A multi-track high-precision track transfer vehicle for a stacker

Abstract

The present invention discloses a multi-aisle high-precision rail transfer vehicle for a stacker, which relates to the technical field of stereoscopic warehousing equipment and includes a chassis. An installation platform for installing a stacker is arranged at the top of the chassis, and a tilting and leveling mechanism for adjusting the attitude of the installation platform is arranged at the edge of the inner wall of the chassis; several stacking positioning units for positioning the chassis are arranged at the corners of the bottom of the inner wall of the chassis, and a traction driving mechanism for driving the overall movement of the transfer vehicle is fixedly installed in the middle of the bottom of the chassis. By setting the tilting and leveling mechanism and using structures such as connecting columns and pushing springs, the tilting pressure of the installation platform is converted into the displacement tilt of the leveling pad and the deformation of the pushing spring, reducing the impact on the chassis; by pushing and pressing the adjusting pad by the pushing hydraulic cylinder to drive the movement of the installation platform, the installation platform and the stacking unit thereon are kept balanced, thereby improving the stacking operation precision of the stacker.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional storage equipment, and in particular to a multi-lane high-precision rail transfer vehicle for a stacker crane. Background Art

[0002] A rail transfer vehicle is a special equipment for an automated three-dimensional warehouse, which is used to carry a stacker crane from one lane to another in a multi-lane three-dimensional warehouse, so that only 1-2 stacker cranes are required in the multi-lane three-dimensional warehouse, thus saving funds.

[0003] When the stacker crane performs stacking operations, it will inevitably tilt due to the influence of the weight of the loaded goods, and then drive the entire rail transfer vehicle to tilt, affecting the accuracy of the stacking operation. Moreover, when the stacker crane tilts, the torsional pressure generated by its tilt often directly acts on the connection structure between the rail transfer vehicle and its running track, exacerbating the wear of this structure and affecting its service life. In addition, for existing rail transfer vehicles, their positioning operations generally only rely on sensors, and the stability of position control is insufficient. During the stacking process, the frequent loading, unloading, and displacement of goods are likely to cause changes in the overall position of the rail transfer vehicle and the stacker crane, resulting in a reduction in the accuracy of the stacking operation. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-lane high-precision rail transfer vehicle for a stacker crane to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] A multi-lane high-precision rail transfer vehicle for a stacker crane includes a chassis. An installation platform for installing a stacker crane is provided on the top of the chassis. An inclination adjustment and leveling mechanism for adjusting the attitude of the installation platform is provided on the edge of the inner wall of the chassis. A number of stacking positioning units for positioning the chassis are provided at the corners of the bottom of the inner wall of the chassis. A traction drive mechanism for driving the overall movement of the rail transfer vehicle is fixedly installed in the middle of the bottom of the chassis. The traction drive mechanism is implemented by using existing technical means. Guide rail auxiliary positioning units for improving the docking stability between the rail transfer vehicle and the guide rail are fixedly installed at both ends of the bottom of the chassis.

[0007] As a further solution of the present invention: The inclination adjustment and leveling mechanism includes a leveling cushion plate. A number of connecting columns are fixedly connected to the top edge of the leveling cushion plate. The tops of the number of connecting columns are fixedly connected to the bottom of the installation platform. A thrust spring is sleeved on the outer wall of each of the number of connecting columns. A thrust hydraulic cylinder is provided on one side of each of the number of connecting columns. The output end of the thrust hydraulic cylinder is fixedly connected to the top of the leveling cushion plate. A displacement sensor is fixedly installed on one side of each of the number of thrust hydraulic cylinders.

[0008] As a further solution of the present invention: a cover box is arranged in the middle of the chassis, an oil pump is fixedly installed inside the cover box, the output end of the oil pump is fixedly connected with a plurality of shunt pipes, one ends of the plurality of shunt pipes are respectively fixedly connected with the oil inlets of a plurality of thrust hydraulic cylinders, and regulating valves are fixedly installed in the middle of the plurality of shunt pipes.

[0009] As a further solution of the present invention: the stacking and positioning unit includes a housing, a limiting sleeve is fixedly connected to the bottom of the inner wall of the housing, a positioning rod is slidably connected to the inner wall of the limiting sleeve, one end of the positioning rod is fixedly connected with a positioning spring, a tooth groove is arranged on one side of the positioning rod, an adjusting motor is fixedly installed on one side of the housing, the output end of the adjusting motor is fixedly connected with an incomplete gear, the incomplete gear is meshed with the tooth groove, and photoelectric sensors are embedded in the plurality of positioning rods.

[0010] As a further solution of the present invention: the guide rail auxiliary positioning unit includes a positioning guide wheel, the top of the positioning guide wheel is rotatably connected to the bottom of the chassis, the width of the positioning guide wheel is smaller than the width of the running guide rail of the roller car, a positioning cover plate is arranged on one side of the positioning guide wheel, the width of the positioning cover plate is smaller than the width of the positioning guide wheel, the two side edges of the positioning cover plate are both arc-shaped surfaces, thrust sliding grooves are arranged on both sides inside the positioning cover plate, thrust rollers are slidably connected to the middle of the two thrust sliding grooves, a reset spring is fixedly connected to one side of each of the two thrust rollers, one end of the reset spring is fixedly connected to one end of a thrust ring groove, a thrust rod is fixedly connected to the other side of each of the two thrust rollers, a thrust block is slidably connected to the middle of the positioning cover plate, inclined surfaces are arranged on both sides of the thrust block, and an adjusting hydraulic cylinder is fixedly installed at the bottom of the inner wall of the positioning cover plate, and the output end of the adjusting hydraulic cylinder is fixedly connected to the bottom of the thrust block.

[0011] As a further solution of the present invention: an installation groove is arranged at the top of the installation table, an installation plate is slidably connected inside the installation groove, a plurality of equally spaced installation openings are clamped on both sides of the inner wall of the installation groove, and installation bolts are threadedly connected to both ends of the installation plate; a docking groove is arranged in the middle of the installation groove, a docking frame is slidably connected to the inner wall of the docking groove, and the top of the docking frame is fixedly connected to the bottom of the installation plate.

[0012] As a further solution of the present invention: a side baffle is fixedly connected to one side of the top of the installation plate, an extending support table is fixedly connected to one side of the side baffle, and assembly openings are arranged in the middle of the side baffle and the extending support table.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: By setting the tilting and leveling mechanism, and using structures such as connecting columns and pushing springs, the tilting pressure of the installation platform is converted into the displacement tilt of the leveling cushion plate and the deformation of the pushing spring, reducing the impact on the chassis, reducing the pressure on the connection structure between the roller car and the running guide rail, minimizing its damage, and extending the service life of components; By pushing and pressing the adjusting cushion plate with the pushing hydraulic cylinder to drive the movement of the installation platform, the installation platform and the stacking unit thereon are kept balanced, thereby improving the stacking operation accuracy of the stacker.

[0014] Through the social stacking positioning unit, when the stacker enters the roadway for stacking operation, the accurate locking of the bottom plate position is achieved by the docking and positioning of the positioning rod and the positioning hole, which not only improves the displacement accuracy of the transfer car driving the stacker to move, but also makes the overall stability of the chassis and the stacker higher during the stacking operation.

[0015] By setting the guide rail auxiliary positioning unit, using the contact between the two pushing rollers and the track and the positioning guide wheels, a contact positioning point between the chassis and the running guide rail is provided at both ends of the chassis, thereby improving the stability of the transfer car during operation; At the same time, by setting structures such as pushing blocks, the position of the pushing roller and its contact force with the track are pushed and adjusted to achieve the adjustment of the running speed of the transfer car. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a perspective view of the present invention;

[0017] Figure 2 is a sectional view of the present invention;

[0018] Figure 3 is a sectional view of the stacking positioning unit of the present invention;

[0019] Figure 4 is a sectional view of the guide rail auxiliary positioning unit of the present invention;

[0020] Figure 5 is a schematic diagram of the bottom structure of the present invention.

[0021] In the figure: 1, chassis; 2, installation platform; 3, side baffle; 4, extended support platform; 5, docking groove; 6, docking frame; 7, mounting plate; 8, mounting opening; 9, connecting column; 10, pushing spring; 11, leveling cushion plate; 12, pushing hydraulic cylinder; 13, shunt pipe; 14, displacement sensor; 15, regulating valve; 16, housing; 17, positioning rod; 18, limit sleeve; 19, incomplete gear; 20, cover box; 21, traction drive mechanism; 22, positioning guide wheel; 23, positioning cover plate; 24, pushing chute; 25, adjusting hydraulic cylinder; 26, pushing roller; 27, pushing rod; 28, pushing block. DETAILED DESCRIPTION OF THE INVENTION

[0022] Next, in combination with the accompanying drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] Please refer to Figures 1 - 5 , in the embodiment of the present invention, a multi-lane high-precision track transfer vehicle for a stacker includes a chassis 1. At the top of the chassis 1, there is an installation platform 2 for installing the stacker. At the edge of the inner wall of the chassis 1, there is a tilting and leveling mechanism for adjusting the attitude of the installation platform 2; at the corners of the bottom of the inner wall of the chassis 1, there are several stacking positioning units for positioning the chassis 1. In the middle of the bottom of the chassis 1, there is a traction driving mechanism 21 fixedly installed for driving the overall movement of the track transfer vehicle. The traction driving mechanism 21 is implemented by using existing technical means. At both ends of the bottom of the chassis 1, there are guide rail auxiliary positioning units fixedly installed for improving the docking stability between the track transfer vehicle and the guide rail.

[0024] The tilting and leveling mechanism includes a leveling cushion plate 11. At the top edge of the leveling cushion plate 11, several connecting columns 9 are fixedly connected. The tops of the several connecting columns 9 are all fixedly connected to the bottom of the installation platform 2. The outer walls of the several connecting columns 9 are all sleeved with pushing springs 10; on one side of the several connecting columns 9, there are several pushing hydraulic cylinders 12. The output ends of the pushing hydraulic cylinders 12 are fixedly connected to the top of the leveling cushion plate 11. On one side of the several pushing hydraulic cylinders 12, there are displacement sensors 14 fixedly installed; by setting the tilting and leveling mechanism, by using structures such as the connecting columns 9 and the pushing springs 10, the tilting pressure of the installation platform 2 is converted into the displacement tilt of the leveling cushion plate 11 and the deformation of the pushing springs 10, so that the influence of the unbalanced pressure brought during the operation of the stacker on the chassis 1 is reduced, the pressure on the connection structure between the track transfer vehicle and the running guide rail is reduced, its damage is reduced, and the service life of the components is prolonged; by setting the pushing hydraulic cylinders 12 and the displacement sensors, the displacement distance of the adjusting cushion plate is detected. By pushing and pressing the adjusting cushion plate by the pushing hydraulic cylinders 12, the installation platform 2 is driven to move, so that the installation platform 2 and the stacking unit thereon are kept balanced, thereby improving the stacking operation accuracy of the stacker.

[0025] To provide power to each thrust hydraulic cylinder 12, a cover box 20 is provided in the middle of the chassis 1. An oil pump is fixedly installed inside the cover box 20. The output end of the oil pump is fixedly connected to a number of shunt pipes 13. One ends of the number of shunt pipes 13 are respectively fixedly connected to the oil inlets of the number of thrust hydraulic cylinders 12. A regulating valve 15 is fixedly installed in the middle of each of the number of shunt pipes 13. The working states of the number of thrust hydraulic cylinders 12 are independently controlled through the number of shunt pipes 13 and the regulating valves 15, so that the tilting postures of the adjusting cushion plate in all directions can be adjusted, and the adjustment operation is more flexible and accurate.

[0026] The stacking positioning unit includes a housing 16. The bottom of the inner wall of the housing 16 is fixedly connected with a limit sleeve 18. A positioning rod 17 is slidably connected to the inner wall of the limit sleeve 18. One end of the positioning rod 17 is fixedly connected with a positioning spring. A tooth groove is provided on one side of the positioning rod 17. An adjusting motor is fixedly installed on one side of the housing 16. The output end of the adjusting motor is fixedly connected with an incomplete gear 19. The incomplete gear 19 is meshed with the tooth groove. Photoelectric sensors are embedded in each of the number of positioning rods 17. In specific implementation, a number of positioning holes corresponding to the positioning rods 17 are opened on the roadway ground of the storage shelf. Photoelectric receivers or transmitters corresponding to the through-point sensors are arranged in the positioning holes. By setting the stacking positioning unit, when the stacker enters the roadway for stacking operation, the docking positioning of the positioning rod 17 and the positioning hole is used to accurately lock the position of the bottom plate, which not only improves the displacement accuracy of the chassis 1 driving the stacker to move, but also makes the overall stability of the chassis 1 and the stacker higher during the stacking operation.

[0027] The guide rail auxiliary positioning unit includes a positioning guide wheel 22. The top of the positioning guide wheel 22 is rotatably connected to the bottom of the chassis 1. A positioning cover plate 23 is arranged on one side of the positioning guide wheel 22. Thrust sliding grooves 24 are opened on both sides inside the positioning cover plate 23. Thrust rotating rollers 26 are slidably connected to the middle of the two thrust sliding grooves 24. A return spring is fixedly connected to one side of each of the two thrust rotating rollers 26. One end of the return spring is fixedly connected to one end of the thrust ring groove. Thrust rods 27 are fixedly connected to the other side of each of the two thrust rotating rollers 26. A thrust block 28 is slidably connected to the middle of the positioning cover plate 23. Both sides of the thrust block 28 are provided with inclined surfaces. An adjusting hydraulic cylinder 25 is fixedly installed at the bottom of the inner wall of the positioning cover plate 23. The output end of the adjusting hydraulic cylinder 25 is fixedly connected to the bottom of the thrust block 28; by setting the guide rail auxiliary positioning unit, the contact between the two thrust rotating rollers 26 and the track and the positioning guide wheel 22 is used to provide a contact positioning point between the chassis 1 and the running guide rail at both ends of the chassis 1, so as to improve the stability of the rail transfer vehicle during operation; at the same time, by setting structures such as the thrust block 28, the position of the thrust rotating roller 26 and the contact force between it and the track are adjusted and pushed to realize the adjustment of the running speed of the rail transfer vehicle.

[0028] To ensure that the guide rail auxiliary positioning unit can move stably within the running track, the width of the positioning guide wheel 22 is smaller than the width of the running track of the roller car, the width of the positioning cover plate 23 is smaller than the width of the positioning guide wheel 22, and the two side edges of the positioning cover plate 23 are both set as arc surfaces, so as to avoid obstacles between the guide rail auxiliary positioning unit and the track during forward movement, turning and track changing;

[0029] An installation groove is opened at the top of the installation table 2. An installation plate 7 is slidably connected inside the installation groove. A number of equally spaced installation openings 8 are clamped on both sides of the inner wall of the installation groove. Installation bolts are threadedly connected to both ends of the installation plate 7; A docking groove 5 is opened in the middle of the installation groove. A docking frame 6 is slidably connected to the inner wall of the docking groove 5. The top of the docking frame 6 is fixedly connected to the bottom of the installation plate 7; The installation plate 7 realizes the installation of the stacker and other external devices. By sliding the installation plate 7 in the installation groove and cooperating with structures such as the installation openings 8 and the installation bolts, the positioning of the installation plate 7 is realized, so that the installation position of the stacker on the transfer car can be adjusted, the installation is more convenient, and the adaptability of the device is stronger.

[0030] To improve the installation stability of equipment such as stackers, a side baffle 3 is fixedly connected to one side of the top of the installation plate 7. An extended support platform 4 is fixedly connected to one side of the side baffle 3. Assembly openings are opened in the middle of the side baffle 3 and the middle of the extended support platform 4; Through external connecting parts such as bolts, the stacker is fixedly installed on the installation plate 7;

[0031] When the present invention is in use, the traction drive mechanism 21 drives the whole transfer car to move along the running track. When the whole transfer car moves in a straight line, the adjustment hydraulic cylinder 25 drives the push block 28 to move, and the two push rods 27 move, and then push the two push rollers 26, so that the two push rollers 26 are in contact with and push against the inner wall of the running track, avoiding the offset of both ends of the chassis 1 and improving the accuracy of the transfer car during movement and displacement; When changing tracks, the adjustment hydraulic cylinder 25 drives the push block 28 to move and reset, and the two push rollers 26 are reset under the pushing action of the reset spring, so that the two push rollers 26 are separated from the contact with the running track, so that there is a certain displacement gap between the positioning guide wheel 22 and the inner wall of the guide rail, facilitating the turning and track changing operation;

[0032] When the transfer car moves to the stacking operation location, the positioning rod 17 is aligned with the positioning hole at the corresponding position of this location. The adjustment motor drives the incomplete gear 19 to rotate, so that the notch part of the incomplete gear 19 moves to the side close to the positioning rod 17, and the incomplete gear 19 is separated from the contact with the positioning rod 17. The positioning rod 17 pops out and is inserted into the positioning hole under the action of the positioning spring, and then the stacker performs the stacking operation;

[0033] During the stacking operation, when the stacker tilts due to the weight of the goods, it will drive the mounting platform 2 and the adjustment pad to tilt, and the displacement sensor 14 will detect the displacement of the adjustment pad. At this time, the oil pump starts, and the regulating valve 15 on the shunt pipe 13 connected to the push hydraulic cylinder 12 near the position of the tilt displacement is opened, and the hydraulic oil lifts the output end of the push hydraulic cylinder 12 to move, and the adjustment pad is leveled, thereby realizing the adjustment of the mounting platform 2 and the stacker, thereby improving the accuracy of the stacking operation.

[0034] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A multi-lane high-precision rail transfer vehicle for a stacker, characterized in that It includes a chassis (1), on the top of the chassis (1) there is an installation platform (2) for installing a stacker, and at the edge of the inner wall of the chassis (1) there is a tilting and leveling mechanism for adjusting the attitude of the installation platform (2); on the inner wall of the chassis (1) there are several stack positioning units for positioning the chassis (1), in the middle of the bottom of the chassis (1) there is a traction drive mechanism (21) fixedly installed for driving the overall movement of the transfer car, and at both ends of the bottom of the chassis (1) there are guide rail auxiliary positioning units; The tilting and leveling mechanism includes a leveling cushion plate (11), at the top edge of the leveling cushion plate (11) there are several connecting columns (9) fixedly connected, the tops of several the connecting columns (9) are fixedly connected to the bottom of the installation platform (2), and on the outer walls of several the connecting columns (9) there are thrust springs (10) sleeved; on one side of several the connecting columns (9) there are thrust hydraulic cylinders (12), the output end of the thrust hydraulic cylinder (12) is fixedly connected to the top of the leveling cushion plate (11), and on one side of several the thrust hydraulic cylinders (12) there are displacement sensors (14) fixedly installed; In the middle of the chassis (1) there is a cover box (20), inside the cover box (20) there is an oil pump fixedly installed, the output end of the oil pump is fixedly connected to several shunt pipes (13), and one ends of several the shunt pipes (13) are respectively fixedly connected to the oil inlets of several the thrust hydraulic cylinders (12), and in the middle of several the shunt pipes (13) there are regulating valves (15) fixedly installed.

2. The multi-lane high-precision track transfer vehicle for a stacker according to claim 1, characterized in that, The stack positioning unit includes a housing (16), at the bottom of the inner wall of the housing (16) there is a limiting sleeve (18), inside the limiting sleeve (18) there is a positioning rod (17) slidably connected, one end of the positioning rod (17) is fixedly connected to a positioning spring, on one side of the positioning rod (17) there is a tooth groove, on one side of the housing (16) there is an adjusting motor fixedly installed, the output end of the adjusting motor is fixedly connected to an incomplete gear (19), and the incomplete gear (19) is meshed with the tooth groove.

3. The multi-lane high-precision rail transfer vehicle for a stacker according to claim 1, characterized in that, The guide rail auxiliary positioning unit includes a positioning guide wheel (22), on one side of the positioning guide wheel (22) there is a positioning cover plate (23), on both sides inside the positioning cover plate (23) there are thrust sliding grooves (24), in the middle of both the thrust sliding grooves (24) there are thrust rollers (26) slidably connected, on one side of both the thrust rollers (26) there are return springs fixedly connected, on the other side of both the thrust rollers (26) there are thrust rods (27) fixedly connected, in the middle of the positioning cover plate (23) there is a thrust block (28) slidably connected, and at the bottom of the inner wall of the positioning cover plate (23) there is an adjusting hydraulic cylinder (25) fixedly installed, and the output end of the adjusting hydraulic cylinder (25) is fixedly connected to the bottom of the thrust block (28).

4. The multi-lane high-precision track transfer vehicle for a stacker according to claim 3, characterized in that, The width of the positioning guide wheel (22) is less than the width of the running guide rail of the roll lathe. Both side edges of the positioning cover plate (23) are arranged as arc surfaces, and the width of the positioning cover plate (23) is less than the width of the positioning guide wheel (22).

5. A multi-lane high-precision track transfer vehicle for a stacker, characterized in that, An installation groove is formed at the top of the installation table (2). An installation plate (7) is slidably connected inside the installation groove. A plurality of equally spaced installation openings (8) are respectively clamped on both sides of the inner wall of the installation groove. Installation bolts are threadedly connected to both ends of the installation plate (7). A docking groove (5) is formed in the middle of the installation groove. A docking frame (6) is slidably connected to the inner wall of the docking groove (5). The top of the docking frame (6) is fixedly connected to the bottom of the installation plate (7).

6. The multi-lane high-precision track transfer vehicle for a stacker according to claim 5, wherein, A side baffle (3) is fixedly connected to one side of the top of the installation plate (7). An extended support platform (4) is fixedly connected to one side of the side baffle (3). Assembly openings are respectively formed in the middle of the side baffle (3) and the middle of the extended support platform (4).

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