Stacker and parking equipment

Abstract

The application discloses a stacker and a parking equipment. The stacker comprises a stacker body, a first walking wheel module, a second walking wheel module and a control module which are installed on the stacker body. The first walking wheel module is used for driving the stacker body to walk along a first direction on a track. The second walking wheel module is used for driving the stacker body to walk along a second direction on the track. The second direction forms a preset angle with the first direction. The control module is used for controlling the first walking wheel module or the second walking wheel module to independently bear the stacker body, so that the stacker body can walk along the first direction or the second direction on the track. Thus, the stacker walks along two different directions on the track, so that the stacker can meet the requirement of the parking equipment with two-directional arrangement of a stereo garage, and the construction cost of the parking equipment with the stacker is reduced.

Description

Technical Field

[0001] This invention belongs to the technical field of stacker cranes, and in particular relates to a stacker crane and parking equipment. 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, in the mechanical parking equipment industry, stacker cranes are limited by the large loads they carry when transporting vehicles. This typically restricts their movement to either lateral or longitudinal movement within aisles, moving to a parking space and then using the vehicle storage / retrieval mechanism. Consequently, they cannot meet the requirement of simultaneously moving and stacking vehicles in both lateral and longitudinal aisles, thus limiting their application scenarios. Summary of the Invention

[0004] In view of this, it is necessary to provide a stacker crane and parking equipment for solving the above-mentioned technical problems.

[0005] A stacker crane, the stacker crane comprising:

[0006] Stacker crane body;

[0007] The first walking wheel module is installed on the stacker crane body and is used to drive the stacker crane body to walk in the first direction;

[0008] The second walking wheel module is installed on the main body of the stacker crane and is used to drive the main body of the stacker crane to walk along the second direction, wherein the second direction and the first direction form a preset angle;

[0009] A control module, installed on the stacker crane body, is used to control the first walking wheel module or the second walking wheel module to independently support the stacker crane body, so that the stacker crane body can move along a first direction or a second direction.

[0010] It is understandable that by using a control module to control the first or second traveling wheel module to independently support the main body of the stacker crane, and by utilizing the mobility of the first and second traveling wheel modules, the stacker crane can move in the first or second direction as needed, thus achieving the purpose of the stacker crane moving in different directions. In this way, the stacker crane can meet the practical needs of stacking while moving in both transverse and longitudinal aisles, expanding the application scope of the stacker crane in the field of parking equipment.

[0011] In one embodiment, the first traveling wheel module includes a plurality of first wheel sets, which are vertically and independently mounted on the stacker crane body; the second traveling wheel module includes a plurality of second wheel sets, which are vertically and independently mounted on the stacker crane body.

[0012] The control module includes multiple first drive units and multiple second drive units. The multiple first drive units correspond one-to-one with the multiple first wheel sets and are capable of controlling the lifting and lowering of the multiple first wheel sets. The multiple second drive units correspond one-to-one with the multiple second wheel sets and are capable of controlling the lifting and lowering of the multiple second wheel sets.

[0013] It is understandable that the first drive unit controls the lifting and lowering of the corresponding first wheel group, or the second drive unit controls the lifting and lowering of the corresponding second wheel group, to achieve the switching between the first and second traveling wheel modules on the stacker crane. In this way, it is ensured that the main body of the stacker crane is always supported by the second or first traveling wheel module on the track during the reversing process. This not only results in low energy consumption, but is also unaffected by the load on the main body of the stacker crane, thus enabling the stacker crane to meet the usage requirements in parking equipment with two-way layout of multi-level parking garages.

[0014] In one embodiment, a guide rod is connected to the first wheel set, and the guide rod is partially inserted into the stacker body and slides with the stacker body in the lifting direction of the first wheel set.

[0015] 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 pushing slope on the push plate.

[0016] 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 first wheel assembly to move up and down on the track. This allows for precise control of the first wheel assembly's movement during lifting and lowering, and ensures the stability of the traveling wheel module's reversing process.

[0017] 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.

[0018] 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 relative to the track. 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 relative to the track.

[0019] 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.

[0020] 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.

[0021] Understandably, the first plane on the push plate supports the first roller group, thus providing support after the first roller group rises to a designated height. This ensures the safety of the first roller group after it rises, eliminating the need for additional power to maintain it at a designated height. The second plane on the push plate presses against the second roller group, thus providing pressure after the second roller group descends, allowing the first roller group to contact the track. This ensures the safety of the stacker crane when it travels on the track.

[0022] In one embodiment, the first roller group includes a plurality of first rollers, and the second roller group includes a plurality of second rollers, with the plurality of first rollers and the plurality of second rollers symmetrically arranged on both sides of the connecting shaft;

[0023] In this arrangement, a plurality of first rollers are arranged outside a plurality of second rollers, and the outer diameter of the second rollers is larger than the outer diameter of the first rollers.

[0024] It is understandable that the outer diameter of the second roller is larger than that of the first roller. This allows the structural strength of the second roller to be greater than that of the first roller, so that the second roller can withstand the pressure of the stacker crane body, while the first roller only needs to overcome the gravity of the first roller group to lift the first roller group.

[0025] In one embodiment, a first power supply mechanism, a second power supply mechanism and a third power supply mechanism are installed on the stacker crane body. The first power supply mechanism and the second power supply mechanism are arranged at intervals along the first direction on the stacker crane body, and the first power supply mechanism and the second power supply mechanism can cooperate with each other to supply power to the first walking wheel module.

[0026] The first power supply mechanism and the third power supply mechanism are arranged at intervals along the second direction on the stacker crane body, and the first power supply mechanism and the third power supply mechanism can cooperate with each other to supply power to the second traveling wheel module.

[0027] It is understandable that by using the cooperation of the first power supply mechanism, the second power supply mechanism and the third power supply mechanism in pairs to provide power to the first or second traveling wheel module, the power supply of the stacker crane is realized when it changes direction in the first and second directions on the track, and the power supply needs of the stacker crane when it travels in the first or second direction on the track are met. This simplifies the structure and reduces costs.

[0028] In one embodiment, the stacker crane body includes:

[0029] The support frame includes a bottom frame, a crossbeam and two columns. The crossbeam is connected to the top of the two columns, and the two columns are fixed to both sides of the bottom frame. A portion of each column is circumferentially confined within the bottom frame along its height direction.

[0030] The lifting platform is movably connected between the two columns;

[0031] A lifting drive mechanism, installed on the lifting platform, is used to drive the lifting platform to move up and down relative to the base frame along the height direction of the column.

[0032] Understandably, the lifting platform is connected by two columns, and the two columns fixed to the bottom frame are not only connected by a crossbeam, but each column is also circumferentially limited to the bottom frame. This ensures the structural stability of the two columns when assembled on the bottom frame, eliminating the need for a matching overhead rail. This not only expands the application scenarios of the stacker crane, but also reduces costs.

[0033] In one embodiment, the stacker crane further includes a plurality of first guide wheel sets and a plurality of second guide wheel sets, with each of the plurality of first guide wheel sets corresponding to one of the plurality of first wheel sets. When the first wheel set descends, the first guide wheel set can push the corresponding first wheel set in a direction perpendicular to the first direction to limit the position of the first wheel set as it descends onto the track.

[0034] Multiple second guide wheel sets correspond one-to-one with multiple second wheel sets. When a second wheel set descends, the second guide wheel set can push the corresponding second wheel set in the vertical direction of the second direction to limit the position of the second wheel set as it descends onto the track.

[0035] Understandably, using the first guide wheel set to push the first wheel set during descent, and the second guide wheel set to push the second wheel set during descent, limits the descent positions of the first and second wheel sets. This prevents positional deviation when the first and second wheel sets descend onto the track, achieving a correction effect. In this way, it ensures that the first and second wheel sets descend accurately onto the track, preventing derailment of the stacker crane while traveling on the track within the aisle and ensuring safe operation.

[0036] This application also claims protection for a parking device, including a track and the aforementioned stacker crane, the stacker crane being movably mounted on the track;

[0037] The track includes a first travel track and a second travel track. The first travel track is arranged along the first direction, and the stacker crane can travel on the first travel track using the first travel wheel module. The second travel track is arranged along the second direction and intersects with the first travel track, and the stacker crane can travel on the second travel track using the second travel wheel module.

[0038] Compared with the prior art, this application has the following advantages:

[0039] The stacker crane and parking equipment claimed in this application use a control module to control a first or second traveling wheel module to independently support the main body of the stacker crane. By utilizing the mobility of the first and second traveling wheel modules, the stacker crane can travel in a first or second direction on the track as needed, and achieve the purpose of traveling in different directions on the track. In this way, the stacker crane can meet the needs of parking equipment with two-way layout of multi-level parking garages, and reduce the construction cost of parking equipment using this stacker crane. Attached Figure Description

[0040] 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.

[0041] 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;

[0042] Figure 2 for Figure 1 Enlarged view of the middle P section;

[0043] Figure 3 This is a schematic diagram of the main body of the stacker crane in this application;

[0044] Figure 4 This is a partial structural diagram of the main body of the stacker crane in this application;

[0045] Figure 5 This is a partial structural schematic diagram of the main body of the stacker crane from another perspective in this application;

[0046] Figure 6 This is an exploded view of the assembly of the protrusion on the bottom frame and the column in this application;

[0047] Figure 7 This is a schematic diagram of the structure of the first or second round group in this application;

[0048] Figure 8 This is a partial structural diagram of the first wheel assembly, the first drive unit, and the bottom frame during assembly in this application.

[0049] Figure 9 for Figure 8 Enlarged view of the Q part;

[0050] Figure 10 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.

[0051] Figure 11 for Figure 10 Enlarged view of the R part;

[0052] Figure 12 This is a structural diagram of the push plate and guide rail assembly in this application;

[0053] Figure 13 This is a cross-sectional view of a stacker crane provided in an embodiment of this application;

[0054] Figure 14 This is a schematic diagram of the structure of the first power supply mechanism in this application;

[0055] Figure 15 This is a cross-sectional view of the first wheel assembly and the first guide wheel assembly in this application when they are in mutual cooperation;

[0056] Figure 16 This is a schematic diagram of the structure of the first guide wheel assembly in this application.

[0057] Reference numerals: 100, Stacker crane; 10, Stacker crane body; 11, Support frame; 111, Base frame; 1111, Linear bearing; 1112, Guide rail; 1113, Protrusion; 11131, First through hole; 112, Column; 1121, Rack; 1122, Second through hole; 113, Crossbeam; 114, Side tie rod assembly; 1141, First tie rod; 1142, Second tie rod; 12, Lifting trolley; 121, Trolley base frame; 122, Side frame; 123, Diagonal tie rod assembly; 1231, First diagonal tie rod; 123 2. Second diagonal tie rod; 124. Trolley platform; 125. Robotic arm transporter; 126. Positioning mechanism; 1261. Positioning rod; 13. Lifting drive mechanism; 131. Gear set; 1311. Drive gear; 1312. Transmission shaft; 14. Position detection mechanism; 110. Pin; 120. Fixing plate; 20. First traveling wheel module; 21. First wheel set; 211. Lifting frame; 212. Silent roller; 213. Guide rod; 214. Side roller set; 2141. Connecting rod; 2142. Roller; 2143. 30. Bearing; 31. Second traveling wheel module; 42. Second wheel set; 43. First drive unit; 44.1. First telescopic drive component; 45.1. Telescopic part; 46.1. Push plate; 47.1.1. First plate part; 48.1.2.1. First inclined surface; 49.1.2.1. First plane; 40.1.2.2. Second plate part; 41.1.2.2. Second inclined surface; 41.1.2.2. Second plane; 41.1.2.2. Connecting plate part; 41.1.3. Roller mechanism; 41.1.3.1. First roller set; 41.1.3.1. First roller; 41.1.3.2. Second roller set; 41.1.2.2. Second roller. 4133, Wheel; 4134, Connecting Shaft; 4135, Pressure Block; 4136, Bolt; 51, First Power Supply Mechanism; 511, Second Telescopic Drive Component; 512, First Connecting Component; 513, Third Telescopic Drive Component; 514, Second Connecting Component; 515, Upper Mounting Frame; 516, Lower Mounting Frame; 52, Second Power Supply Mechanism; 53, Third Power Supply Mechanism; 61, First Guide Wheel Set; 611, Mounting Base; 612, Side Guide Wheel; 62, Second Guide Wheel Set; 200, Track; 201, First Traveling Track; 202, Second Traveling Track. Detailed Implementation

[0058] 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.

[0059] 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.

[0060] 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.

[0061] The stacker crane 100 claimed in this application can be applied to any field, and is particularly suitable for stacker cranes in parking equipment.

[0062] like Figure 1 As shown, a stacker crane 100 provided in one embodiment of this application includes a stacker crane body 10, a first traveling wheel module 20, a second traveling wheel module 30, and a control module. The first traveling wheel module 20 is installed on the stacker crane body 10 and is used to drive the stacker crane body 10 to travel along a first direction on a track 200. The second traveling wheel module 30 is installed on the stacker crane body 10 and is independently set relative to the first traveling wheel module 20. The second traveling wheel module 30 can drive the stacker crane body 10 to travel along a second direction on the track 200, wherein a preset angle is formed between the second direction and the first direction. The control module is installed on the stacker crane body 10 and cooperates with the first traveling wheel module 20 and the second traveling wheel module 30 respectively. It is used to control the first traveling wheel module 20 or the second traveling wheel module 30 to independently carry the stacker crane body 10, so that the stacker crane body 10 can travel along the first direction or the second direction on the track 200.

[0063] It is understandable that the control module controls the first traveling wheel module 20 or the second traveling wheel module 30 to independently support the stacker crane body 10. By utilizing the mobility of the first traveling wheel module 20 and the second traveling wheel module 30, the stacker crane 100 can travel in the first or second direction of the track 200 as needed, and achieve the purpose of traveling in different directions on the track 200. In this way, the stacker crane 100 can meet the needs of parking equipment with two-way layout of multi-level parking garages, and play a role in reducing the construction cost of parking equipment using the stacker crane 100.

[0064] It should be noted that the first direction mentioned above can specifically be the transverse direction of the track 200 and the second direction can be the longitudinal direction of the track 200; or, the first direction can be the longitudinal direction of the track 200 and the second direction can be the transverse direction of the track 200; or, the first direction and the second direction can be set as any other two directions on the track 200 that are at a certain angle.

[0065] like Figure 3 As shown, in some embodiments, the stacker crane body 10 includes a support frame 11, a lifting trolley 12, and a lifting drive mechanism 13. The support frame 11 includes a bottom frame 111, a crossbeam 113, and two columns 112. The crossbeam 113 is connected to the top of the two columns 112, and the two columns 112 are fixed to both sides of the bottom frame 111. Each column 112 is partially circumferentially confined within the bottom frame 111 along the height direction of the column 112. The lifting trolley 12 is movably connected between the two columns 112. The lifting drive mechanism 13 is mounted on the lifting trolley 12 and is used to drive the lifting trolley 12 to move up and down relative to the bottom frame 111 along the height direction of the columns 112.

[0066] It is understandable that the lifting platform 12 is connected by two columns 112. The two columns 112 fixed to the bottom frame 111 are not only connected by a crossbeam 113, but each column 112 is also partially limited in its height direction to the bottom frame 111 in a circumferential manner. In this way, it is ensured that the two columns 112 are reliably constrained in four directions and the structure is stable when assembled on the bottom frame 111, eliminating the need for a matching overhead rail. This not only expands the application scenarios of the stacker crane 100, but also reduces costs.

[0067] like Figure 6 As shown, in some embodiments, the bottom frame 111 has a protrusion 1113 extending along the height direction of the column 112 on the side facing the column 112. Each column 112 is sleeved on the outer periphery of the protrusion 1113. In this way, the circumferential positioning of the column 112 when it is assembled on the bottom frame 111 is achieved by the cooperation between the column 112 and the outer periphery of the protrusion 1113, which is convenient for manufacturing. The protrusion 1113 has a first through hole 11131 that penetrates the protrusion 1113 in the horizontal direction. The column 112 has a second through hole 1122 at the position corresponding to the first through hole 11131. The protrusion 1113 and the column 112 are fixed by a pin 110 that penetrates the first through hole 11131 and the second through hole 1122, which realizes the assembly positioning of the column 112 on the bottom frame 111.

[0068] It should be noted that the cross-section of the protrusion 1113 can be set as a quadrilateral. In order to prevent the pin 110 from coming out of the protrusion 1113 between the column 112 and the bottom frame 111, and to further strengthen the connection between the column 112 and the bottom frame 111, a fixing plate 120 can be connected to both sides of the column 112 and the bottom frame 111 respectively. The fixing plate 120 extends from the column 112 to the bottom frame 111.

[0069] In some embodiments, each column 112 is connected to a side tie rod assembly 114 between it and the base frame 111. This allows the two columns 112 to have sufficient stability in the length direction of the base frame 111, which can further improve the structural stability when the columns 112 are assembled on the base frame 111.

[0070] like Figure 3 As shown, in some embodiments, each column 112 is fixed to the middle of the base frame 111 to facilitate multi-directional movement of the stacker crane, ensuring that the overall stability of the support frame 11 is not affected regardless of the direction of movement. The side tie rod assembly 114 includes a first tie rod 1141 and a second tie rod 1142, which are arranged on both sides of the corresponding column 112 along the length of the base frame 111 and connected to the base frame 111 and the column 112 respectively. In this way, two triangular structures are formed between the column 112 and the base frame 111 by the first tie rod 1141 and the second tie rod 1142. Utilizing the structural stability of triangles, the stability of the column 112 installed on the base frame 111 along the length of the base frame 111 can be improved. It should be noted that the first pull rod 1141 and the second pull rod 1142 can also be made of steel wire rope, and the number of the first pull rod 1141 and / or the number of the second pull rod 1142 can be specifically set as needed, such as one, two, three, or even more, which will not be elaborated here.

[0071] For example, one end of the first tie rod 1141 is connected to one end of the base frame 111, and the other end of the first tie rod 1141 is connected to the middle or upper middle part of the column 112; one end of the second tie rod 1142 is connected to the other opposite end of the base frame 111, and the other end of the second tie rod 1142 is connected to the middle or upper middle part of the column 112; wherein, the connection between the first tie rod 1141 and the second tie rod 1142 and the base frame 111 and the column 112 can be by welding, threaded connection, etc.

[0072] like Figure 4 , Figure 5As shown, in some embodiments, the lifting trolley 12 includes a trolley base frame 121 and two side frames 122, which are installed on both sides of the trolley base frame 121. A tie rod assembly 123 connects the side frames 122 to the trolley base frame 121 to limit the corresponding side frames 122 to the trolley base frame 121 along its length, thus supporting the installation of the side frames 122 along the length of the trolley base frame 121. Preferably, the two side frames 122 are respectively connected to the trolley base frame 121 by the tie rod assembly 123. This improves the overall structural stability of the lifting trolley 12 and further meets the usage requirements of the stacker crane 100 in parking equipment applications.

[0073] like Figure 4 As shown, exemplarily, the diagonal brace assembly 123 includes a first diagonal brace 1231 and a second diagonal brace 1232. The first diagonal brace 1231 and the second diagonal brace 1232 are arranged on both sides of the corresponding side frame 122 along the length direction of the trolley base frame 121, and are respectively connected to the trolley base frame 121 and the side frame 122. It should be noted that how the first diagonal brace 1231 and the second diagonal brace 1232 are connected to the trolley base frame 121 and the side frame 122, and their respective quantities, can be referred to the arrangement of the first tie rod 1141 and the second tie rod 1142 described above, and will not be elaborated here.

[0074] like Figure 3 , Figure 5 As shown, in some embodiments, the lifting trolley 12 further includes a trolley platform 124, which is movably mounted on the trolley base frame 121. The trolley platform 124 can move relative to the trolley base frame 121 towards a parking space in the automated parking garage (not shown) to connect with the parking space. This eliminates the safety clearance between the lifting trolley 12 and the parking space in the automated parking garage, thereby improving the safety of the stacker crane 100 in parking equipment applications. It should be noted that the specific structure of the trolley platform 124 and its working principle for movement on the trolley base frame 121 can adopt existing conventional methods, and will not be elaborated upon here.

[0075] like Figure 4 , Figure 5 As shown, in some embodiments, the trolley platform 124 is used to carry the robotic arm transporter 125. The lifting trolley 12 also includes a positioning mechanism 126, which is mounted on the trolley base frame 121 to position the trolley platform 124 and the robotic arm transporter 125 on the trolley base frame 121. This prevents the trolley platform 124 and the robotic arm transporter 125 from shaking on the trolley base frame 121, thereby avoiding mutual offset between the trolley platform 124, the robotic arm transporter 125 and the trolley base frame 121 when the stacker crane 100 travels on the track 200.

[0076] For example, the trolley panel 124 has a through hole (not shown), and the robotic arm transporter 125 has a positioning block (not shown). The positioning mechanism 126 includes a telescopic drive (not shown) and a positioning rod 1261. The positioning rod 1261 is connected to the telescopic part of the telescopic drive and can pass through the through hole and act on the positioning block under the drive of the telescopic drive, thereby achieving the positioning of the trolley panel 124 and the robotic arm transporter 125. It should be noted that the above-mentioned telescopic drive can specifically be provided with a hydraulic cylinder, a telescopic motor, a telescopic cylinder, etc.

[0077] It should be noted that when the positioning rod 1261 passes through the through hole on the trolley plate 124, the rod wall of the positioning rod 1261 can be fitted with the hole wall of the through hole with clearance, thereby achieving positioning between the trolley plate 124 and the positioning rod 1261; and the positioning block can be a part of the original robotic arm transporter 125 itself, or it can be a newly added component to the original robotic arm transporter 125.

[0078] As can be seen from the above, the lifting drive mechanism 13 is installed on the lifting platform 12 and is used to drive the lifting platform 12 to move up and down along the length of the column 112. Therefore, the stacker crane 100 of this application uses gear meshing to realize the transmission connection between the lifting platform 12 and the column 112.

[0079] For example, such as Figure 3 , Figure 4 As shown, two racks 1121 are mounted on the column 112, and the two racks 1121 are symmetrically arranged along the length of the column 112. The lifting drive mechanism 13 includes two sets of gears 131, which correspond one-to-one with the two racks 1121. The two sets of gears 131 are synchronously connected and respectively drive the corresponding racks 1121. For example, the synchronous connection between the two sets of gears 131 can be achieved by meshing between gears or by a synchronous chain. In this way, the time difference between the two racks 1121 on the column 112 when the lifting platform 12 is running can be eliminated, and the lifting platform 12 can be ensured to climb or descend on the two columns 112 as needed. This improves the stability of the lifting drive mechanism 13 when driving the lifting platform 12.

[0080] It should be noted that, as Figure 5As shown, two racks 1121 are respectively installed on the two columns 112 of this application. The drive gears 1311 on the lifting drive mechanism 13 that mesh with the racks 1121 on the two columns 112 can be connected by a transmission shaft 1312. In this way, the lifting drive mechanism 13 can be centrally installed on one of the side frames 122, which simplifies the structure of the lifting drive mechanism 13 and facilitates its assembly onto the lifting trolley 12. Of course, other structures of the lifting drive mechanism 13 and the working principle of how to drive the lifting trolley 12 to climb or descend on the two columns 112 can all adopt existing conventional methods, which will not be elaborated here.

[0081] like Figure 3 As shown, in some embodiments, the stacker crane body 10 also includes a position detection mechanism 14, which is mounted on the column 112. The position detection mechanism 14 detects the installation position of the lifting platform 12 on the column 112 and generates a feedback signal. This allows for precise positioning of the lifting platform 12 on the two columns 112, meeting the needs of connecting the lifting platform 12 to parking spaces in the automated parking system. It should be noted that the position detection mechanism 14 can specifically be a photoelectric switch, a laser transceiver, or a camera, etc., which will not be elaborated upon here.

[0082] like Figure 1 , Figure 2 As shown, the stacker crane 100 of this application includes a first traveling wheel module 20 comprising multiple first wheel sets 21, which are detachably mounted on the stacker crane body 10 and are relatively independently arranged; the second traveling wheel module 30 comprises multiple second wheel sets 31, which are detachably mounted on the stacker crane body 10 and are independently arranged; correspondingly, the control module includes multiple first drive units 41 and multiple second drive units (not shown in the figure), each of the multiple first drive units 41 corresponding to one of the multiple first wheel sets 21 and capable of controlling the lifting and lowering of the multiple first wheel sets 21. Preferably, the multiple first drive units 41 simultaneously control the lifting and lowering of the multiple first wheel sets 21 to improve the efficiency of the stacker crane 100 when changing direction on the track 200; the multiple second drive units correspond one of the multiple second wheel sets 31 and are capable of controlling the lifting and lowering of the multiple second wheel sets 31. Preferably, the multiple second drive units also simultaneously control the lifting and lowering of the multiple second wheel sets 31 to improve the efficiency of the stacker crane 100 when changing direction on the track 200. It should be noted that the arrangement of the first drive unit 41 and the first wheel group 21, and the second drive unit and the second wheel group 31 is not limited to the one-to-one correspondence shown above. For those skilled in the art, the first drive unit 41 and / or the second drive unit can control the corresponding multiple first wheel groups 21 or the corresponding multiple second wheel groups 31 to rise and fall through the linkage mechanism, which will not be elaborated here.

[0083] It is understandable that the first drive unit 41 controls the lifting and lowering of the corresponding first wheel group 21, or the second drive unit controls the lifting and lowering of the corresponding second wheel group 31, to achieve the switching between the first traveling wheel module 20 and the second traveling wheel module 30 on the stacker crane 100. In this way, it is ensured that during the reversing process, the main body 10 of the stacker crane 100 is always supported by the second traveling wheel module 30 or the first traveling wheel module 20 on the track 200. This ensures that the reversing of the stacker crane 100 on the track 200 will not affect the stability of the support of the main body 10 of the stacker crane 100 on the track 200, and improves the reversing stability of the stacker crane 100. Moreover, during the reversing process, only the corresponding first wheel group 21 or the corresponding second wheel group 31 needs to be raised and lowered. This not only has low energy consumption, but is also not affected by the load of the main body 10 of the stacker crane, thus enabling the stacker crane 100 to meet the usage requirements in parking equipment with two-way layout of multi-level parking garages.

[0084] For example, such as Figure 1 , Figure 2 As shown, there are four first wheel groups 21, which are arranged at the four corners of the bottom frame 111 on the main body 10 of the stacker crane. Each first wheel group 21 is arranged along the first direction of the track 200. For example, two of the first wheel groups 21 are set as driving wheel structures and are arranged diagonally along the bottom frame 111, and the remaining two first wheel groups 21 are set as driven wheel structures and are arranged diagonally along the other side of the bottom frame 111. This improves the stability of the four first wheel groups 21 when supporting the main body 10 of the stacker crane and simplifies the structure of the first traveling wheel module 20. It should be noted that those skilled in the art can also set the number of driving wheel structures in the first wheel group 21 to three or even four.

[0085] Similarly, there are four second wheel groups 31, which are arranged at the four corners of the bottom frame 111 on the main body 10 of the stacker crane. Each second wheel group 31 is arranged along the second direction of the track 200, and the two second wheel groups 31 arranged diagonally along the bottom frame 111 are set as driving wheel structures, while the remaining two second wheel groups 31 are set as driven wheel structures.

[0086] like Figure 7 As shown, in some embodiments, the first wheel set 21 and / or the second wheel set 31 include a lifting frame 211 and silent rollers 212. Optionally, the first wheel set 21 and the second wheel set 31 are configured with the same structure. The silent rollers 212 are rotatably mounted on the lifting frame 211 and extend outward relative to the lifting frame 211 toward the track 200. In this way, by utilizing the structural characteristics of the silent rollers 212, the noise generated when the stacker crane 100 travels on the track 200 can be reduced.

[0087] It should be noted that the aforementioned silent roller 212 can withstand large loads to meet the requirements of the stacker crane 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 212. Of course, for those skilled in the art, the other structural components of the silent roller 212 and how to rotate and assemble it on the lifting frame 211 can be done using existing conventional methods. Since it is not the focus of this application, it will not be elaborated here.

[0088] For example, the number of silent rollers 212 is one; or the number of silent rollers 212 is multiple, arranged along the direction of movement of the silent rollers 212 on the track 200. It can be understood that when multiple silent rollers 212 are arranged on the lifting frame 211 along their direction of movement on the track 200, this arrangement can improve the stability of the support for the lifting frame 211, thereby improving the smoothness of the stacker crane 100 when it travels on the track 200.

[0089] like Figure 7 As shown, in some embodiments, a guide rod 213 is connected to the first wheel set 21, and the guide rod 213 is partially inserted into the stacker body 10 and slides in cooperation with the stacker body 10 in the lifting direction of the first wheel set 21.

[0090] Specifically, such as Figure 7 As shown, the guide rod 213 can be inserted upwards into the linear bearing 1111 mounted on the bottom frame 111 of the stacker crane body 10. Utilizing the sliding engagement between the guide rod 213 and the linear bearing 1111, the first wheel assembly 21 can only perform lifting and lowering movements under the drive of the first drive unit 41. Of course, the bottom frame 111 is not limited to using the linear bearing 1111 in sliding engagement with the guide rod 213; those skilled in the art can also use the linear bearing 1111 as a bushing.

[0091] like Figure 8As shown, the first drive unit 41 includes a first telescopic drive member 411, a push plate 412, and a roller mechanism 413. The push plate 412 is connected to the telescopic part 4111 of the first telescopic drive member 411 and can reciprocate relative to the first wheel set 21 in a first direction under the drive of the first telescopic drive member 411. That is, the direction of movement of the push plate 412 is consistent with the direction of movement of the first wheel set 21 on the track 200. For example, the telescopic part 4111 of the first telescopic drive member 411 reciprocates between the first stroke end point and the second stroke end point. When the first wheel set 21 rises to the position, the telescopic part 4111 of the first telescopic drive member 411 is located at the first stroke end point. When the first wheel set 21 falls to the position, the telescopic part 4111 of the first telescopic drive member 411 is located at the second stroke end point. The push plate 412 has a pushing ramp (not shown in the figure), and the roller mechanism 413 is installed on the first wheel group 21 and can abut against the pushing ramp to control the lifting and lowering movement of the first wheel group 21 on the track 200 under the pushing of the push plate 412.

[0092] As can be seen from the above, when the first drive unit 41 is working, the push plate 412, under the control of the first telescopic drive member 411, reciprocates in the first direction, which can push the push plate 412 against the roller mechanism 413. Since the roller mechanism 413 is installed on the first wheel set 21 and is constrained by the guide rod 213 along with the first wheel set 21, it can only move up and down. Therefore, during the movement of the push plate 412 in the first direction, the first wheel set 21 can be driven to move up and down through the roller mechanism 413. The stroke of the push plate 412 during the movement in the first direction corresponds one-to-one with the stroke of the first wheel set 21 during the corresponding up and down movement. In this way, when the first drive unit 41 is working, it can control the stroke of the push plate 412 during the movement in the first direction by controlling the first telescopic drive member 411, and thus achieve precise control of the stroke of the first wheel set 21 during the up and down movement. This ensures the stability of the stacker crane 100 during the reversing process on the track 200.

[0093] As a specific example, the first telescopic drive component 411 is configured as a hydraulic cylinder, and the telescopic part 4111 of the hydraulic cylinder is connected and fixed to the push plate 412. When the hydraulic cylinder is working, it can control the reciprocating motion of the push plate 412 in the first direction. Of course, the first telescopic drive component 411 can also be configured as a telescopic motor, telescopic cylinder, etc., depending on the application requirements.

[0094] As can be seen from the above, the push plate 412 can reciprocate in the first direction under the drive of the first telescopic drive member 411. Therefore, as follows: Figure 8 , Figure 9As shown, a guide rail 1112 arranged along the first direction can be installed on the base frame 111, and the guide rail 1112 slides with the push plate 412. In this way, it can be ensured that the push plate 412 can only reciprocate in the first direction under the drive of the first telescopic drive member 411.

[0095] like Figure 12 As shown, in some embodiments, the push plate 412 includes two first plate portions 4121, a second plate portion 4122, and two connecting plate portions 4123. The two first plate portions 4121 correspond one-to-one with the two connecting plate portions 4123. The two first plate portions 4121 are arranged on both outer sides of the first wheel assembly 21 and are connected to the second plate portions 4122 through the corresponding connecting plate portions 4123. For example, the connecting plate portions 4123 are connected and fixed to the corresponding first plate portions 4121 and second plate portions 4122 by bolts or welding. Alternatively, the connecting plate portions 4123 and the corresponding first plate portions 4121 and / or second plate portions 4122 are set as an integral structure.

[0096] like Figure 8 , Figure 9 and Figure 12 As shown, the second plate portion 4122 on the push plate 412 is located on the side of the two first wheel sets 21 facing away from the track 200, and two second inclined surfaces 41221 are formed on the second plate portion 4122. This allows the roller mechanism 413 to drive the first wheel sets 21 to move downwards under the pressure of the second inclined surfaces 41221 on the second plate portion 4122. Each of the two first plate portions 4121 has a first inclined surface 41211, allowing the roller mechanism 413 to drive the first wheel sets 21 to move upwards under the pushing force of the first inclined surfaces 41211 on the two first plate portions 4121. It should be noted that... Figure 7 , Figure 8 The dashed line between the first inclined plane 41211 and the second inclined plane 41221 represents the roller mechanism 413 after the first wheel group 21 has descended into place.

[0097] It is understandable that the push plate 412 uses two first inclined surfaces 41211 to simultaneously push the roller mechanism 413, so that the roller mechanism 413 drives the first wheel group 21 to rise; the push plate 412 uses two second inclined surfaces 41221 to simultaneously press against the roller mechanism 413, so that the roller mechanism 413 drives the first wheel group 21 to fall. In this way, the force distribution when the roller mechanism 413 drives the first wheel group 21 to rise or fall can be balanced, thereby improving the stability of the first wheel group 21 when it rises or falls.

[0098] like Figure 9 , Figure 11As shown, in some embodiments, the roller mechanism 413 includes a first roller group 4131, a second roller group 4132, and a connecting shaft 4133. The connecting shaft 4133 is mounted on the first roller group 21 and is rotatably connected to the first roller group 4131 and the second roller group 4132 respectively. For example, the connecting shaft 4133 is pressed onto the first roller group 21 by a pressure block 4134, and then the pressure block 4134 is fixed to the lifting frame 211 of the first roller group 21 by bolts 4135. Alternatively, the connecting shaft 4133 is disposed through the lifting frame 211 of the first roller group 21.

[0099] like Figure 9 As shown, the first inclined surface 41211 on the push plate 412 is provided corresponding to the first roller group 4131, and the push plate 412 can push the first roller group 4131 through the first inclined surface 41211 to drive the first wheel group 21 to move upward relative to the track 200; the second inclined surface 41221 on the push plate 412 is provided corresponding to the second roller group 4132, and the push plate 412 can press against the second roller group 4132 through the second inclined surface 41221 to drive the first wheel group 21 to move downward relative to the track 200 until the first wheel group 21 comes into contact with the track 200.

[0100] Preferably, when the first wheel assembly 21 rises to its position, the first roller assembly 4131 abuts against the first inclined surface 41211, and the second roller assembly 4132 is spaced apart from the second inclined surface 41221; when the first wheel assembly 21 descends to its position, the second roller assembly 4132 abuts against the second inclined surface 41221, and the first roller assembly 4131 is spaced apart from the first inclined surface 41211. This arrangement ensures that the starting and ending positions of the first wheel assembly 21 are controllable during lifting and lowering, that is, the lifting height of the first wheel assembly 21 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 41211 and the second inclined surface 41221.

[0101] like Figure 10 , Figure 11 As shown, in some embodiments, the first roller group 4131 includes a plurality of first rollers 41311, and the second roller group 4132 includes a plurality of second rollers 41321. The plurality of first rollers 41311 and the plurality of second rollers 41321 are symmetrically arranged on both sides of the connecting shaft 4133. The plurality of first rollers 41311 are arranged outside the plurality of second rollers 41321, and the outer diameter of the second rollers 41321 is larger than the outer diameter of the first rollers 41311. In this way, the structural strength of the second rollers 41321 is greater than that of the first rollers 41311.

[0102] It is understandable that when the pusher plate 412 pushes the first roller assembly 4131 through the first inclined surface 41211 to drive the first wheel assembly 21 upward, only the first wheel assembly 21 needs to be driven upward as a whole. Once the first wheel assembly 21 rises to the designated position and is held there, the first roller assembly 4131 only needs to bear the weight of the first wheel assembly 21. Similarly, when the pusher plate 412 presses against the second roller assembly 4132 through the second inclined surface 41221 to drive the second wheel assembly 31 downward, only the first wheel assembly 21 needs to be driven downward as a whole. And when the first wheel assembly 21 contacts the track... When the stacker crane body 10 stops descending, the overall load applied to the stacker crane 100 by the stacker crane body 10 will be transferred to the first roller group 21 through the second roller group 4132. Therefore, the force that the second roller group 4132 needs to bear is much greater than the force that the first roller group 4131 needs to bear. This application sets the outer diameter of the second roller 41321 to be greater than the outer diameter of the first roller 41311, which can just meet the usage requirement that "the force that the second roller 41321 needs to bear is much greater than the force that the first roller 41311 needs to bear".

[0103] like Figure 11 As shown, in some embodiments, the number of second rollers 41321 is greater than the number of first rollers 41311. This further improves the load-bearing capacity of the first roller group 21 when it travels on the track 200 by the pressure exerted by the second roller group 4132. For example, the number of second rollers 41321 in the second roller group 4132 is set to four, with two second rollers 41321 forming a group and simultaneously engaging with one of the second inclined surfaces 41221, while the number of first rollers 41311 in the first roller group 4131 is set to two; or, the number of second rollers 41321 in the second roller group 4132 is set to six, with three second rollers 41321 forming a group and simultaneously engaging with one of the second inclined surfaces 41221, while the number of first rollers 41311 in the first roller group 4131 is set to two.

[0104] like Figure 9 , Figure 12 As shown, in some embodiments, the push plate 412 also has a first plane 41212, specifically on the first plate portion 4121. The first plane 41212 and the first inclined surface 41211 are connected. When the first wheel assembly 21 rises to its position, the first plane 41212 can move under the push plate 412 to a position below the first roller assembly 4131 to support the first wheel assembly 21. In other words, the first plane 41212 on the push plate 412 can support the first roller assembly 4131 after it rises, that is, it can support the first wheel assembly 21 after it rises to a specified height. In this way, the safety of the first wheel assembly 21 after it rises is ensured, and no additional power is needed to maintain it at a specified height.

[0105] like Figure 9 , Figure 12 As shown, in some embodiments, a second plane 41222 is also provided on the push plate 412. Specifically, the second plane 41222 is provided on the second plate portion 4122. The second plane 41222 is connected to the second inclined surface 41221. When the first wheel group 21 descends to the position, the second plane 41222 can move to the position above the second roller group 4132 under the drive of the push plate 412, so as to press against the second roller group 4132. In other words, the second plane 41222 on the push plate 412 can lower the second roller group 4132 until the first roller group 21 abuts against the track 200, that is, it can press against the first roller group 21 after it has been lowered into place. In this way, the weight of the stacker body 10 used in the stacker 100 can be directly applied to the first roller group 21 through the second plate 4122 and the second roller group 4132, and the lifting frame 211 on the first roller group 21 is stabilized by force. In this way, the safety of the stacker 100 traveling on the track 200 is ensured, and the phenomenon of sudden unevenness of the second roller group 4132 due to power loss of the stacker 100 is avoided.

[0106] It should be noted that the cooperation between the push plate 412 and the roller mechanism 413 in the first drive unit 41 of this application is not limited to the one shown above. For those skilled in the art, the push plate 412 can also be achieved by the abutting cooperation between two sets of symmetrically arranged inclined surfaces and two sets of rollers in the roller mechanism 413, which will not be elaborated here. In addition, the structural composition of the second drive unit in this application and the working principle of driving the second wheel set 31 to move up and down relative to the track 200 are the same as those of the first drive unit 41, and will not be repeated here.

[0107] As can be seen from the above, when the stacker crane 100 of this application needs to travel along the second direction of the track 200, the stacker crane 100 needs to use the second wheel set 31 to contact and work with the track 200. Correspondingly, the first wheel set 21 needs to rise from the track 200 and detach from the track 200. Specifically, the first telescopic drive member 411 in the first drive unit 41 is activated and pushes the push plate 412 out along the first direction. During the push-out process, the first inclined surface 41211 on the push plate 412 will interfere with the first roller 41311 of the first roller set 4131 on the first wheel set 21, and push the first roller set 4131 obliquely upward. Since the first roller set 4131 is installed on the first wheel set 21 through the connecting shaft 4133, and the guide rod 213 on the first wheel set 21 slides with the bottom frame 111 of the stacker crane 100, the first wheel set 21 is pushed by the push plate 41211. The push plate 412 can only rise; as the push plate 412 continues to extend under the drive of the first telescopic drive member 411, the first wheel group 21 will gradually rise until the first inclined surface 41211 on the push plate 412 disengages from the first roller 41311 of the first roller group 4131, and the first plane 41212 moves to the position below the first roller 41311. At this time, the first plane 41212 on the push plate 412 can support the first wheel group 21 after it rises to the position through the first roller group 4131. In this way, the stacker crane 100 can move along the second direction of the track 200 under the drive of the second wheel group 31. If the stacker crane 100 needs to change direction on the track 200 and travel in the first direction of the track 200, the first telescopic drive component 411 in the first drive unit 41 will be activated again to drive the push plate 412 to retract. During the retraction process, the second inclined surface 41221 on the push plate 412 will interfere with the position of the second roller 41321 of the second roller group 4132 on the first wheel group 21, and push the second roller group 4132 to move obliquely downward. Similarly, since the second roller group 4132 is installed on the first wheel group 21 through the connecting shaft 4133, and the guide rod 213 on the first wheel group 21 slides with the bottom frame 111 of the stacker crane 100, the first wheel group 21 moves obliquely downward on the push plate 41221. The push plate 412 can only descend; as the push plate 412 continues to retract under the drive of the first telescopic drive member 411, the first wheel set 21 will gradually descend until the second inclined surface 41221 on the push plate 412 disengages from the second roller 41321 of the second roller set 4132, and the second plane 41222 moves to the position above the second roller 41321. At this time, the second plane 41222 on the push plate 412 can support the first wheel set 21 after it descends through the second roller set 4132. At the same time, the second drive unit will drive the second wheel set 31 to rise and disengage from the track 200. In this way, the stacker crane 100 can move along the first direction of the track 200 under the drive of the first wheel set 21.

[0108] It is understood that the stacker crane 100 of this application can move along the first direction or the second direction on the track 200 through the first traveling wheel module 20 or the second traveling wheel module 30. For this purpose, it is necessary to supply power to the first traveling wheel module 20 or the second traveling wheel module 30 and meet the usage requirements of the stacker crane 100 being able to change direction on the track 200.

[0109] like Figure 13 As shown, in some embodiments, a first power supply mechanism 51, a second power supply mechanism 52, and a third power supply mechanism 53 are installed on the stacker crane body 10. The first power supply mechanism 51 and the second power supply mechanism 52 are arranged at intervals along a first direction on the stacker crane body 10, and can cooperate with each other to supply power to the first traveling wheel module 20. The first power supply mechanism 51 and the third power supply mechanism 53 are arranged at intervals along a second direction on the stacker crane body 10, and can cooperate with each other to supply power to the second traveling wheel module 30. In this way, the power supply of the stacker crane 100 is realized when it changes direction in the first and second directions on the track 200, and the power supply needs of the stacker crane 100 when it travels in the first or second direction on the track 200 are met. This simplifies the structure and reduces costs.

[0110] It should be noted that the first power supply mechanism 51 and the second power supply mechanism 52 cooperate with each other to supply power to the first traveling wheel module 20. Specifically, this means that the first power supply mechanism 51, the active wheel structure on the first traveling wheel module 20, and the second power supply mechanism 52 form a power-conducting circuit. Thus, the main power supply line installed in the multi-level parking garage can supply power to the first traveling wheel module 20 through the first power supply mechanism 51 and the second power supply mechanism 52. Similarly, the first power supply mechanism 51 and the third power supply mechanism 53 cooperate with each other to supply power to the second traveling wheel module 30. This also means that the first power supply mechanism 51, the active wheel structure on the second traveling wheel module 30, and the third power supply mechanism 53 form a power-conducting circuit.

[0111] Preferably, the first power supply mechanism 51, the second power supply mechanism 52 and the third power supply mechanism 53 of this application are arranged at the three corners of the bottom frame 111 of the stacker crane body 10.

[0112] like Figure 14As shown, in some embodiments, the first power supply mechanism 51 includes a second telescopic drive member 511, a first connector 512, a third telescopic drive member 513, and a second connector 514. The first connector 512 is mounted on the telescopic part of the second telescopic drive member 511 for connecting to the main power supply line (not shown). The first connector 512 can reciprocate along a second direction under the drive of the second telescopic drive member 511 to control the connection / disconnection between the first connector and the main power supply line, that is, to control whether the first power supply mechanism 51 electrically connects to the first traveling wheel module 20. It should be noted that the specific structure of the first connector 512 and its electrical connection with the main power supply line can adopt the conventional methods for connecting stacker cranes. Furthermore, the second telescopic drive member 511 can be specifically configured as a telescopic motor, hydraulic cylinder, telescopic cylinder, etc.

[0113] Similarly, the second connector 514 is installed on the telescopic part of the third telescopic drive member 513 to connect with the main power supply line (not shown); the second connector 514 can reciprocate along the first direction under the drive of the third telescopic drive member 513 to control the connection / disconnection between the second connector 514 and the main power supply line, that is, to realize the control of whether the first power supply mechanism 51 electrically connects to the second walking wheel module 30.

[0114] like Figure 13 As shown, in some embodiments, the first power supply mechanism 51 further includes an upper mounting frame 515 and a lower mounting frame 516, with the upper mounting frame 515 and the lower mounting frame 516 connected as a single unit; wherein, the second telescopic drive member 511 is mounted on the upper mounting frame 515, and the third telescopic drive member 513 is mounted on the lower mounting frame 516. Thus, the first power supply mechanism 51 can be specifically mounted onto the stacker crane body 10 via the upper mounting frame 515 and the lower mounting frame 516.

[0115] In some embodiments, the second power supply mechanism 52 includes a fourth telescopic drive member (not shown) and a third connector (not shown). The third connector is mounted on the telescopic portion of the fourth telescopic drive member for connecting to the main power supply line. The third connector can reciprocate along a second direction under the drive of the fourth telescopic drive member to control the connection / disconnection between the third connector and the main power supply line. The third power supply mechanism 53 includes a fifth telescopic drive member (not shown) and a fourth connector (not shown). The fourth connector is mounted on the telescopic portion of the fifth telescopic drive member for connecting to the main power supply line. The fourth connector can reciprocate along a first direction under the drive of the fifth telescopic drive member to control the connection / disconnection between the fourth connector and the main power supply line. It should be noted that the fourth and fifth telescopic drive components mentioned above can also be configured as telescopic motors, hydraulic cylinders, telescopic air cylinders, etc., as required. The specific structure of the third and fourth connectors and the electrical connection when connecting to the corresponding main power supply line can adopt the conventional method of power connection for existing stacker cranes, which will not be elaborated here.

[0116] like Figure 2 As shown, in some embodiments, the stacker crane 100 further includes multiple first guide wheel sets 61 and multiple second guide wheel sets 62. Each of the multiple first guide wheel sets 61 corresponds to a single first wheel set 21. When a first wheel set 21 deviates from its position on the track 200, the first guide wheel set 61 can push the corresponding first wheel set 21 along a direction perpendicular to a first direction to correct the travel direction of the first wheel set 21. Similarly, each of the multiple second guide wheel sets 62 corresponds to a single second wheel set 31. When a second wheel set 31 deviates from its position on the track 200, the second guide wheel set 62 can push the corresponding second wheel set 31 along a direction perpendicular to a second direction to correct the travel direction of the second wheel set 31. This prevents the first wheel sets 21 and second wheel sets 31 from deviating from their positions on the track 200, achieving a correction effect. This ensures that the first wheel group 21 and the second wheel group 31 can accurately descend onto the track 200, thus preventing the stacker crane 100 from derailing while traveling on the track 200 in the aisle and ensuring safe travel.

[0117] It should be noted that the first guide wheel assembly 61 can push the first wheel assembly 21 in a direction perpendicular to the first direction during its descent. Specifically, this is because the first wheel assembly 21 is placed flat on the track 200 and moves along it. During its movement along the first direction, or during its descent after being lifted from the track 200, if the first wheel assembly 21 shifts position, for example, moving in a direction perpendicular to the first direction, the first guide wheel assembly 61 will push it in this direction. If the first wheel assembly 21 does not shift position, the first guide wheel assembly 61 will not push it. Therefore, when the first wheel assembly 21 is rising and leaving the track 200, or during its normal movement along the first direction, the first guide wheel assembly 61 will not push it. Similarly, the second guide wheel assembly 62's pushing of the second wheel assembly 31 in a direction perpendicular to the second direction also applies, and will not be elaborated upon here.

[0118] For example, a lateral roller assembly 214 is installed on the first wheel assembly 21. The lateral roller assembly 214 can move up and down relative to the stacker crane body 10 under the drive of the first wheel assembly 21. A position interference portion is formed between the lateral roller assembly 214 and the first guide wheel assembly 61. The lateral roller assembly 214 is configured to drive the first wheel assembly 21 to shift in response to the pushing of the position interference portion. That is, the first guide wheel assembly 61 pushes the first wheel assembly 21 by interfering with the position of the lateral roller assembly 214 on the first wheel assembly 21.

[0119] like Figure 15 As shown, the lateral roller assembly 214 includes a connecting rod 2141 and a roller 2142. The roller 2142 can be rotatably mounted on the first wheel assembly 21 via the connecting rod 2141. Specifically, the connecting rod 2141 can be fixedly mounted on the lifting frame 211 of the first wheel assembly 21, and the roller 2142 can be rotatably mounted on the connecting rod 2141 via a bearing 2143. The radial direction of the roller 2142 is consistent with the direction in which the first wheel assembly 21 drives the stacker body 10 to travel on the track 200. That is, the radial direction of the roller 2142 is the same as the first direction, and the outer circumferential surface of the roller 2142 can interfere with the position of the first guide wheel assembly 61.

[0120] It is understandable that the outer circumferential surface of the roller 2142 is used to interfere with the position of the first guide wheel group 61. In this way, when the first guide wheel group 61 interferes with the outer circumferential surface of the roller 2142, it can provide a force to the first wheel group 21 along the direction perpendicular to the travel direction of the first wheel group 21, and ensure the correction effect of the first wheel group 21.

[0121] like Figure 7As shown, in some embodiments, each first wheel group 21 is equipped with multiple sets of lateral roller groups 214, which are arranged at intervals along a first direction. This improves the balance of force when the first wheel group 21 is corrected by the first guide wheel group 61. It should be noted that the number of lateral roller groups 214 is specifically two. Of course, those skilled in the art can also set the number of lateral roller groups 214 to one, three, or even more.

[0122] like Figure 16 As shown, in some embodiments, the first guide wheel assembly 61 includes a mounting base 611 and a lateral guide wheel 612, the lateral guide wheel 612 being rotatably mounted on the mounting base 611; wherein, the axial direction of the lateral guide wheel 612 is consistent with the first direction, and the outer peripheral surface of the lateral guide wheel 612 can push against the first wheel assembly 21 during the descent of the first wheel assembly 21, specifically pushing against the rollers 2142 in the lateral roller assembly 214 on the first wheel assembly 21. It should be noted that each lateral guide wheel 612 in the first guide wheel assembly 61 is correspondingly arranged with each roller 2142 in the lateral roller assembly 214 on the first wheel assembly 21. By utilizing the abutment between the two outer peripheral surfaces of the lateral guide wheel 612 and the roller 2142, the lateral roller assembly 214 is pushed against the first direction perpendicularly, thereby correcting the position of the first wheel assembly 21 during its descent.

[0123] It should be noted that the specific structure of the second guide wheel group 62, and how it cooperates with the second wheel group 31 to push the second wheel group 31 during the descent process, are all in the same manner as the first guide wheel group 61, and will not be elaborated here.

[0124] In addition, such as Figure 1 , Figure 2 As shown, this application also provides a parking device, including a track 200 and the aforementioned stacker crane 100, wherein the stacker crane 100 is movably installed on the track 200; wherein the track 200 includes a first travel track 201 and a second travel track 202, the first travel track 201 is arranged along a first direction, and the stacker crane 100 can travel on the first travel track 201 via a first travel wheel module 20; the second travel track 202 is arranged along a second direction and intersects with the first travel track 201, and the stacker crane 100 can travel on the second travel track 202 via a second travel wheel module 30.

[0125] 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.

[0126] 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 stacker crane, characterized in that, The stacker crane (100) includes: Stacker crane body (10); The first walking wheel module (20) is installed on the stacker body (10) and is used to drive the stacker body (10) to walk in the first direction; The second walking wheel module (30) is installed on the stacker body (10) and is used to drive the stacker body (10) to walk in the second direction, wherein the second direction and the first direction form a preset angle; The control module is installed on the stacker body (10) and is used to control the first walking wheel module (20) or the second walking wheel module (30) to independently carry the stacker body (10) so that the stacker body (10) can move along the first direction or the second direction. The first walking wheel module (20) includes multiple first wheel sets (21), and the control module includes multiple first drive units (41). The first drive unit (41) includes a first telescopic drive member (411), a push plate (412), and a roller mechanism (413). The push plate (412) is connected to the telescopic part (4111) of the first telescopic drive member (411) and can reciprocate relative to the first wheel set (21) along the first direction under the drive of the first telescopic drive member (411). The push plate (412) is provided with a pushing slope, and the roller mechanism (413) is installed on the first wheel set (21) and can abut against the pushing slope to control the lifting and lowering of the first wheel set (21) under the pushing of the pushing slope on the push plate (412). The roller mechanism (413) includes a first roller group (4131), a second roller group (4132), and a connecting shaft (4133). The connecting shaft (4133) is mounted on the first roller group (21) and rotatably connected to both the first roller group (4131) and the second roller group (4132). The pushing slope includes a first slope (41211) and a second slope (41221). The first slope (41211) is located below the first roller group (4131), and the... The push plate (412) can push the first roller assembly (4131) through the first inclined surface (41211) to drive the first roller assembly (21) to move upward relative to the track (200); the second inclined surface (41221) is located above the second roller assembly (4132), and the push plate (412) can press against the second roller assembly (4132) through the second inclined surface (41221) to drive the first roller assembly (21) to move downward relative to the track (200); The push plate (412) is also provided with a first plane (41212), which is connected to the first inclined surface (41211). When the first wheel assembly (21) rises to the position, the first plane (41212) can move to the position below the first roller assembly (4131) under the drive of the push plate (412) to support the first roller assembly (4131); and / or, the push plate (412) is also provided with a second plane (41222), which is connected to the second inclined surface (41221). When the first wheel assembly (21) falls to the position, the second plane (41222) can move to the position above the second roller assembly (4132) under the drive of the push plate (412) to press against the second roller assembly (4132).

2. The stacker crane according to claim 1, characterized in that, Multiple first wheel sets (21) are vertically mounted on the stacker body (10) and are independently arranged with each other; the second walking wheel module (30) includes multiple second wheel sets (31), which are vertically mounted on the stacker body (10) and are independently arranged with each other; The control module further includes multiple second drive units, with multiple first drive units (41) corresponding one-to-one with multiple first wheel sets (21) and capable of controlling the lifting and lowering of multiple first wheel sets (21); multiple second drive units corresponding one-to-one with multiple second wheel sets (31) and capable of controlling the lifting and lowering of multiple second wheel sets (31).

3. The stacker crane according to claim 2, characterized in that, A guide rod (213) is connected to the first wheel set (21). The guide rod (213) is partially inserted into the stacker body (10) and slides in cooperation with the stacker body (10) in the lifting direction of the first wheel set (21).

4. The stacker crane according to claim 1, characterized in that, The first roller group (4131) includes a plurality of first rollers (41311), and the second roller group (4132) includes a plurality of second rollers (41321). The plurality of first rollers (41311) and the plurality of second rollers (41321) are symmetrically arranged on both sides of the connecting shaft (4133). In this arrangement, a plurality of first rollers (41311) are arranged outside a plurality of second rollers (41321), and the outer diameter of the second rollers (41321) is larger than the outer diameter of the first rollers (41311).

5. The stacker crane according to claim 1, characterized in that, The stacker body (10) is equipped with a first power supply mechanism (51), a second power supply mechanism (52) and a third power supply mechanism (53). The first power supply mechanism (51) and the second power supply mechanism (52) are arranged at intervals on the stacker body (10) along the first direction, and the first power supply mechanism (51) and the second power supply mechanism (52) can cooperate with each other to supply power to the first walking wheel module (20). The first power supply mechanism (51) and the third power supply mechanism (53) are arranged at intervals along the second direction on the stacker body (10), and the first power supply mechanism (51) and the third power supply mechanism (53) can cooperate with each other to supply power to the second walking wheel module (30).

6. The stacker crane according to claim 1, characterized in that, The stacker crane body (10) includes: The support frame (11) includes a bottom frame (111), a crossbeam (113) and two columns (112). The crossbeam (113) is connected to the top of the two columns (112). The two columns (112) are fixed to both sides of the bottom frame (111). Each column (112) is partially circumferentially confined to the bottom frame (111) along the height direction of the column (112). The lifting platform (12) is movably connected between the two columns (112); The lifting drive mechanism (13) is installed on the lifting platform (12) and is used to drive the lifting platform (12) to move up and down relative to the bottom frame (111) along the height direction of the column (112).

7. The stacker crane according to claim 2, characterized in that, The stacker crane (100) also includes a plurality of first guide wheel sets (61) and a plurality of second guide wheel sets (62). The plurality of first guide wheel sets (61) correspond one-to-one with the plurality of first wheel sets (21). When the first wheel set (21) descends, the first guide wheel set (61) can push the corresponding first wheel set (21) in the vertical direction of the first direction to limit the position of the first wheel set (21) descending to the track (200). Multiple second guide wheel sets (62) correspond one-to-one with multiple second wheel sets (31). When the second wheel set (31) descends, the second guide wheel set (62) can push the corresponding second wheel set (31) in the vertical direction of the second direction to limit the position of the second wheel set (31) on the track (200).

8. A parking device, characterized in that, Includes a track (200) and a stacker (100) according to any one of claims 1-7, the stacker (100) being movably mounted on the track (200); The track (200) includes a first travel track (201) and a second travel track (202). The first travel track (201) is arranged along the first direction, and the stacker crane (100) can travel on the first travel track (201) via the first travel wheel module (20). The second travel track (202) is arranged along the second direction and intersects with the first travel track (201), and the stacker crane (100) can travel on the second travel track (202) via the second travel wheel module (30).

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