A bridge-type automatic stacker

Abstract

This invention discloses a bridge-type automated stacker crane, comprising a support beam, a horizontal sliding structure, a winch lifting structure, and a telescopic fork structure. The horizontal sliding structure is mounted on the support beam and includes a first horizontal sliding structure and a second horizontal sliding structure. The first horizontal sliding structure is adapted to move along a first direction, and the second horizontal sliding structure is adapted to move along a second direction. The winch lifting structure includes a support frame, a winch drive structure, and a telescopic sleeve structure. The winch drive structure is adapted to drive the telescopic sleeve structure to move vertically. The telescopic fork structure is connected to the bottom end of the winch lifting structure and includes a support frame, a rotating structure, and a fork arm structure. The horizontal sliding structure is adapted to drive the telescopic fork structure to move horizontally, and the winch lifting structure is adapted to drive the telescopic fork structure to move vertically, thereby transferring the fork arm structure to a set position. The bridge-type stacker crane of this invention has a high degree of automation and strong load-bearing capacity, and is particularly suitable for offshore drilling vessels.

Description

Technical Field

[0001] This invention relates to the field of stacker crane technology, and more specifically, to a bridge-type automatic stacker crane. Background Technology

[0002] A stacker crane is a specialized crane that uses forks or levers as picking devices to grab, transport, and stack unit goods in warehouses, workshops, etc., or to pick up and place unit goods from high-rise shelves. It is a type of warehousing equipment. The main function of a stacker crane is to move back and forth in the aisles of an automated warehouse to store goods located at the aisle entrance into the shelf compartments, or to retrieve goods from the compartments and transport them to the aisle entrance.

[0003] The existing stacker crane technology has the following drawbacks:

[0004] 1. The motor of the rotary trolley is installed at both ends or on the side of the bridge frame, which requires a long wire to support the movement and rotation of the rotary trolley. This not only takes up a lot of space, but also the wire is suspended in the air, which is prone to danger.

[0005] 2. The existing anti-fall device used in stacker cranes to ensure the safety of the lifting platform during operation is a safety clamp. However, in actual application, such anti-fall devices are not only complex to manufacture and difficult to maintain, but also, for stacker cranes with large load capacities, if the steel wire rope of the stacker crane breaks, such anti-fall devices are basically unable to effectively guarantee safety.

[0006] 3. In the existing technology, the wire rope on the drum is prone to slack, tangling, and detachment from the drum groove during unloading.

[0007] Furthermore, existing stacker cranes are only suitable for land-based operations. On offshore drilling vessels, the vessel may tilt and sway due to changes in the complex marine environment, which can easily lead to danger. Summary of the Invention

[0008] The purpose of this invention is to overcome the technical problems of existing stacker cranes in the background art, such as large space occupation, poor positioning accuracy, and structural load-bearing strength that need to be improved, so as to provide a bridge-type automatic stacker crane.

[0009] To address the aforementioned problems, the primary objective of this invention is to provide a bridge-type automatic stacker crane for use on offshore drilling vessels, comprising:

[0010] The rail support beam is fixed to the top deck on one side and to the elevator enclosure on the other side.

[0011] A horizontal sliding structure is installed on the rail support beam. The horizontal sliding structure includes a first horizontal sliding structure and a second horizontal sliding structure that are arranged in an alternating manner. The first horizontal sliding structure is adapted to move along a first horizontal direction, and the second horizontal sliding structure is adapted to move along a second horizontal direction.

[0012] The hoisting structure includes a hoisting drive structure mounted on the second horizontal sliding structure and a telescopic sleeve structure connected to the hoisting drive structure. The hoisting drive structure is adapted to drive the telescopic sleeve structure to move up and down.

[0013] A telescopic fork structure is connected to the bottom end of the winch lifting structure. The telescopic fork structure includes a support frame, a rotating structure connected to the bottom end of the telescopic sleeve structure, and a fork arm structure connected within the support frame. The side of the rotating structure away from the winch lifting structure is installed at the top end of the support frame.

[0014] The horizontal sliding structure is adapted to drive the telescopic fork structure to move horizontally, and the winch lifting structure is adapted to drive the telescopic fork structure to move vertically, so as to transfer the fork arm structure to a set position.

[0015] Optionally, the rail support beam includes columns, a horizontal frame, and a first rack structure. The two columns are respectively vertically connected to one side of the horizontal frame along its length, and the first rack structure is located on a pair of sides of the horizontal frame.

[0016] The horizontal frame includes a first horizontal beam and a second horizontal beam that are connected to each other.

[0017] The first rack structure includes a second rack mounting plate and a second rack mounted on the first horizontal beam. The second rack mounting plate has a two-step structure, and the second rack is located on the lower step of the second rack mounting plate.

[0018] Optionally, the first horizontal sliding structure includes a first horizontal active sliding structure adapted to slide along the length direction of the first horizontal beam. The first horizontal active sliding structure includes a first drive motor vertically mounted on the first horizontal beam, a first transmission shaft connected to the output shaft of the first drive motor, and a first mounting base and a first drive gear connected to the first transmission shaft and away from the first drive motor. The first drive gear is located on the first mounting base and meshes with the second rack.

[0019] The first drive motor is adapted to drive the first transmission shaft to rotate, thereby causing the first drive gear to rotate vertically, and thus causing the first drive gear to move horizontally relative to the second rack.

[0020] Optionally, the first horizontal sliding structure further includes a first horizontal driven sliding structure, which includes a first sliding frame, a first roller, and a second roller.

[0021] The first sliding frame includes a third horizontal beam and a fourth horizontal beam connected to each other. The first roller is vertically installed on the lower side of both ends of the third horizontal beam, and the second roller is horizontally installed on the outer side of both ends of the fourth horizontal beam. The first roller and the second roller are arranged perpendicular to each other.

[0022] Optionally, the second horizontal sliding structure includes a second horizontal active sliding structure, a second horizontal passive sliding structure, and a second sliding frame that are arranged in an alternating manner.

[0023] The second sliding frame includes a square frame with openings at the top and bottom, an upper base plate, and a lower base plate, wherein the upper base plate and the lower base plate are respectively horizontally embedded in the upper and lower sides of the square frame;

[0024] The second horizontal active sliding structure is adapted to move along a second horizontal direction, and the second horizontal passive sliding structure is adapted to move along a first horizontal direction.

[0025] Optionally, the second horizontal active sliding structure includes a second drive motor vertically mounted on one side of the square frame, a second transmission shaft fixedly connected to the output shaft of the second drive motor, a second mounting base and a second drive gear mounted on both sides of the second transmission shaft, and a second rack structure mounted on the third horizontal beam;

[0026] The second rack structure includes a second rack mounting plate and a second rack mounted on the third horizontal beam. The second rack mounting plate has a two-step structure, and the second rack is disposed on the lower step of the second rack mounting plate.

[0027] The second driving gear is adapted to mesh with the second rack within the second mounting base.

[0028] Optionally, the second horizontal driven sliding structure includes a third roller, a fourth roller, and a second traveling beam connected to the front and rear positions of both sides of the square frame.

[0029] The third roller is adapted to roll within the slot of the second traveling beam, and the fourth roller is located on the other side of the second traveling beam and is adapted to roll on the back of the second traveling beam.

[0030] Optionally, the winch lifting structure includes a winch drive structure installed on one side of the upper base plate and located near the top of the square frame, and a telescopic sleeve structure vertically arranged at the center of the square frame. The top of the telescopic sleeve structure is located inside the square frame, and the bottom is connected to the telescopic fork structure.

[0031] The winch drive structure is adapted to drive the telescopic fork structure to move up and down, thereby driving the telescopic sleeve structure to extend and retract up and down, so that the telescopic fork structure moves to a set height.

[0032] Optionally, the hoisting drive structure includes a hoisting drive motor located above one side of the upper base plate, a third transmission shaft connected to the output shafts at both ends of the hoisting drive motor, a drum connected to the third transmission shaft, a wire rope wound on the drum, and a roller seat fixed on the support frame. The two drums are symmetrically arranged at both ends of the hoisting drive motor and are mounted on one side of the upper base plate through the support frame.

[0033] One end of the wire rope is fixedly wound around the drum, and the other end passes through the upper base plate, passes in sequence through the drum seat located directly below the drum and another drum seat on the opposite side, and is then vertically fixed to the bottom of the upper base plate on the opposite side away from the winch drive motor.

[0034] Optionally, the telescopic sleeve structure includes a first track cylinder, a second track cylinder, and a third track cylinder that are slidably connected from top to bottom, with the diameters of the first track cylinder, the second track cylinder, and the third track cylinder decreasing sequentially, and the central axes of the first track cylinder, the second track cylinder, and the third track cylinder coinciding. The bottom of the third track cylinder is connected to the support frame, and the top of the first track cylinder passes through the square frame. The first track cylinder, the second track cylinder, and the third track cylinder move telescopically through a sliding rail structure.

[0035] Optionally, the telescopic fork structure includes a support frame, a rotating structure, and a fork arm structure, wherein;

[0036] The rotating structure includes a mounting base plate mounted on the support frame, a second drive motor mounted vertically on the mounting base plate, a sprocket drive structure and a gear drive structure horizontally disposed on the lower surface of the mounting base plate, and a rotating disk horizontally connected to the center position of the lower surface of the mounting base plate. The sprocket drive structure and the gear drive structure are coaxially connected on their sides that are close to each other.

[0037] The second drive motor is adapted to drive the sprocket transmission structure to move, the sprocket transmission structure drives the gear transmission structure to move horizontally, and the gear transmission structure drives the rotating disk and the mounting base plate to rotate horizontally;

[0038] The fork arm structure includes a mounting base frame, a fork plate drive structure disposed within the mounting base frame, a sliding groove seat connected to the fork plate drive structure, and at least two sliding fork plates that are slidably connected, wherein one of the sliding fork plates is adapted to slide within the sliding groove seat.

[0039] The fork plate drive structure is adapted to drive the sliding groove seat to move horizontally back and forth, thereby driving the sliding fork plate to extend and retract horizontally.

[0040] Compared with the prior art, the present invention has the following advantages:

[0041] 1. The bridge-type automatic stacker crane of this invention consists of a support beam, a horizontal sliding structure, a winch lifting structure, and a telescopic fork structure. The support beam serves as a supporting carrier on the hull, with one side fixed to the top deck and the other side fixed to the elevator wall, allowing heavy objects to be transferred out of the elevator. The horizontal sliding structure serves as an automatic transfer mechanism for precisely positioning heavy objects, enabling horizontal left-right and forward-backward movement and precise height positioning. The winch lifting structure includes a winch drive structure mounted on the second horizontal sliding structure and a telescopic sleeve structure connected to the winch drive structure. The winch drive structure can drive the telescopic sleeve structure to extend and retract vertically. Driven by the horizontal sliding structure, the winch drive structure can move with the horizontal sliding structure. The telescopic fork structure is connected to the bottom end of the winch lifting structure and includes a support frame, a rotating structure, and a fork arm structure. The horizontal sliding structure drives the telescopic fork structure to move horizontally, and the winch lifting structure can simultaneously drive the telescopic fork structure to move vertically, transferring the fork arm structure to a set position. The overall structure is compact, occupies little space, and has the load-bearing strength required for the heavy load being transported.

[0042] 2. The control system enables online cargo handling, allowing for both horizontal and vertical stacking. It flexibly and easily delivers goods into containers without the need for flipping, and provides precise positioning. The process is fast, cost-effective, and efficient, enabling the orderly procurement and loading of goods.

[0043] 3. Servo motors and encoders are used to replace ordinary motors, improving the accuracy of the first and second horizontal sliding structures. PLC intelligent control programs are used to realize the automatic adjustment and control of cargo position, walking distance and movement position. The hoisting structure increases the structural load-bearing strength, solves the danger of workers' operation, and improves the stability of the stacker crane. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the structure of the bridge-type automatic stacker in one direction according to an embodiment of the present invention;

[0045] Figure 2This is a schematic diagram of the bridge-type automatic stacker machine from another direction in an embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of the rail-bearing beam in one direction according to an embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram of the horizontal sliding structure in an embodiment of the present invention;

[0048] Figure 5 This is a schematic diagram of one direction of the second horizontal sliding structure in an embodiment of the present invention;

[0049] Figure 6 This is a schematic diagram of the second horizontal sliding structure in another direction in an embodiment of the present invention;

[0050] Figure 7 This is a schematic diagram of the hoisting structure in an embodiment of the present invention;

[0051] Figure 8 This is a schematic diagram of the hoist drive structure in an embodiment of the present invention;

[0052] Figure 9 This is a schematic diagram of the telescopic fork structure in one direction according to an embodiment of the present invention;

[0053] Figure 10 This is a schematic diagram of the telescopic fork structure in another direction in an embodiment of the present invention;

[0054] Figure 11 This is an exploded view of the telescopic fork structure in an embodiment of the present invention;

[0055] Figure 12 This is a schematic diagram of the telescopic fork structure in one direction according to an embodiment of the present invention;

[0056] Figure 13 This is a schematic diagram of the telescopic fork structure in another direction in an embodiment of the present invention;

[0057] Figure 14 This is a three-dimensional installation structure diagram of the sliding groove seat, the first sliding fork plate, and the second sliding fork plate in an embodiment of the present invention;

[0058] Figure 15 This is a top view of the sliding groove seat, the first sliding fork plate, and the second sliding fork plate in an embodiment of the present invention.

[0059] Explanation of reference numerals in the attached figures:

[0060] 1-Rail support beam;

[0061] 11-Column; 12-Horizontal frame; 121-First horizontal beam; 1211-First traveling beam; 122-Second horizontal beam; 1221-First limit sensor; 13-First rack structure; 131-First rack mounting plate; 132-First rack; 14-First cable tray;

[0062] 2-Horizontal sliding structure;

[0063] 21-First horizontal sliding structure;

[0064] 211-First horizontal active sliding structure; 2111-First drive motor; 2112-First transmission shaft; 2113-First mounting base; 2114-First drive gear;

[0065] 212-First horizontal driven sliding structure; 2121-First sliding frame; 21211-Third horizontal beam; 212111-First embedded groove; 21212-Fourth horizontal beam; 2122-First roller; 2123-Second roller;

[0066] 22-Second horizontal sliding structure;

[0067] 221-Second horizontal active sliding structure; 2211-Second drive motor; 2212-Second transmission shaft; 2213-Second mounting base; 2214-Second drive gear; 2215-Second rack structure; 22151-Second rack mounting plate; 22152-Second rack;

[0068] 222-Second horizontal driven sliding structure; 2221-Third roller; 2222-Fourth roller; 2223-Second traveling beam;

[0069] 223-Second sliding frame; 2231-Square frame; 2232-Upper base plate; 2233-Lower base plate; 224-Second limit sensor; 225-Second wiring channel;

[0070] 3- Hoisting structure;

[0071] 31- Hoist drive structure;

[0072] 311-Winch drive motor; 312-Third drive shaft; 313-Drum; 314-Wire rope; 315-Drum base;

[0073] 32- Telescopic sleeve structure;

[0074] 321-First track cylinder; 322-Second track cylinder; 323-Third track cylinder; 324-Slider; 325-Slide seat;

[0075] 4- Telescopic fork structure;

[0076] 41-Support frame;

[0077] 411-Upper bracket; 4111-Center hole; 412-Lower bracket; 413-First side bracket; 414-Second side bracket;

[0078] 42-Rotational structure;

[0079] 421-Mounting base plate; 422-Third drive motor; 423-Sprocket drive structure; 4231-First sprocket; 4232-Chain; 4233-Second sprocket; 424-Gear drive structure; 4241-First gear; 4242-Second gear; 425-Rotating disk;

[0080] 43-Forklift structure;

[0081] 431-Mounting base frame; 432-Fork plate drive structure; 4321-Fourth drive motor; 4322-Conveyor belt structure; 43221-Drive sprocket; 43222-Conveyor belt; 43223-Driven sprocket; 4323-Driven structure; 43231-Intermediate drive shaft; 43232-First side gear shaft; 43233-Third mounting base; 43234-First gear; 43235-Second side gear shaft; 43236-Fourth mounting base; 43237-Second gear; 43238-Coupling; 43239-Encoder;

[0082] 433-Sliding groove seat; 4331-First side plate; 4332-Second side plate; 4333-Connecting plate; 4334-Rolling gear; 434-First sliding fork plate; 435-Second sliding fork plate. Detailed Implementation

[0083] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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.

[0084] In the description of this invention, it should be noted that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0085] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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 also refer to the internal connection of two components; they can refer to a wireless connection or a wired connection. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. In fuel cells, hydrogen, air, and liquid are three independently transported media, as is known to those skilled in the art.

[0086] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0087] like Figure 1-15 As shown, this embodiment of the invention provides a bridge-type automated stacker crane, which includes a support beam 1, a horizontal sliding structure 2, a hoisting structure 3, and a telescopic fork structure 4, wherein:

[0088] The rail support beam 1 serves as the main frame of the bridge-type automatic stacker crane. One side of it is fixed to the top deck, and the other side is fixed to the elevator enclosure.

[0089] The horizontal sliding structure 2 serves as a transfer mechanism and is installed on the rail beam 1. The horizontal sliding structure 2 includes a first horizontal sliding structure 21 and a second horizontal sliding structure 22 that are arranged in an alternating manner. The first horizontal sliding structure 21 is adapted to move along a first horizontal direction, and the second horizontal sliding structure 22 is adapted to move along a second horizontal direction. The movement of the X and Y axes can be realized through the first horizontal sliding structure 21 and the second horizontal sliding structure 22.

[0090] The hoisting structure 3 serves as the driving force for vertically lifting heavy objects. In this embodiment, the hoisting structure 3 includes a hoisting drive structure 31 installed on the second horizontal sliding structure 22 and a telescopic sleeve structure 32 connected to the hoisting drive structure 31. The hoisting drive structure 31 is adapted to drive the telescopic sleeve structure 32 to move up and down.

[0091] In this embodiment, the telescopic sleeve structure 32 is a foldable telescopic sleeve, and the telescopic sleeve structure 32 is telescopically extended by a winch driving a wire rope.

[0092] Please see Figure 9As shown in the embodiment of the present invention, the telescopic fork structure 4 is connected to the bottom end of the winch lifting structure 3. The telescopic fork structure 4 includes a support frame 41, a rotating structure 42 connected to the bottom end of the telescopic sleeve structure 32, and a fork arm structure 43 connected to the support frame 41. The side of the rotating structure 42 away from the winch lifting structure 3 is installed at the top end of the support frame 41.

[0093] Therefore, in this embodiment of the invention, the horizontal sliding structure 2 is adapted to drive the telescopic fork structure 4 to move horizontally, and the winch lifting structure 3 is adapted to drive the telescopic fork structure 4 to move vertically, so as to transfer the fork arm structure 43 to a set position. The extension and retraction of the telescopic sleeve structure 32 can drive the support frame 41 to move up and down. And the rotation of the gear disk of the rotating structure 42 can allow the support frame 41 to rotate 100° to the left and right.

[0094] Please see Figure 3 As shown, in a specific embodiment of the present invention, the rail support beam 1 includes a column 11, a horizontal frame 12, a first rack structure 13, and a first cable routing groove 14, wherein:

[0095] The two columns 11 are vertically connected to one side of the horizontal frame 12 along its length (i.e., to the left in the attached diagram), while the other side of the horizontal frame 12 along its length is not connected.

[0096] The horizontal frame 12 is a rectangular structure and includes a first horizontal beam 121 and a second horizontal beam 122. The two first horizontal beams 121 form the long side of the horizontal frame 12, and the two second horizontal beams 122 form the wide side of the horizontal frame 12. Thus, the external structure of the horizontal frame 12 is formed by the mutual connection of the first horizontal beams 121 and the second horizontal beams 122.

[0097] As a preferred embodiment of the present invention, both the first horizontal beam 121 and the second horizontal beam 122 are welded from channel steel, which can meet the structural strength requirements and facilitate the sourcing of materials.

[0098] The first horizontal beam 121 serves as the long side of the horizontal frame 12. A first traveling beam 1211 and a first rack structure 13 are fixedly connected to its upper surface. The first rack structure 13 is located on the side of the first horizontal beam 121 that is close to it, while the first traveling beam 1211 is adjacent to the outside of the first rack structure 13. The first rack structure 13 includes a first rack mounting plate 131 and a first rack 132. In this embodiment, the first rack mounting plate 131 is configured as a stepped structure, with the first rack 132 positioned on the lower step and the first traveling beam 1211 positioned on the higher step. This configuration facilitates the operation of the sliding structure.

[0099] A limit sensor 1221 is installed on the second horizontal beam 122, which can ensure the running position of the sliding structure.

[0100] To facilitate wiring, a first wiring groove 14 is separately provided on the horizontal frame 12 to avoid abnormalities caused by wiring during operation.

[0101] Please see Figure 1 , 2 As shown, in a specific embodiment of the present invention, the horizontal sliding structure 2 includes a first horizontal sliding structure 21 and a second horizontal sliding structure 22, wherein:

[0102] Please see Figure 4 As shown, the first horizontal active sliding structure 211 includes a first drive motor 2111, a first transmission shaft 2112, a first mounting base 2113, and a first drive gear 2114. The first drive motor 2111 is vertically mounted at the middle of the side of the first horizontal beam 121. Symmetrical output shafts are provided on both sides of the first drive motor 2111, and the end of each output shaft is connected to one end of the first transmission shaft 2112 via a coupling. The two sides of the first transmission shaft 2112 are fixedly connected to the side of the first horizontal beam 121 via the first mounting base 2113. In this embodiment, the first mounting base 2113 consists of a mounting bracket and a bearing seat, with the bearing seat connected to the mounting bracket, and the other side of the mounting bracket connected to the side of the first horizontal beam 121. The first drive gear 2114 is connected to the end of the first transmission shaft 2112 away from the first drive motor 2111, and the first drive gear 2114 meshes with the first rack 132 of the first rack structure 13 for transmission.

[0103] Thus, with this configuration, when the first drive motor 2111 is working, it will drive the first transmission shafts 2112 on both sides to drive synchronously. The rotation of the first transmission shafts 2112 will drive the first drive gears 2114 on both sides to rotate, and the first drive gears 2114 will mesh with the first rack 132 for transmission.

[0104] The first horizontal driven sliding structure 212 includes a first sliding frame 2121, a first roller 2122, and a second roller 2123. The first roller 2122 and the second roller 2123 are respectively installed at the four corners of the first sliding frame 2121, wherein:

[0105] The first sliding frame 2121 is a horizontal square structure, which is constructed from a third horizontal beam 21211 and a fourth horizontal beam 21212. Both the third horizontal beam 21211 and the fourth horizontal beam 21212 are square steel structures. A first embedding groove 212111 is provided at both ends of the third horizontal beam 21211. Both ends of the fourth horizontal beam 21212 can be embedded into the third horizontal beam 21211 through the first embedding groove 212111, so that they are connected end to end to form the square structure of the first sliding frame 2121.

[0106] It should be noted that the first roller 2122 is vertically installed on the lower side of both ends of the third horizontal beam 21211, while the second roller 2123 is horizontally installed on the outer side of both ends of the fourth horizontal beam 21212, and the first roller 2122 and the second roller 2123 are arranged perpendicular to each other.

[0107] Please see Figure 1 , 2 As shown in Figure 4, in a specific embodiment of the present invention, the second horizontal sliding structure 22 includes a second horizontal active sliding structure 221, a second horizontal passive sliding structure 222, and a second sliding frame 223, wherein:

[0108] The second sliding frame 223 consists of a square frame 2231, an upper base plate 2232, and a lower base plate 2233. The second limit sensor 224 and the second wiring groove 225 are respectively installed and connected to the side of the square frame 2231. Preferably, in this embodiment, the square frame 2231 is a square cylindrical structure with openings at the top and bottom, and the upper base plate 2232 and the lower base plate 2233 are respectively horizontally embedded on the upper and lower sides of the square frame 2231.

[0109] Preferably, in order to meet the strength requirements of use and take into account the cost and material availability, the square frame 2231, the upper base plate 2232 and the lower base plate 2233 in this embodiment are all made of cast steel. Of course, the weight-bearing materials can also be selected according to the actual weight of the object.

[0110] The second horizontal active gliding structure 221 includes a second drive motor 2211, a second transmission shaft 2212, a second mounting base 2213, and a second drive gear 2214, wherein:

[0111] The second drive motor 2211 is vertically mounted on the middle of one side of the square frame 2231 of the second sliding frame 223 (also in the Y-axis direction in the attached figure). The second drive motor 2211 also has symmetrical output shafts on both sides. The end of each output shaft is connected to one end of the second transmission shaft 2212 through a coupling. The two sides of the second transmission shaft 2212 are fixedly connected to the side of the square frame 2231 through the second mounting base 2213.

[0112] In this embodiment, the second mounting base 2213 also consists of a mounting bracket and a bearing housing, wherein the bearing housing is connected to the mounting bracket, and the other side of the mounting bracket is connected to the side of one side of the square frame 2231. In addition, the second drive gear 2214 is connected to the end of the second transmission shaft 2212 away from the second drive motor 2211, and the second drive gear 2214 meshes with the second rack 22152 of the second rack structure 2215 for transmission.

[0113] Please see Figure 4 , 5 As shown, the second horizontal driven sliding structure 222 includes a third roller 2221, a fourth roller 2222, and a second traveling beam 2223.

[0114] In this embodiment, the second rack structure 2215 consists of a second rack mounting plate 22151 and a second rack 22152. The second rack mounting plate 22151 is also configured as a stepped structure, with the second rack 22152 positioned on the lower step and the second traveling beam 2223 positioned on the higher step. This configuration facilitates the operation of the sliding structure. The third roller 2221 and the fourth roller 2222 are connected to the front and rear positions of both sides of the square frame 2231 via brackets. The third roller 2221 is horizontally mounted and can rotate in the vertical direction, while the fourth roller 2222 is vertically mounted and can rotate in the horizontal direction.

[0115] like Figure 4 , 5 As shown, the second traveling beam 2223 is also configured as a U-shaped groove structure, with its groove opening facing horizontally to the third roller 2221. The third roller 2221 is adapted to roll within the groove of the second traveling beam 2223, while the fourth roller 2222 is located on the other side of the second traveling beam 2223 and is adapted to roll on the back of the second traveling beam 2223.

[0116] Please see Figure 2 , 6 As shown in Figures 7 and 8, in the embodiments of the present invention, the hoisting structure 3 includes a hoisting drive structure 31 and a telescopic sleeve structure 32, wherein:

[0117] The hoist drive structure 31 serves as the source of driving force. It is installed on one side of the upper base plate 2232 and located near the top of the square frame 2231. The upper base plate 2232 provides a fixed support platform for easy hoisting operations.

[0118] The telescopic sleeve structure 32 is vertically positioned at the center of the square frame 2231, and the top of the telescopic sleeve structure 32 is located inside the square frame 2231, so that the top of the telescopic sleeve structure 32 can slide up and down relative to the square frame 2231.

[0119] The telescopic fork structure 4 is connected to the bottom of the telescopic sleeve structure 32. Since the telescopic fork structure 4 is used to bear heavy objects, in order to enable the driving force of the winch drive structure 31 to be transmitted to the telescopic fork structure 4 and to enable the telescopic fork structure 4 to move horizontally and smoothly up and down, roller seats 315 are respectively provided at the four corners of the telescopic fork structure 4 to transmit the driving force of the winch drive structure 31 to the roller seats 315.

[0120] The winch drive structure 31 is adapted to drive the roller seat 315 to move up and down, thereby driving the telescopic sleeve structure 32 to move up and down, so that the telescopic fork structure 4 moves to a set height.

[0121] Specifically, please refer to Figure 7 , 8 As shown, in this embodiment, the hoisting drive structure 31 includes a hoisting drive motor 311, two third transmission shafts 312, two drums 313, a wire rope 314, and a drum base 315, wherein:

[0122] The hoist drive motor 311 is located above one side of the upper base plate 2232. The output shaft of the hoist drive motor 311 has two sides, which are respectively connected to the third transmission shaft 312 at both ends of the hoist drive motor 311. Two drums 313 are symmetrically arranged on one side of the hoist drive motor 311 and are mounted on one side of the upper base plate 2232 through a support frame. The two drums 313 are respectively connected to the corresponding third transmission shaft 312, and each drum 313 is wound with a steel wire rope 314.

[0123] One end of the wire rope 314 is fixedly wound on the drum 313, and the other end passes through the upper base plate 2232, successively passing through the drum seat 315 located directly below the drum 313 and another drum seat 315 on the opposite side, and then is vertically fixed to the bottom of the upper base plate 2232 on the opposite side away from the hoisting drive structure 31. In this embodiment, the drum seat 315 is suitable for guiding, winding, and unwinding the vertically hanging wire rope 314.

[0124] Specifically, please refer to Figure 7 As shown, in this embodiment, the telescopic sleeve structure 32 includes a first track cylinder 321, a second track cylinder 322, and a third track cylinder 323 that are slidably connected from top to bottom. The diameters of the first track cylinder 321, the second track cylinder 322, and the third track cylinder 323 decrease sequentially, and their central axes coincide. The bottom of the third track cylinder 323 is connected to the telescopic fork structure 4, and the top of the first track cylinder 321 is inserted into the square frame 2231. The first track cylinder 321, the second track cylinder 322, and the third track cylinder 323 move telescopically through a slide rail structure.

[0125] Specifically, please refer to Figure 7As shown, in this embodiment, the slide rail structure includes slide bars 324 evenly distributed on the outer circumference of the first track cylinder 321, the second track cylinder 322 and the third track cylinder 323, and slide seats 325 correspondingly distributed on the inner walls of the square frame 2231, the first track cylinder 321 and the second track cylinder 322. The slide bars 324 and the slide seats 325 are arranged in a one-to-one correspondence, and the length extension direction of the slide bars 324 is parallel to the central axis of the first track cylinder 321.

[0126] Specifically, please refer to Figure 7 As shown, in this embodiment, there are twelve sliders 324 in total, and four sliders 324 are evenly distributed and connected to the first track cylinder 321, the second track cylinder 322 and the third track cylinder 323 respectively.

[0127] For example, the surface of the third track cylinder 323 is provided with four evenly distributed sliders 324 along a direction parallel to the central axis of the track cylinder, while the inner wall of the second track cylinder 322 is provided with a slide block 325 corresponding to the length direction of the sliders 324. When the third track cylinder 323 moves relative to the second track cylinder 322, the third track cylinder 323 can slide up and down in the slide block 325 of the second track cylinder 322 through the sliders 324. Of course, a limiting structure is also provided at both ends of the slide block 325 of the track cylinder to prevent the sliders 324 from slipping off the slide block 325.

[0128] Similarly, the surface of the second track cylinder 322 is provided with four evenly distributed slide bars 324 along the direction parallel to the central axis of the track cylinder, and a slide seat is provided on the inner wall of the first track cylinder 321 corresponding to the length direction of the slide bars 324, so that the second track cylinder 322 can move relative to the first track cylinder 321.

[0129] Four evenly distributed sliders 324 are provided on the surface of the first track cylinder 321 along the direction parallel to the central axis of the track cylinder, and a slide block 325 is provided on the inner wall of the square frame 2231 corresponding to the length direction of the sliders 324, so that the first track cylinder 321 can move up and down relative to the square frame 2231.

[0130] Please see Figure 9 , 10 As shown in Figure 11, in an embodiment of the present invention, the telescopic fork structure 4 includes a support frame 41, a rotating structure 42, and a fork arm structure 43, wherein:

[0131] The rotating structure 42 includes a mounting base plate 421, a third drive motor 422, a sprocket drive structure 423, a gear drive structure 424, and a rotating disk 425. The mounting base plate 421 is mounted on the support frame 41 and serves as a support structure for the third drive motor 422. The third drive motor 422 is vertically mounted on the mounting base plate 421 to provide the driving force for rotation. The sprocket drive structure 423 and the gear drive structure 424 are horizontally arranged on the lower surface of the mounting base plate 421. The rotating disk 425 is horizontally connected to the center of the lower surface of the mounting base plate 421. The sprocket drive structure 423 and the gear drive structure 424 are coaxially connected on their adjacent sides. Thus, when the sprocket drive structure 423 moves, it can drive the coaxially fixed gear drive structure 424 to move.

[0132] Therefore, the third drive motor 422 is suitable for driving the sprocket transmission structure 423 to move, the sprocket transmission structure 423 in turn drives the gear transmission structure 424 to move horizontally, and the gear transmission structure 424 in turn drives the rotating disk 425 and the mounting base plate 421 to rotate horizontally, so that the telescopic fork structure 4 can rotate to the required position during the lifting operation.

[0133] Please see Figure 10 , 11 As shown, the fork arm structure 43 includes a mounting base frame 431, a fork plate drive structure 432 disposed in the mounting base frame 431, a sliding groove seat 433 connected to the fork plate drive structure 432, and at least two sliding fork plates that are slidably connected, one of which is adapted to slide within the sliding groove seat 433.

[0134] In a specific embodiment, there are two sliding fork plates, namely a first sliding fork plate 434 and a second sliding fork plate 435. The first sliding fork plate 434 and the second sliding fork plate 435 can slide relative to each other. That is, the second sliding fork plate 435 is provided with a sliding groove, and the first sliding fork plate 434 is provided with a corresponding sliding strip 324. The sliding strip 324 is adapted to move relative to each other in the sliding groove, so that the second sliding fork plate 435 can slide on the first sliding fork plate 434.

[0135] In this embodiment, the sliding fork plate is a two-stage telescopic fork with a stroke of up to 2.9 meters, which can take out the core pallet (pallet weight 800kg) from the elevator. After the scheduling system controls the bridge automatic stacker, the movement of the X, Y, Z axes and the rotating structure 42 is realized, and the goods are accurately placed in the container, realizing automatic handling and reducing the manual labor intensity of core transfer.

[0136] The fork drive structure 432 serves as the driving source for the sliding fork. Therefore, the fork drive structure 432 is adapted to drive the sliding groove seat 433 to move horizontally back and forth, thereby driving the sliding fork to extend and retract horizontally.

[0137] Specifically, please refer to Figure 10 , 11 As shown, in this embodiment, the support frame 41 includes an upper bracket 411 and a lower bracket 412 arranged horizontally in parallel, and a first side frame 413 and a second side frame 414 vertically connected between the upper bracket 411 and the lower bracket 412, and the first side frame 413 and the second side frame 414 are arranged in parallel on both sides of the lower bracket 412.

[0138] The upper bracket 411 has a central hole 4111, through which the rotating structure 42 is installed and a support carrier for the installation of the rotating structure 42 is provided.

[0139] Specifically, please refer to Figure 11 , 13 As shown, in this embodiment, the sprocket drive structure 423 includes a first sprocket 4231, a chain 4232, and a second sprocket 4233, wherein:

[0140] The first sprocket 4231 and the second sprocket 4233 are horizontally arranged on the lower surface of the mounting base plate 421. The chain 4232 is meshed between the first sprocket 4231 and the second sprocket 4233. The first sprocket 4231 is connected to the output shaft of the third drive motor 422. In this way, the output torque of the third drive motor 422 can be transmitted to the first sprocket 4231, thereby driving the second sprocket 4233 to rotate horizontally.

[0141] Specifically, please refer to Figure 13 As shown, in this embodiment, the gear transmission structure 424 includes a first gear 4241 and a second gear 4242 that mesh with each other. One of the first gear 4241 and the second gear 4242 is coaxially arranged with the second sprocket 4233, and the other of the first gear 4241 and the second gear 4242 is coaxially fixedly connected to the lower surface of the rotating disk 425.

[0142] Therefore, when the sprocket drive structure 423 moves, the output torque of the sprocket drive structure 423 can be transmitted to the gear drive structure 424, thereby driving the gear drive structure 424 to move.

[0143] Specifically, please refer to Figure 13 , 14 As shown, in this embodiment, the fork drive structure 432 includes a fourth drive motor 4321, a conveyor belt structure 4322, and a driven structure 4323. The output shaft of the fourth drive motor 4321 is connected to one end of the conveyor belt structure 4322, and the other end of the conveyor belt structure 4322 is connected to the driven structure 4323.

[0144] In this way, when the fourth drive motor 4321 works, it will transmit the output torque to the conveyor belt structure 4322. When the conveyor belt structure 4322 moves, it will drive the driven structure 4323 that is meshed with it.

[0145] Specifically, please refer to Figure 13 , 14 As shown in Figure 15, in this embodiment, the conveyor belt structure 4322 includes a drive sprocket 43221 connected to the output shaft of the fourth drive motor 4321, a driven sprocket 43223, and a conveyor belt 43222 meshing and drivingly connected between the drive sprocket 43221 and the driven sprocket 43223. The driven sprocket 43223 is fixedly connected to one end of the driven structure 4323.

[0146] Specifically, please refer to Figure 13 , 14 As shown in Figure 15, in this embodiment, the driven structure 4323 includes an intermediate transmission shaft 43231, a first side gear shaft 43232 and a second side gear shaft 43235 respectively fixedly connected to both ends of the intermediate transmission shaft 43231, and a third mounting seat 43233 and a first gear 43234 and a fourth mounting seat 43236 and a second gear 43237 respectively connected to the first side gear shaft 43232 and the second side gear shaft 43235. The first gear 43234 and the second gear 43237 are respectively installed in the third mounting seat 43233 and the fourth mounting seat 43236.

[0147] Specifically, please refer to Figure 15 As shown, in this embodiment, the end of the second side gear shaft 43235 away from the conveyor belt structure 4322 is also connected to an encoder 43239 via a coupling 43238.

[0148] Therefore, by setting the encoder 43239, the horizontal movement distance of the sliding fork plate can be measured in real time, which facilitates timely adjustment according to the width of the goods.

[0149] Specifically, please refer to Figure 14 , 15 As shown, in this embodiment, the sliding slot seat 433 includes a first side plate 4331 and a second side plate 4332 arranged in parallel and a connecting plate 4333 vertically connected between the first side plate 4331 and the second side plate 4332. The first side plate 4331 and the second side plate 4332 are adapted to be slidably connected with the sliding fork plate.

[0150] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the scope of protection of this invention.

Claims

1. A bridge-type automatic stacker crane for use on an offshore drilling vessel, characterized in that, include: A rail support beam (1) is fixed on one side to the top deck and on the other side to the elevator enclosure. The rail support beam (1) includes columns (11), a horizontal frame (12), and a first rack structure (13). Two columns (11) are respectively vertically connected to one side of the horizontal frame (12) along its length. The first rack structure (13) is located on a pair of sides of the horizontal frame (12). The horizontal frame (12) includes a first horizontal beam (121) and a second horizontal beam (122) connected to each other. The first rack structure (13) includes a second rack mounting plate (22151) and a second rack (22152) mounted on the first horizontal beam (121). The second rack mounting plate (22151) has a two-step structure, and the second rack (22152) is located on the lower step of the second rack mounting plate (22151). A horizontal sliding structure (2) is installed on the rail support beam (1). The horizontal sliding structure (2) includes a first horizontal sliding structure (21) and a second horizontal sliding structure (22) that are arranged in an alternating manner. The first horizontal sliding structure (21) is adapted to move along a first horizontal direction, and the second horizontal sliding structure (22) is adapted to move along a second horizontal direction. The first horizontal sliding structure (21) includes a first horizontal active sliding structure (211) adapted to slide along the length direction of the first horizontal beam (121). The first horizontal active sliding structure (211) includes a first drive motor (2111) vertically mounted on the first horizontal beam (121), a first transmission shaft (2112) connected to the output shaft of the first drive motor (2111), a first mounting base (2113) connected to the first transmission shaft (2112) and away from the first drive motor (2111), and a first drive gear (2114). The first drive gear (2114) is located on the first mounting base (2113) and meshes with the second rack (22152). The first drive motor (2111) is adapted to drive the first transmission shaft (2112) to rotate, thereby driving the first drive gear (2114) to rotate vertically, thereby driving the first drive gear (2114) to move horizontally relative to the second rack (22152); The hoisting structure (3) includes a hoisting drive structure (31) mounted on the second horizontal sliding structure (22) and a telescopic sleeve structure (32) connected to the hoisting drive structure (31). The hoisting drive structure (31) is adapted to drive the telescopic sleeve structure (32) to move up and down. The telescopic fork structure (4) is connected to the bottom end of the winch lifting structure (3). The telescopic fork structure (4) includes a support frame (41), a rotating structure (42) connected to the bottom end of the telescopic sleeve structure (32), and a fork arm structure (43) connected in the support frame (41). The rotating structure (42) is installed on the top end of the support frame (41) on the side away from the winch lifting structure (3). The horizontal sliding structure (2) is adapted to drive the telescopic fork structure (4) to move horizontally, and the winch lifting structure (3) is adapted to drive the telescopic fork structure (4) to move vertically, so as to transfer the fork arm structure (43) to a set position.

2. The bridge-type automatic stacker crane according to claim 1, characterized in that: The first horizontal sliding structure (21) further includes a first horizontal driven sliding structure (212), which includes a first sliding frame (2121), a first roller (2122), and a second roller (2123). The first sliding frame (2121) includes a third horizontal beam (21211) and a fourth horizontal beam (21212) connected to each other. The first roller (2122) is vertically installed on the lower side of both ends of the third horizontal beam (21211), and the second roller (2123) is horizontally installed on the outer side of both ends of the fourth horizontal beam (21212). The first roller (2122) and the second roller (2123) are arranged perpendicular to each other.

3. The bridge-type automatic stacker crane according to claim 2, characterized in that: The second horizontal sliding structure (22) includes a second horizontal active sliding structure (221) and a second horizontal passive sliding structure (222) arranged in an alternating manner, as well as a second sliding frame (223). The second sliding frame (223) includes a square frame (2231) with openings at the top and bottom, an upper base plate (2232) and a lower base plate (2233), wherein the upper base plate (2232) and the lower base plate (2233) are respectively horizontally embedded in the upper and lower sides of the square frame (2231); The second horizontal active sliding structure (221) is adapted to move along the second horizontal direction, and the second horizontal passive sliding structure (222) is adapted to move along the first horizontal direction.

4. The bridge-type automatic stacker crane according to claim 3, characterized in that: The second horizontal active sliding structure (221) includes a second drive motor (2211) vertically mounted on one side of the square frame (2231), a second transmission shaft (2212) fixedly connected to the output shaft of the second drive motor (2211), a second mounting base (2213) mounted on both sides of the second transmission shaft (2212), a second drive gear (2214), and a second rack structure (2215) mounted on the third horizontal beam (21211). The second rack structure (2215) includes a second rack mounting plate (22151) and a second rack (22152) mounted on the third horizontal beam (21211). The second rack mounting plate (22151) has a two-step structure. The second rack (22152) is disposed on the lower step of the second rack mounting plate (22151). The second drive gear (2214) is adapted to mesh with the second rack (22152) in the second mounting seat (2213) for transmission. The second horizontal driven sliding structure (222) includes a third roller (2221), a fourth roller (2222), and a second traveling beam (2223) connected to the front and rear positions of both sides of the square frame (2231). The third roller (2221) is adapted to roll in the slot of the second traveling beam (2223), and the fourth roller (2222) is located on the other side of the second traveling beam (2223) and is adapted to roll on the back of the second traveling beam (2223).

5. The bridge-type automatic stacker crane according to claim 4, characterized in that: The winch lifting structure (3) includes a winch drive structure (31) installed on one side of the upper base plate (2232) and located near the top of the square frame (2231) and a telescopic sleeve structure (32) vertically located at the center of the square frame (2231). The top of the telescopic sleeve structure (32) is located inside the square frame (2231), and the bottom is connected to the telescopic fork structure (4). The winch drive structure (31) is adapted to drive the telescopic fork structure (4) to move up and down, so as to drive the telescopic sleeve structure (32) to move up and down, thereby moving the telescopic fork structure (4) to a set height.

6. The bridge-type automatic stacker crane according to claim 5, characterized in that: The winch drive structure (31) includes a winch drive motor (311) located above one side of the upper base plate (2232), a third transmission shaft (312) connected to the output shafts at both ends of the winch drive motor (311), a drum (313) connected to the third transmission shaft (312), a wire rope (314) wound on the drum (313), and a roller seat (315) fixed on the support frame (41). The two drums (313) are symmetrically arranged at both ends of the winch drive motor (311) and are installed on one side of the upper base plate (2232) through the support frame. One end of the wire rope (314) is fixedly wound on the drum (313), and the other end passes through the upper base plate (2232), passes in sequence through the drum seat (315) located directly below the drum (313) and another drum seat (315) on the opposite side, and is then vertically fixed on the bottom of the upper base plate (2232) away from the hoist drive motor (311).

7. The bridge-type automatic stacker crane according to claim 6, characterized in that: The telescopic sleeve structure (32) includes a first track cylinder (321), a second track cylinder (322), and a third track cylinder (323) that are slidably connected from top to bottom. The diameters of the first track cylinder (321), the second track cylinder (322), and the third track cylinder (323) decrease sequentially. The central axes of the first track cylinder (321), the second track cylinder (322), and the third track cylinder (323) coincide. The bottom of the third track cylinder (323) is connected to the support frame (41). The top of the first track cylinder (321) passes through the square frame (2231). The first track cylinder (321), the second track cylinder (322), and the third track cylinder (323) move telescopically through a sliding rail structure.

8. The bridge-type automatic stacker crane according to claim 6, characterized in that: The rotating structure (42) includes a mounting base plate (421) mounted on the support frame (41), a third drive motor (422) mounted vertically on the mounting base plate (421), a sprocket drive structure (423) and a gear drive structure (424) horizontally disposed on the lower surface of the mounting base plate (421), and a rotating disk (425) horizontally connected to the center position of the lower surface of the mounting base plate (421). The sprocket drive structure (423) and the gear drive structure (424) are coaxially connected on the side close to each other. The third drive motor (422) is adapted to drive the sprocket transmission structure (423) to move, the sprocket transmission structure (423) drives the gear transmission structure (424) to move horizontally, and the gear transmission structure (424) drives the rotating disk (425) and the mounting base plate (421) to rotate horizontally. The fork arm structure (43) includes a mounting base frame (431), a fork plate drive structure (432) disposed in the mounting base frame (431), a sliding groove seat (433) connected to the fork plate drive structure (432), and at least two sliding fork plates that are slidably connected, one of the sliding fork plates being adapted to slide within the sliding groove seat (433). The fork plate drive structure (432) is adapted to drive the sliding groove seat (433) to move horizontally back and forth, thereby driving the sliding fork plate to extend and retract horizontally.

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