CN110683269A - Warehousing system - Google Patents

Abstract

The invention discloses a storage system, comprising a warehouse, an automatic depalletizing and stacking machine for destacking and stacking pallets, and for unloading and stacking goods in a carriage of a transport vehicle on the pallets and stacking them on the pallets. The goods on the pallet are depalletized and transported to the automatic depalletizing and unloading vehicle system in the carriage of the transport vehicle, the handling AGV, and the connection between the automatic depalletizing and unloading vehicle system and the automatic depalletizing and palletizing machine, and the automatic depalletizing and unloading vehicle system is connected with the automatic depalletizing and unloading vehicle system. Pallet conveyor for conveying pallets between palletizers automatically. The warehousing system can realize the automatic work of out-loading and unloading of materials stacked on pallets, and has high efficiency, which can reduce labor costs and improve safety.

Description

Warehousing system

technical field

The invention relates to the technical field of logistics storage equipment, in particular to a storage system.

Background technique

With the continuous acceleration of my country's industrial process and the continuous expansion of the logistics scale, the country is building a modern logistics system, and the warehousing system, as an important part of the modern logistics industry, has also been well developed. In the future, the logistics and warehousing system will further develop in the direction of integration and integration, and the flexibility and industrialization of the system will become more and more obvious. Although there are many intelligent storage systems on the market, each with its own characteristics, it is not suitable for the special requirements of explosion-proofing in the civil explosive industry. As far as the civil explosives industry is concerned, the existing warehousing system is completely the original traditional model, all of which use manual handling and manual account book information management methods, which have problems such as low efficiency, high labor costs, and low security.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art, and to provide an automatic work that can realize the material stacking on the pallet to be out of the warehouse, loaded into the truck and unloaded into the warehouse, and has high efficiency, which can reduce labor costs and improve safety. warehousing system.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions:

A storage system including a warehouse for storing goods and stacking empty pallets;

An automatic depalletizer, which is used for depalletizing and stacking pallets;

The automatic depalletizing and unloading truck system is used for unloading and palletizing the goods in the carriage of the transport vehicle on the pallet, and depalletizing and transporting the goods stacked on the pallet to the carriage of the transport vehicle. inside the carriage;

Handling AGVs for handling palletized empty pallets between automated depalletizers and warehouses, and palletized pallets between automated depalletizer systems and warehouses ;

The pallet conveying device connects the automatic depalletizing and palletizing vehicle system and the automatic depalletizing and palletizing machine, and conveys the pallets between the automatic depalletizing and palletizing vehicle system and the automatic depalletizing and palletizing machine.

As a further improvement of the above technical solution:

The automatic depalletizer includes a frame, a holding device installed on the frame for holding materials, and a conveying device installed on the frame for conveying materials to the bottom of the holding device, the holding device There is a material transfer device for conveying materials between the conveying device and the holding device.

The material transfer device includes a material carrying platform and a lift drive assembly, and the drive end of the lift drive assembly is connected to the material carrying platform and can drive the material carrying platform between the conveying surface of the conveying device and the height above the material held by the holding device. Lifting movement within the height range.

The conveying device includes two annular conveying chains driven by chain drive components, the two annular conveying chains are arranged in parallel and spaced apart, and each annular conveying chain is provided with a straight conveying section for carrying materials and moving with them, The material transfer device is located between two endless conveyor chains.

The holding device includes a material space arranged on the rack to allow the material to move up and down and two groups of holding units installed on the rack. The two groups of holding units are located on both sides of the material space, and each holding unit includes One or more holders and a drive assembly for driving the holders into and out of the material space.

The automatic unstacking and stacking loading and unloading vehicle system includes a fixed frame and a transport vehicle. A stacking platform that can move to extend and retract the vehicle is installed in the carriage of the transport vehicle, and a cargo conveying buffer is installed on the fixed frame. A device, a robot for depalletizing and palletizing goods, and a mobile drive device for driving the stacking platform to move, a cargo loading device is also installed on the fixed frame, and the cargo loading device includes a movable A loading conveyor for extending into and out of the carriages and a mobile drive assembly for driving the loading conveyor to move are installed on the fixed frame.

The cargo conveying buffer device includes two material positioning platforms and two conveying lines. The output ends of the two conveying lines are connected to the two material positioning platforms through a jacking conveyor. The chain conveyor and two material conveying devices on the rack, the two material conveying devices are arranged at intervals in the conveying direction of the chain conveyor, and the chain conveyor is installed on the fixed frame in a height-adjustable manner through the lifting device The height of the chain conveyor can be adjusted so that the conveying surface of the chain conveyor can be replaced between two states that are higher than the conveying surface of the two material conveying devices and lower than the conveying surface of the two material conveying devices. One end of the conveying device is respectively connected with the two conveying lines, and the other ends of the two material conveying devices are respectively connected with the two material positioning platforms.

The chain plate conveyor includes an elevator frame, a plurality of plate chain conveyor belts installed on the elevator frame, and a chain plate rotation drive member installed on the elevator frame for driving the plurality of plate chain conveyor belts, the elevator frame It is connected with a plurality of the lifting rods; the material conveying device includes a conveying rotary drive member and a plurality of rollers rotatably installed on the fixed frame, and the plurality of rollers are installed in the gaps between the plurality of plate chain conveyor belts, The conveying rotary driving member is connected with a plurality of rollers through a transmission mechanism and drives the rollers to rotate.

The pallet conveying device is the chain plate conveyor.

The storage system also includes a computer management center.

Compared with the prior art, the advantages of the present invention are:

The storage system of the invention can realize the automatic work of out-loading and unloading of the materials stacked on the pallet, so as to achieve the purpose of improving efficiency, reducing labor costs and improving safety, and the storage system is especially suitable for the logistics of the civil explosive industry. Warehousing can adapt to the particularity of goods (especially emulsion explosives) in the civil explosive industry and the special requirements in the production process.

Description of drawings

FIG. 1 is a schematic top view of the storage system.

Figure 2 is a schematic diagram of the three-dimensional structure of the automatic depalletizing machine.

FIG. 3 is a schematic three-dimensional structure diagram of the holding device.

FIG. 4 is a schematic three-dimensional structure diagram of the conveying device.

FIG. 5 is a schematic three-dimensional structure diagram of the lift drive assembly.

FIG. 6 is a schematic three-dimensional structure diagram of a carrying platform.

FIG. 7 is a schematic three-dimensional structure diagram of an automatic unstacking, stacking, loading and unloading vehicle system.

FIG. 8 is a schematic top-view structural diagram of an automatic unstacking, stacking, loading and unloading vehicle system.

FIG. 9 is a schematic view of the front structure of the automatic unstacking and stacking loading and unloading vehicle system.

FIG. 10 is a schematic three-dimensional structure diagram of a jacking conveyor.

Figure 11 is a schematic top view of the structure of the jacking conveyor.

Figure 12 is a schematic front view of the structure of the jacking conveyor in the state where the chain plate conveyor is lowered.

Fig. 13 is a schematic view of the front structure of the jacking conveyor in the state where the chain plate conveyor is raised.

illustration:

1. Warehouse; 2. Automatic depalletizer; 21. Supporting device; 210. Material space; 211. Supporting parts; 212. Swing shaft; 213. Supporting telescopic drive parts; 214. Swing arm; 22. Conveying device; 221, endless conveyor chain; 2211, straight conveying section; 222, material stopper; 223, material stopper telescopic drive; 23, material transfer device; 231, bearing platform; 2311, chute; 2312, guide roller; 232, rotating shaft; 233, rocker arm; 234, supporting roller; 20, frame; 201, guide rail; 3, automatic de-stacking and loading and unloading vehicle system; 31, fixed frame; 32, cargo conveying buffer device; 320, material Positioning platform; 3201, support roller; 3202, blocking positioning member; 321, conveyor line; 322, chain plate conveyor; 3221, lifting frame; 3222, plate chain conveyor belt; Driving part; 324, rotating shaft; 325, jacking rod; 3251, installation box; 326, intermediate shaft; 327, coupling; 328, material conveying device; 3281, roller; 33, robot; 34, loading and conveying machine; 100, transport vehicle; 101, carriage; 102, stacking platform; 200, mobile drive device; 4, handling AGV; 5, pallet transfer device; 6, computer management center.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

As shown in FIG. 1, the storage system of this embodiment includes a warehouse 1, which is used for storing goods and stacking empty pallets;

Automatic depalletizer 2, which is used for depalletizing and stacking pallets;

The automatic de-palletizing and unloading truck system 3 is used for unloading and stacking the goods in the carriage 101 of the transport vehicle 100 on the pallet, and depalletizing and transporting the goods on the pallet to the pallet. Inside the carriage 101 of the transport vehicle 100;

Handling AGV4, handling AGV4 is used for handling palletized empty pallets between automatic depalletizer 2 and warehouse 1, and for handling palletized goods between automatic depalletizer loading and unloading vehicle system 3 and warehouse 1 the tray;

The pallet conveying device 5 connects the automatic depalletizing and palletizing vehicle system 3 and the automatic depalletizing and palletizing machine 2 and transports pallets between the automatic depalletizing and palletizing vehicle system 3 and the automatic depalletizing and palletizing machine 2 .

When the goods are loaded out of the warehouse, the storage system uses the handling AGV4 to transport the pallets with goods from the warehouse 1 to the automatic unstacking, palletizing and unloading vehicle system 3, and the automatic unstacking and palletizing loading and unloading system 3. The goods are stacked and loaded into the carriage 101 of the transport vehicle 100, and the empty pallets after unloading the goods are transported to the automatic depalletizer 2 through the pallet conveyor 5, and the empty pallets are stacked into stacks by the automatic depalletizer 2, and then reused. The handling AGV4 is transported to the warehouse 1 for storage; when the cargo unloading truck is put into the warehouse, the handling AGV4 is used to transport the palletized empty pallets to the automatic depalletizer 2, and the automatic depalletizer 2 will stack the empty pallets into stacks After depalletizing, they are transported one by one to the automatic destacking and stacking loading and unloading vehicle system 3 through the pallet conveying device 5. The automatic destacking and stacking loading and unloading vehicle system 3 unloads and stacks the goods in the carriage 101 on the empty pallets, and then uses the handling AGV4 to transport the goods. The pallets of the palletized goods are transported to warehouse 1. It can realize the automation of loading and unloading of materials stacked on pallets, so as to improve efficiency, reduce labor costs, and improve safety. This storage system is especially suitable for logistics storage in the civil explosive industry. The particularity of goods (especially emulsion explosives) in the civil explosive industry and the special requirements in the production process.

In this embodiment, as shown in FIGS. 2 to 4 , the automatic depalletizer 2 includes a frame 20 , a holding device 21 installed on the frame 20 for holding materials (trays), and a support device 21 installed on the frame 20 The upper part is used for conveying the material to the conveying device 22 below the holding device 21 , and a material transfer device 23 for conveying the material between the conveying device 22 and the holding device 21 is provided below the holding device 21 . The automatic depalletizer 2 adopts a combination of a holding device 21, a conveying device 22 and a material transfer device 23. During stacking, the material can be conveyed to the bottom of the holding device 21 through the conveying device 22, and then the material is transferred by the material transfer device 23. The materials on the conveying device 22 are transferred to the holding device 21 to complete the stacking. When unstacking, the material transfer device 23 transfers the materials stacked by the holding device 21 to the conveying device 22, and then the conveying device 22 Just output. It integrates the holding device 21, the conveying device 22 and the material transfer device 23 on the same frame 20, which can be used for both stacking and de-stacking, and has the advantages of high integration, simple and compact structure, small footprint and low cost. , The advantages of high depalletizing efficiency.

In this embodiment, as shown in FIG. 2 , FIG. 5 and FIG. 6 , the material transfer device 23 includes a material carrying platform 231 and a lift drive assembly, the driving end of the lift drive assembly is connected to the material support platform 231 and can drive the material support platform 231 The lifting and lowering movement is carried out within the height range between the conveying surface of the conveying device 22 and the height above the material being held by the holding device 21 . The material transfer device 23 uses the lifting and lowering drive assembly to drive the material carrying platform 231 to move up and down to transfer and convey materials, and can cooperate with the holding device 21 to stack the materials one by one and remove the stacked materials one by one. When stacking, the material carrying platform 231 moves upward to lift the previous material on the conveying device 22 to a height that can be held by the holding device 21, and then the holding device 21 moves to hold the material, and then the material carrying platform 231 down, and then lift the next material on the conveying device 22, so that the next material is supported at the bottom of the previous material and lifts the previous material away from the holding device 21, and then the holding device 21 is switched to not holding the material state until the material carrying platform 231 lifts the next material to a height that can be held by the holding device 21, and the holding device 21 acts to hold the next material, so that the holding device 21 holds the next material, down A material supports the previous material, that is, the palletizing of the material is completed. By repeating the above process, multiple materials can be stacked in sequence, so that the multiple materials are stacked in sequence from top to bottom, and the holding device 21 supports the bottom material. When unstacking, the material carrying platform 231 moves upward to hold the material at the bottom and lift the whole stack of materials, the material at the bottom is separated from the holding device 21, and then the holding device 21 switches to the state of not holding the material, and the material carrying platform 231 During the lowering movement, the penultimate material from the bottom descends to a height that can be supported by the holding device 21, and the holding device 21 switches to the state of holding the material to hold the penultimate material below. The material carrying platform 231 carries the most The lower material moves downward to the conveying device 22, that is, the destacking work of the lowermost material is completed, and the multiple stacking materials can be removed in sequence by repeating the above process. The material transfer device 23 has a simple structure, is easy to manufacture, assemble and maintain, has a low cost, and is stable and reliable in operation. It cooperates with the holding device 21 to carry out stacking and de-stacking work with simple process, easy control and high efficiency.

In this embodiment, the lift drive assembly includes two rotating shafts 232 and a rotating drive mechanism that drives the two rotating shafts 232 to rotate synchronously. The two rotating shafts 232 are rotatably mounted on the frame 20 and are arranged parallel to each other in the horizontal plane. The two ends of the shaft 232 are respectively provided with rocker arms 233, all the rocker arms 233 are arranged in parallel with each other, each rocker arm 233 is provided with a supporting roller 234, the bearing platform 231 is provided with two chute 2311, two rockers at one end of the two rotating shafts 232. The support roller 234 on the arm 233 is placed in one of the chute 2311 , and the support roller 234 on the rocker arm 233 at the other end of the two rotating shafts 232 is placed in the other chute 2311 . That is, the frame 20, the rocker arms 233 of the two rotating shafts 232, and the bearing platform 231 are connected to each other to form a parallelogram mechanism. The height changes accordingly, thereby forcing the carrying platform 231 to move up and down accordingly. The lift drive assembly has a simple and compact structure and high working stability.

The above-mentioned rotational driving mechanism includes a driving shaft driven to rotate by a motor, and each rotating shaft 232 is connected to the driving shaft through a chain transmission mechanism.

In this embodiment, the rack 20 is provided with a guide rail 201 , and the material carrying platform 231 is provided with a guide roller 2312 that moves along the guide rail 201 to guide the lifting movement of the material carrying platform 231 . The guide roller 2312 cooperates with the guide rail 201 to guide Therefore, the stability of the lifting motion of the guide rail 201 can be improved.

In this embodiment, as shown in FIGS. 2 and 4 , the conveying device 22 includes two endless conveyor chains 221 driven by the chain drive assembly. The two endless conveyor chains 221 are arranged in parallel and spaced apart. Each endless conveyor chain 221 is provided with A section of straight conveying section 2211 is used to carry and move the material, and the material transfer device 23 is located between the two endless conveying chains 221 . When conveying the material, the material is placed on the straight conveying section 2211 of the two annular conveying chains 221, and moves with the movement of the straight conveying section 2211. The material transfer device 23 is located between the two annular conveying chains 221, which makes the structure of the entire automatic depalletizer 2 simple and compact, and facilitates the material transfer device 23 to receive materials, ensuring the stability of the material transfer process. The above-mentioned chain drive assembly is in the prior art, including a motor and a sprocket, and the endless conveyor chain 221 is wound around and installed on the sprocket. In this embodiment,

In this embodiment, the conveying device 22 further includes a material blocking component that blocks the material when the material moves to a preset position directly below the holding device 21 . The material stopper blocks and prevents the material from continuing to convey, and plays a role in positioning the material, which can improve the accuracy and reliability of the material transfer and conveying work.

In this embodiment, the material stopper assembly includes more than one material stopper 222 and a material stopper telescopic drive member 223 that drives the material stopper 222 to move up and down in a height range between the upper and lower sides of the straight conveying section 2211 . When the material stopper telescopic driving member 223 drives the material stopper 222 to rise to a position above the straight conveying section 2211, the material stopper 222 can block the material, and the material stopper telescopic driving member 223 drives the material stopper 222 to descend to the position located in the straight conveying section. When the position is below 2211, the material blocking member 222 does not block the material. The stopper assembly can be flexibly replaced to meet different work requirements, and has the advantages of simple structure, low cost, and easy fabrication, assembly and maintenance. In this embodiment, the material blocking telescopic driving member 223 adopts a telescopic cylinder, a telescopic oil cylinder or an electric push rod.

In this embodiment, the holding device 21 includes a material space 210 provided on the frame 20 for the material to move up and down, and two groups of holding units installed on the frame 20 , and the two groups of holding units are respectively located in the material space 210 On both sides, each holding unit includes more than one holding member 211 and a driving component for driving the holding member 211 to extend into and out of the material space 210 . When the holding members 211 of the two sets of holding units extend into the material space 210, the holding members 211 of the two sets of holding units hold the material from both sides of the bottom surface of the material respectively, and the holding stability is good. When 211 exits the material space 210, the material can move up and down freely in the material space 210. The holding device 21 has a simple structure, low cost and easy implementation. Preferably, two sides of the material space 210 are provided with guide rods for guiding the upper and lower employees of the material, which can improve the orderliness of material stacking.

In this embodiment, the drive assembly includes a swing shaft 212 rotatably mounted on the frame 20 , and two holders 211 are mounted on the swing shaft 212 . The assembly also includes a driving mechanism for driving the swinging shaft 212 to rotate. When the swinging shaft 212 rotates, it extends into and out of the material space 210 with the support 211 in a swinging motion. The drive assembly has the advantages of simple and compact structure, low cost and good bearing capacity.

In this embodiment, the driving mechanism includes a supporting telescopic driving member 213 hingedly mounted on the frame 20 and a swing arm 214 fixed on the swing shaft 212 . The force when the holding member 211 holds the material is the torsional force that makes the swing shaft 212 rotate, and the torsion force is directly fed back to the holding and telescopic driving member 213 through the swing arm 214, and the holding and telescopic driving member 213 can provide a greater resistance The rotational force of the swing shaft 212 enables the holding member 211 to hold heavier materials. In addition, the use of the supporting telescopic driving member 213 is convenient to switch the state of the supporting member 211 quickly and accurately, and the control difficulty is low.

Each motor in this embodiment adopts an explosion-proof motor design, which meets the explosion-proof requirements of the civil explosive industry. The middle positions of both sides of the tray have grooves for inserting the holding members 211 .

In this embodiment, as shown in FIG. 7 to FIG. 9 , the automatic destacking and stacking loading and unloading system 3 includes a fixed frame 31 and a transport vehicle 100 . A carriage 101 capable of moving, extending and retracting is installed in the carriage 101 of the transport carriage 100 . The stacking platform 102, the fixed frame 31 is provided with a goods conveying buffer device 32, a robot 33 for depalletizing and stacking goods, and a mobile drive device 200 for driving the stacking platform 102 to move. The robot 33 is an existing Technology, a cargo loading device is also installed on the fixed frame 31, and the cargo loading device includes a loading conveyor 34 that is movably installed on the fixed frame 31 to be able to extend into and out of the carriage 101 and a driving loading conveyor 34 moving mobile drive assemblies. When the automatic unstacking and stacking loading and unloading system 3 performs the work of automatic unloading of goods, the mobile driving device 200 drives the stacking platform 102 to move out of the carriage 101, and the robot 33 is used to unstack the goods stacked on the stacking platform 102, and stack them on The cargo conveying buffer device 32 is placed on the pallet of the material positioning platform 320, and is conveyed to the designated position by the cargo conveying buffer device 32; when the unloading is manually assisted, the loading conveyor 34 is driven to extend into the carriage 101 by moving the drive component, and the goods are manually transported. It is transported to the loading conveyor 34, and is transported to the outside of the carriage 101 through the loading conveyor 34, and the goods on the loading conveyor 34 are placed on the pallet of the material positioning platform 320 of the cargo conveying buffer device 32 by the robot 33, and It is transported to the designated position by the cargo transport buffer device 32 . During automatic loading, the stacking platform 102 is driven by the mobile driving device 200 to move out of the carriage 101, and the robot 33 is used to unstack the goods stacked on the pallet of the material positioning platform 320 of the cargo conveying and buffering device 32, and stack them on the stacking platform. On 102, after the stacking is completed, the stacking platform 102 is driven by the mobile drive device 200 to move back into the carriage 101; when manually assisting the loading, the loading conveyor 34 is driven by the mobile drive assembly to extend into the carriage 101, and the goods are transported and buffered. The device 32 transports the pallet on which the goods are stacked to the position of the material positioning platform 320 next to the robot 33, and the robot 33 is used to unstack the goods stacked on the pallet and transfer it to the loading conveyor 34, and the goods are transported to the carriage through the loading conveyor 34. In 101, the goods are manually placed on the carriage 101. The automatic unstacking and stacking loading and unloading truck system 3 can not only automatically unload and stack the loading and unloading vehicle, but also can automatically unload and stack the manual-assisted loading and unloading vehicle. It has full functions and high integration. Entering and exiting the carriage 101 can make full use of the space in the carriage 101, avoid the inclination and sway of the carriage 101, greatly improve the positional accuracy of the palletized goods, improve the neatness and compactness of the goods, and avoid the collision of the goods during transportation. and dumping, greatly improving the safety of cargo transportation. The automatic unstacking and stacking loading and unloading system 3 has the advantages of high work efficiency, low control difficulty and good compatibility.

In this embodiment, the loading conveyor 34 is a belt conveyor slidably installed on the fixed frame 31, and the belt conveyor adopts the prior art. The moving drive assembly includes a first moving trolley that travels along a linear guide track provided on the fixed frame 31 and a first driving mechanism that drives the first moving trolley to move. The first driving mechanism is a chain driving mechanism. The chain driving mechanism includes a chain installed on the fixed frame 31 and driven by a sprocket mechanism. The chain has a straight driving section. The first moving trolley is connected to the driving section. The movement is driven by the drive segment during operation. The first driving mechanism can also be a rack and pinion driving mechanism, the rack is installed on the fixed frame 31, the gear is installed on the first moving trolley and meshes with the rack, and the motor is used to drive the gear to rotate, thereby forcing the first moving trolley to move. . The first driving mechanism may also adopt other existing structural combinations capable of driving the first moving trolley to reciprocate.

In this embodiment, the mobile driving device 200 includes a second moving trolley that travels along a linear guide track provided on the fixed frame 31 and a second driving mechanism that drives the moving second moving trolley to move. The second moving trolley is connected to the stacker. A detachable connection mechanism is provided between the platforms 102 . The second driving mechanism is a chain driving mechanism. The chain driving mechanism includes a chain mounted on the fixed frame 31 and driven by a sprocket mechanism. The chain has a straight driving section. The second moving trolley is connected to the driving section. The movement is driven by the drive segment during operation. The second driving mechanism can also be a rack and pinion driving mechanism, the rack is installed on the fixed frame 31, the gear is installed on the second mobile trolley and meshes with the rack, and the motor is used to drive the gear to rotate, thereby forcing the second mobile mobile trolley move. The second driving mechanism may also adopt other existing structural combinations capable of driving the second mobile trolley to reciprocate.

In this embodiment, the goods conveying buffer device 32 includes two material positioning platforms 320 and two conveying lines 321 , and the two material positioning platforms 320 and the two conveying lines 321 are convenient for conveying goods of different sizes and models. The output ends of the two conveying lines 321 are connected to the two material positioning platforms 320 through a jacking conveyor. As shown in FIG. 10 and FIG. 11 , the jacking conveyor includes a chain plate conveyor 322 installed on the fixed frame 31 and two material conveying devices 328, the two material conveying devices 328 are arranged at intervals in the conveying direction of the chain plate conveyor 322, and the chain plate conveyor 322 is installed on the fixed frame 31 in a height-adjustable manner through the lifting device, and can be By adjusting the height of the chain conveyor 322, the conveying surface of the chain conveyor 322 can be replaced between two states higher than the conveying surface of the two material conveying devices 328 and lower than the conveying surface of the two material conveying devices 328. One end of the conveying device 328 is respectively connected to the output ends of the two conveying lines 321, and the other ends of the two material conveying devices 328 are respectively connected to the two material positioning platforms 320. Each material conveying device 328 is connected to the corresponding conveying line 321 and the material. Goods can be transferred between the positioning platforms 320 . The jacking conveyor can transfer goods between the two material positioning platforms 320 and the two conveying lines 321. When the conveying surface of the chain conveyor 322 is lower than the conveying surface of the two material conveying devices 328, the material positioning platform 320 and the conveying line The goods on 321 can be moved to the corresponding material conveying device 328 . If the conveying surface of the chain conveyor 322 is higher than the conveying surface of the two material conveying devices 328, the goods on one material conveying device 328 can be lifted to convey to the other material conveying device 328. When the goods are conveyed to the target material conveying device When it is above the 328, the conveying surface of the chain conveyor 322 is lower than the conveying surface of the two material conveying devices 328, and the goods can be placed on the target material conveying device 328, and then the target material conveying device 328. Material positioning platform 320 or conveying line 321 . The cargo conveying and buffering device 32 has good use flexibility, and can be applied to the continuous loading and unloading work of the cargo. The pallets of the stacked cargo can be transported to the material positioning platform 320 through a conveying line 321, and the robot 33 performs stacking and loading, and then The empty pallets are transferred to another conveying line 321 through the jacking conveyor and output; the empty pallets can also be conveyed to the material positioning platform 320 through a conveying line 321, and the unloaded materials are stacked on the empty pallets by the robot 33, and then The pallets of the palletized materials are transferred to another conveying line 321 through the jacking conveyor and output.

In this embodiment, the lifting device includes a lifting and rotating driving member 323 and a plurality of lifting rods 325 mounted on the fixed frame 31 and driven by the rotating shaft 324 to lift and move, and the chain conveyor 322 is connected with the plurality of lifting rods 325 , the rotating shafts 324 of the plurality of jacking rods 325 are connected to each other and rotate synchronously, and the driving end of the lifting and rotating driving member 323 is connected with the rotating shaft 324 of one of the jacking rods 325 . The lifting device adopts a plurality of jacking rods 325 driven by a rotating shaft 324 to lift and move. The rotating shafts 324 of the plurality of jacking rods 325 are connected to each other and rotate synchronously. A single lifting and rotating driving member 323 can drive all the jacking rods 325 to synchronize. The lifting movement has good lifting synchronization, and there will be no unevenness at both ends when lifting. Even the long wheelbase chain conveyor 322 can lift stably, making the jacking conveyor simple and compact in structure, low in cost, and easy to use. The advantage of long life.

In this embodiment, the jacking rod 325 is a threaded rod that is rotatably mounted on a mounting box 3251 around a vertical axis, the rotating shaft 324 is rotatably mounted on the mounting box 3251, and the rotating shaft 324 is arranged on the rotating shaft 324 to rotate When the driving thread cooperates with the thread of the threaded rod to drive the threaded rod to rotate, the chain conveyor 322 is threadedly connected with the threaded rod, and drives the chain conveyor 322 to move up and down when the threaded rod rotates. The structure is simple, the lifting stability is good, and the maintenance is convenient. In other embodiments, other installation and cooperation manners may also be adopted between the jacking rod 325 and the rotating shaft 324 , as long as the rotational motion of the rotating shaft 324 can be converted into the lifting motion of the jacking rod 325 .

In this embodiment, the rotating shafts 324 of the plurality of jacking rods 325 are connected in sequence through the intermediate shafts 326 , and the rotating shafts 324 of the jacking rods 325 and the intermediate shafts 326 are connected by a transmission through the coupling 327 . The intermediate shaft 326 and the coupling 327 are connected for transmission, which is low in cost, easy to manufacture and assemble, and convenient for inspection and maintenance.

In this embodiment, two jacking rods 325 are respectively connected below the input end and the output end of the chain conveyor 322, and the rotation shafts 324 of the two jacking rods 325 located under the input end of the chain conveyor 322 pass through the first The intermediate shaft 326 is connected by transmission, and the rotating shafts 324 of the two jacking rods 325 located below the output end of the chain conveyor 322 are connected by a transmission through the second intermediate shaft 326. The rotating shaft 324 of the lifting rod 325 is connected with the rotating shaft 324 of a lifting rod 325 located below the output end of the chain conveyor 322 through a third intermediate shaft 326; and the third intermediate shaft 326 is connected by two or more through The shaft segments of the coupling 327 are connected in sequence. A total of four jacking rods 325 are used to drive the lifting motion of the chain conveyor 322, which can save costs and improve the simple and compact structure on the premise of ensuring stable and reliable work. The third intermediate shaft 326 is formed by connecting more than two shaft segments which are connected in sequence through the coupling 327. The number of shaft segments can be set according to the actual conveying length of the chain conveyor 322, so that the transmission is stable and reliable, and it is easy to manufacture and assemble. maintain.

In this embodiment, the chain conveyor 322 includes an elevator frame 3221, a plurality of chain conveyor belts 3222 installed on the elevator frame 3221, and chain plates installed on the elevator frame 3221 for driving the plurality of chain conveyor belts 3222 to rotate The driving member 3223 and the lifting frame 3221 are connected with a plurality of lifting rods 325 . The above-mentioned plate chain conveyor belt 3222 is in the prior art, which includes a base plate and a plate chain mounted on the base plate through a sprocket, and the sprocket is connected to the chain plate rotation driving member 3223 through a sprocket transmission mechanism. The chain plate rotary drive part 3223 adopts explosion-proof motor to meet the safety production needs of the civil explosive industry.

In this embodiment, the material conveying device 328 includes a conveying rotary drive member and a plurality of rollers 3281 rotatably installed on the fixed frame 31. The plurality of rollers 3281 are installed in the gaps between the plurality of plate chain conveyor belts 3222, and the conveying rotating The driving member is connected with the plurality of rollers 3281 through a transmission mechanism and drives the rollers 3281 to rotate. When the chain conveyor 322 moves up and down, the chain conveyor belt 3222 can be higher or lower than the top surface of the drum 3281, and the chain conveyor belt 3222 rises from the state lower than the top surface of the drum 3281 to the state higher than the top surface of the drum 3281 (rising state ), see Fig. 13, the material carried on the roller 3281 can be lifted and conveyed, the plate chain conveyor belt 3222 is lowered from the state above the top surface of the roller 3281 to the state lower than the top surface of the roller 3281 (lowering state), see Fig. 12. The material to be conveyed can be placed on the roller 3281 and conveyed by the roller 3281. The jacking conveyor is equipped with a material conveying device 328 to facilitate material transfer and multi-directional conveying, to meet the needs of multi-directional conveying of materials, and has the advantages of high integration, simple and compact structure.

In this embodiment, the conveying direction of each material conveying device 328 is perpendicular to the conveying direction of the chain conveyor 322 .

In this embodiment, each material conveying device 328 is provided with a roller 3281 in the gap between any two adjacent plate chain conveyor belts 3222, which can ensure the stability of material conveying.

In this embodiment, the lifting frame 3221 is slidably installed on the fixed frame 31 along the vertical direction, which can improve the stability and accuracy of the lifting movement of the chain conveyor 322 .

In this embodiment, the conveying line 321 is a roller conveyor; the material positioning platform 320 includes a blocking positioning member 3202 and a plurality of supporting rollers 3201, the plurality of supporting rollers 3201 are rotatably installed on the fixed frame 31, and the blocking positioning member 3202 is arranged on the material The positioning platform 320 is away from the side of the material conveying device 328 .

In this embodiment, the two material positioning platforms 320 are respectively disposed on both sides of the robot 33 .

In this embodiment, the pallet conveying device 5 is the above-mentioned chain plate conveyor 322, and a material conveying device 328 of the pallet conveying device 5 in the form of the above-mentioned chain plate conveyor 322 is docked with the conveying device 22 of the automatic depalletizer 2, Another material conveying device 328 is docked with a material positioning platform 320 in the automatic depalletizing and unloading truck system 3 . In other embodiments, the tray conveying device 5 may also adopt other structural forms, for example, a manipulator may be directly adopted.

In this embodiment, the warehousing system also includes a computer management center 6, which can be combined with the computer management center 6 to realize a series of automatic information management, such as automatic identification, accurate inventory positioning, storage material allocation management, digital inventory, and real-time report output, etc. Operation, realize the transparency of the process data of in-out and out of the warehouse, the information has no dead angle and no stop, and it can eliminate the "middle layer" management as much as possible, make the management efficient and powerful, and reduce the error rate. It realizes the automatic loading and unloading of warehouse materials, and intelligent in-out and out of the warehouse, which greatly reduces the labor intensity of operators, minimizes personnel in dangerous workplaces, and improves the level of intrinsic safety.

The warehousing system of the present embodiment realizes the following intelligent and automated work in conjunction with the computer management center 6:

When warehousing, the computer management center 6 imports the warehousing information, and according to the warehousing information (variety, quantity, etc.), the computer management center 6 automatically assigns storage locations, and dispatches the AGV4 to transport the palletized empty pallets to the automatic depalletizer. At the entrance of 2 , the automatic depalletizer 2 disassembles the stacked empty pallets into single pallets, and transports them to the position of the material positioning platform 320 by the pallet conveying device 5 . During automatic unloading, the mobile drive device 200 in the automatic unloading and stacking loading and unloading system 3 pulls the stacking platform 102 in the carriage 101 of the transport vehicle 100 out of the vehicle, and the robot 33 automatically removes the emulsion explosive box on the stacking platform 102. When unloading the truck manually, the operator will transport the emulsion explosive box to the loading conveyor 34 in the automatic unstacking and stacking loading and unloading system 3, and transport it to the corresponding station , the robot 33 automatically places the emulsion explosive box on the tray of the material positioning platform 320 . After the stacking is completed, the cargo conveying buffer device 32 transports the pallets with goods to the corresponding station, and the computer management center 6 dispatches the AGV4 to the corresponding station to transport the pallets with goods, and the transport AGV4 will stack the pallets with goods. The pallet is automatically transported to the storage location of the warehouse 1 assigned by the computer management center 6, and the relevant information of the computer management center 6 is updated to complete the storage.

When out of the warehouse, the computer management center 6 imports the out-of-warehouse information, and according to the out-of-warehouse information (variety, quantity, etc.), the computer management center 6 automatically assigns the position of the outbound pallet, and schedules the handling AGV4 to transport and stack the pallets with goods from the designated storage location. to the station on the goods conveying buffer device 32 , and sent to the position of the material positioning platform 320 by the goods conveying buffer device 32 . During automatic loading, the mobile drive device 200 in the automatic unstacking and stacking loading and unloading system 3 pulls the stacking platform 102 in the box truck out of the car, and the robot 33 automatically stores the emulsion explosive box on the storage tray at the position of the material positioning platform 320. Unstacking and stacking on the stacking platform 102 at the same time, after the stacking is completed, the stacking platform 102 is pushed into the van by the mobile drive device 200 in the automatic unstacking and stacking loading and unloading system 3 to complete the automatic loading; manual assistance When loading, the robot 33 automatically unstacks the emulsion explosive box on the pallet at the position of the material positioning platform 320, and places it on the loading conveyor 34 in the automatic unstacking and stacking loading and unloading system 3. The loading conveyor 34 transports the goods. The goods are transported into the carriage 101, and the goods are transported and stacked by the operator into the carriage 101 to complete the loading task. The empty pallets after depalletizing are automatically transported to the automatic depalletizing machine 2 through the pallet conveying device 5, and the single empty pallets are automatically palletized by the automatic depalletizing machine 2 and transported to the off-line station, computer management center 6 The scheduling and handling AGV4 automatically transports the palletized empty pallets to the designated storage location of the warehouse 1 for storage, and updates the relevant information of the computer management center 6 to complete the delivery.

The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. For those skilled in the art, improvements and transformations obtained without departing from the technical concept of the present invention should also be regarded as the protection scope of the present invention.

Claims (10)

1. A storage system, characterized in that: comprising a warehouse (1), the warehouse (1) is used for storing goods and stacking empty pallets; an automatic depalletizing machine (2), which is used for depalletizing and stacking pallets; An automatic unstacking and palletizing loading and unloading vehicle system (3) is used for unloading and stacking goods in a carriage (101) of a transport vehicle (100) on pallets and for stacking on pallets. The goods on the pallet are destacked and transported to the carriage (101) of the transport vehicle (100); Handling AGVs (4) for handling palletized empty pallets between the automatic depalletizer (2) and the warehouse (1), and for automatic depalletizer loading and unloading vehicles Handling pallets with goods between the system (3) and the warehouse (1); A pallet conveying device (5), the pallet conveying device (5) is connected to the automatic depalletizing and loading and unloading vehicle system (3) and the automatic depalletizing and palletizing machine (2), and the automatic unstacking and palletizing loading and unloading system (3) is connected with the automatic unstacking and palletizing vehicle system (3). The pallets are conveyed between the automatic depalletizers (2). 2. The storage system according to claim 1, characterized in that: the automatic depalletizing machine (2) comprises a frame (20) and a holding device installed on the frame (20) for holding materials (21) and a conveying device (22) installed on the frame (20) for conveying the material to the lower part of the holding device (21), and a conveying device (22) is provided below the holding device (21). ) and a material transfer device (23) for conveying materials between the holding device (21). 3. The storage system according to claim 2, characterized in that: the material transfer device (23) comprises a material carrying platform (231) and a lift drive assembly, and the drive end of the lift drive assembly is connected to the material support platform (231) ) is connected and can drive the material carrying platform (231) to move up and down within the height range between the lower part of the conveying surface of the conveying device (22) and the upper part of the height of the material held by the holding device (21). 4. The storage system according to claim 2, characterized in that: the conveying device (22) comprises two endless conveyor chains (221) driven by the chain drive assembly, the two endless conveyor chains (221) are parallel and Arranged at intervals, each endless conveyor chain (221) is provided with a straight conveying section (2211) for carrying and moving the material, and the material transfer device (23) is located between the two endless conveyor chains (221) . 5. The storage system according to claim 2, characterized in that: the holding device (21) comprises a material space (210) provided on the rack (20) to allow the material to move up and down, and a material space (210) installed on the rack (20). 20) two sets of holding units, the two sets of holding units are located on both sides of the material space (210), and each holding unit includes more than one holding piece (211) and is used to drive the holding piece (211) to extend. A drive assembly for entering and exiting the material space (210). 6. The storage system according to claim 1, characterized in that: the automatic depalletizing and loading and unloading vehicle system (3) comprises a fixed frame (31) and a transport vehicle (100), and the transport vehicle (100) has a A stacking platform (102) capable of movably extending and retracting into the carriage (101) is installed in the carriage (101), and a cargo conveying buffer device (32) is installed on the fixed frame (31) for destacking and A robot (33) for stacking goods and a mobile drive device (200) for driving the stacking platform (102) to move, a cargo loading device is also installed on the fixed frame (31), the cargo loading device It comprises a loading conveyor (34) installed on a fixed frame (31) in a movable manner so as to be able to extend into and out of the carriage (101), and a mobile drive assembly for driving the loading conveyor (34) to move. 7. The storage system according to claim 6, characterized in that: the goods conveying buffer device (32) comprises two material positioning platforms (320) and two conveying lines (321), and two conveying lines (321) The output end is connected with two material positioning platforms (320) through a jacking conveyor, the jacking conveyor includes a chain plate conveyor (322) installed on the fixed frame (31) and two material conveying devices (328), two material conveying devices (328) are arranged at intervals in the conveying direction of the chain plate conveyor (322), and the chain plate conveyor (322) is installed on the fixed frame (322) in a height-adjustable manner through the lifting device. 31), and by adjusting the height of the chain conveyor (322), the conveying surface of the chain conveyor (322) can be higher than the conveying surface of the two material conveying devices (328) and lower than the conveying surface of the two material conveying devices (328). ) between the two states of the conveying surface, one end of the two material conveying devices (328) is respectively connected to the two conveying lines (321), and the other end of the two material conveying devices (328) is corresponding to the two material conveying lines (328) respectively. A positioning platform (320) is attached. 8. The storage system according to claim 7, characterized in that: the chain plate conveyor (322) comprises an elevator frame (3221), a plurality of plate chain conveyor belts (3222) installed on the elevator frame (3221) and a chain plate rotation drive member (3223) installed on the lifting frame (3221) for driving the plurality of the chain conveyor belts (3222), the lifting frame (3221) and the plurality of the lifting rods (325) ) is connected; the material conveying device (328) includes a conveying rotary drive member and a plurality of rollers (3281) rotatably mounted on the fixed frame (31), and the plurality of rollers (3281) are installed on a plurality of plate chain conveyor belts (3281). 3222), the conveying rotary driving member is connected with a plurality of rollers (3281) through a transmission mechanism and drives the rollers (3281) to rotate. 9. The storage system according to claim 8, characterized in that: the pallet conveying device (5) is the chain conveyor (322). 10. The storage system according to any one of claims 1 to 9, characterized in that: the storage system further comprises a computer management center (6).

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