Walking wheel module and stacker

Abstract

The application claims a walking wheel module and a stacker, the walking wheel module comprising a first wheel set, a second wheel set, a first driving unit and a second driving unit, the first wheel set being capable of moving in a first direction of a track, the second wheel set being capable of moving in a second direction of the track, wherein a preset angle is formed between the second direction and the first direction; the first driving unit is correspondingly arranged with the first wheel set, and the first wheel set is capable of lifting and lowering relative to the track under the driving of the first driving unit, the second driving unit is correspondingly arranged with the second wheel set, and the second wheel set is capable of lifting and lowering relative to the track under the driving of the second driving unit, so that the walking wheel module is capable of moving relative to the track in the second direction or the first direction of the track. In this way, not only is the energy consumption low, but also the influence of the load is avoided, and thus the stacker using the walking wheel module can meet the use demand of large load stacker reversing.

Description

Technical Field

[0001] This invention belongs to the technical field of stacker cranes, and in particular relates to a walking wheel module and a stacker crane. Background Technology

[0002] Stacker cranes are the main lifting and transportation equipment in automated warehouses. They are used in logistics and automated parking systems. They can move within aisles and store and retrieve goods / vehicles between aisle entrances and storage / parking spaces.

[0003] Currently, stacker cranes for logistics have four-way travel types, meaning they can freely turn between longitudinal and lateral aisles. This is typically achieved through the following methods: First, utilizing the structure of the stacker crane's traveling wheels for 90-degree turns on the spot; second, using Mecanum wheels in the traveling wheel modules, leveraging their structural characteristics to achieve on-the-spot turning. However, the first method is limited by the lifespan of the traveling wheels and the strength of the ground, making it suitable only for light-load applications and unsuitable for the heavy-duty stacker cranes required in parking equipment. The second method is also limited by the strength constraints of the Mecanum wheels themselves, making it unsuitable for heavy-duty stacker cranes in parking equipment. Thus, existing stacker cranes cannot meet the reversing requirements of heavy-load stacker cranes. Summary of the Invention

[0004] In view of this, it is necessary to provide a walking wheel module and a stacker crane to solve the above-mentioned technical problems.

[0005] A walking wheel module is used in a stacker crane. The walking wheel module includes a first wheel group, a second wheel group, a first drive unit, and a second drive unit. The first wheel group can move in a first direction, and the second wheel group can move in a second direction, wherein the second direction and the first direction form a preset angle.

[0006] The first drive unit is correspondingly arranged with the first wheel set, and the first wheel set can move up and down under the drive of the first drive unit. The second drive unit is correspondingly arranged with the second wheel set, and the second wheel set can move up and down under the drive of the second drive unit, so that the walking wheel module can move in the second direction or the first direction.

[0007] It is understandable that by using the first drive unit and the second drive unit to independently control the lifting and lowering of the corresponding first wheel group and the corresponding second wheel group, the walking wheel module can lift the second wheel group or the first wheel group individually when changing direction in the first direction and the second direction. This not only results in low energy consumption but is also unaffected by the load. As a result, stacker cranes using walking wheel modules can meet the reversing requirements of stacker cranes with heavy loads.

[0008] In one embodiment, a guide rod is connected to the first wheel set for sliding engagement with the bottom frame of the stacker crane to guide the lifting and lowering movement of the first wheel set;

[0009] The first drive unit includes a telescopic drive component, a push plate, and a roller mechanism. The push plate is connected to the telescopic part of the telescopic drive component and can reciprocate relative to the first wheel set along the first direction under the drive of the telescopic drive component. The push plate has a pushing slope, and the roller mechanism is mounted on the first wheel set and can abut against the pushing slope to control the lifting and lowering of the first wheel set under the pushing of the push plate.

[0010] It is understandable that by utilizing the contact between the push plate's inclined surface and the roller mechanism, the telescopic drive component can drive the push plate to reciprocate in the first direction, thereby driving the lifting and lowering motion of the first wheel assembly. This enables precise control of the lifting and lowering of the first wheel assembly and ensures the stability of the walking wheel module's reversing process.

[0011] In one embodiment, the roller mechanism includes a first roller group, a second roller group, and a connecting shaft, wherein the connecting shaft is mounted on the first roller group and is rotatably connected to both the first roller group and the second roller group.

[0012] The pushing slope includes a first slope and a second slope. The first slope is located below the first roller assembly, and the pusher plate can push against the first roller assembly through the first slope to drive the first roller assembly to move upward. The second slope is located above the second roller assembly, and the pusher plate can press against the second roller assembly through the second slope to drive the first roller assembly to move downward.

[0013] In one embodiment, when the first wheel assembly rises to its position, the first roller assembly abuts against the first inclined surface, and the second roller assembly is spaced apart from the second inclined surface;

[0014] When the first roller group descends to its position, the second roller group abuts against the second inclined surface, and the first roller group is spaced apart from the first inclined surface.

[0015] It is understandable that the first or second inclined plane abuts against the corresponding first or second roller group individually. This ensures that the starting and ending positions of the first roller group are controllable when it is raised or lowered, that is, the raising and lowering height of the first roller group can be executed according to the design height. At the same time, it avoids the operating noise and energy consumption caused by the first and second inclined planes contacting each other at the same time.

[0016] In one embodiment, the push plate is further provided with a first plane, which is connected to the first inclined surface. When the first wheel assembly rises to the position, the first plane can move to the position below the first roller assembly under the drive of the push plate to support the first roller assembly.

[0017] And / or, the push plate is further provided with a second plane, which is connected to the second inclined surface. When the first wheel set is lowered into position, the second plane can move to the position above the second roller set under the drive of the push plate to press against the second roller set.

[0018] Understandably, the first plane on the push plate supports the first roller assembly, thus providing support after the first roller assembly rises to a specified height. This ensures the safety of the first roller assembly after it rises, eliminating the need for additional power to maintain it at a specified height. The second plane on the push plate presses against the second roller assembly, providing pressure after the second roller assembly descends, allowing the first roller assembly to contact the track. This ensures the safety of the traveling wheel module when it travels on the track.

[0019] In one embodiment, the telescopic part of the telescopic drive reciprocates between a first stroke endpoint and a second stroke endpoint; when the first wheel set rises to its position, the telescopic part of the telescopic drive is located at the first stroke endpoint; when the first wheel set descends to its position, the telescopic part of the telescopic drive is located at the second stroke endpoint.

[0020] In one embodiment, the push plate includes two first plate portions, a second plate portion, and two connecting plate portions. The two first plate portions correspond one-to-one with the two connecting plate portions. The two first plate portions are arranged on both outer sides of the first wheel assembly and connected to the second plate portions through the corresponding connecting plate portions.

[0021] The first inclined surface is formed on each of the two first plate portions, and two second inclined surfaces are formed on the second plate portion.

[0022] In one embodiment, the first roller group includes a first roller, and the second roller group includes a second roller, wherein the outer diameters of the first roller and the second roller are different.

[0023] In one embodiment, there are multiple first rollers and multiple second rollers, and the multiple first rollers and multiple second rollers are symmetrically arranged on both sides of the connecting shaft;

[0024] In this arrangement, a plurality of first rollers are arranged outside a plurality of second rollers, wherein the outer diameter of the second rollers is larger than the outer diameter of the first rollers.

[0025] This application also claims protection for a stacker crane, including a base frame and the aforementioned wheel modules; the number of wheel modules is multiple, the multiple wheel modules are mounted on the base frame, and the multiple wheel modules can cooperate with each other to enable the stacker crane to move in a second direction or a first direction.

[0026] Compared with the prior art, this application has the following advantages:

[0027] The traveling wheel module and stacker crane claimed in this application use a first drive unit and a second drive unit to independently control the lifting and lowering of the corresponding first wheel group and the corresponding second wheel group on the track. In this way, when the traveling wheel module changes direction in the first direction and the second direction on the track, the second wheel group or the second wheel group can be lifted individually. This not only has low energy consumption, but is also not affected by the load. Therefore, the stacker crane using the traveling wheel module can meet the usage requirements of high-load stacker crane reversing. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of a stacker crane traveling on a track according to an embodiment of this application;

[0030] Figure 2 This is a partial structural diagram of the first wheel assembly, first drive unit, and bottom frame provided in an embodiment of this application during assembly.

[0031] Figure 3 for Figure 2 Enlarged view of part P;

[0032] Figure 4 This is a partial structural schematic diagram from another perspective of the assembly of the first wheel assembly, the first drive unit, and the bottom frame provided in an embodiment of this application.

[0033] Figure 5 for Figure 4 Enlarged view of the Q part;

[0034] Figure 6 This is a schematic diagram of the assembly of the push plate and guide rail according to an embodiment of this application.

[0035] Reference numerals: 100, Walking wheel module; 10, First wheel set; 11, Lifting frame; 12, Silent roller; 13, Guide rod; 20, Second wheel set; 30, First drive unit; 31, Telescopic drive component; 311, Telescopic part; 32, Push plate; 321, First plate part; 3211, First inclined surface; 3212, First plane; 322, Second plate part; 3221, Second inclined surface; 3222, Second plane; 323, Connecting plate part; 33, Roller mechanism; 331, First roller set; 3311, First roller; 332, Second roller set; 3321, Second roller; 333, Connecting shaft; 334, Pressure block; 3341, Bolt; 40, Second drive unit; 200, Base frame; 210, Linear bearing; 220, Guide rail; 1000, Stacker; 2000, Track. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] It should be noted that when a component is said to be "set on" another component, it can be directly set on the other component or there may be an intervening component. When a component is considered to be "set on" another component, it can be directly set on the other component or there may be an intervening component. When a component is considered to be "fixed to" another component, it can be directly fixed to the other component or there may be an intervening component.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0039] like Figure 1 As shown, the traveling wheel module 100 claimed in this application is applied to a stacker crane 1000 to enable the stacker crane 1000 to travel on the ground or on the track 2000 (the following example is travel on the track 2000). It should be noted that the stacker crane 1000 mentioned above is specifically applied to a heavy-load stacker crane. Utilizing the structural characteristics of the traveling wheel module 100, the direction of the heavy-load stacker crane on the track 2000 can be reversed.

[0040] like Figure 1 As shown, an embodiment of this application provides a walking wheel module 100, including a first wheel set 10, a second wheel set 20, a first drive unit 30, and a second drive unit 40. The first wheel set 10 can move in a first direction of the track 2000, and the second wheel set 20 can move in a second direction of the track 2000, wherein a preset angle is formed between the second direction and the first direction. The first drive unit 30 is correspondingly arranged with the first wheel set 10, and the first wheel set 10 can move up and down relative to the track 2000 under the drive of the first drive unit 30. The second drive unit 40 is correspondingly arranged with the second wheel set 20, and the second wheel set 20 can move up and down relative to the track 2000 under the drive of the second drive unit 40, so that the walking wheel module 100 can move relative to the track 2000 in the second direction or the first direction of the track 2000.

[0041] As a non-limiting example, the first direction mentioned above can specifically be the transverse direction of the track 2000, and the second direction can be the longitudinal direction of the track 2000, or the first direction can be the longitudinal direction of the track 2000, and the second direction can be the transverse direction of the track 2000, or the first direction and the second direction can be set as any other two directions on the track 2000 that are at a certain angle.

[0042] It is understandable that by using the first drive unit 30 and the second drive unit 40 to independently control the corresponding first wheel set 10 and the corresponding second wheel set 20 to lift and lower on the track 2000, the walking wheel module 100 can lift either the second wheel set 20 or the first wheel set 10 when changing direction in the first and second directions on the track 2000. This not only results in low energy consumption but is also unaffected by the load. As a result, the stacker crane 1000 using the walking wheel module 100 can meet the requirements for reversing direction of a stacker crane under heavy load.

[0043] It should be noted that when the aforementioned traveling wheel module 100 reverses direction on the track 2000, one of the first wheel group 10 and the second wheel group 20 remains in contact with the track 2000, providing support for the stacker crane 1000 equipped with the traveling wheel module 100. This ensures that the reversal of the traveling wheel module 100 does not affect the stability of the bottom frame 200 of the stacker crane 100, thereby improving the stability of the stacker crane 1000 when reversing direction on the track 2000. Simultaneously, during the reversal process, one of the first wheel group 10 and the second wheel group 20 only moves up and down relative to the track 2000 in the direction of the load, without causing damage to the first wheel group 10 and the second wheel group 20, thus extending their service life.

[0044] like Figure 2 , Figure 4 As shown, in some embodiments, the first wheel group 10 and / or the second wheel group 20 include a lifting frame 11 and silent rollers 12. Optionally, the first wheel group 10 and the second wheel group 20 are configured with the same structure. The silent rollers 12 are rotatably mounted on the lifting frame 11 and extend outward relative to the lifting frame 11 toward the track 2000. In this way, by utilizing the structural characteristics of the silent rollers 12, the noise generated when the walking wheel module 100 walks on the track 2000 can be reduced.

[0045] It should be noted that the aforementioned silent roller 12 can withstand large loads to meet the requirements of the walking wheel module 100 for use in a high-load stacker crane. In order to achieve the noise reduction function, polyurethane parts can be wrapped around the outer circumference of the roller to form the silent roller 12. Of course, for those skilled in the art, the other structural components of the silent roller 12 and how to rotate and assemble it on the lifting frame 11 can be done using existing conventional methods. Since they are not the focus of this application, they will not be elaborated here.

[0046] As a non-limiting example, the number of silent rollers 12 may be one; or, the number of silent rollers 12 may be multiple, arranged along the direction of movement of the silent rollers 12 on the track 2000. It is understood that when multiple silent rollers 12 are arranged on the lifting frame 11 along their direction of movement on the track 2000, this arrangement improves the stability of the support for the lifting frame 11, thereby improving the smoothness of the traveling wheel module 100 when it travels on the track 2000.

[0047] like Figure 2 , Figure 4 As shown, in some embodiments, a guide rod 13 is connected to the first wheel assembly 10 for sliding engagement with the bottom frame 200 of the stacker crane 1000 to guide the lifting and lowering movement of the first wheel assembly 10. As a specific example, a linear bearing 210 is mounted on the bottom frame 200, and the guide rod 13 is inserted into the linear bearing 210. In this way, the first wheel assembly 10 can only perform lifting and lowering movements under the drive of the first drive unit 30. Of course, the bottom frame 200 is not limited to using the linear bearing 210 to slide with the guide rod 13. For those skilled in the art, the linear bearing 210 can also be set as a bushing.

[0048] like Figure 2As shown, the first drive unit 30 includes a telescopic drive member 31, a push plate 32, and a roller mechanism 33. The push plate 32 is connected to the telescopic part 311 of the telescopic drive member 31 and can reciprocate relative to the first wheel set 10 in a first direction under the drive of the telescopic drive member 31. That is, the direction of movement of the push plate 32 is consistent with the direction in which the first wheel set 10 travels on the track 2000. For example, the telescopic part 311 of the telescopic drive member 31 reciprocates between the first stroke endpoint and the second stroke endpoint. When the first wheel set 10 rises to the position, the telescopic part 311 of the telescopic drive member 31 is located at the first stroke endpoint; when the first wheel set 10 falls to the position, the telescopic part 311 of the telescopic drive member 31 is located at the second stroke endpoint. The push plate 32 has a pushing ramp (not shown), and the roller mechanism 33 is mounted on the first wheel set 10 and can abut against the pushing ramp to control the lifting and lowering movement of the first wheel set 10 on the track 2000 under the pushing action of the push plate 32.

[0049] As can be seen from the above, when the first drive unit 30 is working, the push plate 32, under the control of the telescopic drive member 31, reciprocates in the first direction, which can push the roller mechanism 33 against the inclined surface on the push plate 32. Since the roller mechanism 33 is installed on the first wheel set 10 and is constrained by the guide rod 13 along with the first wheel set 10, it can only move up and down. Therefore, during the movement of the push plate 32 in the first direction, the first wheel set 10 can be driven to move up and down through the roller mechanism 33. Moreover, the stroke of the push plate 32 during the movement in the first direction corresponds one-to-one with the stroke of the first wheel set 10 during the corresponding rise and fall. In this way, when the first drive unit 30 is working, it can control the stroke of the push plate 32 during the movement in the first direction by controlling the telescopic drive member 31, thereby achieving precise control of the stroke of the first wheel set 10 during the rise and fall. This ensures the stability of the reversing process of the walking wheel module 100.

[0050] As a specific example, the telescopic drive component 31 is configured as a hydraulic cylinder, and the telescopic part 311 of the hydraulic cylinder is connected and fixed to the push plate 32. When the hydraulic cylinder is working, it can control the reciprocating motion of the push plate 32 in the first direction. Of course, the telescopic drive component 31 can also be configured as a telescopic motor, telescopic cylinder, etc., depending on the application requirements.

[0051] As can be seen from the above, the push plate 32 can reciprocate in the first direction under the drive of the telescopic drive member 31. For this purpose, a guide rail 220 arranged in the first direction can be installed on the bottom frame 200, and the guide rail 220 slides with the push plate 32. In this way, it can be ensured that the push plate 32 can only reciprocate in the first direction under the drive of the telescopic drive member 31.

[0052] like Figure 3 , Figure 5 and Figure 6In some embodiments, the push plate 32 includes two first plate portions 321, two second plate portions 322, and two connecting plate portions 323. The two first plate portions 321 correspond one-to-one with the two connecting plate portions 323. The two first plate portions 321 are arranged on both outer sides of the first wheel assembly 10 and are connected to the second plate portions 322 through the corresponding connecting plate portions 323. For example, the connecting plate portions 323 are connected and fixed to the corresponding first plate portions 321 and second plate portions 322 by bolts or welding. Alternatively, the connecting plate portions 323 and the corresponding first plate portions 321 and / or second plate portions 322 are set as an integral structure.

[0053] Specifically, the second plate portion 322 on the push plate 32 is located on the side of the two first wheel sets 10 opposite to the track 2000, and two second inclined surfaces 3221 are formed on the second plate portion 322. This allows the roller mechanism 33 to drive the first wheel sets 10 to descend under the pressure of the second inclined surfaces 3221 on the second plate portion 322. Each of the two first plate portions 321 has a first inclined surface 3211, allowing the roller mechanism 33 to drive the first wheel sets 10 to ascend under the pushing force of the first inclined surfaces 3211 on the two first plate portions 321. It should be noted that... Figure 3 The dashed line between the first inclined plane 3211 and the second inclined plane 3221 represents the roller mechanism 33 after the first wheel group 10 has descended into place.

[0054] It is understandable that the push plate 32 uses two first inclined surfaces 3211 to push the roller mechanism 33 simultaneously, so that the roller mechanism 33 drives the first wheel group 10 to rise; the push plate 32 uses two second inclined surfaces 3221 to press against the roller mechanism 33 simultaneously, so that the roller mechanism 33 drives the first wheel group 10 to fall. In this way, the force distribution when the roller mechanism 33 drives the first wheel group 10 to rise or fall can be balanced, thereby improving the stability of the first wheel group 10 when it rises or falls.

[0055] like Figure 5 As shown, in some embodiments, the roller mechanism 33 includes a first roller group 331, a second roller group 332, and a connecting shaft 333. The connecting shaft 333 is mounted on the first roller group 10 and is rotatably connected to the first roller group 331 and the second roller group 332 respectively. For example, the connecting shaft 333 is pressed onto the first roller group 10 by a pressure block 334, and then the pressure block 334 is fixed to the lifting frame 11 of the first roller group 10 by bolts 3341. Alternatively, the connecting shaft 333 is disposed through the lifting frame 11 of the first roller group 10.

[0056] like Figure 3As shown, the first inclined surface 3211 on the push plate 32 is provided corresponding to the first roller group 331, and the push plate 32 can push the first roller group 331 through the first inclined surface 3211 to drive the first wheel group 10 to move upward relative to the track 2000; the second inclined surface 3221 on the push plate 32 is provided corresponding to the second roller group 332, and the push plate 32 can press against the second roller group 332 through the second inclined surface 3221 to drive the first wheel group 10 to move downward relative to the track 2000 until the first wheel group 10 comes into contact with the track 2000.

[0057] Preferably, when the first wheel assembly 10 rises to its position, the first roller assembly 331 abuts against the first inclined surface 3211, and the second roller assembly 332 is spaced apart from the second inclined surface 3221; when the first wheel assembly 10 descends to its position, the second roller assembly 332 abuts against the second inclined surface 3221, and the first roller assembly 331 is spaced apart from the first inclined surface 3211. This arrangement ensures that the starting and ending positions of the first wheel assembly 10 are controllable during lifting and lowering, that is, the lifting height of the first wheel assembly 10 can be executed according to the design height, while also avoiding operating noise and energy consumption caused by the simultaneous contact of the first inclined surface 3211 and the second inclined surface 3221.

[0058] like Figure 5 As shown, in some embodiments, the first roller group 331 includes a plurality of first rollers 3311, and the second roller group 332 includes a plurality of second rollers 3321. The plurality of first rollers 3311 and the plurality of second rollers 3321 are symmetrically arranged on both sides of the connecting shaft 333.

[0059] It is understandable that when the pusher plate 32 pushes the first roller group 331 through the first inclined surface 3211 to drive the first wheel group 10 to rise, it only needs to drive the first wheel group 10 to rise as a whole. When the first wheel group 10 rises to the designated position and is held, the first roller group 331 only needs to bear the weight of the first wheel group 10. When the pusher plate 32 presses against the second roller group 332 through the second inclined surface 3221 to drive the second wheel group 20 to fall, it only needs to drive the first wheel group 10 to fall as a whole. When the first wheel group 10 contacts the track 2000 and stops falling, the overall load of the traveling wheel module 100 applied to the stacker crane 1000 will be transferred to the first wheel group 10 through the second roller group 332. Therefore, the force that the second roller group 332 needs to bear is much greater than the force that the first roller group 331 needs to bear.

[0060] like Figure 3As shown, in some embodiments, the outer diameter of the second roller 3321 is larger than the outer diameter of the first roller 3311. This makes the structural strength of the second roller 3321 greater than that of the first roller 3311, so as to meet the use requirements of the first wheel set 10 bearing pressure through the second roller set 332 when it travels on the track 2000.

[0061] like Figure 5 As shown, in some embodiments, the number of second rollers 3321 is greater than the number of first rollers 3311. This further improves the load-bearing capacity of the second roller group 332 when the first roller group 10 travels on the track 2000. For example, the number of second rollers 3321 in the second roller group 332 is set to four, with two second rollers 3321 forming a group and simultaneously engaging with one of the second inclined surfaces 3221, while the number of first rollers 3311 in the first roller group 331 is set to two; or, the number of second rollers 3321 in the second roller group 332 is set to six, with three second rollers 3321 forming a group and simultaneously engaging with one of the second inclined surfaces 3221, while the number of first rollers 3311 in the first roller group 331 is set to two.

[0062] like Figure 3 , Figure 6 As shown, in some embodiments, the push plate 32 is further provided with a first plane 3212, specifically on the first plate portion 321. The first plane 3212 and the first inclined surface 3211 are connected. When the first wheel assembly 10 rises to its position, the first plane 3212 can move to a position below the first roller assembly 331 under the drive of the push plate 32 to support the first wheel assembly 10. In other words, the first plane 3212 on the push plate 32 can support the first roller assembly 331 after it rises, that is, it can support the first wheel assembly 10 after it rises to a specified height. In this way, the safety of the first wheel assembly 10 after it rises is ensured, and no additional power is needed to maintain it at a specified height.

[0063] like Figure 3 , Figure 6As shown, in some embodiments, a second plane 3222 is also provided on the push plate 32. Specifically, the second plane 3222 is provided on the second plate portion 322. The second plane 3222 is connected to the second inclined surface 3221. When the first wheel group 10 descends to the position, the second plane 3222 can move to the position above the second roller group 332 under the drive of the push plate 32 to press against the second roller group 332. In other words, the second plane 3222 on the push plate 32 can press against the second roller group 332 after it descends until the first wheel group 10 comes into contact with the track 2000. That is, it can press against the first wheel group 10 after it has descended to the position. In this way, the load that the traveling wheel module 100 needs to bear when it is used in the stacker crane 1000 can be directly applied to the first wheel group 10 through the second plate 322 and the second roller group 332, and the lifting frame 11 on the first wheel group 10 can be stably stressed. In this way, the safety of the traveling wheel module 100 when it travels on the track 2000 is ensured, and the phenomenon of sudden unevenness of the second roller group 332 due to power loss in the stacker crane 1000 using the traveling wheel module 100 is avoided.

[0064] It should be noted that the cooperation between the push plate 32 and the roller mechanism 33 in the first drive unit 30 of this application is not limited to the one shown above. For those skilled in the art, the push plate 32 can also be achieved by the abutting cooperation between two sets of symmetrically arranged inclined surfaces and two rollers in the roller mechanism 33, which will not be elaborated here.

[0065] The structure of the second drive unit 40 in this application and the working principle of driving the second wheel group 20 to move up and down relative to the track 2000 are the same as those of the first drive unit 30, and will not be repeated here.

[0066] In summary, when the walking wheel module 100 of this application needs to move along the second direction of the track 2000, the walking wheel module 100 needs to use the second wheel set 20 to contact and work with the track 2000. Correspondingly, the first wheel set 10 needs to rise from the track 2000 and detach from the track 2000. Specifically, the first telescopic drive member 31 in the first drive unit 30 is activated and pushes out the push plate 32. During the push-out process, the first inclined surface 3211 on the push plate 32 will interfere with the position of the first roller 3311 of the first roller set 331 on the first wheel set 10, and push the first roller set 331 obliquely upward. Since the first roller set 331 is installed on the first wheel set 10 through the connecting shaft 333, and the guide rod 13 on the first wheel set 10 slides with the bottom frame 200 of the stacker crane 1000, the first wheel set 10 is pushed out by the push plate 32. The first wheel assembly 10 can only move upwards; as the push plate 32 continues to extend under the drive of the first telescopic drive member 31, the first wheel assembly 10 will gradually rise until the first inclined surface 3211 on the push plate 32 disengages from the first roller 3311 of the first roller assembly 331, and the first plane 3212 moves to a position below the first roller 3311. At this time, the first plane 3212 on the push plate 32 can support the first wheel assembly 10 after it has risen to its position through the first roller assembly 331. In this way, the walking wheel module 100 can move along the second direction of the track 2000 under the drive of the second wheel assembly 20. If the walking wheel module 100 needs to change direction on the track 2000 and travel in the first direction of the track 2000, the first telescopic drive component 31 in the first drive unit 30 will be activated again to drive the push plate 32 to retract. During the retraction process, the second inclined surface 3221 on the push plate 32 will interfere with the position of the second roller 3321 of the second roller group 332 on the first wheel group 10, and push the second roller group 332 to move obliquely downward. Similarly, since the second roller group 332 is installed on the first wheel group 10 through the connecting shaft 333, and the guide rod 13 on the first wheel group 10 slides with the bottom frame 200 of the stacker crane 1000, the first wheel group 10 will move obliquely downward on the push plate 3221. The first wheel assembly 10 can only descend when pushed down by the first push plate 32. As the push plate 32 continues to retract under the drive of the first telescopic drive member 31, the first wheel assembly 10 will gradually descend until the second inclined surface 3221 on the push plate 32 disengages from the second roller 3321 of the second roller assembly 332, and the second plane 3222 moves to the position above the second roller 3321. At this time, the second plane 3222 on the push plate 32 can support the first wheel assembly 10 after it descends through the second roller assembly 332. At the same time, the second drive unit 40 will drive the second wheel assembly 20 to rise and disengage from the track 2000. In this way, the walking wheel module 100 can move along the first direction of the track 2000 under the drive of the first wheel assembly 10.

[0067] In addition, such as Figure 1As shown, this application also provides a stacker crane 1000, including a base frame 200 and the aforementioned walking wheel module 100; the number of walking wheel modules 100 is multiple sets, the multiple sets of walking wheel modules 100 are installed on the base frame 200, and the multiple sets of walking wheel modules 100 can cooperate with each other to enable the stacker crane 1000 to travel in the second direction or the first direction of the track 2000.

[0068] As a non-limiting example, there are four sets of walking wheel modules 100, arranged at the four corners of the base frame 200. In the two sets of walking wheel modules 100 located at opposite corners of the base frame 200, the first wheel set 10 is configured as the main drive wheel structure, and in the remaining two sets of walking wheel modules 100, the first wheel set 10 is configured as the driven wheel mechanism. Similarly, in the two sets of walking wheel modules 100 located at the corners of the base frame 200, the second wheel set 20 is configured as the main drive wheel structure, and in the remaining two sets of walking wheel modules 100, the second wheel set 20 is configured as the driven wheel mechanism. Of course, the first wheel set 10 and second wheel set 20 in the four sets of walking wheel modules 100 are not limited to the above-described configuration. Those skilled in the art can configure three or four of the first wheel sets 100 as main drive wheels, and similarly, three or four of the second wheel sets 20 in the four sets of walking wheel modules 100 can also be configured as main drive wheels. This will not be elaborated further here.

[0069] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0070] Those skilled in the art should recognize that the above embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Any appropriate changes and variations made to the above embodiments within the essential spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A walking wheel module, applied in a stacker crane (1000), characterized in that, The walking wheel module (100) includes a first wheel set (10), a second wheel set (20), a first drive unit (30) and a second drive unit (40). The first wheel set (10) can move in a first direction, and the second wheel set (20) can move in a second direction, wherein a preset angle is formed between the second direction and the first direction. The first drive unit (30) is correspondingly arranged with the first wheel set (10), and the first wheel set (10) can move up and down under the drive of the first drive unit (30). The second drive unit (40) is correspondingly arranged with the second wheel set (20), and the second wheel set (20) can move up and down under the drive of the second drive unit (40), so that the walking wheel module (100) can move in the second direction or the first direction. The first drive unit (30) includes a telescopic drive member (31), a push plate (32), and a roller mechanism (33). The push plate (32) is connected to the telescopic part (311) of the telescopic drive member (31) and can reciprocate relative to the first wheel set (10) along the first direction under the drive of the telescopic drive member (31). The push plate (32) has a pushing slope, and the roller mechanism (33) is installed on the first wheel set (10) and can abut against the pushing slope to control the lifting and lowering of the first wheel set (10) under the pushing of the push plate (32). The roller mechanism (33) includes a first roller group (331), a second roller group (332), and a connecting shaft (333). The connecting shaft (333) is mounted on the first roller group (10) and is rotatably connected to the first roller group (331) and the second roller group (332), respectively. The pushing inclined surface includes a first inclined surface (3211) and a second inclined surface (3221). The first inclined surface (3211) is located below the first roller group (331), and the push plate (32) can push the first roller group (331) through the first inclined surface (3211) to drive the first roller group (10) to move upward. The second inclined surface (3221) is located above the second roller group (332), and the push plate (32) can press against the second roller group (332) through the second inclined surface (3221) to drive the first roller group (10) to move downward. The push plate (32) is also provided with a first plane (3212), which is connected to the first inclined surface (3211). When the first wheel assembly (10) rises to the position, the first plane (3212) can move to the position below the first roller assembly (331) under the drive of the push plate (32) to support the first roller assembly (331); and / or, the push plate (32) is also provided with a second plane (3222), which is connected to the second inclined surface (3221). When the first wheel assembly (10) falls to the position, the second plane (3222) can move to the position above the second roller assembly (332) under the drive of the push plate (32) to press against the second roller assembly (332).

2. The walking wheel module according to claim 1, characterized in that, The first wheel assembly (10) is connected to a guide rod (13) for sliding cooperation with the bottom frame (200) of the stacker crane (1000) to guide the lifting and lowering movement of the first wheel assembly (10).

3. The walking wheel module according to claim 1, characterized in that, When the first wheel assembly (10) rises to its position, the first roller assembly (331) abuts against the first inclined surface (3211), and the second roller assembly (332) is spaced apart from the second inclined surface (3221); When the first wheel assembly (10) descends to its position, the second roller assembly (332) abuts against the second inclined surface (3221), and the first roller assembly (331) is spaced apart from the first inclined surface (3211).

4. The walking wheel module according to claim 1, characterized in that, The telescopic drive (31) reciprocates between the first stroke endpoint and the second stroke endpoint; when the first wheel set (10) rises to the position, the telescopic drive (31) is located at the first stroke endpoint; when the first wheel set (10) descends to the position, the telescopic drive (31) is located at the second stroke endpoint.

5. The walking wheel module according to claim 1, characterized in that, The push plate (32) includes two first plate portions (321), a second plate portion (322), and two connecting plate portions (323). The two first plate portions (321) correspond one-to-one with the two connecting plate portions (323). The two first plate portions (321) are arranged on both outer sides of the first wheel assembly (10) and connected to the second plate portion (322) through the corresponding connecting plate portions (323). The first inclined surface (3211) is formed on each of the two first plate portions (321), and the second inclined surface (3221) is formed on the second plate portion (322).

6. The walking wheel module according to claim 1, characterized in that, The first roller group (331) includes a first roller (3311), and the second roller group (332) includes a second roller (3321). The outer diameters of the first roller (3311) and the second roller (3321) are different.

7. The walking wheel module according to claim 6, characterized in that, There are multiple first rollers (3311) and multiple second rollers (3321), and the multiple first rollers (3311) and multiple second rollers (3321) are symmetrically arranged on both sides of the connecting shaft (333); In this arrangement, a plurality of first rollers (3311) are arranged outside a plurality of second rollers (3321), and the outer diameter of the second rollers (3321) is larger than the outer diameter of the first rollers (3311).

8. A stacker crane, characterized in that, The system includes a base frame (200) and a wheel module (100) according to any one of claims 1-7; the number of wheel modules (100) is multiple sets, the multiple sets of wheel modules (100) are installed on the base frame (200), and the multiple sets of wheel modules (100) can cooperate with each other to enable the stacker crane (1000) to travel in a second direction or a first direction.

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