技术领域technical field
本发明涉及一种储料设备，尤其涉及一种自动化料库。The invention relates to a material storage device, in particular to an automatic material storehouse.
背景技术Background technique
料库是一种工业自动化的一个模块设备，料库的作用是通过工业传动来自动存储加工原材料或加工后的成品。一个完整的料库通常由进料装置、立体多层的存储货架和出料装置构成，以满足工业生产过程中存储和进出料的需求，随着自动化技术的快速发展，料库的传动控制也趋于自动化和智能化，能有效提高生产效率，对提高车间自动化程度有很大意义。但现有技术的料库结构简单、功能单一，已经无法满足目前工业生产过程中对物料和成品仓储的功能化、智能化、自动化、柔性化需求。The material warehouse is a modular equipment of industrial automation. The function of the material warehouse is to automatically store processed raw materials or processed finished products through industrial transmission. A complete material warehouse is usually composed of a feeding device, a three-dimensional multi-layer storage shelf and a material discharging device to meet the needs of storage and feeding and discharging in the industrial production process. With the rapid development of automation technology, the transmission control of the material warehouse is also It tends to be automated and intelligent, which can effectively improve production efficiency and is of great significance to improving the degree of automation in the workshop. However, the existing technology has a simple structure and a single function, which cannot meet the functional, intelligent, automated, and flexible requirements for storage of materials and finished products in the current industrial production process.
发明内容Contents of the invention
本发明的目的在于提供一种自动化料库，能通过电机、减速机经链轮链条的传动来控制进出料小车的移动、上下移动支架的移动和托盘的水平移动，同时具有视觉识别功能，用于对工件进行特征识别。The object of the present invention is to provide an automatic material warehouse, which can control the movement of the feeding and discharging trolley, the movement of the up and down moving bracket and the horizontal movement of the pallet through the transmission of the motor and the reducer through the sprocket chain, and has a visual recognition function at the same time. for feature recognition of workpieces.
本发明是这样实现的：The present invention is achieved like this:
一种自动化料库，包括料库主体、托盘、进出料小车和小车行走系统；料库主体包括料库主体框架、料库上下移动支架和料库上下运动系统，库主体框架的两侧设有一对竖直设置的门架槽钢，料库上下移动支架上设有若干个门架槽钢轴承，门架槽钢轴承能匹配嵌装在门架槽钢内，并带动料库上下移动支架沿门架槽钢上下移动；料库上下运动系统的两侧通过第二主动链轮安装有第二链条，料库上下移动支架的两侧对称安装有第二从动链轮，第二链条的底部与第二从动链路啮合连接且同步传动，第二链条的两端分别固定在料库主体框架上；托盘的两侧与料库上下移动支架上并与料库上下移动支架上下同步移动，主体框架的两侧上部对称设有若干根第一托盘支撑方管，料库上下移动支架的两侧对称设有一对移动支架托盘支撑方管，进出料小车的两侧顶部分别设有第二托架支撑方管，托盘能沿水平设置的第一托盘支撑方管、一对移动支架托盘支撑方管和第二托架支撑方管移动；小车行走系统的两侧设有一对固定在料库主体框架上的侧进出料小车导向槽钢，进出料小车沿侧进出料小车导向槽钢水平移动。An automatic material warehouse, including a main body of the material warehouse, a tray, a trolley for feeding and discharging materials, and a trolley walking system; For the vertically arranged gantry channel steel, there are several gantry channel steel bearings on the up and down moving support of the material warehouse. The channel steel of the gantry moves up and down; the two sides of the up and down movement system of the warehouse are equipped with a second chain through the second driving sprocket, and the two sides of the up and down moving bracket of the warehouse are symmetrically installed with a second driven sprocket, and the bottom of the second chain It is meshed with the second driven link and synchronously driven. The two ends of the second chain are respectively fixed on the main frame of the warehouse; the two sides of the tray are on the up and down moving bracket of the warehouse and move up and down synchronously with the up and down moving bracket of the warehouse. The upper part of both sides of the main frame is symmetrically provided with a number of first pallets to support the square tubes, and the two sides of the moving support of the warehouse are symmetrically provided with a pair of mobile brackets to support the square tubes. The frame supports the square tube, and the pallet can move along the horizontally arranged first pallet supporting the square tube, a pair of mobile brackets, the pallet supporting the square tube and the second bracket supporting the square tube; two sides of the trolley walking system are provided with a pair fixed on the main body of the warehouse. The side inlet and outlet trolley on the frame guides the channel steel, and the inlet and outlet trolley moves horizontally along the guide channel steel of the side inlet and outlet trolley.
所述的料库主体框架内设有视觉系统摄像头，视觉系统摄像头位于进出料小车的上方。The main frame of the warehouse is provided with a vision system camera, and the vision system camera is located above the feeding and discharging trolley.
所述的料库上下移动支架包括第一料库支架、第二料库支架、连接梁、移动支架托盘支撑方管、第一交流电机、第一减速机、输出轴、第一主动链轮、第一传动轴、第一链条、张紧链轮、第一从动链轮、上下运动从动轴、上下运动从动轴止动片、下连接方管、第二从动链轮、门架槽钢轴承和链条卡块；The up and down moving bracket of the warehouse includes a first warehouse bracket, a second warehouse bracket, a connecting beam, a square tube supported by a mobile bracket tray, a first AC motor, a first reducer, an output shaft, a first driving sprocket, The first drive shaft, the first chain, the tensioning sprocket, the first driven sprocket, the driven shaft for up and down movement, the stopper for the driven shaft for up and down movement, the lower connecting square tube, the second driven sprocket, and the mast Channel steel bearings and chain blocks;
所述的第一料库支架和第二料库支架之间通过一对连接梁和下连接方管连接，一对移动支架托盘支撑方管分别固定在第一料库支架和第二料库支架的内壁上；第一交流电机与安装在第二料库支架外壁上的第一减速机连接，输出轴的一端安装在第一减速机内，一个第一主动链轮安装在输出轴上，输出轴的另一端与第一传动轴的一端连接，第一传动轴的另一端通过另一个第一主动链轮安装在第一料库支架的内壁上；两个张紧链轮分别安装在第一料库支架和第二料库支架的内壁上，一对第一从动链轮分别安装在第一料库支架和第二料库支架的内壁上，一对第一链条分别绕过张紧链轮和第一从动链轮后对应安装在两个第一主动链轮上，一对第一链条上均设有链条卡块；一对上下运动从动轴分别通过上下运动从动轴止动片对应安装在第一料库支架和第二料库支架上，一对第二从动链轮分别安装在一对上下运动从动轴上；若干个门架槽钢轴承安装在第一料库支架和第二料库支架的内壁上。The first warehouse bracket and the second warehouse bracket are connected by a pair of connecting beams and the lower connecting square pipes, and a pair of mobile bracket trays support the square pipes and are respectively fixed on the first warehouse bracket and the second warehouse bracket. on the inner wall; the first AC motor is connected to the first reducer installed on the outer wall of the second warehouse bracket, one end of the output shaft is installed in the first reducer, and a first driving sprocket is installed on the output shaft, the output The other end of the shaft is connected with one end of the first transmission shaft, and the other end of the first transmission shaft is installed on the inner wall of the first warehouse support through another first driving sprocket; two tensioning sprockets are respectively installed on the first On the inner wall of the material warehouse support and the second material warehouse support, a pair of first driven sprockets are respectively installed on the inner walls of the first material warehouse support and the second material warehouse support, and a pair of first chains respectively bypass the tension chain The first driven sprocket and the first driven sprocket are respectively installed on the two first driven sprockets, and a pair of first chains are equipped with chain blocks; a pair of driven shafts moving up and down are respectively stopped by the driven shaft moving up and down. The pieces are installed on the bracket of the first warehouse and the bracket of the second warehouse, and a pair of second driven sprockets are installed on a pair of driven shafts moving up and down respectively; several gantry channel steel bearings are installed on the first warehouse On the inner wall of the bracket and the second warehouse bracket.
所述的第一料库支架和第二料库支架的顶部均设有上限位块；其中一根连接梁上设有前限位块，托盘移动时能与前限位块接触。The tops of the first warehouse bracket and the second warehouse bracket are provided with upper limit blocks; one of the connecting beams is provided with a front limit block, and the pallet can be in contact with the front limit block when moving.
所述的料库上下运动系统包括第二交流电机、第二减速机、第二联轴器、第二传动轴、第二主动链轮、第二链条、配重组件和编码器组件；第二交流电机安装在第二减速机上，第二联轴器的两端分别与第二减速机的输出轴和第二传动轴的一端连接，第二传动轴的一端通过第二轴承座固定在料库主体框架上；两个第二主动链轮分别固定在第二传动轴的两端，一对第二链条的一端固定在料库主体框架的顶部并与两个第二主动链轮啮合传动，一对第二链条的另一端分别绕过位于料库主体框架底部的两个第二从动链轮后固定在料库主体框架的顶部，一对第二链条上均匹配安装有配重组件；编码器组件安装在第二传动轴上。The warehouse up and down movement system includes a second AC motor, a second reducer, a second coupling, a second drive shaft, a second driving sprocket, a second chain, a counterweight assembly and an encoder assembly; The AC motor is installed on the second reducer, and the two ends of the second coupling are respectively connected with the output shaft of the second reducer and one end of the second transmission shaft, and one end of the second transmission shaft is fixed on the material warehouse through the second bearing seat On the main frame; two second driving sprockets are respectively fixed at the two ends of the second transmission shaft, one end of a pair of second chains is fixed on the top of the main frame of the warehouse and is engaged with the two second driving sprockets for transmission. The other end of the second chain is fixed on the top of the main frame of the material store after bypassing the two second driven sprockets at the bottom of the main frame of the material storehouse, and a pair of second chains are matched with a counterweight assembly; The actuator assembly is installed on the second transmission shaft.
所述的配重组件包括配重从动链轮、配重从动链轮轴、配重连接件和配重片；配重从动链轮与第二链条啮合传动，配重连接件通过配重从动链轮轴安装在配重从动链轮上，若干块配重片纵向叠放并固定安装在配重连接件上。The counterweight assembly includes a counterweight driven sprocket, a counterweight driven sprocket shaft, a counterweight connecting piece and a counterweight plate; the counterweight driven sprocket is engaged with the second chain for transmission, and the counterweight connecting piece passes through the counterweight The driven sprocket shaft is installed on the counterweight driven sprocket, and several counterweight plates are vertically stacked and fixedly installed on the counterweight connector.
所述的编码器组件包括大同步轮、同步带、小同步轮、编码器固定件、编码器和第三传动轴；大同步轮安装在第二传动轴上，编码器固定件固定在料库主体框架上，第三传动轴安装在编码器固定件上，小同步轮安装在第三传动轴上，同步带套接在大同步轮和小同步轮之间；编码器固定在编码器固定件上并与第三传动轴连接。The encoder assembly includes a large synchronous wheel, a synchronous belt, a small synchronous wheel, an encoder fixture, an encoder and a third transmission shaft; the large synchronous wheel is installed on the second transmission shaft, and the encoder fixture is fixed on the warehouse On the main frame, the third transmission shaft is installed on the encoder fixing part, the small synchronous wheel is installed on the third transmission shaft, the synchronous belt is sleeved between the large synchronous wheel and the small synchronous wheel; the encoder is fixed on the encoder fixing part and connect with the third transmission shaft.
所述的托盘包括托盘平面、托盘挂钩和托盘轮子；一对托盘挂钩分别焊接在托盘平面的两端，一对托盘挂钩能匹配卡接在链条卡块上，使料库上下移动支架带动托盘上下同步运动；若干个托盘轮子安装在托盘平面的两端，使托盘轮子能在第一托盘支撑方管、一对移动支架托盘支撑方管和第二托架支撑方管上水平移动。The pallet includes a pallet plane, pallet hooks and pallet wheels; a pair of pallet hooks are respectively welded on both ends of the pallet plane, and a pair of pallet hooks can be matched and clamped on the chain block, so that the material warehouse moves up and down and the bracket drives the pallet up and down Synchronous movement; several pallet wheels are installed at both ends of the pallet plane, so that the pallet wheels can move horizontally on the first pallet supporting square tube, a pair of mobile bracket pallet supporting square tube and the second bracket supporting square tube.
所述的进出料小车包括进出料小车框架、挂钩、地轮、侧导向轮和第二托架支撑方管；一对第二托架支撑方管设置在进出料小车框架的两端顶部，托盘的托盘轮子能在一对第二托架支撑方管上滚动；挂钩设置在进出料小车框架的一端并与小车行走系统的卡块匹配卡接，使小车行走系统能驱动进出料小车行走；若干个地轮分别安装在进出料小车框架的底部，若干个侧导向轮分别安装在进出料小车框架的底部两侧，侧导向轮能匹配安装在小车行走系统的侧进出料小车导向槽钢内，使进出料小车能沿侧进出料小车导向槽钢直线运动。The feeding and discharging trolley includes the feeding and discharging trolley frame, hooks, ground wheels, side guide wheels and the second bracket supporting the square tube; a pair of second bracket supporting the square tube is arranged on the two ends of the feeding and discharging trolley frame, and The pallet wheels can roll on a pair of square tubes supported by the second bracket; the hook is set at one end of the frame of the feeding and discharging trolley and is matched with the block of the trolley walking system, so that the trolley walking system can drive the feeding and discharging trolley to walk; Two ground wheels are respectively installed at the bottom of the frame of the feeding and discharging trolley, and several side guide wheels are respectively installed on both sides of the bottom of the frame of the feeding and discharging trolley. The feeding and discharging trolley can move linearly along the guide channel steel of the side feeding and discharging trolley.
所述的小车行走系统包括第三交流电机、第三减速机、第三主动链轮、减速机固定座、第三从动链轮、链轮固定座和侧进出料小车导向槽钢；第三交流电机与通过减速机固定座安装在地面上的第三减速机连接，第三主动链轮与第三减速机的输出轴连接；第三从动链轮设置在固定在地面上的链轮固定座上，第三主动链轮与第三从动链轮之间通过链条连接，链条上设有卡块并与进出料小车的挂钩匹配卡接，使进出料小车能通过链条的传动而移动；一对侧进出料小车导向槽钢分别固定在料库主体框架上。The trolley walking system includes the third AC motor, the third speed reducer, the third driving sprocket, the speed reducer fixing seat, the third driven sprocket, the sprocket fixing seat and the guide channel steel of the side feeding and discharging trolley; the third The AC motor is connected to the third reducer installed on the ground through the reducer fixing seat, and the third driving sprocket is connected to the output shaft of the third reducer; the third driven sprocket is set on the sprocket fixed on the ground and fixed On the seat, the third driving sprocket and the third driven sprocket are connected by a chain. The chain is provided with a block and matched with the hook of the feeding and discharging trolley, so that the feeding and discharging trolley can be moved through the transmission of the chain; A pair of guide channel steels of the trolleys for side entry and exit are respectively fixed on the main frame of the warehouse.
本发明能通过电机、减速机经链轮链条的传动来控制进出料小车的移动、上下移动支架的移动和托盘的水平移动，自动化程度高；可根据使用需求定制多层料库空间用于物料和产品的存储，使用更灵活，实现料库的功能要求；同时具有基于摄像机的视觉识别功能，用于对工件的位置、轮廓等进行特征识别。The invention can control the movement of the feeding and discharging trolley, the movement of the up and down moving bracket and the horizontal movement of the tray through the transmission of the motor and the reducer through the sprocket chain, and the degree of automation is high; the multi-layer warehouse space can be customized for materials according to the use requirements And product storage, more flexible use, to achieve the functional requirements of the warehouse; at the same time, it has a camera-based visual recognition function for feature recognition of the position and contour of the workpiece.
附图说明Description of drawings
图1是本发明自动化料库的立体图；Fig. 1 is the perspective view of automatic material storehouse of the present invention;
图2是本发明自动化料库中料库主体的立体图；Fig. 2 is the perspective view of the main body of the warehouse in the automatic warehouse of the present invention;
图3是本发明自动化料库中料库主体框架的俯视立体图；Fig. 3 is a top perspective view of the main frame of the warehouse in the automatic warehouse of the present invention;
图4是本发明自动化料库中料库主体框架的仰视立体图；Fig. 4 is the bottom perspective view of the main frame of the warehouse in the automatic warehouse of the present invention;
图5是本发明自动化料库中料库上下移动支架的一侧侧视立体图；Fig. 5 is a side perspective view of a support for moving up and down the warehouse in the automatic warehouse of the present invention;
图6是本发明自动化料库中料库上下移动支架的另一侧侧视立体图；Fig. 6 is another side perspective view of the support for moving up and down the warehouse in the automatic warehouse of the present invention;
图7是本发明自动化料库中料库上下移动支架的仰视立体图；Fig. 7 is the bottom perspective view of the up and down moving support of the material warehouse in the automatic material warehouse of the present invention;
图8是本发明自动化料库中料库上下运动系统的立体图；Fig. 8 is a perspective view of the up and down movement system of the warehouse in the automatic warehouse of the present invention;
图9是本发明自动化料库中托盘的立体图；Fig. 9 is a perspective view of the tray in the automatic warehouse of the present invention;
图10是本发明自动化料库中进出料小车的立体图；Fig. 10 is a perspective view of the feeding and discharging trolley in the automatic warehouse of the present invention;
图11是本发明自动化料库中小车行走系统的立体图。Fig. 11 is a perspective view of the trolley walking system in the automatic warehouse of the present invention.
图中，1料库主体，11料库主体框架，111视觉系统摄像头，112门架槽钢，113第一托盘支撑方管，12料库上下移动支架，121第一料库支架，122第二料库支架，123连接梁，124移动支架托盘支撑方管，125第一交流电机，126第一减速机，127第一轴承座，128输出轴，129第一张紧套，1210第一主动链轮，1211第一联轴器，1212第一传动轴，1213第一链条，1214张紧链轮安装件，1215张紧链轮，1216第一从动链轮，1217上下运动从动轴，1218上下运动从动轴止动片，1219下连接方管，1220第二从动链轮，1221门架槽钢轴承，1222上限位块，1223前限位块，1224链条卡块，13料库上下运动系统，131第二交流电机，132第二减速机，133第二联轴器，134第二轴承座，135第二传动轴，136第二主动链轮，137第二张紧套，138第二链条，139第一链条固定螺丝，1310第二链条固定螺丝，1311配重从动链轮，1312配重从动链轮轴，1314配重连接件，1315配重片，1316第三张紧套，1317大同步轮，1318同步带，1319小同步轮，1320第四张紧套，1321编码器固定件，1322编码器，1323第三传动轴，2托盘，21托盘平面，22托盘挂钩，23托盘轮子，24轴承，3进出料小车，31进出料小车框架，32挂钩，33地轮，34侧导向轮，35侧导向轮固定件，36小车定位件，37第二托架支撑方管，4小车行走系统，41第三交流电机，42第三减速机，43第五张紧套，44第三主动链轮，45减速机固定座，46链条导向支撑钣金，47从动链轮调整件，48第三从动链轮，49链轮固定座，410侧进出料小车导向槽钢，411槽钢固定件，412槽钢支撑件，413气缸固定件，414定位气缸。In the figure, 1 is the main body of the material warehouse, 11 is the main frame of the material warehouse, 111 is the vision system camera, 112 is the channel steel of the door frame, 113 is the square tube supported by the first pallet, 12 is the support for moving up and down the material warehouse, 121 is the first material warehouse bracket, 122 is the second Material storehouse support, 123 connecting beam, 124 mobile support tray supporting square pipe, 125 first AC motor, 126 first reducer, 127 first bearing seat, 128 output shaft, 129 first tensioner sleeve, 1210 first driving chain Wheel, 1211 first coupling, 1212 first transmission shaft, 1213 first chain, 1214 tensioner sprocket mount, 1215 tensioner sprocket, 1216 first driven sprocket, 1217 up and down movement driven shaft, 1218 Up and down motion driven shaft stopper, 1219 lower connection square tube, 1220 second driven sprocket, 1221 gantry channel steel bearing, 1222 upper limit block, 1223 front limit block, 1224 chain block, 13 warehouse up and down Motion system, 131 the second AC motor, 132 the second reducer, 133 the second coupling, 134 the second bearing seat, 135 the second transmission shaft, 136 the second driving sprocket, 137 the second tensioning sleeve, 138 the second Second chain, 139 first chain fixing screw, 1310 second chain fixing screw, 1311 counterweight driven sprocket, 1312 counterweight driven sprocket shaft, 1314 counterweight connector, 1315 counterweight plate, 1316 third tensioner sleeve , 1317 large synchronous wheel, 1318 synchronous belt, 1319 small synchronous wheel, 1320 fourth tensioner sleeve, 1321 encoder fixture, 1322 encoder, 1323 third drive shaft, 2 trays, 21 tray planes, 22 tray hooks, 23 Pallet wheels, 24 bearings, 3 feeding and discharging trolleys, 31 feeding and discharging trolley frames, 32 hooks, 33 ground wheels, 34 side guide wheels, 35 side guide wheel fixing parts, 36 trolley positioning parts, 37 second bracket support square tubes, 4 trolley travel system, 41 third AC motor, 42 third reducer, 43 fifth tensioner sleeve, 44 third driving sprocket, 45 reducer fixing seat, 46 chain guide support sheet metal, 47 driven sprocket adjustment Pieces, 48 third driven sprocket, 49 sprocket holder, 410 side in and out trolley guide channel steel, 411 channel steel fixing piece, 412 channel steel support piece, 413 cylinder fixing piece, 414 positioning cylinder.
具体实施方式Detailed ways
下面结合附图和具体实施例对本发明作进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
请参见附图1，一种自动化料库，包括料库主体1、托盘2、进出料小车3和小车行走系统4；请参见附图2，料库主体1包括料库主体框架11、料库上下移动支架12和料库上下运动系统13，请参见附图4，库主体框架11的两侧对称设有一对竖直设置的门架槽钢112，请参见附图6，料库上下移动支架12上对称设有若干个门架槽钢轴承1221，门架槽钢轴承1221能匹配嵌装在门架槽钢112内，并带动料库上下移动支架12沿门架槽钢112上下移动，优选的，门架槽钢轴承1221设有4个，每根门架槽钢112内上下布置两个门架槽钢轴承1221，确保料库上下移动支架12的移动轨迹为直线；请参见附图8，料库上下运动系统13的两侧通过第二主动链轮136对称安装有第二链条138，请参见附图7，料库上下移动支架12的两侧对称安装有第二从动链轮1220，第二链条138的底部与第二从动链路1220啮合连接且同步传动，第二链条138的两端分别通过第一链条固定螺丝139和第二链条固定螺丝1310固定在料库主体框架11上；请参见附图9，托盘2的两侧与料库上下移动支架12上并与料库上下移动支架12上下同步移动，请参见附图3，主体框架11的两侧上部对称设有若干根第一托盘支撑方管113，料库上下移动支架12的两侧对称设有一对移动支架托盘支撑方管124，请参见附图10，进出料小车3的两侧顶部分别设有第二托架支撑方管37，托盘2上下移动到位后能沿水平设置的第一托盘支撑方管113，一对移动支架托盘支撑方管124和第二托架支撑方管37水平移动；请参见附图11，小车行走系统4的两侧对称设有一对固定在料库主体框架11上的侧进出料小车导向槽钢410，进出料小车3沿侧进出料小车导向槽钢410水平移动。Please refer to accompanying drawing 1, a kind of automatic material storehouse, comprise material storehouse main body 1, tray 2, feeding and discharging trolley 3 and trolley walking system 4; Please refer to accompanying drawing 2, material storehouse main body 1 comprises material storehouse main frame 11, Moving up and down support 12 and warehouse up and down movement system 13, please refer to accompanying drawing 4, the two sides of warehouse main frame 11 are symmetrically provided with a pair of vertical door frame channel steel 112, please refer to accompanying drawing 6, material warehouse moving up and down support 12 is symmetrically provided with several gantry channel steel bearings 1221, and the gantry channel steel bearings 1221 can be matched and embedded in the gantry channel steel 112, and drive the warehouse to move up and down the support 12 along the gantry channel steel 112, preferably Yes, there are four door frame channel steel bearings 1221, and two door frame channel steel bearings 1221 are arranged up and down in each door frame channel steel 112 to ensure that the moving track of the up and down moving support 12 of the material warehouse is a straight line; please refer to accompanying drawing 8 , the both sides of warehouse up and down movement system 13 are symmetrically installed with second chain 138 through second driving sprocket 136, please refer to accompanying drawing 7, the both sides of warehouse moving up and down support 12 are symmetrically installed with second driven sprocket 1220 , the bottom of the second chain 138 is meshed with the second driven link 1220 and is synchronously driven. On; see accompanying drawing 9, both sides of tray 2 and material storehouse move up and down support 12 and move up and down synchronously with material storehouse moving up and down support 12, see accompanying drawing 3, both sides upper part of main body frame 11 are symmetrically provided with several A first pallet supports the square tube 113, and a pair of movable bracket trays support the square tube 124 is arranged symmetrically on both sides of the up and down moving support 12 of the warehouse. Frame support square tube 37, tray 2 can move horizontally along the first pallet support square tube 113 that is arranged after pallet 2 moves up and down, and a pair of mobile support tray support square tube 124 and the second bracket support square tube 37 move horizontally; Please refer to accompanying drawing 11. Both sides of the trolley walking system 4 are symmetrically provided with a pair of guide channel steel 410 fixed on the main frame 11 of the warehouse, and the trolley 3 moves horizontally along the guide channel steel 410 of the trolley.
请参见附图4，所述的料库主体框架11内设有视觉系统摄像头111，视觉系统摄像头111位于进出料小车3的上方，用于识别材料或工件的轮廓信息和位置信息，以满足后续的各种要求。Please refer to accompanying drawing 4, described warehouse main body frame 11 is provided with vision system camera 111, and vision system camera 111 is positioned at the top of feeding and discharging material trolley 3, is used for identifying the profile information and position information of material or workpiece, to meet follow-up various requirements.
优选的，料库主体框架11由若干根方管和若干块铁板焊接后经螺丝螺母拼装组成，可根据仓储需要拼装成不同的框架结构，以满足仓储和进出料小车3移动的需求。Preferably, the main frame 11 of the warehouse is composed of several square tubes and several iron plates welded and then assembled with screws and nuts, and can be assembled into different frame structures according to storage needs to meet the needs of storage and the movement of the feeding and discharging trolley 3 .
请参见附图5至附图7，所述的料库上下移动支架12包括第一料库支架121、第二料库支架122、连接梁123、移动支架托盘支撑方管124、第一交流电机125、第一减速机126、第一轴承座127、输出轴128、第一张紧套129、第一主动链轮1210、第一联轴器1211、第一传动轴1212、第一链条1213、张紧链轮安装件1214、张紧链轮1215、第一从动链轮1216、上下运动从动轴1217、上下运动从动轴止动片1218、下连接方管1219、第二从动链轮1220、门架槽钢轴承1221和链条卡块1224。Please refer to accompanying drawing 5 to accompanying drawing 7, described warehouse up and down moving support 12 comprises first warehouse support 121, second warehouse support 122, connecting beam 123, mobile support tray support square pipe 124, the first AC motor 125. The first reducer 126, the first bearing seat 127, the output shaft 128, the first tensioning sleeve 129, the first driving sprocket 1210, the first coupling 1211, the first transmission shaft 1212, the first chain 1213, Tensioning sprocket mounting part 1214, tensioning sprocket 1215, first driven sprocket 1216, up and down driven shaft 1217, up and down driven shaft stopper 1218, lower connecting square tube 1219, second driven chain Wheel 1220, door frame channel steel bearing 1221 and chain block 1224.
所述的第一料库支架121和第二料库支架122之间通过一对连接梁123和下连接方管1219连接，优选的，第一料库支架121和第二料库支架122可采用钢板制成并与一对连接梁123和下连接方管1219通过螺丝固定，一对连接梁123对称位于第一料库支架121和第二料库支架122的上部，下连接方管1219位于第一料库支架121和第二料库支架122的下部，构成料库上下移动支架12的主体支架结构；一对移动支架托盘支撑方管124分别焊接固定在第一料库支架121和第二料库支架122的内壁上，水平位于一对连接梁123的上方；第一交流电机125与安装在第二料库支架122外壁上的第一减速机126连接，输出轴128的一端通过第一轴承座127安装在第一减速机126内，一个第一主动链轮1210通过第一张紧套129安装在输出轴128上，输出轴128的另一端通过第一联轴器1211与第一传动轴1212的一端连接，第一传动轴1212的另一端通过另一个第一主动链轮1210安装在第一料库支架121的内壁上；两个张紧链轮1215分别通过内部轴和轴承经张紧链轮安装件1214安装在第一料库支架121和第二料库支架122的内壁上，一对第一从动链轮1216分别安装在第一料库支架121和第二料库支架122的内壁上，一对第一链条1213分别绕过张紧链轮1215和第一从动链轮1216后对应安装在两个第一主动链轮1210上，优选的，第一链条1213呈T形结构张紧布置，一对第一链条1213上均设有链条卡块1224；一对上下运动从动轴1217分别通过上下运动从动轴止动片1218对应安装在第一料库支架121和第二料库支架122对应的加工孔上，一对第二从动链轮1220分别通过轴承匹配安装在一对上下运动从动轴1217上，上下运动从动轴止动片1218可用于限制一对第二从动链轮1220的转动幅度；若干个门架槽钢轴承1221通过自带的安装板经螺丝安装在第一料库支架121和第二料库支架122的内壁上，优选为4个门架槽钢轴承1221，用于与门架槽钢112配合实现上下直线移动。The first warehouse support 121 and the second warehouse support 122 are connected through a pair of connecting beams 123 and the lower connecting square pipe 1219. Preferably, the first warehouse support 121 and the second warehouse support 122 can be used The steel plate is made and fixed with a pair of connecting beams 123 and the lower connecting square pipe 1219 by screws, and the pair of connecting beams 123 is symmetrically located on the upper part of the first material storehouse support 121 and the second material storehouse support 122, and the lower connecting square pipe 1219 is located at the first warehouse support 121. The bottom of a material storehouse support 121 and the second material storehouse support 122 constitutes the main support structure of the material storehouse moving up and down the support 12; On the inner wall of the warehouse support 122, it is horizontally located above a pair of connecting beams 123; the first AC motor 125 is connected with the first reducer 126 installed on the outer wall of the second warehouse support 122, and one end of the output shaft 128 passes through the first bearing Seat 127 is installed in the first reducer 126, and a first driving sprocket 1210 is installed on the output shaft 128 through the first tensioner sleeve 129, and the other end of output shaft 128 is connected with the first drive shaft through the first coupling 1211. One end of 1212 is connected, and the other end of the first drive shaft 1212 is installed on the inner wall of the first warehouse support 121 through another first driving sprocket 1210; two tensioning sprockets 1215 are tensioned through the inner shaft and bearing respectively. The sprocket mounting part 1214 is installed on the inner wall of the first warehouse support 121 and the second warehouse support 122, and a pair of first driven sprockets 1216 are installed on the first warehouse support 121 and the second warehouse support 122 respectively. On the inner wall, a pair of first chains 1213 respectively bypasses the tensioning sprocket 1215 and the first driven sprocket 1216 and is correspondingly installed on the two first driving sprockets 1210. Preferably, the first chains 1213 have a T-shaped structure Arranged in tension, a pair of first chains 1213 are provided with chain blocks 1224; a pair of driven shafts 1217 moving up and down are respectively mounted on the first warehouse bracket 121 and the second side by moving the driven shaft stopper 1218 up and down. On the processing hole corresponding to the warehouse support 122, a pair of second driven sprockets 1220 are mounted on a pair of driven shafts 1217 moving up and down through bearing matching respectively, and the driven shaft stoppers 1218 moving up and down can be used to limit a pair of second driven shafts. The rotation range of the second driven sprocket 1220; several gantry channel steel bearings 1221 are installed on the inner walls of the first material storehouse support 121 and the second material storehouse support 122 through screws through the mounting plate, preferably 4 doors The frame channel steel bearing 1221 is used to cooperate with the door frame channel steel 112 to realize the linear movement up and down.
优选的，所述的第一料库支架121和第二料库支架122的顶部均设有上限位块1222，用于限制料库上下移动支架12向上移动的最高点位置。Preferably, the tops of the first warehouse support 121 and the second warehouse support 122 are provided with upper limit blocks 1222 for limiting the highest position of the upward movement of the warehouse vertical movement support 12 .
其中一根所述的连接梁123上设有前限位块1223，托盘2移动时能与前限位块1223接触，用于限制托盘2向外移动的最大距离。优选的，位于外端的连接梁123上对称设置一对前限位块1223，确保对托盘2的限位效果。One of the connecting beams 123 is provided with a front limiting block 1223, which can contact the front limiting block 1223 when the tray 2 moves, and is used to limit the maximum distance that the tray 2 can move outward. Preferably, a pair of front limiting blocks 1223 are arranged symmetrically on the connecting beam 123 at the outer end to ensure the limiting effect on the pallet 2 .
优选的，所述的第一料库支架121和第二料库支架122上设有U槽12202，张紧链轮安装件1214通过螺丝固定在U槽12202上并能沿U槽12202上下移动，用于调节两个张紧链轮1215的上下位置，进而调节一对第一链条1213的张紧程度。Preferably, the first warehouse bracket 121 and the second warehouse bracket 122 are provided with a U groove 12202, and the tensioning sprocket mounting part 1214 is fixed on the U groove 12202 by screws and can move up and down along the U groove 12202, It is used to adjust the upper and lower positions of the two tensioning sprockets 1215, and then adjust the tension degree of the pair of first chains 1213.
请参见附图8，所述的料库上下运动系统13包括第二交流电机131、第二减速机132、第二联轴器133、第二轴承座134、第二传动轴135、第二主动链轮136、第二张紧套137、第二链条138、第一链条固定螺丝139、第二链条固定螺丝1310、配重组件和编码器组件；第二交流电机131安装在第二减速机132上，第二联轴器133的两端分别与第二减速机132的输出轴和第二传动轴135的一端连接，第二传动轴135的一端通过第二轴承座134固定在料库主体框架11上；两个第二主动链轮136分别通过第二张紧套137对称固定在第二传动轴135的两端，一对第二链条138的一端分别通过第一链条固定螺丝139固定在料库主体框架11的顶部并与两个第二主动链轮136啮合传动，一对第二链条138的另一端分别绕过位于料库主体框架11底部的两个第二从动链轮1220后通过第二链条固定螺丝1310固定在料库主体框架11的顶部，一对第二链条138上均匹配安装有配重组件；编码器组件安装在第二传动轴135上，位于第二传动轴135的一侧部。Please refer to the accompanying drawing 8, the described warehouse up and down movement system 13 includes a second AC motor 131, a second reducer 132, a second coupling 133, a second bearing seat 134, a second transmission shaft 135, a second driving The sprocket 136, the second tensioning sleeve 137, the second chain 138, the first chain fixing screw 139, the second chain fixing screw 1310, the counterweight assembly and the encoder assembly; the second AC motor 131 is installed on the second reducer 132 Above, the two ends of the second coupling 133 are respectively connected with the output shaft of the second reducer 132 and one end of the second transmission shaft 135, and one end of the second transmission shaft 135 is fixed on the main frame of the warehouse through the second bearing seat 134 11; two second driving sprockets 136 are symmetrically fixed on the two ends of the second transmission shaft 135 through the second tensioning sleeve 137 respectively, and one end of a pair of second chains 138 is respectively fixed on the material through the first chain fixing screws 139. The top of the storehouse main body frame 11 is engaged with two second driving sprockets 136 for transmission, and the other end of a pair of second chains 138 passes around two second driven sprockets 1220 positioned at the bottom of the storehouse main frame 11 respectively. The second chain fixing screw 1310 is fixed on the top of the main body frame 11 of the warehouse, and a pair of second chains 138 are matched with a counterweight assembly; one side.
所述的配重组件包括配重从动链轮1311、配重从动链轮轴1312、配重连接件1314和配重片1315；配重从动链轮1311与第二链条138啮合传动，配重连接件1314通过配重从动链轮轴1312经内部轴承安装在配重从动链轮1311上，若干块配重片1315纵向叠放并通过长螺栓固定安装在配重连接件1314上，可通过配重平衡第二链条138传动时的稳定性。The counterweight assembly includes a counterweight driven sprocket 1311, a counterweight driven sprocket shaft 1312, a counterweight connector 1314 and a counterweight plate 1315; the counterweight driven sprocket 1311 is engaged with the second chain 138 for transmission, and The heavy connecting piece 1314 is installed on the counterweight driven sprocket 1311 through the counterweight driven sprocket shaft 1312 through the internal bearing, and several pieces of counterweight plates 1315 are vertically stacked and fixed on the counterweight connecting piece 1314 by long bolts. The stability of the transmission of the second chain 138 is balanced by a counterweight.
优选的，所述的配重连接件1314上安装有配重从动链轮轴止动片1313，配重从动链轮轴1312转动时能与配重从动链轮轴止动片1313接触，用于限制配重从动链轮轴1312的转动位置。Preferably, a counterweight driven sprocket shaft stopper 1313 is installed on the counterweight connecting member 1314, and the counterweight driven sprocket shaft 1312 can contact with the counterweight driven sprocket shaft stopper 1313 when rotating, for The rotational position of the counterweight driven sprocket shaft 1312 is limited.
所述的编码器组件包括第三张紧套1316、大同步轮1317、同步带1318、小同步轮1319、第四张紧套1320、编码器固定件1321、编码器1322和第三传动轴1323；大同步轮1317通过第三张紧套1316安装在第二传动轴135上，编码器固定件1321通过螺栓固定在料库主体框架11上，第三传动轴1323通过内部轴承贯穿安装在编码器固定件1321上，小同步轮1319通过第四张紧套1320同轴安装在第三传动轴1323上，同步带1318套接在大同步轮1317和小同步轮1319之间；编码器1322固定在编码器固定件1321上并与第三传动轴1323连接，用于通过大同步轮1317和小同步轮1319的运动测量第三传动轴1323的转动圈数，从而测量料库上下移动支架12的上下运动行程。The encoder assembly includes a third tensioning sleeve 1316, a large synchronous wheel 1317, a synchronous belt 1318, a small synchronous wheel 1319, a fourth tensioning sleeve 1320, an encoder fixture 1321, an encoder 1322 and a third transmission shaft 1323 The large synchronous wheel 1317 is installed on the second transmission shaft 135 through the third tensioning sleeve 1316, the encoder fixing part 1321 is fixed on the main frame 11 of the warehouse by bolts, and the third transmission shaft 1323 is installed on the encoder through the internal bearing. On the fixing part 1321, the small synchronous wheel 1319 is coaxially installed on the third transmission shaft 1323 through the fourth tensioning sleeve 1320, and the synchronous belt 1318 is sleeved between the large synchronous wheel 1317 and the small synchronous wheel 1319; the encoder 1322 is fixed on On the encoder fixing part 1321 and connected with the third transmission shaft 1323, it is used to measure the number of rotations of the third transmission shaft 1323 through the movement of the large synchronous wheel 1317 and the small synchronous wheel 1319, thereby measuring the up and down of the warehouse moving support 12 up and down Movement itinerary.
请参见附图9，所述的托盘2包括托盘平面21、托盘挂钩22、托盘轮子23和轴承24；一对托盘挂钩22分别对称焊接在托盘平面21的两端，一对托盘挂钩22能匹配卡接在链条卡块1224上，通过托盘挂钩22与链条卡块1224的卡住和脱离，第一链条1213传动时，使料库上下移动支架12带动托盘2上下同步运动，从而使托盘2移动和停止；若干个托盘轮子23分别通过轴承24安装在托盘平面21的两端，使托盘轮子23能在第一托盘支撑方管113、一对移动支架托盘支撑方管124和第二托架支撑方管37上水平移动，实现托盘2在不同空间的移动；优选的，在托盘平面21的四个边角处对称设置四个托盘轮子23，确保托盘2的稳定移动；托盘平面21可采用钣金和方管焊接而成的一体式结构。Please refer to accompanying drawing 9, described pallet 2 comprises pallet plane 21, pallet hook 22, pallet wheel 23 and bearing 24; A pair of pallet hooks 22 are respectively symmetrically welded on the two ends of pallet plane 21, and a pair of pallet hooks 22 can match Clamped on the chain block 1224, through the blockage and disengagement of the pallet hook 22 and the chain block 1224, when the first chain 1213 is driven, the material warehouse moves up and down and the bracket 12 drives the pallet 2 to move up and down synchronously, so that the pallet 2 moves and stop; several pallet wheels 23 are respectively installed on the two ends of the pallet plane 21 by bearings 24, so that the pallet wheels 23 can support the square tube 113 on the first pallet, a pair of mobile bracket pallet support square tube 124 and the second bracket support Move horizontally on the square tube 37 to realize the movement of the pallet 2 in different spaces; preferably, four pallet wheels 23 are arranged symmetrically at the four corners of the pallet plane 21 to ensure the stable movement of the pallet 2; One-piece structure welded by gold and square tubes.
请参见附图10，所述的进出料小车3包括进出料小车框架31、挂钩32、地轮33、侧导向轮34、侧导向轮固定件35和第二托架支撑方管37；一对第二托架支撑方管37对称设置在进出料小车框架31的两端顶部，托盘轮子23能在一对第二托架支撑方管37上滚动；挂钩32设置在进出料小车框架31的一端并与小车行走系统4的卡块匹配卡接，使小车行走系统4能驱动进出料小车3行走；若干个地轮33分别安装在进出料小车框架31的底部，若干个侧导向轮34分别通过内部的轴和轴承经侧导向轮固定件35安装在进出料小车框架31的底部两侧，侧导向轮34能匹配安装在小车行走系统4的侧进出料小车导向槽钢410内，使进出料小车3能沿侧进出料小车导向槽钢410直线运动。优选的，进出料小车框架31可采用若干根方管焊接加工而成的一体式框架，框架结构可根据整体结构和实际使用需求制作。Please refer to accompanying drawing 10, described feeding and discharging trolley 3 comprises feeding and discharging trolley frame 31, hook 32, ground wheel 33, side guide wheel 34, side guide wheel fixing part 35 and second bracket support square tube 37; The second bracket support square tube 37 is symmetrically arranged on the two ends tops of the feeding and discharging trolley frame 31, and the pallet wheels 23 can roll on a pair of second bracket supporting square tubes 37; the hook 32 is arranged on one end of the feeding and discharging trolley frame 31 And matched with the block of the trolley walking system 4, so that the trolley walking system 4 can drive the feeding and discharging trolley 3 to walk; several ground wheels 33 are respectively installed on the bottom of the feeding and discharging trolley frame 31, and several side guide wheels 34 respectively pass through The inner shaft and bearing are installed on both sides of the bottom of the feeding and discharging trolley frame 31 through the side guide wheel fixing parts 35, and the side guiding wheels 34 can be matched and installed in the guide channel steel 410 of the side feeding and discharging trolley of the trolley walking system 4, so that the feeding and discharging The trolley 3 can move linearly along the guide channel steel 410 of the trolley for feeding in and out of the material. Preferably, the frame 31 of the feeding and discharging trolley can be an integral frame formed by welding several square tubes, and the frame structure can be made according to the overall structure and actual use requirements.
所述的进出料小车框架31的一端两侧对称设有小车定位件36，小车定位件36与小车行走系统4的定位气缸414伸出的活塞头零件匹配接触，可确保进出料小车3移动到了正确的预定位置。优选的，小车定位件36可采用设有倒角槽的加工件。One end of the feeding and discharging trolley frame 31 is symmetrically provided with trolley positioning parts 36 on both sides, and the trolley positioning parts 36 are in matching contact with the piston head parts protruding from the positioning cylinder 414 of the trolley walking system 4, which can ensure that the feeding and discharging trolley 3 moves to the The correct intended location. Preferably, the trolley positioning member 36 can be a processed part provided with chamfered grooves.
请参见附图11，所述的小车行走系统4包括第三交流电机41、第三减速机42、第五张紧套43、第三主动链轮44、减速机固定座45、链条导向支撑钣金46、从动链轮调整件47、第三从动链轮48、链轮固定座49、侧进出料小车导向槽钢410、槽钢固定件411、槽钢支撑件412、气缸固定件413和定位气缸414；第三交流电机41与通过减速机固定座45安装在地面上的第三减速机42连接，第三主动链轮44通过第五张紧套43与第三减速机42的输出轴连接；第三从动链轮48通过从动链轮调整件47设置在固定在地面上的链轮固定座49上，第三主动链轮44与第三从动链轮48之间通过链条(图中未示出)连接，从动链轮调整件47上设有U形槽(图中未示出)可以调整第三从动链轮48的安装位置，从而调整链条的张紧程度，链条上设有卡块并与进出料小车3的挂钩32匹配卡接，使进出料小车3能通过链条的传动而移动；链条设置在链条导向支撑钣金46内，链条导向支撑钣金46的两端分别连接在减速机固定座45和链轮固定座49上，可起到支撑和导向链条的作用；一对侧进出料小车导向槽钢410分别通过槽钢固定件411固定在料库主体框架11上，并分别通过槽钢支撑件412固定支撑在地面上，用于确保进出料小车3沿着固定的路线进行来回移动；一对定位气缸414分别通过气缸固定件413对应安装在一对侧进出料小车导向槽钢410上，位于侧进出料小车导向槽钢410的一侧部，可用于限制出料小车3的移动范围。Please refer to accompanying drawing 11, described trolley walking system 4 comprises the 3rd alternating current motor 41, the 3rd speed reducer 42, the 5th tension sleeve 43, the 3rd driving sprocket 44, the speed reducer fixing seat 45, the chain guide support plate Gold 46, driven sprocket adjustment piece 47, third driven sprocket 48, sprocket fixing seat 49, guide channel steel 410 for side feeding and discharging trolley, channel steel fixing piece 411, channel steel supporting piece 412, cylinder fixing piece 413 and positioning cylinder 414; the third AC motor 41 is connected with the third speed reducer 42 installed on the ground through the speed reducer holder 45, and the third driving sprocket 44 is connected with the output of the third speed reducer 42 through the fifth tension sleeve 43 shaft connection; the third driven sprocket 48 is arranged on the sprocket holder 49 fixed on the ground through the driven sprocket adjuster 47, and the chain is passed between the third driving sprocket 44 and the third driven sprocket 48 (not shown in the figure) connection, the driven sprocket adjusting part 47 is provided with U-shaped groove (not shown in the figure) can adjust the installation position of the 3rd driven sprocket 48, thereby adjust the tension degree of the chain, The chain is provided with a block and is matched with the hook 32 of the feeding and discharging trolley 3, so that the feeding and discharging trolley 3 can move through the transmission of the chain; the chain is arranged in the chain guide support sheet metal 46, and the The two ends are respectively connected to the fixed seat 45 of the reducer and the fixed seat 49 of the sprocket, which can play the role of supporting and guiding the chain; a pair of guide channel steel 410 of the side feeding and discharging trolley is respectively fixed on the main body of the warehouse through the channel steel fixing piece 411 on the frame 11, and are respectively fixed and supported on the ground by channel steel supports 412, which are used to ensure that the feeding and discharging trolley 3 moves back and forth along a fixed route; a pair of positioning cylinders 414 are respectively installed on a pair of On the guide channel steel 410 of the side in and out material trolley, it is located at one side of the guide channel steel 410 of the side in and out material trolley, which can be used to limit the moving range of the outfeed trolley 3 .
本发明自动化料库的工作原理是：The operating principle of the automatic material warehouse of the present invention is:
料库主体1的料库主体框架11通过设置多层支撑方管来放置托盘2，被储存的原材料或者工件放在托盘2上。托盘2的移动依靠焊接在托盘2上的托盘挂钩22和固定在第一链条1213上的链条卡块1224的卡住和分离来移动和释放，托盘2的上下移动依靠料库上下移动支架12经链轮链条的配合在料库主体框架11内的上下运动来实现。托盘2在运动到不同高度时，在对应的高度上也是通过链条链轮进行水平运动来进出料库主体1。在料库主体框架11的最底层，通过进出料小车3经链轮链条驱动实现进出料库，从而把托盘2带到料库主体1外面的空间，进而方便操作人员取料和放料。料库主体框架11内位于进出料小车3的上面设置分层用于安装摄像头并进行视觉系统识别，可识别材料或工件的轮廓信息和位置信息，以满足后续的各种要求。The warehouse main body frame 11 of the warehouse main body 1 places the pallet 2 by setting multi-layer supporting square tubes, and the stored raw materials or workpieces are placed on the pallet 2 . The movement of the pallet 2 depends on the clamping and separation of the pallet hook 22 welded on the pallet 2 and the chain block 1224 fixed on the first chain 1213 to move and release. The cooperation of the sprocket chain is realized by moving up and down in the main body frame 11 of the warehouse. When the tray 2 moves to different heights, it also moves horizontally through the chain sprockets to enter and exit the warehouse main body 1 at the corresponding heights. At the bottom of the main frame 11 of the warehouse, the feeding and discharging trolley 3 is driven by the sprocket chain to realize the feeding and discharging of the warehouse, thereby bringing the pallet 2 to the space outside the main body of the warehouse 1, which is convenient for the operator to take and discharge materials. The main frame 11 of the warehouse is located on the top of the feeding and discharging trolley 3. It is used to install the camera and carry out visual system recognition, which can recognize the outline information and position information of the material or workpiece, so as to meet various subsequent requirements.
以上仅为本发明的较佳实施例而已，并非用于限定本发明的保护范围，因此，凡在本发明的精神和原则之内所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in this within the scope of protection of the invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910898541.3ACN110510321B (en) | 2019-09-23 | 2019-09-23 | Automatic change storehouse |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910898541.3ACN110510321B (en) | 2019-09-23 | 2019-09-23 | Automatic change storehouse |
| Publication Number | Publication Date |
|---|---|
| CN110510321Atrue CN110510321A (en) | 2019-11-29 |
| CN110510321B CN110510321B (en) | 2024-06-11 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910898541.3AActiveCN110510321B (en) | 2019-09-23 | 2019-09-23 | Automatic change storehouse |
| Country | Link |
|---|---|
| CN (1) | CN110510321B (en) |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | Denomination of invention:Automated storage system Granted publication date:20240611 Pledgee:Bank of China Limited Dongtai Branch Pledgor:Jiangsu Hongdong Industrial Automation Co.,Ltd. Registration number:Y2025980027654 | |
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