Intelligent warehousing stacking machine

Abstract

The present application relates to a kind of intelligent warehousing stacking machine, belong to stacking machine technical field.It includes trolley component;Column component is connected to the trolley component;Tray component is connected to the column component by lifting drive mechanism;The lifting drive mechanism includes: rack, is set to the column component;Gear is connected with a drive device, and with the rack meshing connection;Gap elimination structure is set between the gear and the rack;The gap elimination structure includes a force transmission mechanism with the axial end surface of the gear occurs effect, and the gap elimination structure is configured, by the force transmission mechanism generates a lateral elastic pre-tightening force acting on the gear, to make the gear teeth and the rack teeth keep unilateral meshing contact.Due to the meshing gap of its lifting drive mechanism is effectively controlled, avoid the phenomenon of tooth disengagement or idling due to meshing gap when carrying heavy objects.

Description

Technical Field

[0001] This invention belongs to the field of stacker crane technology, and specifically relates to an intelligent warehouse stacker crane. Background Technology

[0002] Intelligent warehousing systems are a key component of the automation upgrade of modern logistics and manufacturing, and intelligent stacker cranes are the core equipment in automated storage and retrieval systems (AS / RS) for performing high-level racking, dense storage, and rapid access operations. A typical stacker crane usually includes: a trolley assembly for horizontal movement within the aisles, a column assembly vertically erected and connected to the trolley assembly, and a pallet assembly capable of vertically lifting and lowering along the column assembly for carrying and transferring goods. Through its horizontal movement, vertical lifting, and fork extension / retraction, the stacker crane achieves automated and precise access to any storage unit within the warehouse, significantly improving warehouse space utilization, operational efficiency, and reducing labor costs and operational risks.

[0003] Among the various drive mechanisms of stacker cranes, a widely used lifting drive method is the rack and pinion transmission mechanism. However, in practical applications, lifting drive mechanisms using rack and pinion structures generally have an inherent problem: the meshing clearance between the gears and racks. When the pallet assembly is lifting a heavy load, due to this meshing clearance, especially at the moment the pallet assembly starts, stops, or changes its lifting direction, the gears and racks are prone to disengagement or free-spinning, resulting in low positioning accuracy and posing certain safety hazards. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides an intelligent warehouse stacker crane.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A smart warehouse stacker crane is provided, comprising:

[0007] Car components;

[0008] The column assembly is connected to the trolley assembly;

[0009] The pallet assembly is connected to the column assembly via a lifting drive mechanism;

[0010] The lifting drive mechanism includes:

[0011] A rack is provided on the column assembly;

[0012] A gear is connected to a drive device and meshes with the rack;

[0013] And, also includes:

[0014] A backlash elimination structure is disposed between the gear and the rack;

[0015] The backlash elimination structure includes a force transmission mechanism that interacts with the axial end face of the gear. The backlash elimination structure is configured to generate a lateral elastic preload force acting on the gear through the force transmission mechanism, so that the gear teeth and the rack teeth maintain unilateral meshing contact.

[0016] Preferably, the gap-eliminating structure includes:

[0017] The flange is rotatably connected to the axial end face of the gear via a bearing;

[0018] The coupling track is installed on the column assembly and located on one or both sides of the rack;

[0019] The coupling track has a coupling groove that mates with the flange;

[0020] And an elastic system connected to the flange;

[0021] The elastic system is configured to apply an elastic preload force toward the coupling groove to the flange.

[0022] Preferably, the elastic system comprises:

[0023] An elastic arm having a first end and a second end;

[0024] The first end is connected to the bearing;

[0025] The second end is connected to the flange;

[0026] Furthermore, the elastic arm has a bend that is recessed toward the rack.

[0027] Preferably, it further includes:

[0028] A rolling element, connected to the flange;

[0029] The rolling element and the coupling groove form a rolling connection.

[0030] Preferably, the elastic system further includes:

[0031] An adjustment mechanism is provided for adjusting the magnitude of the elastic preload.

[0032] Preferably, it further includes:

[0033] Lubrication system, the lubrication system comprising:

[0034] A liquid storage cylinder is connected to a drive shaft that is connected to the gear, and rotates synchronously with the drive shaft;

[0035] The liquid outlet pipeline has an inlet end and an outlet end;

[0036] The inlet end is connected to the liquid storage cylinder;

[0037] The outlet end is located on the tooth surface of the gear;

[0038] The liquid storage tank is configured to periodically output lubricating medium in sync with the synchronous rotation of the drive shaft.

[0039] Preferably, the liquid storage cylinder comprises:

[0040] First linkage component and second linkage component;

[0041] The first linkage component rotates synchronously with the liquid storage cylinder;

[0042] Furthermore, the second linkage component is fixedly connected to the pallet assembly or the column assembly;

[0043] As the drive shaft rotates synchronously, the first linkage and the second linkage periodically contact each other to press the lubricating medium in the reservoir periodically out.

[0044] Preferably, the lifting mechanism includes:

[0045] A drive unit is connected to the tray assembly;

[0046] A transmission structure is connected to the drive end of the drive device;

[0047] The transmission structure includes a transmission shaft connected to the gear.

[0048] Preferably, the liquid storage cylinder is sleeved onto the drive shaft;

[0049] Furthermore, the liquid outlet pipe is provided inside the drive shaft.

[0050] Preferably, it includes:

[0051] A guide assembly is connected between the tray assembly and the column assembly.

[0052] This invention provides an intelligent warehouse stacker crane, and the beneficial effects of this invention are reflected in:

[0053] Because the meshing clearance of its lifting drive mechanism is effectively controlled, the phenomenon of tooth slippage or idle rotation due to meshing clearance is avoided when carrying heavy objects. Therefore, the accuracy of the lifting and positioning of the pallet assembly can be improved, the impact and vibration during start-up, stopping and reversing can be reduced, the operating noise can be reduced, and the operational stability and reliability of the entire warehousing system can be improved. Attached Figure Description

[0054] Figure 1 This is one of the perspective views of the intelligent warehouse stacker crane proposed in this invention;

[0055] Figure 2 This is the second perspective view of the intelligent warehouse stacker crane proposed in this invention;

[0056] Figure 3 This is a schematic diagram of the structural fit between gears and racks in the intelligent warehouse stacker crane proposed in this invention;

[0057] Figure 4 This is a partial cross-sectional view of the column assembly in the intelligent warehouse stacker crane proposed in this invention;

[0058] Figure 5 This is a schematic diagram of the elastic system in the intelligent warehouse stacker crane proposed in this invention;

[0059] Figure 6 This is a schematic diagram of the lubrication system in the intelligent warehouse stacker crane proposed in this invention;

[0060] Figure 7 This is a schematic diagram of the structure of the first and second linkage components in the intelligent warehouse stacker crane proposed in this invention.

[0061] Explanation of reference numerals in the attached figures:

[0062] 1. Cart assembly; 2. Column assembly; 3. Pallet assembly; 4. Lifting drive mechanism; 401. Rack; 402. Gear; 403. Drive device; 404. Flange; 405. Coupling track; 406. Coupling groove; 5. Elastic system; 501. Elastic arm; 502. Rolling element; 6. Lubrication system; 601. Liquid storage tank; 602. Liquid outlet pipeline; 603. First linkage element; 604. Second linkage element; 7. Guide assembly. Detailed Implementation

[0063] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0064] Please see Figures 1-7 As shown, the specific embodiments provided by the present invention are as follows:

[0065] like Figures 1 to 2 As shown, this embodiment provides an intelligent warehouse stacker crane for performing storage and retrieval operations of goods in an automated storage and retrieval warehouse.

[0066] The stacker crane includes:

[0067] The trolley assembly 1 is used to perform horizontal reciprocating motion on a preset track in the warehouse aisle.

[0068] The column assembly 2 is one or more vertical frame structures, the lower end of which is connected to the trolley assembly 1.

[0069] Pallet assembly 3, a platform or fork mechanism for carrying goods, is vertically connected to the column assembly 2 via a lifting drive mechanism 4, enabling it to move vertically along the column assembly 2.

[0070] like Figures 3 to 4 As shown, the lifting drive mechanism 4 includes:

[0071] The rack 401 is fixedly installed on the column assembly 2 and extends along the vertical direction of the column.

[0072] A gear 402 is mounted on the movable tray assembly 3 and connected to a drive device 403 (e.g., a combination of a motor and a reducer). The drive device 403 drives the gear 402 to rotate. The teeth of the gear 402 mesh with the teeth of the rack 401. By controlling the drive device 403 to drive the gear 402 in both forward and reverse directions, the tray assembly 3 can be moved up or down along the rack 401.

[0073] As described in the background section, this gear 402 and rack 401 meshing transmission method has inherent meshing backlash, which may affect the performance of the stacker crane. Therefore, the intelligent warehouse stacker crane of this embodiment further includes a backlash elimination structure. This backlash elimination structure is functionally located between the gear 402 and the rack 401, aiming to solve or alleviate the problems caused by the aforementioned meshing backlash.

[0074] Specifically, the backlash-eliminating structure includes a force transmission mechanism. This mechanism is configured to interact with at least one axial end face of the gear 402. In other words, the force transmission mechanism produces its effect through mechanical interaction with the side face of the gear 402.

[0075] In summary, the backlash-eliminating structure is configured to generate a lateral elastic preload force acting on the gear 402 via the force transmission mechanism. Here, "lateral" refers to a direction that is approximately perpendicular to the axis of the gear 402 and can affect its meshing state with the rack 401.

[0076] The effect of this lateral elastic preload is that the teeth of the gear 402 are continuously pushed or pulled toward one side of the teeth of the rack 401, thereby maintaining a unilateral meshing contact between the two.

[0077] In this way, the backlash elimination structure generates an elastic preload force acting on the side of the gear 402, which can effectively eliminate or significantly reduce the backlash between the gear 402 and the rack 401 during meshing.

[0078] The intelligent warehouse stacker crane with the backlash-free structure described in this embodiment effectively controls the meshing clearance of its lifting drive mechanism 4, avoiding tooth slippage or idle rotation due to meshing clearance when carrying heavy objects. Therefore, it can improve the accuracy of lifting and positioning of the pallet assembly 3, reduce the impact and vibration during start-up, stopping and reversing, reduce operating noise, and also help to slow down the wear of the gear 402 and the rack 401, extend the service life of the equipment, and improve the operational stability and reliability of the entire warehousing system.

[0079] In one specific embodiment, the backlash elimination structure includes at least one flange 404. It should be noted that, in this embodiment, the flange 404 is not directly and rigidly formed on the gear 402, but is rotatably connected to the axial end face of the gear 402 (or the hub end face integral with the gear 402) via a bearing (e.g., a rolling bearing). This means that when the gear 402 rotates due to the drive device 403, the flange 404 can rotate freely relative to the gear 402, or remain stationary in the absence of other external torque. The bearing and flange 404 are components mounted on the liftable tray assembly 3 and move together with the tray assembly 3.

[0080] The backlash-eliminating structure also includes at least one coupling track 405. Unlike the flange 404 and the bearing, the coupling track 405 is fixedly mounted on the column assembly 2, located on one side of the rack 401, or one is installed on each side of the rack 401 for structural symmetry and force balance. The coupling track 405 is an elongated structural member extending along the vertical direction of the column assembly 2 (i.e., the length direction of the rack 401).

[0081] On the coupling track 405, a coupling groove 406 or other mating structure of a specific shape is formed. The shape and size of the coupling groove 406 are designed to form a sliding or rolling fit with the outline of the flange 404 (connected via a bearing) or a portion thereof.

[0082] Furthermore, the backlash elimination structure also includes an elastic system 5. This elastic system 5 is also mounted on the tray assembly 3. The elastic system 5 has a force output end or connection point that is connected to the flange 404 (connected via a bearing).

[0083] The elastic system 5 is configured to apply a continuous, preset elastic preload force to the flange 404, the direction of which is approximately toward the coupling groove 406, so that the flange 404 can fit tightly with the coupling groove 406, thereby causing the gear 402 and the rack 401 to maintain good contact.

[0084] like Figure 5 As shown, when the pallet assembly 3, carrying the gear 402, bearing, and flange 404, moves up and down along the column assembly 2, the non-rotating flange 404 continuously slides (or rolls) in relative contact with the coupling groove 406 of the coupling track 405 fixed on the column assembly 2. The elastic system 5 mounted on the pallet assembly 3 continuously applies an elastic preload force towards the coupling groove 406 to the flange 404. This elastic preload force acts on the contact interface between the flange 404 and the coupling groove 406. Through the pre-designed geometry of the flange 404's shape and the inner wall of the coupling groove 406 (e.g., a V-shape, a ramp, or other shape that produces a wedging effect), this force applied by the elastic system 5, directed towards the coupling groove 406, is decomposed or converted into an effective lateral force. This lateral force acts on the gear 402 through the flange 404 and the bearing, pushing the gear 402 to one side as a whole. This allows the teeth of the gear 402 to closely abut against the working tooth surface of the rack 401 when it meshes with the rack 401, thereby achieving unilateral meshing of the gear 402 and rack 401 and effectively eliminating harmful meshing clearance.

[0085] More specifically, the elastic system 5 may consist of one or more specially designed elastic arms 501. The elastic arm 501 is made of a material with good elasticity and fatigue life, such as spring steel, alloy, or high-strength elastic polymer. The elastic arm 501 has a first end and a second end.

[0086] The first end of the elastic arm 501 is connected to or fixed to the relevant support structure of the bearing. Since both the bearing and the flange 404 are mounted on the tray assembly 3, the connection point of the first end is actually connected to a part of the tray assembly 3 that is fixed in position relative to the bearing (e.g., the bearing housing or the frame structure of the tray assembly 3 nearby). The second end of the elastic arm 501 is directly connected to the flange 404, serving as the point of application for applying preload.

[0087] The elastic arm 501 has a bend. This bend causes the elastic arm 501 to have a non-linear shape, such as a U-shape, C-shape, or other structure with bending recovery capability. In this embodiment, in particular, the indentation (or the inner arc of the bend) of the bend is directed towards the rack 401 (and its fixed column assembly 2). Thus, the elastic arm 501 itself constitutes the core element for generating and applying preload. During assembly, the elastic arm 501 can be subjected to a preset deformation (e.g., pre-compressed or stretched by a certain amount), thereby storing elastic potential energy within it.

[0088] It should be noted that, in this embodiment, the elastic arm 501 serves as a connector between the flange 404 and the gear 402, applying an elastic force to the flange 404 to ensure it fits tightly against the coupling groove 406. The first end of the elastic arm 501 is connected to a bearing, and the second end is connected to the flange 404; preferably, the second end is integrally formed with the flange 404. The elastic arm 501 continuously attempts to restore its natural state, thereby applying a continuous elastic force to the connected flange 404 at its second end.

[0089] Therefore, the elastic arm 501, as the elastic system 5, not only has a relatively compact structure, but can also effectively generate the required, direction-specific elastic preload.

[0090] In one specific embodiment, in order to further reduce the frictional resistance generated when the flange 404 and the coupling groove 406 of the coupling track 405 slide relative to each other, and to improve the wear resistance and service life of the contact interface, the gap-eliminating structure further includes at least one rolling element 502.

[0091] The rolling element 502 (e.g., a small roller, a ball bearing unit, or a set of needle rollers) is connected to the flange 404, specifically mounted on the surface area of ​​the flange 404 that needs to contact the coupling groove 406.

[0092] By providing the rolling element 502, when the flange 404 moves along the coupling groove 406 of the fixed coupling track 405 with the tray assembly 3, the rolling element 502 becomes the main contact medium between the flange 404 and the inner wall of the coupling groove 406. At this time, a rolling connection is formed between the flange 404 and the coupling groove 406, that is, rolling friction replaces the previous sliding friction.

[0093] This rolling connection significantly reduces the coefficient of friction of the flange 404 as it moves within the coupling groove 406, allowing the preload applied by the elastic system 5 to be transmitted with less loss and converted into an effective lateral backlash-eliminating force on the gear 402. Simultaneously, the rolling contact greatly reduces the wear rate of the contact surfaces, especially under conditions requiring large preloads or high lifting speeds, helping to extend the service life of key components in the backlash-eliminating structure and making the entire lifting process smoother and more stable.

[0094] In this embodiment, in order to further improve the adaptability of the gap-eliminating structure, optimize the gap-eliminating effect, and compensate for potential long-term operational wear, the elastic system 5 may also include an adjustment mechanism (not shown in the figure).

[0095] The adjustment mechanism allows maintenance personnel or during initial assembly to adjust the magnitude of the elastic preload force that the elastic system 5 ultimately applies to the flange 404.

[0096] The adjustment mechanism offers significant advantages. First, it allows for precise setting of an initial preload based on the actual meshing of gears 402 and rack 401 during the stacker crane's installation and commissioning phase, achieving optimal backlash elimination while avoiding excessive friction, increased energy consumption, or premature wear due to excessive preload. Second, with prolonged operation, gears 402, rack 401, and related components of the backlash elimination structure (such as flanges 404, coupling grooves 406, and rolling elements 502) may experience natural, minor wear. This can lead to a decrease in the effectiveness of the preset preload, and the reappearance or increase of meshing clearance. This adjustment mechanism allows for convenient readjustment or moderate increase of the preload to compensate for this wear, restoring or maintaining ideal backlash elimination performance without replacing major components, thus extending the effective service life of the backlash elimination structure and the entire lifting drive system. Furthermore, the adjustability of the preload provides necessary flexibility for applications requiring adaptation to different loads or operational accuracy.

[0097] The specific structure of the adjusting mechanism can be flexibly designed according to the specific form of the elastic system 5 (e.g., whether it is an elastic arm 501 or another type of spring). For example, if the elastic system 5 is based on a spring (such as a helical spring or a disc spring) applying a pushing or pulling force, the adjusting mechanism can be a threaded adjusting device (such as an adjusting bolt or nut, used to change the compression or tension of the spring), a wedge adjusting device (to push or release the elastic element by moving the wedge), or by adding or removing shims. If the elastic system 5 is an elastic arm 501 as described above, the adjusting mechanism can be designed as a device to change the fulcrum position, the point of action position, or the initial deformation of the elastic arm 501. The present invention does not limit the specific implementation of the adjusting mechanism; any conventional or improved mechanism that can achieve the purpose of adjusting the magnitude of the elastic preload can be used.

[0098] In summary, integrating the adjustment mechanism into the elastic system 5 is a preferred improvement of the present invention for enhancing the performance and practicality of the gap-eliminating structure.

[0099] like Figures 6 to 7 As shown, in this embodiment, in order to ensure the reliability of the meshing transmission between the gear 402 and the rack 401 and to extend their service life, the intelligent warehouse stacker crane also includes a lubrication system 6.

[0100] The lubrication system 6 includes:

[0101] A reservoir 601 is provided for holding a lubricating medium, such as lubricating oil or grease. Unlike conventional fixed oil tanks, the reservoir 601 in this embodiment is connected to a drive shaft that drives the gear 402 to rotate, and therefore the reservoir 601 rotates synchronously with the drive shaft.

[0102] A liquid outlet pipe 602, which serves as a channel for conveying lubricating medium, has an inlet end and an outlet end. The inlet end of the liquid outlet pipe 602 is connected to a liquid reservoir 601 to receive the lubricating medium output from the liquid reservoir 601. The outlet end of the liquid outlet pipe 602 is located near the meshing area of ​​the gear 402 and the rack 401, and its final opening is positioned to effectively apply the lubricating medium to the tooth surface of the gear 402.

[0103] The reservoir 601 is configured to periodically output the lubricating medium as it rotates synchronously with the drive shaft. In other words, the lubricant is not continuously discharged, but rather intermittently discharged according to a certain rhythm or frequency (e.g., once every few revolutions or once every few revolutions) based on the rotation of the drive shaft.

[0104] Specifically, the lubrication system 6 also includes a first linkage 603 and a second linkage 604.

[0105] The first linkage 603 is configured to rotate synchronously with the liquid storage cylinder 601. For example, the first linkage 603 may be one or more cams, eccentric blocks, levers, or other components with periodically changing profiles or positions that are fixed or integrated onto the rotating body of the liquid storage cylinder 601.

[0106] The second linkage 604 is relatively fixedly connected. In this embodiment, more specifically, it can be fixedly installed on the column assembly 2. In this way, when the first linkage 603 rotates with the liquid storage cylinder 601, it can have regular relative movement and interaction with the relatively stationary second linkage 604.

[0107] According to the design of this embodiment, as the transmission shaft rotates synchronously, the rotating first linkage 603 will periodically (e.g., every one or several revolutions) move to a specific position, where it will periodically contact, collide or engage with the fixed second linkage 604.

[0108] There are several ways to achieve "periodic output of the lubricating medium pressed within the reservoir 601":

[0109] For example, when the second linkage 604 comes into contact, it can directly squeeze a flexible outer shell area of ​​the liquid storage cylinder 601 itself, or squeeze a deformable flexible bag or tube inside the liquid storage cylinder 601 that contains the lubricating medium, so that the lubricating medium in the "pressed" part is discharged through the liquid outlet tube 602, just like pressing a straw bag.

[0110] Alternatively, the periodic contact between the first linkage 603 and the second linkage 604 can serve as a mechanical power input to drive a miniature pumping mechanism (such as a small plunger pump, diaphragm pump, or peristaltic pump) integrated into or closely fitted with the liquid reservoir 601, or to periodically open / close a valve controlling the outflow of lubricating medium. Each contact triggers a pumping action or valve opening, thereby achieving periodic quantitative or timed output.

[0111] In this embodiment, the liquid reservoir 601 is configured as an elastic structure, and a protrusion is provided on its circumferential wall as a first linkage member 603. Another protrusion (which can be fixed to the tray assembly 3) is provided on the circumference of the liquid reservoir 601 as a second linkage member 604. As the liquid reservoir 601 rotates, the first linkage member 603 and the second linkage member 604 periodically contact each other to compress the elastic liquid reservoir 601 and output the lubricating medium.

[0112] In this embodiment, the lifting drive mechanism 4 includes:

[0113] A drive unit 403, the core unit for generating the power required for lifting, is mounted and fixed to the movable pallet assembly 3. The drive unit 403 may include an electric motor (e.g., a servo motor, variable frequency motor, etc., for providing the initial rotational power) and a reducer connected to it (e.g., a planetary gear reducer 402, a cycloidal pinwheel reducer, or a worm gear reducer, etc.). The reducer's function is to reduce the motor's output speed while increasing the output torque to meet the torque and smoothness requirements when lifting heavy loads.

[0114] A transmission structure is provided to effectively transmit the power generated by the drive unit 403 (typically a rotary motion after reduction and torque amplification) to the gear 402 that ultimately meshes with the rack 401. This transmission structure is connected to the drive end (i.e., the output end of the reducer) of the drive unit 403. The transmission structure has (or at least includes) a drive shaft. The gear 402 is mounted and fixed on this drive shaft. The drive shaft is mounted on the tray assembly 3 via bearings and other supporting components, and is capable of precise rotation. The gear 402 and the drive shaft are typically connected by a key, spline, expansion sleeve, or interference fit to ensure reliable torque transmission between them, so that the rotation of the drive shaft synchronously drives the gear 402 to rotate.

[0115] In this embodiment, the liquid storage cylinder 601 is sleeved on the drive shaft;

[0116] Furthermore, the liquid outlet pipe 602 is provided inside the drive shaft, and the liquid storage cylinder 601 is sleeved onto the drive shaft during installation. This means that the liquid storage cylinder 601 itself is designed as a hollow annular or cylindrical structure, with its inner diameter matching the outer diameter of the drive shaft. This sleeved connection allows the liquid storage cylinder 601 to be arranged around the drive shaft, saving additional installation space. To ensure that the liquid storage cylinder 601 can reliably rotate synchronously with the drive shaft, an appropriate circumferential fixed connection method is used between them, such as setting keys and keyways, using set screws, spline fits, or interference fits (specific connection methods are not shown).

[0117] Furthermore, to simplify the delivery path of the lubricating medium from the rotating reservoir 601 to the final lubrication point (gear tooth surface 402) and to provide protection, this embodiment integrates the outlet pipe 602 inside the drive shaft. Specifically, the drive shaft is not a traditional solid shaft structure, but rather the outlet pipe 602 is formed (e.g., through deep hole drilling) inside it (along the axial direction). This internal channel constitutes the main passage for the lubricating medium to flow from the reservoir 601 to the gear 402.

[0118] The inlet of the liquid outlet pipe 602 needs to be connected to the lubricating medium outlet of the liquid reservoir 601 through one or more openings (ports) on the outer wall of the drive shaft. Since the liquid reservoir 601 is sleeved on the drive shaft, this connection needs to be achieved at the interface where the two are relatively stationary, and a good seal must be ensured. The "outlet" of the internal liquid outlet pipe 602 is then guided to the gear tooth surface or meshing area of ​​the gear 402 through one or more radial or axial lead-out holes on the drive shaft near the mounting position of the gear 402.

[0119] In this embodiment, in order to ensure the stability and trajectory accuracy of the pallet assembly 3 when it moves vertically up and down along the column assembly 2 at high speed or with high precision, the intelligent warehouse stacker crane also includes one or more guide assemblies 7.

[0120] The guide component 7 structurally serves to connect and guide, and is disposed between the tray component 3 and the column component 2 to provide continuous guidance and support when the two move relative to each other.

[0121] Specifically, the main function of the guide assembly 7 is to limit the unintended movements that may occur in the pallet assembly 3 during lifting due to load, acceleration, or structural clearances, such as lateral swaying in the horizontal direction, and pitching or yawing in the forward and backward direction. By effectively constraining these degrees of freedom in non-working directions, the guide assembly 7 ensures that the pallet assembly 3 can always run smoothly and accurately along the vertical path defined by the column assembly 2. This is crucial for maintaining stability of the stacker crane during high-speed operation and for achieving precise alignment and positioning of the forks when approaching the target storage location.

[0122] The specific implementation of the guide component 7 can take many forms.

[0123] In one specific embodiment, a plurality of sets of guide rollers (e.g., side rollers, back rollers) are installed on the side or corner of the frame of the tray assembly 3. These guide rollers roll into and constrain the guide rails provided on the column assembly 2.

[0124] Alternatively, guide sliders made of wear-resistant, low-friction materials (such as engineering plastics, composite materials, etc.) can be used. These sliders are mounted on the tray assembly 3 and slidably fitted in the corresponding guide rails of the column assembly 2.

[0125] Regardless of whether rollers, sliders, or other forms of guide structures are used, the core purpose is to provide stable, reliable, and low-resistance guidance for the vertical movement of the tray assembly 3.

[0126] In the description of the embodiments of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "center", "top", "bottom", "top", "bottom", "inner", "outer", "inner side", "outer side", etc. indicate the orientation or positional relationship.

[0127] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "assembly" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0128] In the description of embodiments of the present invention, specific features, structures, materials or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0129] In the description of the embodiments of the present invention, it should be understood that "-" and "~" represent a range between two numerical values, and this range includes the endpoints. For example, "AB" represents a range greater than or equal to A and less than or equal to B. "A~B" represents a range greater than or equal to A and less than or equal to B.

[0130] In the description of embodiments of the present invention, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0131] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent warehouse stacker crane, characterized in that, include: Car components; The column assembly is connected to the trolley assembly; The pallet assembly is connected to the column assembly via a lifting drive mechanism; The lifting drive mechanism includes: A rack is provided on the column assembly; A gear is connected to a drive device and meshes with the rack; And, also includes: A backlash elimination structure is functionally disposed between the gear and the rack; The backlash elimination structure includes a force transmission mechanism that interacts with the axial end face of the gear. The backlash elimination structure is configured to generate a lateral elastic preload force acting on the gear through the force transmission mechanism, so that the gear teeth and the rack teeth maintain unilateral meshing contact. The gap-eliminating structure includes: The flange is rotatably connected to the axial end face of the gear via a bearing; The coupling track is installed on the column assembly and located on one or both sides of the rack; The coupling track has a coupling groove that mates with the flange; And an elastic system connected to the flange; The elastic system is configured to apply an elastic preload force toward the coupling groove to the flange; The elastic system includes: An elastic arm having a first end and a second end; The first end is connected to the bearing; The second end is connected to the flange; Furthermore, the elastic arm has a bend that makes the elastic arm U-shaped or C-shaped, wherein the opening of the elastic arm faces the axis of the gear.

2. The intelligent warehouse stacker crane according to claim 1, characterized in that, Also includes: A rolling element, connected to the flange; The rolling element and the coupling groove form a rolling connection.

3. The intelligent warehouse stacker crane according to claim 2, characterized in that, The elastic system also includes: An adjustment mechanism is provided for adjusting the magnitude of the elastic preload.

4. The intelligent warehouse stacker crane according to claim 1, characterized in that, Also includes: Lubrication system, the lubrication system comprising: A liquid storage cylinder is connected to a drive shaft that is connected to the gear, and rotates synchronously with the drive shaft; The liquid outlet pipeline has an inlet end and an outlet end; The inlet end is connected to the liquid storage cylinder; The outlet end is located on the tooth surface of the gear; The liquid storage tank is configured to periodically output lubricating medium in sync with the synchronous rotation of the drive shaft.

5. The intelligent warehouse stacker crane according to claim 4, characterized in that, The liquid storage tank includes: First linkage component and second linkage component; The first linkage component rotates synchronously with the liquid storage cylinder; Furthermore, the second linkage component is fixedly connected to the tray assembly or the column assembly; As the drive shaft rotates synchronously, the first linkage and the second linkage periodically contact each other to press the lubricating medium in the reservoir periodically out.

6. The intelligent warehouse stacker crane according to claim 4, characterized in that, The lifting mechanism includes: A drive unit is connected to the tray assembly; A transmission structure is connected to the drive end of the drive device; The transmission structure includes a transmission shaft connected to the gear.

7. The intelligent warehouse stacker crane according to claim 5, characterized in that, The liquid storage cylinder is sleeved onto the drive shaft; Furthermore, the liquid outlet pipe is provided inside the drive shaft.

8. The intelligent warehouse stacker crane according to claim 1, characterized in that, include: A guide assembly is connected between the tray assembly and the column assembly.

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