage without a transfer trolley.
Shown in the figure are 1, a telescopic arm, 2, a fixed arm, 2.1, a first side wall, 2.2, a bottom wall, 3, a transition arm, 3.1, an additional connecting rod, 3.2, a side plate, 3.3, a connecting shaft, 4, a sliding arm, 4.1, a second side wall, 4.2, a cover plate, 5, a first gear, 6, a telescopic motor, 7, a first sliding chute, 8, a lower rack, 9, a second gear, 10, a first upper rack, 11, a second sliding chute, 12, a second upper rack, 13, an upper guide wheel, 14, a lower guide wheel, 15, a second reduction box, 16, a second bidirectional shaft, 17, a top metal plate, 17.1, an upper arch plate, 17.2, an L-shaped plate, 18, a bottom connecting plate, 19, a gear box, 20, a long hole, 21, a vehicle frame, 22, a guide column, 23, a top frame, 24, a fixed pulley, 25, a car, 25.1, an upper rectangular frame, 25.2, a lower rectangular frame, 25.3, a second upright column, a traction rope, a tray, 26, a movable rope, a, 29. 30 parts of a traction machine, 30 parts of a fully-closed hoop, 31 parts of a roller, 32 parts of a semi-closed hoop, 33 parts of a transition support, 34 parts of an electric cabinet, 35 parts of a partition plate, 36 parts of a protective sleeve plate, 37 parts of an upper beam, 38 parts of a lower beam, 39 parts of a main motor, 40 parts of a first reduction gearbox, 41 parts of a wheel carrier, 42 parts of a first bidirectional shaft, 43 parts of a driving wheel, 44 parts of a driven driving wheel, 45 parts of a main rack, 46 parts of a guide rail, 47 parts of a main guide wheel, 48 parts of a limiting wheel, 49 parts of a mould frame, 49.1 parts of a mould cabinet, 49.1.1 parts of a shelf unit, 49.1.2 parts of angle steel, 49.1.3 parts of a first upright post, 50 parts of a driving channel, 51 parts of a.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
As shown in fig. 1 to 14, the intelligent mold stereo garage of the present invention includes a plurality of mold racks 49, each mold rack 49 includes a row of a plurality of vertical mold cabinets 49.1, and each mold cabinet 49.1 includes four first uprights 49.1.3. Each vertical mould cabinet 49.1 comprises an array of a plurality of shelf units 49.1.1 of different heights. Each shelf unit 49.1.1 includes two right and left angle steel 49.1.2 extending in the thickness direction of the mold rack 49 for carrying the tray 27, and each angle steel 49.1.2 is welded at both ends to two first upright posts 49.1.3 of the mold cabinet 49.1. When the mold is placed on the shelving unit 49.1.1, the tray 27 snaps over the cross bars of the two angles 49.1.2.
The mold racks 49 of the mold library of this embodiment are even number, two mold racks 49 in the middle are arranged in a back-to-back fit manner, the mold rack 49 located at the outermost side is arranged singly, a traveling passage 50 is formed between the single mold rack 49 at the outer side and the double-layer mold rack 49, and a traveling passage 50 is formed by a gap between the double-layer mold rack 49 and the double-layer mold rack 49. The travelling channel 50 extends along the length direction of the die frame 49, and a transfer trolley 51 is arranged in the travelling channel 50; the transfer trolley 51 rests on the pallet 27 and the heavy moulds rest on the pallet 27.
The transfer trolley 51 comprises a carriage 21, the carriage 21 being provided with a power drive mechanism for bringing the pallet 27 to a predetermined horizontal position of the mould frame 49. Specifically, the frame 21 is provided with a main motor 39, a first reduction gearbox 40, and two wheel carriers 41 on the left and right sides. The output shaft of the main motor 39 extends into the first reduction gearbox 40, the output shaft of the first reduction gearbox 40 is a first bidirectional shaft 42, each end of the first bidirectional shaft 42 passes through a through hole of the wheel carrier 41 on the same side, and each end of the first bidirectional shaft 42 is fixed with a driving wheel 43. Each wheel carrier 41 is rotatably mounted with a driving driven wheel 44 engaged with the same-side driving wheel 43. Two main racks 45 on two sides of the separated frame 21 are laid in each travelling channel 50, and a parallel guide rail 46 is arranged outside each main rack 45. Each driving driven wheel 44 is meshed with a main rack 45 on the same side, a left row and a right row of main guide wheels 47 are rotatably arranged on the frame 21, each main guide wheel 47 is placed on a guide rail 46 on the same side, and each main guide wheel 47 is provided with a limiting wheel 48 used for clamping the guide rail 46 along the axial direction.
The main motor 39 will drive the trolley 51 to advance along the guide 46, i.e. the length of the mould holder 49, to a given horizontal position, e.g. in front of the fifth mould cupboard 49.1.
The carriage 21 is further provided with an elevating mechanism for elevating the pallet 27, and an elevating portion of the elevating mechanism is provided with a fork mechanism for moving the heavy-duty mold from above the carriage 21 to above the shelf unit 49.1.1 of the mold rack 49. The specific structure is as follows.
The lifting mechanism comprises at least two guide posts 22 mounted on the transfer car frame 21, in this embodiment four guide posts 22. The top ends of the four guide columns 22 are fixed with a top frame 23, and specifically, the top ends of the four guide columns 22 are fixed with four corners of the top frame 23. The top frame 23 is provided with an upper beam 37, and a plurality of fixed pulleys 24 are rotatably arranged on the upper beam 37. Four guide posts 22 are slidably fitted with a car 25. Specifically, the car 25 is composed of an upper rectangular frame 25.1, a lower rectangular frame 25.2 and four second upright posts 25.3 connecting the two rectangular frames, and the four second upright posts 25.3 are arranged at four corners of the two rectangular frames; the upper rectangular frame 25.1 is provided with four fully-closed anchor ears 30; each fully closed hoop 30 is in sliding fit with one corresponding guide column 22, and four side surfaces of each fully closed hoop 30, which are in contact with the corresponding guide column 22, are provided with rolling shafts 31; the lower rectangular frame 25.2 is provided with four semi-closed hoops 32, each semi-closed hoop 32 is in sliding fit with one corresponding guide column 22, and three sides of each semi-closed hoop 32, which are in contact with the corresponding guide column 22, are provided with rolling shafts 31.
The top frame 23 of the cage 25 is provided with a lower beam 38, and the lower beam 38 is provided with a movable pulley 26. The car 25 is also provided with a fork mechanism. More specifically, the fork mechanism is fixed to the lower rectangular frame 25.2.
The lifting mechanism further comprises a traction machine 29 with a traction rope 28, and the traction rope 28 is led out from the traction machine 29, passes through each fixed pulley 24 and each movable pulley 26 and is fixed with the top frame 23 to form a pulley block.
The pulley block concrete structure of this embodiment does: the number of the fixed pulleys 24 is three, the number of the movable pulleys 26 is two, and the traction rope 28 is led out from the traction machine 29, is reversed by the first fixed pulley 24, sequentially rounds the second fixed pulley 24, the first movable pulley 26, the third fixed pulley 24 and the second movable pulley 26, and is fixed with the top frame 23.
The traction machine 29 is screwed on the guide post 22 in the air through the transition bracket 33. An electric cabinet 34 is arranged on the frame 21, a main controller is arranged in the electric cabinet 34, the traction machine 29, the main motor 39 and the telescopic motor 6 are all electrically connected with the main controller, and an operating platform 52 which is also electrically connected with the main controller is arranged on the surface of the electric cabinet 34; the traction machine 29 is accommodated in the electric cabinet 34 of the transfer trolley 51, and a partition plate 35 is arranged between the traction machine and the main controller; the main motor 39, the first reduction gearbox 40, the wheel carrier 41, the driving running wheel 43 and the driven running wheel 44 are also positioned in the electric cabinet 34, and the above components and the traction machine 29 are all positioned on the same side of the clapboard 35. The transition support 33 is also provided with a longitudinal protective sleeve 36, and the rope section of the traction rope 28 between the traction machine 29 and the first fixed pulley 24 is accommodated in the protective sleeve 36.
The fork mechanism of the transfer trolley 51 is a heavy-duty bidirectional telescopic fork, and comprises two telescopic arms 1 with the same structure and a connecting frame for connecting the two telescopic arms 1. The tray 27 rests on the two telescopic arms 1. The two angle steel 49.1.2 diaphragms are hollowed out, and the distance between the two angle steel 49.1.2 diaphragms is greater than the distance between the outer surfaces of the two telescopic arms 1.
Each telescopic arm 1 comprises a fixed arm 2, a transition arm 3 and a sliding arm 4.
Here, the direction concept is unified, and the direction in which the telescopic boom 1 extends and contracts is defined as the front-rear direction of the telescopic boom 1, and the direction perpendicular to the telescopic boom 1 is defined as the left-right direction of the telescopic boom 1 with respect to the telescopic boom 1. However, in the entire mold frame 49, the extending and contracting direction of the telescopic arm 1 is substantially the thickness direction of the mold frame 49.
The fixed arm 2 comprises two first side walls 2.1 and a bottom wall 2.2, and the two first side walls 2.1 are screwed on the upper surface of the bottom wall 2.2 and are respectively arranged at the left side and the right side of the bottom wall.
The connecting frame comprises a top metal plate 17 and a front bottom connecting plate 18 and a rear bottom connecting plate 18, wherein two ends of the front bottom connecting plate 18 are respectively in threaded connection with the front ends of the bottom walls 2.2 of the two fixing arms 2, and two ends of the rear bottom connecting plate 18 are respectively in threaded connection with the rear ends of the bottom walls 2.2 of the two fixing arms 2; the two bottom walls 2.2 and the two bottom webs 18 form the frame structure of the fork base. And the lower surfaces of the two bottom connecting plates 18 are in threaded connection with the lower rectangular frame 15.2, so that the connection between the fork mechanism and the elevator cage 25 is completed.
The middle part of the top metal plate 17 is provided with an upper arch 17.1, the front end and the rear end are provided with L-shaped plates 17.2, the two L-shaped plates 17.2 are respectively in threaded connection with a front bottom connecting plate 18 and a rear bottom connecting plate 18, and the lower surface of the upper arch 17.1 is in threaded connection with a second reduction gearbox 15. A telescopic motor 6 is further arranged between the two telescopic arms 1, an output shaft of the telescopic motor 6 extends into the second reduction gearbox 15, an output shaft of the second reduction gearbox 15 is a second bidirectional shaft 16, and two ends of the second bidirectional shaft 16 respectively extend into the two fixed arms 2 on the left side and the right side.
A plurality of first gears 5 are rotatably mounted in each fixed arm 2, wherein at least one first gear 5 is a driving wheel driven by a telescopic motor 6 and the other first gears 5 are driven wheels. In this embodiment, three first gears 5 are disposed in each telescopic arm 1, specifically, a gear box 19 is fixed on the lower surface of the bottom wall 2.2 of each fixed arm 2, the three first gears 5 are rotatably mounted in a box of the gear box 19, the end of the second bidirectional shaft 16 extends into the gear box 19 of the fixed arm 2 and is fixed with the first gear 5 serving as a driving wheel, the other two first gears 5 are sequentially in meshing transmission with the driving wheel, and the three first gears 5 are located in the middle of the length of the fixed arm 2 in the telescopic direction. The bottom wall 2.2 of the fixed arm 2 also serves as a top plate of the gear box 19, a long hole 20 extending in the telescopic direction penetrates through the bottom wall 2.2, the main body parts of the three first gears 5 are accommodated in the box body of the gear box 19, and the upper parts of the three first gears 5 extend out of the gear box 19 through the long hole 20.
A first sliding chute 7 penetrates through the inner surface of each first side wall 2.1 of the fixed arm 2 along the telescopic direction, and a lower rack 8 extending along the telescopic direction is fixed on the upper surface of the bottom wall 2.2; the lower rack 8 and the part of the first gear 5 extending out of the gear box 19 through the long hole 20 are staggered left and right.
The transition arm 3 comprises two side plates 3.2 and a plurality of connecting shafts 3.3 for connecting the two side plates 3.2, in the embodiment, three connecting shafts 3.3 are provided, and each connecting shaft 3.3 is rotatably provided with a second gear 9 meshed with the lower rack 8; the three second gears 9 are meshed in sequence, and the three second gears 9 are positioned in the middle of the length of the transition arm 3 in the telescopic direction; naturally, an additional connecting rod 3.1 for reinforcement is also arranged between the two side plates 3.2. A first upper rack 10 meshed with the first gear 5 is fixed on the lower surface of one side plate 3.2; the outer surface of each side plate 3.2 is provided with an upper row of guide wheels and a lower row of guide wheels along the telescopic direction. Specifically, a row of upper guide wheels 13 and a row of lower guide wheels 14 are arranged on the left surface of the left side plate 3.2 in the telescopic direction, and a row of upper guide wheels 13 and a row of lower guide wheels 14 are arranged on the right surface of the right side plate 3.2 in the telescopic direction.
The sliding arm 4 is composed of two second side walls 4.1 and a cover plate 4.2, and the two second side walls 4.1 are respectively screwed on the lower surface of the cover plate 4.2 and are separated on the left side and the right side of the cover plate. A second sliding groove 11 penetrates through the inner surface of each second side wall 4.1 along the telescopic direction, and a second upper rack 12 meshed with the second gear 9 is fixed on the lower surface of the cover plate 4.2.
Two rows of upper guide wheels 13 of the transition arm 3 are respectively in sliding fit in the two second sliding grooves 11 of the sliding arm 4, and two rows of lower guide wheels 14 of the transition arm 3 are respectively in sliding fit in the two first sliding grooves 7 of the fixed arm 2.
The invention relates to a control method for automatically picking and placing a mold by utilizing an intelligent mold three-dimensional warehouse; it includes a mold placement process and a mold removal process.
The mold placing process comprises:
a. and sticking a bar code with information of the specific storage position of the mould on each mould.
The bar code in this step is preferably a two-dimensional code, the position information may be the number of the corresponding shelf unit 49.1.1, and the main controller may find the number of rotations of the main motor 39 and the number of rotations of the traction machine 29 corresponding to the number in the database and the front and back directions in which the fork mechanism extends according to the number, or may directly record the number of rotations of the main motor 39 and the traction machine 29 and the front and back directions in which the fork mechanism extends into the two-dimensional code.
b. The mould rests on the tray 27 and the tray 27 rests on a transfer trolley 51 located at the entrance to the walkway 50.
c. Scanning the bar code by using a bar code scanner, and sending the information of the specific storage position of the scanned mould to the main controller; the code scanner can be a hand-held scanner, or a mobile phone, or a camera scanning device installed at the entrance of the driving channel 50, as long as the code scanner is in signal connection with the main controller, and can send a code scanning result.
d. The main controller drives the main motor 39 to rotate forward for a fixed number of turns, so that the transfer trolley 51 reaches a specified transverse position of the mold rack 49, such as the front of a fifth mold cabinet 49.1; as is known in the art, the main motor 39 and the traction machine 29 are provided with angular encoders for measuring the number of turns to be output, and the angular encoders are electrically connected to the main controller to start and stop the corresponding motors.
e. The main controller drives the traction machine 29 to rotate forward for a fixed number of turns, so that the fork mechanism rises to a height slightly higher than the height of the angle steel 49.1.2 of the corresponding shelf unit 49.1.1; such as 3cm above the angle 49.1.2 of the fourth shelving unit 49.1.1.
f. The main controller drives the telescopic motor 6 to rotate forwards or reversely, the sliding arm 4 extends forwards or backwards completely, the tray 27 is positioned above the angle steel 49.1.2 of the corresponding shelf unit 49.1.1, the traction machine 29 is driven reversely, the pallet fork mechanism drops to a height slightly lower than the angle steel 49.1.2 in a small range, and then drops to a height lower than 2cm of the angle steel 49.1.2, and the mold and the tray 27 are completely placed on the angle steel 49.1.2 of the corresponding shelf unit 49.1.1.
In this embodiment, two upward infrared distance sensors are disposed at two ends of the fixed arm 2 of the fork mechanism, when the fork is contracted, two ends of the sliding arm 4 cover two ends of the fixed arm 2, and both infrared sensors have signals, and once the front infrared sensor has a signal and the rear infrared sensor has no signal, it indicates that the sliding arm 4 is extended forward, and then, if both infrared sensors have no signal, it indicates that the sliding arm 4 is fully extended forward.
The mold taking-out process comprises the following steps:
inputting specific stored position information of a mold to be taken out on an operation platform 52 of an electric cabinet, acquiring the number of rotation turns of a driving main motor 39 and a traction machine 29 by a main controller according to the position information so as to enable a transfer trolley 51 to reach a corresponding transverse position, lifting a forklift mechanism to a height slightly lower than the height of an angle steel 49.1.2 of a shelf unit 49.1.1, such as a height lower by 3cm, and then driving a telescopic motor 6 to extend forwards or backwards so as to enable a sliding arm 4 to be positioned at a height slightly lower than a tray 27; the traction machine 29 is continuously driven to lift the pallet fork mechanism by a small margin, if the pallet fork mechanism is lifted by 5cm, the pallet 27 is lifted and separated from the angle steel 49.1.2; the sliding arm 4 is then fully retracted and the traction machine 29 and main motor 39 are reversed, returning the fork mechanism to the ground and the transfer car 51 back to the entrance of the walkway 50.
Claims (10)
1. An intelligent mould stereo library comprises mould racks (49), wherein each mould rack (49) comprises a row of a plurality of vertical mould cabinets (49.1), and each vertical mould cabinet (49.1) comprises a row of a plurality of shelf units (49.1.1) with different heights; the method is characterized in that: the mould rack is characterized by also comprising a travelling channel (50) extending along the length direction of the mould rack (49) and a transfer trolley (51) positioned on the travelling channel (50); a tray (27) is placed on the transfer trolley (51), and the heavy-duty mold is placed on the tray (27);
each shelf unit (49.1.1) comprises a left angle steel (49.1.2) and a right angle steel (49.1.2) which extend along the thickness direction of the mould rack (49) and are used for bearing the tray (27), and two ends of each angle steel (49.1.2) are welded on two first upright posts (49.1.3) of the mould cabinet (49.1);
the transfer trolley (51) comprises a trolley frame (21), and a power driving mechanism for enabling the tray (27) to reach the designated horizontal position of the mould frame (49) is arranged on the trolley frame (21); the frame (21) is also provided with a lifting mechanism for lifting the tray (27), and a lifting part of the lifting mechanism is provided with a fork mechanism for moving the heavy-duty mold from the upper part of the frame (21) to the upper part of a shelf unit (49.1.1) of the mold rack (49);
the pallet fork mechanism comprises a telescopic arm (1), the tray (27) is placed on the telescopic arm (1), and the telescopic arm (1) comprises a fixed arm (2), a transition arm (3) and a sliding arm (4);
the fixing arm (2) is rotatably provided with a plurality of first gears (5) which are meshed in sequence, wherein at least one first gear (5) is a driving wheel driven by a telescopic motor (6) and other first gears (5) are driven wheels, the fixing arm (2) comprises two first side walls (2.1) and a bottom wall (2.2), a first sliding chute (7) penetrates through the inner surface of each first side wall (2.1) along the telescopic direction, and a lower rack (8) is fixed on the upper surface of the bottom wall (2.2);
the transition arm (3) comprises two side plates (3.2) and a plurality of connecting shafts (3.3) used for connecting the two side plates (3.2), and each connecting shaft (3.3) is rotatably provided with a second gear (9) meshed with the lower rack (8); a first upper rack (10) meshed with the first gear (5) is fixed on the lower surface of one inner side plate (3.2); the outer surface of each side plate (3.2) is provided with an upper row of guide wheels and a lower row of guide wheels in a telescopic direction;
the sliding arm (4) is composed of two second side walls (4.1) and a cover plate (4.2), a second sliding chute (11) penetrates through the inner surface of each second side wall (4.1) along the telescopic direction, and a second upper rack (12) meshed with the second gear (9) is fixed on the lower surface of the cover plate (4.2);
two rows of upper guide wheels (13) of the transition arm (3) are respectively in sliding fit in the two second sliding grooves (11) of the sliding arm (4), and two rows of lower guide wheels (14) of the transition arm (3) are respectively in sliding fit in the two first sliding grooves (7) of the fixed arm (2).
2. The intelligent mold stereo library according to claim 1, wherein: the mold frames (49) are even in number, two mold frames (49) in the middle are arranged in a back-to-back fit mode, the mold frame (49) located on the outermost side is arranged singly, and a traveling channel (50) is formed by gaps between the single mold frame (49) on the outer side and the double-layer mold frame (49) or gaps between the double-layer mold frame (49) and the double-layer mold frame (49).
3. The intelligent mold stereo library according to claim 1, wherein: the power driving mechanism comprises a main motor (39), a first reduction gearbox (40) and two wheel carriers (41) which are arranged on the frame (21), an output shaft of the main motor (39) extends into the first reduction gearbox (40), an output shaft of the first reduction gearbox (40) is a first bidirectional shaft (42), each end of the first bidirectional shaft (42) is fixedly provided with a driving wheel (43), and each wheel carrier (41) is rotatably provided with a driving driven wheel (44) which is meshed with the driving wheel (43) on the same side; two main racks (45) which are respectively arranged at two sides of the frame (21) are paved in each travelling channel (50), and a parallel guide rail (46) is arranged at the outer side of each main rack (45); each driving driven wheel (44) is meshed with the main rack (45) on the same side, a left row and a right row of main guide wheels (47) are rotatably arranged on the frame (21), each main guide wheel (47) is placed on the guide rail (46) on the same side, and each main guide wheel (47) is provided with a limiting wheel (48) used for clamping the guide rail (46) along the axial direction.
4. The intelligent mold stereo library according to claim 1, wherein: the lifting mechanism comprises a top frame (23) and four guide posts (22) arranged on a frame (21) of the transfer trolley (51), and the top ends of the four guide posts (22) are respectively fixed with four corners of the top frame (23); a plurality of fixed pulleys (24) are arranged on the top frame (23); a lift car (25) is matched on the guide column (22) in a sliding manner, the lift car (25) is composed of an upper rectangular frame (15.1), a lower rectangular frame (15.2) and four second stand columns (15.3) which are connected with the two rectangular frames, the four second stand columns (15.3) are arranged at the four corners of the two rectangular frames, and the fork mechanism is fixed on the lower rectangular frame (15.2); the cage (25) is provided with a movable pulley (26); the lifting mechanism also comprises a traction machine (29) with a traction rope (28), and the traction rope (28) is led out from the traction machine (29), passes through each fixed pulley (24) and each movable pulley (26) and is fixed with the top frame (23) to form a pulley block.
5. The intelligent mold stereo library according to claim 4, wherein: the number of the fixed pulleys (24) is three, the number of the movable pulleys (26) is two, and the traction rope (28) is led out from the traction machine (29), reversed by the first fixed pulley (24), sequentially wound around the second fixed pulley (24), the first movable pulley (26), the third fixed pulley (24) and the second movable pulley (26) and fixed with the top frame (23).
6. The intelligent mold stereo library according to claim 4, wherein: the upper rectangular frame (15.1) is provided with fully closed hoops (30) which correspond to the guide columns (22) one by one, and four side surfaces of the fully closed hoops (30) which are in contact with the guide columns (22) are provided with rolling shafts (31); the lower rectangular frame (15.2) is provided with semi-closed hoops (32) which correspond to the guide columns (22) one by one; and rolling shafts (31) are arranged on three sides of the semi-closed hoop (32) which are contacted with the guide post (22).
7. The intelligent mold stereo library according to claim 4, wherein: the traction machine (29) is suspended and screwed on the guide post (22) through the transition support (33); an electric cabinet (34) is arranged on the frame (21), a main controller is arranged in the electric cabinet (34), the traction machine (29), the main motor (39) and the telescopic motor (6) are all electrically connected with the main controller, and an operation platform (52) which is also electrically connected with the main controller is arranged on the surface of the electric cabinet (34); the traction machine (29) is accommodated in the box body of the electric control box (34) of the transfer trolley (51), and a partition plate (35) is arranged between the traction machine and the main controller; the main motor (39), the first reduction gearbox (40), the wheel carrier (41), the driving wheel (43) and the driven wheel (44) are also positioned in the box body of the electric control box (34), and the components and the traction machine (29) are positioned on the same side of the partition board (35); the transition support (33) is also provided with a longitudinal protective sleeve plate (36), and the rope section of the traction rope (28) between the traction machine (29) and the first fixed pulley (24) is accommodated in the protective sleeve plate (36).
8. The intelligent mold stereo library according to claim 4, wherein: the distance between the outer surfaces of the two telescopic arms (1) is smaller than the distance between two angle steels (49.1.2) of the same shelf unit (49.1.1); the telescopic motor (6) is positioned between the two telescopic arms (1), an output shaft of the telescopic motor (6) extends into a second reduction gearbox (15), an output shaft of the second reduction gearbox (15) is a second bidirectional shaft (16), and two ends of the second bidirectional shaft (16) respectively extend into the fixed arms (2) on two sides and are fixed with the two first gears (5).
9. The intelligent mold stereo library according to claim 8, wherein: a connecting frame is arranged between the two telescopic arms (1), the connecting frame comprises a top metal plate (17) and a front and a rear bottom connecting plates (18), two ends of each bottom connecting plate (18) are respectively in threaded connection with the two fixing arms (2), the middle part of the top metal plate (17) is provided with an upper arch plate (17.1), the front and rear ends of each top metal plate are provided with L-shaped plates (17.2), the two L-shaped plates (17.2) are respectively in threaded connection with the front and rear bottom connecting plates (18), and a shell of a second reduction gearbox (15) is in threaded connection with the lower surface of the upper arch plate (17.; the lower surfaces of the two bottom connecting plates (18) are in threaded connection with the lower rectangular frame (15.2);
a gear box (19) is fixed on the lower surface of the bottom wall (2.2) of the fixing arm (2), the main body of the first gear (5) is installed in the gear box (19), a long hole (20) parallel to the lower rack (8) penetrates through the bottom wall (2.2) of the fixing arm (2), and the upper portions of all the first gears (5) extend out of the gear box (19) through the long holes (20) so as to be meshed with the first upper rack (10).
10. A control method for automatically taking and placing the mold by using the intelligent mold stereo library according to any one of claims 1-9; it comprises the following steps:
the mold placing process comprises:
a. sticking a bar code with information of a specific storage position of the mould on each mould;
b. resting the mould on a pallet (27), the pallet (27) on a transfer trolley (51) located at the entrance of the walkway (50);
c. scanning the bar code by using a bar code scanner, and sending the information of the specific storage position of the scanned mould to the main controller;
d. the main controller drives the main motor (39) to rotate forward for a fixed number of turns, so that the transfer trolley (51) reaches the designated transverse position of the die rack (49);
e. the main controller drives the traction machine (29) to rotate forward for a fixed number of turns, so that the fork mechanism rises to a height slightly higher than the height of the angle steel (49.1.2) of the corresponding shelf unit (49.1.1);
f. the main controller drives the telescopic motor (6) to rotate forwards or reversely, the sliding arm (4) extends forwards or backwards completely, the tray (27) is positioned above the angle steel (49.1.2) of the corresponding shelf unit (49.1.1), and then the traction machine (29) is driven reversely, so that the pallet fork mechanism falls to a height slightly lower than the angle steel (49.1.2) in a small range, and the mould and the tray (27) are completely placed on the angle steel (49.1.2) of the corresponding shelf unit (49.1.1);
the mold taking-out process comprises the following steps:
inputting specific stored position information of a mold to be taken out on an operation platform (52) of an electric cabinet, converting and driving the main motor (39) and a tractor (29) by a main controller according to the position information so as to enable a transfer trolley (51) to reach a corresponding transverse position, lifting a forklift mechanism to a height slightly lower than the angle steel (49.1.2) of a shelf unit (49.1.1) by a lifting mechanism, and then driving a telescopic motor (6) to extend forwards or backwards so as to enable a sliding arm (4) to be positioned at a height slightly lower than a tray (27); then, the traction machine (29) is continuously driven to lift the pallet fork mechanism by a small margin, so that the tray (27) is lifted and separated from the angle steel (49.1.2); the sliding arm (4) is then fully retracted, the traction machine (29) and main motor (39) are reversed, the fork mechanism is returned to the ground and the transfer trolley (51) is returned to the entrance of the walkway (50).
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| WO2021209649A1 (en) * | 2020-04-14 | 2021-10-21 | Imaz Arce Guillermo Pedro | Automated system for the storage and retrieval of dies |
| CN114769553A (en) * | 2022-04-27 | 2022-07-22 | 嘉兴立石科技股份有限公司 | Large-scale automatic die-casting unit casting caching station |
| CN115027854A (en) * | 2022-03-28 | 2022-09-09 | 昆山同日智能制造技术研究院有限公司 | A miniature automatic stacker for butt joint removal goods shelves |
| CN115593839A (en) * | 2022-12-15 | 2023-01-13 | 成都工业职业技术学院（Cn） | Material handling robot and control method thereof |
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| CN111483804B (en) * | 2020-04-24 | 2021-08-10 | 常州市新创智能科技有限公司 | Automatic mold selecting and moving device |
| CN115027854A (en) * | 2022-03-28 | 2022-09-09 | 昆山同日智能制造技术研究院有限公司 | A miniature automatic stacker for butt joint removal goods shelves |
| CN114769553A (en) * | 2022-04-27 | 2022-07-22 | 嘉兴立石科技股份有限公司 | Large-scale automatic die-casting unit casting caching station |
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