A lane and layer changing device and stacking system

Abstract

The application belongs to the technical field of logistics, and specifically discloses a lane-changing and layer-changing device and a stacking system. The lane-changing and layer-changing device comprises a lane-changing mechanism, a layer-changing mechanism and a docking mechanism, the layer-changing mechanism is movably arranged on the lane-changing mechanism along an X direction; the docking mechanism comprises a Y-direction sliding table and a docking guide rail, the Y-direction sliding table is installed on the layer-changing mechanism and can be lifted along a Z direction, the Y-direction sliding table has a bearing space for the entry and exit of a stacker along a Y direction, the Y-direction sliding table is provided with the docking guide rail on both sides of the bearing space, the two docking guide rails are used for cooperating with the upper and lower sides of the stacker, the Y-direction sliding block can move along the Y direction relative to the layer-changing mechanism, so that the docking guide rail is docked with or separated from a rack guide rail, and the X direction, the Y direction and the Z direction are perpendicular to each other. The lane-changing and layer-changing device and the stacking system disclosed by the application can reduce the stacking cost and improve the stacking safety and reliability.

Description

Technical Field

[0001] This invention relates to the field of logistics technology, and in particular to a lane-changing and layer-changing device and a stacking system. Background Technology

[0002] Stacker cranes, also known as stacker hoists, are the most important lifting and transport equipment in automated warehouses. A stacker crane typically consists of a support frame and a platform. The platform is used to place goods and is vertically movable on the support frame to lift and stack the goods. The automated warehouse is equipped with fixed tracks, on which the support frame can slide horizontally, enabling the stacker crane to reciprocate horizontally and stack goods at different locations within the warehouse.

[0003] Existing automated warehouse stacking systems typically employ one stacker crane per aisle, with overhead and ground rails installed within each aisle. The stacker crane's support frame is slidably connected to these rails at its top and bottom, allowing it to move horizontally along them to access and retrieve goods from the storage racks on either side of the aisle. This configuration results in a higher number of stacker cranes when there are multiple aisles in the automated warehouse, leading to higher system costs. Furthermore, the height of the storage racks necessitates a taller support frame for the stacker crane, resulting in a larger overall crane height. This can cause instability when the platform reaches higher positions, affecting the crane's safety and reliability. Additionally, the greater height of the stacker crane increases its weight and cost, further increasing the overall operating costs of the stacking system.

[0004] Therefore, a stacking system is urgently needed to solve the above-mentioned technical problems. Summary of the Invention

[0005] The first objective of this invention is to provide a lane-changing and layer-changing device to solve the problems of poor operational stability and high cost caused by the large height and high center of gravity of stacker cranes in the prior art, thereby improving the reliability and flexibility of stacker cranes and reducing costs.

[0006] A second objective of this invention is to provide a stacking system that improves the operational flexibility and reliability of the stacking system and reduces its cost.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A roadway-changing and layer-changing device, comprising:

[0009] The lane-changing mechanism extends along the X direction;

[0010] A layer-changing mechanism extends along the Z direction, and a roadway-changing mechanism is movably mounted on the roadway-changing mechanism along the X direction;

[0011] The docking mechanism includes a Y-axis slide and docking guide rails. The Y-axis slide is vertically mounted on the layer-changing mechanism along the Z-axis. The Y-axis slide has a carrying space for the stacker crane to move in and out along the Y-axis. The docking guide rails are provided on both the upper and lower sides of the carrying space. The two docking guide rails are used to cooperate with the upper and lower sides of the stacker crane. The Y-axis slide can move along the Y-axis relative to the layer-changing mechanism to dock or separate the docking guide rails from the rack guide rails. The X-axis, Y-axis, and Z-axis are mutually perpendicular.

[0012] As an optional technical solution for a reversing and layering device, the two docking guide rails are a docking top rail and a docking ground rail, respectively. The docking top rail is positioned opposite each other and spaced apart above the docking ground rail. The docking top rail is used to dock with the shelf top rail, and the docking ground rail is used to dock with the shelf ground rail.

[0013] Both the docking end of the connecting ceiling rail and the docking end of the connecting ground rail extend out of the Y-direction slide table along the Y direction.

[0014] As an optional technical solution for a reversing and layering device, one of the docking ends of the ground rail and the rack ground rail is provided with a V-shaped docking groove, and the other is provided with a V-shaped docking protrusion. The docking protrusion has the same shape as the docking groove, and the docking protrusion is inserted into the docking groove.

[0015] And / or, one of the docking ends of the connecting rail and the docking end of the shelf rail is provided with a positioning protrusion, and the other is provided with a positioning hole, wherein the positioning protrusion can be inserted into the positioning hole.

[0016] As an optional technical solution for a reversing and layer-changing device, when the positioning protrusion is inserted into the positioning hole, the opposite sides of the positioning protrusion along the X direction abut against the hole wall of the positioning hole, and at least one side of the positioning protrusion along the Z direction has a gap with the hole wall of the positioning hole to allow the positioning protrusion to float in the Z direction.

[0017] As an optional technical solution for a reversing and layer-changing device, the layer-changing mechanism includes:

[0018] The lifting frame can be slidably mounted on the roadway changing mechanism along the X direction;

[0019] The lifting platform is mounted on the lifting frame and can be raised and lowered along the Z direction. The Y-axis slide is slidably disposed inside the lifting platform and can slide out of the lifting platform along the Y direction.

[0020] As an optional technical solution for a reversing and layer-changing device, a Y-axis drive motor is installed on the lifting platform, and a Y-axis drive gear is sleeved on the output shaft of the Y-axis drive motor;

[0021] A Y-axis rack is provided on the Y-axis slider along the Y-direction, and the Y-axis rack meshes with the Y-axis drive gear.

[0022] As an optional technical solution for a reversing and layer-changing device, the lane-changing mechanism includes a fixed base plate and an X-direction rack laid on the fixed base plate, wherein both the fixed base plate and the X-direction rack extend along the X direction;

[0023] An X-axis drive motor is installed at the bottom of the lifting frame, and an X-axis drive gear is sleeved on the motor shaft of the X-axis drive motor. The X-axis drive gear meshes with the X-axis rack.

[0024] A stacking system, comprising:

[0025] The racking system includes multiple storage racks arranged side by side along the Z direction. Each storage rack has multiple stacking aisles arranged parallel and spaced apart along the X direction. The stacking aisles extend along the Y direction, and rack guide rails are provided at both the upper and lower ends of the stacking aisles.

[0026] The stacker crane is capable of moving along the rack guide rails in the stacking aisle;

[0027] As described above, the aisle-changing and layer-changing equipment is located on the outside of one side of the racking system along the Y direction. The aisle-changing and layer-changing equipment can drive the stacker crane to align with any of the stacking aisles, and the stacker crane can move between the Y-direction slide and the stacking aisle when the racking guide rail is connected to the docking guide rail.

[0028] As an optional technical solution for a stacking system, each layer of the storage rack includes a support base plate and a rack group disposed on the support base plate. The rack group includes two storage racks that are opposite to each other and spaced apart, and the stacking aisle is formed between the two storage racks. At least two rack groups are arranged side by side along the X direction, and the rack guide rails located on the lower side are laid on the support base plate.

[0029] As an optional technical solution for a stacking system, the stacking system also includes a conveyor line, which is configured one-to-one with the storage rack. The conveyor line is located on the side of the storage rack away from the aisle-changing and layer-changing equipment. The rack guide rail extends along the Y direction between two adjacent conveyor lines. The stacker crane is able to place goods on the conveyor line and pick up goods on the conveyor line.

[0030] The beneficial effects of this invention are as follows:

[0031] The aisle-changing and layer-changing equipment provided in this invention, through the cooperation of the aisle-changing mechanism, layer-changing mechanism, and docking mechanism, can drive a stacker crane to any stacking aisle of any storage rack. This allows the stacking system to use only one stacker crane to pick up and place goods in any stacking aisle, reducing the number of stacker cranes in the stacking system and widening the range of operation of the stacker crane, thereby reducing warehousing costs. Simultaneously, because the layer-changing mechanism can drive the stacker crane to rise and fall, it can operate in higher stacking aisles, thereby reducing the height of a single stacker crane and the height of a single storage rack, reducing the overall weight and cost of the stacker crane, thus reducing the energy consumption of the stacker crane and saving costs. Furthermore, due to the reduced overall height of the stacker crane, its anti-tilting ability is stronger, increasing the stability of the stacker crane when picking up and placing goods at higher levels in the stacking aisles, improving stacking safety and reliability. Moreover, because the weight of the stacker crane is reduced, the load-bearing capacity requirements of the bottom surface are lowered, reducing the strength requirements of the bottom surface of the stacker crane's operating site, further reducing the cost of the stacking system.

[0032] The stacking system provided in this embodiment of the invention, by employing the aforementioned aisle-changing and layer-changing equipment, can reduce the cost of the stacking system and improve its operational safety and reliability. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the stacking system provided in an embodiment of the present invention;

[0034] Figure 2 This is a front view of the stacking system provided in an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the structure of a single-layer storage shelf provided in an embodiment of the present invention;

[0036] Figure 4 yes Figure 3 A magnified view of a section at point I;

[0037] Figure 5 This is a schematic diagram of the stacker crane provided in an embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of the structure of the lane-changing and layer-changing equipment and the stacker crane provided in the embodiments of the present invention;

[0039] Figure 7 This is a schematic diagram of the structure of the lane-changing and layer-changing equipment provided in an embodiment of the present invention;

[0040] Figure 8 yes Figure 7 A magnified view of a section at point J;

[0041] Figure 9 yes Figure 7 A magnified view of a section at point K;

[0042] Figure 10 This is a partial structural schematic diagram of the lane-changing and layer-changing equipment provided in an embodiment of the present invention;

[0043] Figure 11 This is a front view of the lane-changing and layer-changing device provided in an embodiment of the present invention;

[0044] Figure 12 yes Figure 11 Schematic diagram of the structure at point L;

[0045] Figure 13 yes Figure 11 Schematic diagram of the structure at point M;

[0046] Figure 14 This is a schematic diagram of the docking orbiter structure provided in an embodiment of the present invention;

[0047] Figure 15 This is a schematic diagram of the connection end between the ground rail and the shelf ground rail provided in an embodiment of the present invention.

[0048] The markings in the image are as follows:

[0049] 100. Lane / Level Changing Equipment; 200. Stacker Crane; 201. Mounting Frame; 202. Cargo Picking and Placing Mechanism; 203. Drive Wheel; 204. Guide Wheel; 205. Stacking Lifting Mechanism; 300. Shelving System; 301. Load-bearing Base Plate; 302. Storage Shelving; 303. Shelving Top Rail; 304. Shelving Ground Rail; 3041. Connecting Protrusion; 305. Stacking Aisle; 306. Stacking Limiting Components; 307. Connecting Beam; 400. Conveyor Line;

[0050] 1. Lane changing mechanism; 11. Fixed base plate; 111. Bottom groove; 12. X-axis rack; 13. X-axis guide rail; 14. X-axis stop;

[0051] 2. Floor changing mechanism; 21. Lifting frame; 211. Lifting base plate; 212. Lifting column; 213. Top beam; 22. Lifting drive assembly; 221. Lifting drive motor; 222. Lifting gear; 223. Z-axis rack; 23. Lifting guide assembly; 231. Lifting guide rail; 232. Lifting slider; 24. Lifting stop; 25. Lifting platform; 251. Lifting plate; 252. Support column; 253. Top beam; 26. X-axis drive motor; 27. X-axis drive gear; 28. X-axis slider; 29. ​​Y-axis drive motor; 210. Y-axis drive gear; 220. Y-axis guide rail;

[0052] 3. Docking mechanism; 31. Y-axis slide; 311. Docking slide plate; 312. Support column; 313. Connecting crossbeam; 32. Y-axis rack; 34. Docking top rail; 341. Positioning protrusion; 342. Guide protrusion; 35. Ground rail; 351. Docking groove; 36. Y-axis slider; 37. Y-axis stop; 38. Guide rail leveling assembly. Detailed Implementation

[0053] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0054] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0055] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0056] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0057] This embodiment provides a stacking system that can be used for stacking, warehousing, and retrieval of goods on shelves, improving the operational reliability and safety of the stacking system and reducing its operating costs.

[0058] like Figure 1 As shown, the stacking system includes a racking system 300, a stacker crane 200, and an aisle-changing / level-changing device 100. The racking system 300 is used to achieve layered storage of goods and is equipped with multi-level storage racks 302. The aisle-changing / level-changing device 100 is used to enable the stacker crane 200 to transfer goods between different levels of storage racks 302 or different stacking aisles 305 of the same level of storage racks 302. The stacker crane 200 is used to pick up and place goods on the storage racks 302.

[0059] like Figures 1 to 4 As shown, the racking system 300 includes multi-layer storage racks 302 arranged side-by-side along the Z direction. Each layer of storage rack 302 has multiple stacking aisles 305 arranged parallel and spaced apart along the X direction. The stacking aisles 305 extend along the Y direction, and rack guide rails are provided at both the upper and lower ends of the stacking aisles 305. The rack guide rail located at the upper end of the stacking aisle 305 is a rack ceiling rail 303, and the rack guide rail located at the lower end of the stacking aisle 305 is a rack floor rail 304. The upper and lower ends of the stacker crane 200 are connected to the rack ceiling rail 303 and the rack floor rail 304 respectively, so that the stacker crane 200 can pick up and place goods on either side of the stacking aisle 305.

[0060] In this embodiment, the shelving system 300 includes multiple vertically parallel and spaced-apart support bases 301 and shelving groups disposed on the support bases 301. Each shelving group corresponds to one support base 301. Each shelving group includes two storage racks 302 arranged opposite each other and spaced apart along the X-direction. Each storage rack 302 includes multiple rows of storage locations arranged side-by-side in the vertical direction. Each row of storage locations includes multiple storage locations arranged side-by-side along the Y-direction. Each storage location can be used to store goods. The Y, X, and Z directions are mutually perpendicular, with the Z-direction being vertical. Multiple shelving groups are arranged side-by-side along the X-direction to increase the storage capacity of the shelving system 300. In other embodiments, stacking aisles 305 may be formed between any two adjacent storage racks 302.

[0061] The shelf floor rail 304 is laid on the support base plate 301. The shelf assembly also includes a connecting beam 307 connecting the tops of two storage shelves 302. The connecting beam 307 extends in the X direction, and the shelf ceiling rail 303 is installed on the connecting beam 307.

[0062] In this embodiment, the storage rack 302 has three layers, meaning there are three supporting base plates 301, and each layer of the storage rack 302 has four rack groups, meaning each layer of the storage rack 302 has four stacking aisles 305. In other embodiments, the number of layers of the storage rack 302 and the number of stacking aisles 305 in each layer of the storage rack 302 can be specifically set according to requirements, which is not the focus of this invention and will not be elaborated here.

[0063] The aisle-changing and level-changing device 100 is located on the outer side of the racking system 300 along the Y direction. The stacker crane 200 can move between the aisle-changing and level-changing device 100 and the stacking aisle 305. When the stacker crane 200 moves onto the aisle-changing and level-changing device 100, the aisle-changing and level-changing device 100 can drive the stacker crane 200 to move along the X direction to connect with different stacking aisles 305 on the same level. The aisle-changing and level-changing device 100 can also drive the stacker crane 200 to move along the Z direction to connect with stacking aisles 305 on different levels.

[0064] Preferably, in order to improve the operating efficiency and automation of the stacking system, in this embodiment, the stacking system further includes a conveyor line 400. The conveyor line 400 extends along the Y direction and is arranged in a one-to-one correspondence with the storage rack 302. The conveyor line 400 is arranged on the side of the storage rack 302 away from the aisle-changing and layer-changing equipment 100. The rack guide rail extends along the Y direction between two adjacent conveyor lines 400. The stacker crane 200 can place goods on the conveyor line 400 and pick up goods on the conveyor line 400. After the stacker crane 200 picks up goods in the stacking aisle 305, it can move along the stacking aisle 305 to the conveyor line 400 to transfer the goods picked up by the stacker crane 200 to the conveyor line 400, realizing automated outbound delivery of goods; when the conveyor line 400 delivers goods that need to be put into storage, the stacker crane 200 moves along the stacking aisle 305 to the target conveyor line 400, picks up the goods on the target conveyor line 400, and stores the goods at the target storage location corresponding to the target goods along the stacking aisle 305, realizing automated inbound delivery of goods.

[0065] To prevent the stacker crane 200 from falling off the support plate 301 during its movement in the stacking aisle 305, a stacking limiter 306 is provided on the side of the rack ceiling rail 303 and / or the support plate 301 away from the aisle-changing and layer-changing equipment 100. The stacking limiter 306 is used to abut against the stacker crane 200 to limit its extreme position in the rack system and improve the safety of the stacker crane 200.

[0066] The aisle-changing and layer-changing equipment 100 includes an aisle-changing mechanism 1, a layer-changing mechanism 2, and a docking mechanism 3. The aisle-changing mechanism 1 is laid on the floor and extends along the X direction. The layer-changing mechanism 2 extends along the Z direction and is movable along the X direction on the aisle-changing mechanism 1, so that the layer-changing mechanism 2 can be directly aligned with any stacking aisle 305. The docking mechanism 3 includes a Y-axis slide 31 and docking guide rails. The Y-axis slide 31 is mounted on the layer-changing mechanism 2 and can be raised and lowered along the Z direction. The Y-axis slide 31 has a carrying space for the stacker crane 200 to enter and exit along the Y direction. Docking guide rails are provided on both the upper and lower sides of the carrying space of the Y-axis slide 31. The two docking guide rails are used to cooperate with the upper and lower sides of the stacker crane 200. The Y-axis slide can move relative to the aisle-changing mechanism along the Y direction, so that the docking guide rails can dock with or separate from the rack guide rails.

[0067] The aisle-changing and layer-changing device 100 provided in this embodiment, by setting a docking mechanism 3, can realize the docking between the aisle-changing and layer-changing device 100 and the rack guide rail, thereby enabling the stacker crane 200 to be transferred between the stacking aisle 305 and the docking mechanism 3, thus enabling the stacker crane 200 to be transferred between different stacking aisles 305; by setting an aisle-changing mechanism 1, the docking mechanism 3 can be set directly opposite to any stacking aisle 305 in the Y direction, so that the stacker crane 200 can be transferred to any stacking aisle 305 on the same layer through the aisle-changing and layer-changing device 100; by setting a layer-changing mechanism 2, the docking mechanism 3 can be aligned with any stacking aisle 305 on any layer, thereby enabling the stacker crane 200 to be transferred to any stacking aisle 305 on any layer.

[0068] The aisle-changing and layer-changing equipment 100 provided in this embodiment, through the cooperation of the aisle-changing mechanism 1, the layer-changing mechanism 2, and the docking mechanism 3, can drive the stacker crane 200 to any stacking aisle 305 of any storage rack 302. This allows the stacking system to use only one stacker crane 200 to pick up and put down goods in any stacking aisle 305, reducing the number of stacker cranes 200 in the stacking system and expanding the range of operation of the stacker crane 200, thereby reducing warehousing costs. At the same time, since the layer-changing mechanism 2 can drive the stacker crane 200 to rise and fall, the stacker crane 200 can run into the stacking aisle 305 at higher levels, thereby enabling... By reducing the height of a single stacker crane 200 and the height of a single-layer storage rack 302, the overall weight and cost of the stacker crane 200 are reduced, thereby lowering the energy consumption of the stacker crane 200 and saving costs. At the same time, due to the reduced overall height of the stacker crane 200, its anti-tilting ability is stronger, which increases the stability of the stacker crane 200 when picking up and placing high-level goods in the stacking aisle 305, improving stacking safety and reliability. Furthermore, due to the reduced weight of the stacker crane 200, the load-bearing capacity requirements of the bottom surface are reduced, which can reduce the strength requirements of the bottom surface of the stacker crane 200's operating site, further reducing the cost of the stacking system.

[0069] The stacker crane 200 includes a mounting frame 201 and a goods handling mechanism 202 mounted on the mounting frame 201. The goods handling mechanism 202 can handle goods placed or removed from storage racks 302, conveyor lines 400, or other locations. The goods handling mechanism 202 is mounted on the mounting frame 201 via a stacking lifting mechanism 205, which drives the goods handling mechanism 202 to rise and fall, aligning it with any row of storage positions on the storage rack 302. A translation drive mechanism and drive wheels 203 are mounted on the mounting frame 201. The translation drive mechanism drives the drive wheels 203 to move on the rack floor rails 304 or the opposite floor rails 35, enabling movement of the stacker crane 200 within the stacking aisle 305. Both ends of the mounting frame 201 are equipped with guide wheels 204 sets. The guide wheels 204 sets include two guide wheels 204 arranged side by side along the X direction. The two guide wheels 204 clamp the corresponding overhead rail or ground rail to prevent the stacker crane 200 from tipping over during movement.

[0070] It is understood that the principle and specific structure of the stacker crane 200 for picking up and placing goods, as well as the cooperation structure between the stacker crane 200 and the conveyor line 400, can be set with reference to existing technology. This is not the focus of this invention and will not be elaborated here.

[0071] like Figures 6 to 11 As shown, the tunnel-changing mechanism 1 includes a fixed base plate 11, with an X-axis rack 12 laid on the upper surface of the fixed base plate 11 along the Y direction. The layer-changing mechanism 2 includes a lifting frame 21 extending along the Z direction and an X-axis drive motor 26 disposed at the bottom of the lifting frame 21. An X-axis drive gear 27 is sleeved on the output shaft of the X-axis drive motor 26, and the X-axis drive gear 27 meshes with the X-axis rack 12. Thus, when the X-axis drive motor 26 runs, the X-axis drive gear 27 moves along the X-axis rack 12, driving the X-axis drive motor 26 to move along the X direction. The docking mechanism 3 is installed on the lifting frame 21.

[0072] In this embodiment, two X-axis racks 12 are arranged parallel to each other and spaced apart along the Y direction. The X-axis drive motor 26 and the X-axis drive gear 27 are arranged in a one-to-one correspondence with the X-axis racks 12 to reduce the driving force required by a single X-axis drive motor 26 and improve the smoothness and reliability of the layer-changing mechanism 2.

[0073] In one embodiment, only one X-axis rack 12 may be provided. In another embodiment, a lead screw and nut mechanism or other linear drive mechanism may also be used to realize the movement of the layer-changing mechanism 2 on the reversing mechanism 1.

[0074] An X-direction guide assembly is also provided between the lifting frame 21 and the fixed base plate 11 to guide the movement of the lifting frame 21 in the X direction. The X-direction guide assembly includes an X-direction guide rail 13 laid on the fixed base plate 11 in the X direction and an X-direction slider 28 that slides with the X-direction guide rail 13. The X-direction slider 28 is installed at the bottom of the lifting frame 21. Two or more X-direction sliders 28 can be provided on the same X-direction guide rail 13 to improve the smoothness of movement and the balance of force of the floor changing mechanism 2.

[0075] Preferably, at least two X-direction guide components are spaced apart along the Y direction to further improve the force balance of the layer-changing mechanism 2. In this embodiment, two X-direction guide components are provided, and the two X-direction guide components are respectively located outside the two X-direction drive motors 26.

[0076] To prevent the layer-changing mechanism 2 from detaching from the roadway-changing mechanism 1, the roadway-changing mechanism 1 also includes an X-direction stop 14. One X-direction stop 14 is provided at each end of the fixed base plate 11. The X-direction stop 14 abuts against the layer-changing mechanism 2 to limit the travel of the layer-changing mechanism 2 in the X direction, preventing the layer-changing mechanism 2 from detaching from the fixed base plate 11 and causing a malfunction. The X-direction stop 14 can be an elastic block, a hydraulic buffer, or other structures capable of limiting and buffering. This invention does not limit the specific structure of the X-direction stop 14.

[0077] Furthermore, a bottom groove 111 is formed on the upper surface of the fixed base plate 11, and the bottom groove 111 extends through the fixed base plate 11 in the X direction. Two X-direction drive gears 27 are respectively located on opposite outer sides of the bottom groove 111, and two X-direction guide rails 13 are respectively located on the outer side of the bottom groove 111. The X-direction drive motor 26 extends at least partially into the bottom groove 111, and the X-direction stop 14 is installed at the bottom of the bottom groove 111. The bottom groove 111 is designed to reduce the thickness of the tunnel changing mechanism 1 in the Z direction while providing sufficient space for the arrangement of the X-direction drive motor 26.

[0078] The floor-changing mechanism 2 also includes a lifting drive assembly 22 and a lifting platform 25. The lifting platform 25 is mounted on the lifting frame 21 and can be lifted and lowered along the Z direction. The Y-direction slide 31 is slidably disposed inside the lifting platform 25 and can slide out of the lifting platform 25 along the Y direction. The lifting drive assembly 22 is mounted on the lifting frame 21 and drives the lifting platform 25 to rise and fall.

[0079] The lifting frame 21 includes a horizontally arranged lifting base plate 211 and four rectangularly arranged lifting columns 212. The bottom surface of the lifting base plate 211 is equipped with the aforementioned X-axis slider 28. The lifting columns 212 extend along the Z-direction and their lower ends are connected to the lifting base plate 211. The top ends of two adjacent lifting columns 212 are connected by a top crossbeam 213 to ensure that the lifting frame 21 has a rigid integrated structure and to ensure the stability of the spacing between the two lifting columns 212.

[0080] A motor bracket is provided on one side of the lifting base plate 211, and the motor bracket is correspondingly arranged with the X-axis drive motor 26. The motor bracket includes a vertically arranged motor fixing plate and a reinforcing plate connecting the motor fixing plate and the bottom surface of the lifting base plate 211. Both the upper and lower ends of the motor fixing plate extend out of the lifting base plate 211, and the X-axis drive motor 26 is mounted on the motor fixing plate. However, it is understood that the above-described structure of the motor bracket is only an exemplary structure, and any existing structure that can realize the mounting of the X-axis drive motor 26 on the lifting base plate 211 can be applied to this invention.

[0081] In this embodiment, the lifting drive assembly 22 includes a lifting drive motor 221, a lifting gear 222 sleeved on the rotating shaft of the lifting drive motor 221, and a Z-axis rack 223 laid on the lifting column 212. The lifting gear 222 meshes with the Z-axis rack 223, and the lifting drive motor 221 is mounted on the lifting platform 25. When the lifting drive motor 221 rotates, it drives the lifting gear 222 to move on the Z-axis rack 223, thereby driving the lifting platform 25 to rise and fall along the lifting column 21, that is, driving the docking mechanism 3 to rise and fall.

[0082] In this embodiment, the lifting of the docking mechanism 3 is achieved by using a lifting drive motor 221 in conjunction with a gear and rack transmission, resulting in a compact structure and a small footprint. However, it is understood that in other embodiments, other transmission structures capable of lifting the lifting platform 25 may also be used, such as using a lifting drive motor 221 in conjunction with a lead screw and nut structure, or using a lifting drive motor 221 in conjunction with a sprocket and chain structure.

[0083] Since the stacker crane 200 moves along the Y direction when entering and exiting the aisle-changing and layer-changing equipment 100, the width of the entry and exit space of the docking mechanism 3 in the X direction must be greater than the width of the stacker crane 200 in the X direction. Preferably, the lifting column 212 has a rectangular cross-section, with one side perpendicular to the X direction. The Z-axis rack 223 is laid on the side of the lifting column 212 that is perpendicular to the Y direction and faces the other lifting column 212. This avoids the Z-axis rack 223 occupying the space of the lifting frame 21 in the X direction, improving the structural compactness. While keeping the dimensions of the stacker crane 200 in the X direction unchanged, the width of the entire layer-changing mechanism 2 in the X direction is reduced, thereby reducing the cost of the aisle-changing and layer-changing equipment 100.

[0084] To improve the smoothness of the lifting operation of the docking mechanism 3, two sets of lifting drive components 22 are provided. The Z-axis racks 223 of the two sets of lifting drive components 22 are respectively laid on two diagonally arranged lifting columns 212 to better improve the force balance of the docking mechanism 3. Preferably, the lifting drive motor 221 is a geared motor, which includes a lifting rotary motor and a lifting reducer. The lifting rotary motor is arranged along the Y direction, the input shaft of the lifting reducer is arranged along the Y direction, and the output shaft is arranged along the X direction. This can reduce the space occupied by the lifting drive motor 221, improve the rationality of the layout of the lifting drive motor 221 and the structural compactness of the layer changing mechanism 2.

[0085] To further improve the smoothness and reliability of the lifting movement of the lifting platform 25 and the docking mechanism 3, the floor-changing mechanism 2 also includes a lifting guide assembly 23. The lifting guide assembly 23 includes a lifting guide rail 231 laid on the lifting column 212 and a lifting slider 232 that slides with the lifting guide rail 231. The lifting slider 232 is connected to the lifting platform 25. In this embodiment, each lifting column 212 is provided with a lifting guide rail 231, and each lifting guide rail 231 is provided with at least two lifting sliders 232. Lifting sliders 232 are also provided at both ends of the upper end of the lifting platform 25, effectively improving the overall force balance of the lifting platform 25 and the docking mechanism 3, thereby improving lifting stability. In other embodiments, lifting guide rails 231 may be provided on two lifting columns 212 that do not have a Z-axis rack 223.

[0086] To prevent the lifting platform 25 from colliding with the lifting frame 21 during lifting, the floor-changing mechanism 2 also includes a lifting stop 24. At least one lifting stop 24 is provided at both the upper and lower ends of the lifting frame 21 to limit the travel of the docking mechanism 3 during lifting. Specifically, the lower lifting stop 24 is installed on the lifting base plate 211, and the upper lifting stop 24 is installed on the top crossbeam 213. The lifting stop 24 can be a block or columnar structure made of elastic material, or it can be a hydraulic buffer or similar structure.

[0087] The lifting platform 25 includes a lifting plate 251 and four rectangularly distributed support columns 252. The lifting plates 251 are parallel and spaced apart above the lifting base plate 211. The lifting base plate 211 can abut against the lifting stop 24 to limit the lifting stroke of the lifting platform 25. The lifting drive motor 221 is mounted on the lifting base plate 211. The support columns 252 extend along the Z direction and their lower ends are connected to the lifting plates 251. A top beam 253 connects the top ends of two adjacent support columns 252. Lifting sliders 232 are mounted on the corresponding support columns 252, and preferably, lifting sliders 232 are provided at both the upper and lower ends of the support columns 252 to improve the lifting stability of the lifting platform 25.

[0088] In this embodiment, preferably, the lifting platform 251 has an "I" shaped structure, and the four ends of the "I" shaped structure are connected to the above-mentioned bearing columns 252, so as to reduce the weight of the lifting platform 251 and reduce the cost.

[0089] The Y-axis slide 31 includes a horizontally arranged docking slide plate 311 and four rectangularly distributed support columns 312. The support columns 312 extend along the Z-direction and their lower ends are connected to the docking slide plate 311. The docking slide plate 311 is slidably mounted on the upper end of the lifting platform 251. A connecting beam 313 connects two adjacent support columns 312. The docking platform, support columns 312, and connecting beams 313 together form a load-bearing space. The width between two support columns 312 that are opposite to each other and spaced apart along the X-direction is greater than the width of the stacker crane 200 along the X-direction, so as to ensure that the stacker crane 200 can enter and exit the load-bearing space through the space between the two support columns 312.

[0090] The two docking guide rails are a docking top rail 34 and a docking ground rail 35. The docking top rail 34 is positioned opposite each other and spaced above the docking ground rail 35. The docking top rail 34 is used to dock with the shelf top rail 303, and the docking ground rail 35 is used to dock with the shelf ground rail 304. In this embodiment, the docking top rail 34 is installed on two connecting beams 313 that are arranged opposite each other along the Y direction, and the docking ground rail 35 is installed on the upper surface of the docking slide plate 311.

[0091] To drive the Y-axis slide 31 to slide relative to the lifting platform 25 along the Y direction, a Y-axis rack 32 extending in the Y direction is laid on the Y-axis slide 31. A Y-axis drive motor 29 is mounted on the lifting platform 25, and a Y-axis drive rack 210 is sleeved on the output shaft of the Y-axis drive motor 29, with the Y-axis drive rack 210 meshing with the Y-axis rack 32. Specifically, the Y-axis drive motor 29 is mounted on the lifting platform 251, and the Y-axis rack 32 is laid on the upper surface of the docking slide plate 311. In other embodiments, the Y-axis drive motor may be mounted on the docking slide plate 311, and the Y-axis rack may be laid on the lifting platform 251.

[0092] To improve the stability of the docking assembly's movement along the Y direction, a Y-direction guide assembly is provided between the Y-direction slide 31 and the lifting platform 25. This Y-direction guide assembly guides the movement of the docking slide 311 along the Y direction. Specifically, the Y-direction guide assembly includes a Y-direction guide rail 220 extending along the Y direction and a Y-direction slider 36 that slides in cooperation with the Y-direction guide rail 220. In this embodiment, the Y-direction guide rail 220 is disposed on the upper surface of the lifting platform 251, and the Y-direction slider 36 is disposed on the lower surface of the docking slide 311. In other embodiments, the positions of the Y-direction guide rail 220 and the Y-direction slider 36 can be interchanged. Preferably, two Y-direction guide assemblies are arranged parallel to each other and spaced apart along the X direction to improve the stability and reliability of the Y-direction slide 31.

[0093] To prevent the stacker crane 200 from surging out of the docking mechanism 3 when entering the bearing space along the Y direction, in this embodiment, a Y-direction stop 37 is provided at the end of the Y-direction slide 31 away from the docking end. The Y-direction stop 37 is used to abut against the stacker crane 200 to limit the stacker crane 200 from surging out of the Y-direction slide 31, thereby improving the operational safety and reliability of the stacker crane 200. The stacker crane 200 can adopt a structure that can achieve buffering and limiting, such as an elastic block structure or a hydraulic buffer.

[0094] Furthermore, two Y-direction stop members 37 are provided, one of which is installed on the docking slide plate 311 and the other is installed on the docking rail 34. This allows for stopping and limiting both the upper and lower ends of the stacker crane 200, improving the reliability of the limiting. Preferably, the Y-direction stop member 37 can be detachably connected to either the docking slide plate 311 or the docking rail 34.

[0095] like Figures 12 to 15 As shown, in order to improve the reliability of the docking of the top rail 34 and the ground rail 35 with the rack guide rail, preferably, the docking ends of the top rail 34 and the ground rail 35 both extend out of the Y-direction slide 31 in the Y direction. This can avoid collision between the rack system 300 and the Y-direction slide 31 during the docking process, improve docking safety, and reduce interference during the docking process.

[0096] As the stacker crane 200 runs along the docking guide rail, its drive wheels 203 travel on the grounding rail 35 and are transferred from the grounding rail 35 to the rack rail 304. This affects the docking accuracy between the grounding rail 35 and the rack rail 304, impacting the stability of the stacker crane 200's operation. Preferably, one of the docking ends of the grounding rail 35 and the rack rail 304 has a V-shaped docking groove 351, and the other has a V-shaped docking protrusion 3041. The docking recess has the same shape as the docking groove 351, and the docking protrusion 3041 is inserted into the docking groove 351. That is, in this embodiment, the cooperation between the docking groove 351 and the docking protrusion 3041 ensures the positional reliability of the grounding rail 35 and the rack rail 304 in the X and Y directions during docking, thus achieving the accuracy of the docking between the grounding rail 35 and the rack rail 304.

[0097] In this embodiment, the aforementioned docking groove 351 is provided at the docking end of the grounding rail 35, and the docking protrusion 3041 is provided at the shelf grounding rail 304. Preferably, the included angle between the V-shaped structures of the docking groove 351 is greater than ° and less than °, so as to improve the smoothness of docking.

[0098] To ensure that the upper surface of the grounding rail 35 is flush with the upper surface of the shelf rail 304 when they are docked, in this embodiment, the grounding rail 35 is fixedly mounted on the docking slide plate 311 by guide rail leveling components 38, and multiple sets of guide rail leveling components are spaced apart along the Y direction. Through multiple sets of guide rail leveling components 38, local positions of the grounding rail 35 can be leveled, thereby ensuring that the upper surfaces of both the grounding rail 35 and the shelf rail 304 are horizontal and flush. Furthermore, the shelf rail 304 is mounted on the supporting base plate 301 through an adjustment structure to achieve leveling of the shelf rail 304.

[0099] It is understood that the specific structure of the guide rail leveling component 38 can refer to the prior art, which is not the focus of this invention. This invention does not limit the specific structure of the guide rail leveling component 38.

[0100] Furthermore, one of the docking ends of the overhead rail 34 and the shelf overhead rail 303 has a positioning protrusion 341, and the other has a positioning hole, into which the positioning protrusion 341 can be inserted. This enables the docking positioning between the overhead rail 34 and the shelf overhead rail 303, improving the reliability and smoothness of the docking.

[0101] Since the overhead rail 34 and the rack overhead rail 303 only guide the operation of the stacker crane 200, the docking requirements between them are lower than those between the rack ground rail 304 and the ground rail 35. Therefore, in this embodiment, when the positioning protrusion 341 is inserted into the positioning hole, the opposite sides of the positioning protrusion 341 along the X direction abut against the hole wall, and at least one side of the positioning protrusion 341 along the Z direction has a gap with the hole wall. This arrangement allows the positioning protrusion 341 to move up and down in the positioning hole, preventing over-positioning and thus docking difficulties.

[0102] In this embodiment, the positioning protrusion 341 is disposed at the docking end of the docking rail 34. The positioning protrusion 341 is preferably a rhomboid protrusion, with one pair of corners of the rhomboid protrusion being disposed opposite each other along the X direction and the other pair of corners being disposed opposite each other along the Z direction. The two opposite corners disposed along the X direction are rounded corners to reduce the scraping of the shelf floor rail 304 during the docking process and improve the smoothness of the docking.

[0103] The end face of the positioning protrusion 341 is provided with a guide protrusion 342. The end of the guide protrusion 342 is arc-shaped, and the projection of the guide protrusion 342 on the end face of the positioning protrusion 341 is smaller than the end face area of ​​the positioning protrusion 341. The guide protrusion 342 is used to guide the positioning protrusion 341 into the positioning hole, thereby further improving the reliability of the docking. Preferably, the end of the guide protrusion is arc-shaped.

[0104] Both the overhead rail 34 and the ground rail 35 are preferably made of aluminum alloy profiles to reduce costs and simplify processing.

[0105] This embodiment also provides a stacking method applied to the above-mentioned stacking system. The stacking method provided in this embodiment includes:

[0106] Stacker crane 200 receives instructions;

[0107] When the stacker crane 200 is not in the stacking aisle 305 where the target storage location is located, control the aisle-changing and layer-changing equipment to make the Y-axis slide 31 face the stacker crane 200 in the stacking aisle 305 where it is currently located and the docking guide rail docks with the rack guide rail.

[0108] The stacker crane 200 runs along the rack guide rail and docking guide rail to the Y-axis slide 31; the aisle-changing and layer-changing equipment operates to align the docking guide rail with the rack guide rail in the stacking aisle 305 where the target goods are located.

[0109] The stacker crane 200 moves along the docking guide rail and rack guide rail to the front of the target storage location.

[0110] The stacking method provided in this embodiment of the invention, by using the aforementioned aisle-changing and layer-changing equipment for stacking, can reduce the cost of the stacking system and improve the operational safety and reliability of the stacking system.

[0111] This means that the above instructions can be an inbound instruction, that is, the stacker crane 200 carries the goods to the target storage location and places the goods in the target storage location; or it can be an outbound instruction, that is, the stacker crane moves to the target storage location unloaded, picks up the goods at the target storage location and transfers them to the corresponding conveyor line 400.

[0112] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A roadway-changing and layer-changing device, characterized in that, include: The lane-changing mechanism (1) extends along the X direction; A layer-changing mechanism (2) extends along the Z direction and is movably mounted on the lane-changing mechanism (1) along the X direction; The docking mechanism (3) includes a Y-axis slide (31) and docking guide rails. The Y-axis slide (31) can be installed on the layer-changing mechanism (2) in a vertically movable manner along the Z-direction. The Y-axis slide (31) has a carrying space for the stacker (200) to enter and exit along the Y-direction. The Y-axis slide (31) is provided with docking guide rails on both the upper and lower sides of the carrying space. The two docking guide rails are used to cooperate with the upper and lower sides of the stacker (200). The Y-axis slide (31) can move relative to the layer-changing mechanism (2) along the Y-direction so that the docking guide rails can dock with or separate from the rack guide rails. The X-direction, the Y-direction, and the Z-direction are perpendicular to each other. The two docking guides are a docking top rail (34) and a docking ground rail (35). The docking top rail (34) is positioned opposite each other and spaced apart above the docking ground rail (35). The docking top rail (34) is used to dock with the shelf top rail (303), and the docking ground rail (35) is used to dock with the shelf ground rail (304). The docking end of the docking ceiling rail (34) and the docking end of the docking ground rail (35) both extend out of the Y-direction slide (31) along the Y direction. One of the docking ends of the ground rail (35) and the rack rail (304) is provided with a V-shaped docking groove (351), and the other is provided with a V-shaped docking protrusion (3041). The docking protrusion (3041) has the same shape as the docking groove (351), and the docking protrusion (3041) is inserted into the docking groove (351). One of the docking ends of the connecting rail (34) and the docking ends of the shelf rail (303) is provided with a positioning protrusion (341), and the other is provided with a positioning hole. The positioning protrusion (341) can be inserted into the positioning hole. When the positioning protrusion (341) is inserted into the positioning hole, the positioning protrusion (341) abuts against the hole wall of the positioning hole on opposite sides along the X direction, and the positioning protrusion (341) has a gap with the hole wall of the positioning hole on at least one side along the Z direction, allowing the positioning protrusion (341) to float in the Z direction.

2. The lane-changing and layer-changing equipment according to claim 1, characterized in that, The layer-changing mechanism (2) includes: The lifting frame (21) is slidably mounted on the roadway changing mechanism (1) along the X direction; The lifting platform (25) is mounted on the lifting frame (21) in a way that can be lifted and lowered along the Z direction. The Y-axis slide (31) is slidably disposed inside the lifting platform (25), and the Y-axis slide (31) can slide out of the lifting platform (25) along the Y direction.

3. The lane-changing and layer-changing equipment according to claim 2, characterized in that, A Y-axis drive motor (29) is installed on the lifting platform (25), and a Y-axis drive gear (210) is sleeved on the output shaft of the Y-axis drive motor (29). A Y-axis rack (323) is laid on the Y-axis slide (31) along the Y-direction, and the Y-axis rack (323) meshes with the Y-axis drive gear (210).

4. The lane-changing and layer-changing equipment according to claim 2, characterized in that, The tunnel changing mechanism (1) includes a fixed base plate (11) and an X-direction rack (12) laid on the fixed base plate (11), both the fixed base plate (11) and the X-direction rack (12) extending along the X direction; An X-axis drive motor (26) is installed at the bottom of the lifting frame (21). An X-axis drive gear (27) is sleeved on the motor shaft of the X-axis drive motor (26). The X-axis drive gear (27) meshes with the X-axis rack (12).

5. A stacking system, characterized in that, include: The racking system (300) includes multi-layer storage racks (302) arranged side by side along the Z direction. Each layer of the storage rack (302) has multiple stacking aisles (305) arranged parallel and spaced apart along the X direction. The stacking aisles (305) extend along the Y direction, and rack guide rails are provided at both the upper and lower ends of the stacking aisles (305). The stacker crane (200) is capable of moving along the rack guide rails in the stacking aisle (305); The aisle-changing and layer-changing device as described in any one of claims 1-4, wherein the aisle-changing and layer-changing device is disposed on the outside of one side of the racking system (300) along the Y direction, the aisle-changing and layer-changing device is capable of aligning the stacker crane (200) with any of the stacking aisles (305), and the stacker crane (200) is capable of moving between the Y-direction slide (31) and the stacking aisle (305) when the racking guide rail is connected to the docking guide rail.

6. The stacking system according to claim 5, characterized in that, Each layer of the storage rack (302) includes a support base plate (301) and a rack group disposed on the support base plate (301). The rack group includes two storage racks (302) arranged opposite to each other and spaced apart. The stacking aisle (305) is formed between the two storage racks (302). At least two rack groups are arranged side by side along the X direction. The rack rails located on the lower side are laid on the support base plate (301).

7. The stacking system according to claim 5 or 6, characterized in that, The stacking system also includes a conveyor line (400), which is configured one-to-one with the storage rack (302). The conveyor line (400) is located on the side of the storage rack (302) away from the aisle-changing and layer-changing equipment. The rack guide rail extends along the Y direction between two adjacent conveyor lines (400). The stacker crane (200) is able to place goods on the conveyor line (400) and pick up goods on the conveyor line (400).

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