Stacker and goods access system

Abstract

This invention relates to a stacker crane and a goods storage and retrieval system, comprising a carrying module, which includes a loading platform for carrying and supporting a shuttle car; a rotating plate disposed to the side of the loading platform along a first horizontal direction, the rotating plate having a degree of freedom of rotation about a second horizontal direction relative to the loading platform, and the rotating plate guiding the shuttle car's movement; and a drive assembly for adjusting the angle of the rotating plate about the second horizontal direction; the first horizontal direction is perpendicular to the stacker crane's travel direction, and the second horizontal direction is parallel to the stacker crane's travel direction. In this invention, the rotating plate can flexibly adjust its angle according to the relative positional relationship between the loading platform and the rack, filling the gap between the loading platform and the rack, thereby supporting and guiding the shuttle car to move from the stacker crane's loading platform to the rack at the required angle, allowing the shuttle car to smoothly travel onto the rack.

Description

Technical Field

[0001] This invention relates to the field of warehousing technology, and in particular to a stacker crane and a cargo storage and retrieval system. Background Technology

[0002] Automated storage and retrieval systems (AS / RS) combine stacker cranes and shuttle cars to achieve deep, automated storage. The stacker cranes transport sub-carts to designated locations within the aisles, where shuttle cars then handle the storage and retrieval of goods. This system reduces the number of stacker cranes required by increasing aisle depth, achieving dense storage. The modular combination of equipment increases warehouse utilization by over 30%.

[0003] In actual production, it has been found that during the docking of the stacker crane and shuttle car with the rack, the steel cable of the stacker crane tends to extend by about 10mm as the shuttle car carries goods from the loading platform to the rack. This creates a height difference between the loading platform and the rack, which can cause the shuttle car to get stuck at the rack, making it difficult for it to move from the stacker crane onto the rack. Furthermore, due to installation errors, the gap between the stacker crane's loading platform and the rack may increase during lifting and lowering, also making it difficult for the shuttle car to reach the rack. How to enable the shuttle car to smoothly move onto the rack is a pressing technical problem that needs to be solved in this field. Summary of the Invention

[0004] Therefore, the present invention provides a stacker crane and a goods storage and retrieval system that enables shuttles to travel smoothly onto shelves.

[0005] To solve the above-mentioned technical problems, the present invention provides a stacker crane, including a carrying module, the carrying module comprising:

[0006] A cargo platform, which is used to carry the shuttle and support its movement;

[0007] A rotating platform assembly includes a rotating platform disposed on the side of the cargo platform along a first horizontal direction. The rotating platform has a degree of freedom to rotate about a second horizontal direction relative to the cargo platform. The rotating platform can support and guide the movement of a shuttle vehicle.

[0008] A drive assembly that drives the rotating plate to adjust its angle around the second horizontal direction;

[0009] Wherein, the first horizontal direction is perpendicular to the traveling direction of the stacker crane, and the second horizontal direction is parallel to the traveling direction of the stacker crane.

[0010] Furthermore, the cargo platform is provided with two rotating plates on both sides along the first horizontal direction, and the two rotating plates on the same side of the cargo platform are arranged at a distance along the second horizontal direction.

[0011] Furthermore, the cargo platform is connected to support blocks at both ends along the first horizontal direction, and the bottom of the rotating plate is connected to a first ear plate, which is connected to the support blocks via a first hinge shaft.

[0012] Furthermore, the drive assembly includes a motor, a lead screw, a moving block, and a connecting rod. The lead screw has a degree of freedom to rotate around the first horizontal direction. The moving block is threadedly connected to the lead screw. One end of the connecting rod is rotatably connected to the moving block, and the other end of the connecting rod is rotatably connected to the rotating plate. The motor drives the rotating plate to rotate around the second horizontal direction through the lead screw, the moving block, and the connecting rod.

[0013] Furthermore, the bottom of the rotating plate is provided with a second ear plate, the moving block is connected with a third ear plate, one end of the connecting rod is connected to the second ear plate through a second hinge shaft, and the other end of the connecting rod is connected to the third ear plate through a third hinge shaft.

[0014] Furthermore, a positioning pin is connected to the movable block, and the positioning pin extends along the first horizontal direction.

[0015] Furthermore, the motor is installed at the bottom of the cargo platform, and a bearing seat is connected to the bottom of the cargo platform. The lead screw is connected to the bearing seat, and the motor is connected to the lead screw through a sprocket and a chain drive. Two moving blocks are connected to the lead screw, and the two moving blocks respectively drive the rotating plates on both sides of the cargo platform to adjust their angles through the connecting rod.

[0016] The present invention also provides a cargo storage and retrieval system, characterized in that it includes the stacker crane, shuttle car and rack, the rack is provided with a docking platform, the turntable is provided between the cargo platform and the docking platform and guides the shuttle car from the cargo platform to the rack.

[0017] Furthermore, a docking plate is connected to the docking platform, and the rotating plate docks with the docking plate.

[0018] Furthermore, the docking platform is connected to a positioning block, the positioning block is provided with a positioning hole, and the positioning hole and the positioning pin are mutually positioned.

[0019] The technical solution of the present invention has the following advantages compared with the prior art:

[0020] 1) The stacker crane and cargo storage and retrieval system of the present invention includes a turntable. The turntable can flexibly adjust its angle according to the relative position of the loading platform and the shelf to fill the gap between the loading platform of the stacker crane and the shelf, thereby supporting and guiding the shuttle car to move from the loading platform of the stacker crane to the shelf at the required angle, so that the shuttle car can smoothly drive to the shelf.

[0021] 2) The stacker crane and cargo storage and retrieval system of the present invention are provided with two rotating plates on each side of the cargo platform, which can support the two sets of wheels of the shuttle car;

[0022] 3) The stacker crane and cargo storage and retrieval system of the present invention facilitates the rotational connection between the rotating plate and the cargo platform by setting a support block on the side of the loading platform and setting a first ear plate at the bottom of the rotating plate.

[0023] 4) The stacker crane and cargo storage and retrieval system of the present invention include a driving component comprising a motor, a lead screw, a moving block, and a connecting rod. The driving component has a simple structure, is easy to operate and maintain, and saves costs.

[0024] 5) The stacker crane and cargo storage and retrieval system of the present invention, by providing a second ear plate at the bottom of the turntable and a third ear plate on the upper surface of the moving block, facilitates the rotational connection between the connecting rod and the turntable and the moving block.

[0025] 6) The stacker crane and goods storage and retrieval system of the present invention have positioning pins connected to the moving block, which can position the stacker crane and the rack.

[0026] 7) The stacker crane and cargo storage and retrieval system of the present invention have a motor and lead screw connected to the bottom of the cargo platform, making the structure of the platform module more compact; the motor drives the lead screw to rotate through a sprocket and a chain, and the same lead screw can drive the rotating plates on both sides of the cargo platform to adjust their angles;

[0027] 8) The stacker crane and cargo storage and retrieval system of the present invention are provided with a docking plate on the docking platform to facilitate the movement of shuttle cars between the stacker crane and the rack;

[0028] 9) The stacker crane and cargo storage and retrieval system of the present invention are provided with positioning blocks on the docking platform to facilitate mutual positioning between the stacker crane and the rack. Attached Figure Description

[0029] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0030] Figure 1 This is a front view of the platform module docking with the shelf in this invention;

[0031] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0032] Figure 3 for Figure 1 A magnified view of a section at point B in the middle;

[0033] Figure 4 This is an axial view of the platform module docking with the shelf in this invention.

[0034] Explanation of reference numerals in the accompanying drawings: 101, Cargo platform; 102, Turning plate; 103, Support block; 104, First ear plate; 105, Motor; 106, Lead screw; 107, Moving block; 108, Connecting rod; 109, Second ear plate; 110, Third ear plate; 111, Positioning pin; 112, Bearing seat; 113, Drive sprocket; 114, Driven sprocket; 115, Chain; 201, Docking platform; 202, Docking plate; 203, Positioning block. Detailed Implementation

[0035] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0036] See Figures 1 to 4 As shown, this is an embodiment of the stacker crane provided by the present invention.

[0037] The stacker crane includes a load-bearing module, which includes:

[0038] Cargo platform 101, the aforementioned cargo platform 101 is used to carry the shuttle and support the shuttle's movement;

[0039] The rotating plate assembly includes a rotating plate 102, which is disposed on the side of the cargo platform 101 along a first horizontal direction. The rotating plate 102 has a degree of freedom to rotate about a second horizontal direction relative to the cargo platform 101. The rotating plate 102 can support and guide the shuttle vehicle to move.

[0040] The drive component drives the rotating plate 102 to adjust the angle around the second horizontal direction;

[0041] The first horizontal direction is perpendicular to the traveling direction of the stacker crane, and the second horizontal direction is parallel to the traveling direction of the stacker crane.

[0042] The loading platform 101 has an upward-facing loading platform surface. The shuttle car stops on the loading platform surface and travels along it. The turntable 102 has an upward-facing turntable surface. When the shuttle car leaves the loading platform surface, it passes over the turntable surface and travels under its support and guidance. For example, when the gap between the rack and the loading platform is too large, the turntable 102 is adjusted to fill the gap. The shuttle car then reaches the rack via the turntable. When the height of the rack is higher than the height of the loading platform surface, the angle of the turntable 102 is adjusted so that the turntable surface faces diagonally upward, with one side of the turntable surface facing the loading platform surface drooping downward and the other side facing the rack rising upward. The shuttle car travels diagonally upward under the guidance of the turntable surface, preventing jamming caused by the height difference between the loading platform surface and the rack.

[0043] Since the rotating plate 102 needs to rotate within a certain angle range, it cannot come into contact with the cargo platform 101, otherwise it would hinder the rotation of the rotating plate 102. The gap between the rotating plate 102 and the cargo platform 101 is only needed to be small enough not to obstruct the rotation of the rotating plate 102, and is therefore much smaller than the wheels of the shuttle car. In this way, the shuttle car can easily cross the gap. The gap between the rotating plate 102 and the cargo platform 101 facilitates the adjustment of the angle of the rotating plate 102.

[0044] The rotating platform 102 can flexibly adjust its angle according to the relative position of the loading platform 101 and the shelf, thereby guiding the shuttle car to move from the loading platform 101 of the stacker crane to the shelf at the required angle, thus solving the problem of positioning accuracy between the stacker crane and the shelf.

[0045] In this embodiment, the cargo platform 101 is provided with two rotating plates 102 on both sides along the first horizontal direction, and the two rotating plates 102 on the same side of the cargo platform 101 are arranged at a distance along the second horizontal direction.

[0046] Since the main function of the rotating platform 102 is to guide the shuttle's movement, the rotating platform 102 only contacts the shuttle's wheels. The shuttle generally has two sets of wheels, and two rotating platforms 102 are set on each side of the cargo platform to support the movement of the two sets of wheels of the shuttle. The two rotating platforms 102 on the same side of the cargo platform 101 are spaced a certain distance apart.

[0047] In this embodiment, the cargo platform 101 is connected to support blocks 103 at both ends along the first horizontal direction, and the bottom of the rotating plate 102 is connected to a first ear plate 104. The first ear plate 104 is connected to the support blocks 103 through a first hinge shaft.

[0048] The first hinge shaft extends along the second horizontal direction, and the first ear plate 104 and the support block 103 can rotate relative to each other through the first hinge shaft. By providing the support block 103 on the side of the cargo platform 101 and the first ear plate 104 on the bottom of the rotating plate 102, it is convenient for the rotating plate 102 to be rotatably connected to the cargo platform 101.

[0049] In this embodiment, the drive assembly includes a motor 105, a lead screw 106, a moving block 107, and a connecting rod 108. The lead screw 106 has a degree of freedom to rotate around the first horizontal direction. The moving block 107 is threadedly connected to the lead screw 106. One end of the connecting rod 108 is rotatably connected to the moving block 107, and the other end of the connecting rod 108 is rotatably connected to the rotating plate 102. The motor 105 drives the rotating plate 102 to rotate around the second horizontal direction through the lead screw 106, the moving block 107, and the connecting rod 108.

[0050] After the motor 105 starts, it drives the lead screw 106 to rotate. The moving blocks 107 fixed at both ends of the lead screw 106 move in opposite directions as the lead screw 106 rotates. The rotating plate 102 connected to the moving block 107 via the connecting rod 108 is adjusted by the connecting rod 108. The drive assembly includes the motor 105, the lead screw 106, the moving blocks 107, and the connecting rod 108. The drive assembly has a simple structure, is easy to operate and maintain, and saves costs.

[0051] In this embodiment, the bottom of the rotating plate 102 is provided with a second ear plate 109, the moving block 107 is connected with a third ear plate 110, one end of the connecting rod 108 is connected to the second ear plate 109 through a second hinge shaft, and the other end of the connecting rod 108 is connected to the third ear plate 110 through a third hinge shaft.

[0052] Both the second and third hinge axes extend along the second horizontal direction. The connecting rod 108 and the second ear plate 109 can rotate relative to each other via the second hinge axis, and the connecting rod 108 and the third ear plate 110 can rotate relative to each other via the third hinge axis.

[0053] In this embodiment, a positioning pin 111 is connected to the moving block 107, and the positioning pin 111 extends along the first horizontal direction.

[0054] When the shuttle travels from the stacker crane to the target shelf, the relative position of the loading platform and the target shelf is required to be relatively strict. Therefore, the target shelf and the stacker crane need to be positioned relative to each other. Positioning pins 111 are set on the moving block 107. When the moving block 107 moves along the first horizontal direction to adjust the angle of the rotating plate 102, the positioning pins 111 move along the first horizontal direction to perform positioning.

[0055] Specifically, the rotating platform 102 has a working state and a non-working state. In the working state, the rotating platform 102 is horizontal or nearly horizontal, and its two sides are connected to the loading platform 101 and the rack. In the non-working state, the rotating platform 102 is vertical. During the angle adjustment of the rotating platform 102, the rotating platform 102 rotates from a vertical state to a horizontal state, the moving block 107 moves along the first horizontal direction close to the rack, and the positioning pin 111 moves towards the rack, which can position it with the rack. The positioning pin 111 is connected to the moving block 107, which can position the stacker crane and the rack in the direction of the stacker crane's movement.

[0056] In this embodiment, the motor 105 is installed at the bottom of the cargo platform 101. The bottom of the cargo platform 101 is connected to a bearing seat 112. The lead screw 106 is connected to the bearing seat 112. The motor 105 is connected to the lead screw 106 through a drive sprocket 113, a driven sprocket 114, and a chain 115. Two moving blocks 107 are connected to the lead screw 106. The two moving blocks 107 respectively drive the rotating plates 102 on both sides of the cargo platform 101 to adjust their angles through a connecting rod 108.

[0057] The housing of motor 105 and bearing seat 112 are fixedly connected to the cargo platform 101. Lead screw 106 passes through the inner hole of bearing seat 112. Motor 105 and lead screw 106 are connected to the bottom of cargo platform 101, making the platform module more compact. Drive sprocket 113 is connected to the power output shaft of motor 105, and driven sprocket 114 is connected to lead screw 106. Chain 115 drives the drive sprocket 113 and driven sprocket 114. Motor 105 drives lead screw 106 to rotate via drive sprocket 113, driven sprocket 114, and chain 115. Lead screw 106 is a bidirectional threaded lead screw. When lead screw 106 rotates in one direction, two moving blocks 107 move closer together; when lead screw 106 rotates in the other direction, two moving blocks 107 move further apart. The same lead screw 106 can drive the rotating plates 102 on both sides of cargo platform 101 to adjust their angles. When the motor 105 starts, it drives the drive sprocket 113 to rotate. The drive sprocket 113 drives the driven sprocket 114 to rotate through the chain 115. The driven sprocket 114 drives the lead screw 106 to rotate.

[0058] See Figures 1 to 4 As shown, this invention discloses an embodiment of a cargo storage and retrieval system.

[0059] The cargo storage and retrieval system includes the stacker crane, shuttle (not shown in the figure), and racks. The racks include a docking platform 201. The turntable 102 is located between the cargo platform 101 and the docking platform 201 and guides the shuttle from the cargo platform 101 to the docking platform 201.

[0060] When the stacker crane reaches the target rack, the docking platform 201 of the target rack docks with the stacker crane's rotating plate 102. The rotating plate 102 is rotated and its angle is adjusted by the drive assembly, so that the rotating plate 102 docks with the docking platform 201 of the target rack. The shuttle on the loading platform 101 travels to the docking platform 201 of the target rack under the guidance of the rotating plate 102.

[0061] In this embodiment, a docking plate 202 is connected to the docking platform 201, and the rotating plate 102 docks with the docking plate 202.

[0062] The docking platform 201 is connected to docking plates 202. When the stacker crane travels to the target rack, the docking plate 202 of the target rack docks with the stacker crane's rotating plate 102. The rotating plate 102 is rotated and its angle adjusted by the drive assembly, so that the rotating plate 102 docks with the docking plate 202 of the target rack. The shuttle on the loading platform 101 travels to the docking plate 202 of the target rack under the guidance of the rotating plate 102. Specifically, each docking platform 201 is equipped with two docking plates 202, which dock with two rotating plates 102 on one side of the loading platform 101 respectively.

[0063] In this embodiment, a positioning block 203 is connected to the docking platform 201. The positioning block 203 is provided with a positioning hole, and the positioning hole and the positioning pin 111 are positioned to each other.

[0064] When the shuttle travels from the stacker crane to the target shelf, the relative position of the rotating plate 102 and the docking plate 202 of the target shelf is required to be relatively strict. Therefore, the target shelf and the stacker crane need to be positioned with each other. The docking platform 201 is connected to a positioning block 203, which has a positioning hole. During the process of adjusting the angle of the rotating plate 102, the positioning pin 111 of the stacker crane is inserted into the positioning hole along the first horizontal direction and cooperates with the positioning hole of the shelf to achieve positioning. At the same time, the positioning hole guide moving block 107 moves along the first horizontal direction.

[0065] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A stacker crane, comprising a load-bearing module, characterized in that, The carrier module includes: A cargo platform, which is used to carry the shuttle and support its movement; A rotating platform assembly includes a rotating platform disposed on the side of the cargo platform along a first horizontal direction. The rotating platform has a degree of freedom to rotate about a second horizontal direction relative to the cargo platform. The rotating platform can support and guide the movement of a shuttle vehicle. A drive assembly is provided to drive the rotating plate to adjust its angle around the second horizontal direction. The drive assembly includes a motor, a lead screw, a moving block, and a connecting rod. The lead screw has a degree of freedom to rotate around the first horizontal direction. The moving block is threadedly connected to the lead screw. One end of the connecting rod is rotatably connected to the moving block, and the other end of the connecting rod is rotatably connected to the rotating plate. The motor drives the rotating plate to rotate around the second horizontal direction through the lead screw, the moving block, and the connecting rod. A positioning pin is connected to the moving block, and the positioning pin extends along the first horizontal direction. Wherein, the first horizontal direction is perpendicular to the traveling direction of the stacker crane, and the second horizontal direction is parallel to the traveling direction of the stacker crane; When the height of the shelf is higher than the height of the upper surface of the loading platform, adjust the angle of the rotating plate so that the upper surface of the rotating plate faces diagonally upward, with the side of the upper surface of the rotating plate facing the upper surface of the loading platform hanging down and the side of the upper surface of the rotating plate facing the shelf rising up; During the angle adjustment of the rotating plate, the stacker crane's positioning pin is inserted into the positioning hole along the first horizontal direction; The cargo platform is provided with two rotating plates on both sides along the first horizontal direction. The two rotating plates on the same side of the cargo platform are arranged at a distance along the second horizontal direction. Two moving blocks are connected to the lead screw. The two moving blocks drive the rotating plates on both sides of the cargo platform to adjust their angles through the connecting rod.

2. The stacker crane according to claim 1, characterized in that, The cargo platform is connected to support blocks at both ends along the first horizontal direction, and the bottom of the rotating plate is connected to a first ear plate, which is connected to the support blocks via a first hinge shaft.

3. The stacker crane according to claim 1, characterized in that, The bottom of the rotating plate is provided with a second ear plate, and the moving block is connected with a third ear plate. One end of the connecting rod is connected to the second ear plate through a second hinge shaft, and the other end of the connecting rod is connected to the third ear plate through a third hinge shaft.

4. The stacker crane according to claim 1, characterized in that, The motor is mounted on the bottom of the cargo platform, and a bearing seat is connected to the bottom of the cargo platform. The lead screw is connected to the bearing seat, and the motor is connected to the lead screw through a sprocket and a chain drive.

5. A goods storage and retrieval system, characterized in that, The stacker crane includes any one of claims 1 to 4, and further includes a shuttle and a rack, wherein the rack is provided with a docking platform, and the turntable is located between the loading platform and the docking platform and guides the shuttle to travel from the loading platform to the rack.

6. The cargo storage and retrieval system according to claim 5, characterized in that, A docking plate is connected to the docking platform, and the rotating plate docks with the docking plate.

7. The cargo storage and retrieval system according to claim 5, characterized in that, The docking platform is connected to a positioning block, and the positioning block is provided with a positioning hole, which is positioned in relation to the positioning pin of the stacker crane according to claim 1.

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