A vertical double-station double-extension stacker

Abstract

The present invention discloses a vertical double-station double-extend stacker, which relates to the technical field of stackers, and includes: a lower beam assembly, a column, a control cabinet, a vertical double-station double-extend cargo platform and an upper beam assembly. The lower beam assembly is provided with a coaxial double-drive walking mechanism inside, a double driven wheel mechanism is provided on the inner side of the lower beam assembly, and a walking guide clamping wheel is provided on the inner side of the lower beam assembly. The stacker of the present invention has a single column, a double-station, and a double-extend structure. The stacker has the advantages of fast walking speed, high positioning accuracy, high access efficiency, stable operation, and high degree of automation. It greatly reduces labor intensity and labor costs, improves the space utilization rate of the warehouse, has broad market prospects, and can also improve the stability of the fork end when carrying and ensure the carrying capacity, and can clamp the track between the driving wheel and the clamping wheel, thereby increasing the positive pressure between the wheel and the track, and effectively solving the problem of high-speed stacker slipping.

Description

Technical Field

[0001] The invention relates to the technical field of stackers, in particular to a vertical double-station double-extension stacker. Background Art

[0002] With the development of modern logistics, the application of automated warehouse systems has become more and more extensive. As an important component of automated warehouses, stackers can walk horizontally and vertically in the lanes between the shelves according to computer instructions, and use forks to take out or store goods on the shelves. They have the characteristics of high automation, saving land area and labor costs, etc.

[0003] Stackers are most commonly classified by structural form, picking method, picking unit, and running track. According to the structural form, they can be divided into single-column stacker and double-column stacker; according to the picking method, they can be divided into single-extend stacker and double-extend stacker; according to the picking unit, they can be divided into single-station stacker and double-station stacker; according to the running track, they can be divided into linear stacker and curved stacker.

[0004] However, the existing single-station stacker has only one stacking position in actual work, so it cannot perform multiple operations at the same time, and the work efficiency is relatively low; the single-station stacker is suitable for scenes with low requirements for cargo handling and small cargo volume, such as small warehouses or production lines, so the scope of application is relatively limited;

[0005] At present, stackers are usually required to have higher speed and acceleration, and existing stackers usually achieve higher speed and acceleration requirements by increasing the travel power; however, increasing the power does not always achieve higher speed, because the driving force of the stacker is provided by the static friction between the wheels and the track. When the output of the motor is greater than the static friction, not only can the stacker's speed and acceleration not be increased, but slipping will also cause wheel wear and even cause safety accidents;

[0006] In addition, the existing forks need to be extended over a long distance when used for a long time and when carrying heavy goods, so the end of the extended fork is subjected to a large torque, which may affect the load weight of the fork and thus affect its practicality. Summary of the invention

[0007] The object of the present invention is to provide a vertical double-station double-reach stacker, which solves the problems raised in the above-mentioned background technology.

[0008] To achieve the above object, the present invention provides the following technical solution: a vertical double-station double-extend stacker, comprising:

[0009] Lower crossbeam assembly;

[0010] A column, wherein the column is arranged at the top of the lower crossbeam assembly, a control cabinet is fixedly connected to one side of the column, a vertical double-station double-extension cargo platform is movably installed on the other side of the column, and an upper crossbeam assembly is arranged on the top of the column;

[0011] A coaxial double-drive walking mechanism is arranged inside the lower crossbeam assembly, a lower crossbeam weldment is fixedly installed on the lower surface of the inner wall of the lower crossbeam assembly, a lifting mechanism is movably installed on the top inner wall of the lower crossbeam assembly, a double driven wheel mechanism is arranged on the inner side of the lower crossbeam assembly, and a walking guide pressing wheel is arranged on the inner side of the lower crossbeam assembly;

[0012] The interior of the vertical double-station double-extension cargo platform includes:

[0013] A cargo platform weldment, a synchronous belt tensioning and fixing device is provided on the side of the cargo platform weldment, a cargo size detection frame is installed on the inner side of the cargo platform weldment, and a double-extending cargo fork is installed on the inner side of the cargo platform weldment;

[0014] The interior of the vertical double-station double-extension cargo platform also includes:

[0015] A support member, the support member being located below the upper base of the double-extension fork;

[0016] A connecting mechanism and a transmission mechanism, wherein the connecting mechanism and the transmission mechanism are both arranged on the base. When the double-extension fork is in telescopic operation, a telescopic portion of the double-extension fork and the base generate a relative motion relationship to drive the connecting mechanism to operate, and the connecting mechanism drives the transmission mechanism to operate accordingly, so that the support member first extends together with the double-extension fork and then presses and supports against the lower surface of the double-extension fork.

[0017] Optionally, a walking motor anti-torsion bracket is provided inside the coaxial dual-drive walking mechanism, and a walking drive reduction motor and a walking drive wheel are installed on the side of the walking motor anti-torsion bracket, the rotating part of the walking drive reduction motor is fixedly connected to the walking drive shaft, and the walking drive wheel is installed on the walking drive wheel, and a spring pad is provided between the walking drive reduction motor and the walking drive wheel, and a walking motor anti-torsion assembly is installed on the outer surface of the walking motor anti-torsion bracket, and the walking motor anti-torsion assembly includes: a walking motor anti-torsion rod and a walking motor anti-torsion spacer.

[0018] Optionally, a main guide wheel seat is provided inside the walking guide pressure wheel, the main guide wheel seat is located on the track, a walking reverse pressure wheel assembly is installed on the outer surface of the main guide wheel seat, a walking guide wheel is installed on the side of the main guide wheel seat through a walking guide wheel shaft, a walking guide wheel shaft spacer is provided on the outer side of the walking guide wheel shaft, a brush mounting bending plate is fixedly installed on the side of the main guide wheel seat, and a dustproof brush is fixedly installed on the end of the brush mounting bending plate.

[0019] Optionally, a walking clamping guide flange is provided inside the walking reverse clamping wheel assembly, and the walking clamping guide flange is installed on the main guide wheel seat, a mold spring assembly is installed above the walking clamping guide flange, a walking clamping guide shaft is installed on the lower surface of the walking clamping guide flange, a walking clamping U-shaped fork is provided at the lower end of the walking clamping guide shaft, a walking clamping wheel is installed on the end of the walking clamping U-shaped fork through a walking clamping wheel axle, a walking clamping crossarm assembly is provided on the walking clamping U-shaped fork, and the walking clamping crossarm assembly includes: a walking clamping crossarm core shaft and a walking clamping crossarm clamping plate.

[0020] Optionally, a driven wheel bracket is provided inside the dual driven wheel mechanism, the driven wheel bracket is mounted on the lower cross beam weldment, an eccentric flange of a driven wheel is mounted on the driven wheel bracket, a driven wheel axle pressure plate is provided on the side of the driven wheel bracket, and a driven wheel is mounted on the side of the driven wheel axle pressure plate through a driven wheel support shaft.

[0021] Optionally, the connecting mechanism includes:

[0022] A rack row, the upper surface of which is fixedly connected to the lower surface of the extension of the telescopic part of the first end of the double-extension fork, a shaft body is rotatably connected to the side of the base, a gear is fixedly connected to the outer surface of the shaft body, a bracket is fixedly connected to the lower surface of the base, a screw is rotatably connected to the inner side of the bracket, the screw is transmission-connected to the opposite side of the shaft body through a bevel gear transmission mechanism, and also includes a moving part.

[0023] Optionally, the moving part includes:

[0024] A limiting groove, the upper surface of which is fixedly connected to the lower surface of the base, a sliding block is slidably connected to the groove wall of the limiting groove, an internal thread groove is provided on the side of the sliding block for the screw to pass through and be threadedly connected thereto, and a moving frame is fixedly connected to the lower surface of the sliding block.

[0025] Optionally, the transmission mechanism includes:

[0026] The U-shaped vertical plate has an upper surface fixedly connected to the lower surface of the base, an L-shaped groove is provided on the side of the U-shaped vertical plate, the groove wall of the L-shaped groove and the inner side of the moving frame are slidably connected with a sliding column, the inner side of the moving frame is fixedly connected with a sliding rod, and the side of the sliding column is provided with a sliding opening for the sliding rod to pass through and be slidably connected with the sliding rod, the end of the sliding column is fixedly connected to a connecting rod, the end of the connecting rod is fixedly connected to the side of the support member, a supporting portion is slidably sleeved on the upper surface of the support member, and an elastic component is fixedly connected to the opposite side of the support member.

[0027] Optionally, a gasket is installed on the upper surface of the second telescopic part of the double-extension fork, and the gasket is made of rubber.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. The present invention adopts an integral design and one-time clamping processing for the driving mechanism and the lower crossbeam body to ensure the parallelism of the front and rear wheel axles, reduce body wear, and improve the stability and positioning accuracy of the vehicle; the present invention arranges coaxial dual travel motors, and the dual travel motors drive one drive wheel to reduce drive wheel wear. The main travel motor adopts speed loop and position loop dual closed-loop vector frequency conversion control; the slave travel motor performs torque synchronization control with the main travel motor in a speed-limited manner.

[0030] 2. The present invention adopts an excellent walking system and a track clamping wheel mechanism, which can effectively solve the problem of high-speed stacker slipping by applying greater pressure to the track to improve the adhesion of the wheels; the present invention adopts an upper and lower double-station cargo platform design, and a total of two sets of upper and lower forks are arranged without significantly changing the installation space of the cargo platform. The stacker can connect two cargo units at the same time each time it stores and retrieves goods, effectively improving the storage and retrieval efficiency.

[0031] 3. The present invention adopts a newly designed ultra-thin double-extension fork, which has a thin fork thickness and light overall weight. The fork height of the fork entry part is low, which can reduce the height required for single-layer storage on the shelf and effectively increase the number of storage locations. The lifting system of the present invention adopts a synchronous belt drive system design, and the synchronous belt is a meshing belt drive. There is no relative sliding between the synchronous belt wheel and the transmission belt, which can ensure a strict transmission ratio. When the double-reach fork is telescopically operated, the telescopic part of the double-reach fork and the base generate a relative motion relationship to drive the connection mechanism to operate, and the connection mechanism drives the transmission mechanism to operate accordingly, so that the support member is first extended together with the double-reach fork and then pressed and supported by the lower surface of the double-reach fork. In this method, the support member is retracted under the double-reach fork in the initial stage through the L-shaped movement of the support member to avoid leakage and affecting the operation, and the increase of wear between the structures can be avoided. When the double-reach fork is fully extended, the support member is pressed and contacted with the lower surface of the telescopic end of the double-reach fork to form a certain supporting force to give to the double-reach fork above, so that the double-reach fork can carry heavier goods, thereby improving practicality and scope of application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a front view of the structure of the present invention;

[0033] Figure 2 is an axonometric view of the structure of the present invention;

[0034] Figure 3 It is a first schematic diagram of the structure of the lower cross beam assembly of the present invention;

[0035] Figure 4 It is a second schematic diagram of the structure of the lower cross beam assembly of the present invention;

[0036] Figure 5 This is a first schematic diagram of the structure of the walking guide pinch wheel of the present invention;

[0037] Figure 6 This is a second schematic diagram of the structure of the walking guide pinch wheel of the present invention;

[0038] Figure 7 A third schematic diagram of the structure of the travel guide pinch wheel of the present invention;

[0039] Figure 8 It is a first schematic diagram of the structure of the coaxial dual-drive walking mechanism of the present invention;

[0040] Fig. 9 It is a second schematic diagram of the structure of the coaxial dual-drive walking mechanism of the present invention;

[0041] Fig.10 It is a first schematic diagram of the structure of the double driven wheel mechanism of the present invention;

[0042] Fig.11It is a second schematic diagram of the structure of the double driven wheel mechanism of the present invention;

[0043] Fig.12 It is a first schematic diagram of the structure of the vertical double-station double-extended cargo platform of the present invention;

[0044] Fig.13 A second schematic diagram of the structure of the vertical double-station double-extended cargo platform of the present invention;

[0045] Fig.14 It is a schematic diagram of the structure of the double extension fork of the present invention;

[0046] Fig.15 It is a schematic diagram of the structure of the support member of the present invention;

[0047] Fig.16 It is a schematic diagram of the rack arrangement structure of the present invention;

[0048] Fig.17 This is a schematic diagram of the floor space of the three-dimensional warehouse with double vertical working positions and double-extending cargo platforms of the present invention;

[0049] Fig.18 This is a schematic diagram of the floor space of a three-dimensional warehouse with horizontal front and rear double-station double-extension loading platforms;

[0050] Fig.19 This is a schematic diagram of the floor space of a three-dimensional warehouse with horizontal left and right double-stations and double-extending loading platforms.

[0051] In the figure: 1. Lower crossbeam assembly; 11. Travel guide pinch wheel; 12. Coaxial double drive travel mechanism; 13. Lower crossbeam weldment; 14. Lifting mechanism; 15. Double driven wheel mechanism;

[0052] Main guide wheel seat; 114, dust-proof brush; 115, travel reverse clamping wheel assembly; 116, brush mounting bending plate; 117, travel guide wheel; 118, travel guide wheel shaft; 119, travel guide wheel shaft spacer;

[0053] Travel drive reduction motor; 122, travel drive wheel; 123, travel motor anti-torsion bracket; 125, spring pad; 126, travel motor anti-torsion assembly; 129, travel drive shaft;

[0054] Walking and clamping guide flange; 131, mold spring assembly; 133, walking and clamping guide shaft; 134, walking and clamping U-shaped fork; 135, walking and clamping wheel shaft; 136, walking and clamping wheel; 137, walking and clamping cross arm assembly;

[0055] 151, eccentric flange of driven travel wheel; 154, travel driven wheel bracket; 155, driven travel wheel axle pressure plate; 158, driven travel wheel; 159, driven travel wheel support shaft;

[0056] Column;

[0057] Vertical double-station double-extending cargo platform; 31. Cargo platform weldment; 32. Double-extending cargo forks; 33. Timing belt tensioning and fixing device; 34. Cargo size detection frame; 35. Base;

[0058] 40. Supporting member;

[0059] 4. Upper crossbeam assembly; 5. Control cabinet;

[0060] 50. Rack row; 51. Shaft; 52. Gear; 53. Bracket; 54. Screw; 55. Bevel gear transmission mechanism; 56. Limiting groove; 57. Sliding block; 58. Moving frame; 59. U-shaped vertical plate; 60. L-shaped groove; 61. Sliding column; 62. Sliding rod; 63. Connecting rod; 64. Support part; 65. Gasket. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Embodiment 1:

[0062] See also Figures 1 to 16 The present embodiment provides a technical solution: a vertical double-station double-extend stacker, comprising: a lower beam assembly 1, a column 2, a vertical double-station double-extend cargo platform 3, an upper beam assembly 4, a walking guide clamping wheel 11, a coaxial double-drive walking mechanism 12, a lower beam weldment 13, a lifting mechanism 14, a double driven wheel mechanism 15, a cargo platform weldment 31, a double-extend cargo fork 32, a synchronous belt tensioning and fixing device 33, a cargo size detection frame 34, and a base 35.

[0063] More specifically, in this embodiment:

[0064] This stacker adopts a vertical double-station structure, ultra-thin fork design and upper and lower double-station layout to maximize the storage space. Two sets of double-extension forks can operate at the same time, and 4 rows of goods can be stored and retrieved at one time. The optimal path algorithm is designed, and it has the highest walking speed, the highest positioning accuracy, and the highest storage and retrieval efficiency. The walking speed can reach up to 400m / min, the cargo lifting speed can reach 200m / min, and the positioning accuracy can reach ±1mm.

[0065] The double-station double-extend light high-speed stacker uses a software system with warehouse management system (WMS) and warehouse control system (WCS) as the core. It has the advantages of fast travel speed, high positioning accuracy, high storage and retrieval efficiency, stable operation, and high degree of automation.

[0066] The double-extension fork 32 and the vertical double-station double-extension cargo platform 3 are described as follows:

[0067] When the operating efficiency of the existing stacker needs to be improved, the use of a double-station cargo platform structure is a good choice. The existing double-station cargo platform on the market basically arranges two forks front and back along the direction of the stacker's running track. This is called a front and rear double-station cargo platform structure. When the stacker with the front and rear double-station cargo platform structure docks with the ground conveyor to pick up and place goods, it needs to dock with the front and rear conveyor lines. The length of the site occupied is the shelf area plus two docking stations. These two additional docking stations are not used to store goods, that is, for storage space, two stations (shelves are called rows) of warehouse storage space are wasted;

[0068] The vertical double-station double-extend cargo platform 3 structure arranges two forks vertically up and down, which is called an upper and lower double-station cargo platform structure. When the stacker with the upper and lower double-station cargo platform structure docks with the ground conveyor to pick up and place goods, it only needs to occupy the front and rear length of one docking station on the site. Compared with the front and rear double-station cargo platform structure, it can save one station (the shelf is called a row) of warehouse storage space.

[0069] The thickness (vertical height direction) of existing forks is usually more than 350mm. If two forks are arranged vertically up and down, and at the same time, there is a space between the upper and lower forks to accommodate the height of the goods, the upper and lower forks will be far apart, and it will be impossible to complete the simultaneous storage and retrieval of goods on the upper and lower layers of the shelf, which will lose a large part of the efficiency.

[0070] The double-extension fork 32 is designed with an ultra-thin fork, so that the fork thickness is less than 150mm, so that the vertically arranged double-station forks can simultaneously pick up and place goods on the upper and lower layers of the shelf, thereby realizing a vertical double-station structural design. At the same time, the height of the fork in the fork section is low, which can reduce the height required for single-layer storage on the shelf and effectively increase the number of storage positions;

[0071] By adopting an integral design and one-time clamping processing for the drive mechanism and the lower crossbeam body, the parallelism of the front and rear axles is ensured, the body wear is reduced, and the stability and positioning accuracy of the vehicle are improved;

[0072] By setting up coaxial dual travel motors, the dual travel motors drive one drive wheel to reduce the wear of the drive wheel. The main travel motor adopts speed loop and position loop dual closed-loop vector frequency conversion control;

[0073] The use of an excellent walking system and track clamping wheel mechanism can apply greater pressure to the track to improve wheel adhesion, thereby effectively solving the problem of high-speed stacker skidding;

[0074] The upper and lower double-station cargo platform design is adopted. Two sets of upper and lower forks are arranged without significantly changing the installation space of the cargo platform. The stacker can connect two cargo units at the same time when storing and retrieving goods, which effectively improves the storage and retrieval efficiency.

[0075] The newly designed ultra-thin double-extension fork has thin fork entry, light overall weight, and low fork entry height, which can greatly reduce the height required for single-layer storage on the shelf and effectively increase the number of storage locations.

[0076] The stacker crane's travel mechanism uses two sets of three-phase asynchronous motors plus a frequency converter for low-cost drive and control to achieve high-precision control performance;

[0077] The lifting mechanism 14 cooperates with the lifting system to adopt a synchronous belt transmission system design. The synchronous belt is a meshing belt drive. There is no relative sliding between the synchronous belt wheel and the transmission belt, which can ensure a strict transmission ratio.

[0078] The control cabinet 5 is suspended and installed with soft rubber support, which greatly reduces the vibration caused by the high-speed operation of the stacker and increases the service life of the electrical components.

[0079] It is worth noting that this embodiment also includes: a connecting mechanism and a transmission mechanism.

[0080] More specifically, in the present embodiment, when the double-extension fork 32 is extended to pick up goods, the connection mechanism is driven to operate, and the connection mechanism causes the transmission mechanism to operate, so that the support member 40 can be pressed against the lower surface of the second telescopic section of the double-extension fork 32, and an upward force is applied to the end of the double-extension fork 32, and leakage and structural wear can be avoided during initial use, so that the support member 40 can be firmly pressed against the double-extension fork 32 for support, and an upward force can be applied to the double-extension fork 32, thereby improving the support effect, so as to avoid the situation where the end of the double-extension fork 32 is extended too long, resulting in a large force applied to the goods, thereby ensuring the carrying capacity of the double-extension fork 32.

[0081] It is worth noting that referring to the comparative schematic diagrams of the footprints of three types of double-station double-extending cargo platforms in Figures 17 to 19, it can be seen that the upper and lower double-station cargo platform design of Figure 17 of the present application has a smaller footprint than other forms of double-stations. Embodiment 2:

[0082] Based on the above embodiments:

[0083] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 8 and Fig. 9, the coaxial dual-drive walking mechanism 12 in the first embodiment is disclosed as follows: a walking motor anti-torsion bracket 123 is arranged inside the coaxial dual-drive walking mechanism 12, a walking drive reduction motor 121 and a walking drive wheel 122 are installed on the side of the walking motor anti-torsion bracket 123, a rotating part of the walking drive reduction motor 121 is fixedly connected with a walking drive shaft 129, the walking drive wheel 122 is installed on the walking drive wheel 122, a spring pad 125 is arranged between the walking drive reduction motor 121 and the walking drive wheel 122, a walking motor anti-torsion assembly 126 is installed on the outer surface of the walking motor anti-torsion bracket 123, and the walking motor anti-torsion assembly 126 includes: a walking motor anti-torsion rod and a walking motor anti-torsion spacer.

[0084] More specifically, in this embodiment:

[0085] In order to achieve higher speed and acceleration, the existing stacker needs to improve its travel power. However, light stackers require compact space and cannot accommodate the large size of high-power motors. Therefore, light stackers usually consider using two motors to drive them so that the size of a single motor is not too large.

[0086] In addition, the dual-travel motor stackers currently on the market all use a drive motor installed on each front and rear wheel to achieve the purpose of improving travel power. A drive motor on each front and rear wheel, like a four-wheel drive car, will greatly increase the internal friction and wear between the front and rear travel wheels; at the same time, both the front and rear travel wheels have driving power, and it is difficult to achieve synchronous operation of the front and rear drive wheels (for example, different degrees of wear on the front and rear wheels cause inconsistent wheel diameters, etc.), and high-precision positioning effects cannot be achieved.

[0087] The coaxial dual-drive walking mechanism 12 is to install two drive motors on the walking driving wheel 122, that is, the two drive motors are installed on both sides of the walking driving wheel 122 to jointly drive the operation of the active walking wheel, and the driven wheel has no power;

[0088] The coaxial dual travel motor structure avoids the internal friction and wear of the front and rear wheels. The travel positioning of the stacker depends only on the operation of the driving wheel. As long as the rotation of the travel driving wheel 122 is controlled well, good positioning accuracy can be obtained.

[0089] The torque synchronization control of the coaxial dual travel motors is to divide the two motors installed on the active travel wheel axle into a main motor and a slave motor in terms of function. The main motor is responsible for the positioning control of the stacker and controls the real-time operating speed of the stacker; the slave motor is responsible for providing output torque and maintaining synchronous torque output with the main motor.

[0090] Both the master motor and the slave motor are three-phase asynchronous motors, controlled by two inverters of the same model. The master motor inverter is responsible for the positioning control of the stacker. It calculates the output speed and output torque of the master motor in real time according to the position of the stacker, and controls the master motor to run at this output speed. At the same time, the master motor inverter transmits the output speed and output torque of the master motor to the slave motor inverter in real time. The slave motor inverter increases the output speed value of the master motor by 10% as the speed command of the slave motor, and uses the output torque value of the master motor as the limit value of the torque output of the slave motor.

[0091] After the above control, the slave motor inverter attempts to control the slave motor to run at 1.1 times the speed of the master motor. However, the slave motor and the master motor are installed on the same shaft, and the output speed of the slave motor can only be consistent with the speed of the master motor, and cannot reach 1.1 times the speed of the master motor. Therefore, the slave motor inverter controls the slave motor to increase the output torque, trying to further increase the output speed of the slave motor. However, the speed of the slave motor can never reach 1.1 times that of the master motor, so the slave motor inverter will try to increase the output torque infinitely, and finally reach the limit value of the slave motor torque output, which is the output torque value of the master motor (the output torque value of the master motor is used as the limit value of the slave motor torque output), and finally achieve torque synchronization between the slave motor and the master motor.

[0092] By adopting the torque synchronization control technology of coaxial dual travel motors, the light stacker can achieve a maximum travel speed of 400m / min, and run smoothly, with a designed positioning accuracy of ±3mm. Embodiment three:

[0093] Based on the above embodiments:

[0094] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 The walking guide pressing wheel 11 in the first embodiment is disclosed as follows: a main guide wheel seat 111 is arranged inside the walking guide pressing wheel 11, and the main guide wheel seat 111 is located on the track. A walking reverse pressing wheel assembly 115 is installed on the outer surface of the main guide wheel seat 111. A walking guide wheel 117 is installed on the side of the main guide wheel seat 111 through a walking guide wheel shaft 118. A walking guide wheel shaft spacer 119 is arranged on the outer side of the walking guide wheel shaft 118. A brush mounting bending plate 116 is fixedly installed on the side of the main guide wheel seat 111, and a dustproof brush 114 is fixedly installed on the end of the brush mounting bending plate 116.

[0095] More specifically, in this embodiment: the travel guide clamping wheel 11 can improve the wheel adhesion by applying greater pressure to the track, thereby effectively solving the problem of high-speed stacker skidding.

[0096] Among them: the interior of the walking reverse pressing wheel assembly 115 is provided with a walking pressing guide flange 130, the walking pressing guide flange 130 is installed on the main guide wheel seat 111, and a mold spring assembly 131 is installed above the walking pressing guide flange 130, and a walking pressing guide shaft 133 is installed on the lower surface of the walking pressing guide flange 130, and a walking pressing U-shaped fork 134 is provided at the lower end of the walking pressing guide shaft 133, and a walking pressing wheel 136 is installed at the end of the walking pressing U-shaped fork 134 through a walking pressing wheel shaft 135, and a walking pressing crossarm assembly 137 is provided on the walking pressing U-shaped fork 134, and the walking pressing crossarm assembly 137 includes: a walking pressing crossarm core shaft and a walking pressing crossarm clamping plate.

[0097] More specifically, in this embodiment:

[0098] Existing light stackers usually require higher speed and acceleration. Light stackers on the current market usually achieve higher speed and acceleration requirements by increasing travel power.

[0099] However, increasing power does not always lead to increased speed and acceleration, because the driving force of the stacker is provided by the static friction between the wheels and the tracks. When the output of the motor is greater than the static friction, not only will the stacker's speed and acceleration not be increased, but slippage will also cause wheel wear and even cause safety accidents.

[0100] The travel reverse clamping wheel assembly 115 uses a polyurethane rubber-coated wheel and an aluminum alloy track to greatly increase the friction coefficient between the wheel and the track. At the same time, the travel reverse clamping wheel assembly 115 can clamp the track between the driving wheel and the clamping wheel, thereby increasing the positive pressure between the wheel and the track, and effectively solving the problem of slipping of high-speed stackers. Embodiment 4:

[0101] Based on the above embodiments:

[0102] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Fig.10 and Fig.11The double driven wheel mechanism 15 in the first embodiment is disclosed as follows: a driven wheel bracket 154 is provided inside the double driven wheel mechanism 15, and the driven wheel bracket 154 is installed on the lower beam weldment 13. An eccentric flange 151 of a driven walking wheel is installed on the driven wheel bracket 154. A driven walking wheel axle pressure plate 155 is provided on the side of the driven wheel bracket 154, and a driven walking wheel 158 is installed on the side of the driven walking wheel axle pressure plate 155 through a driven walking wheel support shaft 159.

[0103] More specifically, in this embodiment:

[0104] The verticality of the existing stacker column 2 relative to the ground track depends on the welding and processing accuracy of the lower beam assembly 1. If the processing accuracy of the lower beam assembly 1 is defective, the stacker column 2 cannot remain vertical to the ground track;

[0105] At the same time, in order to reduce the running noise, the light stacker needs to use polyurethane rubber-coated wheels as running wheels, but the load-bearing capacity of polyurethane rubber-coated wheels is much lower than that of steel wheels. In order to meet the load-bearing requirements, the diameter of the polyurethane rubber-coated wheels needs to be increased, which leads to the increase of the overall structure of the stacker;

[0106] When the double driven wheel mechanism 15 is actually used, two driven running wheels 158 with smaller diameters and coated with polyurethane are used to form a seesaw structure with the central support shaft. The two driven running wheels 158 and the fulcrum of the seesaw, that is, the central support shaft, together constitute a passive running wheel unit. The two driven running wheels 158 share the load on the driven wheel side, so the wheel diameter can be designed to be smaller. At the same time, the central support shaft is an eccentric structure. The height of the driven wheel side can be adjusted by rotating the central support shaft, and then the verticality of the stacker column can be adjusted. Embodiment five:

[0107] Based on the above embodiments:

[0108] See also Figure 1 , Figure 2 , Fig.12 , Fig.13 , Fig.14 , Fig.15 and Fig.16 , the connection mechanism in the first embodiment is disclosed as follows, the connection mechanism includes:

[0109] The rack row 50 has an upper surface fixedly connected to the lower surface of the extension of the telescopic portion of the first end of the double-extension fork 32, a shaft body 51 is rotatably connected to the side of the base 35, a gear 52 is fixedly connected to the outer surface of the shaft body 51, a bracket 53 is fixedly connected to the lower surface of the base 35, a screw rod 54 is rotatably connected to the inner side of the bracket 53, the screw rod 54 is transmission-connected to the opposite side of the shaft body 51 through a bevel gear transmission mechanism 55, the upper surface of the limiting groove 56 is fixedly connected to the lower surface of the base 35, a slider 57 is slidably connected to the groove wall of the limiting groove 56, an internal thread groove for the screw rod 54 to pass through and be threadedly connected to the inner side of the slider 57 is provided, and a moving frame 58 is fixedly connected to the lower surface of the slider 57.

[0110] More specifically, in this embodiment: in actual use, the extension of the telescopic portion at the first end of the double-extending fork 32 forms a relative motion relationship between the double-extending fork 32 and the base 35, thereby causing the gear 52 and the shaft 51 to rotate, and under the action of the bevel gear transmission mechanism 55, the screw 54 rotates, so that the slider 57 slides along the limit groove 56 under the thread transmission and the sliding restriction of the limit groove 56, thereby driving the transmission mechanism to operate. In this mode, the linkage can be better based on the telescopic property of the double-extending fork 32 itself as a driving source, wherein if If the slider 57 is directly connected to the first end of the double-extending fork 32, the moving distance of the slider 57 may be insufficient due to the limitation of movement, because the support member 40 needs to be retracted into the end of the double-extending fork 32 at the initial time to avoid affecting the operation, so the final support point with the telescopic end of the double-extending fork 32 may not be good. Therefore, this method uses the overall base 35 as the skeleton for installation, so that the moving distance of the support member 40 is longer, and the lateral extension of the support member 40 can be increased, thereby ultimately increasing the support position of the end of the double-extending fork 32, thereby improving the stability and effectiveness of the support. Embodiment six:

[0111] Based on the above embodiments:

[0112] See also Figure 1 , Figure 2 , Fig.12 , Fig.13 , Fig.14 , Fig.15 and Fig.16 The transmission mechanism in the first embodiment is disclosed as follows. The transmission mechanism includes:

[0113] A U-shaped vertical plate 59, the upper surface of which is fixedly connected to the lower surface of the base 35, an L-shaped groove 60 is provided on the side of the U-shaped vertical plate 59, the groove wall of the L-shaped groove 60 is slidably connected to a sliding column 61 with the inner side of the movable frame 58, a sliding rod 62 is fixedly connected to the inner side of the movable frame 58, a sliding opening is provided on the side of the sliding column 61 for the sliding rod 62 to pass through and be slidably connected thereto, a connecting rod 63 is fixedly connected to the end of the sliding column 61, and the end of the connecting rod 63 is fixedly connected to the side of the support member 40, a support portion 64 is slidably sleeved on the upper surface of the support member 40, and an elastic component is fixedly connected to the support portion 64 on the opposite side of the support member 40.

[0114] More specifically, in this embodiment, when the slider 57 linearly slides on the U-shaped vertical plate 59, it can synchronously drive the moving frame 58 to move, and then the slide post 61 can be synchronously moved laterally under the pressure. When the slide post 61 moves to the lateral end of the L-shaped groove 60, the lateral movement ends. At this time, the continued lateral movement of the moving frame 58 drives the slide post 61 to move upward, as shown in FIG. Fig.15 As shown, the support member 40 is finally moved laterally and then upwardly, so that the upper end of the support portion 64 is pressed against the lower surface of the end of the double-extension fork 32, and the support portion 64 can be contracted relative to the support member 40, so that the elastic component is compressed to form a supporting force. This method has the following advantages: because the double-extension fork 32 needs to extend a certain distance outside the vertical double-station double-extension cargo platform 3, it is more difficult to adapt to the extension distance of the fork, the weight of the cargo and the size of the cargo when dealing with heavier cargo. After a certain period of use, the telescopic end of the fork may be subjected to a large torque under the lever principle, thereby limiting the weight of the cargo stored and retrieved by the double-extension fork 32, which affects the practicality. Therefore, this method uses the L-shaped movement of the support member 40 to make the support member 40 initially as Fig.15 The figure shows a situation where the double-extended fork 32 is retracted below the double-extended fork to avoid leakage and affect the operation, and the double-extended fork 32 and the support member 40 maintain a relative distance at the initial stage to avoid increased wear. When the double-extended fork 32 is fully extended, the support member 40 can be pressed against the lower surface of the telescopic end of the double-extended fork 32 to form a certain supporting force to the upper double-extended fork 32, so that the double-extended fork 32 can carry heavier goods, thereby improving practicality and scope of application. In this mode, the driving source is the extension of the double-extended fork 32 itself, so the linkage between structures is better.

[0115] Wherein: a gasket 65 is installed on the upper surface of the second telescopic portion of the double-extension fork 32, and the gasket 65 is made of rubber.

[0116] More specifically, in this embodiment, by installing and using the gasket 65, the friction between the upper surface of the telescopic end of the double-extension fork 32 and the bottom of the cargo is increased, thereby enabling the double-extension fork 32 of the present invention to grab the cargo more stably.

[0117] Working principle: When the vertical double-station double-reach stacker is in use, the stacker is controlled by a software system with a warehouse management system and a warehouse control system as the core, so that the stacker can operate tightly and quickly, and the goods can be efficiently transported. When the double-reach fork 32 is extended to pick up and place goods, the double-reach fork 32 and the base 35 form a relative motion, which can drive the connecting mechanism to operate. The connecting mechanism provides a longer distance of movement for the transmission mechanism, so that the transmission mechanism can drive the support member 40 to extend first and then press against the lower surface of the telescopic end of the double-reach fork 32, thereby providing a certain supporting force for the end of the double-reach fork 32 to avoid the end of the double-reach fork 32 being subjected to a greater force than the front end due to the extension relationship, thereby ensuring the service life of the double-reach fork 32.

[0118] Comparison between double-station stacker and single-station stacker:

[0119] First, work efficiency: the double-station stacker has two stacking positions, which can stack and pick up two goods at the same time, so its work efficiency is relatively high. The single-station stacker has only one stacking position and cannot perform multiple operations at the same time, so its work efficiency is relatively low.

[0120] Second, floor space: Double-station stackers usually require a larger floor space because they need to accommodate two stacking positions. Single-station stackers only need one stacking position and occupy a relatively small area.

[0121] Third, cost: Double-station stackers are usually more expensive than single-station stackers because they have a more complex working mechanism and more functions, such as control systems and sensors.

[0122] Fourth, applicable scenarios: Double-station stackers are suitable for scenarios that require efficient handling of large quantities of goods, such as warehouses, logistics centers, etc. Single-station stackers are suitable for scenarios that do not require high cargo handling and have a small amount of cargo, such as small warehouses or production lines.

[0123] In summary: double-station stacker is suitable for scenarios with high requirements on work efficiency and large cargo volume, while single-station stacker is suitable for scenarios with low requirements on work efficiency and small cargo volume.

[0124] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A vertical double-station double-extension stacker, characterized in that: include: Lower cross member assembly (1); A column (2), the column (2) being arranged at the top of the lower crossbeam assembly (1), one side of the column (2) being fixedly connected to a control cabinet (5), the other side of the column (2) being movably mounted with a vertical double-station double-extend cargo platform (3), and the top of the column (2) being provided with an upper crossbeam assembly (4); The interior of the vertical double-station double-extend cargo platform (3) includes: A cargo platform weldment (31), a synchronous belt tensioning and fixing device (33) being provided on a side of the cargo platform weldment (31), a cargo size detection frame (34) being installed on the inner side of the cargo platform weldment (31), and a double-extending cargo fork (32) being installed on the inner side of the cargo platform weldment (31); A coaxial dual-drive walking mechanism (12) is arranged inside the lower crossbeam assembly (1), a lower crossbeam weldment (13) is fixedly mounted on the lower surface of the inner wall of the lower crossbeam assembly (1), a lifting mechanism (14) is movably mounted on the top inner wall of the lower crossbeam assembly (1), a dual driven wheel mechanism (15) is arranged on the inner side of the lower crossbeam assembly (1), and a walking guide pressing wheel (11) is arranged on the inner side of the lower crossbeam assembly (1); The interior of the vertical double-station double-extend cargo platform (3) also includes: A support member (40), the support member (40) being located below the upper base (35) of the double-extension fork (32); A connecting mechanism and a transmission mechanism, wherein the connecting mechanism and the transmission mechanism are both arranged on the base (35), and when the double-extending fork (32) is in telescopic operation, a telescopic portion of the double-extending fork (32) and the base (35) generate a relative motion relationship to drive the connecting mechanism to operate, and the connecting mechanism drives the transmission mechanism to operate accordingly, so that the support member (40) first extends together with the double-extending fork (32) and then presses and supports against the lower surface of the double-extending fork (32).

2. The vertical double-station double-reach stacker according to claim 1, characterized in that: A walking motor anti-torsion bracket (123) is provided inside the coaxial dual-drive walking mechanism (12), a walking drive reduction motor (121) and a walking drive wheel (122) are mounted on the side of the walking motor anti-torsion bracket (123), a rotating portion of the walking drive reduction motor (121) is fixedly connected to a walking drive shaft (129), the walking drive wheel (122) is mounted on the walking drive shaft (129), a spring pad (125) is provided between the walking drive reduction motor (121) and the walking drive wheel (122), and a walking motor anti-torsion assembly (126) is mounted on the outer surface of the walking motor anti-torsion bracket (123), the walking motor anti-torsion assembly (126) comprising: a walking motor anti-torsion rod and a walking motor anti-torsion spacer; A main guide wheel seat (111) is provided inside the travel guide pressure wheel (11), the main guide wheel seat (111) is located on the track, a travel reverse pressure wheel assembly (115) is installed on the outer surface of the main guide wheel seat (111), a travel guide wheel (117) is installed on the side of the main guide wheel seat (111) through a travel guide wheel shaft (118), a travel guide wheel shaft spacer (119) is provided on the outer side of the travel guide wheel shaft (118), a brush installation bending plate (116) is fixedly installed on the side of the main guide wheel seat (111), and a dustproof brush (114) is fixedly installed on the end of the brush installation bending plate (116); A walking pressing guide flange is arranged inside the walking reverse pressing wheel assembly (115), the walking pressing guide flange is mounted on the main guide wheel seat (111), a mold spring assembly is mounted above the walking pressing guide flange, a walking pressing guide shaft is mounted on the lower surface of the walking pressing guide flange, a walking pressing U-shaped fork is arranged at the lower end of the walking pressing guide shaft, and a walking pressing wheel is mounted on the end of the walking pressing U-shaped fork via a walking pressing wheel shaft; The connecting mechanism comprises: A rack row (50) is fixedly connected to the lower surface of the first extension portion of the double-extension fork (32) at its upper surface, a shaft body (51) is fixedly connected to the side of the base (35) for rotation, a gear (52) is fixedly connected to the outer surface of the shaft body (51), a bracket (53) is fixedly connected to the lower surface of the base (35), a screw rod (54) is fixedly connected to the inner side of the bracket (53), and the screw rod (54) is transmission-connected to the opposite side of the shaft body (51) via a bevel gear transmission mechanism (55).

3. The vertical double-station double-reach stacker according to claim 2, characterized in that: The walking and clamping U-shaped fork is provided with a walking and clamping cross arm assembly, and the walking and clamping cross arm assembly comprises: a walking and clamping cross arm core shaft and a walking and clamping cross arm clamping plate.

4. The vertical double-station double-reach stacker according to claim 2, characterized in that: A driven wheel bracket (154) is provided inside the dual driven wheel mechanism (15), the driven wheel bracket (154) is mounted on the lower crossbeam weldment (13), a driven wheel eccentric flange (151) is mounted on the driven wheel bracket (154), a driven wheel axle pressure plate (155) is provided on the side of the driven wheel bracket (154), and a driven wheel (158) is mounted on the side of the driven wheel axle pressure plate (155) via a driven wheel support shaft (159).

5. The vertical double-station double-reach stacker according to claim 2, characterized in that: Also includes moving parts.

6. The vertical double-station double-reach stacker according to claim 5, characterized in that: The moving parts include: A limiting groove (56), the upper surface of the limiting groove (56) is fixedly connected to the lower surface of the base (35), a sliding block (57) is slidably connected to the groove wall of the limiting groove (56), an internal thread groove for the screw rod (54) to pass through and be threadedly connected to the screw rod (54) is formed on the side surface of the sliding block (57), and a moving frame (58) is fixedly connected to the lower surface of the sliding block (57).

7. The vertical double-station double-reach stacker according to claim 6, characterized in that: The transmission mechanism comprises: A U-shaped vertical plate (59), the upper surface of the U-shaped vertical plate (59) is fixedly connected to the lower surface of the base (35), an L-shaped groove (60) is provided on the side of the U-shaped vertical plate (59), the groove wall of the L-shaped groove (60) and the inner side of the movable frame (58) are slidably connected to a sliding column (61), the inner side of the movable frame (58) is fixedly connected to a sliding rod (62), the side of the sliding column (61) is provided with a sliding opening for the sliding rod (62) to pass through and be slidably connected thereto, the end of the sliding column (61) is fixedly connected to a connecting rod (63), the end of the connecting rod (63) is fixedly connected to the side of the support member (40), a supporting portion (64) is slidably sleeved on the upper surface of the support member (40), and the supporting portion (64) and the opposite side of the support member (40) are fixedly connected to an elastic component.

8. The vertical double-station double-reach stacker according to claim 2, characterized in that: A gasket (65) is installed on the upper surface of the second telescopic portion of the double-extension fork (32), and the gasket (65) is made of rubber.

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