Stacking machine

Abstract

The embodiment of the invention provides a stacking machine, and relates to the technical field of intelligent warehousing. The stacking machine comprises a walking chassis, a lifting support, a lifting assembly, a guide module and a goods taking and placing assembly. The lifting bracket is arranged at the top of the walking chassis; the lifting assembly is installed on the lifting support and used for driving the goods taking and placing assembly to move up and down in the height direction; the goods taking and placing assembly is used for taking and placing goods on goods shelves on the two sides of the roadway; the guide modules are mounted on the side faces, facing goods shelves on the two sides of the roadway, of the lifting supports; the first end of the guide module is fixedly connected with the lifting support, and the second end of the guide module is slidably connected with the goods shelf in the horizontal direction. One side, provided with the guide module, of the lifting bracket is a guide module mounting side; and the walking chassis is used for driving the whole stacking machine to freely walk in and out of different roadways by utilizing a walking wheel assembly at the bottom of the walking chassis.

Description

Technical Field

[0001] This application relates to the technical field of intelligent warehousing, and particularly to a stacker crane. Background Art

[0002] Currently, common aisle stacker cranes include single-column stacker cranes and double-column stacker cranes. For a stacker crane to operate in an aisle, it is necessary to pre-install an overhead rail on the ceiling and a ground rail on the ground. Among them, the ground rail is used to provide a travel path for the stacker crane to operate, and the overhead rail is used to meet the high-load capacity of the stacker crane to avoid the lifting bracket from shaking or tipping over. During operation, the lifting bracket of the stacker crane must move along the overhead rail and the ground rail of the preset path.

[0003] However, since the overhead rail and the ground rail are fixedly installed in the warehouse in a pre-installed manner, the travel path of the stacker crane is relatively single and it is impossible to transport goods outside the aisle. Summary of the Invention

[0004] The purpose of the embodiments of this application is to provide a stacker crane, so that the stacker crane can transport goods in a narrow aisle, realize the free movement and transportation of the stacker crane between different aisles, and can directly place the goods on the ground outside the aisle. The specific technical solutions are as follows:

[0005] The embodiments of this application provide a stacker crane, which includes: a walking chassis, a lifting bracket, a lifting assembly, a guiding module, and a goods picking and placing assembly;

[0006] The lifting bracket is arranged on the top of the walking chassis;

[0007] The lifting assembly is installed on the lifting bracket and is used to drive the goods picking and placing assembly to move up and down in the height direction;

[0008] The goods picking and placing assembly is connected to the lifting assembly and is used to pick and place goods on the shelves on both sides of the aisle;

[0009] The guiding module is installed on the side of the lifting bracket facing the shelves on both sides of the aisle; the first end of the guiding module is fixedly connected to the lifting bracket, and the second end of the guiding module is slidably connected to the shelf in the horizontal direction; the guiding module has a preset height relative to the walking chassis and is used to support the lifting bracket by means of the shelf;

[0010] The walking chassis is used to drive the entire stacker crane to freely walk inside and outside different aisles by means of the walking wheel assembly at the bottom of the walking chassis.

[0011] In some embodiments of the present application, the number of the guiding modules is at least two; the at least two guiding modules are respectively installed on two sides of the lifting bracket facing the shelves on both sides of the roadway; the first end of each guiding module is fixedly connected to the lifting bracket, and the second end of each guiding module is slidably connected to the shelf in the horizontal direction.

[0012] In some embodiments of the present application, a guiding slide rail arranged along the length direction of the roadway is provided at a position on the shelf corresponding to the height of the guiding module;

[0013] The guiding module includes: a protruding bracket and a first pulley assembly;

[0014] The first end of the protruding bracket is fixedly connected to the lifting bracket, and the second end of the protruding bracket extends from the outside of the lifting bracket towards the shelves on both sides of the roadway;

[0015] The first pulley assembly is installed at the second end of the protruding bracket to cooperate with the guiding slide rail on the shelf, so that the first pulley assembly can slide along the length direction of the guiding slide rail.

[0016] In some embodiments of the present application, the guiding slide rail has a slide rail groove; the opening direction of the slide rail groove faces the guiding module;

[0017] The first pulley assembly includes: a first fixing plate, a first guiding roller and a second guiding roller;

[0018] The first fixing plate is parallel to the bottom of the slide rail groove;

[0019] The first guiding roller is arranged at one end of the first fixing plate; the axial direction of the first guiding roller is perpendicular to the two side walls of the slide rail groove, and the circumferential side of the first guiding roller contacts the bottom wall of the slide rail groove;

[0020] The second guiding roller is arranged at the other end of the first fixing plate; the axial direction of the second guiding roller is perpendicular to the bottom wall of the slide rail groove, and the circumferential side of the second guiding roller contacts the inner side wall of the slide rail groove.

[0021] In some embodiments of the present application, on the first fixing plate, two horizontal extension plates facing the guiding slide rail are respectively arranged at the top and the bottom to form a receiving groove; the first fixing plate, the first guiding roller and the second guiding roller are located in the receiving groove;

[0022] The first pulley assembly further includes: a slider and two elastic members;

[0023] The slider is disposed within the receiving groove and is adapted to be inserted into the slide rail groove and slidably connected thereto.

[0024] The first guiding roller is disposed at one end of the slider; the second guiding roller is disposed at the other end of the slider.

[0025] One end of each of the two elastic members is respectively disposed on two sides of the slider perpendicular to the axial direction of the first pulley assembly; the other end extends in a direction away from the slider and is fixedly connected to the horizontal extension plate of the first fixing plate, so that the slider is elastically connected to the first fixing plate.

[0026] In some embodiments of the present application, the first pulley assembly further includes: two limiting members.

[0027] The two limiting members are respectively disposed on opposite sides of two horizontal extension plates of the first fixing plate and are adapted to limit the relative movement between the first pulley assembly and the guiding slide rail in the axial direction of the first guiding roller.

[0028] There is a gap between each limiting member and the slider; two side walls of the slide rail groove can respectively extend into the gaps between the two limiting members and the slider.

[0029] In some embodiments of the present application, the guiding module further includes: a fixed connection plate and a second pulley assembly.

[0030] The structure of the second pulley assembly is the same as the structure of the first pulley assembly.

[0031] One end of the fixed connection plate is fixedly connected to the first fixing plate of the first pulley assembly, and the other end is fixedly connected to the second fixing plate of the second pulley assembly; the side of the fixed connection plate away from the shelf is fixedly connected to the second end of the protruding bracket.

[0032] In some embodiments of the present application, the guiding module further includes: at least one auxiliary power assembly.

[0033] The auxiliary power assembly includes: a friction wheel motor and a friction wheel; the friction wheel motor is fixedly installed on the fixed connection plate; the motor shaft of the friction wheel motor passes through the center of the friction wheel and is adapted to drive the friction wheel to rotate.

[0034] The friction wheel is in rolling contact with the outer side wall of one side of the guiding slide rail and is adapted to assist the guiding module to slide on the guiding slide rail.

[0035] In some embodiments of the present application, the auxiliary power assembly further includes: a steering fixing member, a steering connection plate and a buffer member.

[0036] The steering fixing part, the bottom of which is fixedly installed on the fixed connecting plate, and the top of which is hinged to the steering connecting plate;

[0037] On both sides of one end of the steering connecting plate, which is hinged to the steering fixing part, there are inclined parts; the other end of the steering connecting plate is connected to the buffer part;

[0038] The motor shaft of the friction wheel motor passes through the second end of the steering connecting plate and is connected to the friction wheel.

[0039] In some embodiments of the present application, the buffer part includes: a buffer fixing plate, a buffer fixing rod and a buffer spring;

[0040] The buffer fixing plate is fixedly connected to the steering connecting plate; the buffer fixing rod passes through the buffer fixing plate and is fixedly connected to the fixed connecting plate; at the top of the buffer fixing rod, there is a spring blocking part for restricting the movement of the buffer spring along the length direction of the buffer fixing rod; the buffer spring is sleeved on the buffer fixing rod; the bottom of the buffer spring abuts against the buffer fixing plate.

[0041] In some embodiments of the present application, the picking and placing component includes: a three-way attachment and a fork for picking goods;

[0042] The three-way attachment is respectively connected to the lifting component and the fork for picking goods, and is located on one side of the lifting bracket along the moving direction of the walking chassis;

[0043] One side of the three-way attachment close to the lifting bracket is connected to the lifting component to perform lifting under the drive of the lifting component; the side of the three-way attachment far from the lifting bracket is connected to the fork for picking goods;

[0044] The fork for picking goods, under the drive of the three-way attachment, can extend or retract along the direction towards the two-side shelves of the stacker to pick and place goods from the two-side shelves of the stacker; or, extend towards the direction away from the lifting bracket to place the goods on the ground.

[0045] In some embodiments of the present application, the three-way attachment includes: a side shifting mechanism and a rotating mechanism;

[0046] The side shifting mechanism includes: a side shifting fixing plate and a side shifting driving component;

[0047] One side of the side shifting fixing plate facing the lifting bracket is connected to the lifting component, and on the side far from the lifting bracket, the first end facing one side shelf and the second end facing the other side shelf are provided with openings;

[0048] The side shift driving assembly is meshed and connected to one side of the side shift fixing plate away from the lifting bracket at one end, and fixedly connected to the rotating mechanism at the other end, and is used to drive the rotating mechanism to move from the first end of the side shift fixing plate to the second end of the side shift fixing plate;

[0049] The rotating mechanism has a rotating shaft; the rotating shaft is fixedly connected to the fork for picking goods, and is used to drive the fork for picking goods to rotate.

[0050] In some embodiments of the present application, the picking and placing component includes: a telescopic bottom plate, two telescopic forks and a telescopic motor; the telescopic bottom plate is fixedly connected to the lifting component and is located on one side of the lifting bracket along the moving direction of the walking chassis;

[0051] Each telescopic fork includes: a lower fork, a middle fork and an upper fork; the lower fork is fixedly installed above the telescopic bottom plate and extends along a direction perpendicular to the moving direction of the walking chassis; the middle fork and the upper fork are slidably installed above the lower fork; there is a transmission rotating shaft between the two lower forks, which is used to drive the middle fork and the upper fork to expand and contract along the extension direction of the lower fork;

[0052] The telescopic motor is arranged between the two lower forks and is in transmission connection with the transmission rotating shaft, and is used to drive the transmission rotating shaft to rotate.

[0053] In some embodiments of the present application, the lifting bracket includes: a lifting column,

[0054] The lifting component includes: a lifting motor, a lifting synchronous belt and a lifting pulley;

[0055] The lifting motor is fixedly installed on the top of the walking chassis;

[0056] The pulley is arranged on one side of the top of the lifting column close to the shelf;

[0057] The lifting synchronous belt is wound around the lifting motor of this group of lifting components; the lifting synchronous belt surrounds the lifting column along the height direction; the lifting synchronous belt at the top of the lifting column is slidably connected to the pulley;

[0058] Each lifting synchronous belt is fixedly connected to one side of the picking and placing component close to the lifting column.

[0059] In some embodiments of the present application, the lifting column includes a first sub-lifting column and a second sub-lifting column; the bottom of the first sub-lifting column is fixedly connected to the walking chassis, and the top of the first sub-lifting column has a first mounting portion; the bottom of the second sub-lifting column has a second mounting portion that cooperates with the first mounting portion; the pulley is installed at the top of the second sub-lifting column.

[0060] The first sub-lifting column and the second sub-lifting column are fixedly connected through the first mounting portion and the second mounting portion.

[0061] In some embodiments of the present application, the lifting bracket includes a lifting gantry; the lifting gantry includes an inner gantry and an outer gantry; the inner gantry is slidably installed inside the outer gantry and can extend out of the outer gantry in the height direction.

[0062] The lifting assembly includes a lifting motor, a lifting synchronous belt, and a lifting pulley.

[0063] The lifting motor is fixedly installed on the top of the walking chassis.

[0064] The pulley is arranged on one side of the top of the inner gantry close to the shelf.

[0065] The lifting synchronous belt is wound around the lifting motor of the set of lifting assemblies; the lifting synchronous belt surrounds the lifting gantry in the height direction; the lifting synchronous belt located at the top of the inner gantry is slidably connected to the pulley.

[0066] Each lifting synchronous belt is fixedly connected to one side of the picking and placing component close to the lifting gantry.

[0067] In some embodiments of the present application, the walking wheel assembly includes a first differential drive wheel, a second differential drive wheel, and an electric steering wheel; the electric steering wheel is located at the front end of the walking chassis along the walking direction and is used to provide a guiding function for the walking of the walking chassis; the first differential drive wheel and the second differential drive wheel are located at the rear end of the walking chassis along the walking direction and are used to drive the walking chassis to walk and turn.

[0068] The first differential drive wheel and the second differential drive wheel are not coaxially arranged.

[0069] Advantages of the embodiments of the present application:

[0070] A stacker provided by an embodiment of the present application installs a lifting bracket of the stacker on the top of a walking chassis, enabling the overall stacker to move freely driven by the walking chassis, and realizing free switching and transportation between different lanes of the stacker according to transportation needs. After the stacker completes the goods picking, driven by the walking chassis, the stacker can leave the lane, place the goods on the ground outside the lane, and wait for other transportation equipment to transfer them. Since the walking chassis is small in size, the stacker can enter narrow lanes to pick up and place goods on the shelves of narrow lanes. The settings of the overhead rail and the ground rail are cancelled, effectively reducing the floor area occupied by the stacker. At the same time, guiding modules are provided on both sides of the lifting bracket close to the shelves. During the transportation process of the stacker in the lane, the first end of the guiding module is slidably connected to the shelf, which can provide support for the lifting bracket, enabling the stacker to have a large high-load during transportation and improving the shaking and tipping problems of the stacker. The lifting assembly can lift the goods picking and placing assembly to the corresponding height of the shelf to pick up and place the goods in the shelf.

[0071] Of course, it is not necessary for any product or method implementing the present application to achieve all the above-mentioned advantages simultaneously. Brief Description of the Drawings

[0072] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can also obtain other embodiments based on these drawings.

[0073] Figure 1a Schematic diagram of the structure in which the goods picking fork of the stacker provided by the present application extends in a direction away from the lifting bracket;

[0074] Figure 1b Schematic diagram of the structure in which the goods picking fork of the stacker provided by the present application retracts along a direction away from the shelves on both sides of the stacker;

[0075] Figure 1c For Figure 1a exploded view;

[0076] Figure 1d For Figure 1a rear view of the stacker shown;

[0077] Figure 1e For Figure 1a front view;

[0078] Figure 1f For Figure 1a left view;

[0079] Figure 1g ForFigure 1a Right view of

[0080] Figure 1h is Figure 1a Schematic structural view of the stacker shown when the guiding module and the lifting pulley are not installed;

[0081] Figure 1i is Figure 1b Side view of

[0082] Figure 2a Schematic structural view of the stacker provided by the present application located in the roadway;

[0083] Figure 2b is Figure 2a Schematic structural view from another perspective;

[0084] Figure 2c Bottom view of the walking chassis;

[0085] Figure 2d is Figure 1d Cross-sectional view in the AA direction of

[0086] Figure 3a Schematic structural view of the guiding module;

[0087] Figure 3b is Figure 3a Front view of

[0088] Figure 3c is Figure 3a Rear view of the guiding module shown;

[0089] Figure 3d is Figure 3a Top view of

[0090] Figure 3e is Figure 3a Exploded view of

[0091] Figure 4a is Figure 3a Schematic structural view of the cooperation between the guiding module and the guiding slide rail shown;

[0092] Figure 4b is Figure 4a Top view of

[0093] Figure 4c is Figure 4a Rear view of

[0094] Figure 4d is Figure 4a Left view of

[0095] Figure 4e is Figure 4a Cross-sectional view in the BB direction of

[0096] Figure 5 is Figure 3a the exploded view of M1 in

[0097] Figure 6a the structural schematic diagram of the auxiliary power assembly;

[0098] Figure 6b is Figure 6a the top view of

[0099] Figure 7a the structural schematic diagram of the guiding module with the auxiliary power assembly cooperating with the guiding slide rail;

[0100] Figure 7b is Figure 7a the front view of

[0101] Figure 7c is Figure 7a the rear view of the guiding module shown in

[0102] Figure 7d is Figure 7a the top view of

[0103] Figure 7e is Figure 7a the left view of

[0104] Figure 8 the structural schematic diagram of the three-way head attachment and the fork for picking up goods connected;

[0105] Figure 9a the structural schematic diagram of the stacker provided by the present application for picking up goods in the roadway;

[0106] Figure 9b is Figure 9a the structural schematic diagram of another perspective;

[0107] Figure 9c the structural schematic diagram of the stacker provided by the present application for placing goods on the ground;

[0108] Figure 9d is Figure 9c the structural schematic diagram of another perspective;

[0109] Figure 10a the structural schematic diagram of the stacker provided by the present application with a telescopic fork;

[0110] Figure 10b the structural schematic diagram of the telescopic fork;

[0111] Figure 11 the structural schematic diagram of the first sub-lifting column and the second sub-lifting column;

[0112] Figure 12Schematic structural diagram for lifting the gantry.

[0113] Reference numerals:

[0114] Traveling chassis 1, traveling wheel assembly 11, first differential drive wheel 1110, second differential drive wheel 1120, electric steering wheel 1130;

[0115] Lifting bracket 2, lifting column 21, first sub-lifting column 211, second sub-lifting column 212, first mounting portion 2111, second mounting portion 2121, lifting gantry 22, inner gantry 221, outer gantry 222;

[0116] Lifting assembly 3, lifting motor 31, lifting synchronous belt 32, lifting pulley 33;

[0117] Guiding module 4, extending bracket 41, first pulley assembly 42, first fixing plate 421, first guiding roller 422, second guiding roller 423, slider 424, elastic member 425, limiting member 426, fixed connecting plate 43, second pulley assembly 44, second fixing plate 441, auxiliary power assembly 45, friction wheel motor 451, friction wheel 452, steering fixing member 453, steering connecting plate 454, buffer member 455, buffer fixing plate 4551, buffer fixing rod 4552, buffer spring 4553, spring blocking portion 4554;

[0118] Goods picking and placing assembly 5, three-way head attachment 51, side shifting mechanism 511, side shifting fixing plate 5111, side shifting drive assembly 5112, rotating mechanism 512, rotating shaft 5121, fork for picking goods 52, telescopic bottom plate 53, telescopic fork 54, lower fork 541, transmission rotating shaft 5411, middle fork 542, telescopic guide groove 5421, upper fork 543, telescopic motor 55;

[0119] Shelving 100, guiding slide rail 110, slide rail groove 111. Detailed implementation manners

[0120] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art based on the present application belong to the scope of protection of the present application.

[0121] In the related art, most stackers can only transport within a single aisle, unable to run to other aisles or transport goods in other aisles. Some stackers with the function of switching aisles need to set up a circular track between adjacent aisles so that the stacker can run along the circular track to other aisles. However, limited by the shape of the track, the stacker can only run along the preset circular path of the track and cannot move freely between different aisles according to the transportation needs. Its running path is still single and cannot handle complex transportation operations.

[0122] Moreover, due to the overhead rail and ground rail in the aisle, as well as the circular track between the aisles, the floor area is relatively large and it is difficult to arrange them inside a narrow aisle. The setting of the overhead rail, ground rail and circular track also makes the equipment cost too high.

[0123] To solve the above problems, the present application provides a stacker, as Figures 1a to 1d shown, Figure 1a is a schematic structural view of the fork of the stacker provided by the present application extending in a direction away from the lifting bracket, Figure 1b is a schematic structural view of the fork of the stacker provided by the present application retracting in a direction away from the shelves on both sides of the stacker, Figure 1c is Figure 1a an exploded view of, Figure 1d is Figure 1a the rear view of the stacker shown. The stacker includes: a walking chassis 1, a lifting bracket 2, a lifting assembly 3, a guiding module 4 and a goods picking and placing assembly 5; the lifting bracket 2 is arranged on the top of the walking chassis 1; the lifting assembly 3 is installed on the lifting bracket 2 and is used to drive the goods picking and placing assembly 5 to move up and down in the height direction; the goods picking and placing assembly 5 is connected to the lifting assembly 3 and is used to pick and place goods on the shelves 100 on both sides of the aisle; the guiding module 4 is installed on the side of the lifting bracket 2 facing the shelves 100 on both sides of the aisle; the first end of the guiding module 4 is fixedly connected to the lifting bracket 2, and the second end of the guiding module 4 is slidably connected to the shelf 100 in the horizontal direction; the guiding module 4 has a preset height relative to the walking chassis 1 and is used to support the lifting bracket 2 by means of the shelf 100; as Figure 2c shown, Figure 2c is the bottom view of the walking chassis. The walking chassis 1 is used to drive the whole stacker to walk freely inside and outside different aisles by means of the walking wheel assembly 11 at the bottom of the walking chassis 1.

[0124] In this embodiment, as Figures 1e to 2d shown, Figure 1e is Figure 1a the front view of, Figure 1f is Figure 1a the left view of, Figure 1g is Figure 1a the right view of, Figure 1h isFigure 1a Schematic structural diagram of the stacker without the installation of the guiding module and the lifting pulley Figure 1i is Figure 1b a side view of Figure 2a Schematic structural diagram of the stacker provided by the present application located in the roadway Figure 2b is Figure 2a a schematic structural diagram from another perspective Figure 2d is Figure 1b a cross-sectional view taken along the AA direction in . The lifting bracket 2 of the stacker is installed on the top of the walking chassis 1, enabling the overall stacker to move freely driven by the walking chassis 1, and realizing the free switching and transportation between different roadways of the stacker according to the transportation needs. When the stacker finishes picking up goods, driven by the walking chassis 1, the stacker can leave the roadway, transport the goods outside the roadway, and wait for other transportation equipment to transfer. Since the walking chassis 1 is small in size, the stacker can enter narrow roadways to pick up and place goods on the shelves 100 in the narrow roadways. The settings of the overhead rail and the ground rail are cancelled, effectively reducing the floor area occupied by the stacker. At the same time, guiding modules 4 are provided on both sides of the lifting bracket 2 close to the shelf 100. During the transportation process of the stacker in the roadway, the first end of the guiding module 4 is slidably connected to the shelf 100, which can provide support for the lifting bracket 2, enabling the stacker to have a large high-load during transportation and improving the shaking and tipping problems of the stacker. The lifting assembly 3 can lift the picking and placing component 5 to the corresponding height of the shelf 100 to pick up and place the goods in the shelf 100.

[0125] In some embodiments of the present application, as shown in Figure 1a and Figure 1b the number of the guiding modules 4 is at least two; at least two guiding modules 4 are respectively installed on both sides of the lifting bracket 2 facing the shelves 100 on both sides of the roadway; the first end of each guiding module 4 is fixedly connected to the lifting bracket 2, and the second end of each guiding module 4 is slidably connected to the shelf 100 in the horizontal direction.

[0126] In this embodiment, the two guiding modules 4 are respectively located on both sides of the lifting bracket 2. When the stacker walks in the roadway, the two guiding modules 4 can be respectively slidably connected to the shelves 100 on both sides of the roadway. Thereby providing support for the lifting bracket 2 and further enabling the stacker to have a large high-load.

[0127] In some embodiments of the present application, as shown in Figures 3a to 3e shown Figure 3a is a schematic structural diagram of the guiding module Figure 3b is Figure 3a the front view of Figure 3c is Figure 3a the rear view of the guiding module shown in Figure 3d is Figure 3aTop view of Figure 3e is Figure 3a exploded view of. On the shelf 100 at the position corresponding to the height of the guiding module 4, a guiding slide rail 110 arranged along the length direction of the roadway is provided; the guiding module 4 includes: a protruding bracket 41 and a first pulley assembly 42; the first end of the protruding bracket 41 is fixedly connected to the lifting bracket 2, and the second end of the protruding bracket 41 extends from the outside of the lifting bracket 2 towards the shelves 100 on both sides of the roadway; the first pulley assembly 42 is installed at the second end of the protruding bracket 41 to cooperate with the guiding slide rail 110 on the shelf 100, so that the first pulley assembly 42 can slide along the length direction of the guiding slide rail 110. The guiding module 4 further includes: a fixed connecting plate 43 and a second pulley assembly 44; the structure of the second pulley assembly 44 is the same as that of the first pulley assembly 42; the fixed connecting plate 43 has one end fixedly connected to the first fixing plate 421 of the first pulley assembly 42 and the other end fixedly connected to the second fixing plate 441 of the second pulley assembly 44; the side of the fixed connecting plate 43 away from the shelf 100 is fixedly connected to the second end of the protruding bracket 41.

[0128] In this embodiment, the guiding slide rail 110 at the position corresponding to the height of the guiding module 4 on the shelf 100 can cooperate with the guiding module 4, so that the guiding module 4 slides along the guiding slide rail 110. Thereby providing support for the lifting bracket 2, and further enabling the stacker to have a larger high-load. Among them, the first pulley assembly 42 is fixedly connected to the lifting bracket 2 through the protruding bracket 41. When the stacker walks in the roadway, the first pulley assembly 42 can slide along the guiding slide rail 110 driven by the lifting bracket 2.

[0129] At the same time, a second pulley assembly 44 with the same structure as the first pulley assembly 42 can also be provided, and the first pulley assembly 42 and the second pulley assembly 44 are fixedly connected through the fixed connecting plate 43. During operation, both the first pulley assembly 42 and the second pulley assembly 44 can be slidably connected to the guiding slide rail 110. In this way, the contact area between the guiding module 4 and the guiding slide rail 110 is significantly increased, and the guiding effect of the guiding module 4 can be effectively improved.

[0130] In actual use, the number of pulley groups can also be adjusted as needed. For example, a third pulley assembly and a fourth pulley assembly can be added to further increase the contact area between the guiding module 4 and the guiding slide rail 110, making the operation of the stacker more stable.

[0131] In some implementations of the present application, as shown in 4a to Figure 5 shown, Figure 4a is Figure 3a structural schematic diagram of the cooperation between the guiding module and the guiding slide rail shown, Figure 4b is Figure 4a top view of Figure 4cis Figure 4a the rear view of Figure 4d is Figure 4a the left view of Figure 4e is Figure 3d the sectional view taken along the direction BB in Figure 5 is Figure 3a the exploded view of M1 in. The guiding slide rail 110 has a slide rail groove 111; the opening direction of the slide rail groove 111 faces the guiding module 4; the first pulley assembly 42 includes: a first fixing plate 421, a first guiding roller 422 and a second guiding roller 423; the first fixing plate 421 is parallel to the bottom of the slide rail groove 111; the first guiding roller 422 is arranged at one end of the first fixing plate 421; the axial direction of the first guiding roller 422 is perpendicular to the two side walls of the slide rail groove 111, and the circumferential side of the first guiding roller 422 contacts the bottom wall of the slide rail groove 111; the second guiding roller 423 is arranged at the other end of the first fixing plate 421; the axial direction of the second guiding roller 423 is perpendicular to the bottom wall of the slide rail groove 111, and the circumferential side of the second guiding roller 423 contacts the inner side wall of the slide rail groove 111.

[0132] In this embodiment, the first guiding roller 422 of the first pulley assembly 42 contacts the slide rail groove 111. When the stacker runs in the lane, rolling friction occurs between the first guiding roller 422 and the slide rail groove 111, which can effectively reduce the friction between the guiding module 4 and the guiding slide rail 110, thereby improving the problem of the lifting bracket 2 shaking caused by friction.

[0133] Moreover, when the stacker walks to an uneven area, the second guiding roller 423 can form rolling friction with the inner side wall of the slide rail groove 111, that is, when the stacker walks to a raised position on the ground, the second guiding roller 423 rolls on the lower surface in the slide rail groove 111; when the stacker walks to a sunken position on the ground, the second guiding roller 423 rolls on the upper surface in the slide rail groove 111. Thus, when the stacker walks in an uneven area, the friction between the guiding module 4 and the shelf 100 is reduced, further improving the problem of the lifting bracket 2 shaking caused by friction.

[0134] When the guiding module 4 has multiple roller assemblies such as the second pulley assembly 44 and the third pulley assembly, the structures of the second pulley assembly 44 and the third pulley assembly and other multiple roller assemblies are the same as the structure of the above-mentioned first pulley assembly 42, and will not be elaborated here too much.

[0135] In some implementations of the present application, such as Figure 3a , Figure 3b , Figure 3e and Figure 5As shown, on the first fixed plate 421, two horizontally extending plates 4211 facing the guiding slide rail 110 are respectively arranged at the top and bottom, forming a receiving groove; the first fixed plate 421, the first guiding roller 422 and the second guiding roller 423 are located in the receiving groove; the first pulley assembly 42 further includes: a slider 424 and two elastic members 425; the slider 424 is arranged in the receiving groove and is used to be embedded in the slide rail groove 111 and slidably connected thereto; the first guiding roller 422 is arranged at one end of the slider 424; the second guiding roller 423 is arranged at the other end of the slider 424; the two elastic members 425 are respectively arranged at both sides of the slider 424 perpendicular to the axial direction of the first pulley assembly 42; the other ends extend in the direction away from the slider 424 and are fixedly connected to the horizontally extending plates 4211 of the first fixed plate 421, so that the slider 424 is elastically connected to the first fixed plate 421.

[0136] In this embodiment, the slider 424 is elastically connected to the first fixed plate 421 through the elastic members 425 on the upper and lower sides, so that the slider 424 can float based on the undulation of the ground. The first guiding roller 422 and the second guiding roller 423 are respectively fixed to both ends of the slider 424 and can float with the slider 424. When the stacker runs on the uneven ground, both the first guiding roller 422 and the second guiding roller 423 can float relative to the first fixed plate 421.

[0137] Specifically, when the stacker runs to a position where the ground is convex, the elastic member 425 above the slider 424 is stretched, and the elastic member 425 below the slider 424 is compressed. At this time, the slider 424 moves downward relative to the first fixed plate 421.

[0138] When the stacker runs to a position where the ground is concave, the elastic member 425 above the slider 424 is compressed, and the elastic member 425 below the slider 424 is stretched. At this time, the slider 424 moves upward relative to the first fixed plate 421. In the above process, the slider 424 is always located between the horizontally extending plates on both the upper and lower sides of the first fixed plate 421 and moves relatively to the position of the first fixed plate 421. Thus, when the stacker walks on the uneven ground, the pressure generated between the guiding slide rail 110 and the guiding module 4 is effectively reduced, and the service life of the equipment is further improved.

[0139] In some implementations of the present application, such as Figure 3a 、 Figure 3b 、 Figure 3e and Figure 5As shown, the first pulley assembly 42 further includes: two limiting members 426; the two limiting members 426 are respectively arranged on opposite sides of two horizontal extension plates 4211 of the first fixing plate 421, and are used to limit the relative movement between the first pulley assembly 42 and the guiding slide rail 110 along the axial direction of the first guiding roller 422; there is a gap between each limiting member 426 and the slider 424; both side walls of the slide rail groove 111 can respectively extend into the gaps between the two limiting members 426 and the slider 424.

[0140] In this embodiment, limiting members 426 are respectively arranged on the upper and lower sides of the first fixing plate 421. Both side walls of the slide rail groove 111 respectively extend into the gaps between the two limiting members 426 and the slider 424. This effectively improves the derailment problem that occurs between the guiding module 4 and the guiding slide rail 110 due to the stacker walking on uneven ground.

[0141] In some implementations of the present application, as Figure 6a and Figure 6b shown, Figure 6a is a schematic structural diagram of the auxiliary power assembly, Figure 6b is Figure 6a a top view. The guiding module 4 further includes: at least one auxiliary power assembly 45; the auxiliary power assembly 45 includes: a friction wheel motor 451 and a friction wheel 452; the friction wheel motor 451 is fixedly installed on the fixed connection plate 43; the motor shaft of the friction wheel motor 451 passes through the center of the friction wheel 452 and is used to drive the friction wheel 452 to rotate; the friction wheel 452 is in rolling contact with the outer side wall of one side of the guiding slide rail 110 and is used to assist the guiding module 4 to slide on the guiding slide rail 110. The number of the auxiliary power assemblies 45 is two; the two auxiliary power assemblies 45 are respectively arranged on both sides of the guiding slide rail 110 perpendicular to the guiding module 4.

[0142] In this embodiment, referring to Figures 7a to 7e , Figure 7a is a schematic structural diagram of the cooperation between the guiding module with the auxiliary power assembly and the guiding slide rail, Figure 7b is Figure 7a a front view, Figure 7c is Figure 7a a rear view of the guiding module shown, Figure 7d is Figure 7a a top view, Figure 7e is Figure 7aLeft view. The auxiliary power assembly 45 is installed on the fixed connection plate 43 of the guiding module 4 and is in contact with the guiding slide rail 110. When the stacker runs in the aisle, the friction wheel motor 451 drives the friction wheel 452 to rotate, and a frictional force is generated between the friction wheel 452 and the outer side wall of the guiding slide rail 110, which can drive the guiding module 4 to move forward. The auxiliary power assembly 45 compensates for the moving speed of the guiding module 4. Under the action of the auxiliary power assembly 45, the guiding module 4 can overcome the frictional force between it and the guiding slide rail 110 and move at the same speed as the walking chassis 1. Thereby, the distance in the horizontal direction between the guiding module 4 and the walking chassis 1 is reduced, the shaking and tipping problems of the stacker are improved, and the high-altitude load of the stacker is further increased.

[0143] When the stacker has one auxiliary power assembly 45, the auxiliary power assembly 45 can be installed on the top of the fixed connection plate 43 so that the friction wheel 452 rolls in contact with the outer side wall at the top of the guiding slide rail 110; or, the auxiliary power assembly 45 can be installed on the bottom of the fixed connection plate 43 so that the friction wheel 452 rolls in contact with the outer side wall at the bottom of the guiding slide rail 110.

[0144] When the stacker has multiple auxiliary power assemblies 45, the auxiliary power assemblies 45 can be respectively installed on both sides of the fixed connection plate 43 so that the outer side walls at the top and bottom of the guiding slide rail 110 are both in rolling contact with the friction wheel 452, which can further ensure the running speed of the guiding module 4.

[0145] In some embodiments of the present application, as Figure 6a and Figure 6b shown, the auxiliary power assembly 45 further includes: a steering fixing member 453, a steering connection plate 454, and a buffer member 455; the bottom of the steering fixing member 453 is fixedly installed on the fixed connection plate 43, and the top is hinged to the steering connection plate 454; the steering connection plate 454 has inclined portions on both sides of the end hinged to the steering fixing member 453; the other end of the steering connection plate 454 is connected to the buffer member 455; the motor shaft of the friction wheel motor 451 passes through the second end of the steering connection plate 454 and is connected to the friction wheel 452.

[0146] In this embodiment, the auxiliary power assembly 45 is fixed to the fixed connection plate 43 through the steering fixing member 453, and the friction wheel motor 451 and the friction wheel 452 are fixed to the fixed connection plate 43. The fixed connection plate 43 can drive the friction wheel motor 451 and the friction wheel 452 to rotate around the steering fixing member 453. When the stacker walks on an uneven ground, a displacement occurs in the height direction between the guiding module 4 and the guiding slide rail 110. At this time, the auxiliary power assembly 45 can float up and down through the steering fixing member 453 so that the friction wheel 452 and the guiding slide rail 110 always remain in contact.

[0147] Specifically, when the stacker travels to a position with a ground protrusion, the guiding module 4 is displaced upward relative to the guiding slide rail 110, causing the guiding module 4 to be higher than the guiding slide rail 110. At this time, the auxiliary power assembly 45 drops and remains in contact with the guiding slide rail 110.

[0148] When the stacker travels to a position with a ground depression, the guiding module 4 is displaced downward relative to the guiding slide rail 110, causing the guiding module 4 to be lower than the guiding slide rail 110. At this time, the auxiliary power assembly 45 is lifted and remains in contact with the guiding slide rail 110.

[0149] In some embodiments of the present application, as Figure 6a and Figure 6b shown, the buffer member 455 includes: a buffer fixing plate 4551, a buffer fixing rod 4552, and a buffer spring 4553; the buffer fixing plate 4551 is fixedly connected to the steering connection plate 454; a through hole with a diameter larger than that of the buffer fixing rod 4552 is provided on the buffer fixing plate 4551; the buffer fixing rod 4552 passes through the through hole of the buffer fixing plate 4551 and is fixedly connected to the fixed connection plate 43; the buffer fixing rod 4552 has a spring blocking portion 4554 at the top for restricting the movement of the buffer spring 4553 along the length direction of the buffer fixing rod 4552; the buffer spring 4553 is sleeved on the buffer fixing rod 4552; the bottom of the buffer spring 4553 abuts against the buffer fixing plate 4551.

[0150] In this embodiment, when the guiding module 4 is displaced downward relative to the guiding slide rail 110, the fixed connection plate 43 drives the buffer fixing rod 4552 to move downward. At this time, the spring blocking portion 4554 at the top of the buffer fixing rod 4552 exerts a downward pressure on the buffer spring 4553. Under the action of the pressure, the buffer spring 4553 presses down the buffer fixing plate 4551, so that the friction wheel 452 presses the guiding slide rail 110, ensuring the friction force between the two and further improving the driving effect of the auxiliary power assembly 45.

[0151] In some embodiments of the present application, as Figure 8 shown, Figure 8Schematic structural diagram of the connection between the three-way head attachment and the fork for picking up goods. The picking and placing component 5 includes: a three-way head attachment 51 and a fork for picking up goods 52; the three-way head attachment 51 is respectively connected to the lifting component 3 and the fork for picking up goods 52, and is located on one side of the lifting bracket 2 along the moving direction of the traveling chassis 1; the three-way head attachment 51 is connected to the lifting component 3 on the side close to the lifting bracket 2 to perform lifting under the drive of the lifting component 3; the three-way head attachment 51 is connected to the fork for picking up goods 52 on the side far from the lifting bracket 2; the fork for picking up goods 52 can extend or retract along the direction towards the two-side shelves 100 of the stacker under the drive of the three-way head attachment 51 to pick up and place goods from the two-side shelves 100 of the stacker; or, extend towards the direction away from the lifting bracket 2 to place the goods on the ground.

[0152] In this embodiment, as Figures 9a to 9d shown, Figure 9a Schematic structural diagram of the stacker provided by the present application for picking up goods in the roadway. Figure 9b is Figure 9a Schematic structural diagram from another perspective. Figure 9c Schematic structural diagram of the stacker provided by the present application for placing goods on the ground. Figure 9d is Figure 9c Schematic structural diagram from another perspective. The fork for picking up goods 52 is fixedly installed on the three-way head attachment 51. When the three-way head attachment 51 is lifted by the lifting component 3 to the height where goods need to be picked up or placed on the shelf 100, under the action of the three-way head attachment 51, the fork for picking up goods 52 extends into the shelves 100 on both sides of the roadway to pick up and place goods. After picking up the goods, the fork for picking up goods 52 can be rotated by the three-way head attachment to the direction away from the lifting bracket 2 to place the goods on the ground.

[0153] Compared with the conventional stacker in the prior art, the fork for picking up goods 52 can be used to insert the cross-shaped pallet on the shelf 100. And, after picking up the goods, driven by the traveling chassis 1, the stacker can walk outside the roadway and place the goods on the ground outside the roadway through the fork for picking up goods 52, waiting for other handling equipment to transfer.

[0154] In some implementations of the present application, such as Figure 8As shown, the three-way head attachment 51 includes a side-shifting mechanism 511 and a rotating mechanism 512; the side-shifting mechanism 511 includes a side-shifting fixed plate 5111 and a side-shifting drive assembly 5112; one side of the side-shifting fixed plate 5111 facing the lifting bracket 2 is connected to the lifting assembly 3, and on the side away from the lifting bracket 2, the first end facing one side shelf 100 and the second end facing the other side shelf 100 are open; one end of the side-shifting drive assembly 5112 is meshed and connected to the side away from the lifting bracket 2 of the side-shifting fixed plate 5111, and the other end is fixedly connected to the rotating mechanism 512, and is used to drive the rotating mechanism 512 to move from the first end of the side-shifting fixed plate 5111 to the second end of the side-shifting fixed plate 5111; the rotating mechanism 512 has a rotating shaft 5121; the rotating shaft 5121 is fixedly connected to the fork 52 for picking up goods, and is used to drive the fork 52 for picking up goods to rotate.

[0155] In this embodiment, the side-shifting fixed plate 5111 includes a carriage, carriage rollers and a rack. An installation frame is fixedly installed on one side of the carriage. One end of the installation frame is embedded with carriage rollers, and the carriage rollers are used to connect the lifting assembly 3. Auxiliary sliding plates are arranged on the upper and lower end faces of the carriage. A horizontally arranged rack is fixedly installed on the other side of the carriage and close to the auxiliary sliding plate. Rotating frames are fixedly connected to the upper and lower ends on one side of the rotating mechanism 512. A connecting shaft is fixedly installed at a position of the rotating frame close to the rotating mechanism 512, and a rotating gear is movably sleeved on the connecting shaft. A support shaft is fixedly installed at a position of the rotating frame away from the rotating mechanism 512, and a plurality of main rotating frame rollers are movably sleeved on the support shaft. The plurality of main rotating frame rollers are rotatably installed on both sides of the auxiliary sliding plate, and a secondary rotating frame roller is movably arranged on the side wall of the rotating mechanism 512 above the bottom rotating frame. The main rotating frame rollers and the secondary rotating frame rollers play a role in stabilizing and supporting during the reciprocating movement of the rotating mechanism 512.

[0156] A side-shifting motor and a side-shifting speed reducer are fixedly installed inside the main body of the rotating frame. The transmission shaft of the side-shifting servo motor 9 is fixedly connected to the rotating shaft of the side-shifting speed reducer 10. A side-shifting gear is fixedly sleeved on the rotating shaft of the side-shifting speed reducer 10. The side-shifting gear is meshed with the rotating gear, and the rotating gear is meshed with the rack. When the side-shifting motor rotates forward or backward, power can be transmitted to the rotating gear through the side-shifting speed reducer and the side-shifting gear, and the rotating mechanism 512 can perform reciprocating movement through the rack.

[0157] A rotating shaft 5121 is movably sleeved on the other side of the rotating mechanism 512. A rotating gear is fixedly sleeved at the top of the rotating shaft 5121. A rotating speed reducer and a rotating motor are fixedly arranged inside the rotating mechanism 512 close to the rotating shaft 5121. The transmission shaft of the rotating motor is fixedly connected to the rotating shaft of the rotating speed reducer. When the rotating servo motor rotates forward or backward, power can be transmitted to the rotating shaft 5121. At the same time, the rotating shaft 5121 is connected to the fork 52 for picking up goods, and the fork 52 for picking up goods can perform reciprocating rotation.

[0158] In some embodiments of the present application, such as Figure 10a and Figure 10b shown, Figure 10a FIG. is a schematic structural diagram of a stacker provided by the present application with a telescopic fork, Figure 10b is a schematic structural diagram of the telescopic fork. The picking and placing component 5 includes: a telescopic bottom plate 53, two telescopic forks 54 and a telescopic motor 55; the telescopic bottom plate 53 is fixedly connected to the lifting component 3 and is located on one side of the lifting bracket 2 along the moving direction of the walking chassis 1; each telescopic fork 54 includes: a lower fork 541, a middle fork 542 and an upper fork 543; the lower fork 541 is fixedly installed above the telescopic bottom plate 53 and extends along a direction perpendicular to the moving direction of the walking chassis 1; the middle fork 542 and the upper fork 543 are slidably installed above the lower fork 541; a transmission rotating shaft 5411 is provided between the two lower forks 541 for driving the middle fork 542 and the upper fork 543 to extend and retract along the extending direction of the lower fork 541; the telescopic motor 55 is arranged between the two lower forks 541 and is in transmission connection with the transmission rotating shaft 5411 for driving the transmission rotating shaft 5411 to rotate.

[0159] In this embodiment, the picking and placing component 5 can use a common telescopic fork 54 to pick and place goods, and the telescopic fork 54 can be selected as a standard part. Specifically, the telescopic motor 55 drives the transmission rotating shaft 5411 between the two lower forks 541 to rotate. Gears (not shown in the figure) are respectively installed at both ends of the transmission rotating shaft 5411, and racks (not shown in the figure) are installed on the two middle forks 542. Through the cooperation of the gears and the racks, the transmission rotating shaft 5411 can drive the middle fork 542 and the upper fork 543 to extend along the length direction of the lower fork 541 under the drive of the telescopic motor 55, so as to realize the picking of goods. Between the middle fork 542 and the upper fork 543, they can be cooperated through a sprocket and a chain (not shown in the figure), so that the upper fork 543 can extend or retract along the telescopic guide grooves 5421 on both sides of the middle fork 542.

[0160] Among them, the telescopic motor 55 can control the extending direction of the telescopic fork 54 through forward rotation and reverse rotation. For example, when the telescopic motor 55 rotates forward, the telescopic fork 54 extends towards the shelf 100 on the left side of the stacker. When the telescopic motor 55 rotates in reverse, the telescopic fork 54 extends towards the shelf 100 on the right side of the stacker. Further, the upper fork 543 can extend along the telescopic guide grooves 5421 on both sides of the middle fork 542. At the same time, the telescopic bottom plate 53 can drive the lower fork 541, the middle fork 542, the upper fork 543 and the telescopic motor 55 to lift to the corresponding position of the goods to be picked and placed on the shelf 100 under the drive of the lifting component 3.

[0161] In actual production, the telescopic fork 54 may have a lower fork 541, a middle fork 542, and an upper fork 543. It is also possible to select multi-stage telescopic forks with different numbers of stages according to actual needs, as long as the telescopic and picking operations of the telescopic fork 54 can be achieved.

[0162] In some embodiments of the present application, as Figures 1a to 1i shown, the lifting bracket 2 includes a lifting column 21, and the lifting assembly 3 includes a lifting motor 31, a lifting synchronous belt 32, and a lifting pulley 33. The lifting motor 31 is fixedly installed on the top of the traveling chassis 1. The pulley 33 is arranged on one side of the top of the lifting column 21 close to the shelf 100. The lifting synchronous belt 32 is wound around the lifting motor 31 of this set of lifting assemblies 3. The lifting synchronous belt 32 is wound around the lifting column 21 in the height direction. The lifting synchronous belt 32 at the top of the lifting column 21 is slidably connected to the pulley 33. Each lifting synchronous belt 32 is fixedly connected to one side of the picking and placing component 5 close to the lifting column 21. See Figure 11 , Figure 11 is a schematic structural diagram of the first sub-lifting column and the second sub-lifting column. The lifting column 21 includes a first sub-lifting column 211 and a second sub-lifting column 212. The bottom of the first sub-lifting column 211 is fixedly connected to the traveling chassis 1, and the top of the first sub-lifting column 211 has a first mounting portion 2111. The bottom of the second sub-lifting column 212 has a second mounting portion 2121 that cooperates with the first mounting portion 2111. The pulley 33 is installed on the top of the second sub-lifting column 212. The first sub-lifting column 211 and the second sub-lifting column 212 are fixedly connected through the first mounting portion 2111 and the second mounting portion 2121.

[0163] In this embodiment, the lifting column 21 is used as the lifting bracket 2. The lifting column 21 is divided into a detachable first sub-lifting column 211 and a second sub-lifting column 212, forming a split structure. The first sub-lifting column 211 and the second sub-lifting column 212 can be fixed by pin control positioning or by screws. The split first sub-lifting column 211 and second sub-lifting column 212 are more convenient for transportation.

[0164] The lifting synchronous belt 32 is wound around the lifting column 21 and slides through the pulley 33 arranged at the top of the lifting column 21. Under the action of the lifting motor 31, the lifting synchronous belt 32 can lift the picking and placing component 5 installed thereon to the height required for picking and placing goods.

[0165] In actual use, according to needs, the lifting column 21 can also be split into more sub-lifting columns to make the transportation process more convenient.

[0166] In some embodiments of the present application, as Figure 12As shown in the figure, the lifting support 2 includes: a lifting gantry 22; the lifting gantry 22 includes: an inner gantry 221 and an outer gantry 222; the inner gantry 221 is slidably installed inside the outer gantry 222 and can extend out of the outer gantry 222 in the height direction; the lifting assembly 3 includes: a lifting motor 31, a lifting synchronous belt 32 and a lifting pulley 33; the lifting motor 31 is fixedly installed on the top of the traveling chassis 1; the pulley 33 is arranged on one side of the top of the inner gantry 221 close to the goods shelf 100; the lifting synchronous belt 32 is wound around the lifting motor 31 of this group of lifting assemblies 3; the lifting synchronous belt 32 is wound around the lifting gantry 22 in the height direction; the lifting synchronous belt 32 located at the top of the inner gantry 221 is slidably connected to the pulley 33; each lifting synchronous belt 32 is fixedly connected to one side of the picking and placing component 5 close to the lifting gantry 22.

[0167] In this embodiment, the lifting gantry 22 is used as the lifting support 2. Through the nested arrangement between the inner gantry 221 and the outer gantry 222, the stacker can adjust the height of the lifting gantry 22 according to the working needs. When the work stops, the inner gantry 221 retracts inside the outer gantry 222. At this time, the height of the lifting gantry 22 is reduced, further reducing the overall height of the stacker, improving the stability, and being easy to transport at the same time. When working, the inner gantry 221 extends out of the outer gantry 222 to pick and place goods at high places.

[0168] In the foregoing embodiment, the number of the lifting assemblies 3 is two; the two lifting assemblies 3 are respectively installed on both sides of the lifting support 2 facing the goods shelves 100 on both sides of the roadway.

[0169] In some implementations of the present application, as Figure 2c shown, the traveling wheel assembly 11 includes: a first differential drive wheel 1110, a second differential drive wheel 1120 and an electric steering wheel 1130; the electric steering wheel 1130 is located at the front end of the traveling chassis 1 along the traveling direction and is used to provide a guiding function for the traveling of the traveling chassis 1; the first differential drive wheel 1110 and the second differential drive wheel 1120 are located at the rear end of the traveling chassis 1 along the traveling direction and are used to drive the traveling chassis 1 to travel and turn; the first differential drive wheel 1110 and the second differential drive wheel 1120 are not coaxially arranged.

[0170] In this embodiment, the non-coaxial first differential drive wheel 1110 and second differential drive wheel 1120 can avoid mutual interference between the first differential drive wheel 1110 and the second differential drive wheel 1120 during differential rotation, thereby improving the problem that the traveling chassis 1 cannot travel.

[0171] In actual use, different traveling chassis such as differential form, omnidirectional form and Ackerman chassis can be adopted according to actual situations.

[0172] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the said element.

[0173] Each embodiment in this specification is described in a related manner. For the same and similar parts between the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for the relevant parts, reference can be made to the partial description of the method embodiment.

[0174] The above are only the preferred embodiments of the present application and are not intended to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application are all included in the protection scope of the present application.

Claims

1. A stacker, characterized in that, Including: A walking chassis (1), a lifting bracket (2), a lifting assembly (3), a guiding module (4), and a goods picking and placing assembly (5); The lifting bracket (2) is arranged on the top of the walking chassis (1); The lifting assembly (3) is installed on the lifting bracket (2) and is used to drive the goods picking and placing assembly (5) to move up and down in the height direction; The goods picking and placing assembly (5) is connected to the lifting assembly (3) and is used to pick and place goods on the shelves (100) on both sides of the roadway; The guiding module (4) is installed on the side of the lifting bracket (2) facing the shelves (100) on both sides of the roadway; the first end of the guiding module (4) is fixedly connected to the lifting bracket (2), and the second end of the guiding module (4) is slidably connected to the shelf (100) in the horizontal direction; the guiding module (4) has a preset height relative to the walking chassis (1) and is used to support the lifting bracket (2) by means of the shelf (100); The walking chassis (1) is used to drive the entire stacker to freely walk inside and outside different roadways by means of the walking wheel assembly (11) at the bottom of the walking chassis (1).

2. The stacker according to claim 1, characterized in that, The number of the guiding modules (4) is at least two; the at least two guiding modules (4) are respectively installed on both sides of the lifting bracket (2) facing the shelves (100) on both sides of the roadway; the first end of each guiding module (4) is fixedly connected to the lifting bracket (2), and the second end of each guiding module (4) is slidably connected to the shelf (100) in the horizontal direction.

3. The stacker according to claim 1, characterized in that, A guiding slide rail (110) arranged along the length direction of the roadway is provided at a position on the shelf (100) corresponding to the height of the guiding module (4); The guiding module (4) includes: a protruding bracket (41) and a first pulley assembly (42); The first end of the protruding bracket (41) is fixedly connected to the lifting bracket (2), and the second end of the protruding bracket (41) extends from the outside of the lifting bracket (2) towards the shelves (100) on both sides of the roadway; The first pulley assembly (42) is installed at the second end of the protruding bracket (41) to cooperate with the guiding slide rail (110) on the shelf (100) so that the first pulley assembly (42) can slide along the length direction of the guiding slide rail (110).

4. The stacker according to claim 3, characterized in that, The guiding slide rail (110) has a slide rail groove (111); the opening direction of the slide rail groove (111) faces the guiding module (4); The first pulley assembly (42) includes: a first fixing plate (421), a first guiding roller (422), and a second guiding roller (423); The first fixing plate (421) is parallel to the bottom of the slide rail groove (111); The first guiding roller (422) is arranged at one end of the first fixing plate (421); the axial direction of the first guiding roller (422) is perpendicular to the two side walls of the slide rail groove (111), and the circumferential side of the first guiding roller (422) contacts the bottom wall of the slide rail groove (111); The second guiding roller (423) is arranged at the other end of the first fixing plate (421); the axial direction of the second guiding roller (423) is perpendicular to the bottom wall of the slide rail groove (111), and the circumferential side of the second guiding roller (423) is in contact with the inner side wall of the slide rail groove (111).

5. The stacker according to claim 4, characterized in that, On the first fixing plate (421), two horizontally extending plates (4211) facing the guiding slide rail (110) are respectively arranged at the top and the bottom, forming a receiving groove; the first fixing plate (421), the first guiding roller (422) and the second guiding roller (423) are located in the receiving groove; The first pulley assembly (42) further includes: a slider (424) and two elastic members (425); The slider (424) is arranged in the receiving groove and is used for being embedded into the slide rail groove (111) and being slidably connected thereto; The first guiding roller (422) is arranged at one end of the slider (424); the second guiding roller (423) is arranged at the other end of the slider (424); One ends of the two elastic members (425) are respectively arranged on two sides of the slider (424) perpendicular to the axial direction of the first pulley assembly (42); the other ends extend in a direction away from the slider (424) and are fixedly connected to the horizontally extending plates (4211) of the first fixing plate (421), so that the slider (424) is elastically connected to the first fixing plate (421).

6. The stacker according to claim 5, characterized in that, The first pulley assembly (42) further includes: two limiting members (426); The two limiting members (426) are respectively arranged on opposite sides of the two horizontally extending plates (4211) of the first fixing plate (421) and are used for restricting the relative movement between the first pulley assembly (42) and the guiding slide rail (110) in the axial direction of the first guiding roller (422); There is a gap between each limiting member (426) and the slider (424); both side walls of the slide rail groove (111) can respectively extend into the gaps between the two limiting members (426) and the slider (424).

7. The stacker according to claim 4, characterized in that, The guiding module (4) further includes: a fixed connecting plate (43) and a second pulley assembly (44); The structure of the second pulley assembly (44) is the same as the structure of the first pulley assembly (42); One end of the fixed connecting plate (43) is fixedly connected to the first fixing plate (421) of the first pulley assembly (42), and the other end is fixedly connected to the second fixing plate (441) of the second pulley assembly (44); on the side of the fixed connecting plate (43) away from the shelf (100), it is fixedly connected to the second end of the protruding bracket (41).

8. The stacker according to claim 7, characterized in that, The guiding module (4) further includes: at least one auxiliary power assembly (45); The auxiliary power assembly (45) includes: a friction wheel motor (451) and a friction wheel (452); the friction wheel motor (451) is fixedly installed on a fixed connection plate (43); the motor shaft of the friction wheel motor (451) passes through the center of the friction wheel (452) for driving the friction wheel (452) to rotate; The friction wheel (452) is in rolling contact with the outer side wall of one side of the guide rail (110) for assisting the guide module (4) to slide on the guide rail (110).

9. The stacker according to claim 8, characterized in that, The auxiliary power assembly (45) further includes: a steering fixing member (453), a steering connection plate (454) and a buffer member (455); The bottom of the steering fixing member (453) is fixedly installed on the fixed connection plate (43), and the top is hinged to the steering connection plate (454); The two sides of the steering connection plate (454) where it is hinged to the steering fixing member (453) have inclined portions; the other end of the steering connection plate (454) is connected to the buffer member (455); The motor shaft of the friction wheel motor (451) passes through the second end of the steering connection plate (454) and is connected to the friction wheel (452).

10. The stacker according to claim 9, characterized in that, The buffer member (455) includes: a buffer fixing plate (4551), a buffer fixing rod (4552) and a buffer spring (4553); The buffer fixing plate (4551) is fixedly connected to the steering connection plate (454); a through hole with a diameter larger than the diameter of the buffer fixing rod (4552) is provided on the buffer fixing plate (4551); the buffer fixing rod (4552) passes through the through hole of the buffer fixing plate (4551) and is fixedly connected to the fixed connection plate (43); the top of the buffer fixing rod (4552) has a spring blocking portion (4554) for restricting the movement of the buffer spring (4553) along the length direction of the buffer fixing rod (4552); the buffer spring (4553) is sleeved on the buffer fixing rod (4552); the bottom of the buffer spring (4553) abuts against the buffer fixing plate (4551).

11. The stacker according to claim 1, characterized in that, The goods picking and placing assembly (5) includes: a three-way head attachment (51) and a fork for picking goods (52); The three-way head attachment (51) is respectively connected to the lifting assembly (3) and the fork for picking goods (52), and is located on one side of the lifting bracket (2) along the moving direction of the traveling chassis (1); One side of the three-way head attachment (51) close to the lifting bracket (2) is connected to the lifting assembly (3) to perform lifting under the drive of the lifting assembly (3); the side of the three-way head attachment (51) far from the lifting bracket (2) is connected to the fork for picking goods (52); The fork for picking goods (52) can extend or retract in the direction towards the two-side shelves (100) of the stacker under the drive of the three-way head attachment (51) to pick and place goods from the two-side shelves (100) of the stacker; or extend in the direction away from the lifting bracket (2) to place the goods on the ground.

12. The stacker according to claim 11, characterized in that, The three-way head attachment (51) comprises: a lateral shift mechanism (511) and a rotation mechanism (512); The lateral shift mechanism (511) comprises: a lateral shift fixing plate (5111) and a lateral shift driving assembly (5112); The side shift fixing plate (5111) is connected to the lifting assembly (3) on a side facing the lifting bracket (2), and is opened on a side away from the lifting bracket (2) with a first end facing the shelf (100) on one side and a second end facing the shelf (100) on the other side; The side shift driving assembly (5112) has one end meshingly connected with a side of the side shift fixing plate (5111) away from the lifting bracket (2), and the other end fixedly connected with the rotating mechanism (512), and is used to drive the rotating mechanism (512) to move from the first end of the side shift fixing plate (5111) to the second end of the side shift fixing plate (5111); The rotating mechanism (512) has a rotating shaft (5121); the rotating shaft (5121) is fixedly connected to the fork-picking fork (52) and is used to drive the fork-picking fork (52) to rotate.

13. The stacker according to claim 1, characterized in that, The cargo pick-up and placement assembly (5) comprises: a telescopic base plate (53), two telescopic cargo forks (54) and a telescopic motor (55); the telescopic base plate (53) is fixedly connected to the lifting assembly (3) and is located on one side of the lifting bracket (2) along the moving direction of the walking chassis (1); Each of the telescopic forks (54) comprises: a lower fork (541), a middle fork (542) and an upper fork (543); the lower fork (541) is fixedly mounted above the telescopic base plate (53) and extends in a direction perpendicular to the movement of the walking chassis (1); the middle fork (542) and the upper fork (543) are slidably mounted above the lower fork (541); a transmission shaft (5411) is provided between the two lower forks (541) for driving the middle fork (542) and the upper fork (543) to telescope along the extension direction of the lower fork (541); The telescopic motor (55) is disposed between the two lower forks (541) and is in transmission connection with the transmission shaft (5411) for driving the transmission shaft (5411) to rotate.

14. The stacker according to claim 1, characterized in that, The lifting bracket (2) comprises: a lifting column (21), The lifting assembly (3) comprises: a lifting motor (31), a lifting synchronous belt (32) and a lifting pulley (33); The lifting motor (31) is fixedly mounted on the top of the walking chassis (1); The pulley (33) is arranged on a side of the top of the lifting column (21) close to the shelf (100); The lifting synchronous belt (32) is wound around the lifting motor (31) of the lifting assembly (3); the lifting synchronous belt (32) is wound around the lifting column (21) in the height direction; the lifting synchronous belt (32) located at the top of the lifting column (21) is slidably connected to the pulley (33); Each of the lifting synchronous belts (32) is fixedly connected to a side of the cargo picking and placing assembly (5) close to the lifting column (21).

15. The stacker according to claim 14, characterized in that, The lifting column (21) includes: a first sub-lifting column (211) and a second sub-lifting column (212); the bottom of the first sub-lifting column (211) is fixedly connected to the traveling chassis (1), and the top of the first sub-lifting column (211) has a first mounting portion (2111); the bottom of the second sub-lifting column (212) has a second mounting portion (2121) that cooperates with the first mounting portion (2111); the pulley (33) is installed at the top of the second sub-lifting column (212). The first sub-lifting column (211) and the second sub-lifting column (212) are fixedly connected through the first mounting portion (2111) and the second mounting portion (2121).

16. The stacker according to claim 1, characterized in that, The lifting bracket (2) includes: a lifting gantry (22); the lifting gantry (22) includes: an inner gantry (221) and an outer gantry (222); the inner gantry (221) is slidably installed inside the outer gantry (222) and can extend out of the outer gantry (222) in the height direction. The lifting assembly (3) includes: a lifting motor (31), a lifting synchronous belt (32), and a lifting pulley (33). The lifting motor (31) is fixedly installed on the top of the traveling chassis (1). The pulley (33) is arranged on one side of the top of the inner gantry (221) close to the shelf (100). The lifting synchronous belt (32) is wound around the lifting motor (31) of the set of lifting assemblies (3); the lifting synchronous belt (32) is wound around the lifting gantry (22) in the height direction; the lifting synchronous belt (32) located at the top of the inner gantry (221) is slidably connected to the pulley (33). Each lifting synchronous belt (32) is fixedly connected to one side of the picking and placing component (5) close to the lifting gantry (22).

17. The stacker according to claim 1, characterized in that, The traveling wheel assembly (11) includes: a first differential drive wheel (1110), a second differential drive wheel (1120), and an electric steering wheel (1130); the electric steering wheel (1130) is located at the front end of the traveling chassis (1) along the traveling direction and is used to provide a guiding function for the traveling of the traveling chassis (1); the first differential drive wheel (1110) and the second differential drive wheel (1120) are located at the rear end of the traveling chassis (1) along the traveling direction and are used to drive the traveling chassis (1) to travel and turn. The first differential drive wheel (1110) and the second differential drive wheel (1120) are arranged non-coaxially.

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