A stacker crane with adjustable fork mechanism for realizing pick-and-place buffering

Abstract

The present invention provides a stacker crane adjustable distance fork mechanism for implementing pick-and-place buffering, comprising a base frame, a loading platform, a lifting assembly, a shelf distance adjustment assembly, and a fork assembly; the loading platform is placed above the base frame; one end of the lifting assembly is fixed to the base frame, and the other end is connected to the loading platform; the shelf distance adjustment assembly comprises a first slide rail mounted on the side of the loading platform away from the lifting assembly, two fork mounting plates forming a sliding connection with the first slide rail, and a distance adjustment structure connected to the two fork mounting plates for controlling the two fork mounting plates to move closer or further apart; the fork assembly comprises two loading structures respectively fixed to the two fork mounting plates, the loading structure comprising a drive device and a loading plate, the drive device being used to control the loading plate to extend and retract along the axial direction of the drive device. The fork mechanism of the present invention provides stronger protection for the goods and can also adjust the distance between the loading plates, so as to more effectively meet the requirements of different goods for the loading plates in a shorter time, and has a wide range of applicability.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics and warehousing, and in particular to a stacker crane fork mechanism with adjustable distance for realizing picking and placing buffering. Background Art

[0002] A stacker is a common piece of warehousing equipment. It's a specialized crane that uses an automatically retractable fork to load and unload unit loads from racks in vertical warehouses. In modern intelligent warehousing and logistics systems, the stacker is a core piece of automated warehouse equipment. The fork mechanism is the actuator that enables the stacker to load and unload loads. Installed on the stacker's loading platform, it lifts and lowers loads, extending its forks into the racks on either side of the stacker to retrieve or place loads.

[0003] However, current stacker fork mechanisms primarily utilize flat handling, with the pick-and-place mechanism typically driven directly by the stacker's cantilever arm, with the forks directly fixed to the base. This mechanism has the disadvantage of limited handling capacity when the cargo is in varying trays. Furthermore, when handling fragile or damaged items, the cantilever arm makes it difficult to control the pick-and-place speed, potentially causing damage.

[0004] Therefore, there is an urgent need to provide a stacker crane with an adjustable fork mechanism for achieving pick-and-place buffering to solve the above problems. Summary of the Invention

[0005] The present invention provides a stacker crane with an adjustable fork mechanism for achieving pick-and-place buffering, aiming to solve the problem that the processing capacity of the existing fork mechanism is limited. When the goods are fragile and damaged, it is difficult to control the pick-and-place speed using a cantilever for driving, which easily causes damage to the goods.

[0006] An embodiment of the present invention provides a stacker crane adjustable fork mechanism for implementing pick-and-place buffering, comprising:

[0007] chassis;

[0008] a loading platform, which is placed above the base frame;

[0009] A lifting assembly, one end of which is fixed to the base frame and the other end is connected to the loading platform, for controlling the loading platform to rise or fall;

[0010] A shelf distance adjustment assembly includes a first slide rail mounted on the side of the loading platform away from the lifting assembly, two fork mounting plates slidably connected to the first slide rail, and a distance adjustment structure connected to the two fork mounting plates for controlling the two fork mounting plates to move closer or further apart;

[0011] The fork assembly includes two loading structures respectively fixed on the two fork mounting plates, and the loading structures include a driving device fixed on the fork mounting plates and a loading plate connected to the driving device, and the driving device is used to control the extension and retraction of the loading plate along the axial direction of the driving device.

[0012] Preferably, the two fork mounting plates are slidably connected to the first slide rail via a first slide block.

[0013] Preferably, the lifting assembly includes a motor mounter fixed on the base frame, a first motor mounted on the motor mounter, a first coupling connected to the output end of the first motor, a cylindrical cam connected to an end of the first coupling away from the first motor and having a rotating groove, and a positioning bolt, one end of the positioning bolt is located in the rotating groove of the cylindrical cam, and the other end is fixedly connected to the worktable.

[0014] Preferably, the distance adjustment structure includes two distance adjustment connecting blocks respectively connected to the two fork mounting plates, a fork distance adjustment plate connected to the two distance adjustment connecting blocks and having a slide groove, and a cylinder connected to the fork distance adjustment plate for controlling the lifting and lowering of the fork distance adjustment plate.

[0015] Preferably, the driving device includes a second motor fixed to the fork mounting plate, a second coupling connected to the output end of the second motor, a screw rod rotatably connected to the end of the second coupling away from the second motor, a second slider threadedly connected to the screw rod, and a second slide rail fixed to the fork mounting plate and forming a sliding connection with the second slider, and the loading plate is fixedly connected to the end of the second slider away from the second slide rail.

[0016] Preferably, the first motor and the second motor are both stepper motors.

[0017] Compared with the prior art, the present invention provides a stacker crane adjustable-distance fork mechanism for implementing pick-and-place buffering, comprising a base frame, a loading platform, a lifting assembly, a shelf distance-adjusting assembly, and a fork assembly; the loading platform is placed above the base frame; one end of the lifting assembly is fixed to the base frame and the other end is connected to the loading platform for controlling the lifting or lowering of the loading platform; the shelf distance-adjusting assembly includes a first slide rail mounted on the side of the loading platform away from the lifting assembly, two fork mounting plates slidably connected to the first slide rail, and a distance-adjusting structure connected to the two fork mounting plates for controlling the two fork mounting plates to move closer or further apart; the fork assembly includes two loading structures respectively fixed to the two fork mounting plates, each of which includes a drive device fixed to the fork mounting plates and a loading plate connected to the drive device, the drive device being configured to control the loading plate to extend and retract along the axial direction of the drive device. The shelf distance-adjusting assembly adjusts the spacing between the loading plates to meet the loading plate requirements of cargo pallets of different widths, thereby enabling the pick-and-place of cargo of different widths and significantly reducing the labor and time costs consumed in the process of replacing the loading plates. In addition, through the setting of the lifting component, speed protection is provided when the loading platform stops moving during the process of picking up and placing goods, picking up and placing buffering is achieved, and fragile and easily damaged goods are prevented from being damaged, which greatly enhances the protection of goods during the picking up and placing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be described in detail below with reference to the accompanying drawings. The above and other aspects of the present invention will become clearer and easier to understand through the detailed description made with reference to the following drawings. In the accompanying drawings:

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of a stacker crane's adjustable fork mechanism for implementing pick-and-place buffering according to the present invention;

[0020] Figure 2 It is a schematic diagram of the three-dimensional structure of the lifting assembly of the present invention;

[0021] Figure 3 It is a schematic diagram of the three-dimensional structure of the lifting assembly and the loading platform of the present invention;

[0022] Figure 4 It is a schematic diagram of the three-dimensional structure of the shelf distance adjustment component of the present invention;

[0023] Figure 5 Schematic diagram of the three-dimensional structure of the fork assembly of the present invention;

[0024] Figure 6 This is the graphical relationship between the output speed of the positioning bolt and the displacement of the cylindrical cam in the vertical direction in the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to 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.

[0026] Please refer to Figure 1-5 As shown, an embodiment of the present invention provides a stacker crane adjustable fork mechanism for realizing pick-and-place buffering, comprising a base frame 1, a loading platform 2 placed above the base frame 1, a lifting component 3 fixed to the base frame 1 at one end and connected to the loading platform 2 at the other end for controlling the rise or fall of the loading platform 2, a shelf distance adjustment component 4 and a fork assembly 5; the shelf distance adjustment component 4 comprises a first slide rail 41 mounted on the side of the loading platform 2 away from the lifting component 3, two fork mounting plates 42 slidingly connected to the first slide rail 41, and a distance adjustment structure 43 connected to the two fork mounting plates 42 for controlling the two fork mounting plates 42 to approach or separate; the fork assembly 5 comprises two loading structures 51 respectively fixed on the two fork mounting plates 42, and the loading structure 51 comprises a driving device 511 fixed on the fork mounting plate 42 and a loading plate 512 connected to the driving device 511, the driving device 511 being used to control the extension and retraction of the loading plate 512 along the axial direction of the driving device 511.

[0027] In the above structure, the shelf spacing assembly 4 adjusts the spacing between the loading plates 512 to meet the requirements of cargo trays of different widths. This allows for the retrieval and placement of goods of varying widths, significantly reducing the labor and time required to replace the loading plates. Furthermore, the lifting assembly 3 provides speed protection during the period when the loading platform 2 stops moving during the retrieval and placement process, providing a buffered loading and placement process and preventing damage to fragile goods, thus significantly enhancing the protection of goods during the retrieval and placement process.

[0028] In this embodiment, the two fork mounting plates 42 are slidably connected to the first slide rail 41 via a first slider 44 .

[0029] In this embodiment, the lifting assembly 3 includes a motor mounter 31 fixed to the base frame 1, a first motor 32 mounted on the motor mounter 31, a first coupling 33 connected to the output end of the first motor 32, a cylindrical cam 34 connected to the end of the first coupling 33 away from the first motor 32 and having a rotation slot 30, and a positioning bolt 35. One end of the positioning bolt 35 is located in the rotation slot 30 of the cylindrical cam 34, and the other end is fixedly connected to the worktable 2.

[0030] Specifically, the lifting assembly 3 operates as follows: When the drive device 511 controls the loading plate 512 to extend axially away from the drive device 511, the first motor 32 begins to rotate, and through the connection of the first coupling 33, the cylindrical cam 34 rotates horizontally at a uniform speed. The positioning bolt 35 moves along the rotating groove 30 of the cylindrical cam 34. The positioning bolt 35 is assembled and connected to the loading platform 2, thus converting the horizontal rotational motion into a linear reciprocating motion in the vertical direction, providing a buffering effect for loading and unloading goods. The rotating groove 30 of the cylindrical cam 34 is densely distributed on both sides and sparsely distributed in the middle. When the loading platform 2 is lifted, the positioning bolt 35 moves from bottom to top along the rotating groove 30. When the positioning bolt 35 is in the lower half of the cylindrical cam 34, the positioning bolt 35 performs a uniformly accelerated linear motion in the vertical direction. When the positioning bolt 35 is in the upper half of the cylindrical cam 34, the positioning bolt 35 performs a uniformly decelerated linear motion in the vertical direction. That is, when the loading plate just contacts the cargo, the speed is low, then gradually increases, then decreases again, causing the loading plate to stop. The cargo also remains at a low speed when resting on the loading plate. When the loading platform 2 descends, the second motor 32 reverses, and the positioning bolt 35 moves from top to bottom along the rotating groove 30. When the positioning bolt 35 is in the upper half of the cylindrical cam 34, the positioning bolt 35 performs uniformly accelerated linear motion in the vertical direction; when the positioning bolt 35 is in the lower half of the cylindrical cam 34, the positioning bolt 35 performs uniformly decelerated linear motion in the vertical direction. The graphical relationship between its output speed and the vertical displacement of the cylindrical cam 34 is as follows: Figure 6 The highest speed point is the vertical midpoint of the cylindrical cam 34, and the speed is symmetrical along the line at this point.

[0031] In this embodiment, the distance adjustment structure 43 includes two distance adjustment connecting blocks 431 respectively connected to the two fork mounting plates 42, a fork distance adjustment plate 432 connected to the two distance adjustment connecting blocks 431 and having a slide groove 430, and a cylinder 433 connected to the fork distance adjustment plate 42 for controlling the lifting and lowering of the fork distance adjustment plate 432.

[0032] Furthermore, the specific operation of the distance adjustment mechanism is as follows: when the loading plate 512 needs to remove materials, the distance adjustment mechanism 43 must first adjust the distance between the loading plates 512 to the appropriate length. The cylinder 433 is the main power source and is connected to the fork distance adjustment plate 432. When the cylinder 433 is extended, the fork distance adjustment plate 432 is also raised. When the cylinder 433 is retracted, the fork distance adjustment plate 432 is also lowered. The distance adjustment connecting block 431 moves along the slide 430 of the fork distance adjustment plate 432, converting vertical movement into horizontal movement. The distance adjustment connecting block 431 is connected to the fork mounting plate 42, prompting the first slide block 44 to move linearly on the first slide rail 41. This achieves the adjustment of the distance between the loading plates 512 to cope with different cargo widths.

[0033] In this embodiment, the driving device 511 includes a second motor 5111 fixed on the fork mounting plate 42, a second coupling 5112 connected to the output end of the second motor 5111, a screw rod 5113 rotatably connected to the end of the second coupling 5112 away from the second motor 5111, a second slider 5114 threadedly connected to the screw rod 5113, and a second slide rail 5115 fixed on the fork mounting plate 42 and forming a sliding connection with the second slider 5114. The loading plate 512 is fixedly connected to the end of the second slider 5114 away from the second slide rail 5115.

[0034] It should be noted that the loading mechanism operates as follows: when the loading plate 512 needs to remove material, the drive device 511 controls the loading plate 512 to extend axially away from the drive device 511, allowing cargo to be placed on the loading plate 512. The second motor 5111 rotates, driving the screw 5113 via the second coupling 5112. The screw 5113 is threadedly connected to the second slider 5114. Therefore, when the screw 5113 rotates, it converts the rotation into linear motion, causing the second slider 5114 to slide linearly on the second slide rail 5115. The loading plate 512 is connected to the second slider 5114 and moves with it. Therefore, when the second slider 5114 moves away from the second motor 5111, the loading plate 512 extends; when the second slider 5114 moves toward the second motor 5111, the loading plate 512 retracts. This allows cargo to be placed on the loading platform 2 or in the three-dimensional warehouse.

[0035] In this embodiment, both the first motor 32 and the second motor 5111 are stepper motors.

[0036] It is worth mentioning that the overall operating principle of the stacker crane's adjustable-distance fork mechanism for implementing pick-and-place buffering is as follows: during the material retrieval process, when cargo is in front of the stacker crane's adjustable-distance fork mechanism for implementing pick-and-place buffering, the fork distance adjustment plate 432 first moves linearly in the vertical direction, depending on the width of the cargo, thereby driving the fork mounting plate 42 and the loading plate 512 to move linearly horizontally along the slide rail, ultimately stopping within a specified range. The loading plate 512 then extends axially away from the drive device 511 and moves directly below the cargo. At this point, the lifting assembly can output a speed curve that first accelerates and then decelerates, causing the loading platform 2 to move linearly in the vertical direction. During this process, the loading platform 2 moves away from the base frame 1, causing the loading plate 512 to contact the cargo and be lifted a certain distance. Finally, the loading plate 512 retracts axially toward the drive device 511, retrieving the cargo. During the unloading process, the cargo is first placed on the loading plate 512. The loading plate 512 is then extended a certain distance away from the drive device 511 along the axis of the drive device 511, so that the cargo is directly above the three-dimensional warehouse. The lifting assembly 3 then outputs a velocity curve that first uniformly accelerates and then uniformly decelerates, causing the loading platform 2 to perform a linear motion in the vertical direction. During this process, the loading plate 512 separates from the cargo and is separated by a certain distance. The loading platform 2 reconnects with the base frame 1. Finally, the loading plate 512 is retracted along the axis of the drive device 511, toward the drive device 511. This completes a loading and unloading process that implements an adjustable fork mechanism and provides a buffered loading and unloading process.

[0037] Compared with the prior art, the present invention provides a stacker crane adjustable-distance fork mechanism for implementing pick-and-place buffering, comprising a base frame, a loading platform, a lifting assembly, a shelf distance-adjusting assembly, and a fork assembly; the loading platform is placed above the base frame; one end of the lifting assembly is fixed to the base frame and the other end is connected to the loading platform for controlling the lifting or lowering of the loading platform; the shelf distance-adjusting assembly includes a first slide rail mounted on the side of the loading platform away from the lifting assembly, two fork mounting plates slidably connected to the first slide rail, and a distance-adjusting structure connected to the two fork mounting plates for controlling the two fork mounting plates to move closer or further apart; the fork assembly includes two loading structures respectively fixed to the two fork mounting plates, each of which includes a drive device fixed to the fork mounting plates and a loading plate connected to the drive device, the drive device being configured to control the loading plate to extend and retract along the axial direction of the drive device. The shelf distance-adjusting assembly adjusts the spacing between the loading plates to meet the loading plate requirements of cargo pallets of different widths, thereby enabling the pick-and-place of cargo of different widths and significantly reducing the labor and time costs consumed in the process of replacing the loading plates. In addition, through the setting of the lifting component, speed protection is provided when the loading platform stops moving during the process of picking up and placing goods, picking up and placing buffering is achieved, and fragile and easily damaged goods are prevented from being damaged, which greatly enhances the protection of goods during the picking up and placing process.

[0038] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, article, or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, article, or device comprising the element.

[0039] The embodiments of the present invention are described above in conjunction with the accompanying drawings. What is disclosed is only a preferred embodiment of the present invention. However, the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms and equivalent changes without departing from the scope of protection of the purpose of the present invention and the claims, which are all within the protection of the present invention.

Claims

1. A stacker crane with adjustable fork mechanism for realizing pick-and-place buffering, characterized in that: The fork mechanism comprises: a chassis; a loading platform, which is placed above the chassis; a lifting assembly, one end of which is fixed to the chassis and the other end is connected to the loading platform, for controlling the loading platform to rise or fall; a shelf distance adjustment assembly, which comprises a first slide rail installed on the side of the loading platform away from the lifting assembly, two fork mounting plates slidingly connected to the first slide rail, and a distance adjustment structure connected to the two fork mounting plates for controlling the two fork mounting plates to move closer or farther apart; the fork assembly comprises two loading structures respectively fixed to the two fork mounting plates, and the loading structure comprises a driving device fixed to the fork mounting plates and a loading plate connected to the driving device, the driving device being used to control the loading plate to extend and retract along the axial direction of the driving device; The lifting assembly includes a motor mounter fixed on the base frame, a first motor mounted on the motor mounter, a first coupling connected to the output end of the first motor, a cylindrical cam connected to the end of the first coupling away from the first motor and having a rotation groove, and a positioning bolt, one end of the positioning bolt is located in the rotation groove of the cylindrical cam, and the other end is fixedly connected to the worktable; the rotation groove of the cylindrical cam is densely distributed on both sides and sparsely distributed in the middle.

2. The stacker crane adjustable fork mechanism for implementing pick-and-place buffering according to claim 1, characterized in that: The two fork mounting plates are slidably connected to the first slide rail via a first slide block.

3. The stacker crane adjustable fork mechanism for implementing pick-and-place buffering according to claim 1, characterized in that: The distance adjustment structure includes two distance adjustment connecting blocks respectively connected to the two fork mounting plates, a fork distance adjustment plate connected to the two distance adjustment connecting blocks and having a slide groove, and a cylinder connected to the fork distance adjustment plate for controlling the lifting of the fork distance adjustment plate.

4. The stacker crane adjustable fork mechanism for implementing pick-and-place buffering according to claim 1, characterized in that: The driving device includes a second motor fixed to the fork mounting plate, a second coupling connected to the output end of the second motor, a screw rod rotatably connected to an end of the second coupling away from the second motor, a second slider threadedly connected to the screw rod, and a second slide rail fixed to the fork mounting plate and slidingly connected to the second slider, and the loading plate is fixedly connected to an end of the second slider away from the second slide rail.

5. The stacker crane adjustable fork mechanism for implementing pick-and-place buffering according to claim 4, characterized in that: The first motor and the second motor are both stepper motors.

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