CN206871797U - A kind of Automatic Warehouse - Google Patents
A kind of Automatic Warehouse Download PDFInfo
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- CN206871797U CN206871797U CN201720538674.6U CN201720538674U CN206871797U CN 206871797 U CN206871797 U CN 206871797U CN 201720538674 U CN201720538674 U CN 201720538674U CN 206871797 U CN206871797 U CN 206871797U
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- axis
- guide rail
- goods
- pallet fork
- shelf
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Abstract
The utility model discloses a kind of Automatic Warehouse, including shelf and the cargo transparting device for transporting goods；Wherein, the cargo transparting device includes being used for the pallet fork to transport goods and the drive device for driving pallet fork to move on X-axis, Y-axis and Z axis；The pallet fork is set on the drive means；The drive device includes X-axis guide rail, Y-axis guide rail and Z axis guide rail；The shelf include several supports being equidistantly set up in parallel by setpoint distance and several goods shelf plates for the vertical distribution being arranged on support, and a goods position in storehouse is formed between two goods shelf plates；The goods shelf plate, which is provided with, is used to allowing the pallet fork to pass through the open slot of goods shelf plate in above-below direction, and the open slot is towards the side provided with cargo transparting device.Goods can be transported on shelf by the utility model automatically, and the goods on shelf can be unloaded and is transported in specified location, carried without artificial, improved handling efficiency, be easy to material handling.
Description
Technical field
It the utility model is related to a kind of warehouse, and in particular to a kind of Automatic Warehouse.
Background technology
The disengaging of goods is realized by artificial and carrying apparatus in traditional warehouse, it can be common that is manipulated fork truck by worker and is realized
The deficiencies of labor intensity is big, efficiency is low, speed is slow, human cost is high, and warehouse be present in the carrying of goods, this mode of transport
It is middle to need to provide larger space for the walking of fork truck, cause warehouse space utilization rate low；Further, since the adjustable height of fork truck
It is limited so that the pallet height in warehouse is also restrained.Furthermore the goods on the shelf in warehouse is placed on, for the ease of pallet fork
Move into or take out of, goods is needed to be placed on backing plate, and backing plate is supported on shelf again, is had on backing plate and is allowed the sky that pallet fork stretches into
Between, this backing plate occupies a part of space in warehouse, also make it that the space availability ratio in warehouse is relatively low.With manufacturing industry and logistics
Industry develops rapidly, and the disengaging of goods must develop to the direction of automation, high efficiency, high power capacity in warehouse, therefore provide one
Kind Automatic Warehouse has great importance.
Utility model content
The utility model aims to overcome that the deficiencies in the prior art, there is provided a kind of Automatic Warehouse, the warehouse can be certainly
It is dynamic that goods is transported on shelf, and the goods on shelf can be unloaded automatically and be transported to and formulate position, effectively improve
Warehouse enters the operating efficiency of shipment, saves human resources, is easy to the management of goods, and the space availability ratio in warehouse is high, wastes
It is few.
The purpose of this utility model is achieved through the following technical solutions：
A kind of Automatic Warehouse, it is characterised in that including shelf and the cargo transparting device for transporting goods；Wherein,
The cargo transparting device includes being used for the pallet fork to transport goods and the drive for driving pallet fork to move on X-axis, Y-axis and Z axis
Dynamic device；The pallet fork is set on the drive means；The drive device includes X-axis guide rail, Y-axis guide rail and Z axis guide rail；Its
In, the X-axis guide rail is provided with the X-axis drive mechanism that driving pallet fork moves in X-direction, and the Y-axis guide rail is provided with driving
The Y-axis drive mechanism that pallet fork moves in Y direction；The Z axis guide rail is provided with driving pallet fork and driven in the Z axis that Z-direction is moved
Motivation structure；The shelf include several supports being equidistantly set up in parallel by setpoint distance and vertical point be arranged on support
Several goods shelf plates of cloth, and a goods position in storehouse is formed between two goods shelf plates；The goods shelf plate is provided with described for allowing
Pallet fork passes through the open slot of goods shelf plate in above-below direction, and the open slot is towards the side provided with cargo transparting device.
Above-mentioned Automatic Warehouse operation principle is：
When needing goods being transported on shelf, goods is placed on pallet fork by staff, the X-axis drive mechanism
Driving pallet fork moves in X-axis guide rail, meanwhile, the Z axis drive mechanism driving pallet fork makees vertical motion on Z axis so that goods
Fork moves simultaneously in X-axis and Z-direction, up to the cargo movement on pallet fork to the front of corresponding goods position in storehouse；Tightly
Then, the Y-axis drive mechanism driving pallet fork is travelled forward, and goods is sent in goods position in storehouse, now holds in the palm the goods of goods
Fork can be located at the top of open slot, can also be located in open slot, and goods is then located at the top of open slot；Finally, the Z
Axle drive mechanism drives the pallet fork to move downward so that goods is transferred on the goods shelf plate of goods position in storehouse bottom, and pallet fork is then
Smoothly open slot is crossed to separate with goods；Then Y-axis drive mechanism driving pallet fork moves backward away from the open slot of goods shelf plate, and
Original position is returned to, continues next goods being transported on shelf；
When needing to take out goods from shelf, according to the position of corresponding target goods position in storehouse, X-axis drive mechanism and Z axis
Drive mechanism drives pallet fork to the front for needing the goods shelf plate corresponding to taking-up goods simultaneously；Then, Y-axis drive mechanism drives
Pallet fork enters the bottom of the open slot of the goods shelf plate；And then, the Z axis drive mechanism drives the pallet fork to rise so that
The pallet fork holds up goods；After pallet fork holds up goods, the Y-axis drive mechanism driving asks the pallet fork of goods to move backward, moves back
Go out the goods shelf plate, and the pallet fork for holding in the palm goods is driven in X-axis and Z axis side by Z axis drive mechanism and X-axis drive mechanism simultaneously
Move simultaneously upwards, until reaching the specified location of staff's picking, complete the taking-up of goods.
A preferred scheme of the present utility model, wherein, the X-axis guide rail is provided with dolly, and the dolly drives with the X-axis
Motivation structure connects；The Z axis guide rail is arranged on the top of dolly, and the Z axis guide rail is provided with middle connecting plate, centre connection
Plate is connected with the Y-axis drive mechanism；The Y-axis guide rail is arranged on middle connecting plate, and the pallet fork is arranged on Y-axis guide rail
On, the pallet fork is connected with Y-axis drive mechanism.
In such scheme, make Y-axis motion using Y-axis drive mechanism direct drive pallet fork, in being driven using Z axis drive mechanism
Between connecting plate and the motion of Y-axis drive mechanism, realize the motion in Z-direction in pallet fork, recycle X-axis drive mechanism driving dolly
Moved in X-direction, realize motion of the pallet fork in X-direction.
A kind of preferred scheme of the present utility model, wherein, the X-axis guide rail includes two the first parallel walking guide rails,
And rack assembly is provided among the first walking guide rail, the rack assembly includes rack guide rail and coordinate with rack guide rail first
Driving gear；The X-axis drive mechanism includes the first X-axis motor being fixed on dolly, the first X-axis motor
Power output shaft is fixedly connected with first driving gear；The two bottom sides of the dolly pass through sliding block and the first walking guide rail
Connection.By setting rack assembly so that the driving gear of motor driven first moves on rack guide rail, so that dolly exists
Slided in first walking guide rail.
A preferred scheme of the present utility model, wherein, the X-axis drive mechanism includes the second X-axis motor and tooth
Wheel drive mechanism；Wherein, the second driving gear in the power output shaft and gear drive of the second X-axis motor connects
Connect；The dolly is provided with driving axle and driven axletree, and the driving axle is provided with two positive transport wheels, described driven
Axletree is provided with two driven road wheels；Driven gear in the gear drive is arranged on driving axle；The X-axis
Guide rail includes two the second parallel walking guide rails, and the positive transport wheel and driven road wheel are supported on the second walking guide rail
On.In above-mentioned X-axis drive mechanism, road wheel is driven to be moved in the second walking guide rail using the second X-axis motor, realization pair
Dolly has the advantages that simple in construction, driving force is big, response is fast, off-position precision is high in the driving of X-direction.
Preferably, the dolly includes vehicle frame, and the vehicle frame includes front side board, back side panel and top plate；Set on the top plate
There are electrical control cubicles；The outside of second walking guide rail is provided with groove, and the lower end of the front side board and back side panel is provided with into vehicle frame
The anti-tipping limiting plate for extending and extending into groove, and be equipped with front side board and back side panel for driving axle is installed
One mounting hole and the second mounting hole for installing driven axletree；The inner side of the back side panel, which is provided with, to be used to fix the 2nd X
The motor mounting plate of axle motor, one end of the motor mounting plate are provided with protection board, and the protection board is provided with described for allowing
The first through hole that the power output shaft of second X-axis motor passes through；The front side board is provided with the bearing for being used for installing bearing
Seat, the bearing block are provided with the second through hole for allowing the free end of the power output shaft of the second X-axis motor to pass through,
The bearing being freely connected with the power output shaft of the second X-axis motor is provided with bearing block.Above-mentioned dolly it is compact-sized,
All parts is rationally distributed on car, center balance, is advantageous to the steady walking of dolly；Anti-tipping limiting plate is set to prevent
Dolly is tumbled, and improves security.
Preferably, position corresponding with the second X-axis motor is provided with what can be dismounted on the top plate of the dolly
Plate is dismounted, the dismounting plate is connected by articulated elements with the top plate.By setting the dismounting plate, be advantageous to second X-axis
The installation or maintenance of motor.
A preferred scheme of the present utility model, wherein, the Z axis guide rail is two groups, and is oppositely arranged in parallel；Every group of Z
Axis rail includes Z axis guide rail fixed plate and the Z axis slide bar that is located in Z axis guide rail fixed plate, and the Z axis slide bar is provided with therewith
The Z axis sliding block matched somebody with somebody, the both ends of the middle connecting plate are connected with the Z axis sliding block in two groups of Z axis guide rails respectively；Every group of Z axis guide rail
Place is provided with a Z axis drive mechanism, and each Z axis drive mechanism includes Z axis motor and Z axis lead screw transmission mechanism, wherein, institute
The top that Z axis motor is arranged on Z axis guide rail fixed plate is stated, the main shaft of Z axis motor is passed by shaft coupling and Z axis screw mandrel
Z axis screw mandrel in motivation structure is connected, and the Z axis feed screw nut in the Z axis lead screw transmission mechanism is arranged on Z axis sliding block.
In such scheme, Z axis sliding block and middle connecting plate is driven to transport using Z axis motor and Z axis lead screw transmission mechanism
It is dynamic, so as to realize to pallet fork in the driving of Z-direction, there is the advantages of simple in construction, precision is high.
Preferably, the rear side of the Z axis guide rail fixed plate is provided with limit sensors support, is set on the limit sensors support
There are several photoelectric sensors, each photoelectric sensor is arranged on a goods position in storehouse corresponding position of shelf.By setting photoelectricity
Sensor, it can be determined that whether Z axis sliding block reaches corresponding goods position in storehouse corresponding position, so as to allow goods to stop in the Z-axis direction
Onto accurate position.
Preferably, the top and bottom of the Z axis guide rail fixed plate, which are respectively equipped with, limits Z axis sliding block pole in the Z-axis direction
Extreme position and the upper padding plate and lower bolster of lower position；The Z axis screw mandrel is connected with upper padding plate and lower bolster.
A preferred scheme of the present utility model, wherein, the lower end of the Z axis guide rail fixed plate, which is provided with, to be used for and small roof
The screw mandrel fixed mount that plate is fixed, the screw mandrel fixed mount include the bottom plate fixed with small roof panels and connected with Z axis guide rail fixed plate
The vertical plate connect, the both ends of the vertical plate are provided with two reinforcing plates, and the lower bolster is arranged between two reinforcing plates；It is described
Boss is provided between bottom plate and vertical plate.By setting the screw mandrel fixed mount of said structure, it is more steady to be advantageous to Z axis guide rail
Admittedly be fixed on the top plate of dolly.
A preferred scheme of the present utility model, wherein, the Y-axis guide rail includes Y-axis guide rail fixed plate and is located at Y-axis and leads
Y-axis slide bar in rail fixed plate, the Y-axis slide bar are provided with matching Y-axis sliding block, and the Y-axis guide rail fixed plate is fixed
On middle connecting plate；The Y-axis drive mechanism includes Y-axis motor and Y-axis lead screw transmission mechanism, wherein, the Y-axis is driven
Dynamic motor is arranged on the end of Y-axis guide rail fixed plate, and the main shaft of Y-axis motor passes through shaft coupling and Y-axis lead screw transmission mechanism
In the connection of Y-axis screw mandrel, the Y-axis feed screw nut in the Y-axis lead screw transmission mechanism is arranged on Y-axis sliding block；The pallet fork is set
Put in Y-axis sliding block.
In such scheme, Y-axis sliding block and pallet fork is driven to move using Y-axis motor and Y-axis lead screw transmission mechanism, so as to
Realize to pallet fork Y direction driving, have it is simple in construction, precision is high the advantages of.
Preferably, the front-end and back-end of the Y-axis guide rail fixed plate are equipped with limit baffle plate；The Y-axis screw mandrel with it is described
Limit baffle plate connects.
Preferably, the Y-axis guide rail is two groups, and goods is lifted thereby using two pallet forks, can more be balanced
Ground transports goods, and improves the bearing capacity of pallet fork.
A preferred scheme of the present utility model, wherein, the pallet fork include being used for the connecting portion that is connected with Y-axis sliding block with
And for lifting the fixed part of goods, wherein, the thickness of the fixed part is gradually reduced from rear end to front end, the connecting portion
Rear end is provided with the safety screen being upturned.Due to carry when goods be placed in fixed part, by set thickness from rear end to
The fixed part that front end is gradually reduced, and the safety screen being upturned is set in the rear end of connecting portion so that the center of gravity position of pallet fork
In rear end, so as to allow the overall center of gravity of pallet fork and goods to be moved afterwards as far as possible when transporting goods, reduce to connecting portion and Y-axis sliding block
Between connecting portion torque, extend the service life of pallet fork, it is ingenious in design.In addition, pacified by being set in the rear end of pallet fork
Full baffle plate, additionally it is possible to prevent goods from dropping when transporting goods, and in the handling process of goods limited location effect.
Preferably, the top of the Y-axis sliding block is provided with mounting groove, and the bottom of the connecting portion of the pallet fork is provided with and the peace
The mounting blocks that tankage coordinates, are connected by screw between the connecting portion and Y-axis sliding block of the pallet fork.Set by the bottom in pallet fork
The mounting blocks matched with mounting groove are put, the connection being easy between pallet fork and Y-axis sliding block so that both connect more firm.
A preferred scheme of the present utility model, wherein, the goods shelf plate includes goods plate and shelf connecting plate；The goods
Thing plate is provided with the open slot of U shape, and the shelf connecting plate is arranged on the bottom both ends of goods plate；The shelf connection
The front-end and back-end of plate are equipped with the fixed installation block being connected with support, and the fixed installation block includes what is be connected with shelf connecting plate
First mounting blocks and the second mounting blocks being connected with support, first mounting blocks are mutually perpendicular to the second mounting blocks, and are all provided with
Have and be used for bolted fixed installation hole.By setting the open slot of U shape, be advantageous to two pallet forks and enter open slot
While, be advantageous to goods board placing goods；Pass through the fixed installation block that shelf connecting plate is set and is connected with support, structure letter
It is single, it is easy to dismantle with support mounting box, can be according to the volume size of goods so as to adjust the distance between goods shelf plate, so as to adjust
Save the space of goods position in storehouse.
The utility model has the advantages that compared with prior art：
1st, goods can be transported on shelf by the utility model automatically, and the goods on shelf can be unloaded and conveyed
Onto specified location, carried without artificial, save human resources, improve handling efficiency, be easy to material handling.
2nd, passage need not be set for fork truck, so as to improve the space availability ratio in warehouse, increases the capacity in warehouse.
3rd, the height of Z axis guide rail of the present utility model can flexibly be set as needed so that the shelf in warehouse can be set
Get Geng Gao is put, so as to improve warehouse capacity.
4th, by setting open slot in goods shelf plate, so as to which pallet fork is when moving into or taking out of goods, without using backing plate to goods
Thing is supported, and is improved the space availability ratio in warehouse, is also saved cost.
Brief description of the drawings
Fig. 1 is the structural representation of first specific embodiment of Automatic Warehouse of the present utility model.
Fig. 2 is the structural representation of cargo transparting device in Fig. 1.
Fig. 3 is the enlarged drawing of I in Fig. 2.
Fig. 4 is the cross-sectional view of the second walking guide rail in Fig. 2.
Fig. 5 is the structural representation that Tu2Zhong car frames remove dismounting plate.
Fig. 6 is the structural representation of the vehicle frame of dolly in Fig. 2.
Fig. 7 is the structural representation of the second X-axis motor and gear drive in Fig. 2.
Fig. 8 is the structural representation of Z guide rails in Fig. 2.
Fig. 9 is the enlarged drawing of II in Fig. 8.
Figure 10 is the structural representation of Y-axis guide rail, pallet fork and middle connecting plate in Fig. 2.
Figure 11 is the side view of Y-axis sliding block and Y-axis screw mandrel guide rail in Figure 10.
Figure 12 is the side view of pallet fork in the utility model.
Figure 13 is the structural representation of goods shelf plate in Fig. 1 shelf.
Figure 14 is the solid of X-axis guide rail in second specific embodiment of the present utility model for automating cargo transparting device
Structural representation.
Embodiment
The utility model is further described with reference to embodiment and accompanying drawing, but embodiment of the present utility model is not
It is only limitted to this.
Referring to Fig. 1-Figure 13, a kind of Automatic Warehouse, it is characterised in that including shelf IV and the goods for transporting goods
Handling device III；Wherein, the cargo transparting device III includes the pallet fork 4 for transporting goods and drives pallet fork 4 in X
The drive device moved on axle, Y-axis and Z axis；The pallet fork is set on the drive means；The drive device is led including X-axis
Rail 1, Y-axis guide rail 2 and Z axis guide rail 3；Wherein, the X-axis guide rail 1 is provided with driving pallet fork 4 and driven in the X-axis that X-direction is moved
Motivation structure, the Y-axis guide rail 2 are provided with the Y-axis drive mechanism that driving pallet fork 4 moves in Y direction；Set in the Z axis guide rail 3
There is the Z axis drive mechanism that driving pallet fork 4 moves in Z-direction；It is equidistantly arranged side by side by setpoint distance that the shelf IV includes several
Several goods shelf plates 6 of the support 5 of setting and the vertical distribution being arranged on support 5, and form one between two goods shelf plates 6
Individual goods position in storehouse；The goods shelf plate 6 is provided with the open slot 6-1 for being used for allowing the pallet fork 4 to pass through goods shelf plate 6 in above-below direction,
And open slot 6-1 is towards the side provided with cargo transparting device.
Referring to Fig. 2, the X-axis guide rail 1 is provided with dolly 1-5, and dolly 1-5 is connected with the X-axis drive mechanism；It is described
Z axis guide rail 3 is arranged on dolly 1-5 top, and the Z axis guide rail 3 is provided with middle connecting plate 3-1, middle connecting plate 3-1 with
The Y-axis drive mechanism connection；The Y-axis guide rail 2 is arranged on middle connecting plate 3-1, and the pallet fork 4 is arranged on Y-axis guide rail 2
On, the pallet fork 4 is connected with Y-axis drive mechanism.Annexation between guide rail is so set, Y-axis drive mechanism can be utilized
Direct drive pallet fork 4 makees Y-axis motion, drives middle connecting plate 3-1 and Y-axis drive mechanism to move using Z axis drive mechanism, real
Present pallet fork 4 is recycled X-axis drive mechanism driving dolly 1-5 to be moved in X-direction, realizes pallet fork 4 in X in the motion of Z-direction
The motion of direction of principal axis.
Referring to Fig. 2 and Fig. 7, the X-axis drive mechanism includes the second X-axis motor 1-3 and gear drive 1-4；
Wherein, the second X-axis motor 1-3 power output shaft is connected with the second driving gear 1-41 in gear drive 1-4；
The dolly 1-5 is provided with driving axle 1-57 and driven axletree 1-58, and the driving axle 1-57 is provided with two actively rows
Walk and take turns 1-571, the driven axletree 1-58 is provided with two driven road wheel 1-581；In the gear drive 1-4 from
Moving gear 1-42 is arranged on driving axle 1-57；The X-axis guide rail 1 includes two parallel second walking guide rail 1-1, described
Positive transport wheel 1-571 and driven road wheel 1-581 are supported on the second walking guide rail 1-1.In above-mentioned X-axis drive mechanism, profit
Drive road wheel to be moved on the second walking guide rail 1-1 with the second X-axis motor 1-3, realize to dolly 1-5 in X-direction
Driving, have the advantages that simple in construction, driving force is big, response is fast, off-position precision is high.
Referring to Fig. 4, Fig. 5 and Fig. 6, the dolly 1-5 includes vehicle frame, and the vehicle frame includes front side board 1-51, back side panel 1-52
And top plate 1-53；The top plate 1-53 is provided with electrical control cubicles 1-2；The outside of the second walking guide rail 1-1 is provided with groove 1-
111, the lower end of the front side board 1-51 and back side panel 1-52 are provided with the anti-dumping for extending into vehicle frame and extending into groove 1-111
Limiting plate 1-54 is turned over, and the first mounting hole for installing driving axle 1-57 is equipped with front side board 1-51 and back side panel 1-52
1-55 and the second mounting hole 1-56 for installing driven axletree 1-58；The inner side of the back side panel 1-52, which is provided with, to be used to fix institute
The second X-axis motor 1-3 motor mounting plate 1-511 is stated, motor mounting plate 1-511 one end is provided with protection board, the guarantor
Backplate, which is provided with, to be used to allow the first through hole that the power output shaft of the second X-axis motor 1-3 passes through；The front side board 1-
51 are provided with the bearing block 1-521 for being used for installing bearing, and bearing block 1-521, which is provided with, to be used to allow second X-axis to drive electricity
The second through hole that the free end of machine 1-3 power output shaft passes through, is provided with bearing block 1-521 and the second X-axis motor 1-3
Power output shaft the bearing freely connected.Above-mentioned dolly 1-5's is compact-sized, and all parts is rationally distributed on car, in
The heart balances, and is advantageous to dolly 1-5 steady walking；Set anti-tipping limiting plate 1-54 to prevent dolly 1-5 from tumbling, improve peace
Quan Xing.
Referring to Fig. 6, position corresponding with the second X-axis motor 1-3 is provided with the top plate 1-53 of the dolly 1-5
The dismounting plate 1-531 that can be dismounted, the dismounting plate 1-531 are connected by articulated elements 1-532 with the top plate 1-53.Pass through setting
The dismounting plate 1-531, is advantageous to the installation or maintenance of the second X-axis motor 1-3.
Referring to Fig. 2 and Fig. 9, the Z axis guide rail 3 is two groups, and is oppositely arranged in parallel；Every group of Z axis guide rail 3 is led including Z axis
Rail fixed plate 3-2 and the Z axis slide bar being located on Z axis guide rail fixed plate 3-2, the Z axis slide bar are provided with matching Z axis and slided
Block 3-3, the middle connecting plate 3-1 both ends are connected with the Z axis sliding block 3-3 in two groups of Z axis guide rails 3 respectively；Every group of Z axis guide rail
A Z axis drive mechanism is provided with 3, each Z axis drive mechanism includes Z axis motor 3-5 and Z axis lead screw transmission mechanism, its
In, the Z axis motor 3-5 is arranged on Z axis guide rail fixed plate 3-2 top, and Z axis motor 3-5 main shaft passes through connection
Axle device is connected with the Z axis screw mandrel 3-6 in Z axis lead screw transmission mechanism, and the Z axis feed screw nut in the Z axis lead screw transmission mechanism sets
Put on Z axis sliding block 3-3.By setting the Z axis guide rail 3 of this spline structure, Z axis motor 3-5 and Z axis screw mandrel can be utilized to pass
Motivation structure drive Z axis sliding block 3-3 and middle connecting plate 3-1 motion, so as to realize to pallet fork 4 Z-direction driving, have knot
The advantages of structure is simple, precision is high.
Referring to Fig. 8 and Fig. 9, the rear side of the Z axis guide rail fixed plate 3-2 is provided with limit sensors support 3-7, the spacing biography
Sensor bracket 3-7 is arranged on a goods of shelf provided with several photoelectric sensors 3-71, each photoelectric sensor 3-71
Position in storehouse corresponding position.By setting photoelectric sensor 3-71, it can be determined that whether Z axis sliding block 3-3 reaches corresponding goods position in storehouse pair
It should locate, so as to allow goods to be docked in the Z-axis direction on accurate position.
Referring to Fig. 8, the top and bottom of the Z axis guide rail fixed plate 3-2, which are respectively equipped with, limits Z axis sliding block 3-3 in Z axis side
To upper extreme position and the upper padding plate and lower bolster of lower position, Z axis sliding block 3-3 high-low limit position can be so limited；
The Z axis screw mandrel 3-6 is connected with upper padding plate and lower bolster.
Referring to Fig. 2 and Fig. 3, the lower end of the Z axis guide rail fixed plate 3-2, which is provided with, to be used to fix with dolly 1-5 top plates 1-53
Screw mandrel fixed mount 3-8, screw mandrel fixed mount 3-8 includes and the dolly 1-5 top plates 1-53 bottom plate 3-81 fixed and leads with Z axis
The vertical plate 3-82, the vertical plate 3-82 of the 3-2 connections of rail fixed plate both ends are provided with two reinforcing plate 3-83, the lower bolster
It is arranged between two reinforcing plate 3-83；Boss 3-84 is provided between the bottom plate 3-81 and vertical plate 3-82.Pass through setting
The screw mandrel fixed mount 3-8 of said structure, is advantageous to Z axis guide rail 3 and is more firmly secured on dolly 1-5 top plate 1-53.
Referring to Figure 11, the present embodiment improves the bearing capacity of pallet fork 4, using two groups of Y to more evenly transport goods
Axis rail 2, and lift goods using two pallet forks 4.The Y-axis guide rail 2 includes Y-axis guide rail fixed plate 2-1 and is located at Y-axis and leads
Y-axis slide bar 2-2, the Y-axis slide bar 2-2 on rail fixed plate 2-1 are provided with matching Y-axis sliding block 2-3, and the Y-axis is led
Rail fixed plate 2-1 is fixed on middle connecting plate 3-1；The Y-axis drive mechanism includes Y-axis motor 2-4 and Y-axis screw mandrel 2-
5 transmission mechanisms, wherein, the Y-axis motor 2-4 is arranged on Y-axis guide rail fixed plate 2-1 end, Y-axis motor 2-4
Main shaft be connected by shaft coupling with the Y-axis screw mandrel 2-5 in Y-axis screw mandrel 2-5 transmission mechanisms, the Y-axis screw mandrel 2-5 transmission mechanisms
In Y-axis feed screw nut 2-51 be arranged on Y-axis sliding block 2-3；The pallet fork 4 is arranged on Y-axis sliding block 2-3.Set by such
Put, Y-axis motor 2-4 and Y-axis screw mandrel 2-5 transmission mechanisms can be utilized to drive Y-axis sliding block 2-3 and pallet fork 4 to move, so as to real
Now to pallet fork 4 Y direction driving, have it is simple in construction, precision is high the advantages of.In addition, the Y-axis guide rail fixed plate 2-1
Front-end and back-end be equipped with limit baffle plate 2-6, the most preceding and last extreme position of pallet fork 4 can be limited；The Y-axis screw mandrel
2-5 is connected with the limit baffle plate 2-6.
Referring to Figure 12, the pallet fork 4 includes being used for the Y-axis sliding block 2-3 connecting portion 4-1 being connected and for lifting goods
Fixed part 4-2, wherein, the thickness of the fixed part 4-2 is gradually reduced from rear end to front end, the rear end of the connecting portion 4-1
Provided with the safety screen 4-12 being upturned.Because goods is placed on fixed part 4-2 when carrying, by setting thickness from rear end
The fixed part 4-2 being gradually reduced to front end, and the safety screen 4-12 being upturned is set in connecting portion 4-1 rear end so that
The center of gravity of pallet fork 4 is located at rear end, so as to allow the overall center of gravity of pallet fork 4 and goods to be moved afterwards as far as possible when transporting goods, reduction pair
The torque of connecting portion 4-1 positions between connecting portion 4-1 and Y-axis sliding block 2-3, extend the service life of pallet fork 4, it is ingenious in design.This
Outside, by setting safety screen 4-12 in the rear end of pallet fork 4, additionally it is possible to prevent goods from dropping when transporting goods, and in goods
The effect of limited location in the handling process of thing.In addition, the top of the Y-axis sliding block 2-3 is provided with mounting groove 2-31, the pallet fork 4
Connecting portion 4-1 bottom be provided with the mounting groove 2-31 coordinate mounting blocks 4-11, the connecting portion 4-1 and Y of the pallet fork 4
It is connected by screw between axle sliding block 2-3.By setting the mounting blocks 4-11 matched with mounting groove 2-31 in the bottom of pallet fork 4,
The connection being easy between pallet fork 4 and Y-axis sliding block 2-3 so that both connect more firm.
Referring to Figure 13, the goods shelf plate 6 includes goods plate 6-4 and shelf connecting plate 6-2；The goods plate 6-4 is provided with
The open slot 6-1, the shelf connecting plate 6-2 of U shape are arranged on goods plate 6-4 bottom both ends；The shelf connecting plate
6-2 front-end and back-end are equipped with the fixed installation block 6-3 being connected with support 5, and fixed installation block 6-3 includes being connected with shelf
First mounting blocks 6-31 of plate 6-2 connections and the second mounting blocks 6-32, the first mounting blocks 6-31 being connected with support 5 and
Two mounting blocks 6-32 are mutually perpendicular to, and are equipped with for bolted fixed installation hole.By the opening for setting U shape
Groove 6-1, while being advantageous to two pallet forks and enter open slot 6-1, be advantageous to goods plate 6-4 and put goods；By setting shelf
The connecting plate 6-2 and fixed installation block 6-3 being connected with support 5, it is simple in construction, it is easy to dismantle with the mounting box of support 5, being capable of basis
The volume size of goods is so as to adjust the distance between goods shelf plate, so as to adjust the space of goods position in storehouse.
Referring to Fig. 1-Figure 13, the Automatic Warehouse operation principle of this implementation is：
When needing goods being transported on shelf IV, goods is placed on pallet fork 4 by staff, the X-axis driving
Mechanism driving pallet fork 4 moves in X-axis guide rail 1, meanwhile, the Z axis drive mechanism driving pallet fork 4 makees vertical motion on Z axis,
So that pallet fork 4 moves in X-axis and Z-direction simultaneously, until the cargo movement on pallet fork 4 to corresponding goods position in storehouse just
Front；And then, the Y-axis drive mechanism driving pallet fork 4 is travelled forward, and goods is sent in goods position in storehouse, now held in the palm
The pallet fork 4 of goods can be located at open slot 6-1 top, can also be located in open slot 6-1, and goods is then located at open slot 6-
1 top；Finally, the Z axis drive mechanism drives the pallet fork 4 to move downward so that goods is transferred to goods position in storehouse bottom
Goods shelf plate 6 on, and pallet fork 4 is then smoothly crossed open slot 6-1 and separated with goods；Then Y-axis drive mechanism drives pallet fork 4 backward
The open slot 6-1 of goods shelf plate 6 is moved from, and returns to original position, continues next goods being transported on shelf IV；
When needing to take out goods from shelf IV, according to the position of corresponding target goods position in storehouse, X-axis drive mechanism and Z
Axle drive mechanism drives pallet fork 4 to the front for needing the shelf IV plates corresponding to taking-up goods simultaneously；Then, Y-axis driving machine
Structure driving pallet fork 4 enters the open slot 6-1 of the goods shelf plate 6 bottom；And then, the Z axis drive mechanism drives the goods
Fork 4 rises so that the pallet fork 4 holds up goods；After pallet fork 4 holds up goods, the goods of goods is held in the palm in the Y-axis drive mechanism driving
Fork 4 moves backward, exits the goods shelf plate 6, and driven simultaneously by Z axis drive mechanism and X-axis drive mechanism and hold in the palm goods
Pallet fork 4 moves simultaneously in X-axis and Z-direction, until reaching the specified location of staff's picking, completes the taking-up of goods.
X-axis guide rail 1, Y-axis guide rail 2, Z axis guide rail 3 and pallet fork 4 also have other annexations, such as：The X-axis guide rail 1
Set on the ground, the Y-axis guide rail 2 is arranged in X-axis guide rail 1, and the Z axis guide rail 3 is set in Y-axis guide rail 2, and pallet fork 4
Then it is connected to by the middle connecting plate 3-1 in Z axis guide rail 3 and Z axis sliding block 3-3 in Z axis guide rail 3.Pass through such setting side
Formula, allow the drive mechanism of X-axis guide rail 1 driving Y-axis guide rail 2 to move in the X-axis direction, led by the drive mechanism of Y-axis guide rail 2 driving Z axis
Rail 3 moves in the Y-axis direction, drives pallet fork 4 to move in the Z-axis direction by Z axis guide rail 3, such driving relationship equally can
Realize that pallet fork 4 moves on X, Y and Z-direction, realize the carrying transported goods.
Embodiment 2
The difference of the present embodiment compared with Example 1 is：
Referring to Figure 14, the X-axis guide rail includes two the first parallel walking guide rail 1-6, and in the first walking guide rail 1-6
Centre is provided with rack assembly, and the rack assembly includes rack guide rail 1-8 and the first driving gear 1- coordinated with rack guide rail 18
7；The X-axis drive mechanism includes the first X-axis motor being fixed on dolly, and the power of the first X-axis motor is defeated
Shaft is fixedly connected with the first driving gear 1-7；The two bottom sides of the dolly pass through sliding block and the first walking guide rail 1-6
Connection.By setting rack assembly so that motor driven the first driving gear 1-7 is moved on rack guide rail 1-8, so that
Dolly 1-5 is slided on the first walking guide rail 1-6.
Above-mentioned is the preferable embodiment of the utility model, but embodiment of the present utility model is not by the above
Limitation, it is other it is any without departing from Spirit Essence of the present utility model with made under principle change, modification, replacement, combine, letter
Change, should be equivalent substitute mode, be included within the scope of protection of the utility model.
Claims (10)
1. a kind of Automatic Warehouse, it is characterised in that including shelf and the cargo transparting device for transporting goods；Wherein, institute
Stating cargo transparting device includes being used for the pallet fork to transport goods and the driving for driving pallet fork to move on X-axis, Y-axis and Z axis
Device；The pallet fork is set on the drive means；The drive device includes X-axis guide rail, Y-axis guide rail and Z axis guide rail；Its
In, the X-axis guide rail is provided with the X-axis drive mechanism that driving pallet fork moves in X-direction, and the Y-axis guide rail is provided with driving
The Y-axis drive mechanism that pallet fork moves in Y direction；The Z axis guide rail is provided with driving pallet fork and driven in the Z axis that Z-direction is moved
Motivation structure；The shelf include several supports being equidistantly set up in parallel by setpoint distance and vertical point be arranged on support
Several goods shelf plates of cloth, and a goods position in storehouse is formed between two goods shelf plates；The goods shelf plate is provided with described for allowing
Pallet fork passes through the open slot of goods shelf plate in above-below direction, and the open slot is towards the side provided with cargo transparting device.
2. Automatic Warehouse according to claim 1, it is characterised in that the X-axis guide rail is provided with dolly, the dolly with
The X-axis drive mechanism connection；The Z axis guide rail is arranged on the top of dolly, and the Z axis guide rail is provided with middle connecting plate,
The middle connecting plate is connected with the Y-axis drive mechanism；The Y-axis guide rail is arranged on middle connecting plate, and the pallet fork is set
In Y-axis guide rail, the pallet fork is connected with Y-axis drive mechanism.
3. Automatic Warehouse according to claim 2, it is characterised in that the X-axis guide rail includes two parallel first
Walking guide rail, and rack assembly is provided among the first walking guide rail, the rack assembly includes rack guide rail and and rack guide rail
The first driving gear coordinated；The X-axis drive mechanism includes the first X-axis motor being fixed on dolly, first X-axis
The power output shaft of motor is fixedly connected with first driving gear；The two bottom sides of the dolly pass through sliding block and
One walking guide rail connects.
4. Automatic Warehouse according to claim 2, it is characterised in that the X-axis drive mechanism drives including the second X-axis
Motor and gear drive；Wherein, the second active in the power output shaft and gear drive of the second X-axis motor
Gear connects；The dolly is provided with driving axle and driven axletree, and the driving axle is provided with two positive transport wheels, institute
State driven axletree and be provided with two driven road wheels；Driven gear in the gear drive is arranged on driving axle；
The X-axis guide rail includes two the second parallel walking guide rails, and the positive transport wheel and driven road wheel are supported on the second row
Walk on guide rail.
5. according to the Automatic Warehouse described in any one of claim 2~4, it is characterised in that the Z axis guide rail is two groups, and
It is oppositely arranged in parallel；Every group of Z axis guide rail includes Z axis guide rail fixed plate and the Z axis slide bar being located in Z axis guide rail fixed plate, the Z
Axle slide bar is provided with matching Z axis sliding block, and the both ends of the middle connecting plate are slided with the Z axis in two groups of Z axis guide rails respectively
Block connects；A Z axis drive mechanism is provided with every group of Z axis guide rail, each Z axis drive mechanism includes Z axis motor and Z axis silk
Bar transmission mechanism, wherein, the Z axis motor is arranged on the top of Z axis guide rail fixed plate, and the main shaft of Z axis motor leads to
Cross shaft coupling to be connected with the Z axis screw mandrel in Z axis lead screw transmission mechanism, the Z axis feed screw nut in the Z axis lead screw transmission mechanism sets
Put on Z axis sliding block.
6. Automatic Warehouse according to claim 5, it is characterised in that the rear side of the Z axis guide rail fixed plate is provided with limit
Level sensor support, the limit sensors support are provided with several photoelectric sensors, and each photoelectric sensor is arranged on shelf
A goods position in storehouse corresponding position.
7. according to the Automatic Warehouse described in any one of claim 2~4, it is characterised in that the Y-axis guide rail is led including Y-axis
Rail fixed plate and the Y-axis slide bar being located in Y-axis guide rail fixed plate, the Y-axis slide bar are provided with matching Y-axis sliding block, institute
Y-axis guide rail fixed plate is stated to be fixed on middle connecting plate；The Y-axis drive mechanism includes Y-axis motor and Y-axis screw rod transmission
Mechanism, wherein, the Y-axis motor is arranged on the end of Y-axis guide rail fixed plate, and the main shaft of Y-axis motor passes through shaft coupling
Device is connected with the Y-axis screw mandrel in Y-axis lead screw transmission mechanism, and the Y-axis feed screw nut in the Y-axis lead screw transmission mechanism is arranged on Y
On axle sliding block；The pallet fork is arranged on Y-axis sliding block.
8. Automatic Warehouse according to claim 7, it is characterised in that the Y-axis guide rail is two groups.
9. Automatic Warehouse according to claim 7, it is characterised in that the pallet fork includes being used to be connected with Y-axis sliding block
Connecting portion and fixed part for lifting goods, wherein, the thickness of the fixed part is gradually reduced from rear end to front end, institute
The rear end for stating connecting portion is provided with the safety screen being upturned.
10. Automatic Warehouse according to claim 1, it is characterised in that the goods shelf plate includes goods plate and shelf connect
Fishplate bar；The goods plate is provided with the open slot of U shape, and the shelf connecting plate is arranged on the bottom both ends of goods plate；Institute
The front-end and back-end for stating shelf connecting plate are equipped with the fixed installation block being connected with support, and the fixed installation block includes connecting with shelf
First mounting blocks of fishplate bar connection and the second mounting blocks being connected with support, first mounting blocks and the second mounting blocks mutually hang down
Directly, and it is equipped with for bolted fixed installation hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720538674.6U CN206871797U (en) | 2017-05-11 | 2017-05-11 | A kind of Automatic Warehouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720538674.6U CN206871797U (en) | 2017-05-11 | 2017-05-11 | A kind of Automatic Warehouse |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206871797U true CN206871797U (en) | 2018-01-12 |
Family
ID=61338936
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720538674.6U Expired - Fee Related CN206871797U (en) | 2017-05-11 | 2017-05-11 | A kind of Automatic Warehouse |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206871797U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107140358A (en) * | 2017-05-11 | 2017-09-08 | 广州傲胜机器人科技有限公司 | A kind of Automatic Warehouse |
| CN109264627A (en) * | 2018-10-16 | 2019-01-25 | 无锡弘宜智能科技有限公司 | Goods-shelf type transfer robot after front fork |
| CN110902223A (en) * | 2018-09-14 | 2020-03-24 | 财团法人工业技术研究院 | Goods picking and replenishing method, goods picking trolley and goods picking and replenishing system |
| CN111776568A (en) * | 2020-06-24 | 2020-10-16 | 滁州赛迩斯数字技术有限公司 | High-speed accurate stacker and stacking method |
| CN115520547A (en) * | 2022-09-15 | 2022-12-27 | 江苏金珹智能储存设备有限公司 | Intelligent storage goods stacking support with double-sided loading and unloading mechanism |
| CN115626404A (en) * | 2022-09-21 | 2023-01-20 | 北京晶品赛思科技有限公司 | Intelligent reagent bottle storehouse and storehouse management method |
-
2017
- 2017-05-11 CN CN201720538674.6U patent/CN206871797U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107140358A (en) * | 2017-05-11 | 2017-09-08 | 广州傲胜机器人科技有限公司 | A kind of Automatic Warehouse |
| CN110902223A (en) * | 2018-09-14 | 2020-03-24 | 财团法人工业技术研究院 | Goods picking and replenishing method, goods picking trolley and goods picking and replenishing system |
| CN110902223B (en) * | 2018-09-14 | 2021-09-03 | 财团法人工业技术研究院 | Goods picking and replenishing method, goods picking trolley and goods picking and replenishing system |
| CN109264627A (en) * | 2018-10-16 | 2019-01-25 | 无锡弘宜智能科技有限公司 | Goods-shelf type transfer robot after front fork |
| CN111776568A (en) * | 2020-06-24 | 2020-10-16 | 滁州赛迩斯数字技术有限公司 | High-speed accurate stacker and stacking method |
| CN115520547A (en) * | 2022-09-15 | 2022-12-27 | 江苏金珹智能储存设备有限公司 | Intelligent storage goods stacking support with double-sided loading and unloading mechanism |
| CN115626404A (en) * | 2022-09-21 | 2023-01-20 | 北京晶品赛思科技有限公司 | Intelligent reagent bottle storehouse and storehouse management method |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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