A stacker

Abstract

The present invention provides a stacker, comprising: a walking device, which comprises a walking box, a friction transmission mechanism installed in the walking box, and a horizontal positioning component for positioning the walking position, wherein the friction transmission mechanism comprises a friction driving wheel matched with a friction track and a walking power mechanism; a lifting device, which comprises a lifting frame installed on the top of the walking box, a mechanical arm carrying component installed on the lifting frame, a lifting transmission component and a lifting power mechanism for driving the mechanical arm carrying component to lift and lower, and a vertical positioning component for locating the lifting position of the mechanical arm carrying component; a control device, which is used to control the walking power mechanism to drive the walking device to run to the target walking position according to the walking position fed back by the horizontal positioning component, and is also used to control the lifting power mechanism to drive the mechanical arm carrying component to run to the target lifting position according to the lifting position fed back by the vertical positioning component. The present invention can realize the precise positioning of the stacker in the walking direction and the lifting direction.

Description

Technical Field

[0001] The invention relates to the technical field of logistics and warehousing, and in particular to a stacker. Background Art

[0002] With the continuous increase in demand for semiconductors, traditional inefficient manual handling and storage can no longer meet the growing demand for semiconductor products, thus driving the continuous optimization of semiconductor transportation and storage equipment. In this environment, automated warehouses came into being. It is a warehouse that uses high-rise shelves to store items and uses computer-controlled aisle stackers to store and retrieve items. Aisle stackers are special cranes that have been developed along with the emergence of automated warehouses. They are usually referred to as stackers and are the most important lifting and transportation equipment in automated warehouses.

[0003] The stacker runs along the track in the aisle of the automated warehouse, and uses its liftable loading components to store items at the aisle entrance into the designated cargo compartment of the three-dimensional shelf, or take out items from the designated cargo compartment and transport them to the aisle entrance to complete the storage and retrieval of items.

[0004] In this process, how to achieve accurate positioning of the stacker in the walking direction and the lifting direction, so as to achieve accurate access operations, is a problem to be solved urgently in the present invention. Summary of the invention

[0005] The object of the present invention is to provide a stacker to achieve accurate positioning of the stacker in the walking direction and the lifting direction.

[0006] In order to achieve the above object, the present invention provides a stacker, comprising:

[0007] A walking device, the walking device comprising a walking box, a friction transmission mechanism installed in the walking box, and a horizontal positioning assembly installed on the walking box and used to position the walking position of the walking device, wherein the friction transmission mechanism comprises a friction driving wheel passing through the walking box and frictionally engaging with a friction track on the ground, and a walking power mechanism used to drive the friction driving wheel to rotate;

[0008] A lifting device, the lifting device comprising a lifting frame installed on the top of the traveling box, a mechanical arm carrying component installed on the lifting frame, a lifting transmission component for driving the mechanical arm carrying component to lift along the lifting frame, a lifting power mechanism for driving the lifting transmission component, and a vertical positioning component for positioning the lifting position of the mechanical arm carrying component;

[0009] A control device, wherein the control device is used to control the walking power mechanism to drive the walking device to a target walking position according to the walking position fed back by the horizontal positioning component, and the control device is also used to control the lifting power mechanism to drive the mechanical arm loading component to a target lifting position according to the lifting position fed back by the vertical positioning component.

[0010] Preferably, a horizontally mounted barcode installation plate is provided along the walking path of the stacker, and a plurality of walking position barcodes for indicating the walking position are provided on the barcode installation plate;

[0011] The horizontal positioning assembly includes a first barcode scanner installed on the walking box, and the first barcode scanner is used to scan the walking position barcode and transmit the scanning result to the control device.

[0012] Preferably, the lifting device further comprises a plurality of lifting position barcodes arranged vertically and used to indicate the lifting position;

[0013] The vertical positioning assembly includes a second barcode scanner installed on the robotic arm loading assembly, and the second barcode scanner is used to scan the lifting position barcode and transmit the scanning result to the control device.

[0014] Preferably, the walking device further comprises: a walking deceleration sensor assembly and / or a walking limit sensor assembly located on the walking box;

[0015] The walking deceleration sensor assembly is used to trigger the control device to perform a corresponding horizontal deceleration operation when sensing that the stacker has walked to a corresponding horizontal deceleration position;

[0016] The travel limit sensor assembly is used to trigger the control device to perform a corresponding horizontal limit operation when sensing that the stacker has traveled to a corresponding horizontal limit position.

[0017] Preferably, the horizontal deceleration operation includes: detecting whether the walking speed of the stacker is less than a corresponding walking speed threshold, and if not, controlling the walking power mechanism to decelerate and alarm.

[0018] Preferably, the walking deceleration sensor assembly includes a primary walking deceleration sensor and a secondary walking deceleration sensor;

[0019] The first-level walking deceleration sensor is used to trigger the control device to detect whether the walking speed of the walking device is less than the first walking speed threshold when sensing that the stacker walks to the first horizontal deceleration position. If not, the walking power mechanism is controlled to decelerate and alarm;

[0020] The secondary walking deceleration sensor is used to trigger the control device to detect whether the walking speed of the walking device is less than the second walking speed threshold when sensing that the stacker walks to the second horizontal deceleration position. If not, the walking power mechanism is controlled to decelerate and alarm;

[0021] Wherein, along the walking direction of the stacker, the stacker first reaches the first horizontal deceleration position and then reaches the second horizontal deceleration position, and the first walking speed threshold is greater than the second walking speed threshold.

[0022] Preferably, the lifting device further comprises: an upper limit sensor assembly, an upper deceleration sensor assembly, a lower deceleration sensor assembly, and / or a lower limit sensor assembly arranged along the lifting direction of the mechanical arm object-carrying assembly;

[0023] The upper limit sensor assembly is used to trigger the control device to perform a corresponding upper limit operation when sensing that the mechanical arm object-carrying assembly rises to a corresponding upper limit position;

[0024] The upper deceleration sensor assembly is used to trigger the control device to perform a corresponding ascending deceleration operation when sensing that the robotic arm object-carrying assembly has ascended to a corresponding upper deceleration position;

[0025] The lower deceleration sensor assembly is used to trigger the control device to perform a corresponding descending deceleration operation when sensing that the robotic arm object-carrying assembly descends to a corresponding lower deceleration position;

[0026] The lower limit sensor assembly is used to trigger the control device to perform a corresponding lower limit operation when sensing that the robotic arm object-carrying assembly has descended to a corresponding lower limit position;

[0027] Among them, the upper limit position, the upper deceleration position, the lower deceleration position, and the lower limit position are arranged in sequence from top to bottom.

[0028] Preferably, a crane track is provided above the walking path of the stacker;

[0029] An upper guide wheel assembly which is slidably matched with the overhead travelling vehicle track is provided on the top of the lifting frame.

[0030] Preferably, the stacker further comprises:

[0031] A power taking component arranged on one side of the traveling box;

[0032] A power supply component electrically connected to the power extraction component;

[0033] An energy storage component electrically connected to the power taking component and the power supply component;

[0034] Part of the electric energy obtained by the power extraction component is supplied to the power supply component, and the other part is stored in the energy storage component. The power supply component is used to supply power to the stacker.

[0035] Preferably, the lifting transmission assembly comprises:

[0036] A driving pulley disposed on the side of the traveling box and connected to the lifting power mechanism;

[0037] A driven pulley disposed at the top of the lifting frame and connected to the driving pulley via a synchronous belt; and

[0038] A vertical guide rail arranged vertically along the lifting frame;

[0039] Wherein, the robot arm object-carrying assembly is fixedly connected to the synchronous belt and slidingly cooperates with the vertical guide rail, so as to be lifted and lowered along the vertical guide rail under the drive of the synchronous belt.

[0040] Preferably, the side of the traveling box is further provided with an adjusting wheel abutting against one side of the synchronous belt, and the adjusting wheel can rotate along with the rotation of the synchronous belt.

[0041] Preferably, the walking device further comprises a driving wheel support seat for supporting the friction driving wheel;

[0042] One end of the driving wheel support seat is rotatably fixed in the travel box;

[0043] The other end of the driving wheel support seat is fixed in the travel box through an elastic component vertically arranged above the driving wheel support seat.

[0044] Preferably, the elastic component comprises:

[0045] An elastic element, wherein the elastic element is vertically arranged and the bottom end of the elastic element is connected to the top surface of the other end of the driving wheel support seat;

[0046] An elastic force adjusting mechanism is connected to the top end of the elastic element and is used to adjust the elastic force generated by the elastic element.

[0047] Preferably, a limit plate is provided in the travel box, and the limit plate is transversely arranged above the elastic element;

[0048] The elastic force adjustment mechanism comprises a fixing piece which is vertically arranged and threadably matched with the limiting plate, and the bottom end of the fixing piece is connected to the top end of the elastic element.

[0049] Preferably, the elastic component further includes a ruler vertically mounted on the top surface of the limiting plate.

[0050] Preferably, a plurality of sliding blocks are installed at the bottom of the traveling box, and the sliding blocks are slidably matched with the transverse guide rails on the ground.

[0051] Preferably, a light transmitting end is provided on the walking path of the stacker, and a light receiving end is provided on the stacker;

[0052] Among them, when the light receiving end receives the light signal emitted by the light emitting end, the control device is triggered to control the operation of the walking power mechanism based on the access task data sent by the upper computer, combined with the walking position positioned by the horizontal positioning component, and to control the operation of the lifting power mechanism in combination with the lifting position positioned by the vertical positioning component.

[0053] By adopting the above technical solution, the present invention has the following beneficial effects:

[0054] The walking device of the present invention can realize fast start and stop operation by adopting a friction transmission mechanism, which is convenient for stopping the stacker at a desired horizontal position. At the same time, by providing a horizontal positioning component for positioning the walking position of the walking device and a vertical positioning component for positioning the lifting position of the mechanical arm loading component, the control device can accurately determine whether the stacker has walked or lifted into place, and control the walking power mechanism and the lifting power mechanism accordingly, thereby realizing accurate positioning of the stacker in the walking direction and the lifting direction, thereby improving the accuracy of the stacker's storage and retrieval operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a three-dimensional structural schematic diagram of the stacker in the present invention;

[0056] Figure 2 for Figure 1 A magnified schematic diagram of the middle area A;

[0057] Figure 3 for Figure 1 A magnified schematic diagram of the middle area B;

[0058] Figure 4 It is a rear view of the stacker in the present invention;

[0059] Figure 5 It is a schematic diagram of the installation of the multi-stage speed reducer in the present invention;

[0060] Figure 6 is a side view of the stacker in the present invention;

[0061] Figure 7 It is a partial three-dimensional structural schematic diagram of the lifting frame of the stacker in the present invention;

[0062] Figure 8It is a schematic diagram of the three-dimensional structure of the walking device of the stacker in the present invention;

[0063] Fig. 9 It is a schematic diagram of the internal structure of the traveling device of the stacker in the present invention;

[0064] Fig.10 A top sectional view of the traveling device of the stacker in the present invention;

[0065] Fig.11 This is a working principle diagram of the first-stage deceleration of the present invention;

[0066] Fig.12 This is a working principle diagram of the two-stage deceleration of the present invention;

[0067] Fig.13 This is a working principle diagram of the three-stage deceleration of the present invention;

[0068] Fig.14 It is the working flow chart of the stacker in the present invention. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0070] The terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The singular forms "a", "the" and "the" used in the present disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0071] The present invention provides a stacker, such as Figures 1 to 10 As shown, the stacker mainly includes a walking device, a lifting device and a control device.

[0072] In the present invention, Figure 1 As shown, the walking device mainly includes a walking box 100, a friction transmission mechanism 200 installed in the walking box 100, and a horizontal positioning component 101 installed on the walking box 100 (see Figure 4 ), and the horizontal positioning assembly 101 is used to locate the real-time walking position of the walking device. The walking box 100 provides a force-bearing support surface for the friction transmission mechanism 200; the friction transmission mechanism 200 provides the walking power source of the stacker. Figures 8 to 10 As shown, the friction transmission mechanism 200 mainly includes a friction driving wheel 201 passing through the bottom plate of the traveling box 100 and frictionally engaging with the friction track 901 on the ground, and a traveling power mechanism 202 (see FIG. 202 ) connected to the friction driving wheel 201 and used to drive the friction driving wheel 201 to rotate. Fig.10 ). Preferably, the travel power mechanism 202 is implemented by a servo reduction motor, which has the characteristics of accurate operation positioning and timely acceleration and deceleration response, further improving the travel positioning accuracy of the stacker of the present invention.

[0073] In the present invention, Figure 1 As shown, the lifting device mainly includes a lifting frame 300 installed on the top of the traveling box 100, a mechanical arm carrying assembly 400 installed on the lifting frame 300 for carrying articles, a lifting transmission assembly for driving the mechanical arm carrying assembly 400 to lift and lower along the lifting frame 300, a lifting power mechanism 501 for driving the lifting transmission assembly to operate, and a vertical positioning assembly 401 for locating the real-time lifting position of the mechanical arm carrying assembly 400. Among them, driven by the lifting power mechanism 501 and the lifting transmission assembly, the mechanical arm carrying assembly 400 can be lifted and lowered along the lifting frame 300 to store articles in the designated cargo compartment of the three-dimensional shelf, or to take out articles in the designated cargo compartment. In the present invention, the lifting power mechanism 501 is also preferably implemented by a servo reduction motor to improve the lifting and positioning accuracy of the stacker of the present invention.

[0074] In the present invention, the control device 600 is used to control the walking power mechanism 202 to drive the walking device to the desired target walking position according to the walking position fed back by the horizontal positioning component 101; on the other hand, it is used to control the lifting power mechanism 501 to drive the mechanical arm carrying component 400 to the desired target lifting position according to the lifting position fed back by the vertical positioning component 401. In this way, under the auxiliary action of the horizontal positioning component 101 and the vertical positioning component 401, the control device 600 can accurately determine in real time whether the stacker has walked to the right position (i.e., whether the walking device has run to the target walking position) or lifted to the right position (i.e., whether the mechanical arm carrying component 400 has run to the target lifting position), and accordingly control the walking power mechanism 202 and the lifting power mechanism 501 in real time, so that the stacker can be accurately positioned in the walking direction (i.e., the length direction X direction of the stacker) and the lifting direction (i.e., the vertical direction, i.e., the height direction Z direction of the stacker), thereby improving the accuracy of the stacker's access operation.

[0075] In one practicable manner, if Figure 4As shown, a barcode mounting plate 701 horizontally mounted by a barcode plate mounting bracket 7011 is provided along the walking path of the stacker, and a plurality of walking position barcodes (which can be one-dimensional barcodes or two-dimensional barcodes) for indicating the current walking position are provided on the barcode mounting plate 701. On this basis, the horizontal positioning assembly 101 in the present invention includes a first barcode scanner installed on the walking box 100, and the first barcode scanner is used to scan the walking position barcode and transmit the scanning result to the control device 600, so that the control device 600 can parse and obtain the current walking position of the stacker according to the scanning result of the first barcode scanner.

[0076] In an operative manner, the lifting frame 300 is further provided with a plurality of lifting position barcodes (which may be one-dimensional barcodes or two-dimensional barcodes) arranged vertically and used to indicate the current lifting position. On this basis, the vertical positioning component 401 includes a second barcode scanner installed on the mechanical arm object-carrying component 400, and the second barcode scanner is used to scan the lifting position barcode and transmit the scanning result to the control device 600, so that the control device 600 can parse and obtain the current lifting position of the mechanical arm object-carrying component 400 according to the scanning result of the second barcode scanner.

[0077] It can be seen that the positioning of the stacker of the present invention in the walking direction and the lifting direction can be achieved through barcode recognition and positioning, which has the characteristics of being reliable and having high recognition efficiency.

[0078] In addition, in order to ensure the safety of the stacker during operation and prevent it from running beyond the limit position and causing a collision, the present invention sets corresponding deceleration sensor components and / or limit sensor components in the horizontal direction and the vertical direction respectively. This is described in detail below:

[0079] In the horizontal direction (X direction), since the stacker runs in a narrow and long lane closed at both ends, the horizontal stroke is long. In order to complete the efficient access task, the stacker will also run at a relatively high speed, but the high running speed will cause the problem of not stopping in time and thus colliding with the closed parts at both ends of the lane. In order to ensure the safety of the stacker running in the horizontal direction, the present invention installs a walking deceleration sensor assembly and / or a walking limit sensor assembly on the walking box 100. Among them, the walking deceleration sensor assembly is used to trigger the control device 600 to perform a corresponding horizontal deceleration operation when sensing that the stacker walks to the corresponding horizontal deceleration position. The horizontal deceleration operation includes: detecting whether the walking speed of the stacker is less than the corresponding walking speed threshold. If not, controlling the walking power mechanism 202 to decelerate and alarm; the walking limit sensor assembly is used to trigger the control device 600 to perform a corresponding horizontal limit operation when sensing that the stacker walks to the corresponding horizontal limit position. The horizontal limit operation includes: disconnecting the power source of the entire stacker and alarming.

[0080] exist Figure 4 , 5 In the embodiment shown in 8, the walking deceleration sensor assembly includes a first-level walking deceleration sensor 102 and a second-level walking deceleration sensor 103; the walking limit sensor assembly includes a walking limit sensor 104, and the walking limit sensor 104 can be used as a third-level walking deceleration sensor. Among them, the first-level walking deceleration sensor 102 is used to trigger the control device 600 to detect whether the walking speed of the walking device is less than the first walking speed threshold when sensing that the stacker walks to the first horizontal deceleration position. If not, the walking power mechanism 202 is controlled to decelerate (for example, by cutting off the power source of the walking power mechanism 202) and an alarm is sounded; the second-level walking deceleration sensor 103 is used to trigger the control device 600 to detect whether the walking speed of the walking device is less than the second walking speed threshold when sensing that the stacker walks to the second horizontal deceleration position. If not, the walking power mechanism 202 is controlled to decelerate (for example, by cutting off the power source of the walking power mechanism 202) and an alarm is sounded; the third-level walking deceleration sensor (i.e., the walking limit sensor 104) is used to directly trigger the control device 600 to cut off the power source of the entire stacker and an alarm without performing speed judgment when sensing that the stacker walks to the third horizontal deceleration position (i.e., the horizontal limit position). It should be understood that along the moving direction of the stacker, the stacker will first reach the first horizontal deceleration position, then the second horizontal deceleration position, and finally the third horizontal deceleration position, and the first moving speed threshold should be greater than the second moving speed threshold.

[0081] exist Figure 4 and Figure 5 In the embodiment shown, the present invention is provided with a first-stage deceleration plate 7012 at the first horizontal deceleration position, a second-stage deceleration plate 7013 at the second horizontal deceleration position, and a third-stage deceleration plate 7014 at the third horizontal deceleration position. Figure 5 As shown, each level of deceleration plate can be installed on the barcode plate mounting bracket 7011. Preferably, the first to third level walking deceleration sensors 102-104 in the present invention are all implemented by slot-shaped photoelectric sensors, which can be defined as first-level, second-level, and third-level slot-shaped photoelectric sensors, respectively. The three are installed on the same sensor bracket 105 and aligned in the vertical direction. When the stacker runs to the first horizontal deceleration position, the first-level deceleration plate 7012 will enter the slot of the first-level slot-shaped photoelectric sensor. Similarly, when the stacker runs to the second horizontal deceleration position, the second-level deceleration plate 7013 will enter the slot of the second-level slot-shaped photoelectric sensor; when the stacker runs to the third horizontal deceleration position, the third-level deceleration plate 7014 will enter the slot of the third-level slot-shaped photoelectric sensor. When each slot-shaped photoelectric sensor detects that a deceleration plate has entered its slot, it will output a corresponding trigger signal to the control device 600.

[0082] In addition, since both ends of the roadway where the stacker operates are closed, first- to third-stage deceleration plates 7012 to 7014 are respectively arranged on both sides of the roadway. Correspondingly, first- to third-stage walking deceleration sensors 102 to 104 are provided at positions adjacent to the front end of the walking box 100, and first- to third-stage walking deceleration sensors 102 to 104 are also provided at positions adjacent to the rear end of the walking box 100. When the stacker performs a task and runs to either end of the roadway, the corresponding first- to third-stage walking deceleration sensors 102 to 104 provided on the stacker can sequentially detect the corresponding first- to third-stage deceleration plates 7012 to 7014, thereby ensuring that the stacker can stop safely.

[0083] Such as Figures 11 to 13 As shown, through the aforementioned first- to third-stage walking deceleration sensors 102 to 104 and first- to third-stage deceleration plates 7012 to 7014, the following first- to third-stage deceleration operations can be achieved:

[0084] When the first-stage walking deceleration sensor 102 of the stacker runs past the first-stage deceleration plate 7012, the first-stage walking deceleration sensor 102 will detect the first-stage deceleration plate 7012 and upload a trigger signal to the control device 600; then the control device 600 obtains the current running speed V of the stacker and determines whether the current running speed V is less than the first walking speed threshold V1 (such as V1 = 1 m / s). When V < V1, the stacker can achieve a controllable normal brake and continue to run normally; when V > V1, the power source of the walking power mechanism 202 is cut off and an alarm is generated to achieve rapid deceleration. After the stacker stops safely, the software control part of the control device 600 then runs the stacker to the origin position.

[0085] When the second-stage walking deceleration sensor 103 of the stacker runs past the second-stage deceleration plate 7013, the second-stage walking deceleration sensor 103 will detect the second-stage deceleration plate 7013 and upload a trigger signal to the control device 600; then the control device 600 obtains the current running speed V of the stacker and determines whether the current running speed V is less than the second walking speed threshold V2 (such as V2 = 0.5 m / s). When V < V2, the stacker can achieve a controllable normal brake and continue to run normally; when V > V2, the power source of the walking power mechanism 202 is cut off and an alarm is generated to achieve rapid deceleration. After the stacker stops safely, the software control part of the control device 600 then runs the stacker to the origin position.

[0086] When the three-stage travel deceleration sensor 104 of the stacker passes through the three-stage deceleration plate 7014, the three-stage travel deceleration sensor 104 will detect the three-stage deceleration plate 7014 and upload a trigger signal to the control device 600; then the control device 600 forcibly cuts off all power sources of the stacker and alarms, and detects whether the stacker is abnormal. The alarm prompts manual intervention, and the alarm is subsequently released after manual intervention and adjustment.

[0087] In the vertical direction (Z direction), when the robot arm loading assembly 400 is lifted and lowered in the vertical direction under the action of the synchronous belt 503, in order to ensure the safety of the wafers and other items being carried and prevent the wafers from being damaged due to over-running and colliding with the top overhead crane track 702 or the bottom traveling box 100, the upper and lower ends of the lifting frame 300 are provided with: an upper limit sensor assembly 303, an upper deceleration sensor assembly 304, a lower deceleration sensor assembly 305, and / or a lower limit sensor assembly 306.

[0088] Among them, the upper limit sensor assembly 303 is set at the upper limit position, and is used to trigger the control device 600 to perform the corresponding rising limit operation when sensing that the mechanical arm carrying assembly 400 rises to the corresponding upper limit position. The upper deceleration sensor assembly 304 is set at the upper deceleration position, and is used to trigger the control device 600 to perform the corresponding rising deceleration operation when sensing that the mechanical arm carrying assembly 400 rises to the corresponding upper deceleration position. The lower deceleration sensor assembly 305 is set at the lower deceleration position, and is used to trigger the control device 600 to perform the corresponding descending deceleration operation when sensing that the mechanical arm carrying assembly 400 descends to the corresponding lower deceleration position. The lower limit sensor assembly 306 is set at the lower speed limit position, and is used to trigger the control device 600 to perform the corresponding descending limit operation when sensing that the mechanical arm carrying assembly 400 descends to the corresponding lower limit position. It should be understood that the upper limit position, the upper deceleration position, the lower deceleration position, and the lower limit position are arranged in sequence from top to bottom.

[0089] Specifically, the ascending / descending deceleration operation in the present invention includes: detecting whether the ascending / descending speed of the robot arm loading assembly 400 is less than the corresponding ascending / descending speed threshold, if not, indicating that there is a risk of collision, then controlling the lifting power mechanism 501 to decelerate (for example, by cutting off the power source of the lifting power mechanism 501 to quickly decelerate) and alarming. The ascending / descending limit operation in the present invention includes: disconnecting the power source of the entire stacker.

[0090] Preferably, the upper / lower deceleration sensor assembly 304 / 305 and the upper / lower limit sensor assembly 303 / 306 can also be implemented by slot-shaped photoelectric sensors. Accordingly, a trigger sheet 401 is provided on the robot arm object-carrying assembly 400, and the trigger sheet 401 can rise and fall with the rise and fall of the robot arm object-carrying assembly 400. When the trigger sheet 401 runs into the slot of the corresponding slot-shaped photoelectric sensor, the corresponding slot-shaped photoelectric sensor will sense that the robot arm object-carrying assembly 400 rises / falls to the corresponding upper / lower deceleration position, or the upper / lower limit position.

[0091] The above multiple deceleration and limit guarantees can ensure that the stacker of the present invention can operate safely and reliably.

[0092] See again Figure 1 As shown, a crane track 702 is provided above the walking path of the stacker; an upper guide wheel assembly 703 that is slidably matched with the crane track 702 is provided on the top of the lifting frame 300, and the stacker can slide along the crane track 702 through the guide wheels in the upper guide wheel assembly 703. In the present invention, the crane track 702 can support the upper part of the stacker, play an anti-tilting and guiding role; the upper guide wheel assembly 703 serves as a guiding assembly on the upper part of the stacker, and the distance between its guide wheel and the crane track 702 can be adjusted through the upper guide wheel adjusting screw 7031.

[0093] In one practicable manner, if Figure 4 and 6 As shown, the stacker of the present invention may also include: a power supply component 801 arranged on one side of the walking box 100; a power supply component 802 (such as an electric control cabinet) electrically connected to the power supply component 801; and an energy storage component 803 (such as a capacitor) electrically connected to the power supply component 801 and the power supply component 802 respectively; wherein a part of the electric energy obtained by the power supply component 801 is supplied to the power supply component 802, and the other part is stored in the energy storage component 803, and the power supply component 802 is used to power the stacker. Preferably, the power supply component 801 in the present invention is a wireless power supply component 801, and the wireless power supply component 801 has a wireless power supply receiving end 8011, and the wireless power supply receiving end 8011 can obtain AC power in a wireless manner, so as to meet the dust-free requirements of Class 100, and has a longer power supply life than the drag chain. Among them, the wireless power supply component 801 is supported by a wireless power supply bracket 8012, and the bracket 8012 is preferably made of stainless steel welding, with excellent strength and simple installation.

[0094] In one practicable manner, if Figure 1As shown, the lifting frame 300 in the present invention includes a group of main columns 301 and a group of auxiliary columns 302 which are relatively arranged along the length direction (i.e., the X direction) of the stacker. Among them, a group of main columns 301 includes two main columns 301 which are relatively arranged along the width direction (i.e., the z direction) of the stacker, and a group of auxiliary columns 302 includes two auxiliary columns 302 which are arranged in pairs along the width direction of the stacker, and the four columns 301 and 302 are all installed between the traveling box 100 and the overhead crane track 702. In the present invention, the main column 301 bears the supporting and guiding function of the mechanical arm loading assembly 400, and the auxiliary column 302 is provided with the aforementioned lifting position barcode, the upper limit sensor assembly 303, the upper deceleration sensor assembly 304, the lower deceleration sensor assembly 3045 and the lower limit sensor assembly 306, and by providing the auxiliary column 302, the pressure on the main column 301 can be shared, thereby reducing the overall force on the stacker column.

[0095] In the present invention, Figure 1 , 6 As shown in Figures 7 and 8, the lifting transmission assembly includes: a driving pulley 502 disposed on the side of the walking box 100 and connected to the lifting power mechanism 501; a driven pulley 504 disposed on the top of the lifting frame 300 and connected to the driving pulley 502 through a synchronous belt 503; and a vertical guide rail 505 vertically disposed along the main column 301 of the lifting frame 300. Among them, the driving pulley 502, the driven pulley 504 and the synchronous belt 503 constitute a belt transmission structure, and the robot arm object-carrying assembly 400 is fixedly connected to the synchronous belt 503 and slidably cooperates with the vertical guide rail 505, so as to be lifted and lowered along the vertical guide rail 505 under the drive of the synchronous belt 503. In the present invention, in order to ensure the stable operation of the robot arm object-carrying assembly 400, belt transmission structures are respectively disposed on the sides of the two main columns 301, and the two belt transmission structures operate synchronously to synchronously drive the robot arm object-carrying assembly 400 to be lifted and lowered.

[0096] exist Figure 1 and Figure 6 In the embodiment shown, the driven pulley 504 is arranged at the top of the lifting frame 300 through a pulley mounting assembly 704 mounted at the top of the two main columns 301, and the pulley mounting assembly 704 can both carry the driven pulley 504 and limit the distance between the two main columns 301. At the same time, in the vertical direction, the pulley mounting assembly 704 is arranged between the main column 301 and the upper guide wheel assembly 703, and it also has the function of connecting the main column 301 and the upper guide wheel assembly 703.

[0097] In the present invention, Figure 7As shown, the wiring layout adopts the form of wire troughs, and all wire troughs are inside the stacker. A wire trough is set in the upper part of one of the auxiliary columns 302 to protect the wires, and a tank connection is set in the lower part. Through the cable plug interface 3021, the wires that move with the robot arm loading assembly 400 are set in the tank connection 3022.

[0098] As shown above, the present invention arranges the driving, guiding, positioning, deceleration, limiting, and cable parts separately on the main and secondary columns 302, realizing highly integrated multi-functions in the layout while effectively controlling the width of the stacker. Specifically, if the above-mentioned multiple functional parts are arranged on a single column of the stacker, the width of the single column needs to be expanded, and the single column needs to be increased in material to meet the strength requirements. In addition, if Figure 1 As shown, a ladder 3023 can also be provided on the secondary column 302 to facilitate maintenance.

[0099] Preferably, refer again to Figure 6 As shown, the side of the traveling box 100 is also provided with an adjusting wheel 506 abutting against the synchronous belt 503 (specifically abutting from the outside to the inside of the synchronous belt 503), and the adjusting wheel 506 can rotate with the rotation of the synchronous belt 503. The adjusting wheel 506 has a tensioning effect relative to the synchronous belt 503 on the one hand, and adjusts the direction of the synchronous belt 503 on the other hand, so that the synchronous belt 503 runs within the range of the main column 301.

[0100] In the present invention, if Fig.10 As shown, the friction driving wheel 201 specifically includes a rotating shaft 2011, a wheel hub 2012 and a wheel surface 2013. The rotating shaft 2011 and the wheel hub 2012 of the friction driving wheel 201 can be made of materials such as stainless steel, carbon steel and aluminum alloy. When made of stainless steel, the anti-rust and anti-fouling capabilities can be enhanced, and when made of aluminum alloy, the overall weight of the friction driving wheel 201 can be reduced. The wheel surface 2013 of the friction driving wheel 201 is a high-friction wheel surface (the range of the friction coefficient μ is, for example, 0.3≤μ≤0.45), preferably made of high-elastic wear-resistant rubber, so as to increase the wheel surface 2013 and the friction track 901 (see Figure 4 ), which facilitates the rapid response of acceleration and deceleration, and can extend the service life, reduce dust generation and reduce noise. The friction track 901 matched with the friction driving wheel 201 is preferably made of aluminum alloy track to ensure that the track has good flatness, which can minimize the wear of the friction driving wheel 201 during operation and reduce the environmental dust generated during operation.

[0101] exist Figure 8-10In the illustrated embodiment, the driving wheel 201 is supported in the traveling box 100 by a driving wheel support seat 203. One end of the driving wheel support seat 203 is rotatably fixed in the traveling box 100, and the other end of the driving wheel support seat 203 is fixed in the traveling box 100 through an elastic component 204 vertically arranged above the driving wheel support seat 203, thereby forming a lever structure, and the downward pressure applied by the elastic component 204 can make the friction driving wheel 201 travel on the friction track 901, and vibration reduction can be achieved due to the action of the elastic component 204.

[0102] Specifically, a fixing seat 205 is provided on the side wall of the traveling box 100 along the width direction, and one end of the driving wheel supporting seat 203 is rotatably connected to the fixing seat 205 via a connecting shaft 206, so that the friction driving wheel 201 can swing around the connecting shaft 206 and the fixing seat 205. Fig.10 As shown, the rotating shaft 2011 of the friction driving wheel 201 is arranged to be coaxially connected with the output shaft of the walking power mechanism 202. When the output shaft of the motor 202 rotates, the rotating shaft 2011 of the friction driving wheel 201 rotates synchronously, thereby driving the friction driving wheel 201 to roll forward along the friction track 901. Preferably, the connecting shaft 206 is arranged to be parallel to the rotating shaft 2011 of the friction driving wheel 201. Thus, when the friction track 901 is uneven, the friction driving wheel 201 can be moved up and down to adapt to the changes in the track running surface through the swing of the driving wheel support seat 203. Preferably, the fixing seat 205 is made of stainless steel material and has anti-corrosion and anti-rust functions. During installation, the fixing seat 205 is fixed to the side wall of the walking box 100 by screws.

[0103] exist Figure 8-10 In the embodiment shown, the elastic component 204 is used to generate a stable and controllable pressure between the friction driving wheel 201 and the friction track 901, and mainly includes an elastic element and an elastic force adjustment mechanism. The elastic element is vertically arranged and the bottom end of the elastic element is connected to the top surface of the other end of the driving wheel support seat 203; the elastic force adjustment mechanism is connected to the top of the elastic element and is used to adjust the elastic force generated by the elastic element. The present invention uses the elastic force adjustment mechanism to adjust the elastic force of the elastic element, thereby adjusting the pressure applied to the other end of the driving wheel support seat 203, and further adjusting the pressure of the friction driving wheel 201 on the friction track 901, so as to meet different usage requirements.

[0104] Specific reference Fig. 9As shown, a limit plate 101 is provided inside the travel box 100, and the limit plate 101 is horizontally arranged above the elastic element; the elastic force adjustment mechanism includes a fixing member 2041 arranged vertically and threadedly matched with the limit plate 101, and the bottom end of the fixing member 2041 is connected to the top end of the elastic element. The limit plate 101 is used to bear the reaction force of the elastic element on the fixing member 2041, and has the function of resisting bending and preventing the fixing member 2041 from moving relative to each other. Preferably, the fixing member 2041 adopts a standard fine-pitch screw, which is simple to process and can withstand high pressure without being easily loosened.

[0105] See again Fig. 9 The elastic element in the present invention includes: an elastic element body 2042, a first clamping plate 2043 that is clamped and matched with the top of the elastic element body 2042, and a second clamping plate 2044 that is clamped and matched with the bottom of the elastic element body 2042, and the first clamping plate 2043 is fixedly connected to the bottom of the fixing member 2041 in the elastic force adjustment mechanism, and the second clamping plate 2044 is fixedly connected to the other end of the driving wheel support seat 203 through bolts. Among them, the elastic element body 2042 preferably adopts a high-strength spring to ensure the stability of the pressure applied to the friction driving wheel 201; the first clamping plate 2043 and the second clamping plate 2044 serve as the limiting support mechanism at both ends of the elastic element, which can prevent the elastic element body 2042 from being out of position when being compressed. It should be understood that the elastic element body 2042 in the present invention is not limited to a high-strength spring, and can also adopt any other suitable elastic body such as elastic rubber, and the present invention does not make any specific restrictions on this.

[0106] Preferably, if Fig. 9 As shown, the elastic component 204 also includes a scale 2045 vertically mounted on the top surface of the limit plate 101, and the scale 2045 is arranged adjacent to the fixing member 2041 and parallel to the fixing member 2041. When the fixing member 2041 is adjusted up and down, the scale 2045 can reflect the adjustment amount in real time, so as to accurately apply the required pressure to the friction drive wheel 201.

[0107] In the present invention, the driving wheel support seat 203 is used to provide an installation space for the friction driving wheel 201. Fig.10As shown, it includes an integrally formed first connecting portion 2031, a first mounting plate portion 2032, a second mounting plate portion 2033, and a second connecting portion 2034, wherein the first mounting plate portion 2032 and the second mounting plate portion 2033 are located at both ends of the connecting portion 2031 and are symmetrically arranged along the length direction of the traveling box, so that the friction driving wheel 201 is fixed in a space surrounded by the first connecting portion 2031, the first mounting plate portion 2032, the second mounting plate portion 2033, and the second connecting portion 2034, and the rotating axis 2011 of the friction driving wheel 201 is orthogonal to the first and second mounting plate portions 2032 and 2033.

[0108] The housing of the walking power mechanism 202 is fixedly connected to the side of the first mounting plate part 2032 away from the second mounting plate part 2033 by screws, and the first mounting plate part 2032 and the second mounting plate part 2033 are also respectively provided with coaxial through holes, and the output shaft of the walking power mechanism 202 passes through the through hole of the first mounting plate part 2032 and is connected to one end of the rotating shaft 2011 of the friction driving wheel 201, and the other end of the rotating shaft 2011 of the friction driving wheel 201 extends through the through hole of the second mounting plate part 2033. The driving wheel support seat 203 in the present invention can make the friction driving wheel 201 run more stably.

[0109] See again Fig.10 In the present invention, one end A of the driving wheel support 203 seat includes one end of the first mounting plate portion 2032 and the second mounting plate portion 2033, and one end of the first mounting plate portion 2032 and the second mounting plate portion 2033 are respectively rotatably connected to the connecting shaft 206. In the present invention, the number of elastic components 204 is two, the first connecting plate portion 2031 is arranged horizontally, and the other ends of the first mounting plate portion 2032 and the second mounting plate portion 2033 are connected through the first connecting plate portion 2031, so that the first connecting plate portion 2031, as the other end B of the driving wheel support seat 203, is connected to the two elastic components 204, so as to adjust the pressure applied to the friction driving wheel 201 by the corresponding elastic component 204. It should be understood that in order to ensure the stable operation of the friction driving wheel, the pressure applied to the friction driving wheel 201 by the two elastic components 204 should be consistent.

[0110] In the present invention, Fig.10As shown, the fixed seat 205 has a protrusion facing the friction drive wheel 201; the connecting portion 2031 is a plate-shaped structure, and is vertically arranged near the first mounting plate portion 2032 and the second mounting plate portion 2032 at one end close to the connecting shaft 206, so that the connecting plate 2031, the first mounting plate portion 2032, and the second mounting plate portion 2032 form a receiving space that can accommodate the protrusion of the fixed seat 205. In the aforementioned receiving space, the protrusion of the fixed seat 205 is clamped between the first mounting plate portion 2032 and the second mounting plate portion 2032, and the first mounting plate portion 2032, the second mounting plate portion 2033 and the fixed seat 205 can be rotatably connected together by the connecting shaft 206 passing through the three.

[0111] Preferably, if Fig.10 As shown, a bearing 207 sleeved on the rotating shaft 2011 of the friction drive wheel 201 is also provided in the through hole of the second mounting plate part 2033, and the bearing 207 serves as a supporting and rotating component of the rotating shaft 2011. In addition, a bearing cover 208 is also provided on the side of the second mounting plate part 2033 away from the first mounting plate part 2032, and the bearing cover 208 has a sleeve portion clamped between the bearing 207 and the second mounting plate part 2033 along the axial direction of the bearing 207, which, on the one hand, provides a limit for the bearing 207, and on the other hand, has a dustproof effect.

[0112] More preferably, if Fig.10 As shown, a retaining ring 209 is also sleeved on the rotating shaft 2011 of the friction driving wheel 201, and the retaining ring 209 abuts against the end of the bearing 207 away from the bearing cover 208. The retaining ring 209 serves as an outer ring limiting part of the bearing 207, which can prevent the bearing 207 from moving in the axial direction and has the characteristic of being easy to disassemble. In addition, a tensioning sleeve 210 is clamped between the rotating shaft 2011 of the friction driving wheel 201 and the hub 2012 of the friction driving wheel 201. The tensioning sleeve 210 is used to firmly lock the hub 2012 of the friction driving wheel 201 on the rotating shaft 2011, has the function of high torque transmission output, and has a self-aligning function.

[0113] More preferably, if Fig.10 As shown, an oil-free bushing 211 is provided between the connecting shaft 206 and the fixing seat 205. The bushing 211 serves as an intermediate component for relative rotation between the connecting shaft 206 and the fixing seat 205. The bushing 211 has the characteristics of high wear resistance and high pressure bearing capacity, and its wear condition can be detected and replaced during use.

[0114] In the present invention, if Figure 1 and 4As shown, a plurality of sliders 106 are also installed at the bottom of the traveling box 100, and each slider 106 is slidably matched with the transverse guide rail 902 on the ground. Specifically, two rows of sliders 106 are arranged at the bottom of the traveling box 100, which are arranged side by side on opposite sides of the friction drive wheel 201 along the width direction of the traveling box 100, and the extension direction of each slider 106 is parallel to the traveling direction of the friction drive wheel 201, so that the slider 106 and the friction drive wheel 201 can move simultaneously along the traveling direction of the traveling device. Preferably, the transverse guide rail 902 adopts a low-friction ball guide rail to withstand the pressure of the entire stacker.

[0115] See again Figure 4 The bottom of the slider 106 of the present invention is provided with a slide groove that is engaged with the transverse guide rail 902. The transverse guide rail 902 can provide the entire stacker with ground pressure and tension by engaging with the slider 106. Specifically, when the pressure of the friction drive wheel 201 exceeds the gravity of the entire stacker, the transverse guide rail 902 provides tension to prevent the friction drive wheel 201 from continuing to adjust downward. When the pressure of the friction drive wheel 201 is less than the overall weight of the stacker, the weight of the remaining part of the stacker will be supported by the transverse guide rail 902, thereby ensuring the overall stability of the stacker.

[0116] In the present invention, a light transmitting end (not shown) is also provided on the walking path of the stacker, and a light receiving end 107 (see Figure 3 ), the optical receiving end 107 is fixed on the optical receiving end fixing frame 1071. Fig.14 As shown, when the optical receiving end 107 receives the optical signal emitted by the optical transmitting end, it will trigger the control device 600 to generate control instructions such as displacement and speed based on the access task data sent by the upper computer, so as to control the operation of the walking power mechanism 202 and the lifting power mechanism 501 through the control instructions, thereby driving the stacker to walk in the horizontal direction and the mechanical arm carrying component 400 to rise and fall in the vertical direction, so that the mechanical arm carrying component 400 of the stacker can reach the designated cargo compartment to store / retrieve items. Among them, whether walking in the horizontal direction or rising and falling in the vertical direction, the horizontal positioning component 101 and the vertical positioning component 401 need to monitor the operating position in real time. The control device 600 will determine whether there is a deviation or error in the current position based on the monitoring data fed back in real time by the two, and then determine whether the position needs to be adjusted, so as to ensure the accuracy of the stacker's access operation.

[0117] When installing the stacker of the present invention, the specific installation process is as follows:

[0118] (1) After installing the transverse guide rail 902, adjust the installation number friction rail 901 so that the flatness error with the transverse guide rail 902 does not exceed 0.1 mm. The installation should ensure that the friction drive wheel 201 at the bottom of the stacker can run reliably along the friction rail 901, with continuous friction power and stable friction force.

[0119] (2) Fix the traveling box 100 to the transverse guide rail 902 with bolts.

[0120] (3) Fix the barcode mounting plate 701 on the barcode mounting plate bracket 7011, and adjust the upper and lower positions of the serial number barcode mounting plate 701 so that the barcode set thereon can be recognized by the first scanner on the walking box 100; then, fix the various levels of deceleration plates on the barcode mounting plate 701, and adjust the deceleration plates so that they can run in the slots of the slot-type photoelectric sensors; then fix the wireless power supply assembly on the wireless power supply bracket 8012, and adjust the wireless power supply bracket left and right so that the distance between it and the wireless power supply receiving terminal 8011 on the walking box 100 is appropriate; then install the optical receiving terminal 107 on the lifting frame 300 so that it cooperates with the optical transmitting terminal for optical communication.

[0121] (4) The main column 301 and the auxiliary column 302 are installed on the traveling box 100 by means of bolts and fixed so as to be perpendicular to the installation surface of the traveling box 100.

[0122] (5) Install the pulley mounting assembly 704 on the main column 301 , and install the upper guide wheel assembly 703 on the pulley mounting assembly 704 and the auxiliary column 302 .

[0123] (6) Install the robot arm loading assembly 400, power supply assembly 802, synchronous belt 503, energy storage assembly 803, control device 801, etc. on the main column 301 and the auxiliary column 302 respectively.

[0124] (7) Install the overhead crane track 702 on the lifting frame 300 and adjust the upper guide wheel adjustment screw 7031 so that the upper guide wheel assembly 703 can run along the overhead crane track 702.

[0125] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A stacker, characterized in that: include: A walking device, the walking device comprising a walking box, a friction transmission mechanism installed in the walking box, and a horizontal positioning assembly installed on the walking box and used to position the walking position of the walking device, wherein the walking box comprises two box parts arranged along the length direction of the stacker, the friction transmission mechanism comprises a friction driving wheel passing through one of the box parts of the walking box and frictionally cooperating with a friction track on the ground, and a walking power mechanism installed in one of the box parts and used to drive the friction driving wheel to rotate; A lifting device, the lifting device includes a lifting frame installed on the top of the walking box, a mechanical arm loading assembly installed on the lifting frame, a lifting transmission assembly used to drive the mechanical arm loading assembly to lift along the lifting frame, a lifting power mechanism installed in another box part and used to drive the lifting transmission assembly, and a vertical positioning assembly used to locate the lifting position of the mechanical arm loading assembly, wherein the lifting frame includes a pair of main columns and a pair of secondary columns arranged relatively along the length direction of the stacker, the secondary columns are installed on the top of one of the box parts, and the main columns are installed on the top of the other box part and bear the supporting and guiding function of the mechanical arm loading assembly; A control device, the control device is used to control the walking power mechanism to drive the walking device to a target walking position according to the walking position fed back by the horizontal positioning component, and the control device is also used to control the lifting power mechanism to drive the mechanical arm loading component to a target lifting position according to the lifting position fed back by the vertical positioning component; The walking device includes a primary walking deceleration sensor, a secondary walking deceleration sensor and a walking limit sensor; The first-level walking deceleration sensor is used to trigger the control device to detect whether the walking speed of the walking device is less than the first walking speed threshold when sensing that the stacker walks to the first horizontal deceleration position, and if not, cut off the power source of the walking power mechanism; The secondary walking deceleration sensor is used to trigger the control device to detect whether the walking speed of the walking device is less than the second walking speed threshold when sensing that the stacker walks to the second horizontal deceleration position, and if not, cut off the power source of the walking power mechanism; The travel limit sensor is used to trigger the control device to cut off all power sources of the stacker when sensing that the stacker travels to the third horizontal deceleration position; Among them, along the walking direction of the stacker, the stacker first reaches the first horizontal deceleration position and then reaches the second horizontal deceleration position, and finally reaches the third horizontal deceleration position, and the first walking speed threshold is greater than the second walking speed threshold.

2. The stacker according to claim 1, characterized in that: A horizontally mounted barcode installation plate is provided along the walking path of the stacker, and a plurality of walking position barcodes for indicating the walking position are provided on the barcode installation plate; The horizontal positioning assembly includes a first barcode scanner installed on the walking box, and the first barcode scanner is used to scan the walking position barcode and transmit the scanning result to the control device.

3. The stacker according to claim 1, characterized in that: The lifting device further comprises a plurality of lifting position bar codes arranged vertically and used to indicate the lifting position; The vertical positioning assembly includes a second barcode scanner installed on the robotic arm loading assembly, and the second barcode scanner is used to scan the lifting position barcode and transmit the scanning result to the control device.

4. The stacker according to claim 1, characterized in that: The lifting device further comprises: an upper limit sensor assembly, an upper deceleration sensor assembly, a lower deceleration sensor assembly, and / or a lower limit sensor assembly arranged along the lifting direction of the mechanical arm object-carrying assembly; The upper limit sensor assembly is used to trigger the control device to perform a corresponding upper limit operation when sensing that the mechanical arm object-carrying assembly rises to a corresponding upper limit position; The upper deceleration sensor assembly is used to trigger the control device to perform a corresponding ascending deceleration operation when sensing that the robotic arm object-carrying assembly has ascended to a corresponding upper deceleration position; The lower deceleration sensor assembly is used to trigger the control device to perform a corresponding descending deceleration operation when sensing that the robotic arm object-carrying assembly descends to a corresponding lower deceleration position; The lower limit sensor assembly is used to trigger the control device to perform a corresponding lower limit operation when sensing that the robotic arm object-carrying assembly has descended to a corresponding lower limit position; Among them, the upper limit position, the upper deceleration position, the lower deceleration position, and the lower limit position are arranged in sequence from top to bottom.

5. The stacker according to claim 1, characterized in that: A crane track is provided above the walking path of the stacker; An upper guide wheel assembly which is slidably matched with the overhead travelling vehicle track is provided on the top of the lifting frame.

6. The stacker according to claim 1, characterized in that: The stacker also includes: A power taking component arranged on one side of the traveling box; A power supply component electrically connected to the power extraction component; An energy storage component electrically connected to the power taking component and the power supply component; Part of the electric energy obtained by the power extraction component is supplied to the power supply component, and the other part is stored in the energy storage component. The power supply component is used to supply power to the stacker.

7. The stacker according to claim 1, characterized in that: The lifting transmission assembly comprises: A driving pulley disposed on the side of the traveling box and connected to the lifting power mechanism; A driven pulley disposed at the top of the lifting frame and connected to the driving pulley via a synchronous belt; and A vertical guide rail arranged vertically along the lifting frame; Wherein, the robot arm object-carrying assembly is fixedly connected to the synchronous belt and slidingly cooperates with the vertical guide rail, so as to be lifted and lowered along the vertical guide rail under the drive of the synchronous belt.

8. The stacker according to claim 7, characterized in that: The side of the traveling box is also provided with an adjusting wheel abutting against one side of the synchronous belt, and the adjusting wheel can rotate along with the rotation of the synchronous belt.

9. The stacker according to claim 1, characterized in that: The walking device also includes a driving wheel support seat for supporting the friction driving wheel; One end of the driving wheel support seat is rotatably fixed in the travel box; The other end of the driving wheel support seat is fixed in the travel box through an elastic component vertically arranged above the driving wheel support seat.

10. The stacker according to claim 9, characterized in that: The elastic component comprises: An elastic element, wherein the elastic element is vertically arranged and the bottom end of the elastic element is connected to the top surface of the other end of the driving wheel support seat; An elastic force adjusting mechanism is connected to the top end of the elastic element and is used to adjust the elastic force generated by the elastic element.

11. The stacker according to claim 10, characterized in that: A limit plate is provided in the travel box, and the limit plate is transversely arranged above the elastic element; The elastic force adjustment mechanism includes a fixing piece which is vertically arranged and threadedly matched with the limiting plate, and the bottom end of the fixing piece is connected to the top end of the elastic element; The elastic component also includes a ruler vertically installed on the top surface of the limiting plate.

12. The stacker according to claim 1, characterized in that: A plurality of sliding blocks are also installed at the bottom of the traveling box, and the sliding blocks are slidably matched with the transverse guide rails on the ground.

13. The stacker according to claim 1, characterized in that: A light transmitting end is provided on the walking path of the stacker, and a light receiving end is provided on the stacker; Among them, when the light receiving end receives the light signal emitted by the light emitting end, the control device is triggered to control the operation of the walking power mechanism based on the access task data sent by the upper computer, combined with the walking position positioned by the horizontal positioning component, and to control the operation of the lifting power mechanism in combination with the lifting position positioned by the vertical positioning component.

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