Stacking crane

Abstract

The invention belongs to the technical field of stacking equipment, and particularly relates to a stacking crane which comprises a track, a stacking crane body, a stabilizing mechanism, a distance adjusting mechanism and a driving self-locking mechanism. The rail is fixedly laid on a site, is in an I shape and comprises rail webs symmetrically arranged on the two sides of the rail in the length direction of the rail. Through the arranged driving self-locking mechanism, all the antiskid walking wheels and the antiskid positioning wheels can be synchronously controlled to start and stop synchronously, the linear speeds of the antiskid walking wheels and the antiskid positioning wheels are synchronous, relative sliding caused by asynchronous movement of the antiskid walking wheels and the antiskid positioning wheels can be avoided, the antiskid walking wheels and the antiskid positioning wheels are both in rolling friction, relative sliding loss is avoided, and wheel face abrasion can be effectively reduced; the service life of the anti-skid walking wheel and the anti-skid positioning wheel is prolonged, the maintenance cost is reduced, in addition, due to the self-locking performance of the worm and the worm gear, the wheel body can be locked when equipment stops, accidental movement caused by self loads or external slight external force is reduced, and the use safety is improved.

Description

Technical Field

[0001] This invention relates to the field of stacking equipment technology, specifically a stacking crane. Background Technology

[0002] Stacker cranes, also known as stacker hoists, are cranes that move along tracks within high-rise racking warehouses (AS / RS) to retrieve and store unitized goods, completing inbound and outbound operations. Because they significantly improve the area and space utilization of AS / RS, they have become an important component of AS / RS equipment.

[0003] However, existing equipment lacks effective lateral guidance and stabilizing structures. During the movement along the track, it is prone to lateral deviation due to changes in its own load, slight deviations in the track, or minor external disturbances. This not only affects the accuracy of stacking operations but may also cause the equipment to collide with the track, reducing the smoothness of movement. Therefore, it is necessary to develop a stacking crane. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of the embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] To address the aforementioned technical problems, according to one aspect of the present invention, the present invention provides the following technical solution:

[0006] A stacker crane includes a track, a stacker crane body, a stabilizing mechanism, a spacing adjustment mechanism, and a drive self-locking mechanism.

[0007] The track is fixedly laid on the site. The track is in the shape of an "I" and includes rail webs symmetrically arranged on both sides along its own length.

[0008] The stacker crane body is mounted on a track and includes a traveling mechanism for traveling along the length of the track. The traveling mechanism includes a base and several mounting shells located at the bottom of the base. Each mounting shell has a fixed frame fixedly mounted inside its cavity via a fixed plate. The fixed frame is shaped like a "U" when viewed from above and has a transverse rotating shaft rotatably mounted on its inner side via a bearing. Each rotating shaft has a vertical anti-slip traveling wheel fixedly mounted on its shaft for rolling on the top of the track.

[0009] The stability mechanism is arranged at the bottom of the traveling mechanism to improve the stability of the traveling mechanism during movement. It includes mounting brackets symmetrically fixed on both sides of the bottom of each mounting shell. The side view of the mounting bracket is in a "C" shape, and a vertical mounting rod is rotatably arranged inside it through a bearing. A vertical anti-slip positioning wheel is fixedly arranged on the rod body of the mounting rod. When the anti-slip traveling wheel rolls on the top of the track, the anti-slip positioning wheels on both sides roll synchronously along the inner side surface of the web of the rail.

[0010] The spacing adjustment mechanism is arranged on the mounting bracket and is used to adjust the spacing between the anti-slip positioning wheels on both sides of the bottom of each mounting shell.

[0011] The driving and self-locking mechanism is arranged on the traveling mechanism and is used to synchronously drive / lock all the anti-slip traveling wheels and all the anti-slip positioning wheels to rotate / self-lock.

[0012] As a preferred solution of a stacker crane according to the present invention, wherein: at least two mounting shells are provided, and they are fixedly spaced along the length direction of the track at the bottom of the base. The mounting shell is a hollow ninety-degree inverted "T" shape with an open bottom wall.

[0013] As a preferred solution of a stacker crane according to the present invention, wherein: the spacing adjustment mechanism includes adjustment ports opened on the upper and lower side walls of the mounting bracket. Symmetrically fixed inside each adjustment port are sliding rods, and the length direction of the sliding rods is perpendicular to the length direction of the web of the rail. On the rod bodies of the two sliding rods respectively located in the upper and lower adjustment ports, sliders are slidably arranged through linear bearings. Each mounting bracket is provided with two layers of sliders, upper and lower, and the upper and lower layers of sliders are on the same vertical line. The rod body of the mounting rod rotatably penetrates through the upper and lower layers of sliders through bearings. A first self-locking screw parallel to the sliding rod is screwed through the side wall of each mounting bracket. One end of the first self-locking screw is located inside the adjustment port and is rotatably connected to the side wall of the slider through a bearing, and the other end of the first self-locking screw is fixedly provided with a first knob.

[0014] As a preferred solution of a stacker crane according to the present invention, wherein: the driving and self-locking mechanism includes a driving rod rotatably penetrating through the side walls of all the mounting shells through bearings. The axis of the driving rod is parallel to the length direction of the track and is located above it. A servo motor for driving the driving rod to rotate is fixedly installed on the side wall of one of the mounting shells. The output shaft of the servo motor is fixedly connected to the end of the driving rod through a coupling. In the middle of the rod body of each rotating shaft, a first worm gear is fixedly arranged, and two anti-slip traveling wheels are symmetrically and spaced on both sides of the first worm gear. On the rod body of the driving rod, first worm wheels meshing with the first worm gear are fixedly arranged at intervals.

[0015] As a preferred embodiment of the stacking crane described in this invention, the drive self-locking mechanism further includes two brackets fixed to the side of each fixed frame near the anti-slip positioning wheel. A sleeve rod is rotatably connected between the two brackets via a bearing. A second worm gear is fixedly installed in the middle of the sleeve rod. The second worm gear and the first worm gear are in the same vertical plane. Second worms that mesh with the second worm gear are fixedly installed at intervals on the shaft of the drive rod.

[0016] In a preferred embodiment of the stacking crane described in this invention, a connecting frame is fixedly provided on the top of each upper layer slider, and a linkage rod is rotatably provided through the side wall of each connecting frame via a bearing. A spline rod is fixedly provided at one end of each linkage rod near the sleeve rod. Spline holes are respectively opened at both ends of the sleeve rod, and the two spline holes are respectively adapted to the adjacent spline rods in front and behind. A linkage bevel gear is fixedly provided at the other end of the linkage rod, and a follower bevel gear that meshes with the linkage bevel gear is fixedly provided at the top end of the mounting rod.

[0017] In a preferred embodiment of the stacking crane described in this invention, the lead angle of the first worm is smaller than the equivalent friction angle between the teeth of the first worm gear, and the lead angle of the second worm is smaller than the equivalent friction angle between the teeth of the second worm gear.

[0018] In a preferred embodiment of the stacking crane described in this invention, the linear velocity of the anti-slip traveling wheel rolling along the top of the track is completely synchronized with the linear velocity of the anti-slip positioning wheel rolling along the inner side of the track.

[0019] As a preferred embodiment of the stacking crane described in this invention, it further includes a height adjustment mechanism for adjusting the relative height of the anti-slip positioning wheels within the mounting frame.

[0020] In a preferred embodiment of the stacking crane described in this invention, the height adjustment mechanism includes a mounting rod, which comprises a vertical hollow rod, a rotating rod, a second self-locking screw fixed to the upper end of the rotating rod, a third self-locking screw fixed to the lower end of the rotating rod, and a rotating cylinder screwed to the outer side of the third self-locking screw. The outer side of the hollow rod rotates vertically through the upper slider via a bearing. The outer side of the second self-locking screw is screwed to the inner side of the hollow rod. The top end of the hollow rod is used to fix a follower bevel gear. The rotating rod is used to fix an anti-slip positioning wheel. The outer side of the rotating cylinder rotates vertically through the lower slider via a bearing. A second knob is fixedly provided at the lower outer end of the rotating cylinder.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] 1. By setting a spacing adjustment mechanism, the spacing between the anti-slip positioning wheels can be adjusted within a certain range to adapt to different rail web thicknesses and facilitate the disassembly and assembly of the equipment and the rail. By setting a height adjustment mechanism, the height of the anti-slip positioning wheels can be adjusted within a certain range to adapt to rail webs of different heights, reducing the situation where the equipment cannot be used due to differences in rail specifications.

[0023] 2. Through the set walking mechanism and stabilizing mechanism, when the anti-slip walking wheels are running along the track, the anti-slip positioning wheels can roll along the rail waist to achieve lateral guidance, reduce the machine body deviation, and improve the overall walking stability of the stacker crane.

[0024] 3. Through the set drive self-locking mechanism, all anti-slip traveling wheels and anti-slip positioning wheels can be started and stopped synchronously. In addition, the linear speed of the two is synchronized, which can avoid relative slippage caused by asynchronous movement between the two. Both are rolling friction and there is no relative sliding loss, which can effectively reduce wheel surface wear, extend the service life of anti-slip traveling wheels and anti-slip positioning wheels, and reduce maintenance costs. Furthermore, due to the self-locking performance of the worm gear, the wheel body can be locked when the equipment stops, reducing accidental movement caused by its own load or slight external force, and improving the safety of use. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and detailed embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0026] Figure 1 This is a schematic diagram of the structure of the present invention;

[0027] Figure 2 This is a schematic diagram of the internal components of the mounting shell section of the present invention;

[0028] Figure 3 This is a schematic diagram of the structure of the mounting components inside the housing and on the mounting bracket of the present invention;

[0029] Figure 4 For the present invention Figure 3 A structural schematic diagram from a side view;

[0030] Figure 5 For the present invention Figure 4 Schematic diagram of the structure of region A in the middle;

[0031] Figure 6 This is a schematic diagram of the spacing adjustment mechanism of the present invention;

[0032] Figure 7 For the present invention Figure 4 Exploded view of the middle section;

[0033] Figure 8 For the present invention Figure 7 A top-down structural diagram;

[0034] Figure 9 For the present invention Figure 8 Schematic diagram of the structure of region A in the middle;

[0035] Figure 10 For the present invention Figure 8 Schematic diagram of the structure of region B in the middle;

[0036] Figure 11 This is an exploded view of the height adjustment mechanism of the present invention from a side-view perspective.

[0037] In the diagram: Track-100; Rail web-101; Stacker crane body-200; Traveling mechanism-201; Base-202; Mounting shell-203; Fixing plate-204; Fixing frame-205; Rotating shaft-206; Anti-slip traveling wheel-207; Stabilizing mechanism-300; Mounting frame-301; Mounting rod-302; Anti-slip positioning wheel-303; Spacing adjustment mechanism-400; Adjustment port-401; Slide rod-402; Slider-403; First self-locking screw-404; First knob-405; Drive self-locking mechanism-500 Drive rod - 501; Servo motor - 502; First worm gear - 503; First worm - 504; Bracket - 505; Sleeve rod - 506; Second worm gear - 507; Second worm - 508; Connecting frame - 509; Linkage rod - 510; Spline rod - 511; Spline hole - 512; Linkage bevel gear - 513; Follow-up bevel gear - 514; Height adjustment mechanism - 600; Hollow rod - 601; Rotating rod - 602; Second self-locking screw - 603; Third self-locking screw - 604; Rotary drum - 605; Second knob - 606. Detailed Implementation

[0038] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0039] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0040] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0041] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0042] Please see Figures 1-11 The diagram shows a structural schematic of an embodiment of a stacking crane according to the present invention. Please refer to [link / reference]. Figures 1-11 This paper provides a detailed introduction to a stacker crane.

[0043] Example 1: A stacker crane includes a rail 100, a stacker crane body 200, a stabilizing mechanism 300, a spacing adjustment mechanism 400, and a drive self-locking mechanism 500.

[0044] The track 100 is fixedly laid on the site. The track 100 is in the shape of an "I" and includes rail webs 101 symmetrically arranged on both sides along its own length.

[0045] The stacker crane body 200 is mounted on the track 100 and includes a traveling mechanism 201 for traveling along the length of the track 100. The traveling mechanism 201 includes a base 202 and a plurality of mounting shells 203 disposed at the bottom of the base 202. A fixing frame 205 is fixedly mounted in the inner cavity of each mounting shell 203 by a fixing plate 204. The fixing frame 205 is shaped like a "U" when viewed from above and has a horizontal rotating shaft 206 rotatably mounted on its inner side by a bearing. A vertical anti-slip traveling wheel 207 for rolling on the top of the track 100 is fixedly mounted on the shaft of each rotating shaft 206.

[0046] The stability mechanism 300 is disposed at the bottom of the traveling mechanism 201 for enhancing the stability of the traveling mechanism 201 during movement. It includes mounting brackets 301 symmetrically fixed to both sides of the bottom of each mounting shell 203. The mounting brackets 301 are in a "C" shape in the side view direction, and a vertical mounting rod 302 is rotatably disposed inside thereof through a bearing. A vertical anti-slip positioning wheel 303 is fixedly provided on the rod body of the mounting rod 302. When the anti-slip traveling wheels 207 roll on the top of the track 100, the anti-slip positioning wheels 303 on both sides roll synchronously along the inner surface of the web 101. The stability mechanism 300 can play a role in lateral limiting and guiding the movement of the traveling mechanism 201, enhancing the stability of the traveling mechanism 201 during movement and reducing the possibility of its deviation. Anti-slip patterns are provided on the surfaces of the anti-slip traveling wheels 207 and the anti-slip positioning wheels 303, which can reduce the slipping phenomenon during walking.

[0047] The spacing adjustment mechanism 400 is disposed on the mounting bracket 301 for adjusting the spacing between the anti-slip positioning wheels 303 on both sides of the bottom of each mounting shell 203. Through the spacing adjustment mechanism 400, the anti-slip positioning wheels 303 can be adapted to the thickness of the webs 101 of different specifications, enhancing the adaptability of the equipment to different tracks. Moreover, the two expanded anti-slip positioning wheels 303 can be disengaged from the inner side of the web 101, and then through a hoisting device, it is convenient to hoist the stacker crane and disassemble and assemble it from the track 100.

[0048] The driving and self-locking mechanism 500 is disposed on the traveling mechanism 201 for synchronously driving / locking all the anti-slip traveling wheels 207 and all the anti-slip positioning wheels 303 to rotate / self-lock. Through the driving and self-locking mechanism 500, it is convenient to uniformly control the movement state of the stacker crane. At the same time, the self-locking function can reduce the situation of accidental movement of the equipment due to external forces when it stops.

[0049] Further, at least two mounting shells 203 are provided and are fixedly spaced along the length direction of the track 100 at the bottom of the base 202, which can enhance the stability of the connection between the base 202 and other components of the traveling mechanism 201. At the same time, it can disperse the load transmitted by the base 202 and reduce the stress burden on a single mounting shell 203.

[0050] The mounting shell 203 is a hollow ninety-degree inverted "T" shape with an open bottom wall. The mounting shell 203 adopts a hollow ninety-degree inverted "T" shape structure with an open bottom wall. On the one hand, it is convenient to install components such as the fixing frame 205 and the rotating shaft 206 in its inner cavity through the fixing plate 204. On the other hand, the hollow design can reduce the weight of the mounting shell 203 itself to a certain extent, reduce the overall load of the stacker crane body 200, and at the same time, the mounting shell 203 also appropriately protects the components installed inside it.

[0051] In Example 2, based on Example 1, the spacing adjustment mechanism 400 includes adjustment openings 401 formed on the upper and lower side walls of the mounting frame 301. A sliding rod 402 is symmetrically fixed to the inner side of each adjustment opening 401. The length direction of the sliding rod 402 is perpendicular to the length direction of the rail web 101. A slider 403 is slidably mounted on the rods of two sliding rods 402 located within the upper and lower adjustment openings 401 via linear bearings. The sliding rods 402 provide stable sliding guidance for the slider 403, ensuring the slider 403... Move along the set direction to avoid deviation; each mounting bracket 301 is provided with two layers of sliders 403, and the two layers of sliders 403 are on the same vertical line. The rod body of the mounting rod 302 rotates through the two layers of sliders 403 via bearings. By setting the upper and lower layers of sliders 403 on the same vertical line and allowing the mounting rod 302 to rotate through the upper and lower sliders 403 via bearings, the mounting rod 302 can be stably supported, reducing the possibility of the mounting rod 302 tilting when driving the anti-slip positioning wheel 303 to roll.

[0052] Each mounting bracket 301 has a first self-locking screw 404 threaded through its side wall, parallel to the slide bar 402. One end of the first self-locking screw 404 is located inside the adjustment port 401 and is rotatably connected to the side wall of the slider 403 via a bearing. The other end of the first self-locking screw 404 is fixedly provided with a first knob 405. By setting the first self-locking screw 404 threaded through the side wall of the mounting bracket 301 and the first knob 405 fixed at the end of the first self-locking screw 404, rotating the first knob 405 can drive the first self-locking screw 404 to rotate, thereby pushing the slider 403 to move to adjust the spacing of the anti-slip positioning wheels 303. The operation is simple. At the same time, the self-locking characteristic of the first self-locking screw 404 can fix the position of the slider 403 after the spacing is adjusted, reducing the possibility of the anti-slip positioning wheels 303 shifting due to external force during movement.

[0053] In Example 3, based on Example 2, the self-locking drive mechanism 500 includes a drive rod 501 that rotates through the entire sidewall of the mounting housing 203 via bearings. The axis of the drive rod 501 is parallel to the length direction of the track 100 and located above it. A servo motor 502 for driving the drive rod 501 to rotate is fixedly installed on one sidewall of the mounting housing 203. The output shaft of the servo motor 502 is fixedly connected to the end of the drive rod 501 via a coupling. By setting a drive rod 501 that rotates through the entire sidewall of the mounting housing 203 via bearings and whose axis is parallel to the length direction of the track 100, and a servo motor 502 fixed on the sidewall of the mounting housing 203 for driving the drive rod 501 to rotate, power can be synchronously transmitted to the transmission components in each mounting housing 203. This helps to ensure the consistency of movement of multiple anti-slip wheels 207 and reduces equipment deviation caused by asynchronous power of individual wheels.

[0054] Each shaft 206 has a first worm gear 503 fixedly installed in the middle of its shaft body, and two anti-slip wheels 207 symmetrically spaced on both sides of the first worm gear 503. The drive rod 501 has a first worm 504 fixedly installed at intervals on its shaft body, meshing with the first worm gear 503. By installing the first worm gear 503 fixed in the middle of the shaft body of the shaft 206, and the first worm 504 fixed on the drive rod 501 and meshing with the first worm gear 503, the meshing transmission of the worm gear can smoothly transmit power, reduce vibration during power transmission, and also achieve a certain deceleration effect, making it easier to control the rolling speed of the anti-slip wheels 207. By installing the anti-slip wheels 207 symmetrically spaced on both sides of the first worm gear 503, the shaft 206 can be subjected to more even force, avoiding damage to the shaft 206 due to excessive force on one side of the wheels, thus helping to extend the service life of the shaft 206.

[0055] Furthermore, the drive self-locking mechanism 500 also includes two brackets 505 fixed on the side of each fixed frame 205 near the anti-slip positioning wheel 303. A sleeve rod 506 is rotatably connected between the two brackets 505 through a bearing. By setting two brackets 505 fixed on the side of each fixed frame 205 near the anti-slip positioning wheel 303, a stable installation support can be provided for the sleeve rod 506, ensuring the stability of the sleeve rod 506 when rotating through the bearing and reducing the impact of the swaying of the sleeve rod 506 on the power transmission.

[0056] A second worm gear 507 is fixedly installed in the middle of the sleeve rod 506. The second worm gear 507 and the first worm gear 503 are in the same vertical plane. A second worm 508 that meshes with the second worm gear 507 is fixedly installed at intervals on the shaft of the drive rod 501. By setting the second worm gear 507 fixed in the middle of the sleeve rod 506 and the second worm 508 fixed on the drive rod 501 and meshing with the second worm gear 507, the power of the drive rod 501 can be transmitted to the sleeve rod 506, providing a power basis for the subsequent driving of the anti-slip positioning wheel 303, which helps to realize the synchronous power supply of the anti-slip positioning wheel 303 and the anti-slip walking wheel 207.

[0057] Furthermore, a connecting frame 509 is fixedly installed on the top of each upper slider 403. A linkage rod 510 is rotatably installed through the side wall of each connecting frame 509 via a bearing. By fixing the connecting frame 509 to the top of the upper slider 403, a stable carrier is provided for the linkage rod 510 to rotate via the bearing, ensuring the positional stability of the linkage rod 510 during rotation and preventing the linkage rod 510 from shifting and affecting power transmission. A spline rod 511 is fixedly installed at one end of each linkage rod 510 near the sleeve rod 506. The two ends of the sleeve rod 506... Spline holes 512 are respectively provided at each end, and the two spline holes 512 are respectively adapted to the adjacent spline rods 511. By setting the spline rods 511 fixed at one end of the linkage rod 510 near the sleeve rod 506, and the spline holes 512 provided at both ends of the sleeve rod 506 and adapted to the spline rods 511, the torque transmission between the sleeve rod 506 and the linkage rod 510 can be realized, and the linkage rod 510 can be allowed to move laterally with the slider 403 to adapt to the action of the spacing adjustment mechanism 400 when adjusting the spacing of the anti-slip positioning wheel 303, so as to avoid damage to the transmission structure during the spacing adjustment process.

[0058] A linkage bevel gear 513 is fixedly installed at the other end of the linkage rod 510, and a follower bevel gear 514 that meshes with the linkage bevel gear 513 is fixedly installed at the top end of the mounting rod 302. By setting the linkage bevel gear 513 fixed at the other end of the linkage rod 510 and the follower bevel gear 514 fixed at the top end of the mounting rod 302 and meshing with the linkage bevel gear 513, the direction of power transmission can be changed, and the horizontal rotation of the linkage rod 510 can be converted into the vertical rotation of the mounting rod 302, thereby driving the anti-slip positioning wheel 303 to roll, ensuring that the rotation direction of the anti-slip positioning wheel 303 matches the guiding requirements of the rail web 101.

[0059] Furthermore, the lead angle of the first worm 504 is smaller than the equivalent friction angle between the teeth of the meshing first worm wheel 503, and the lead angle of the second worm 508 is smaller than the equivalent friction angle between the teeth of the meshing second worm wheel 507. This enables the first worm 504 and the first worm wheel 503, and the second worm 508 and the second worm wheel 507 to have self-locking capabilities. This self-locking capability can prevent the first worm wheel 503 and the second worm wheel 507 from rotating in opposite directions when the drive stops, thereby locking the anti-slip traveling wheel 207 and the anti-slip positioning wheel 303. This reduces the possibility of the stacker crane moving unexpectedly due to its own load or slight external force when it is stopped, and improves the safety of the equipment when it is stopped.

[0060] Furthermore, the linear velocity of the anti-slip traveling wheel 207 rolling along the top of the track 100 is completely synchronized with the linear velocity of the anti-slip positioning wheel 303 rolling along the inner side of the rail web 101. By setting the linear velocity of the anti-slip traveling wheel 207 rolling along the top of the track 100 and the anti-slip positioning wheel 303 rolling along the inner side of the rail web 101 to be completely synchronized, relative slippage due to speed difference can be avoided, thereby reducing wear on the wheel surfaces of the anti-slip traveling wheel 207 and the anti-slip positioning wheel 303 and helping to extend their service life. At the same time, speed synchronization can also ensure the stability of the stacker crane during movement, reduce lateral deviation or vibration of the equipment due to speed difference, and improve the stability of equipment operation.

[0061] Example 4, based on Example 3, further includes a height adjustment mechanism 600. The height adjustment mechanism 600 is used to adjust the relative height of the anti-slip positioning wheel 303 within the mounting frame 301. By setting the height adjustment mechanism 600 for adjusting the relative height of the anti-slip positioning wheel 303 within the mounting frame 301, it can adapt to the height position of the rail web 101 in different specifications of rails 100, so that the anti-slip positioning wheel 303 can maintain good contact with the rail web 101 of different rails.

[0062] Furthermore, the height adjustment mechanism 600 includes a mounting rod 302, which comprises a vertical hollow rod 601, a rotating rod 602, a second self-locking screw 603 fixed to the upper end of the rotating rod 602, a third self-locking screw 604 fixed to the lower end of the rotating rod 602, and a rotating cylinder 605 screwed to the outer side of the third self-locking screw 604. The outer side of the hollow rod 601 rotates vertically through the upper slider 403 via a bearing. The second self-locking screw... The outer side of rod 603 is screwed to the inner side of hollow rod 601. The top of hollow rod 601 is used to fix the follower bevel gear 514. The rod body of rotating rod 602 is used to fix the anti-slip positioning wheel 303. The outer side of rotating cylinder 605 rotates vertically through the lower slider 403 via bearings. A second knob 606 is fixedly installed at the lower end of the outer side of rotating cylinder 605. When rotating cylinder 605 is driven to rotate by the second knob 606, the inner side of rotating cylinder 605 is connected to the third self-rotating gear 514. The locking screw 604 is screwed to the outside, so the third self-locking screw 604 can rotate on its own when it is not affected by other components. However, since the second worm 508 and the second worm wheel 507 have self-locking capabilities, when the third self-locking screw 604 rotates, the second self-locking screw 603 cannot drive the hollow rod 601 to rotate. Since the hollow rod 601 is screwed to the second self-locking screw 603, when the rotating drum 605 rotates, the third self-locking screw 604 and the second self-locking screw 603 can only move up and down, which can realize the up and down movement of the rotating rod 602, thereby adjusting the height of the anti-slip positioning wheel 303. Therefore, by setting the second self-locking screw 603 and the third self-locking screw 604 with self-locking characteristics, the position of the rotating rod 602 can be fixed after the height of the anti-slip positioning wheel 303 is adjusted, reducing the height deviation of the anti-slip positioning wheel 303 due to external forces during the movement, and ensuring the stability of the contact between the anti-slip positioning wheel 303 and the rail web 101.

[0063] In the above embodiments, some bearings are selected that can withstand radial and axial forces, such as the bearing connecting the linkage rod 510 to the connecting frame 509; the bearing connecting the hollow rod 601 to the upper slider 403; and the bearing connecting the rotating drum 605 to the lower slider 403, which helps to improve the stability of the components.

[0064] In the specific use process: During the initialization phase of the equipment, the distance between the anti-slip positioning wheels 303 on both sides is first adjusted to the maximum value. The anti-slip traveling wheels 207 of the stacker crane are hoisted onto the track 100 by the hoisting equipment. The anti-slip positioning wheels 303 on both sides are located at the rail webs 101 on both sides respectively.

[0065] Within a certain range, based on the height of the rail web 101 and the initial height of the anti-slip positioning wheel 303, rotating the second knob 606 allows the rotating rod 602 to move up and down, thereby adjusting the height of the anti-slip positioning wheel 303 so that the anti-slip positioning wheel 303 and the middle of the rail web 101 are on the same horizontal plane. Stop rotating the second knob 606, and the self-locking characteristic of the second self-locking screw 603 can fix the position of the rotating rod 602, ensuring height stability. Then, based on the thickness of the rail web 101, adjust the distance between the two anti-slip positioning wheels 303. Rotating the first knob 405 drives the slider 403 to move laterally along the slider 402, thereby driving the anti-slip positioning wheel 303 to move until the two anti-slip positioning wheels 303 are in contact with the inner surface of the rail web 101. Stop rotating the first knob 405, and the self-locking characteristic of the first self-locking screw 404 can fix the position of the slider 403, ensuring distance stability.

[0066] After the equipment is installed, when the stacker crane needs to move along the track 100, the servo motor 502 is started to drive the drive rod 501 to rotate. The first worm 504 meshes with the first worm wheel 503, which drives the anti-slip traveling wheel 207 to roll along the top of the track 100, and pushes the stacker crane body 200 to move along the length of the track.

[0067] At the same time, the second worm 508 meshes with the second worm wheel 507, driving the sleeve rod 506 and the linkage rod 510 to rotate. Then, through the linkage bevel gear 513 and the follower bevel gear 514, the mounting rod 302 is driven to rotate, and finally the anti-slip positioning wheel 303 rolls along the inner side of the rail web 101.

[0068] When the stacker crane needs to stop moving, the servo motor 502 is turned off, and the drive rod 501 stops rotating. The power transmission of each transmission component is interrupted. Since the lead angle of the first / second worm gear is less than the equivalent friction angle of the corresponding worm wheel, the worm gear and worm wheel self-lock, which prevents components such as the rotating shaft 206 and the mounting rod 302 from rotating. The anti-slip traveling wheel 207 and the anti-slip positioning wheel 303 achieve self-locking fixation, reducing the possibility of the stacker crane moving unexpectedly due to its own load or slight external force when it is stopped.

[0069] Although the present invention has been described above with reference to embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the invention. In particular, as long as there is no structural conflict, the features in the disclosed embodiments can be combined with each other in any manner. The lack of an exhaustive description of these combinations in this specification is merely for the sake of brevity and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A stacker crane, comprising a track (100), a stacker crane body (200), a stabilizing mechanism (300), a spacing adjustment mechanism (400) and a driving and self-locking mechanism (500), characterized in that: The track (100) is fixedly laid on the site, and the track (100) is in an "I" shape, including rail waists (101) symmetrically arranged on both sides along its own length direction; The stacker crane body (200) is arranged on the track (100), including a traveling mechanism (201) for traveling along the length direction of the track (100). The traveling mechanism (201) includes a base (202) and a plurality of mounting shells (203) arranged at the bottom of the base (202). The inner cavity of each mounting shell (203) is fixedly installed with a fixing frame (205) through a fixing plate (204). The fixing frame (205) is in a "U" shape in the top view direction, and a horizontal rotating shaft (206) is rotatably arranged inside it through a bearing. A vertical anti-slip traveling wheel (207) for rolling on the top of the track (100) is fixedly arranged on the rod body of each rotating shaft (206); The stabilizing mechanism (300) is arranged at the bottom of the traveling mechanism (201) to improve the stability of the traveling mechanism (201) during movement. It includes mounting frames (301) symmetrically fixed on both sides of the bottom of each mounting shell (203). The mounting frame (301) is in a "C" shape in the side view direction, and a vertical mounting rod (302) is rotatably arranged inside it through a bearing. A vertical anti-slip positioning wheel (303) is fixedly arranged on the rod body of the mounting rod (302). When the anti-slip traveling wheel (207) rolls on the top of the track (100), the anti-slip positioning wheels (303) on both sides roll synchronously along the inner side surface of the rail waist (101); The spacing adjustment mechanism (400) is arranged on the mounting frame (301) for adjusting the spacing between the anti-slip positioning wheels (303) on both sides of the bottom of each mounting shell (203); The driving and self-locking mechanism (500) is arranged on the traveling mechanism (201) for synchronously driving / locking all the anti-slip traveling wheels (207) and all the anti-slip positioning wheels (303) to rotate / self-lock.

2. A stacking crane according to claim 1, characterized in that: There are at least two mounting shells (203), which are fixedly spaced along the length direction of the track (100) at the bottom of the base (202). The mounting shell (203) is a hollow ninety-degree inverted "T" shape with an open bottom wall.

3. A stacking crane according to claim 1, characterized in that: The spacing adjustment mechanism (400) includes adjustment openings (401) on the upper and lower side walls of the mounting frame (301). A sliding rod (402) is symmetrically fixed to the inner side of each adjustment opening (401). The length direction of the sliding rod (402) is perpendicular to the length direction of the rail web (101). Sliding blocks (403) are slidably mounted on the shafts of the two sliding rods (402) located within the upper and lower adjustment openings (401) via linear bearings. Each mounting frame (301) has two layers of sliding blocks (403). The upper and lower sliders (403) are on the same vertical line. The rod body of the mounting rod (302) rotates through the upper and lower sliders (403) via bearings. Each mounting bracket (301) has a first self-locking screw (404) threaded through its side wall, parallel to the slider (402). One end of the first self-locking screw (404) is located inside the adjustment port (401) and is rotatably connected to the side wall of the slider (403) via bearings. The other end of the first self-locking screw (404) is fixedly provided with a first knob (405).

4. A stacking crane according to claim 3, characterized in that: The drive self-locking mechanism (500) includes a drive rod (501) that rotates through the entire side wall of the mounting housing (203) via a bearing. The axis of the drive rod (501) is parallel to the length direction of the track (100) and located above it. A servo motor (502) for driving the drive rod (501) to rotate is fixedly installed on the side wall of one of the mounting housings (203). The output shaft of the servo motor (502) is fixedly connected to the end of the drive rod (501) via a coupling. A first worm gear (503) and two anti-slip wheels (207) symmetrically spaced on both sides of the first worm gear (503) are fixedly provided in the middle of the shaft of each shaft (206). A first worm (504) that meshes with the first worm gear (503) is fixedly provided at intervals on the shaft of the drive rod (501).

5. A stacking crane according to claim 4, characterized in that: The drive self-locking mechanism (500) further includes two brackets (505) fixed on the side of each fixed frame (205) near the anti-slip positioning wheel (303). A sleeve rod (506) is rotatably connected between the two brackets (505) through a bearing. A second worm gear (507) is fixedly provided in the middle of the sleeve rod (506). The second worm gear (507) and the first worm gear (503) are in the same vertical plane. A second worm (508) that meshes with the second worm gear (507) is fixedly provided at intervals on the rod of the drive rod (501).

6. A stacking crane according to claim 5, characterized in that: A connecting frame (509) is fixedly installed on the top of each upper slider (403). A linkage rod (510) is rotatably installed through the side wall of each connecting frame (509) via a bearing. A spline rod (511) is fixedly installed at one end of each linkage rod (510) near the sleeve rod (506). Spline holes (512) are respectively opened at both ends of the sleeve rod (506), and the two spline holes (512) are respectively adapted to the adjacent spline rods (511) in front and behind. A linkage bevel gear (513) is fixedly installed at the other end of the linkage rod (510). A follower bevel gear (514) that meshes with the linkage bevel gear (513) is fixedly installed at the top of the mounting rod (302).

7. A stacking crane according to claim 5, characterized in that: The lead angle of the first worm (504) is less than the equivalent friction angle between the teeth of the first worm wheel (503), and the lead angle of the second worm (508) is less than the equivalent friction angle between the teeth of the second worm wheel (507).

8. A stacking crane according to claim 1, characterized in that: The linear velocity of the anti-slip traveling wheel (207) rolling along the top of the track (100) is completely synchronized with the linear velocity of the anti-slip positioning wheel (303) rolling along the inner side of the rail web (101).

9. A stacking crane according to claim 6, characterized in that: It also includes a height adjustment mechanism (600) for adjusting the relative height of the anti-slip positioning wheel (303) within the mounting bracket (301).

10. A stacking crane according to claim 9, characterized in that: The height adjustment mechanism (600) includes a mounting rod (302), which includes a vertical hollow rod (601), a rotating rod (602), a second self-locking screw (603) fixed to the upper end of the rotating rod (602), a third self-locking screw (604) fixed to the lower end of the rotating rod (602), and a rotating cylinder (605) screwed to the outer side of the third self-locking screw (604). The outer side of the hollow rod (601) rotates vertically through the upper part of the rod via a bearing. The slider (403) of the layer, the outer side of the second self-locking screw (603) is screwed to the inner side of the hollow rod (601), the top of the hollow rod (601) is used to fix the follower bevel gear (514), the rod of the rotating rod (602) is used to fix the anti-slip positioning wheel (303), the outer side of the rotating cylinder (605) rotates vertically through the slider (403) of the lower layer through the bearing, and the lower end of the outer side of the rotating cylinder (605) is fixedly provided with a second knob (606).

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