A stacker

Abstract

The present invention provides a stacker crane, which relates to the field of intelligent warehousing technology. The stacker crane comprises: a traveling chassis, a lifting bracket, a lifting assembly, a guide module, and a pick-and-place assembly; the lifting bracket is arranged on the top of the traveling chassis; the lifting assembly is mounted on the lifting bracket and is used to drive the pick-and-place assembly to move up and down in the height direction; the pick-and-place assembly is used to pick up and place goods on the shelves on both sides of the aisle; the guide module is mounted on the side of the lifting bracket facing the shelves on both sides of the aisle; the first end of the guide module is fixedly connected to the lifting bracket, and the second end of the guide module is slidably connected to the shelf in the horizontal direction; the side of the lifting bracket on which the guide module is mounted is the guide module installation side; the traveling chassis is used to use the traveling wheel assembly at the bottom of the traveling chassis to drive the stacker crane to move freely in and outside different aisles.

Description

Technical Field

[0001] The present application relates to the field of intelligent warehousing technology, and in particular to a stacker. Background Art

[0002] Currently, common aisle-mounted stackers include single-column and dual-column stackers. For a stacker to operate between aisles, it requires pre-installed ceiling rails and floor rails. The floor rails provide a path for the stacker to travel, while the ceiling rails ensure the stacker's high-altitude load capacity and prevent the lifting frame from swaying or tipping. During operation, the stacker's lifting frame must move along the pre-set path of the ceiling and floor rails.

[0003] However, since the overhead rails and floor rails are pre-installed and fixed inside the warehouse, the stacker crane's travel path is relatively simple and it is unable to transport goods outside the aisle. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a stacker that can transport goods in narrow lanes, enable the stacker to move and transport goods freely between different lanes, and be able to place goods directly on the ground outside the lanes. The specific technical solution is as follows:

[0005] The embodiment of the present application provides a stacker crane, which includes: a walking chassis, a lifting bracket, a lifting component, a guide module and a picking and placing component;

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

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

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

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

[0010] The walking chassis is used to drive the stacker crane as a whole to move freely in and outside different lanes by utilizing the walking wheel assembly at the bottom of the walking chassis.

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

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

[0013] The guide module includes: an extension bracket and a first pulley assembly;

[0014] The first end of the extending bracket is fixedly connected to the lifting bracket, and the second end of the extending bracket extends from the outside of the lifting bracket toward the shelves located on both sides of the lane;

[0015] The first pulley assembly is mounted on the second end of the extended bracket to cooperate with the guide rail on the shelf so that the first pulley assembly can slide along the length direction of the guide rail.

[0016] In some embodiments of the present application, the guide rail has a rail groove; the opening direction of the rail groove is toward the guide module;

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

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

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

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

[0021] In some embodiments of the present application, the first fixing plate is provided with two horizontally extending plates facing the guide rail at the top and bottom, respectively, to form an accommodating groove; the first fixing plate, the first guide roller and the second guide roller are located in the accommodating groove;

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

[0023] The slider is arranged in the accommodating groove, and is used to be embedded in the slide rail groove and slidably connected thereto;

[0024] The first guide roller is arranged at one end of the slider; the second guide roller is arranged at the other end of the slider;

[0025] The two elastic members each have one end disposed on both 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 fixed plate, so that the slider is elastically connected to the first fixed 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 provided on opposite sides of the two horizontal extension plates of the first fixed plate, and are used to limit the relative movement between the first pulley assembly and the guide rail along the axial direction of the first guide roller;

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

[0029] In some embodiments of the present application, the guide module further includes: a fixed connecting plate and a second pulley assembly;

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

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

[0032] In some embodiments of the present application, the guidance 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 mounted on a fixed connecting plate; the motor shaft of the friction wheel motor passes through the axis of the friction wheel and is used to drive the friction wheel to rotate;

[0034] The friction wheel is in rolling contact with the outer side of a side wall of the guide rail, and is used to assist the guide module in sliding with the guide rail.

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

[0036] A steering fixing member, the bottom of which is fixedly mounted on the fixed connecting plate and the top of which is hinged to the steering connecting plate;

[0037] The steering connecting plate has inclined portions on both sides of one end hinged to the steering fixing member; the other end of the steering connecting plate is connected to the buffer member;

[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 member 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 is passed through the buffer fixing plate and is fixedly connected to the fixed connecting plate; the buffer fixing rod has a spring blocking portion at the top for limiting 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 cargo pickup and placement assembly includes: a three-way head attachment and a fork pickup fork;

[0042] The three-way head attachment is connected to the lifting assembly and the fork pick-up fork respectively, and is located on one side of the lifting bracket along the moving direction of the walking chassis;

[0043] The three-way head attachment is connected to the lifting assembly on one side close to the lifting bracket so as to be lifted and lowered by the lifting assembly; the three-way head attachment is connected to the fork pick-up fork on one side away from the lifting bracket;

[0044] Driven by the three-way head attachment, the fork picking fork can extend or retract in the direction toward the shelves on both sides of the stacker to pick up and place goods from the shelves on both sides of the stacker; or extend in 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 head attachment includes: a side shift mechanism and a rotation mechanism;

[0046] The side shift mechanism comprises: a side shift fixing plate and a side shift driving assembly;

[0047] The side shift fixing plate is connected to the lifting assembly on a side facing the lifting bracket, and is opened on a side away from the lifting bracket, with a first end facing one side shelf and a second end facing the other side shelf;

[0048] The side shift drive assembly has one end engaged with a side of the side shift fixing plate away from the lifting bracket, and the other end fixedly connected to the rotating mechanism, 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 picking fork and is used to drive the fork picking fork to rotate.

[0050] In some embodiments of the present application, the cargo pick-up and placement assembly includes: a telescopic base, two telescopic forks, and a telescopic motor; the telescopic base is fixedly connected to the lifting assembly and is located on one side of the lifting bracket along the moving direction of the walking chassis;

[0051] Each of the telescopic forks comprises a lower fork, a middle fork and an upper fork; the lower fork is fixedly mounted above the telescopic base and extends in a direction perpendicular to the movement of the walking chassis; the middle fork and the upper fork are slidably mounted above the lower fork; a transmission shaft is provided between the two lower forks for driving the middle fork and the upper fork to extend and retract 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 shaft for driving the transmission shaft to rotate.

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

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

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

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

[0057] The lifting synchronous belt is wound around the lifting motor of the lifting assembly; the lifting synchronous belt is wound around the lifting column in the height direction; the lifting synchronous belt located at the top of the lifting column is slidably connected to the lifting 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 lifting pulley is installed on the top of the second sub-lifting column;

[0060] The first sub-lifting column and the second sub-lifting column are fixedly connected by 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 mounted on the inner side of the outer gantry and can extend out of the outer gantry in a height direction;

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

[0063] The lifting motor is fixedly mounted on the top of the walking chassis;

[0064] The lifting pulley is arranged on the top of the inner door frame near the side of the shelf;

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

[0066] Each lifting synchronous belt is fixedly connected to a side of the cargo picking and placing assembly close to the lifting door frame.

[0067] In some embodiments of the present application, the travel 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 travel chassis along the travel direction, and is used to provide guidance for the travel of the travel chassis; the first differential drive wheel and the second differential drive wheel are located at the rear end of the travel chassis along the travel direction, and are used to drive the travel chassis to travel and steer;

[0068] The first differential drive wheel and the second differential drive wheel are non-coaxially arranged.

[0069] Beneficial effects of the embodiments of the present application:

[0070] The stacker provided in an embodiment of the present application has its lifting bracket mounted on top of a traveling chassis, enabling the stacker to move freely under the chassis's power. This allows the stacker to freely switch between lanes and transport goods as needed. After the stacker has retrieved goods, the traveling chassis drives the stacker to exit the lane, dropping the goods onto the ground outside the lane to await transfer by other transport equipment. Due to the small size of the traveling chassis, the stacker can enter narrow lanes and retrieve and place goods on shelves in these lanes. The elimination of overhead and floor rails effectively reduces the stacker's footprint. Guide modules are also provided on both sides of the lifting bracket, near the shelves. During transport within the lane, the first ends of the guide modules slide into contact with the shelves, providing support for the lifting brackets. This allows the stacker to handle larger loads at height and reduces the risk of the stacker swaying or tipping. A lifting assembly raises and lowers the loading and unloading assembly to the corresponding shelf height to facilitate access.

[0071] Of course, it is not necessary to achieve all the advantages described above at the same time when implementing any product or method of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0073] Figure 1a This is a schematic diagram of the structure of the stacker provided by the present application, in which the fork pick-up fork extends in a direction away from the lifting bracket;

[0074] Figure 1b This is a schematic diagram of the structure of the stacker provided by the present application, wherein the fork picking fork is retracted in a direction away from the shelves on both sides of the stacker;

[0075] Figure 1c for Figure 1a Exploded view of;

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

[0077] Figure 1e for Figure 1a The main view;

[0078] Figure 1f for Figure 1a Left view of;

[0079] Figure 1g for Figure 1a Right view of;

[0080] Figure 1h for Figure 1a The schematic diagram of the structure of the stacker crane shown is when the guide module and the lifting pulley are not installed;

[0081] Figure 1i for Figure 1b Side view of;

[0082] Figure 2a A schematic diagram of the structure of the stacker provided for this application located in the tunnel;

[0083] Figure 2b for Figure 2a Structural diagram from another perspective;

[0084] Figure 2c This is a bottom view of the walking chassis;

[0085] Figure 2d for Figure 1d Cross-sectional view in the AA direction;

[0086] Figure 3a The schematic diagram of the structure of the guidance module;

[0087] Figure 3b for Figure 3a The main view;

[0088] Figure 3c for Figure 3a a rear view of the guide module shown;

[0089] Figure 3d for Figure 3a A top view of

[0090] Figure 3e for Figure 3a Exploded view of;

[0091] Figure 4a for Figure 3a The schematic diagram of the structure of the guide module and the guide rail;

[0092] Figure 4b for Figure 4a A top view of

[0093] Figure 4c for Figure 4a Rear view;

[0094] Figure 4d for Figure 4a Left view of;

[0095] Figure 4e for Figure 4a Cross-sectional view in the middle BB direction;

[0096] Figure 5 for Figure 3a Exploded view of the M1;

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

[0098] Figure 6b for Figure 6a A top view of

[0099] Figure 7a It is a structural diagram of the cooperation between the guide module with the auxiliary power assembly and the guide rail;

[0100] Figure 7b for Figure 7a The main view;

[0101] Figure 7c for Figure 7a a rear view of the guide module shown;

[0102] Figure 7d for Figure 7a A top view of

[0103] Figure 7e for Figure 7a Left view of;

[0104] Figure 8 This is a schematic diagram of the structure connecting the three-way head attachment and the fork pick-up fork;

[0105] Figure 9a A schematic diagram of the structure of the stacker provided for this application located in the aisle to fork-pick up goods;

[0106] Figure 9b for Figure 9a Structural diagram from another perspective;

[0107] Figure 9c A schematic diagram of the structure of the stacker provided for this application for placing goods on the ground;

[0108] Figure 9d for Figure 9c Structural diagram from another perspective;

[0109] Figure 10a A schematic diagram of the structure of the stacker provided for this application having a telescopic fork;

[0110] Figure 10b Schematic diagram of the structure of the telescopic fork;

[0111] Figure 11 This is a schematic diagram of the structure of the first sub-lifting column and the second sub-lifting column;

[0112] Figure 12This is a structural diagram of the lifting mast.

[0113] Reference numerals:

[0114] Travel chassis 1, travel 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] Guide module 4, extending bracket 41, first pulley assembly 42, first fixing plate 421, first guide roller 422, second guide roller 423, slider 424, elastic member 425, limit 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] Pick-up and place assembly 5, three-way head attachment 51, side shift mechanism 511, side shift fixing plate 5111, side shift drive assembly 5112, rotation mechanism 512, rotation shaft 5121, fork pick-up fork 52, telescopic base plate 53, telescopic fork 54, lower fork 541, transmission shaft 5411, middle fork 542, telescopic guide groove 5421, upper fork 543, telescopic motor 55;

[0119] Shelf 100 , guide rail 110 , and rail groove 111 . DETAILED DESCRIPTION

[0120] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of this application.

[0121] Most stacker cranes in the prior art are limited to transporting within a single aisle and are unable to operate in other aisles or transport cargo in other aisles. Some stacker cranes with aisle-switching capabilities require a circular track between adjacent aisles, allowing the stacker crane to travel along the track to other aisles. However, due to the limited shape of the track, the stacker crane can only operate along the track's pre-set circular path and cannot move freely between aisles to meet transport needs. Their operating path remains monotonous, making them incapable of handling complex transport operations.

[0122] Furthermore, the overhead and floor rails within the lanes, as well as the circular rails between lanes, occupy a large area and are difficult to arrange inside narrow lanes. The installation of overhead, floor, and circular rails also makes the equipment cost too high.

[0123] In order to solve the above problems, the present application provides a stacker, such as Figures 1a to 1d As shown, Figure 1a This is a schematic diagram of the structure of the stacker provided by this application in which the fork pick-up fork extends in a direction away from the lifting bracket. Figure 1b This is a schematic diagram of the structure of the stacker provided by this application where the fork pick-up fork is retracted in a direction away from the shelves on both sides of the stacker. Figure 1c for Figure 1a Exploded view of Figure 1d for Figure 1a The stacker is shown in the rear view. The stacker comprises: a traveling chassis 1, a lifting bracket 2, a lifting assembly 3, a guide module 4 and a pick-up and place assembly 5; the lifting bracket 2 is arranged on the top of the traveling chassis 1; the lifting assembly 3 is mounted on the lifting bracket 2 and is used to drive the pick-up and place assembly 5 to move up and down in the height direction; the pick-up and place assembly 5 is connected to the lifting assembly 3 and is used to pick up and place goods on the shelves 100 on both sides of the aisle; the guide module 4 is mounted on the side of the lifting bracket 2 facing the shelves 100 on both sides of the aisle; the first end of the guide module 4 is fixedly connected to the lifting bracket 2, and the second end of the guide module 4 is slidably connected to the shelf 100 in the horizontal direction; the guide module 4 has a preset height relative to the traveling chassis 1 and is used to support the lifting bracket 2 with the help of the shelf 100; as shown in FIG. Figure 2c As shown, Figure 2c The traveling chassis 1 is used to drive the stacker crane to move freely in and outside different lanes by utilizing the traveling wheel assembly 11 at the bottom of the traveling chassis 1.

[0124] In this embodiment, Figures 1e to 2d As shown, Figure 1e for Figure 1a The main view, Figure 1f for Figure 1a Left view of Figure 1g for Figure 1a Right view, Figure 1h for Figure 1a The structure diagram of the stacker crane shown is when the guide module and lifting pulley are not installed. Figure 1i for Figure 1b Side view of Figure 2a The schematic diagram of the stacker provided in this application is located in the tunnel. Figure 2b for Figure 2a Structural diagram from another perspective, Figure 2d for Figure 1b Cross-sectional view along the AA direction. The stacker's lifting bracket 2 is installed on the top of the walking chassis 1, so that the stacker as a whole can move freely under the drive of the walking chassis 1, and can realize free switching and transportation between different lanes of the stacker according to transportation needs. When the stacker has finished picking up the goods, the stacker can leave the lane under the drive of the walking chassis 1, transport the goods to the outside of the lane, and wait for other transportation equipment to transfer them. Since the walking chassis 1 is small in size, the stacker can enter the narrow lane and pick up and place the goods on the narrow lane shelves 100. The setting of the overhead rail and the ground rail is cancelled, which effectively reduces the footprint of the stacker. At the same time, a guide module 4 is set on both sides of the lifting bracket 2 near the shelf 100. During the transportation of the stacker in the lane, the first end of the guide module 4 is slidably connected to the shelf 100, which can provide support for the lifting bracket 2, so that the stacker has a larger high-altitude load during transportation and improves the shaking and tipping problems of the stacker. The lifting assembly 3 can lift the picking and placing assembly 5 to a corresponding height of the shelf 100 to pick and place the goods in the shelf 100 .

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

[0126] In this embodiment, two guide modules 4 are located on either side of the lifting frame 2. When the stacker travels in the aisle, the two guide modules 4 can slide and connect with the shelves 100 on both sides of the aisle, thereby providing support for the lifting frame 2 and further enabling the stacker to carry a larger load at high altitudes.

[0127] In some implementations of this application, such as Figures 3a to 3e As shown, Figure 3a The structural diagram of the guidance module is shown in Figure 2. Figure 3b for Figure 3a The main view, Figure 3c for Figure 3a Rear view of the guide module shown, Figure 3d for Figure 3aA top view of Figure 3e for Figure 3a Exploded view. A guide rail 110 arranged along the length direction of the aisle is provided on the shelf 100 at a position corresponding to the height of the guide module 4; the guide module 4 comprises: an extending bracket 41 and a first pulley assembly 42; the first end of the extending bracket 41 is fixedly connected to the lifting bracket 2, and the second end of the extending bracket 41 extends from the outside of the lifting bracket 2 toward the shelf 100 located on both sides of the aisle; the first pulley assembly 42 is installed on the second end of the extending bracket 41 to cooperate with the guide rail 110 on the shelf 100 so that the first pulley assembly 42 can slide along the length direction of the guide rail 110. The guide module 4 also comprises: 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 is fixedly connected at one end to the first fixed plate 421 of the first pulley assembly 42, and at the other end to the second fixed plate 441 of the second pulley assembly 44; the fixed connecting plate 43 is fixedly connected to the second end of the extending bracket 41 on the side away from the shelf 100.

[0128] In this embodiment, the guide rails 110 on the shelf 100, located at a height corresponding to the guide module 4, cooperate with the guide module 4, allowing the guide module 4 to slide along the guide rails 110. This provides support for the lifting frame 2, further enabling the stacker to handle larger loads at heights. The first pulley assembly 42 is fixedly connected to the lifting frame 2 via the extension bracket 41. When the stacker travels within the aisle, the first pulley assembly 42, driven by the lifting frame 2, slides along the guide rails 110.

[0129] At the same time, a second pulley assembly 44 having 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 via a fixed connecting plate 43. During operation, the first pulley assembly 42 and the second pulley assembly 44 can both be slidably connected to the guide rail 110. This significantly increases the contact area between the guide module 4 and the guide rail 110, effectively enhancing the guiding function of the guide module 4.

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

[0131] In some implementations of this application, such as 4a to Figure 5 As shown, Figure 4a for Figure 3a The structural diagram of the guide module and the guide rail is shown. Figure 4b for Figure 4a A top view of Figure 4cfor Figure 4a The rear view, Figure 4d for Figure 4a Left view of Figure 4e for Figure 3d Cross-sectional view in the BB direction, Figure 5 for Figure 3a Exploded view of M1 in FIG. The guide rail 110 has a rail groove 111; the opening direction of the rail groove 111 faces the guide module 4; the first pulley assembly 42 includes: a first fixed plate 421, a first guide roller 422, and a second guide roller 423; the first fixed plate 421 is parallel to the groove bottom of the rail groove 111; the first guide roller 422 is arranged at one end of the first fixed plate 421; the axial direction of the first guide roller 422 is perpendicular to the two side walls of the rail groove 111, and the circumference of the first guide roller 422 contacts the bottom wall of the rail groove 111; the second guide roller 423 is arranged at the other end of the first fixed plate 421; the axial direction of the second guide roller 423 is perpendicular to the bottom wall of the rail groove 111, and the circumference of the second guide roller 423 contacts the inner side wall of the rail groove 111.

[0132] In this embodiment, the first guide roller 422 of the first pulley assembly 42 is in contact with the slide rail groove 111. When the stacker crane operates in the aisle, rolling friction occurs between the first guide roller 422 and the slide rail groove 111, which can effectively reduce the friction between the guide module 4 and the guide rail 110, thereby alleviating the problem of shaking of the lifting bracket 2 caused by friction.

[0133] Furthermore, when the stacker travels over an uneven area, rolling friction is generated between the second guide roller 423 and the inner sidewall of the slide rail groove 111. That is, when the stacker travels over a raised area on the ground, the second guide roller 423 and the lower surface of the slide rail groove 111 experience rolling friction; when the stacker travels over a depressed area on the ground, the second guide roller 423 and the upper surface of the slide rail groove 111 experience rolling friction. This reduces the friction between the guide module 4 and the shelf 100 when the stacker travels over an uneven area, further alleviating the problem of shaking of the lifting bracket 2 caused by friction.

[0134] When the guide module 4 has multiple roller assemblies such as the second pulley assembly 44 and the third pulley assembly, the structures of the multiple roller assemblies such as the second pulley assembly 44 and the third pulley assembly are the same as the structure of the above-mentioned first pulley assembly 42, and will not be described in detail here.

[0135] In some implementations of this application, such as Figure 3a 、 Figure 3b 、 Figure 3e and Figure 5As shown, on the top and bottom of the first fixed plate 421, two horizontal extension plates facing the guide rail 110 are respectively provided to form an accommodating groove; the first fixed plate 421, the first guide roller 422 and the second guide roller 423 are located in the accommodating groove; the first pulley assembly 42 also includes: a slider 424 and two elastic members 425; the slider 424 is provided in the accommodating groove for embedding into the slide rail groove 111 and slidingly connected thereto; the first guide roller 422 is provided at one end of the slider 424; the second guide roller 423 is provided at the other end of the slider 424; the two elastic members 425, one end of each of which is provided on both sides of the slider 424 perpendicular to the axial direction of the first pulley assembly 42; the other end extends in a direction away from the slider 424 and is fixedly connected to the horizontal extension plate 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 via upper and lower elastic members 425, allowing the slider 424 to float with the undulations of the floor. First and second guide rollers 422, 423 are respectively fixed to the ends of the slider 424 and are capable of floating with the slider 424. When the stacker is operating on uneven ground, both the first and second guide rollers 422, 423 are able to float relative to the first fixed plate 421.

[0137] Specifically, when the stacker moves to a raised position on the ground, 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 fixing plate 421.

[0138] When the stacker reaches a recessed position on the ground, the elastic member 425 above the slider 424 is compressed, while the elastic member 425 below the slider 424 is stretched. At this point, the slider 424 moves upward relative to the first fixed plate 421. During this process, the slider 424 remains positioned between the horizontal extension plates above and below the first fixed plate 421, moving relative to the position of the first fixed plate 421. This effectively reduces the pressure generated between the guide rail 110 and the guide module 4 when the stacker travels over uneven terrain, further extending the service life of the equipment.

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

[0140] In this embodiment, stoppers 426 are provided on the upper and lower sides of the first fixing plate 421. The side walls of the rail groove 111 extend into the gap between the two stoppers 426 and the slider 424. This effectively alleviates the problem of derailment between the guide module 4 and the guide rail 110 caused by the stacker traveling on uneven terrain.

[0141] In some implementations of this application, such as Figure 6a and Figure 6b As shown, Figure 6a This is a schematic diagram of the auxiliary power assembly structure. Figure 6b for Figure 6a A top view of the guide module 4 is shown. The guide module 4 also includes at least one auxiliary power assembly 45, which includes a friction wheel motor 451 and a friction wheel 452. The friction wheel motor 451 is fixedly mounted on the fixed connecting plate 43. The motor shaft of the friction wheel motor 451 passes through the axis 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 of a side wall of the guide rail 110 to assist the guide module 4 in sliding along the guide rail 110. There are two auxiliary power assemblies 45, each disposed on either side of the guide rail 110 perpendicular to the guide module 4.

[0142] In this embodiment, see Figures 7a to 7e , Figure 7a This is a structural diagram of the guide module with auxiliary power components and the guide rail. Figure 7b for Figure 7a The main view, Figure 7c for Figure 7a Rear view of the guide module shown, Figure 7d for Figure 7a A top view of Figure 7e for Figure 7aLeft view. The auxiliary power assembly 45 is installed on the fixed connecting plate 43 of the guide module 4 and is in contact with the guide rail 110. When the stacker is running in the lane, the friction wheel motor 451 drives the friction wheel 452 to rotate, and friction is generated between the friction wheel 452 and the outer wall of the guide rail 110, which can drive the guide module 4 to move forward. The auxiliary power assembly 45 compensates for the travel speed of the guide module 4. Under the action of the auxiliary power assembly 45, the guide module 4 can overcome the friction between the guide rail 110 and maintain the same travel speed as the walking chassis 1. Thereby reducing the horizontal distance between the guide module 4 and the walking chassis 1, improving the shaking and tipping problems of the stacker, and further increasing the high-altitude load of the stacker.

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

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

[0145] In some implementations of this application, such as Figure 6a and Figure 6b As shown, the auxiliary power assembly 45 also includes: a steering fixing member 453, a steering connecting plate 454 and a buffer member 455; the steering fixing member 453 is fixedly mounted on the fixed connecting plate 43 at the bottom and is hinged to the steering connecting plate 454 at the top; the steering connecting plate 454 has inclined portions on both sides of one end hinged to the steering fixing member 453; the other end of the steering connecting 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 connecting plate 454 and is connected to the friction wheel 452.

[0146] In this embodiment, the auxiliary power assembly 45 is secured to the fixed connecting plate 43 via a steering fixture 453, and the friction wheel motor 451 and friction wheel 452 are also secured to the fixed connecting plate 43. The fixed connecting plate 43 is capable of driving the friction wheel motor 451 and friction wheel 452 to rotate about the steering fixture 453. When the stacker crane travels over uneven terrain, the guide module 4 and the guide rail 110 may shift in height. At this point, the auxiliary power assembly 45 can float up and down via the steering fixture 453, ensuring that the friction wheel 452 maintains contact with the guide rail 110.

[0147] Specifically, when the stacker moves to a raised position on the ground, the guide module 4 moves upward relative to the guide rail 110 so that the guide module 4 is higher than the guide rail 110. At this time, the auxiliary power assembly 45 falls and remains in contact with the guide rail 110.

[0148] When the stacker moves to a sunken position on the ground, the guide module 4 moves downward relative to the guide rail 110 so that the guide module 4 is lower than the guide rail 110. At this time, the auxiliary power assembly 45 is lifted and keeps in contact with the guide rail 110.

[0149] In some implementations of this application, such as Figure 6a and Figure 6b As shown, the buffer component 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 connecting plate 454; the buffer fixing plate 4551 is provided with a through hole with a hole diameter larger than the diameter of the buffer fixing rod 4552; the buffer fixing rod 4552 is passed through the through hole of the buffer fixing plate 4551 and is fixedly connected to the fixed connecting plate 43; the buffer fixing rod 4552 has a spring stopping portion 4554 at the top, which is used to limit 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 guide module 4 moves downward relative to the guide rail 110, the fixed connecting plate 43 drives the buffer fixing rod 4552 downward. At this time, the spring stopper 4554 at the top of the buffer fixing rod 4552 exerts downward pressure on the buffer spring 4553. Under the pressure, the buffer spring 4553 presses the buffer fixing plate 4551 downward, causing the friction wheel 452 to press against the guide rail 110, ensuring friction between the two and further enhancing the driving function of the auxiliary power assembly 45.

[0151] In some implementations of this application, such as Figure 8 As shown, Figure 8This is a schematic diagram of the connection between the three-way head attachment and the forklift fork. The loading and unloading assembly 5 includes a three-way head attachment 51 and a forklift fork 52. The three-way head attachment 51 is connected to the lifting assembly 3 and the forklift fork 52, respectively, and is located on the side of the lifting frame 2 that moves along the traveling chassis 1. The side of the three-way head attachment 51 that is closer to the lifting frame 2 is connected to the lifting assembly 3, allowing it to be raised and lowered by the lifting assembly 3. The side of the three-way head attachment 51 that is farther away from the lifting frame 2 is connected to the forklift fork 52. Driven by the three-way head attachment 51, the forklift fork 52 can be extended or retracted toward the shelves 100 on both sides of the stacker to load and unload goods from the shelves 100 on both sides of the stacker, or extended away from the lifting frame 2 to place goods on the ground.

[0152] In this embodiment, Figures 9a to 9d As shown, Figure 9a The schematic diagram of the stacker provided in this application is located in the tunnel and forks the goods. Figure 9b for Figure 9a Structural diagram from another perspective, Figure 9c The schematic diagram of the stacker provided in this application for placing goods on the ground. Figure 9d for Figure 9c Schematic diagram from another perspective. The forklift 52 is fixedly mounted on the three-way head attachment 51. When the three-way head attachment 51 is raised by the lifting assembly 3 to the desired height on the shelf 100, the forklift 52 extends into the shelves 100 on either side of the aisle to retrieve and place the goods. After retrieval, the forklift 52 can be rotated away from the lifting bracket 2 via the three-way head attachment to place the goods on the ground.

[0153] Compared with conventional stackers in the prior art, the stacker can pick up pallets on the shelf 100 by using the forklift 52. After the goods are picked up, the stacker can move to the outside of the aisle under the drive of the traveling chassis 1 and place the goods on the ground outside the aisle by using the forklift 52, waiting for other handling equipment to transfer them.

[0154] In some implementations of this application, such as Figure 8As shown, the three-way head attachment 51 includes: a side shift mechanism 511 and a rotating mechanism 512; the side shift mechanism 511 includes: a side shift fixing plate 5111 and a side shift driving assembly 5112; the side shift fixing plate 5111 is connected to the lifting assembly 3 on the side facing the lifting bracket 2, and is opened on the 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, one end of which is meshed and connected with the side of the side shift fixing plate 5111 away from the lifting bracket 2, and the other end is fixedly connected to the rotating mechanism 512, for driving 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, for driving the fork picking fork 52 to rotate.

[0155] In this embodiment, the side-shift fixed plate 5111 comprises a carriage, carriage rollers, and a rack. A mounting frame is fixedly mounted on one side of the carriage, with a carriage roller embedded in one end. The carriage roller is used to connect to the lifting assembly 3. Auxiliary sliding plates are provided on the upper and lower end surfaces of the carriage, and a transverse rack is fixedly mounted on the other side of the carriage, near the auxiliary sliding plates. A rotating frame is fixedly connected to the upper and lower ends of one side of the rotating mechanism 512. A connecting shaft is fixedly mounted on the rotating frame near the rotating mechanism 512, and a rotating gear is movably mounted on the connecting shaft. A support shaft is fixedly mounted on the rotating frame away from the rotating mechanism 512. Multiple main rotating frame rollers are movably mounted on the support shaft. These main rotating frame rollers are rotatably mounted on both sides of the auxiliary sliding plates. Auxiliary rotating frame rollers are movably mounted on the sidewall of the rotating mechanism 512 above the bottom end of the rotating frame. The main and auxiliary rotating frame rollers provide stability and support for the rotating mechanism 512 during its reciprocating motion.

[0156] A side shift motor and a side shift reducer are fixedly installed inside the rotating frame body. The transmission shaft of the side shift servo motor 9 is fixedly connected to the rotating shaft of the side shift reducer 10. A side shift gear is fixedly sleeved on the rotating shaft of the side shift reducer 10. The side shift gear is engaged with the rotating gear, and the rotating gear is engaged with the rack. When the side shift motor rotates forward or reverse, power can be transmitted to the rotating gear through the side shift reducer and the side shift gear, and the rotating mechanism 512 can be made to reciprocate through the rack.

[0157] A rotating shaft 5121 is provided on the movable sleeve on the other side of the rotating mechanism 512, and a rotating gear is provided on the fixed sleeve at the top of the rotating shaft 5121. A rotating reducer and a rotating motor are fixedly provided in the rotating mechanism 512 near the rotating shaft 5121. The transmission shaft of the rotating motor is fixedly connected to the rotating shaft of the rotating reducer. When the rotary motor rotates forward or reverse, power can be transmitted to the rotating shaft 5121. At the same time, the rotating shaft 5121 is connected to the fork picking fork 52, so that the fork picking fork 52 can rotate back and forth.

[0158] In some implementations of this application, such as Figure 10a and Figure 10b As shown, Figure 10a The stacker provided in this application has a schematic structural diagram of a telescopic fork. Figure 10b The diagram below shows the structure of the telescopic forks. The loading and unloading assembly 5 comprises a telescopic base 53, two telescopic forks 54, and a telescopic motor 55. The telescopic base 53 is fixedly connected to the lifting assembly 3 and is located on the side of the lifting bracket 2 along the direction of movement of the traveling chassis 1. Each telescopic fork 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 53 and extends perpendicular to the direction of movement of the traveling 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 extend and retract 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.

[0159] In this embodiment, the cargo pickup assembly 5 utilizes conventional telescopic forks 54 for picking up and placing cargo. These forks 54 can be made of standard components. Specifically, a telescopic motor 55 drives a transmission shaft 5411 between two lower forks 541 to rotate. Gears (not shown) are mounted on each end of the transmission shaft 5411, and racks (not shown) are mounted on the two middle forks 542. These gears and racks cooperate to enable the transmission shaft 5411 to extend along the length of the lower forks 541, thereby enabling the forking of cargo. A sprocket and chain (not shown) coordinate between the middle forks 542 and the upper forks 543, allowing the upper forks 543 to extend or retract along the telescopic guide slots 5421 on either side of the middle forks 542, driven by the middle forks 542.

[0160] The telescopic motor 55 can control the extension direction of the telescopic fork 54 by rotating forward and reverse. For example, when the telescopic motor 55 rotates forward, the telescopic fork 54 extends toward the shelf 100 on the left side of the stacker. When the telescopic motor 55 rotates reversely, the telescopic fork 54 extends toward the shelf 100 on the right side of the stacker. Furthermore, 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 base plate 53, driven by the lifting assembly 3, can drive the lower fork 541, middle fork 542, upper fork 543, and telescopic motor 55 to the corresponding position on the shelf 100 where the goods need to be picked up and placed.

[0161] In actual production, the telescopic fork 54 may have a lower fork 541 , a middle fork 542 and an upper fork 543 , or a multi-stage telescopic fork with different numbers of stages may be selected according to actual needs, as long as the telescopic fork 54 can be used to pick up goods.

[0162] In some implementations of this application, such as Figures 1a to 1i As shown, the lifting bracket 2 includes: a lifting column 21, a lifting assembly 3, including: 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 lifting pulley 33 is set on the 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 surrounds 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 lifting pulley 33; each lifting synchronous belt 32 is fixedly connected to the side of the picking and placing assembly 5 close to the lifting column 21. Figure 11 , Figure 11 The diagram is a schematic diagram of the structure of the first and second sub-lifting columns. 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 lifting pulley 33 is mounted 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 via the first mounting portion 2111 and the second mounting portion 2121.

[0163] In this embodiment, a 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 positioned with pins or secured with screws. The split first and second sub-lifting columns 211 and 212 are easier to transport.

[0164] The lifting synchronous belt 32 is wrapped around the lifting column 21 and slides through the pulley 33 provided on the top of the lifting column 21. Under the action of the lifting motor 31, the lifting synchronous belt 32 can lift the pick-up and release assembly 5 installed thereon to the height required for picking up and releasing the goods.

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

[0166] In some implementations of this application, such as Figure 12As shown, 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 on the inner side of the outer gantry 222, and can extend out of the outer gantry 222 in the height direction; the lifting component 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 walking chassis 1; the lifting pulley 33 is arranged on the side of the top of the inner gantry 221 close to the shelf 100; the lifting synchronous belt 32 is wrapped around the lifting motor 31 of the group of lifting components 3; the lifting synchronous belt 32 surrounds 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 lifting pulley 33; each lifting synchronous belt 32 is fixedly connected to the side of the picking and placing component 5 close to the lifting gantry 22.

[0167] In this embodiment, a lifting gantry 22 serves as the lifting support 2. The interlocking arrangement between the inner gantry 221 and the outer gantry 222 allows the stacker to adjust the height of the lifting gantry 22 according to operational needs. When not in operation, the inner gantry 221 retracts inside the outer gantry 222. This lowers the height of the lifting gantry 22, further reducing the overall height of the stacker, improving stability and facilitating transport. During operation, the inner gantry 221 extends to the height of the outer gantry 222 to facilitate access to and placement of cargo from elevated locations.

[0168] In the aforementioned embodiment, there are two lifting assemblies 3 ; the two lifting assemblies 3 are respectively installed on both sides of the lifting bracket 2 facing the shelves 100 on both sides of the aisle.

[0169] In some implementations of this application, such as Figure 2c As shown, the walking 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 walking chassis 1 along the walking direction, and is used to provide guidance for the walking of the walking chassis 1; the first differential drive wheel 1110 and the second differential drive wheel 1120 are located at the rear end of the walking chassis 1 along the walking direction, and are used to drive the walking chassis 1 to walk and steer; the first differential drive wheel 1110 and the second differential drive wheel 1120 are non-coaxially arranged.

[0170] In this embodiment, the first differential drive wheel 1110 and the second differential drive wheel 1120 with different axes 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 walking chassis 1 cannot move.

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

[0172] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," 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 includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0173] Each embodiment in this specification is described in a related manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiment is generally similar to the method embodiment, so the description is relatively simple. For related parts, refer to the description of the method embodiment.

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

Claims

1. A stacker, characterized in that: include: A walking chassis (1), a lifting bracket (2), a lifting assembly (3), a guide module (4) and a loading and unloading assembly (5); The lifting bracket (2) is arranged on the top of the walking chassis (1); The lifting assembly (3) is mounted on the lifting bracket (2) and is used to drive the picking and placing assembly (5) to move up and down in the height direction; The cargo picking and placing assembly (5) is connected to the lifting assembly (3) and is used to pick and place cargo on the shelves (100) on both sides of the lane; The guide module (4) is mounted on the side of the lifting bracket (2) facing the shelves (100) on both sides of the lane; the first end of the guide module (4) is fixedly connected to the lifting bracket (2), and the second end of the guide module (4) is slidably connected to the shelves (100) in the horizontal direction; the guide module (4) has a preset height relative to the walking chassis (1) and is used to support the lifting bracket (2) with the help of the shelves (100); A guide rail (110) arranged along the length direction of the lane is provided at a position on the shelf (100) at a height corresponding to the guide module (4); The guide module (4) comprises: a fixed connecting plate (43) and at least one auxiliary power assembly (45); The auxiliary power assembly (45) comprises: a friction wheel motor (451) and a friction wheel (452); the friction wheel motor (451) is fixedly mounted on the fixed connection plate (43); the motor shaft of the friction wheel motor (451) passes through the axis 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 outside of a side wall of the guide rail (110) to assist the guide module (4) in sliding with the guide rail (110); The walking chassis (1) is used to drive the stacker crane as a whole to move freely in and outside different lanes by utilizing 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 guide modules (4) is at least two; the at least two guide modules (4) are respectively installed on both sides of the lifting bracket (2) facing the shelves (100) on both sides of the lane; the first end of each guide module (4) is fixedly connected to the lifting bracket (2), and the second end of each guide module (4) is slidably connected to the shelf (100) in the horizontal direction.

3. The stacker according to claim 1, wherein: The guide module (4) comprises: an extension bracket (41) and a first pulley assembly (42); The first end of the extending bracket (41) is fixedly connected to the lifting bracket (2), and the second end of the extending bracket (41) extends from the outside of the lifting bracket (2) toward the shelves (100) located on both sides of the lane; The first pulley assembly (42) is mounted on the second end of the extended bracket (41) to cooperate with the guide rail (110) on the shelf (100) so that the first pulley assembly (42) can slide along the length direction of the guide rail (110).

4. The stacker according to claim 3, characterized in that The guide rail (110) has a rail groove (111); the opening direction of the rail groove (111) faces the guide module (4); The first pulley assembly (42) comprises: a first fixed plate (421), a first guide roller (422) and a second guide roller (423); The first fixing plate (421) is parallel to the bottom of the slide rail groove (111); The first guide roller (422) is arranged at one end of the first fixing plate (421); the axial direction of the first guide roller (422) is perpendicular to the two side walls of the slide rail groove (111), and the circumferential side of the first guide roller (422) contacts the bottom wall of the slide rail groove (111); The second guide roller (423) is arranged at the other end of the first fixed plate (421); the axial direction of the second guide roller (423) is perpendicular to the bottom wall of the slide rail groove (111), and the peripheral side of the second guide 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: Two horizontal extension plates facing the guide rail (110) are respectively provided on the top and bottom of the first fixing plate (421) to form an accommodating groove; the first fixing plate (421), the first guide roller (422) and the second guide roller (423) are located in the accommodating groove; The first pulley assembly (42) further includes: a slider (424) and two elastic members (425); The sliding block (424) is arranged in the accommodating groove, and is used to be embedded in the slide rail groove (111) and slidably connected thereto; The first guide roller (422) is arranged at one end of the slider (424); the second guide roller (423) is arranged at the other end of the slider (424); The two elastic members (425) are respectively provided with one end on both sides of the slider (424) perpendicular to the axial direction of the first pulley assembly (42); the other end extends in a direction away from the slider (424) and is fixedly connected to the horizontal extension plate of the first fixed plate (421), so that the slider (424) is elastically connected to the first fixed 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 horizontal extension plates of the first fixed plate (421) and are used to limit the relative movement between the first pulley assembly (42) and the guide rail (110) along the axial direction of the first guide roller (422); There is a gap between each of the limiting members (426) and the slider (424); and the two side walls of the slide rail groove (111) can respectively extend into the gap between the two limiting members (426) and the slider (424).

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

8. The stacker according to claim 1, characterized in that: The auxiliary power assembly (45) further includes: a steering fixing member (453), a steering connecting plate (454) and a buffer member (455); The steering fixing member (453) is fixedly mounted on the fixed connecting plate (43) at its bottom, and hinged to the steering connecting plate (454) at its top; The steering connecting plate (454) has inclined portions on both sides of one end hinged to the steering fixing member (453); the other end of the steering connecting 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 connecting plate (454) and is connected to the friction wheel (452).

9. The stacker according to claim 8, characterized in that: The buffer member (455) comprises 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 connecting plate (454); the buffer fixing plate (4551) is provided with a through hole having a diameter larger than the diameter of the buffer fixing rod (4552); the buffer fixing rod (4552) is passed through the through hole of the buffer fixing plate (4551) and is fixedly connected to the fixed connecting plate (43); the buffer fixing rod (4552) has a spring blocking portion (4554) at the top for limiting 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); and the bottom of the buffer spring (4553) is in contact with the buffer fixing plate (4551).

10. The stacker according to claim 1, characterized in that The cargo picking and placing assembly (5) comprises: a three-way head attachment (51) and a fork picking fork (52); The three-way head attachment (51) is connected to the lifting assembly (3) and the fork picking fork (52) respectively, and is located on one side of the lifting bracket (2) along the moving direction of the walking chassis (1); The three-way head attachment (51) is connected to the lifting component (3) on a side close to the lifting bracket (2) so as to be lifted and lowered by the lifting component (3); the three-way head attachment (51) is connected to the fork-picking fork (52) on a side away from the lifting bracket (2); The fork-picking fork (52), driven by the three-way head attachment (51), can extend or retract in a direction toward the shelves (100) on both sides of the stacker to pick up and place goods from the shelves (100) on both sides of the stacker; or, extend in a direction away from the lifting bracket (2) to place the goods on the ground.

11. The stacker according to claim 10, 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 drive assembly (5112) has one end engaged with a side of the side shift fixing plate (5111) away from the lifting bracket (2), and the other end 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 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.

12. 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 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 telescopic fork (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.

13. 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 lifting 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) of the group; the lifting synchronous belt (32) is wound around the lifting column (21) along the height direction; the lifting synchronous belt (32) located at the top of the lifting column (21) is slidably connected to the lifting pulley (33); Each lifting synchronous belt (32) is fixedly connected to a side of the cargo picking and placing assembly (5) close to the lifting column (21).

14. The stacker according to claim 13, characterized in that The lifting column (21) comprises: 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 walking 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 lifting pulley (33) is mounted 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 via the first mounting portion (2111) and the second mounting portion (2121).

15. The stacker according to claim 1, characterized in that A lifting bracket (2) comprises a lifting door frame (22); the lifting door frame (22) comprises an inner door frame (221) and an outer door frame (222); the inner door frame (221) is slidably mounted on the inner side of the outer door frame (222) and can extend out of the outer door frame (222) in a height direction; 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 lifting pulley (33) is arranged on a side of the top of the inner door frame (221) close to the shelf (100); The lifting synchronous belt (32) is wound around the lifting motor (31) of the lifting assembly (3) of the group; the lifting synchronous belt (32) is wound around the lifting door frame (22) along the height direction; the lifting synchronous belt (32) located at the top of the inner door frame (221) is slidably connected to the lifting pulley (33); Each lifting synchronous belt (32) is fixedly connected to a side of the cargo picking and placing assembly (5) close to the lifting door frame (22).

16. The stacker according to claim 1, characterized in that The walking wheel assembly (11) comprises: 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 walking chassis (1) along the walking direction, and is used to provide a guiding function for the walking of the walking chassis (1); the first differential drive wheel (1110) and the second differential drive wheel (1120) are located at the rear end of the walking chassis (1) along the walking direction, and are used to drive the walking chassis (1) to walk and steer; The first differential drive wheel (1110) and the second differential drive wheel (1120) are non-coaxially arranged.

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