Stacking machine rigid anti-swing device for automatic stereoscopic warehouse

Abstract

The invention relates to the technical field of stackers, in particular to a rigid anti-swing device of a stacker for an automatic stereoscopic warehouse, which comprises the stacker, a first-stage moving platform and a second-stage moving platform arranged on one side of the stacker, an objective table arranged above the second-stage moving platform, a scissor-fork type connecting rod mechanism, a buffer mechanism and a protection mechanism, the scissors fork type connecting rod mechanism is connected between the first-stage moving platform and the second-stage moving platform of the stacking machine. The shear fork type connecting rod mechanism is additionally arranged between the first-stage moving platform and the second-stage moving platform, the relative motion between the two platforms is forced to be single and determined linear motion, the connecting rigidity in the transverse direction and the vertical direction is greatly enhanced, and therefore basic shaking caused by sudden acceleration change and structural elastic deformation is restrained.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stacker, in particular to a rigid anti-shaking device for a stacker of an automated warehouse. BACKGROUND

[0002] In an automated logistics and warehousing system, the stacker is the core handling equipment, and its performance directly determines the operation efficiency and reliability of the automated warehouse. The stacker controls the movement of the stacker access mechanism in the horizontal and vertical directions on one side of the rack, so that the stacker access mechanism can be aligned with different storage spaces on the rack, and the storage and retrieval of goods can be realized.

[0003] In the prior art, such as a Chinese patent application with the application publication number CN202410209123.X, the patent name is a stacker with a spread type anti-shaking function, which specifically discloses a stacker body composed of a rack, a loading platform, an electric control cabinet and a lifting unit. The rack is slidably installed on the ground rail in the working area, the loading platform is slidably installed on the rack, and a walking motor is installed on one side of the bottom end of the rack, the electric control cabinet is installed on the bottom of the side wall of the rack, and the lifting unit is installed on the rack. Adjustable limiting parts are symmetrically installed on the loading platform, and two reinforcing parts are installed on the adjustable limiting parts.

[0004] In the above-mentioned scheme, the adjustable limiting parts can realize clamping on both sides of the goods on the loading platform, avoid the problem of shaking of the goods during lifting, and improve the safety during the stacking process of the goods. However, the anti-shaking mechanism is passive and static. It cannot solve the basic shaking problem caused by the different inertia of the moving platform and the goods, and the sudden change of acceleration during the high-speed start and stop and dynamic stretching of the stacker.

[0005] Therefore, a rigid anti-shaking device for a stacker of an automated warehouse is proposed to solve the above-mentioned problems. SUMMARY

[0006] Technical problems to be solved In view of the above-mentioned shortcomings of the prior art, the present application provides a rigid anti-shaking device for a stacker of an automated warehouse, which can solve the problem of front and lateral shaking of goods caused by acceleration and deceleration inertia and motion asynchronization in the prior art. Through rigid constraint, energy recovery and active anti-shaking mechanism, the technical purpose of effectively suppressing the shaking of goods and improving the operation stability and positioning accuracy is achieved.

[0007] Technical scheme

[0008] To achieve the above-mentioned purposes, the present application is realized by the following technical scheme: The application provides a rigid anti-shaking device for a stacking machine of an automated stereoscopic warehouse, which comprises the stacking machine, a first moving platform and a second moving platform arranged on one side of the stacking machine, a carrier table arranged above the second moving platform, a scissor linkage mechanism, a buffer mechanism and a protection mechanism, the scissor linkage mechanism is connected between the first moving platform and the second moving platform of the stacking machine, the scissor linkage mechanism comprises at least one group of X-shaped telescopic rod groups for limiting the relative movement between the two platforms to be linear movement, the buffer mechanism is arranged between the first moving platform and the second moving platform, the buffer mechanism comprises a limiting block arranged on the first moving platform and an elastic movable component arranged on the second moving platform and capable of contacting the limiting block, for compressing the elastic movable component to absorb impact energy and store elastic potential energy when the two platforms move relative to each other, the protection mechanism is arranged between the first moving platform and the carrier table, the protection mechanism comprises a anti-shaking execution component driven by the elastic potential energy released by the buffer mechanism, and the anti-shaking execution component comprises a baffle capable of extending to the side of the goods for inhibiting the lateral shaking of the goods on the carrier table.

[0009] Further, the telescopic rod group comprises a sleeve and a sliding rod slidingly installed in the sleeve, and the ends of the sleeve and the sliding rod are rotatably connected to the mounting seats on the first moving platform and the second moving platform through rotary joints.

[0010] Further, the sliding rod is provided with a limiting strip, and the inner wall of the sleeve is provided with a groove matched with the limiting strip.

[0011] Further, the elastic movable component comprises a sliding rail fixed to the second moving platform and a push rod capable of elastically sliding on the sliding rail, and the limiting block is arranged on the travel path of the push rod.

[0012] Further, a first spring is arranged on the sliding rail to provide elastic force to the push rod, and the buffer mechanism further comprises a locking mechanism for locking the push rod at a position after the first spring is compressed. The locking mechanism comprises a limiting slot arranged on the push rod and a ratchet wheel driven by the limiting slot to rotate in one direction, and a clamping key is elastically slidingly arranged on the fixed rod and engaged with the ratchet wheel to prevent reverse rotation of the ratchet wheel.

[0013] Further, the locking mechanism further comprises an electromagnetic valve for controlling the movement of the clamping key to release the locking of the ratchet wheel, so as to release the stored elastic potential energy.

[0014] Further, the protection mechanism comprises an elastic potential energy releasing mechanism for releasing the elastic potential energy stored in the buffer mechanism, and the locking mechanism further comprises a first bevel gear coaxially connected with the ratchet wheel, and the elastic potential energy releasing mechanism comprises a second bevel gear engaged with the first bevel gear and a cam coaxially connected with the second bevel gear.

[0015] Further, the anti-shaking execution assembly has a pneumatic circuit comprising a cam driven to rotate by the elastic potential energy, an air pipe driven by the cam and pressurized for the circuit, a communicating vessel communicated with the air pipe through a pipeline, and a plurality of branch pipes communicated with the communicating vessel. The baffle is slidingly installed in the branch pipe and is driven to extend out by the gas pressure in the pneumatic circuit.

[0016] Further, the surface of the branch pipe is provided with a flow limiting hole for slowly releasing the gas in the branch pipe.

[0017] Further, the push rod is provided with an anti-collision block at one end of the limiting stopper.

[0018] Beneficial effects

[0019] The technical scheme provided by the application has the following beneficial effects compared with the prior art: The application adds a scissor linkage mechanism between the first moving platform and the second moving platform, forces the relative movement between the two platforms to be a single and determined straight line movement, greatly enhances the connection stiffness in the horizontal and vertical directions, transmits the inertial force of the second moving platform and the goods to the first moving platform with greater mass and stability to absorb, and thus suppresses the basic shaking caused by sudden acceleration and structural elastic deformation.

[0020] The unique buffer mechanism can convert the huge inertial impact kinetic energy into elastic potential energy (compress the first spring) and store and lock the energy when the device is decelerated and stopped, and actively release the stored elastic energy through the electromagnetic valve when needed to provide power for the subsequent anti-shaking action, thereby realizing energy recycling.

[0021] The released elastic energy drives the protection mechanism through the bevel gear set, the cam drives the first piston rod to pressurize the communicating vessel and the branch pipe, the high-pressure gas pushes a plurality of linearly distributed baffles to extend out, uniformly applies clamping force from both sides of the goods, forms effective lateral restraint, actively offsets the lateral swinging trend of the goods, and prevents the goods from overturning or twisting.

[0022] In particular, the flow limiting hole on the branch pipe ensures slow pressure release, so that the clamping force of the baffle can be maintained for a period of time, which can effectively offset residual vibration, ensure smooth transition of the goods from the restrained state to the free state, and consolidate and prolong the anti-shaking effect. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0024] Figure 1 A schematic diagram of the overall structure of the rigid anti-shaking device of the stacker in the embodiments of the present application is shown in the figure. Figure 2 A schematic diagram of the installation of the stacker in the embodiments of the present application is shown in the figure. Figure 3 A schematic diagram of the structure of the stacker access mechanism in the embodiments of the present application is shown in the figure. Figure 4 A schematic diagram of the structure of the rigid anti-shaking device in the embodiments of the present application is shown in the figure. Figure 5 A schematic diagram of the installation of the scissor link mechanism in the embodiments of the present application is shown in the figure. Figure 6 A schematic diagram of the installation of the buffer mechanism in the embodiments of the present application is shown in the figure. Figure 7 A schematic diagram of the structure of the buffer mechanism in the embodiments of the present application is shown in the figure. Figure 8 A schematic diagram of the structure of the buffer mechanism in the embodiments of the present application is shown in the figure. Figure 7 A schematic diagram of the structure of the buffer mechanism in the embodiments of the present application is shown in the figure. Figure 9 A schematic diagram of the installation of the protection mechanism in the embodiments of the present application is shown in the figure. Figure 10 A schematic diagram of the structure of the protection mechanism in the embodiments of the present application is shown in the figure.

[0025] The reference numerals in the figures represent: 1, shelf; 2, stacker; 3, lifting platform; 4, support frame; 5, guide wheel; 6, first moving platform; 7, first rack; 8, motor; 9, drive gear; 10, second moving platform; 11, object carrier; 12, driven gear; 13, second rack; 14, third rack; 15, mounting seat; 16, rotating joint; 17, sleeve; 18, sliding rod; 19, limiting strip; 20, limiting block; 21, sliding rail; 22, sliding block; 23, first spring; 24, push rod; 25, anti-collision block; 26, slot; 27, ratchet wheel; 28, limiting slot; 29, fixed rod; 30, clamping key; 31, second spring; 32, electromagnetic valve; 33, first bevel gear; 34, second bevel gear; 35, cam; 36, air pipe; 37, first piston rod; 38, communicating vessel; 39, branch pipe; 40, third spring; 41, exhaust one-way valve; 42, intake one-way valve; 43, second piston rod; 44, flow limiting hole; 45, baffle. DETAILED DESCRIPTION

[0026] The application will be further described below in connection with the drawings and examples. It should be understood that the examples described herein are intended to explain the application and are not intended to limit the application. It should also be understood that, for the sake of brevity, only the parts of the drawings that are necessary for an understanding of the application have been shown.

[0027] In the description of the application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrated; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication or interaction relationship of two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0028] In the present application, unless otherwise explicitly specified and limited, "on" or "under" of the first feature to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, "on", "above" and "above" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. "Below", "below" and "below" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0029] In the description of the present embodiment, the terms "up", "down", "left", "right", and other orientation or position relationships are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0030] The application will be further described below in connection with the drawings and examples. It should be understood that the examples described herein are intended to explain the application and are not intended to limit the application. It should also be understood that, for the sake of brevity, only the parts of the drawings that are necessary for an understanding of the application have been shown.

[0031] Embodiment: The typical structure of the stacker access mechanism includes a lifting platform mounted on the stacker, a support frame is mounted on the surface of the lifting platform, a first moving platform is slidingly installed on the support frame, a driving gear driven by a motor is installed on the lifting platform, and a first rack meshing connected with the driving gear is installed below the first moving platform (as shown in the accompanying Figure 3

[0032] ​When the stacker access mechanism needs to take or put goods from or into the shelves, the driving gear is driven to rotate by starting the motor, and the first rack is engaged to slide, so that the first moving platform can slide horizontally on the lifting platform and move vertically to the goods compartment on the shelf to realize the access of the goods.

[0033] Please refer to the attached drawings Figures 1-10 The present application provides a rigid anti-shaking device for a stacker of an automated stereoscopic warehouse. A scissor linkage mechanism is added between the first moving platform and the second moving platform to force the relative movement between the two to be only linear movement in a single direction, effectively suppressing the basic lateral and vertical shaking caused by sudden acceleration and structural gaps.

[0034] When the stacker decelerates and stops, the impact force generated by the inertia of the second moving platform pushes the push rod of the buffer mechanism to contact the limiting block, compresses the first spring, and converts the impact kinetic energy into elastic potential energy. At the same time, the locking mechanism composed of the ratchet and the key locks the spring in the compressed state, realizing energy storage. When the system detects that the goods need to be protected from shaking, the electromagnetic valve is controlled to act, releasing the locking of the ratchet by the key. The compressed first spring pushes the push rod to reset, driving the ratchet to reverse. The reverse rotation of the ratchet drives the cam to rotate through the meshing bevel gear set. The cam extrudes the first piston rod in the gas pipe on both sides, and the gas is pressed into the communicating vessel to establish pressure.

[0035] The high-pressure gas pushes the second piston rod and the baffle at the end of the second piston rod to synchronously extend through multiple branch pipes, applying uniform clamping force from both sides of the goods to directly suppress the lateral swinging of the goods. The flow limiting hole on the branch pipe allows the gas pressure in the branch pipe to be slowly released, allowing the baffle to maintain clamping force for a period of time, thereby offsetting residual vibration and ensuring smooth transition of the goods from the constrained state to the free state, thereby consolidating the anti-shaking effect.

[0036] The stacker access mechanism includes a lifting platform 3 mounted on a stacker 2, and the stacker 2 is arranged on one side of a shelf 1. By operating the stacker 2, the lifting platform 3 can be controlled to move horizontally or vertically on the shelf 1, thereby realizing the access of the lifting platform 3 to the goods compartments at different positions on the shelf 1.

[0037] Specifically, the surface of the lifting platform 3 is provided with two groups of support frames 4, and a first moving platform 6 is mounted between the two groups of support frames 4. The surface of the support frame 4 is also provided with linearly distributed guide wheels 5, and the first moving platform 6 is slidingly mounted on the guide wheels 5. The linearly distributed guide wheels 5 on the support frame 4 together form an accurate guide track, which strictly limits the first moving platform 6 to move only in the horizontal direction, preventing it from jumping up and down, shaking left and right, or twisting, etc. unnecessary degrees of freedom, ensuring the linearity and certainty of the motion trajectory.

[0038] The lifting platform 3 is provided with a driving gear 9 driven by a motor 8, and the first moving platform 6 is provided with a first rack 7 engaged with the driving gear 9. When the stacker access mechanism needs to take or put goods in the shelf 1, the motor 8 is started to drive the driving gear 9 to rotate and engage the first rack 7 to slide, so that the first moving platform 6 can slide horizontally on the lifting platform 3 and vertically move to the goods bin on the shelf 1 to realize the access of the goods.

[0039] The first moving platform 6 is further provided with a second moving platform 10 slidingly installed thereon, and the second moving platform 10 is provided with guide wheels 5 on both sides and is adapted to be installed on the first moving platform 6. This can ensure that the second moving platform 10 moves stably, smoothly and accurately in a straight line during the extension or retraction on the first moving platform 6, prevents jamming, shaking or tilting caused by the excessive length or heavy load of the platform, and ensures the accuracy and reliability of the goods access.

[0040] The lower end surface of the second moving platform 10 is connected with a third rack 14, the third rack 14 is engaged with a driven gear 12 rotatably connected to the surface of the first moving platform 6, and the driven gear 12 is further engaged with a second rack 13 provided on the lifting platform 3. When the first moving platform 6 slides on the surface of the lifting platform 3 towards the goods bin on the shelf 1, the driven gear 12 rotates under the engagement of the second rack 13, further controls the driven gear 12 to slide with the third rack 14, realizes the further expansion of the second moving platform 10 on the first moving platform 6, and moves towards the goods bin on the shelf 1, further expands the working range of the stacker access mechanism, and ensures the stability and space efficiency of the whole system.

[0041] The difference is that a scissor linkage mechanism is installed between the first moving platform 6 and the second moving platform 10, and the relative movement between the first moving platform 6 and the second moving platform 10 is forced to be a single and determined straight line movement only, and any other degree of freedom is greatly inhibited.

[0042] Specifically, the scissor linkage mechanism is composed of two groups of X-shaped telescopic rod groups, each telescopic rod group including a sleeve 17 and a slide rod 18, the slide rod 18 being inserted into the sleeve 17, and the surface of the slide rod 18 being provided with a limiting strip 19 matched with the groove in the inner wall of the sleeve 17.

[0043] The other end of the sleeve pipe 17 and the slide bar 18 are connected to the rotating joint 16, and the two sets of rotating joints 16 are respectively connected to the mounting seat 15 arranged on the surface of the first moving platform 6 and the second moving platform 10. When the first moving platform 6 starts to move, the second moving platform 10 starts to further expand or retract on the first moving platform 6 through the transmission of the driven gear 12, the second rack 13 and the third rack 14.

[0044] At this time, the scissors mechanism moves, the slide bar 18 in the telescopic rod with the opening facing the extension direction of the second moving platform 10 extends out of the sleeve pipe 17, and the slide bar 18 rotates around the rotating joint 16 as the center to reduce the included angle between the telescopic rod and the first moving platform 6; the slide bar 18 in the telescopic rod with the opening opposite to the extension direction of the second moving platform 10 is inserted into the sleeve pipe 17, and the slide bar 18 rotates around the rotating joint 16 as the center to increase the included angle between the telescopic rod and the first moving platform 6.

[0045] The scissors linkage mechanism is a rigid body and has only one degree of freedom, which greatly enhances the connection stiffness between the first moving platform 6 and the second moving platform 10 in the transverse direction, i.e., perpendicular to the movement direction and the vertical direction. When the system accelerates or decelerates, the huge inertial force generated by the goods will try to push the second moving platform 10. Without the scissors linkage mechanism, this force can only be borne by the guide wheel 5 and the track groove, which is easy to deform and vibrate. With the scissors linkage mechanism, the inertial force is directly transmitted to the larger and more solid first moving platform 6 through the rigid scissors linkage mechanism.

[0046] The mass and inertia of the first moving platform 6 are much larger than those of the second moving platform 10. According to Newton's second law, the same force acting on a larger mass object produces a very small acceleration. Therefore, the inertial force is absorbed by the large first moving platform 6, and cannot cause significant elastic deformation and oscillation of the second moving platform 10. Further, the relative motion between the two platforms is forced to be a pure straight line motion, eliminating the possibility of twisting and lateral deviation, and reducing the shaking of the goods during movement.

[0047] It is worth noting that at the moment when the device stops running, the impact vibration caused by the huge inertial force will cause violent shaking, affecting the positioning accuracy of the device, and even causing damage to the goods and the structure of the device itself. Therefore, a damping mechanism is installed between the first moving platform 6 and the second moving platform 10, which is used to reversibly convert the impact kinetic energy into elastic potential energy and store it, and release it at the appropriate time to actively offset and suppress the shaking.

[0048] Specifically, the buffering mechanism comprises a limiting block 20 fixedly connected to the first moving platform 6 and a sliding rail 21 connected to the second moving platform 10. An inner wall of the sliding rail 21 is slidably provided with a sliding block 22 through a first spring 23, and the sliding block 22 is connected to a push rod 24 on a side facing the limiting block 20. When the platform is not moving, the sliding block 22 is always pushed to the side of the push rod 24 under the elastic force of the first spring 23.

[0049] When the platform starts to move, the platform is unfolded vertically to one side of the shelf 1, so that the push rod 24 slides to the side of the limiting block 20 under the movement of the second moving platform 10, until the push rod 24 abuts against the surface of the limiting block 20. The push rod 24 is compressed against the first spring 23 through a reaction force under the limiting block 20, so as to achieve buffering and absorption of impact force. The side of the push rod 24 facing the limiting block 20 is connected to an anti-collision block 25 to avoid hard collision of components and prevent deformation or damage due to impact.

[0050] It should be noted that the surface of the second moving platform 10 is provided with a slot 26, and the slot 26 is internally provided with a locking mechanism for controlling storage and release of elastic potential energy. The locking mechanism comprises a ratchet wheel 27 rotatably connected in the slot 26; the ratchet wheel 27 is arranged above the push rod 24 and is in meshing connection with a limiting slot 28 arranged on the upper surface of the push rod 24. Meanwhile, a fixed rod 29 is connected to the inner wall of the slot 26, and a key 30 is slidably arranged on the surface of the fixed rod 29 through a second spring 31. The key 30 is in meshing connection with the ratchet wheel 27 and is used for one-way limiting and blocking of the ratchet wheel 27.

[0051] When the second moving platform 10 slides to one side of the shelf 1, the push rod 24 is compressed against the first spring 23 under the limiting block 20, and the push rod 24 is in meshing connection with the ratchet wheel 27 through the limiting slot 28 during the sliding process. During the rotation of the ratchet wheel 27, the key 30 is pushed to slide on the fixed rod 29 and is compressed against the second spring 31 until the ratchet wheel 27 cannot further push the key 30 to slide, and the key 30 is reset under the elastic force of the second spring 31 to limit and block the ratchet wheel 27, so that the ratchet wheel 27 can only rotate in one direction. Thus, the first spring 23 cannot be released after being compressed, so as to achieve accumulation of impact force and prepare for subsequent release of energy.

[0052] It should be noted that the locking mechanism also includes an electromagnetic valve 32 connected below the secondary mobile platform 10, when the secondary mobile platform 10 is running again to reset to the primary mobile platform 6, when the goods on the secondary mobile platform 10 are shaken due to inertia, the spring energy is actively released by the control system instruction. By opening the electromagnetic valve 32, the electromagnetic valve 32 will attract the metal key 30 on the fixed rod 29 to slide, and pull the key 30 to slide to the side of the electromagnetic valve 32, and press the second spring 31, and release the key 30 from the limit block of the ratchet 27. At this time, the push rod 24 is not limited by the first piston rod 37, and is pushed by the elastic force of the first spring 23, and then engages the ratchet 27 through the limiting card slot 28. Reverse rotation is realized. The release of elastic potential energy.

[0053] It is worth mentioning that the upper surface of the primary mobile platform 6 is provided with a loading table 11 for carrying goods, and a protection mechanism is installed between the primary mobile platform 6 and the loading table 11 to prevent the goods from shaking laterally. When the elastic potential energy accumulated by the buffer mechanism is released, the released elastic potential energy will be converted into mechanical energy to drive the protection mechanism to run, thereby preventing the goods on the surface of the loading table 11 from shaking laterally and achieving stable protection of the goods.

[0054] The protection mechanism includes a second bevel gear 34 and a cam 35 rotatably connected to the loading table 11, and the second bevel gear 34 and the cam 35 are coaxially distributed. The buffer mechanism further includes a first bevel gear 33 rotatably connected in the slot 26 and coaxially distributed with the ratchet 27. When the elastic potential energy accumulated by the buffer mechanism is released, it will drive the ratchet 27 to rotate synchronously with the first bevel gear 33, and then make the first bevel gear 33 mesh with the second bevel gear 34 to drive the cam 35 to rotate synchronously.

[0055] The protection mechanism further includes two sets of shaking suppression mechanisms installed on both sides of the cam 35, which are driven to run by the rotation of the cam 35, thereby actively resisting the lateral movement trend caused by the horizontal shaking of the goods, and achieving the protection of the goods from shaking.

[0056] Specifically, the shaking suppression mechanism includes a gas pipe 36 installed on the loading table 11, one end of the gas pipe 36 is communicated with the communication device 38 provided on the loading table 11, and the other end of the gas pipe 36 is internally slidably installed with a first piston rod 37 by a third spring 40. The first piston rod 37 is always pulled to the side of the cam 35 by the elastic force of the third spring 40, so that the first piston rod 37 is always in contact with the surface of the cam 35.

[0057] The connection between the air pipe 36 and the communicating vessel 38 is provided with an exhaust one-way valve 41. When the cam 35 rotates, it will push the first piston rod 37 to reciprocate in the air pipe 36, and then the gas in the air pipe 36 will be extruded into the communicating vessel 38 through the exhaust one-way valve 41 to realize the pressurization of the communicating vessel 38. At the same time, the surface of the air pipe 36 is connected with the outside through the air inlet one-way valve 42. When the first piston rod 37 is reset under the elastic force of the third spring 40, the outside air will be sucked into the air pipe 36 through the air inlet one-way valve 42 to realize the replenishment of the gas in the air pipe 36. Then, the cam 35 can control the first piston rod 37 to continuously inject air into the communicating vessel 38 from the continuous rotation process, realize the pressurization of the communicating vessel 38, and actively offset the tendency of the horizontal swing of the goods by using the air pressure, thereby realizing the anti-swing protection.

[0058] The swing suppression mechanism further comprises a plurality of anti-swing mechanisms installed on the communicating vessel 38, which are linearly distributed at equal distances on the communicating vessel 38, so that the swing suppression mechanism can simultaneously suppress the swing of the goods at multiple positions on the goods table 11, effectively ensuring the stability of the goods during movement. More specifically, the anti-swing mechanism comprises a branch pipe 39 connected to the communicating vessel 38, and the branch pipe 39 is in communication with the communicating vessel 38.

[0059] The upper end of the branch pipe 39 is internally slidably installed with a second piston rod 43, and the outer end of the second piston rod 43 is connected with a baffle 45. When the communicating vessel 38 is pressurized, the air pressure will push the second piston rod 43 to slide outward in the branch pipe 39, and then control the baffle 45 to slide to the side of the goods and abut against the side of the goods to provide a lateral restraining force, thereby effectively suppressing the swing and shaking of the goods during movement and ensuring the stability of the goods during transportation.

[0060] Through the position distribution of the two groups of swing suppression mechanisms, the swing of the lateral sides of the goods can be suppressed simultaneously, effectively ensuring the stability of the goods during movement. The goods, especially those that are high or irregular in shape, may produce different degrees of displacement at different points during swing. Multiple action points can simultaneously constrain multiple parts of the goods, such as the upper, middle and lower parts, to form a uniform clamping force, thereby avoiding the overall overturning or local distortion of the goods due to single-point support. Moreover, the linear distribution ensures that the restraining force is uniformly distributed along the side of the goods, avoiding stress concentration, and can more effectively and stably resist the swing from all directions.

[0061] The existing stacker rack of the stereoscopic warehouse is generally passively adjusted by self-adaptive adjustment of the rack structure to realize passive adjustment of the rack layer height and static fixation of the goods, solves the problems of space utilization rate and goods storage safety, and cannot cope with the inertial shaking caused by sudden acceleration of the stacker in the movement process. Compared with the prior art, the core difference of the device is that a dynamic anti-shaking mechanism is introduced to realize the leap from static rack adaptation to dynamic motion control, the improvement is that the anti-shaking focus is moved from the goods storage link to the stacker movement link, the positioning accuracy and running stability of the stacker in high-speed start-stop and telescopic movement are significantly improved, the goods displacement or equipment wear caused by basic shaking is avoided, and a basic guarantee is provided for efficient operation of the stereoscopic warehouse.

[0062] Specifically, the device ensures the stability of goods in the dynamic process of the stacker through the construction of three continuous anti-shaking structures. First, the scissor linkage mechanism is used as the basis, and the inertial force of the secondary moving platform 10 and the goods is directly transmitted to the primary moving platform 6 with greater mass through rigid connection for absorption. The system rigidity is greatly enhanced from the root cause, the basic shaking caused by sudden acceleration is inhibited, and a stable foundation is provided for the entire anti-shaking system. This is essentially different from the static scheme which only provides constraint after the goods are in place. Secondly, the buffer mechanism intervenes at the moment of maximum inertial impact such as stacker deceleration and stopping, converts the harmful impact kinetic energy into elastic potential energy, that is, by compressing the first spring 23, and storing it by using the locking mechanism composed of the ratchet 27 and the key 30. This process realizes the recycling and temporary storage of energy, and prepares power output for subsequent active control. And through the electromagnetic valve 32, the release timing is realized. The intelligent control provides an interface. Finally, the protection mechanism releases the stored elastic potential energy when the system needs to drive the pneumatic circuit to generate uniform pressure, control multiple baffles 45 to synchronously and flexibly extend, and actively constrain the goods laterally to accurately offset the lateral swinging trend of the goods. Especially the design of the flow limiting hole 44 ensures the smooth release of the constraint force, realizes the soft landing of the buffer, and avoids secondary impact.

[0063] Compared with the prior art for solving the static storage safety of goods on the rack, the present scheme focuses on the dynamic stability of the stacker in the movement process. The actuation timing of the device runs through the whole process of the stacker running, deceleration and stopping, and initial static state, ensuring that the goods are in a controlled stable state from the beginning of handling to placement.

[0064] At the same time, the surface of the branch pipe 39 is provided with a flow limiting hole 44 in communication with the outside, which slowly releases the gas pressure in the branch pipe 39. When the cam 35 rotates to drive the first piston rod 37 to pressurize the communicating vessel 38 and the branch pipe 39, the second piston rod 43 is pushed out, and the baffle 45 tightly abuts against the side of the goods to form a rigid or pneumatic clamping restraint, thereby inhibiting the lateral shaking of the goods. If there is no flow limiting hole 44, then at the moment when the cam 35 stops pressurizing, the gas in the branch pipe 39 will quickly release pressure through the path of the air inlet one-way valve 42, etc., causing the second piston rod 43 to immediately retract under the slight rebound or platform vibration of the goods itself. The anti-shaking restraint will instantly disappear, and the goods may shake again, greatly reducing the effect of the entire anti-shaking mechanism.

[0065] The flow limiting hole 44 provides a very small and fixed flow cross section, and after pressurization stops, the high-pressure gas can only slowly leak into the atmosphere through this small hole. This makes the pressure in the branch pipe 39 gradually decrease rather than instantaneously disappear, and eventually the clamping force of the baffle 45 on the goods is maintained for a period of time and slowly released, which is sufficient to offset the residual kinetic energy and vibration of the goods or platform at the moment of stopping, ensuring a smooth transition from the restrained state to the free state of the goods, thereby consolidating and prolonging the anti-shaking effect.

[0066] At the same time, when the platform is unfolded vertically to one side of the shelf 1, the push rod 24 in the buffer mechanism will also rotate through the limiting clamping slot 28 to engage the ratchet wheel 27, and then drive the cam 35 through the second bevel gear 34 to control the operation of the protection mechanism, achieving protection during the conveying of goods to the storage compartment of the shelf 1.

[0067] And compared to solving the jamming problem of the goods during the taking and placing process of the stacker, the device can intervene in the entire movement process of the stacker, and through energy recovery and active control, it can achieve anti-shaking, and then upgrade the anti-shaking from the end operation to the body dynamic control. The rigid anti-shaking device of the stacker in this scheme focuses on active anti-shaking during the movement process of the stacker, and through the cooperation of multiple mechanisms, it realizes the leap from passive response to active control. Compared with the existing technology which improves static stability through mechanical overturning and self-adaptive fixing, these operations all depend on the motion stability of the stacker body. If the stacker produces severe shaking during starting and stopping or stretching and retracting, the overturning mechanism may not be able to accurately position, resulting in deviation of the goods placement or invisible marking. The device inhibits the basic shaking through the scissor linkage mechanism, and absorbs the impact energy through the buffer mechanism, ensuring the utmost stability of the movement process of the stacker.

[0068] The above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can be modified, or some technical features can be replaced by equivalent features; and these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present application.

Claims

1. A rigid anti-sway device for a stacker crane in an automated storage and retrieval system, comprising a stacker crane (2) and a primary moving platform (6) and a secondary moving platform (10) disposed on one side thereof, wherein a loading platform (11) is disposed above the secondary moving platform (10), characterized in that, Also includes: A scissor linkage mechanism is connected between the primary moving platform (6) and the secondary moving platform (10) of the stacker crane. The scissor linkage mechanism includes at least one set of telescopic rods arranged in an X-shape to limit the relative motion between the two platforms to linear motion. A buffer mechanism is provided between the first-level moving platform (6) and the second-level moving platform (10). The buffer mechanism includes a limiting block (20) provided on the first-level moving platform (6) and an elastic movable component provided on the second-level moving platform (10) that can contact the limiting block (20). The elastic movable component is used to compress the elastic movable component to absorb impact energy and store elastic potential energy when the two platforms move relative to each other. The protective mechanism is disposed between the primary moving platform (6) and the cargo platform (11). The protective mechanism includes an anti-sway actuator that can be driven by the elastic potential energy released by the buffer mechanism. The anti-sway actuator includes a baffle (45) that can extend to the side of the cargo to suppress the lateral swaying of the cargo on the cargo platform (11).

2. The rigid anti-sway device for a stacker crane in an automated storage and retrieval system according to claim 1, characterized in that, The telescopic rod assembly includes a sleeve (17) and a slide rod (18) slidably installed in the sleeve (17). The ends of the sleeve (17) and the slide rod (18) are respectively rotatably connected to the mounting bases (15) on the primary moving platform (6) and the secondary moving platform (10) through a rotating joint (16).

3. A rigid anti-sway device for a stacker crane in an automated storage and retrieval system according to claim 2, characterized in that, The slide bar (18) has a limiting strip (19) on its surface, and the inner wall of the sleeve (17) has a groove that matches the limiting strip (19).

4. A rigid anti-sway device for a stacker crane in an automated storage and retrieval system according to claim 1, characterized in that, The elastic movable component includes a slide rail (21) fixed on the secondary moving platform (10) and a push rod (24) that can slide elastically on the slide rail (21), and the limiting block (20) is set on the travel path of the push rod (24).

5. A rigid anti-sway device for a stacker crane in an automated storage and retrieval system according to claim 4, characterized in that, A first spring (23) for providing elastic force to the push rod (24) is provided on the slide rail (21), and the buffer mechanism further includes a locking mechanism for locking the push rod (24) in the position after compressing the first spring (23); The locking mechanism includes a limiting slot (28) on the push rod (24) and a ratchet (27) that is driven by the limiting slot (28) to rotate in one direction. A locking key (30) is elastically slidably mounted on the fixed rod (29) and engages with the ratchet (27) to prevent the ratchet (27) from reversing.

6. A rigid anti-sway device for a stacker crane in an automated storage and retrieval system according to claim 5, characterized in that, The locking mechanism also includes a solenoid valve (32) for controlling the movement of the latch (30) to release the ratchet (27) from locking, thereby releasing the stored elastic potential energy.

7. A rigid anti-sway device for a stacker crane in an automated storage and retrieval system according to claim 6, characterized in that, The protective mechanism includes a spring release mechanism for releasing the elastic potential energy stored in the buffer mechanism, and the locking mechanism also includes a first bevel gear (33) coaxially connected to the ratchet (27). The spring release mechanism includes a second bevel gear (34) meshing with the first bevel gear (33) and a cam (35) coaxially connected to the second bevel gear (34).

8. A rigid anti-sway device for a stacker crane in an automated storage and retrieval system according to claim 7, characterized in that, The anti-sway actuator has a pneumatic circuit, which includes a cam (35) driven to rotate by elastic potential energy, an air pipe (36) driven by the cam (35) and pressurizing the circuit, a connector (38) connected to the air pipe (36) through a pipeline, and a plurality of branch pipes (39) connected to the connector (38). The baffle (45) is slidably installed inside the branch pipe (39) and is extended by gas pressure in the pneumatic circuit.

9. A rigid anti-sway device for a stacker crane in an automated storage and retrieval system according to claim 8, characterized in that, The surface of the branch pipe (39) is provided with a flow-limiting hole (44) for slowly releasing the gas inside the branch pipe (39).

10. A rigid anti-sway device for a stacker crane in an automated storage and retrieval system according to claim 4, characterized in that, The push rod (24) has an anti-collision block (25) at one end facing the limiting block (20).

Images