Reversible stacking system

Abstract

This invention discloses a reversible stacking system, comprising: a top rail, a ground rail, a frame, and upper Y-axis guiding mechanisms, upper X-axis guiding mechanisms, lower Y-axis guiding mechanisms, lower X-axis guiding mechanisms, lower Y-axis drive mechanisms, and lower X-axis drive mechanisms mounted on the frame. When the upper Y-axis guiding mechanisms and lower Y-axis guiding mechanisms are in a clamping guiding state, the upper Y-axis guiding wheels are located on both sides of the upper Y-axis track, and the projections of the upper Y-axis guiding wheels and the upper Y-axis track on a first plane intersect. The lower Y-axis guiding wheels are located on both sides of the lower Y-axis track, and the projections of the lower Y-axis guiding wheels and the lower Y-axis track on a first plane intersect. The upper X-axis guiding mechanism is located below the top rail, and the lower Y-axis drive mechanism is in contact with the lower Y-axis track. The lower X-axis guiding mechanisms and lower X-axis drive mechanisms are suspended above the ground rail; otherwise, the opposite is true. This system allows multiple aisles to be transported by a single stacker crane, effectively reducing the system's manufacturing cost.

Description

Technical Field

[0001] This invention belongs to the field of logistics equipment, and specifically relates to a stacking system that can be moved in opposite directions. Background Technology

[0002] Stacker cranes, also known as aisle stacker hoists, are the most important handling equipment in automated storage and retrieval systems (AS / RS). They are specialized cranes developed alongside AS / RS and are specifically designed for high-bay warehouses. Existing aisle stacker cranes generally can only move back and forth on a single track and cannot directly switch aisles, thus limiting their coverage to multiple aisles. Some AS / RS require storage in several aisles, necessitating a separate stacker crane for each aisle, resulting in higher investment costs. For example, the stacker crane disclosed in patent application CN110510312A can only move in one direction. Summary of the Invention

[0003] The purpose of this invention is to provide a reversible stacking system capable of changing its direction of movement.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a stacking system that can be moved in opposite directions, comprising: a top rail, a ground rail located below the top rail, and a stacker crane; a plane perpendicular to the top rail and the ground rail is a first plane; the top rail includes several upper Y-axis tracks arranged along the Y-axis and upper X-axis tracks arranged along the X-axis; the ground rail includes several lower Y-axis tracks parallel to the upper Y-axis tracks and several lower X-axis tracks parallel to the upper X-axis tracks; the stacker crane includes: a frame, the frame including a lower beam and an upper beam parallel to the lower Y-axis tracks, and a support beam connecting the lower beam and the upper beam; the stacker crane further includes:

[0005] An upper Y-direction guide mechanism, which is mounted on the upper end of the frame and arranged along the Y direction, includes a pair of upper Y-direction guide wheels;

[0006] An upper X-direction guide mechanism, which is mounted on the upper end of the frame and arranged along the X direction, includes a pair of upper X-direction guide wheels;

[0007] A lower Y-direction guide mechanism, which is mounted on the lower end of the frame and arranged along the Y direction, includes a pair of lower Y-direction guide wheels;

[0008] A lower X-direction guide mechanism, which is mounted on the lower end of the frame and arranged along the X direction, includes a pair of lower X-direction guide wheels;

[0009] A lower Y-axis drive mechanism is mounted on the upper end of the frame and arranged along the Y-axis;

[0010] A lower X-axis drive mechanism is mounted on the upper end of the frame and arranged along the X-axis;

[0011] The upper Y-axis guiding mechanism, the upper X-axis guiding mechanism, and the lower Y-axis guiding mechanism all have at least two states: clamping and guiding, and open.

[0012] When the upper Y-direction guide mechanism and the lower Y-direction guide mechanism are in the clamping and guiding state, the upper Y-direction guide wheel is located on both sides of the upper Y-direction track and the projection of the upper Y-direction guide wheel on the first plane intersects with the projection of the upper Y-direction track. The lower Y-direction guide wheel is located on both sides of the lower Y-direction track and the projection of the lower Y-direction track on the first plane intersects with the projection of the lower Y-direction track. The upper X-direction guide mechanism is located below the overhead rail, and the lower Y-direction drive mechanism is in contact with the lower Y-direction track. The lower X-direction guide mechanism and the lower X-direction drive mechanism are suspended above the ground rail. At this time, the stacker crane moves along the Y direction (i.e., moves along the aisle). When the stacker crane needs to change direction, the stacker crane moves between the upper X-direction track and the lower X-direction track. When the upper X-direction guiding mechanism and the lower X-direction guiding mechanism are in the clamping and guiding state, the upper Y-direction guiding mechanism moves downward to below the upper Y-direction track, and the lower Y-direction guiding mechanism and the lower Y-direction driving mechanism move upward to above the ground rail. The upper X-direction guiding mechanism moves upward until the upper X-direction guide wheel is located on both sides of the upper X-direction track and the projection of the upper X-direction guide wheel and the upper X-direction track on the first plane intersects. The lower X-direction guiding mechanism moves downward until the lower X-direction guide wheel is located on both sides of the lower X-direction track and the projection of the lower X-direction guide wheel and the lower X-direction track on the first plane intersects. The lower X-direction driving mechanism contacts the lower X-direction track. At this time, the stacker crane can move along the X-direction.

[0013] In another embodiment, the upper Y-direction guiding mechanism includes upper Y-direction guiding parts respectively disposed at both ends of the upper beam. Each upper Y-direction guiding part includes an upper Y-direction motor, an upper Y-direction reducer, an upper Y-direction fixed seat, and symmetrically arranged upper Y-direction guiding swing components, all fixedly connected to the upper beam. Each upper Y-direction guiding swing component includes an upper Y-direction fixed support rod fixed to the upper Y-direction fixed seat, two parallel upper Y-direction intermediate swing rods, one end of which is rotatably connected to the upper Y-direction fixed support rod, an upper Y-direction moving support rod rotatably connected to the other ends of both upper Y-direction intermediate swing rods, and an upper Y-direction gear connected to the rotating shaft of one of the upper Y-direction intermediate swing rods and the upper Y-direction fixed support rod. The upper Y-axis guide wheel is rotatably connected to the upper Y-axis moving support rod. The upper Y-axis intermediate swing rod is fixedly connected to its own and the upper Y-axis fixed support rod's rotating shaft. This rotating shaft is rotatably connected to the upper Y-axis fixed support rod. The upper Y-axis motor drives one of the upper Y-axis intermediate swing rods and the upper Y-axis gear to rotate through the upper Y-axis reducer, thereby driving the other upper Y-axis intermediate swing rod to rotate. The two upper Y-axis intermediate swing rods drive the upper Y-axis moving support rod to move along an arc while maintaining a parallel posture with the upper Y-axis fixed support rod. The upper Y-axis gear meshes with the upper Y-axis gear on another upper Y-axis guide swing assembly, thereby driving the other upper Y-axis guide swing assembly to complete a symmetrical movement.

[0014] In another embodiment, the upper X-direction guiding mechanism includes upper lateral wing plates respectively fixed to both sides of the upper beam, and a plurality of X-direction guiding parts disposed on each of the upper lateral wing plates. Each upper X-direction guiding part includes an upper X-direction motor, an upper X-direction reducer, an upper X-direction fixed seat, and symmetrically arranged upper X-direction guiding swing assemblies, all fixedly connected to the upper beam via the upper lateral wing plate. Each upper X-direction guiding swing assembly includes an upper X-direction fixed support rod fixed to the upper X-direction fixed seat, parallel upper X-direction intermediate swing rods, one end of which is rotatably connected to the upper X-direction fixed support rod, an upper X-direction moving support rod rotatably connected to the other ends of both upper X-direction intermediate swing rods, and a connecting rod between one of the upper X-direction intermediate swing rods and the upper X-direction guide mechanism. An upward X-axis gear is mounted on the rotating shaft of the fixed support rod. The upward X-axis guide wheel is rotatably connected to the upward X-axis moving support rod. The upward X-axis intermediate swing rod is fixedly connected to itself and the rotating shaft of the upward X-axis fixed support rod. The rotating shaft is rotatably connected to the upward X-axis fixed support rod. The upward X-axis motor drives one of the upward X-axis intermediate swing rods and the upward X-axis gear to rotate through the upward X-axis reducer, thereby driving the other upward X-axis intermediate swing rod to rotate. The two upward X-axis intermediate swing rods drive the upward X-axis moving support rod to move along an arc while maintaining a parallel posture with the upward X-axis fixed support rod. The upward X-axis gear meshes with the upward X-axis gear on another upward X-axis guide swing assembly, thereby driving the other upward X-axis guide swing assembly to complete a symmetrical movement.

[0015] In another embodiment, the lower Y-axis drive mechanism includes a lower Y-axis bracket fixed to both ends of the lower beam, a lower Y-axis drive wheel rotatably connected to the lower Y-axis bracket, and a lower Y-axis drive motor mounted on one of the lower Y-axis brackets and drivenly connected to one of the lower Y-axis drive wheels.

[0016] In another embodiment, the lower Y-axis drive motor is connected in a transmission manner to the lower Y-axis drive wheel located at the same end of the lower beam.

[0017] In another embodiment, the lower Y-direction guiding mechanism includes lower Y-direction guiding parts respectively disposed on two lower Y-direction supports. Each lower Y-direction guiding part includes a lower Y-direction motor, a lower Y-direction reducer, a lower Y-direction fixed seat, and symmetrically arranged lower Y-direction guiding swing assemblies, all fixedly connected to the lower Y-direction supports. Each lower Y-direction guiding swing assembly includes a lower Y-direction fixed support rod fixed to the lower Y-direction fixed seat, two parallel lower Y-direction intermediate swing rods, one end of which is rotatably connected to the lower Y-direction fixed support rod, a lower Y-direction moving support rod rotatably connected to the other ends of both lower Y-direction intermediate swing rods, and a lower Y-direction moving support rod connected to the rotating shaft of one of the lower Y-direction intermediate swing rods and the lower Y-direction fixed support rod. The Y-axis gear, the lower Y-axis guide wheel is rotatably connected to the lower Y-axis moving support rod, the lower Y-axis intermediate swing rod is fixedly connected to its own and the lower Y-axis fixed support rod's rotating shaft, the rotating shaft is rotatably connected to the lower Y-axis fixed support rod, the lower Y-axis motor drives one of the lower Y-axis intermediate swing rods and the lower Y-axis gear to rotate through the lower Y-axis reducer, thereby driving the other lower Y-axis intermediate swing rod to rotate, the two lower Y-axis intermediate swing rods drive the lower Y-axis moving support rod to move along an arc while maintaining a parallel posture with the lower Y-axis fixed support rod, the lower Y-axis gear meshes with the lower Y-axis gear on another lower Y-axis guide swing assembly, thereby driving the other lower Y-axis guide swing assembly to complete a symmetrical action.

[0018] In another embodiment, the lower X-axis drive mechanism includes lower X-axis drive assemblies symmetrically arranged at both ends of the lower beam. Each lower X-axis drive assembly includes a lower X-axis drive swing rod rotatably connected to one end of the lower beam and located on both sides of the frame, a lower X-axis drive wheel mounted on the lower end face of the two swing rods, and at least one lower X-axis drive motor mounted on the lower drive swing rod and drivenly connected to the lower X-axis drive wheel. The motor is used to drive the lower X-axis drive wheel to move up and down, thereby suspending the lower X-axis guide mechanism and the lower X-axis drive mechanism above the ground rail, and making the lower Y-axis drive mechanism contact the lower Y-axis track, or making the lower X-axis drive mechanism contact the lower X-axis track, with the lower Y-axis guide mechanism and the lower Y-axis drive mechanism suspended above the ground rail.

[0019] In another embodiment, the adjustment assembly includes a telescopic member fixed to the support beam and an adjustment link connecting the two lower X-direction drive swing rods and the telescopic member respectively. The two ends of the adjustment link are rotatably connected to the telescopic member and the lower X-direction drive swing rod respectively. The free end of the telescopic rod of the telescopic member is rotatably connected to the adjustment link. The pivot axis connecting the telescopic rod and the adjustment link, the pivot axis connecting the adjustment link and the lower X-direction drive swing rod, and the pivot axis connecting the lower X-direction drive swing rod and the end of the lower beam are all arranged along the Y direction.

[0020] In another embodiment, the downward X-direction guiding mechanism includes downward X-direction guiding portions respectively disposed on the downward X-direction driving swing rods. Each downward X-direction guiding portion includes a downward X-direction fixed base fixedly connected to the downward X-direction driving swing rod, a downward X-direction motor mounted on the downward X-direction fixed base, a downward X-direction reducer mounted on the downward X-direction fixed base, and downward X-direction guiding swing assemblies mounted on the downward X-direction fixed base and symmetrically arranged. Each downward X-direction guiding swing assembly includes a downward X-direction fixed support rod fixed to the downward X-direction fixed base, two parallel downward X-direction intermediate swing rods with one end rotatably connected to the downward X-direction fixed support rod, a downward X-direction moving support rod rotatably connected to the other ends of both downward X-direction intermediate swing rods, and a downward X-direction moving support rod connected to one of the downward X-direction driving swing rods. The X-axis intermediate swing arm and the lower X-axis fixed support rod are connected by a lower X-axis gear on their rotating shafts. The lower X-axis guide wheel is rotatably connected to the lower X-axis movable support rod. The lower X-axis intermediate swing arm is fixedly connected to itself and the rotating shaft of the lower X-axis fixed support rod. The rotating shaft is rotatably connected to the lower X-axis fixed support rod. The lower X-axis motor drives one of the lower X-axis intermediate swing arms and the lower X-axis gear to rotate through a lower X-axis reducer, thereby driving the other lower X-axis intermediate swing arm to rotate. The two lower X-axis intermediate swing arms drive the lower X-axis movable support rod to move along an arc while maintaining a parallel posture with the lower X-axis fixed support rod. The lower X-axis gear meshes with the lower X-axis gear on another lower X-axis guide swing assembly, thereby driving the other lower X-axis guide swing assembly to complete a symmetrical movement.

[0021] In another embodiment, the system further includes a loading platform disposed between the support beams and sliding up and down along the support beams, a traction rope guide wheel mounted on the frame, a traction machine mounted on one of the support beams and located outside the frame, a traction rope wound around the traction rope guide wheel and fixedly connected at both ends to the loading platform and the traction machine respectively, and a control cabinet for controlling the coordinated operation of the upper Y-axis guiding mechanism, the upper X-axis guiding mechanism, the lower Y-axis guiding mechanism, the lower X-axis guiding mechanism, the lower Y-axis drive mechanism, the lower X-axis drive mechanism, the loading platform and the traction machine, the control cabinet being mounted on the support beams and located outside the frame.

[0022] The beneficial effects of this invention are: this system can complete the transportation of goods in all lanes with just one stacker crane, effectively reducing the manufacturing cost of the system. Attached Figure Description

[0023] Appendix Figure 1 This is a schematic diagram of the structure of the present invention;

[0024] Appendix Figure 2 for Figure 1 A magnified view of point A;

[0025] Appendix Figure 3 for Figure 1 A magnified view of point B;

[0026] Appendix Figure 4 for Figure 1 A magnified view at point C;

[0027] Appendix Figure 5 for Figure 1 A magnified view of point D;

[0028] Appendix Figure 6 This is a schematic diagram of the structure of the Y-direction guide section in the middle. Detailed Implementation

[0029] The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings:

[0030] like Figure 1 As shown, the reversible stacking system includes: a top rail 9, a ground rail 8 located below the top rail 9, and a stacker crane 0. The plane perpendicular to the top rail 9 and the ground rail 8 is the first plane H. The top rail 9 includes several upper Y-axis rails 91 arranged along the Y direction and upper X-axis rails 92 arranged along the X direction. The ground rail 8 includes several lower Y-axis rails 81 parallel to the upper Y-axis rails 91 and several lower X-axis rails 82 parallel to the upper X-axis rails 92.

[0031] Stacker crane 0 includes:

[0032] Framework 1;

[0033] Frame 1 includes a lower beam 12 and an upper beam 11 that are parallel to the lower Y-axis track 81;

[0034] A support beam 13 connecting the lower beam 12 and the upper beam 11;

[0035] The upper Y-direction guide mechanism 2 is mounted on the upper end of the frame 1 and arranged along the Y direction, and includes a pair of upper Y-direction guide wheels 28;

[0036] The upper X-direction guide mechanism 3 is mounted on the upper end of the frame 1 and arranged along the X direction, and includes a pair of upper X-direction guide wheels 38.

[0037] The lower Y-direction guide mechanism 4 is mounted on the lower end of the frame 1 and arranged along the Y direction, and includes a pair of lower Y-direction guide wheels 48.

[0038] The lower X-direction guide mechanism 5 is mounted on the lower end of the frame 1 and arranged along the X direction, and includes a pair of lower X-direction guide wheels 58.

[0039] The lower Y-axis drive mechanism 6 is mounted on the upper end of the frame 1 and is arranged along the Y-axis;

[0040] The lower X-axis drive mechanism 7 is mounted on the upper end of the frame 1 and is arranged along the X-axis;

[0041] The central Y-direction guide section is installed in the middle of the lower beam 12;

[0042] The upper Y-direction guide mechanism 2, the upper X-direction guide mechanism 3, the lower Y-direction guide mechanism 4, and the lower X-direction guide mechanism 5 each have at least two states: clamping and guiding, and open.

[0043] When the upper Y-direction guide mechanism 2 and the lower Y-direction guide mechanism 4 are in the clamping and guiding state, the upper Y-direction guide wheel is located on both sides of the upper Y-direction track 91 and the projection of the upper Y-direction guide wheel and the upper Y-direction track 91 on the first plane H intersects. The lower Y-direction guide wheel is located on both sides of the lower Y-direction track 81 and the projection of the lower Y-direction guide wheel and the lower Y-direction track 81 on the first plane H intersects. The upper X-direction guide mechanism 3 is located below the ceiling track 9. The lower Y-direction drive mechanism 6 is in contact with the lower Y-direction track 81. The lower X-direction guide mechanism 5 and the lower X-direction drive mechanism 7 are suspended above the ground track 8.

[0044] When the upper X-direction guide mechanism 3 and the lower X-direction guide mechanism 5 are in the clamping and guiding state, the upper X-direction guide wheel is located on both sides of the upper X-direction track 92 and the projection of the upper X-direction guide wheel and the upper X-direction track 92 on the first plane H intersects. The lower X-direction guide wheel is located on both sides of the lower X-direction track 82 and the projection of the lower X-direction guide wheel and the lower X-direction track 82 on the first plane H intersects. The upper Y-direction guide mechanism 2 is located below the ceiling track 9, the lower X-direction drive mechanism 7 is in contact with the lower X-direction track 82, and the lower Y-direction guide mechanism 4 and the lower Y-direction drive mechanism 6 are suspended above the ground track 8.

[0045] Specifically, the upper Y-direction guide mechanism 2 includes upper Y-direction guide parts respectively located at both ends of the upper beam 11. Each upper Y-direction guide part includes an upper Y-direction motor 21 fixedly connected to the upper beam 11, an upper Y-direction reducer 22, an upper Y-direction fixed seat 27, and symmetrically arranged upper Y-direction guide swing components. Each upper Y-direction guide swing component includes an upper Y-direction fixed support rod 23 fixed to the upper Y-direction fixed seat, parallel upper Y-direction intermediate swing rods 24 with one end rotatably connected to the upper Y-direction fixed support rod 23, upper Y-direction moving support rods 25 rotatably connected to the other ends of the two upper Y-direction intermediate swing rods 24, and an upper Y-direction gear connected to the shaft of one of the upper Y-direction intermediate swing rods 24 and the upper Y-direction fixed support rod 23. 26. The upper Y-direction guide wheel is rotatably connected to the upper Y-direction moving support rod 25. The upper Y-direction intermediate swing rod 24 is fixedly connected to its own and the rotating shaft of the upper Y-direction fixed support rod 23. The rotating shaft is rotatably connected to the upper Y-direction fixed support rod 23. The upper Y-direction motor 21 drives one of the upper Y-direction intermediate swing rods 24 and the upper Y-direction gear 26 to rotate through the upper Y-direction reducer 22, thereby driving the other upper Y-direction intermediate swing rod 24 to rotate. The two upper Y-direction intermediate swing rods 24 drive the upper Y-direction moving support rod 25 to move along the arc while maintaining a parallel posture with the upper Y-direction fixed support rod 23. The upper Y-direction gear 26 meshes with the upper Y-direction gear 26 on another upper Y-direction guide swing assembly, thereby driving the other upper Y-direction guide swing assembly to complete symmetrical movements.

[0046] The upper X-direction guide mechanism 3 includes upper lateral wing plates 39 fixed on both sides of the upper beam 11, and several X-direction guide parts disposed on each upper lateral wing plate 39. Each upper X-direction guide part includes an upper X-direction motor 31 fixedly connected to the upper beam 11 via the upper lateral wing plate 39, an upper X-direction reducer 32, an upper X-direction fixed seat 37, and symmetrically arranged upper X-direction guide swing components. Each upper X-direction guide swing component includes an upper X-direction fixed support rod 33 fixed to the upper X-direction fixed seat, parallel upper X-direction intermediate swing rods 34 with one end rotatably connected to the upper X-direction fixed support rod, upper X-direction moving support rods 35 rotatably connected to the other ends of the two upper X-direction intermediate swing rods, and a connecting rod to one of the upper X-direction... The upper X-axis gear 36 on the rotating shaft of the middle swing arm and the upper X-axis fixed support rod, the upper X-axis guide wheel is rotatably connected to the upper X-axis moving support rod, the upper X-axis middle swing arm is fixedly connected to its own and the rotating shaft of the upper X-axis fixed support rod, the rotating shaft is rotatably connected to the upper X-axis fixed support rod, the upper X-axis motor drives one of the upper X-axis middle swing arms and the upper X-axis gear to rotate through the upper X-axis reducer, thereby driving the other upper X-axis middle swing arm to rotate, the two upper X-axis middle swing arms drive the upper X-axis moving support rod to move along the arc in an attitude parallel to the upper X-axis fixed support rod, the upper X-axis gear meshes with the upper X-axis gear on another upper X-axis guide swing assembly, thereby driving the other upper X-axis guide swing assembly to complete the symmetrical action.

[0047] The lower Y-axis drive mechanism 6 includes a lower Y-axis bracket 61 fixed to both ends of the lower beam 12, a lower Y-axis drive wheel 62 rotatably connected to the lower Y-axis bracket, and a lower Y-axis drive motor 63 mounted on one of the lower Y-axis brackets and driven by one of the lower Y-axis drive wheels. The lower Y-axis drive motor is driven by the lower Y-axis drive wheel located at the same end of the lower beam 12.

[0048] The lower Y-direction guide mechanism 4 includes lower Y-direction guide parts respectively mounted on two lower Y-direction supports. Each lower Y-direction guide part includes a lower Y-direction motor 41 fixedly connected to the lower Y-direction support, a lower Y-direction reducer 42, a lower Y-direction fixed seat 47, and symmetrically arranged lower Y-direction guide swing components. Each lower Y-direction guide swing component includes a lower Y-direction fixed support rod 43 fixed to the lower Y-direction fixed seat, two parallel lower Y-direction intermediate swing rods 44, one end of which is rotatably connected to the lower Y-direction fixed support rod, a lower Y-direction moving support rod 45 rotatably connected to the other ends of the two lower Y-direction intermediate swing rods, and a rotating support rod connecting one of the lower Y-direction intermediate swing rods and the lower Y-direction fixed support rod. The lower Y-axis gear 46 on the shaft and the lower Y-axis guide wheel are rotatably connected to the lower Y-axis moving support rod. The lower Y-axis intermediate swing rod is fixedly connected to its own and the lower Y-axis fixed support rod's rotating shaft. This rotating shaft is rotatably connected to the lower Y-axis fixed support rod. The lower Y-axis motor drives one of the lower Y-axis intermediate swing rods and the lower Y-axis gear to rotate through the lower Y-axis reducer, thereby driving the other lower Y-axis intermediate swing rod to rotate. The two lower Y-axis intermediate swing rods drive the lower Y-axis moving support rod to maintain a parallel posture with the lower Y-axis fixed support rod and move along an arc. The lower Y-axis gear meshes with the lower Y-axis gear on another lower Y-axis guide swing assembly, thereby driving the other lower Y-axis guide swing assembly to complete symmetrical movements.

[0049] The central Y-axis guide section includes a central Y-axis fixed seat 6'7 fixedly connected to both sides of the middle of the lower beam 12, a central Y-axis motor 6'1 and a central Y-axis reducer 6'2 fixedly mounted on one of the central Y-axis fixed seats 6'7, a central Y-axis guide swing assembly fixedly connected to the two central Y-axis fixed seats 6'7 and arranged symmetrically, and a transmission gear belt module connecting the two central Y-axis guide swing assemblies. The central Y-axis guide swing assembly includes a central Y-axis fixed support rod 6'3 fixed to the central Y-axis fixed seat 6'7. A series of parallel, central Y-axis intermediate swing rods 6'4, one end of which is rotatably connected to the central Y-axis fixed support rod; a central Y-axis movable support rod 6'5, the other ends of which are rotatably connected to both central Y-axis intermediate swing rods 6'4; a central Y-axis gear 6'6 connected to the rotating shaft of the two central Y-axis intermediate swing rods 6'4 and the central Y-axis fixed support rod 6'3 in symmetrical positions; a transition gear 6'9 meshing with one of the central Y-axis gears 6'6 and parallel to its axis; and a gear transmission wound around the other central Y-axis gear 6'6 and the transition gear 6'9. The conveyor belt 6'0 and transition gear 6'9 are rotatably connected to the lower beam 12. The central Y-direction guide wheel 6'8 is rotatably connected to the central Y-direction moving support rod 6'5. The central Y-direction intermediate swing rod 6'4 is fixedly connected to its own and the central Y-direction fixed support rod 6'3's rotating shaft. This rotating shaft is rotatably connected to the central Y-direction fixed support rod 6'3. The central Y-direction motor 6'1 drives one of the central Y-direction intermediate swing rods 6'4 and the central Y-direction gear 6'6 to rotate through the central Y-direction reducer 6'2. The central Y-direction gear 6'6 drives the gear conveyor belt 6'0 to rotate. The conveyor belt 6'0 drives the transition gear 6'9 to rotate, which in turn drives another central Y-axis gear 6'6 to rotate, which in turn drives another central Y-axis intermediate swing arm 6'4 to rotate. The two central Y-axis intermediate swing arms 6'4 drive the central Y-axis moving support rod 6'5 to move along the arc while maintaining a parallel posture with the central Y-axis fixed support rod 6'3. The central Y-axis gear 6'6 and the other central Y-axis gear 6'6 are transmitted through the gear conveyor belt 6'0 and the transition gear 6'9, thereby driving the other central Y-axis guide swing assembly to complete symmetrical movements.

[0050] The lower X-axis drive mechanism 7 includes lower X-axis drive components symmetrically arranged at both ends of the lower beam 12. Each lower X-axis drive component includes a lower X-axis drive swing rod 71 rotatably connected to one end of the lower beam 12 and located on both sides of the frame 1, a lower X-axis drive wheel 72 mounted on the lower end face of the two swing rods, and at least one lower X-axis drive motor 73 mounted on the lower drive swing rod and connected to the lower X-axis drive wheel for driving the lower X-axis drive wheel to move up and down, thereby suspending the lower X-axis guide mechanism 5 and the lower X-axis drive mechanism 7 above the ground rail 8, and suspending the lower Y-axis drive mechanism 6 in contact with the lower Y-axis track 81, or suspending the lower X-axis drive mechanism 7 in contact with the lower X-axis track 82, and suspending the lower Y-axis guide mechanism 4 and the lower Y-axis drive mechanism 6 above the ground rail 8. The adjustment assembly 74 includes a telescopic member 75 fixed to the support beam 13 and an adjustment link 76 connected between the two lower X-direction drive swing rods and the telescopic member. The two ends of the adjustment link are rotatably connected to the telescopic member and the lower X-direction drive swing rod, respectively. The free end of the telescopic member's telescopic rod is rotatably connected to the adjustment link. The pivots of the telescopic rod and the adjustment link, the pivots of the adjustment link and the lower X-direction drive swing rod, and the pivots of the lower X-direction drive swing rod and the end of the lower beam 12 are all set along the Y direction. The telescopic member can be a hydraulic cylinder. The downward X-direction guide mechanism 5 includes downward X-direction guide parts respectively disposed on the downward X-direction drive swing rods. Each downward X-direction guide part includes a downward X-direction fixed base 57 fixedly connected to the downward X-direction drive swing rod, a downward X-direction motor 51 mounted on the downward X-direction fixed base, a downward X-direction reducer 52 mounted on the downward X-direction fixed base, and downward X-direction guide swing assemblies mounted on the downward X-direction fixed base and symmetrically arranged. Each downward X-direction guide swing assembly includes a downward X-direction fixed support rod 53 fixed to the downward X-direction fixed base, two parallel downward X-direction intermediate swing rods 54, one end of which is rotatably connected to the downward X-direction fixed support rod, and two downward X-direction moving support rods 55 rotatably connected to the other ends of the two downward X-direction intermediate swing rods. A downward X-axis gear 56 is mounted on the shaft of a downward X-axis intermediate swing arm and a downward X-axis fixed support rod. A downward X-axis guide wheel is rotatably connected to a downward X-axis movable support rod. The downward X-axis intermediate swing arm is fixedly connected to its own shaft and the shaft of the downward X-axis fixed support rod. The shaft is rotatably connected to the downward X-axis fixed support rod. A downward X-axis motor drives one of the downward X-axis intermediate swing arms and the downward X-axis gear to rotate through a downward X-axis reducer, which in turn drives the other downward X-axis intermediate swing arm to rotate. The two downward X-axis intermediate swing arms drive the downward X-axis movable support rod to move along an arc while maintaining a parallel posture with the downward X-axis fixed support rod. The downward X-axis gear meshes with the downward X-axis gear on another downward X-axis guide swing assembly, thereby driving the other downward X-axis guide swing assembly to complete a symmetrical action.

[0051] The system also includes a loading platform located between the support beams 13 and sliding up and down along the support beams 13, a traction rope guide wheel 01 mounted on the frame 1, a traction machine 02 mounted on one of the support beams 13 and located on the outside of the frame 1, a traction rope wound around the traction rope guide wheel and fixedly connected at both ends to the loading platform 03 and the traction machine respectively, and a control cabinet 04 for controlling the coordinated operation of the upper Y-direction guide mechanism 2, the upper X-direction guide mechanism 3, the lower Y-direction guide mechanism 4, the lower X-direction guide mechanism 5, the lower Y-direction drive mechanism 6, the middle Y-direction drive mechanism 6', the lower X-direction drive mechanism 7, the loading platform and the traction machine. The control cabinet is mounted on the support beams 13 and located on the outside of the frame 1.

[0052] There is a gap between the upper Y-axis track 91 and the two upper X-axis tracks 92 between the two adjacent upper X-axis tracks 92. When the stacker crane moves along the Y-axis, the gap allows the upper Y-axis guide wheel to pass through. When the lower Y-axis guide wheel encounters the lower X-axis track, the lower Y-axis guide wheel that encounters the lower X-axis track will open under the drive of the lower Y-axis motor to avoid interference with the lower X-axis track. The other lower Y-axis guide wheels will remain in the clamping guide state. Similarly, when the stacker crane moves along the X-axis, the upper X-axis guide wheel, upper Y-axis guide wheel, lower X-axis guide wheel, lower Y-axis guide wheel and middle Y-axis guide wheel 48 will adaptively switch between the open and clamping guide states.

[0053] When the upper Y-direction guide mechanism and the lower Y-direction guide mechanism are in the clamping and guiding state, the upper Y-direction guide wheel is located on both sides of the upper Y-direction track and the projection of the upper Y-direction guide wheel on the first plane intersects with the projection of the upper Y-direction track. The lower Y-direction guide wheel is located on both sides of the lower Y-direction track and the projection of the lower Y-direction track on the first plane intersects with the projection of the lower Y-direction track. The upper X-direction guide mechanism is located below the overhead rail, and the lower Y-direction drive mechanism is in contact with the lower Y-direction track. The lower X-direction guide mechanism and the lower X-direction drive mechanism are suspended above the ground rail. At this time, the stacker crane moves along the Y direction (i.e., moves along the aisle). When the stacker crane needs to change direction, the stacker crane moves between the upper X-direction track and the lower X-direction track. When the upper X-direction guiding mechanism and the lower X-direction guiding mechanism are in the clamping and guiding state, the upper Y-direction guiding mechanism moves downward to below the upper Y-direction track, and the lower Y-direction guiding mechanism and the lower Y-direction driving mechanism move upward to above the ground rail. The upper X-direction guiding mechanism moves upward until the upper X-direction guide wheel is located on both sides of the upper X-direction track and the projection of the upper X-direction guide wheel and the upper X-direction track on the first plane intersects. The lower X-direction guiding mechanism moves downward until the lower X-direction guide wheel is located on both sides of the lower X-direction track and the projection of the lower X-direction guide wheel and the lower X-direction track on the first plane intersects. The lower X-direction driving mechanism contacts the lower X-direction track. At this time, the stacker crane can move along the X-direction.

[0054] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A reversible stacking system, comprising: A ceiling track, a ground track located below the ceiling track, and a stacker crane; a plane perpendicular to the ceiling track and the ground track is a first plane; the ceiling track includes several upper Y-axis tracks arranged along the Y-axis and upper X-axis tracks arranged along the X-axis, with the X and Y axes perpendicular to each other; the ground track includes several lower Y-axis tracks parallel to the upper Y-axis tracks and several lower X-axis tracks parallel to the upper X-axis tracks; the stacker crane includes a frame, the frame including a lower beam and an upper beam parallel to the lower Y-axis tracks, and a support beam connecting the lower beam and the upper beam; characterized in that the stacker crane further includes: An upper Y-direction guide mechanism, which is mounted on the upper end of the frame and arranged along the Y direction, includes a pair of upper Y-direction guide wheels; An upper X-direction guide mechanism, which is mounted on the upper end of the frame and arranged along the X direction, includes a pair of upper X-direction guide wheels; A lower Y-direction guide mechanism, which is mounted on the lower end of the frame and arranged along the Y direction, includes a pair of lower Y-direction guide wheels; A lower X-direction guide mechanism, which is mounted on the lower end of the frame and arranged along the X direction, includes a pair of lower X-direction guide wheels; A lower Y-axis drive mechanism is mounted on the upper end of the frame and arranged along the Y-axis; A lower X-axis drive mechanism is mounted on the upper end of the frame and arranged along the X-axis; The upper Y-axis guiding mechanism, the upper X-axis guiding mechanism, and the lower Y-axis guiding mechanism all have at least two states: clamping and guiding, and open. When the upper Y-direction guide mechanism and the lower Y-direction guide mechanism are in the clamping and guiding state, the upper Y-direction guide wheel is located on both sides of the upper Y-direction track and the projection of the upper Y-direction guide wheel on the first plane intersects with the projection of the upper Y-direction track. The lower Y-direction guide wheel is located on both sides of the lower Y-direction track and the projection of the lower Y-direction track on the first plane intersects with the projection of the lower Y-direction track. The upper X-direction guide mechanism is located below the overhead track, and the lower Y-direction drive mechanism is in contact with the lower Y-direction track. The lower X-direction guide mechanism and the lower X-direction drive mechanism are suspended above the ground track. At this time, the stacker crane moves along the Y-direction. When the stacker crane needs to change direction, the stacker crane moves between the upper X-direction track and the lower X-direction track. When the X-direction guiding mechanism and the lower X-direction guiding mechanism are in the clamping and guiding state, the upper Y-direction guiding mechanism moves downward to below the upper Y-direction track, and the lower Y-direction guiding mechanism and the lower Y-direction driving mechanism move upward to above the ground rail. The upper X-direction guiding mechanism moves upward until the upper X-direction guide wheel is located on both sides of the upper X-direction track and the projection of the upper X-direction guide wheel and the upper X-direction track on the first plane intersects. The lower X-direction guiding mechanism moves downward until the lower X-direction guide wheel is located on both sides of the lower X-direction track and the projection of the lower X-direction guide wheel and the lower X-direction track on the first plane intersects. The lower X-direction driving mechanism contacts the lower X-direction track. At this time, the stacker crane can move along the X-direction. The lower X-axis drive mechanism includes lower X-axis drive components symmetrically arranged at both ends of the lower beam. Each lower X-axis drive component includes a lower X-axis drive swing rod rotatably connected to one end of the lower beam and located on both sides of the frame, a lower X-axis drive wheel mounted on the lower end face of the two lower X-axis drive swing rods, and at least one lower X-axis drive motor mounted on the lower X-axis drive swing rod and drivenly connected to the lower X-axis drive wheel. The motor is used to drive the lower X-axis drive wheel to move up and down, thereby suspending the lower X-axis guide mechanism and the lower X-axis drive mechanism above the ground rail, and making the lower Y-axis drive mechanism contact the lower Y-axis track, or making the lower X-axis drive mechanism contact the lower X-axis track. The lower Y-axis guide mechanism and the lower Y-axis drive mechanism are suspended above the ground rail. The adjustment assembly includes a telescopic member fixed to the support beam and an adjustment link connecting the two lower X-direction drive swing rods and the telescopic member respectively. The two ends of the adjustment link are rotatably connected to the telescopic member and the lower X-direction drive swing rod respectively. The free end of the telescopic rod of the telescopic member is rotatably connected to the adjustment link. The pivot axis between the telescopic rod and the adjustment link, the pivot axis between the adjustment link and the lower X-direction drive swing rod, and the pivot axis between the lower X-direction drive swing rod and the end of the lower beam are all arranged along the Y direction. The downward X-direction guiding mechanism includes downward X-direction guiding parts respectively disposed on the downward X-direction driving swing rods. Each downward X-direction guiding part includes a downward X-direction fixed base fixedly connected to the downward X-direction driving swing rod, a downward X-direction motor mounted on the downward X-direction fixed base, a downward X-direction reducer mounted on the downward X-direction fixed base, and downward X-direction guiding swing assemblies mounted on the downward X-direction fixed base and symmetrically arranged. Each downward X-direction guiding swing assembly includes a downward X-direction fixed support rod fixed to the downward X-direction fixed base, two parallel downward X-direction intermediate swing rods with one end rotatably connected to the downward X-direction fixed support rod, a downward X-direction moving support rod rotatably connected to the other ends of the two downward X-direction intermediate swing rods, and a downward X-direction moving support rod connected to one of the downward X-direction intermediate swing rods. The swing arm and the lower X-axis fixed support rod have a lower X-axis gear on their rotating shafts. The lower X-axis guide wheel is rotatably connected to the lower X-axis moving support rod. The lower X-axis intermediate swing arm is fixedly connected to itself and the rotating shaft of the lower X-axis fixed support rod. This rotating shaft is rotatably connected to the lower X-axis fixed support rod. The lower X-axis motor drives one of the lower X-axis intermediate swing arms and the lower X-axis gear to rotate through the lower X-axis reducer, thereby driving the other lower X-axis intermediate swing arm to rotate. The two lower X-axis intermediate swing arms drive the lower X-axis moving support rod to move along an arc while maintaining a parallel posture with the lower X-axis fixed support rod. The lower X-axis gear meshes with the lower X-axis gear on another lower X-axis guide swing assembly, thereby driving the other lower X-axis guide swing assembly to complete a symmetrical movement.

2. The reversible stacking system according to claim 1, characterized in that: The upper Y-direction guiding mechanism includes upper Y-direction guiding parts respectively disposed at both ends of the upper beam. Each upper Y-direction guiding part includes an upper Y-direction motor, an upper Y-direction reducer, an upper Y-direction fixed seat, and symmetrically arranged upper Y-direction guiding swing components, all fixedly connected to the upper beam. Each upper Y-direction guiding swing component includes an upper Y-direction fixed support rod fixed to the upper Y-direction fixed seat, parallel upper Y-direction intermediate swing rods with one end rotatably connected to the upper Y-direction fixed support rod, an upper Y-direction moving support rod rotatably connected to the other ends of both upper Y-direction intermediate swing rods, and an upper Y-direction gear connected to the rotating shaft of one of the upper Y-direction intermediate swing rods and the upper Y-direction fixed support rod. The upper Y-axis guide wheel is rotatably connected to the upper Y-axis moving support rod. The upper Y-axis intermediate swing rod is fixedly connected to its own and the upper Y-axis fixed support rod's rotating shaft. This rotating shaft is rotatably connected to the upper Y-axis fixed support rod. The upper Y-axis motor drives one of the upper Y-axis intermediate swing rods and the upper Y-axis gear to rotate through the upper Y-axis reducer, thereby driving the other upper Y-axis intermediate swing rod to rotate. The two upper Y-axis intermediate swing rods drive the upper Y-axis moving support rod to maintain a parallel posture with the upper Y-axis fixed support rod and move along an arc. The upper Y-axis gear meshes with the upper Y-axis gear on another upper Y-axis guide swing assembly, thereby driving the other upper Y-axis guide swing assembly to complete a symmetrical movement.

3. The reversible stacking system according to claim 1, characterized in that: The upper X-axis guiding mechanism includes upper lateral wing plates fixed to both sides of the upper beam, and several X-axis guiding parts disposed on each of the upper lateral wing plates. Each upper X-axis guiding part includes an upper X-axis motor, an upper X-axis reducer, an upper X-axis fixed seat, and symmetrically arranged upper X-axis guiding swing assemblies, all fixedly connected to the upper beam via the upper lateral wing plate. Each upper X-axis guiding swing assembly includes an upper X-axis fixed support rod fixed to the upper X-axis fixed seat, parallel upper X-axis intermediate swing rods with one end rotatably connected to the upper X-axis fixed support rod, an upper X-axis movable support rod rotatably connected to the other ends of the two upper X-axis intermediate swing rods, and a support rod connecting one of the upper X-axis intermediate swing rods and the upper X-axis fixed support rod. An upward X-axis gear is mounted on the shaft of the rod. The upward X-axis guide wheel is rotatably connected to the upward X-axis moving support rod. The upward X-axis intermediate swing rod is fixedly connected to its own shaft and the shaft of the upward X-axis fixed support rod. The shaft is rotatably connected to the upward X-axis fixed support rod. The upward X-axis motor drives one of the upward X-axis intermediate swing rods and the upward X-axis gear to rotate through the upward X-axis reducer, thereby driving the other upward X-axis intermediate swing rod to rotate. The two upward X-axis intermediate swing rods drive the upward X-axis moving support rod to move along an arc while maintaining a parallel posture with the upward X-axis fixed support rod. The upward X-axis gear meshes with the upward X-axis gear on another upward X-axis guide swing assembly, thereby driving the other upward X-axis guide swing assembly to complete a symmetrical movement.

4. The reversible stacking system according to claim 1, characterized in that: The lower Y-axis drive mechanism includes a lower Y-axis bracket fixed to both ends of the lower beam, a lower Y-axis drive wheel rotatably connected to the lower Y-axis bracket, and a lower Y-axis drive motor mounted on one of the lower Y-axis brackets and drivenly connected to one of the lower Y-axis drive wheels.

5. The reversible stacking system according to claim 4, characterized in that: The lower Y-axis drive motor is connected to the lower Y-axis drive wheel located at the same end of the lower beam.

6. The reversible stacking system according to claim 4, characterized in that: The lower Y-direction guiding mechanism includes lower Y-direction guiding parts respectively disposed on two lower Y-direction supports. Each lower Y-direction guiding part includes a lower Y-direction motor, a lower Y-direction reducer, a lower Y-direction fixed seat, and symmetrically arranged lower Y-direction guiding swing assemblies, all fixedly connected to the lower Y-direction supports. Each lower Y-direction guiding swing assembly includes a lower Y-direction fixed support rod fixed to the lower Y-direction fixed seat, parallel lower Y-direction intermediate swing rods with one end rotatably connected to the lower Y-direction fixed support rod, a lower Y-direction moving support rod rotatably connected to the other ends of both lower Y-direction intermediate swing rods, and a lower Y-direction gear connected to the rotating shaft of one of the lower Y-direction intermediate swing rods and the lower Y-direction fixed support rod. The lower Y-direction guide wheel is rotatably connected to the lower Y-direction moving support rod. The lower Y-direction intermediate swing rod is fixedly connected to its own and the rotating shaft of the lower Y-direction fixed support rod. The rotating shaft is rotatably connected to the lower Y-direction fixed support rod. The lower Y-direction motor drives one of the lower Y-direction intermediate swing rods and the lower Y-direction gear to rotate through the lower Y-direction reducer, thereby driving the other lower Y-direction intermediate swing rod to rotate. The two lower Y-direction intermediate swing rods drive the lower Y-direction moving support rod to move along an arc while maintaining a parallel posture with the lower Y-direction fixed support rod. The lower Y-direction gear meshes with the lower Y-direction gear on another lower Y-direction guide swing assembly, thereby driving the other lower Y-direction guide swing assembly to complete a symmetrical action.

7. The reversible stacking system according to claim 1, characterized in that: The system also includes a loading platform disposed between the support beams and sliding up and down along the support beams, a traction rope guide wheel mounted on the frame, a traction machine mounted on one of the support beams and located outside the frame, a traction rope wound around the traction rope guide wheel and fixedly connected at both ends to the loading platform and the traction machine respectively, and a control cabinet for controlling the coordinated operation of the upper Y-axis guiding mechanism, the upper X-axis guiding mechanism, the lower Y-axis guiding mechanism, the lower X-axis guiding mechanism, the lower Y-axis drive mechanism, the lower X-axis drive mechanism, the loading platform and the traction machine, the control cabinet being mounted on the support beams and located outside the frame.

Images