CN113562380A - Stacker for storing and taking out ultra-deep goods shelf three-dimensional warehouse trays - Google Patents

Stacker for storing and taking out ultra-deep goods shelf three-dimensional warehouse trays Download PDF

Info

Publication number
CN113562380A
CN113562380A CN202110921573.8A CN202110921573A CN113562380A CN 113562380 A CN113562380 A CN 113562380A CN 202110921573 A CN202110921573 A CN 202110921573A CN 113562380 A CN113562380 A CN 113562380A
Authority
CN
China
Prior art keywords
shaped track
supporting
chain
chain wheel
frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110921573.8A
Other languages
Chinese (zh)
Inventor
王毅
郎新星
李伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Northwest Electronic Equipment Institute of Technology
Original Assignee
Northwest Electronic Equipment Institute of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Northwest Electronic Equipment Institute of Technology filed Critical Northwest Electronic Equipment Institute of Technology
Priority to CN202110921573.8A priority Critical patent/CN113562380A/en
Publication of CN113562380A publication Critical patent/CN113562380A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • 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
    • B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
    • 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
    • B65G1/0428—Transfer means for the stacker crane between the alleys

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention discloses a stacker for storing and taking out ultra-deep goods shelf three-dimensional library trays, which solves the problem of how to simply and reliably store and take out ultra-deep goods shelf trays. The stacker crane adopts a four-upright stacker crane, and a front U-shaped track frame, a rear U-shaped track frame and a connecting frame form a lifting cargo platform on the four-upright stacker crane; the utility model discloses a tray is got to U-shaped track frame, the front side riser top of U-shaped track frame and the rear side riser top of back U-shaped track frame in the front are provided with the angle steel slide rail that supplies the tray to remove respectively, the height and the goods shelves of angle steel slide rail support the track and flush, in the U-shaped track frame in the front and in the U-shaped track frame in the back, all be provided with the same dolly walking track of getting of hanging of structure, it gets the dolly to be provided with to hang in getting dolly walking track, be provided with a revolving stage on hanging getting the dolly, two are hung around setting up on the revolving stage and get the swing arm, through the cooperation of two swing arms and the inboard end frame of tray, accomplish pulling out and pushing action of tray.

Description

Stacker for storing and taking out ultra-deep goods shelf three-dimensional warehouse trays
Technical Field
The invention relates to a four-upright stacker in an ultra-deep goods shelf three-dimensional warehouse, in particular to a stacker for storing and taking trays of the ultra-deep goods shelf three-dimensional warehouse.
Background
The storage method comprises the following steps that three-dimensional goods shelves are respectively arranged on two sides of a roadway of a three-dimensional warehouse, frame-type trays are movably placed on the three-dimensional goods shelves in a layered mode, sectional material goods are placed in the trays, the sectional material goods are stored and taken out through a walking stacker arranged on a rail in the roadway, forks are arranged on the stacker, when the goods are stored and taken out, the forks on the stacker extend towards the goods shelves and are inserted below the movably-placed trays on the goods shelves, an executing mechanism on the stacker raises the forks to a certain height to enable the trays and the goods on the trays to be separated from the goods shelves, the stacker controls the forks to retract towards the stacker again to enable the trays and the goods to be moved onto the stacker, and then the stacker carries the trays and the goods to move to a goods outlet along the roadway to complete the storage and taking of the goods; when the pallet fork accesses the pallet, the fork plate of the pallet fork of the stacker needs to extend under the pallet and integrally support the pallet, so that the length of the fork plate of the general pallet fork is basically the same as that of the pallet, and the depths of the existing goods shelf and the pallet fork are about 2 meters; however, when the goods shelf of the three-dimensional warehouse is used for storing longer plates or bars, the depth of the three-dimensional goods shelf is designed to be an ultra-deep goods shelf of 6-10 meters, the length of the pallet of the goods shelf is also 6-10 meters, and if the pallet storing and taking mechanism on the traditional stacker is adopted to store and take the pallet, the deflection of the pallet fork is too large, the actions of lifting and withdrawing the pallet cannot be finished, and how to store and take the pallet of the ultra-deep goods shelf is finished, which becomes a difficult problem to be solved on site.
Disclosure of Invention
The invention provides a stacker for storing and taking out ultra-deep goods shelf three-dimensional library trays, which solves the technical problem of how to simply and reliably store and take out ultra-deep goods shelf trays.
The invention solves the technical problems by the following technical scheme:
the general concept of the invention is as follows: the stacker adopts a four-upright stacker, redesigns a lifting cargo carrying platform on the four-upright stacker, wherein the lifting cargo carrying platform consists of a front U-shaped track frame and a rear U-shaped track frame which are parallel to each other, a connecting frame is fixedly arranged between the front U-shaped track frame and the rear U-shaped track frame at intervals, and the front U-shaped track frame, the rear U-shaped track frame and the connecting frame form the lifting cargo carrying platform on the integrated four-upright stacker; the utility model discloses a tray is got to U-shaped track frame, the front side riser top of U-shaped track frame and the rear side riser top of back U-shaped track frame in the front are provided with the angle steel slide rail that supplies the tray to remove respectively, the height and the goods shelves of angle steel slide rail support the track and flush, in the U-shaped track frame in the front and in the U-shaped track frame in the back, all be provided with the same dolly walking track of getting of hanging of structure, it gets the dolly to be provided with to hang in getting dolly walking track, be provided with a revolving stage on hanging getting the dolly, two are hung around setting up on the revolving stage and get the swing arm, through the cooperation of two swing arms and the inboard end frame of tray, accomplish pulling out and pushing action of tray.
A hanging mechanism on a four-upright stacker for storing and taking out trays of an ultra-deep goods shelf three-dimensional warehouse comprises a lifting goods carrying platform, wherein the lifting goods carrying platform consists of a front U-shaped track frame, a rear U-shaped track frame and a connecting frame, the structure of the front U-shaped track frame and the structure of the rear U-shaped track frame are completely the same, the front U-shaped track frame and the rear U-shaped track frame are arranged in parallel, the connecting frame is fixedly arranged between the front U-shaped track frame and the rear U-shaped track frame, front angle steel slide rails are arranged on the top end surfaces of front side vertical plates of the front U-shaped track frame, and rear angle steel slide rails are arranged on the top end surfaces of rear side vertical plates of the rear U-shaped track frame; the front U-shaped track frame is respectively provided with a C-shaped track embedded with a front travelling wheel of the hanging trolley and a C-shaped track embedded with a rear travelling wheel of the hanging trolley, and the front hanging trolley is movably arranged between the C-shaped track embedded with the front travelling wheel of the hanging trolley and the C-shaped track embedded with the rear travelling wheel of the hanging trolley; the middle part of a box-shaped trolley body of the front hanging trolley is provided with a supporting bearing outer ring of a rotatable hanging mechanism, a supporting bearing inner ring of the rotatable hanging mechanism is arranged in the supporting bearing outer ring of the rotatable hanging mechanism, a cantilever hanging mechanism box body frame is connected on the top surface of the supporting bearing inner ring of the rotatable hanging mechanism, a swinging shaft outer side supporting seat and a swinging shaft inner side supporting seat are respectively arranged at the outer side end of the cantilever hanging mechanism box body frame, a swinging pulling block supporting shaft and a swinging pushing block supporting shaft are respectively arranged between the swinging shaft outer side supporting seat and the swinging shaft inner side supporting seat in parallel, a swinging pulling block supporting shaft and a swinging pushing block supporting shaft are respectively arranged on the outer side end of the swinging pulling block supporting shaft, a swinging pulling block is connected on the outer side end of the swinging pushing block supporting shaft, a swinging pulling block supporting shaft rotating driving motor is connected on the inner side end of the swinging pulling block supporting shaft, but on the inboard end of swinging ejector pad back shaft, be connected with and to swing ejector pad back shaft rotary driving motor, can swing and draw ejector pad back shaft rotary driving motor and can swing ejector pad back shaft rotary driving motor, all set up in cantilever type string gets mechanism box frame.
A pair of trolley front travelling wheels and trolley front guide wheels are respectively arranged on a front vertical plate of a box-shaped trolley body of the front hanging trolley, the pair of trolley front travelling wheels and trolley front guide wheels are movably arranged in a C-shaped track embedded with the front travelling wheels of the hanging trolley, a pair of trolley rear travelling wheels and trolley rear guide wheels are respectively arranged on a rear vertical plate of the box-shaped trolley body of the front hanging trolley, and the pair of trolley rear travelling wheels and trolley rear guide wheels are movably arranged in a C-shaped track embedded with the rear travelling wheels of the hanging trolley; the lower bottom surface of the body bottom plate of the front hanging trolley is respectively provided with a hanging trolley driving front side connecting frame and a hanging trolley driving rear side connecting frame; a left rear supporting chain wheel mounting block and a left front supporting chain wheel mounting block are respectively arranged at the left end in the front U-shaped track frame, a left rear supporting chain wheel is cantilevered on the left rear supporting chain wheel mounting block, a left front supporting chain wheel is cantilevered on the left front supporting chain wheel mounting block, a right rear supporting chain wheel mounting block and a right front supporting chain wheel mounting block are respectively arranged at the right end in the front U-shaped track frame, a right rear supporting chain wheel is cantilevered on the right rear supporting chain wheel mounting block, and a right front supporting chain wheel is cantilevered on the right front supporting chain wheel mounting block; a first closed annular chain is arranged between the left front supporting chain wheel and the right front supporting chain wheel, and a second closed annular chain is arranged between the left rear supporting chain wheel and the right rear supporting chain wheel; the hanging trolley driving front side connecting frame is connected with the first closed annular chain, and the hanging trolley driving rear side connecting frame is connected with the second closed annular chain; a first closed ring-shaped chain driving chain wheel is connected to the first closed ring-shaped chain, a second closed ring-shaped chain driving chain wheel is connected to the second closed ring-shaped chain, the first closed ring-shaped chain driving chain wheel and the second closed ring-shaped chain driving chain wheel are respectively arranged on the front end driving shaft, the rear side end of the front end driving shaft is connected with a double-end output chain driving motor through a speed reducer, and the double-end output chain driving motor is arranged on the connecting frame; a front chain anti-abrasion supporting lath is arranged on the inner side bottom plate of the front U-shaped track frame right below the first closed annular chain, and a rear chain anti-abrasion supporting lath is arranged on the inner side bottom plate of the front U-shaped track frame right below the second closed annular chain; and a power supply drag chain is arranged on the bottom plate on the inner side of the front U-shaped track frame.
A goods shelf is arranged outside the lifting cargo platform, a tray supporting track is arranged on the goods shelf, the height of the tray supporting track, the height of the front angle steel slide rail and the height of the rear angle steel slide rail are the same, a tray is movably arranged on the tray supporting track, an inner side end frame plate of the tray is arranged between the swingable pull block and the swingable push block, a limiting plate is connected to the top end face of the swingable push block, and the limiting plate is arranged above the inner side end frame plate of the tray; a swinging push block swinging abdicating groove is arranged on a front side plate of a box body frame of the cantilever type hanging mechanism; the outer side surface of the front side vertical plate of the front U-shaped track frame is respectively provided with a left front suspension plate of the lifting cargo carrying platform and a right front suspension plate of the lifting cargo carrying platform, and the outer side surface of the rear side vertical plate of the rear U-shaped track frame is respectively provided with a left rear suspension plate of the lifting cargo carrying platform and a right rear suspension plate of the lifting cargo carrying platform.
A method for storing and taking out trays in an ultra-deep goods shelf three-dimensional warehouse comprises a lifting goods carrying platform, wherein the lifting goods carrying platform consists of a front U-shaped track frame, a rear U-shaped track frame and a connecting frame, the structure of the front U-shaped track frame and the structure of the rear U-shaped track frame are completely the same, the front U-shaped track frame and the rear U-shaped track frame are arranged in parallel, the connecting frame is fixedly arranged between the front U-shaped track frame and the rear U-shaped track frame, front angle steel slide rails are arranged on the top end surfaces of front side vertical plates of the front U-shaped track frame, and rear angle steel slide rails are arranged on the top end surfaces of rear side vertical plates of the rear U-shaped track frame; a goods shelf is arranged on the outer side of the lifting cargo platform, a tray supporting rail is arranged on the goods shelf, the height of the tray supporting rail, the height of the front angle steel slide rail and the height of the rear angle steel slide rail are the same, and a tray is movably arranged on the tray supporting rail; the front U-shaped track frame is respectively provided with a C-shaped track embedded with a front travelling wheel of the hanging trolley and a C-shaped track embedded with a rear travelling wheel of the hanging trolley, and the front hanging trolley is movably arranged between the C-shaped track embedded with the front travelling wheel of the hanging trolley and the C-shaped track embedded with the rear travelling wheel of the hanging trolley; the middle part of the car body of the front hanging trolley is provided with a supporting bearing outer ring of a rotatable hanging mechanism, a supporting bearing inner ring of the rotatable hanging mechanism is arranged in the supporting bearing outer ring of the rotatable hanging mechanism, a cantilever hanging mechanism box body frame is connected on the top surface of the supporting bearing inner ring of the rotatable hanging mechanism, a swinging shaft outer side supporting seat and a swinging shaft inner side supporting seat are respectively arranged on the outer side end of the cantilever hanging mechanism box body frame, a swinging block supporting shaft and a swinging block pushing support shaft are respectively arranged between the swinging shaft outer side supporting seat and the swinging shaft inner side supporting seat in parallel, a swinging block supporting shaft and a swinging block pushing supporting shaft are respectively arranged on the outer side end of the swinging block pulling supporting shaft, a swinging pulling block is connected on the outer side end of the swinging block pushing support shaft, a swinging pushing block is connected on the top end surface of the swinging pushing block, and a limiting plate is connected on the inner side end of the swinging block pulling support shaft, the swinging pulling block supporting shaft rotating driving motor is connected with the swinging pushing block supporting shaft rotating driving motor, and the swinging pulling block supporting shaft rotating driving motor and the swinging pushing block supporting shaft rotating driving motor are arranged in the cantilever type hanging mechanism box body frame; the method is characterized in that:
the steps of removing the pallet from the pallet onto the lifting platform are as follows:
firstly, a motor is driven to rotate by controlling a support shaft of a swingable pulling block, the swingable pulling block is rotated to a horizontal lying state, then, a front hanging trolley is controlled to move to the right end of a front U-shaped track frame in a walking mode, and the swingable pulling block is arranged on the outer side of the lower portion of an end frame on the inner side of a tray;
secondly, the swingable pulling block is rotated to a vertical state by controlling a swingable pulling block support shaft to rotate a driving motor, so that an end frame at the inner side of the tray is arranged between the swingable pushing block and the swingable pulling block;
thirdly, the front hanging trolley is controlled to move to the left end of the front U-shaped track frame, in the process, the tray can be transferred to the front angle steel slide rail and the rear angle steel slide rail on the lifting cargo carrying platform from the tray supporting track on the goods shelf by the swinging pulling block, and the tray is taken out;
the steps of depositing pallets from the lifting platform onto the racks are as follows:
firstly, a motor is driven to rotate by controlling a support shaft of a swingable pulling block, and the swingable pulling block is rotated to a horizontal lying state; the swingable push block is rotated to an upright state by controlling a swingable push block supporting shaft to rotate a driving motor, and is abutted against the left side vertical surface of the tray inner side end frame of the tray, and the limiting plate is pressed on the top surface of the tray inner side end frame of the tray;
and secondly, the front hanging trolley is controlled to walk and move to the right end of the front U-shaped track frame, and in the process, the tray can be transferred to a tray supporting track on the goods shelf by the swinging push block from a front angle steel slide rail and a rear angle steel slide rail on the lifting goods carrying platform, so that the storage of the tray is completed.
A stacker for storing and taking out ultra-deep goods shelf three-dimensional warehouse trays comprises a stacker walking track arranged in a roadway, wherein a four-upright stacker is arranged on the stacker walking track, a lifting cargo platform lifting driving motor is arranged on the four-upright stacker, a first lifting chain is arranged on a left front upright post of the four-upright stacker, a second lifting chain is arranged on a left rear upright post of the four-upright stacker, a third lifting chain is arranged on a right front upright post of the four-upright stacker, and a fourth lifting chain is arranged on a right rear upright post of the four-upright stacker; a lifting cargo carrying platform is arranged between the four upright posts and consists of a front U-shaped track frame, a rear U-shaped track frame and a connecting frame, the structure of the front U-shaped track frame is completely the same as that of the rear U-shaped track frame, the front U-shaped track frame and the rear U-shaped track frame are arranged in parallel, and the connecting frame is fixedly arranged between the front U-shaped track frame and the rear U-shaped track frame; the outer side surface of the front side vertical plate of the front U-shaped track frame is respectively provided with a left front suspension plate of the lifting cargo carrying platform and a right front suspension plate of the lifting cargo carrying platform, and the outer side surface of the rear side vertical plate of the rear U-shaped track frame is respectively provided with a left rear suspension plate of the lifting cargo carrying platform and a right rear suspension plate of the lifting cargo carrying platform; the left front suspension plate of the lifting cargo carrying platform is connected with the first lifting chain, the right front suspension plate of the lifting cargo carrying platform is connected with the third lifting chain, the left rear suspension plate of the lifting cargo carrying platform is connected with the second lifting chain, and the right rear suspension plate of the lifting cargo carrying platform is connected with the fourth lifting chain.
A front angle steel slide rail is arranged on the top end face of a front side vertical plate of the front U-shaped track frame, a rear angle steel slide rail is arranged on the top end face of a rear side vertical plate of the rear U-shaped track frame, and a tray is movably arranged between the front angle steel slide rail and the rear angle steel slide rail; the front U-shaped track frame is internally provided with a front hanging trolley which can move left and right along the U-shaped track, the rear U-shaped track frame is internally provided with a rear hanging trolley which can move left and right along the U-shaped track, and the structure of the front hanging trolley is completely the same as that of the rear hanging trolley.
The lower bottom surface of the body bottom plate of the front hanging trolley is respectively provided with a hanging trolley driving front side connecting frame and a hanging trolley driving rear side connecting frame; a left rear supporting chain wheel mounting block and a left front supporting chain wheel mounting block are respectively arranged at the left end in the front U-shaped track frame, a left rear supporting chain wheel is cantilevered on the left rear supporting chain wheel mounting block, a left front supporting chain wheel is cantilevered on the left front supporting chain wheel mounting block, a right rear supporting chain wheel mounting block and a right front supporting chain wheel mounting block are respectively arranged at the right end in the front U-shaped track frame, a right rear supporting chain wheel is cantilevered on the right rear supporting chain wheel mounting block, and a right front supporting chain wheel is cantilevered on the right front supporting chain wheel mounting block; a first closed annular chain is arranged between the left front supporting chain wheel and the right front supporting chain wheel, and a second closed annular chain is arranged between the left rear supporting chain wheel and the right rear supporting chain wheel; the hanging trolley driving front side connecting frame is connected with the first closed annular chain, and the hanging trolley driving rear side connecting frame is connected with the second closed annular chain; a rear hanging trolley driving front side connecting frame and a rear hanging trolley driving rear side connecting frame are respectively arranged on the lower bottom surface of the body bottom plate of the rear hanging trolley; a rear U-shaped track left rear supporting chain wheel mounting block and a rear U-shaped track left front supporting chain wheel mounting block are respectively arranged at the left end in the rear U-shaped track frame, a rear U-shaped track left rear supporting chain wheel is cantilevered on the rear U-shaped track left rear supporting chain wheel mounting block, a rear U-shaped track left front supporting chain wheel is cantilevered on the rear U-shaped track left front supporting chain wheel mounting block, a rear U-shaped track right rear supporting chain wheel mounting block and a rear U-shaped track right front supporting chain wheel mounting block are respectively arranged at the right end in the rear U-shaped track frame, a rear U-shaped track right rear supporting chain wheel is cantilevered on the rear U-shaped track right rear supporting chain wheel mounting block, and a rear U-shaped track right front supporting chain wheel is cantilevered on the rear U-shaped track right front supporting chain wheel mounting block; a fourth closed loop chain is arranged between the rear U-shaped track left front supporting chain wheel and the rear U-shaped track right front supporting chain wheel, and a third closed loop chain is arranged between the rear U-shaped track left rear supporting chain wheel and the rear U-shaped track right rear supporting chain wheel; the rear hanging trolley drives the front side connecting frame to be connected with the third closed loop chain, and the rear hanging trolley drives the rear side connecting frame to be connected with the fourth closed loop chain; a first closed ring-shaped chain driving chain wheel is connected to the first closed ring-shaped chain, a second closed ring-shaped chain driving chain wheel is connected to the second closed ring-shaped chain, the first closed ring-shaped chain driving chain wheel and the second closed ring-shaped chain driving chain wheel are respectively arranged on the front end driving shaft, the rear side end of the front end driving shaft is connected with a double-end output chain driving motor through a speed reducer, and the double-end output chain driving motor is arranged on the connecting frame; the third closed-loop chain driving chain wheel is connected to the third closed-loop chain, the fourth closed-loop chain driving chain wheel is connected to the fourth closed-loop chain, the third closed-loop chain driving chain wheel and the fourth closed-loop chain driving chain wheel are respectively arranged on the rear end driving shaft, the front side end of the rear end driving shaft is connected with the double-end output chain driving motor through the speed reducer, and the double-end output chain driving motor drives the four closed-loop chains to synchronously rotate.
The front U-shaped track frame is respectively provided with a C-shaped track embedded with a front travelling wheel of the hanging trolley and a C-shaped track embedded with a rear travelling wheel of the hanging trolley, and the front hanging trolley is movably arranged between the C-shaped track embedded with the front travelling wheel of the hanging trolley and the C-shaped track embedded with the rear travelling wheel of the hanging trolley; the middle part of the car body of the front hanging trolley is provided with a supporting bearing outer ring of a rotatable hanging mechanism, a supporting bearing inner ring of the rotatable hanging mechanism is arranged in the supporting bearing outer ring of the rotatable hanging mechanism, a cantilever hanging mechanism box body frame is connected on the top surface of the supporting bearing inner ring of the rotatable hanging mechanism, a swinging shaft outer side supporting seat and a swinging shaft inner side supporting seat are respectively arranged on the outer side end of the cantilever hanging mechanism box body frame, a swinging pulling block supporting shaft and a swinging pushing block supporting shaft are respectively arranged between the swinging shaft outer side supporting seat and the swinging shaft inner side supporting seat in parallel, a swinging pulling block supporting shaft and a swinging pushing block supporting shaft are respectively arranged on the outer side end of the swinging pulling block supporting shaft, a swinging pulling block is connected on the outer side end of the swinging pushing block supporting shaft, a swinging pulling block supporting shaft rotary driving motor is connected on the inner side end of the swinging pulling block supporting shaft, but on the inboard end of swinging ejector pad back shaft, be connected with and to swing ejector pad back shaft rotary driving motor, can swing and draw ejector pad back shaft rotary driving motor and can swing ejector pad back shaft rotary driving motor, all set up in cantilever type string gets mechanism box frame.
A working method of a stacker for an ultra-deep goods shelf three-dimensional warehouse comprises a lifting goods carrying platform, wherein the lifting goods carrying platform consists of a front U-shaped track frame, a rear U-shaped track frame and a connecting frame, the structure of the front U-shaped track frame and the structure of the rear U-shaped track frame are completely the same, the front U-shaped track frame and the rear U-shaped track frame are arranged in parallel, the connecting frame is fixedly arranged between the front U-shaped track frame and the rear U-shaped track frame, a front angle steel slide rail is arranged on the top end face of a front side vertical plate of the front U-shaped track frame, and a rear angle steel slide rail is arranged on the top end face of a rear side vertical plate of the rear U-shaped track frame; one side of the lifting cargo platform is provided with a side goods shelf, the other side of the lifting cargo platform is provided with another side goods shelf, a tray supporting rail is arranged on the goods shelf, the height of the tray supporting rail, the height of the front angle steel slide rail and the height of the rear angle steel slide rail are the same, and a tray is movably arranged on the tray supporting rail; the front U-shaped track frame is respectively provided with a C-shaped track embedded with a front travelling wheel of the hanging trolley and a C-shaped track embedded with a rear travelling wheel of the hanging trolley, and the front hanging trolley is movably arranged between the C-shaped track embedded with the front travelling wheel of the hanging trolley and the C-shaped track embedded with the rear travelling wheel of the hanging trolley; the middle part of the car body of the front hanging trolley is provided with a supporting bearing outer ring of a rotatable hanging mechanism, a supporting bearing inner ring of the rotatable hanging mechanism is arranged in the supporting bearing outer ring of the rotatable hanging mechanism, a cantilever hanging mechanism box body frame is connected on the top surface of the supporting bearing inner ring of the rotatable hanging mechanism, a swinging shaft outer side supporting seat and a swinging shaft inner side supporting seat are respectively arranged on the outer side end of the cantilever hanging mechanism box body frame, a swinging block supporting shaft and a swinging block pushing support shaft are respectively arranged between the swinging shaft outer side supporting seat and the swinging shaft inner side supporting seat in parallel, a swinging block supporting shaft and a swinging block pushing supporting shaft are respectively arranged on the outer side end of the swinging block pulling supporting shaft, a swinging pulling block is connected on the outer side end of the swinging block pushing support shaft, a swinging pushing block is connected on the top end surface of the swinging pushing block, and a limiting plate is connected on the inner side end of the swinging block pulling support shaft, the swinging pulling block supporting shaft rotating driving motor is connected with the swinging pushing block supporting shaft rotating driving motor, and the swinging pulling block supporting shaft rotating driving motor and the swinging pushing block supporting shaft rotating driving motor are arranged in the cantilever type hanging mechanism box body frame; synchronously controlling the front hanging trolley and the rear hanging trolley to complete the following steps, wherein the actions of the two hanging trolleys are consistent, and the steps are only described by controlling the actions of the front hanging trolley:
firstly, a motor is driven to rotate by controlling a support shaft of a swingable pulling block, the swingable pulling block is rotated to a horizontal lying state, then, a front hanging trolley is controlled to move to the right end of a front U-shaped track frame in a walking mode, and the swingable pulling block is arranged on the outer side of the lower portion of an end frame on the inner side of a tray;
secondly, the swingable pulling block is rotated to a vertical state by controlling a swingable pulling block support shaft to rotate a driving motor, so that a tray inner side end frame of a tray on a goods shelf rail of a goods shelf on one side is arranged between a swingable pushing block and the swingable pulling block;
thirdly, the front hanging trolley is controlled to move to the left end of the front U-shaped track frame, in the process, the tray can be transferred to the front angle steel slide rail and the rear angle steel slide rail on the lifting cargo carrying platform from the tray supporting track on the goods shelf on one side through the swingable pulling block, and the tray is taken out;
fourthly, the swingable pulling block is rotated to a horizontal lying state by controlling the swingable pulling block supporting shaft to rotate the driving motor, and the swingable pulling block is rotated to enter the swinging pushing block to swing down the abdicating groove by controlling the swingable pushing block supporting shaft to rotate the driving motor so as to be in the horizontal lying state; then, the front hanging trolley is controlled to walk from the right end of the U-shaped track frame and move back to the left end of the front U-shaped track frame, and meanwhile, the rear hanging trolley is controlled to walk from the right end of the rear U-shaped track frame and move back to the left end of the rear U-shaped track frame;
fifthly, controlling the inner ring of the supporting bearing to rotate 180 degrees by rotating the driving motor through the inner ring of the bearing, so that the box body frame of the cantilever type hanging mechanism also rotates 180 degrees along with the inner ring of the supporting bearing; in the same way, the box body frame of the cantilever type hanging mechanism on the rear hanging trolley is also rotated by 180 degrees;
sixthly, controlling a swingable push block support shaft to rotate to drive a motor, so that the swingable push block rotates to an upright state and is abutted to the outer side face of a tray outer side end frame of the tray; in a similar way, the swingable push block on the rear hanging trolley is also rotated to be in an upright state and is abutted to the outer side surface of the tray outer side end frame of the tray;
and seventhly, simultaneously controlling the front hanging trolley and the rear hanging trolley to move from the right end to the left end of the two U-shaped rails, and in the process, the two swinging push blocks transfer the tray from the lifting cargo platform to the goods shelf rail of the goods shelf on the other side to finish the storage of the tray (25).
The invention overcomes the defects that when the pallet is stored and taken by the storage fork mechanism on the traditional stacker, the deflection of the pallet fork is too large, and the actions of lifting and withdrawing the pallet cannot be finished; simple structure and convenient maintenance.
Drawings
FIG. 1 is a schematic structural view of a hook mechanism of the present invention;
FIG. 2 is a schematic illustration of the construction of the elevating cargo platform of the present invention;
fig. 3 is a schematic view of the structure in the right-hand direction in fig. 2;
FIG. 4 is a sectional view taken along line A-A of FIG. 1;
FIG. 5 is a schematic structural view of the front hitch trolley 21 of the present invention;
FIG. 6 is a schematic view of the front hitch car 21 of the present invention in a bottom view;
FIG. 7 is a schematic structural view of a four-upright stacker 58 of the present invention;
FIG. 8 is a diagram of the relationship between the four post stacker 58 of the present invention and the side racks.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings:
a hanging mechanism on a four-upright stacker for storing and taking out ultra-deep goods shelf three-dimensional warehouse trays comprises a lifting goods carrying platform, wherein the lifting goods carrying platform consists of a front U-shaped track frame 1, a rear U-shaped track frame 2 and a connecting frame 7, the structure of the front U-shaped track frame 1 and the structure of the rear U-shaped track frame 2 are completely the same, the front U-shaped track frame 1 and the rear U-shaped track frame 2 are arranged in parallel, the connecting frame 7 is fixedly arranged between the front U-shaped track frame 1 and the rear U-shaped track frame 2, a front angle steel slide rail 3 is arranged on the top end face of a front side upright plate of the front U-shaped track frame 1, and a rear angle steel slide rail 4 is arranged on the top end face of a rear side upright plate of the rear U-shaped track frame 2; a front U-shaped track frame 1 is respectively provided with a hanging trolley front side travelling wheel embedded C-shaped track 5 and a hanging trolley rear side travelling wheel embedded C-shaped track 6, and a front hanging trolley 21 is movably arranged between the hanging trolley front side travelling wheel embedded C-shaped track 5 and the hanging trolley rear side travelling wheel embedded C-shaped track 6; a supporting bearing outer ring 42 of the rotatable hanging mechanism is arranged in the middle of the box-shaped vehicle body 37 of the front hanging trolley 21, a supporting bearing inner ring 43 of the rotatable hanging mechanism is arranged in the supporting bearing outer ring 42 of the rotatable hanging mechanism, a cantilever hanging mechanism box frame 44 is connected on the top surface of the supporting bearing inner ring 43 of the rotatable hanging mechanism, a swinging shaft outer side supporting seat 45 and a swinging shaft inner side supporting seat 46 are respectively arranged at the outer side end of the cantilever hanging mechanism box frame 44, a swinging block supporting shaft 47 and a swinging block supporting shaft 49 are respectively arranged between the swinging shaft outer side supporting seat 45 and the swinging shaft inner side supporting seat 46 in parallel with each other, a swinging pull block 48 is connected on the outer side end of the swinging block supporting shaft 47, a swinging push block 50 is connected on the outer side end of the swinging block supporting shaft 49, a swingable pulling block support shaft rotation driving motor 53 is connected to the inner side end of the swingable pulling block support shaft 47, a swingable pushing block support shaft rotation driving motor 52 is connected to the inner side end of the swingable pushing block support shaft 49, and both the swingable pulling block support shaft rotation driving motor 53 and the swingable pushing block support shaft rotation driving motor 52 are provided in the cantilever type hanging mechanism case frame 44.
A pair of trolley front travelling wheels 38 and a pair of trolley front guide wheels 40 are respectively arranged on a front vertical plate of a box-shaped trolley body 37 of the front hanging trolley 21, the pair of trolley front travelling wheels 38 and the pair of trolley front guide wheels 40 are movably arranged in a C-shaped track 5 embedded with the front travelling wheels of the hanging trolley, a pair of trolley rear travelling wheels 39 and a pair of trolley rear guide wheels 41 are respectively arranged on a rear vertical plate of the box-shaped trolley body 37 of the front hanging trolley 21, and the pair of trolley rear travelling wheels 39 and the trolley rear guide wheels 41 are movably arranged in a C-shaped track 6 embedded with the rear travelling wheels of the hanging trolley; a hanging trolley driving front side connecting frame 22 and a hanging trolley driving rear side connecting frame 23 are respectively arranged on the lower bottom surface of the body bottom plate of the front hanging trolley 21; a left rear supporting chain wheel mounting block 13 and a left front supporting chain wheel mounting block are respectively arranged at the left end in the front U-shaped track frame 1, a left rear supporting chain wheel 34 is cantilevered on the left rear supporting chain wheel mounting block 13, a left front supporting chain wheel 33 is cantilevered on the left front supporting chain wheel mounting block, a right rear supporting chain wheel mounting block 15 and a right front supporting chain wheel mounting block are respectively arranged at the right end in the front U-shaped track frame 1, a right rear supporting chain wheel 36 is cantilevered on the right rear supporting chain wheel mounting block 15, and a right front supporting chain wheel 35 is cantilevered on the right front supporting chain wheel mounting block; a first closed endless chain 19 is arranged between the left front support sprocket 33 and the right front support sprocket 35, and a second closed endless chain 18 is arranged between the left rear support sprocket 34 and the right rear support sprocket 36; the hanging trolley driving front side connecting frame 22 is connected with the first closed annular chain 19, and the hanging trolley driving rear side connecting frame 23 is connected with the second closed annular chain 18; a first closed loop chain driving sprocket 28 is connected to the first closed loop chain 19, a second closed loop chain driving sprocket 29 is connected to the second closed loop chain 18, the first closed loop chain driving sprocket 28 and the second closed loop chain driving sprocket 29 are respectively arranged on the front end driving shaft 27, the rear side end of the front end driving shaft 27 is connected with a double-end output chain driving motor 26 through a speed reducer, and the double-end output chain driving motor 26 is arranged on the connecting frame 7; a front chain anti-abrasion supporting lath 8 is arranged on the inner side bottom plate of the front U-shaped track frame 1 right below the first closed annular chain 19, and a rear chain anti-abrasion supporting lath 9 is arranged on the inner side bottom plate of the front U-shaped track frame 1 right below the second closed annular chain 18; a power supply drag chain 24 is arranged on the bottom plate at the inner side of the front U-shaped track frame 1.
A goods shelf is arranged outside the lifting cargo platform, a tray supporting track is arranged on the goods shelf, the height of the tray supporting track, the height of the front angle steel slide rail 3 and the height of the rear angle steel slide rail 4 are the same, a tray 25 is movably arranged on the tray supporting track, an inner side end frame plate of the tray 25 is arranged between the swingable pull block 48 and the swingable push block 50, a top end face of the swingable push block 50 is connected with a limiting plate 51, and the limiting plate 51 is arranged above the inner side end frame plate of the tray 25; a swinging push block swinging abdicating groove 54 is arranged on the front side plate of the cantilever type hanging mechanism box body frame 44; the outer side surface of the front side vertical plate of the front U-shaped track frame 1 is respectively provided with a left front suspension plate 10 of the lifting cargo platform and a right front suspension plate 56 of the lifting cargo platform, and the outer side surface of the rear side vertical plate of the rear U-shaped track frame 2 is respectively provided with a left rear suspension plate 11 of the lifting cargo platform and a right rear suspension plate 57 of the lifting cargo platform.
A method for storing and taking out trays in an ultra-deep goods shelf three-dimensional warehouse comprises a lifting goods carrying platform, wherein the lifting goods carrying platform consists of a front U-shaped track frame 1, a rear U-shaped track frame 2 and a connecting frame 7, the structure of the front U-shaped track frame 1 and the structure of the rear U-shaped track frame 2 are completely the same, the front U-shaped track frame 1 and the rear U-shaped track frame 2 are arranged in parallel, the connecting frame 7 is fixedly arranged between the front U-shaped track frame 1 and the rear U-shaped track frame 2, a front angle steel slide rail 3 is arranged on the top end face of a front side vertical plate of the front U-shaped track frame 1, and a rear angle steel slide rail 4 is arranged on the top end face of a rear side vertical plate of the rear U-shaped track frame 2; a goods shelf is arranged on the outer side of the lifting cargo platform, a tray supporting rail is arranged on the goods shelf, the height of the tray supporting rail, the height of the front angle steel slide rail 3 and the height of the rear angle steel slide rail 4 are the same, and a tray 25 is movably arranged on the tray supporting rail; a front U-shaped track frame 1 is respectively provided with a hanging trolley front side travelling wheel embedded C-shaped track 5 and a hanging trolley rear side travelling wheel embedded C-shaped track 6, and a front hanging trolley 21 is movably arranged between the hanging trolley front side travelling wheel embedded C-shaped track 5 and the hanging trolley rear side travelling wheel embedded C-shaped track 6; a supporting bearing outer ring 42 of a rotatable hanging mechanism is arranged in the middle of the vehicle body of the front hanging trolley 21, a supporting bearing inner ring 43 of the rotatable hanging mechanism is arranged in the supporting bearing outer ring 42 of the rotatable hanging mechanism, a cantilever hanging mechanism box body frame 44 is connected on the top surface of the supporting bearing inner ring 43 of the rotatable hanging mechanism, a swinging shaft outer side supporting seat 45 and a swinging shaft inner side supporting seat 46 are respectively arranged at the outer side end of the cantilever hanging mechanism box body frame 44, a swinging pulling block supporting shaft 47 and a swinging pushing block supporting shaft 49 are respectively arranged between the swinging shaft outer side supporting seat 45 and the swinging shaft inner side supporting seat 46 in parallel with each other, a swinging pulling block 48 is connected on the outer side end of the swinging pulling block supporting shaft 47, a swinging pushing block 50 is connected on the outer side end of the swinging pushing block supporting shaft 49, a limiting plate 51 is connected on the top end surface of the swinging pushing block 50, a swingable pulling block support shaft rotation driving motor 53 is connected to the inner side end of the swingable pulling block support shaft 47, a swingable pushing block support shaft rotation driving motor 52 is connected to the inner side end of the swingable pushing block support shaft 49, and both the swingable pulling block support shaft rotation driving motor 53 and the swingable pushing block support shaft rotation driving motor 52 are provided in the cantilever type hanging mechanism box frame 44;
the steps of removing the pallet 25 from the pallet onto the lifting platform are as follows:
firstly, a swingable pulling block 48 is rotated to a horizontal lying state by controlling a swingable pulling block support shaft rotation driving motor 53, and then the front hanging trolley 21 is controlled to walk and move to the right end of the front U-shaped track frame 1, and the swingable pulling block 48 is arranged at the outer side below the tray inner side end frame of the tray 25;
secondly, the swingable pulling block 48 is rotated to a vertical state by controlling the swingable pulling block support shaft to rotate the drive motor 53, so that the tray inner side end frame of the tray 25 is arranged between the swingable pushing block 50 and the swingable pulling block 48;
thirdly, the front hanging trolley 21 is controlled to move to the left end of the front U-shaped track frame 1, in the process, the tray 25 is transferred to the front angle steel slide rail 3 and the rear angle steel slide rail 4 on the lifting cargo platform from the tray support track on the goods shelf by the swinging pulling block 48, and the tray 25 is taken out;
the steps of depositing the pallet 25 from the lifting platform onto the pallet are as follows:
firstly, a swingable pull block 48 is rotated to a horizontal lying state by controlling a swingable pull block support shaft to rotate a drive motor 53; the swingable push block 50 is rotated to an upright state by controlling the swingable push block support shaft rotation driving motor 52, and the swingable push block 50 is abutted on the left side elevation of the tray inside end frame of the tray 25, and the limit plate 51 is pressed against the top surface of the tray inside end frame of the tray 25;
and secondly, the front hanging trolley 21 is controlled to walk and move to the right end of the front U-shaped track frame 1, and in the process, the tray 25 can be transferred to a tray supporting track on the goods shelf by the swinging push block 50 from the front angle steel slide rail 3 and the rear angle steel slide rail 4 on the lifting goods carrying platform, so that the storage of the tray 25 is completed.
A stacker for storing and taking out ultra-deep goods shelf three-dimensional warehouse trays comprises a stacker walking track 59 arranged in a roadway, wherein a four-column stacker 58 is arranged on the stacker walking track 59, a lifting cargo platform lifting driving motor 64 is arranged on the four-column stacker 58, a first lifting chain 60 is arranged on a left front column of the four-column stacker 58, a second lifting chain 61 is arranged on a left rear column of the four-column stacker 58, a third lifting chain 63 is arranged on a right front column of the four-column stacker 58, and a fourth lifting chain 62 is arranged on a right rear column of the four-column stacker 58; a lifting cargo carrying platform is arranged between the four upright posts and consists of a front U-shaped track frame 1, a rear U-shaped track frame 2 and a connecting frame 7, the structure of the front U-shaped track frame 1 and the structure of the rear U-shaped track frame 2 are completely the same, the front U-shaped track frame 1 and the rear U-shaped track frame 2 are arranged in parallel, and the connecting frame 7 is fixedly arranged between the front U-shaped track frame 1 and the rear U-shaped track frame 2; a left front suspension plate 10 of the lifting cargo platform and a right front suspension plate 56 of the lifting cargo platform are respectively arranged on the outer side surface of the front side vertical plate of the front U-shaped track frame 1, and a left rear suspension plate 11 of the lifting cargo platform and a right rear suspension plate 57 of the lifting cargo platform are respectively arranged on the outer side surface of the rear side vertical plate of the rear U-shaped track frame 2; the left front suspension plate 10 of the lifting cargo platform is connected with a first lifting chain 60, the right front suspension plate 56 of the lifting cargo platform is connected with a third lifting chain 63, the left rear suspension plate 11 of the lifting cargo platform is connected with a second lifting chain 61, and the right rear suspension plate 57 of the lifting cargo platform is connected with a fourth lifting chain 62.
A front angle steel slide rail 3 is arranged on the top end face of a front side vertical plate of the front U-shaped track frame 1, a rear angle steel slide rail 4 is arranged on the top end face of a rear side vertical plate of the rear U-shaped track frame 2, and a tray 25 is movably arranged between the front angle steel slide rail 3 and the rear angle steel slide rail 4; a front hanging trolley 21 capable of moving left and right along the U-shaped track is arranged in the front U-shaped track frame 1, a rear hanging trolley 20 capable of moving left and right along the U-shaped track is arranged in the rear U-shaped track frame 2, and the structure of the front hanging trolley 21 is completely the same as that of the rear hanging trolley 20.
A hanging trolley driving front side connecting frame 22 and a hanging trolley driving rear side connecting frame 23 are respectively arranged on the lower bottom surface of the body bottom plate of the front hanging trolley 21; a left rear supporting chain wheel mounting block 13 and a left front supporting chain wheel mounting block are respectively arranged at the left end in the front U-shaped track frame 1, a left rear supporting chain wheel is cantilevered on the left rear supporting chain wheel mounting block 13, a left front supporting chain wheel is cantilevered on the left front supporting chain wheel mounting block, a right rear supporting chain wheel mounting block 15 and a right front supporting chain wheel mounting block are respectively arranged at the right end in the front U-shaped track frame 1, a right rear supporting chain wheel is cantilevered on the right rear supporting chain wheel mounting block 15, and a right front supporting chain wheel is cantilevered on the right front supporting chain wheel mounting block; a first closed annular chain 19 is arranged between the left front supporting chain wheel and the right front supporting chain wheel, and a second closed annular chain 18 is arranged between the left rear supporting chain wheel and the right rear supporting chain wheel; the hanging trolley driving front side connecting frame 22 is connected with the first closed annular chain 19, and the hanging trolley driving rear side connecting frame 23 is connected with the second closed annular chain 18; a rear hanging trolley driving front side connecting frame and a rear hanging trolley driving rear side connecting frame are respectively arranged on the lower bottom surface of the body bottom plate of the rear hanging trolley 20; a rear U-shaped track left rear supporting sprocket mounting block 12 and a rear U-shaped track left front supporting sprocket mounting block are respectively arranged at the left end in the rear U-shaped track frame 2, a rear U-shaped track left rear supporting sprocket is cantilevered on the rear U-shaped track left rear supporting sprocket mounting block 12, a rear U-shaped track left front supporting sprocket is cantilevered on the rear U-shaped track left front supporting sprocket mounting block, a rear U-shaped track right rear supporting sprocket mounting block 14 and a rear U-shaped track right front supporting sprocket mounting block are respectively arranged at the right end in the rear U-shaped track frame 2, a rear U-shaped track right rear supporting sprocket is cantilevered on the rear U-shaped track right rear supporting sprocket mounting block 14, and a rear U-shaped track right front supporting sprocket is cantilevered on the rear U-shaped track right front supporting sprocket mounting block; a fourth closed loop chain 16 is arranged between the rear U-shaped track left front supporting chain wheel and the rear U-shaped track right front supporting chain wheel, and a third closed loop chain 17 is arranged between the rear U-shaped track left rear supporting chain wheel and the rear U-shaped track right rear supporting chain wheel; the rear hanging trolley driving front side connecting frame is connected with a third closed loop chain 17, and the rear hanging trolley driving rear side connecting frame is connected with a fourth closed loop chain 18; a first closed loop chain driving sprocket 28 is connected to the first closed loop chain 19, a second closed loop chain driving sprocket 29 is connected to the second closed loop chain 18, the first closed loop chain driving sprocket 28 and the second closed loop chain driving sprocket 29 are respectively arranged on the front end driving shaft 27, the rear side end of the front end driving shaft 27 is connected with a double-end output chain driving motor 26 through a speed reducer, and the double-end output chain driving motor 26 is arranged on the connecting frame 7; the third closed loop chain 17 is connected with a third closed loop chain driving sprocket 31, the fourth closed loop chain 16 is connected with a fourth closed loop chain driving sprocket 32, the third closed loop chain driving sprocket and the fourth closed loop chain driving sprocket are respectively arranged on the rear end driving shaft 30, the front side end of the rear end driving shaft 30 is connected with the double-end output chain driving motor 26 through a speed reducer, and the double-end output chain driving motor 26 drives the four closed loop chains to synchronously rotate.
A front U-shaped track frame 1 is respectively provided with a hanging trolley front side travelling wheel embedded C-shaped track 5 and a hanging trolley rear side travelling wheel embedded C-shaped track 6, and a front hanging trolley 21 is movably arranged between the hanging trolley front side travelling wheel embedded C-shaped track 5 and the hanging trolley rear side travelling wheel embedded C-shaped track 6; a supporting bearing outer ring 42 of a rotatable hanging mechanism is arranged in the middle of the vehicle body of the front hanging trolley 21, a supporting bearing inner ring 43 of the rotatable hanging mechanism is arranged in the supporting bearing outer ring 42 of the rotatable hanging mechanism, a cantilever hanging mechanism box body frame 44 is connected on the top surface of the supporting bearing inner ring 43 of the rotatable hanging mechanism, a swinging shaft outer side supporting seat 45 and a swinging shaft inner side supporting seat 46 are respectively arranged at the outer side end of the cantilever hanging mechanism box body frame 44, a swinging pulling block supporting shaft 47 and a swinging pushing block supporting shaft 49 are respectively arranged between the swinging shaft outer side supporting seat 45 and the swinging shaft inner side supporting seat 46 in parallel with each other, a swinging pulling block 48 is connected on the outer side end of the swinging pulling block supporting shaft 47, a swinging pushing block 50 is connected on the outer side end of the swinging pushing block supporting shaft 49, a swinging pushing block 50 is connected on the inner side end of the swinging pulling block supporting shaft 47, a swingable pulling block support shaft rotation driving motor 53 is connected, a swingable pushing block support shaft rotation driving motor 52 is connected to the inner side end of the swingable pushing block support shaft 49, and both the swingable pulling block support shaft rotation driving motor 53 and the swingable pushing block support shaft rotation driving motor 52 are provided in the cantilever type hanging mechanism box frame 44.
A working method of a stacker for an ultra-deep goods shelf three-dimensional warehouse comprises a lifting and carrying platform, wherein the lifting and carrying platform is composed of a front U-shaped track frame 1, a rear U-shaped track frame 2 and a connecting frame 7, the structure of the front U-shaped track frame 1 and the structure of the rear U-shaped track frame 2 are completely the same, the front U-shaped track frame 1 and the rear U-shaped track frame 2 are arranged in parallel, the connecting frame 7 is fixedly arranged between the front U-shaped track frame 1 and the rear U-shaped track frame 2, a front angle steel slide rail 3 is arranged on the top end face of a front side vertical plate of the front U-shaped track frame 1, and a rear angle steel slide rail 4 is arranged on the top end face of a rear side vertical plate of the rear U-shaped track frame 2; one side of the lifting cargo platform is provided with a side goods shelf 65, the other side of the lifting cargo platform is provided with another side goods shelf 66, the goods shelves are provided with tray supporting rails, the height of the front angle steel slide rails 3 and the height of the rear angle steel slide rails 4 are the same, and the tray 25 is movably arranged on the tray supporting rails; a front U-shaped track frame 1 is respectively provided with a hanging trolley front side travelling wheel embedded C-shaped track 5 and a hanging trolley rear side travelling wheel embedded C-shaped track 6, and a front hanging trolley 21 is movably arranged between the hanging trolley front side travelling wheel embedded C-shaped track 5 and the hanging trolley rear side travelling wheel embedded C-shaped track 6; a supporting bearing outer ring 42 of a rotatable hanging mechanism is arranged in the middle of the vehicle body of the front hanging trolley 21, a supporting bearing inner ring 43 of the rotatable hanging mechanism is arranged in the supporting bearing outer ring 42 of the rotatable hanging mechanism, a cantilever hanging mechanism box body frame 44 is connected on the top surface of the supporting bearing inner ring 43 of the rotatable hanging mechanism, a swinging shaft outer side supporting seat 45 and a swinging shaft inner side supporting seat 46 are respectively arranged at the outer side end of the cantilever hanging mechanism box body frame 44, a swinging pulling block supporting shaft 47 and a swinging pushing block supporting shaft 49 are respectively arranged between the swinging shaft outer side supporting seat 45 and the swinging shaft inner side supporting seat 46 in parallel with each other, a swinging pulling block 48 is connected on the outer side end of the swinging pulling block supporting shaft 47, a swinging pushing block 50 is connected on the outer side end of the swinging pushing block supporting shaft 49, a limiting plate 51 is connected on the top end surface of the swinging pushing block 50, a swingable pulling block support shaft rotation driving motor 53 is connected to the inner side end of the swingable pulling block support shaft 47, a swingable pushing block support shaft rotation driving motor 52 is connected to the inner side end of the swingable pushing block support shaft 49, and both the swingable pulling block support shaft rotation driving motor 53 and the swingable pushing block support shaft rotation driving motor 52 are provided in the cantilever type hanging mechanism box frame 44; synchronously controlling the front hanging trolley 21 and the rear hanging trolley 20 to complete the following steps, wherein the actions of the two hanging trolleys are consistent, and the steps are only described by controlling the action of the front hanging trolley 21:
firstly, a swingable pulling block 48 is rotated to a horizontal lying state by controlling a swingable pulling block support shaft rotation driving motor 53, and then the front hanging trolley 21 is controlled to walk and move to the right end of the front U-shaped track frame 1, and the swingable pulling block 48 is arranged at the outer side below the tray inner side end frame of the tray 25;
secondly, the swingable pull block 48 is rotated to a vertical state by controlling a swingable pull block support shaft rotation driving motor 53, so that a tray inner side end frame of the tray 25 on the rack rail of the one side rack 65 is arranged between the swingable push block 50 and the swingable pull block 48;
thirdly, the front hanging trolley 21 is controlled to move to the left end of the front U-shaped track frame 1, in the process, the tray 25 can be transferred to the front angle steel slide rail 3 and the rear angle steel slide rail 4 on the lifting cargo carrying platform from the tray supporting track on the goods shelf 65 on one side through the swinging pulling block 48, and the tray 25 is taken out;
fourthly, the swingable pulling block 48 is rotated to a horizontal lying state by controlling a swingable pulling block support shaft rotation driving motor 53, and the swingable pushing block 50 is rotated to enter a swing pushing block swing lower abdicating groove 54 by controlling a swingable pushing block support shaft rotation driving motor 52 to be in a horizontal lying state; then, the front hanging trolley 21 is controlled to walk from the right end of the U-shaped track frame 1 and move back to the left end of the front U-shaped track frame 1, and meanwhile, the rear hanging trolley 20 is controlled to walk from the right end of the rear U-shaped track frame 2 and move back to the left end of the rear U-shaped track frame 2;
fifthly, controlling the supporting bearing inner ring 43 to rotate 180 degrees by rotating the driving motor 55 through the bearing inner ring, so that the cantilever type hanging mechanism box body frame 44 also rotates 180 degrees along with the supporting bearing inner ring 43; in the same way, the box body frame of the cantilever type hanging and taking mechanism on the rear hanging and taking trolley 20 is also rotated by 180 degrees;
sixthly, controlling a swingable push block support shaft to rotate a driving motor 52, so that the swingable push block 50 rotates to be in an upright state and is abutted to the outer side face of the tray outer side end frame of the tray 25; similarly, the swingable pushing block on the rear hanging trolley 20 is also rotated to be in an upright state and is abutted to the outer side surface of the tray outer side end frame of the tray 25;
and seventhly, simultaneously controlling the front hanging trolley 21 and the rear hanging trolley 20 to move from the right end to the left end of the two U-shaped rails, and in the process, the two swinging push blocks 50 transfer the tray 25 from the lifting cargo platform to the shelf rail of the shelf 66 on the other side, so that the storage of the tray 25 is completed.

Claims (4)

1. A stacker for storing and taking out ultra-deep goods shelf three-dimensional warehouse trays comprises a stacker walking track (59) arranged in a roadway, wherein a four-column stacker (58) is arranged on the stacker walking track (59), a lifting cargo platform lifting driving motor (64) is arranged on the four-column stacker (58), a first lifting chain (60) is arranged on a left front column of the four-column stacker (58), a second lifting chain (61) is arranged on a left rear column of the four-column stacker (58), a third lifting chain (63) is arranged on a right front column of the four-column stacker (58), and a fourth lifting chain (62) is arranged on a right rear column of the four-column stacker (58); a lifting cargo carrying platform is arranged between the four upright posts, and is characterized in that the lifting cargo carrying platform consists of a front U-shaped track frame (1), a rear U-shaped track frame (2) and a connecting frame (7), the structure of the front U-shaped track frame (1) and the structure of the rear U-shaped track frame (2) are completely the same, the front U-shaped track frame (1) and the rear U-shaped track frame (2) are arranged in parallel, and the connecting frame (7) is fixedly arranged between the front U-shaped track frame (1) and the rear U-shaped track frame (2); a left front suspension plate (10) and a right front suspension plate (56) of the lifting cargo platform are respectively arranged on the outer side surface of the front side vertical plate of the front U-shaped track frame (1), and a left rear suspension plate (11) and a right rear suspension plate (57) of the lifting cargo platform are respectively arranged on the outer side surface of the rear side vertical plate of the rear U-shaped track frame (2); the left front suspension plate (10) of the lifting cargo platform is connected with a first lifting chain (60), the right front suspension plate (56) of the lifting cargo platform is connected with a third lifting chain (63), the left rear suspension plate (11) of the lifting cargo platform is connected with a second lifting chain (61), and the right rear suspension plate (57) of the lifting cargo platform is connected with a fourth lifting chain (62).
2. The stacker for accessing trays of an ultra-deep goods shelf three-dimensional warehouse according to claim 1, wherein a front angle steel slide rail (3) is arranged on the top end face of a front side vertical plate of a front U-shaped track frame (1), a rear angle steel slide rail (4) is arranged on the top end face of a rear side vertical plate of a rear U-shaped track frame (2), and a tray (25) is movably arranged between the front angle steel slide rail (3) and the rear angle steel slide rail (4); a front hanging trolley (21) capable of moving left and right along the U-shaped track is arranged in the front U-shaped track frame (1), a rear hanging trolley (20) capable of moving left and right along the U-shaped track is arranged in the rear U-shaped track frame (2), and the structure of the front hanging trolley (21) is completely the same as that of the rear hanging trolley (20).
3. The stacker for accessing trays of an ultra-deep goods shelf three-dimensional warehouse as claimed in claim 2, wherein a hanging trolley driving front side connecting frame (22) and a hanging trolley driving rear side connecting frame (23) are respectively arranged on the lower bottom surface of a body bottom plate of the front hanging trolley (21); a left rear supporting chain wheel mounting block (13) and a left front supporting chain wheel mounting block are respectively arranged at the left end in the front U-shaped track frame (1), a left rear supporting chain wheel is cantilevered on the left rear supporting chain wheel mounting block (13), a left front supporting chain wheel is cantilevered on the left front supporting chain wheel mounting block, a right rear supporting chain wheel mounting block (15) and a right front supporting chain wheel mounting block are respectively arranged at the right end in the front U-shaped track frame (1), a right rear supporting chain wheel is cantilevered on the right rear supporting chain wheel mounting block (15), and a right front supporting chain wheel is cantilevered on the right front supporting chain wheel mounting block; a first closed annular chain (19) is arranged between the left front supporting chain wheel and the right front supporting chain wheel, and a second closed annular chain (18) is arranged between the left rear supporting chain wheel and the right rear supporting chain wheel; the hanging trolley driving front side connecting frame (22) is connected with the first closed annular chain (19), and the hanging trolley driving rear side connecting frame (23) is connected with the second closed annular chain (18); a rear hanging trolley driving front side connecting frame and a rear hanging trolley driving rear side connecting frame are respectively arranged on the lower bottom surface of the body bottom plate of the rear hanging trolley (20); a rear U-shaped track left rear supporting chain wheel mounting block (12) and a rear U-shaped track left front supporting chain wheel mounting block are respectively arranged at the left end in the rear U-shaped track frame (2), a rear U-shaped track left rear supporting chain wheel is cantilevered on the rear U-shaped track left rear supporting chain wheel mounting block (12), a rear U-shaped track left front supporting chain wheel is cantilevered on the rear U-shaped track left front supporting chain wheel mounting block, a rear U-shaped track right rear supporting chain wheel mounting block (14) and a rear U-shaped track right front supporting chain wheel mounting block are respectively arranged at the right end in the rear U-shaped track frame (2), a rear U-shaped track right rear supporting chain wheel is cantilevered on the rear U-shaped track right rear supporting chain wheel mounting block (14), and a rear U-shaped track right front supporting chain wheel is cantilevered on the rear U-shaped track right front supporting chain wheel mounting block; a fourth closed loop chain (16) is arranged between the rear U-shaped track left front supporting chain wheel and the rear U-shaped track right front supporting chain wheel, and a third closed loop chain (17) is arranged between the rear U-shaped track left rear supporting chain wheel and the rear U-shaped track right rear supporting chain wheel; the rear hanging trolley driving front side connecting frame is connected with a third closed loop chain (17), and the rear hanging trolley driving rear side connecting frame is connected with a fourth closed loop chain (18); a first closed annular chain driving chain wheel (28) is connected to the first closed annular chain (19), a second closed annular chain driving chain wheel (29) is connected to the second closed annular chain (18), the first closed annular chain driving chain wheel (28) and the second closed annular chain driving chain wheel (29) are respectively arranged on the front end driving shaft (27), the rear side end of the front end driving shaft (27) is connected with a double-end output chain driving motor (26) through a speed reducer, and the double-end output chain driving motor (26) is arranged on the connecting frame (7); be connected with third closed loop chain drive sprocket (31) on third closed loop chain (17), be connected with fourth closed loop chain drive sprocket (32) on fourth closed loop chain (16), third closed loop chain drive sprocket and fourth closed loop chain drive sprocket set up respectively on rear end drive shaft (30), the preceding side end of rear end drive shaft (30) links together through reduction gear and bi-polar output chain drive motor (26), bi-polar output chain drive motor (26) drive four closed loop chain synchronous revolution.
4. The stacker for accessing trays of an ultra-deep goods shelf three-dimensional warehouse according to claim 2 or 3, wherein a hanging trolley front side traveling wheel embedding C-shaped track (5) and a hanging trolley rear side traveling wheel embedding C-shaped track (6) are respectively arranged in the front U-shaped track frame (1), and the front hanging trolley (21) is movably arranged between the hanging trolley front side traveling wheel embedding C-shaped track (5) and the hanging trolley rear side traveling wheel embedding C-shaped track (6); a supporting bearing outer ring (42) of a rotatable hanging mechanism is arranged in the middle of the vehicle body of the front hanging trolley (21), a supporting bearing inner ring (43) of the rotatable hanging mechanism is arranged in the supporting bearing outer ring (42) of the rotatable hanging mechanism, a cantilever hanging mechanism box body frame (44) is connected on the top surface of the supporting bearing inner ring (43) of the rotatable hanging mechanism, a swinging shaft outer side supporting seat (45) and a swinging shaft inner side supporting seat (46) are respectively arranged at the outer side end of the cantilever hanging mechanism box body frame (44), a swinging pulling block supporting shaft (47) and a swinging pushing block supporting shaft (49) are respectively arranged between the swinging shaft outer side supporting seat (45) and the swinging shaft inner side supporting seat (46) in parallel, a swinging pulling block (48) is connected on the outer side end of the swinging pulling block supporting shaft (47), the outer side end of the swingable push block supporting shaft (49) is connected with a swingable push block (50), the inner side end of the swingable pull block supporting shaft (47) is connected with a swingable pull block supporting shaft rotation driving motor (53), the inner side end of the swingable push block supporting shaft (49) is connected with a swingable push block supporting shaft rotation driving motor (52), and the swingable pull block supporting shaft rotation driving motor (53) and the swingable push block supporting shaft rotation driving motor (52) are arranged in a cantilever type hanging mechanism box frame (44).
CN202110921573.8A 2021-08-11 2021-08-11 Stacker for storing and taking out ultra-deep goods shelf three-dimensional warehouse trays Pending CN113562380A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110921573.8A CN113562380A (en) 2021-08-11 2021-08-11 Stacker for storing and taking out ultra-deep goods shelf three-dimensional warehouse trays

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110921573.8A CN113562380A (en) 2021-08-11 2021-08-11 Stacker for storing and taking out ultra-deep goods shelf three-dimensional warehouse trays

Publications (1)

Publication Number Publication Date
CN113562380A true CN113562380A (en) 2021-10-29

Family

ID=78171269

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110921573.8A Pending CN113562380A (en) 2021-08-11 2021-08-11 Stacker for storing and taking out ultra-deep goods shelf three-dimensional warehouse trays

Country Status (1)

Country Link
CN (1) CN113562380A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113955508A (en) * 2021-12-08 2022-01-21 西安威仁自动化科技有限公司 Pull stacking robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113955508A (en) * 2021-12-08 2022-01-21 西安威仁自动化科技有限公司 Pull stacking robot

Similar Documents

Publication Publication Date Title
CN110625105B (en) Transfer equipment, molten aluminum transfer system and molten aluminum transfer method
CN110626700B (en) Automatic three-dimensional warehouse for pipes and warehouse-in and warehouse-out method
CN202208543U (en) Tray loading and unloading frame device
CN113562380A (en) Stacker for storing and taking out ultra-deep goods shelf three-dimensional warehouse trays
CN113562379A (en) Hanging and taking mechanism on four-upright-column stacker for storing and taking ultra-deep goods shelf three-dimensional warehouse trays
CN100408797C (en) Cars hand-over transporting robot
CN111559722A (en) Double-column type stacker
CN110654763B (en) Cylindrical goods three-dimensional storage and loading and unloading equipment and warehousing method thereof
CN210366817U (en) Follow-up hook on tray lifting mechanism of shuttle trolley
CN216036653U (en) Stacker for storing and taking out ultra-deep goods shelf three-dimensional warehouse trays
CN106044036B (en) Tiered warehouse facility suspension type conveying device and application method
CN106193694B (en) A kind of electric vehicle underground parking garage
CN113619976A (en) Method for storing and taking out trays in three-dimensional warehouse of ultra-deep goods shelf
CN113619978A (en) Working method of stacker of ultra-deep goods shelf three-dimensional warehouse
CN111854417A (en) Food vacuum freeze drying is frame car for equipment
CN200999482Y (en) Small automobile conjoined conveying robot
CN207658579U (en) A kind of charging of cillin bottle and go out trolley
CN110615378A (en) Follow-up hook on tray lifting mechanism of shuttle trolley
CN206830085U (en) Marine riser cat road
CN214648235U (en) Mine tunnel slide rail motor car
CN212634299U (en) Cantilever type movable steel ladle covering and uncovering device
CN209112882U (en) A kind of chain type lift structure of stereo warehouse
CN107237609A (en) Marine riser cat road
CN202414602U (en) Intelligent material storage
JPH0720761B2 (en) Roll material storage device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination