Stacking machine for three-dimensional storage

Abstract

The invention relates to the field of warehouse logistics equipment, in particular to a three-dimensional warehouse stacking machine which comprises a telescopic assembly, a supporting assembly and a driving assembly. The telescopic assembly comprises a first sliding table and a supporting plate capable of sliding relative to the first sliding table. The supporting assembly comprises a supporting rod, one end of the supporting rod is hinged to the side wall of the supporting plate, the other end abuts against the fixing table or the goods shelf, and the supporting rod supports the supporting plate all the time. The driving assembly can drive the supporting rod to rotate around the hinge point. When the stacking machine works, the supporting rod provides reverse supporting force by abutting against the fixing table or the goods shelf, the force arm from the gravity center of goods to the connecting point is shortened, and therefore the bending moment borne by the supporting plate is reduced, bending deformation of the supporting plate is reduced, and the goods damage risk is reduced. Meanwhile, the rotating motion of the supporting rod is converted into relative sliding of the supporting plate and the first sliding table through hinging, the supporting plate is directly driven to ascend and descend, and the operation link is simplified.

Description

Technical Field

[0001] The present invention relates to the field of warehousing and logistics equipment, and in particular to a stacker for three-dimensional warehousing. Background Art

[0002] Stackers for high-bay storage are the core equipment of automated high-bay warehouses. They are mainly used to efficiently complete the storage, retrieval, handling and transshipment of goods between high-rise shelves. Stackers for high-bay storage can significantly improve the utilization rate of storage space and the level of operation automation, and are widely used in intelligent warehousing systems in e-commerce, manufacturing, logistics and other fields. Stackers for high-bay storage usually include an operating mechanism, a lifting mechanism and a fork mechanism. When the system receives a storage and retrieval instruction, the stacker moves along the aisle to the row of target shelves through the operating mechanism; then the lifting mechanism drives the loading platform to the target floor height; finally, the fork mechanism extends to transfer the goods from the shelf or loading platform to the loading platform or shelf. After the operation is completed, the fork is retracted, and the stacker returns to the origin or goes to the next operation position according to the instruction. The entire process is coordinated by the automated control system to achieve unmanned and efficient operation.

[0003] However, in the prior art, when stacker forks are used to store or retrieve goods, the fork arm needs to extend to the shelf position to operate. At this point, the center of gravity of the goods is far away from the connection point between the fork and the loading platform, forming a long lever arm. Under a certain load, the longer the lever arm, the greater the bending moment the fork arm is subjected to. Long-term repeated stress can induce material fatigue. Even if the stress does not reach the limit each time, the accumulated fatigue damage will gradually reduce the structural strength of the fork arm, further exacerbating the bending deformation and ultimately causing it to lose its horizontal position. When the fork arm cannot maintain a horizontal position, during the lifting and transport process, the goods may tilt and slide, collide with the shelf or other components of the stacker. This is especially true for fragile goods such as precision instruments, and the risk of damage is extremely high, which can cause serious economic losses. Furthermore, the bent and deformed fork arm may interfere with the shelf, loading platform, etc. during the extension and lifting process, causing the storage and retrieval process to be stuck or unable to accurately align, which will increase operation time and reduce the overall operating efficiency of the storage system. Summary of the Invention

[0004] Based on this, it is necessary to provide a three-dimensional storage stacker to address the problem of the shelf force arm being too long when retrieving and storing goods in the current three-dimensional storage stacker.

[0005] The above purpose is achieved through the following technical solutions:

[0006] A stacker for three-dimensional warehousing, comprising:

[0007] base.

[0008] A telescopic assembly includes a first sliding platform, a second sliding platform, a fixed platform and a support plate. The fixed platform is fixedly arranged on the base. The first sliding platform is slidably connected to the second sliding platform. The second sliding platform is slidably connected to the fixed platform. The support plate is slidably connected to the first sliding platform. The support plate can slide relative to the first sliding platform perpendicular to the extension direction of the first sliding platform. The support plate is used to support goods.

[0009] The telescopic assembly has an extension phase and a contraction phase. When the telescopic assembly is in the extension phase, the first sliding platform and the second sliding platform move forward in a direction away from the fixed platform; when the telescopic assembly is in the contraction phase, the first sliding platform and the second sliding platform move in the opposite direction.

[0010] A support assembly, two support assemblies are provided on the telescopic assembly, and the two support assemblies are located on both sides of the support plate. Each support assembly includes multiple support rods, one end of the support rod is hinged to the side wall of the support plate, and the other end of the support rod can abut against the fixed platform or the shelf surface where goods are placed. When the telescopic assembly is working, the support rod can always support the support plate.

[0011] A drive assembly is used to provide a power source for the telescopic assembly and the support assembly.

[0012] When the support plate supports goods, the driving assembly drives the support rod to rotate so that the support rod drives the support plate and the first sliding platform to slide relative to each other.

[0013] Furthermore, the number of support rods on one side of the support plate is two, and the support assembly further includes a hinge rod, both ends of the hinge rod being hingedly connected to the middle portions of the two support rods.

[0014] Furthermore, the support assembly also includes a moving block, and two moving blocks are set on one side of the support plate. The two moving blocks are vertically slidably connected to the side walls of the second sliding platform. The driving assembly can drive the moving block and the second sliding platform to slide relative to each other, and the two moving blocks drive the support rod to rotate forward during the process of putting and picking up goods by the telescopic assembly.

[0015] Furthermore, the support assembly also includes a block, and two blocks are set on one side of the support plate. The two blocks are vertically slidably connected to the side wall of the support plate, and the block can abut against the support rod. The driving assembly can drive the block and the support plate to slide relative to each other, and the two blocks respectively limit the forward rotation of the support rod during the process of putting and picking up goods by the telescopic assembly.

[0016] Furthermore, the support assembly further includes a reversing block, which is fixedly arranged on the fixed platform and is used to make the support rod rotate in the opposite direction.

[0017] Furthermore, the support assembly also includes a support wheel, which is rotatably connected to one end of the support rod that abuts against the fixed platform or the surface of the shelf where goods are placed.

[0018] Furthermore, a sliding groove is provided on the first sliding platform, and the sliding groove extends in a direction perpendicular to the upper wall surface of the first sliding platform. A sliding rod is fixedly provided on the inner wall of the support plate, and the sliding rod is embedded in the sliding groove. The sliding groove and the sliding rod are used to limit the direction of relative sliding between the support plate and the first sliding platform.

[0019] Furthermore, the driving assembly includes a first transmission structure and a second transmission structure, the first transmission structure is used to drive the second sliding platform to move relative to the fixed platform, and the second transmission structure is used to drive the first sliding platform to move relative to the second sliding platform.

[0020] Furthermore, the first transmission structure includes multiple driving gears, multiple driven gears and a movable rack, the driving gears and the driven gears are fixedly connected to the side walls of the fixed platform, the movable rack is fixedly arranged on the lower wall surface of the second sliding platform, and the driving gear is simultaneously engaged with the driven gear and the movable rack; the multiple driven gears are used to make the multiple driving gears rotate synchronously, and the multiple driving gears are used to drive the movable rack to move relative to the fixed platform.

[0021] Furthermore, the second transmission structure includes a fixed rack, a transmission chain and a driven rack, the fixed rack is fixedly arranged on the upper wall surface of the fixed platform, the transmission chain is wound around the second sliding platform, and the driven rack is fixedly arranged on the lower wall surface of the first sliding platform, and the transmission chain is engaged with the fixed rack and the driven rack at the same time; when the second sliding platform slides relative to the fixed platform, the transmission chain and the second sliding platform rotate relative to each other, thereby driving the first sliding platform and the second sliding platform to slide relative to each other through the driven rack.

[0022] The beneficial effects of the present invention are:

[0023] The present invention provides a stacker for three-dimensional warehousing, comprising a telescopic assembly, a support assembly, and a drive assembly. The telescopic assembly includes a first sliding platform and a support plate, and the support plate and the first sliding platform are capable of sliding relative to each other. The support assembly includes a support rod, one end of which is mounted on the side wall of the support plate and the other end of which is capable of abutting against a fixed platform or a shelf surface where goods are placed. The drive assembly is capable of driving the support rod to rotate about its hinge point with the support plate. When the telescopic assembly is performing a retrieval or storage operation, the support rod always supports the support plate.

[0024] When the telescopic assembly extends or retracts, the weight of the cargo causes the support plate to experience an outward bending moment. At this point, the support rods provide counter-support by abutting the fixed platform or shelf, effectively shortening the moment arm from the cargo's center of gravity to the support plate's connection point with the fixed platform. This allows the support rods to maintain support throughout the stacker crane's operation, continuously offsetting the bending moment caused by the cargo's weight. This reduces bending deformation caused by excessive force on the support plate, ensuring it remains level even after extended use and minimizing the risk of cargo damage.

[0025] At the same time, when the drive assembly rotates the support rod, the support rod's rotational motion is converted into relative sliding movement between the support plate and the first sliding platform through the hinged relationship, allowing the support rod to directly drive the support plate to complete the lifting movement. This eliminates the complex process of first moving the support plate into position and then activating the independent lifting mechanism in traditional stackers, simplifying the operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic structural diagram of a stacker crane for three-dimensional warehousing provided by one embodiment of the present invention;

[0027] Figure 2 for Figure 1 Schematic diagram of the structure of the telescopic assembly of the stacker crane for medium-sized storage in the retracted state;

[0028] Figure 3 for Figure 1 Schematic diagram of the structure of the telescopic assembly of the stacker crane for medium-sized storage in the extended state;

[0029] Figure 4 for Figure 3 A side view of the telescopic assembly with the moving block at the pickup position and the stop block at the first position extended;

[0030] Figure 5 for Figure 3 A side view of the telescopic assembly with the moving block in the cargo release position and the stop block in the second position extended;

[0031] Figure 6 A front view of a telescopic assembly of a stacker crane for three-dimensional storage provided by one embodiment of the present invention in a retracted state;

[0032] Figure 7 for Figure 6 AA section diagram of the telescopic component;

[0033] Figure 8 for Figure 6 BB cross-section diagram of the middle telescopic component;

[0034] Figure 9 for Figure 6 Schematic diagram of CC section of the telescopic component;

[0035] Figure 10 for Figure 8 A partial enlarged view of point D in the middle;

[0036] Figure 11 for Figure 9 A partial enlarged view of point E in the middle.

[0037] in:

[0038] 100, base;

[0039] 200, telescopic assembly; 210, first sliding platform; 211, sliding groove; 220, second sliding platform; 230, fixed platform; 240, support plate; 241, slide rod;

[0040] 300, support assembly; 310, support rod; 311, support wheel; 320, moving block; 330, stop block; 340, reversing block; 350, articulated rod;

[0041] 400, driving assembly; 420, first transmission structure; 421, driving gear; 422, driven gear; 423, moving rack; 430, second transmission structure; 431, fixed rack; 432, transmission chain; 433, driven rack. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0043] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in the present invention include direct and indirect connections (couplings) unless otherwise specified. In the description of the present invention, it should be understood that the orientations or positional relationships indicated by the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0044] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0045] Refer to the following Figures 1 to 11 The present invention describes a stacker crane for three-dimensional warehousing provided by an embodiment of the present invention.

[0046] Specifically, the stacker for three-dimensional storage provided by the embodiment of the present invention includes a base 100 , a telescopic assembly 200 , a support assembly 300 and a drive assembly 400 .

[0047] The base 100 serves as the mounting base for the other components of the stacker crane. It can be mounted on a mobile platform, which drives the base 100 and the stacker crane within the storage area, enabling the stacker crane to switch positions between shelves. Two bases 100 are provided, spaced apart and arranged in parallel, providing stable support for the entire device and ensuring that the components do not shake during operation, affecting operational accuracy.

[0048] Two telescopic assemblies 200 are provided, and the two telescopic assemblies 200 are evenly spaced and distributed on the base 100. Each telescopic assembly 200 includes a fixed platform 230, a second sliding platform 220, a first sliding platform 210, and a support plate 240. The fixed platform 230 is fixedly provided on the upper wall surface of the two bases 100, and the extension direction of the fixed platform 230 is perpendicular to the extension direction of the base 100; the second sliding platform 220 is slidably connected to the fixed platform 230 in parallel with the extension direction of the fixed platform 230; the first sliding platform 210 is slidably connected to the second sliding platform 220 in parallel with the extension direction of the fixed platform 230; the support plate 240 is slidably connected to the first sliding platform 210, and the support plate 240 and the first sliding platform 210 can slide relative to each other in a direction perpendicular to the upper wall surface of the first sliding platform 210. The support plate 240 is used to directly contact and support the goods.

[0049] Four support assemblies 300 are provided, with two support assemblies 300 disposed on each telescopic assembly 200, and the two support assemblies 300 are symmetrically distributed about the axis of the extension direction of the first sliding platform 210. Each support assembly 300 includes a support rod 310, one end of which is hinged to the side wall of the support plate 240, and the other end of the support rod 310 can abut against the fixed platform 230 or the surface of the shelf where goods are placed. During the operation of the telescopic assembly 200, the support rod 310 can provide support for the support plate 240.

[0050] The driving assembly 400 serves as a power source for the stacker, providing power for the movement of other components, including but not limited to the movement of the second sliding table 220 and the first sliding table 210, the rotation of the support rod 310, etc.

[0051] It is understood that the drive assembly 400 can be a common drive form, such as an electric motor, an internal combustion engine, etc. The power source in the drive assembly 400 can be centralized, transmitting power to other components through a transmission structure; or the power source can be decentralized, with multiple decentralized power sources driving each component separately.

[0052] The telescopic assembly 200 has an extension phase, an extension state, a contraction phase, and a contraction state. When the telescopic assembly 200 is in the extension phase, the drive assembly 400 drives the second sliding platform 220 and the first sliding platform 210 to move forward in a direction away from the fixed platform 230. During this process, the support plate 240 can support or unload cargo. When the second sliding platform 220 and the first sliding platform 210 move to a preset position, the angle between the support rod 310 and the left side of the fixed platform 230 becomes obtuse, and the telescopic assembly 200 enters the extension phase, and the extension phase ends. When the telescopic assembly 200 is in the contraction phase, the drive assembly 400 drives the second sliding platform 220 and the first sliding platform 210 to move in the opposite direction toward the fixed platform 230 until the second sliding platform 220 and the first sliding platform 210 overlap with the fixed platform 230 in the vertical direction. The telescopic assembly 200 enters the contraction phase, at which point the angle between the support rod 310 and the left side of the fixed platform 230 becomes acute, and the contraction phase ends.

[0053] The operation process of stacker crane to pick up goods:

[0054] The drive assembly 400 first drives the base 100 to stay at the position corresponding to the target cargo, and then the telescopic assembly 200 enters the extension phase. The drive assembly 400 drives the second sliding platform 220 and the first sliding platform 210 to move forward in a direction away from the fixed platform 230. When the second sliding platform 220 and the first sliding platform 210 move under the cargo, the drive assembly 400 drives the support rod 310 to rotate forward. Since the angle between the support rod 310 and the left side of the fixed platform 230 is an acute angle in the initial state of the stacker, during the forward rotation of the support rod 310, the support rod 310 will drive the support plate 240 to produce an upward displacement and a downward displacement. The drive assembly 400 controls the upward displacement of the support plate 240 to be greater than the downward displacement, so that the support plate 240 supports the cargo during the upward displacement. The subsequent downward displacement is small and will not affect the support of the cargo by the support plate 240. When the second sliding platform 220 and the first sliding platform 210 move to the preset position and the support plate 240 completes the cargo support, the telescopic assembly 200 enters the extended state. At this time, the angle between the support rod 310 and the left side of the fixed platform 230 is an obtuse angle, and the extension stage ends.

[0055] When the telescopic assembly 200 enters the retraction stage, the driving assembly 400 drives the second sliding platform 220 and the first sliding platform 210 to move in the opposite direction in the direction close to the fixed platform 230. After the goods are completely off the shelf, the driving assembly 400 drives the support rod 310 to rotate in the opposite direction, so that the angle between the support rod 310 and the left side of the fixed platform 230 gradually decreases; when the second sliding platform 220 and the first sliding platform 210 overlap with the fixed platform 230 in the vertical direction, the telescopic assembly 200 enters the retraction state. At this time, the angle between the support rod 310 and the left side of the fixed platform 230 returns to an acute angle, and the retraction stage ends.

[0056] The operation process of stacker crane to release goods:

[0057] After the driving assembly 400 drives the base 100 to reach the target storage position, the telescopic assembly 200 enters the extension stage, and the second sliding platform 220 and the first sliding platform 210 move forward. Before the second sliding platform 220 and the first sliding platform 210 move to the shelf, the driving assembly 400 drives the support rod 310 to rotate forward, causing the support plate 240 to produce an upward displacement and a downward displacement. The support plate 240 first moves upward to the top of the shelf, and then moves downward to the bottom of the cargo position. During the downward movement of the support plate 240, the cargo detaches from the support plate 240 and stays on the cargo position. At this time, the telescopic assembly 200 is in an extended state, the angle between the support rod 310 and the left side of the fixed platform 230 is an obtuse angle, and the extension stage ends.

[0058] The retraction stage of the telescopic assembly 200 during the stacker's delivery operation is consistent with the retraction stage of the telescopic assembly 200 during the stacker's pickup operation: the drive assembly 400 drives the second sliding platform 220 and the first sliding platform 210 to move in opposite directions in the direction close to the fixed platform 230. After the support plate 240 is completely separated from the shelf, the drive assembly 400 drives the support rod 310 to rotate in the opposite direction, so that the angle between the support rod 310 and the left side of the fixed platform 230 gradually decreases; when the second sliding platform 220 and the first sliding platform 210 overlap with the fixed platform 230 in the vertical direction, the telescopic assembly 200 enters the retracted state. At this time, the angle between the support rod 310 and the left side of the fixed platform 230 returns to an acute angle, and the retraction stage ends.

[0059] Therefore, when telescopic assembly 200 is in operation, one end of support rod 310 abuts against fixed platform 230 or the shelf, providing additional support for support plate 240 and shortening the originally long lever arm from the center of gravity of the cargo to the connection point between support plate 240 and fixed platform 230. With the cargo weight remaining constant, the shortened lever arm significantly reduces the bending moment on support plate 240, allowing support plate 240 to remain level even after repeated use over a long period of time. This reduces the risk of cargo damage due to bending deformation and ensures the stability of cargo during lifting and transportation.

[0060] It is understandable that the provision of the support rod 310 can simplify the lifting control process of the support plate 240 and reduce the operation steps of separately driving the support plate 240 to move up and down.

[0061] Specifically, the rotation of the support rod 310 can directly drive the support plate 240 to produce vertical displacement. When the driving assembly 400 drives the support rod 310 to rotate forward or reverse, the support rod 310 converts the rotational motion into the up and down movement of the support plate 240 by changing its own angle.

[0062] Therefore, there is no need to set up a separate lifting drive device for the support plate 240. Instead, the displacement adjustment of the support plate 240 is achieved by means of the rotation of the support rod 310, which reduces the complexity of the equipment structure and the number of driving components, thereby reducing the failure rate and maintenance cost of the equipment.

[0063] In one embodiment, the support assembly 300 includes a hinged rod 350. Two support rods 310 are provided on one side of the support plate 240, and the ends of the hinged rod 350 are respectively hinged to the middle of the two support rods 310. That is, one end of the hinged rod 350 is hinged to the middle of one of the support rods 310, and the other end is hinged to the middle of the other support rod 310 on the same side. The rotation of the two support rods 310 can be transmitted to each other through the hinged rod 350. The hinged rod 350 is used to ensure that the two support rods 310 on the same side of the support plate 240 can rotate synchronously, so that the supporting action of the two support rods 310 on the support plate 240 is consistent, avoiding force imbalance caused by asynchronous movement.

[0064] When the telescopic assembly 200 extends or contracts, the drive assembly 400 rotates one of the support rods 310 on one side of the support plate 240. Because the ends of the hinged rod 350 are hinged to the middle of the two support rods 310, the rotation of the first support rod 310 transmits a pulling force or a pushing force to the other support rod 310 through the hinged rod 350, forcing the other support rod 310 to rotate synchronously.

[0065] In this way, it is ensured that the two support rods 310 can rotate to maintain the same angle, continuously provide a balanced supporting force for the support plate 240, and push the support plate 240 to move up or down smoothly.

[0066] Furthermore, the support assembly 300 further includes a moving block 320 and a stop block 330 .

[0067] Two moving blocks 320 and two stoppers 330 are provided on one side of the support plate 240. The moving blocks 320 are vertically slidably connected to the sidewalls of the second slide platform 220, and the drive assembly 400 is capable of driving the moving blocks 320 to slide relative to the second slide platform 220 perpendicularly to the sidewalls of the second slide platform 220. The stoppers 330 are vertically slidably connected to the sidewalls of the support plate 240, and the drive assembly 400 is capable of driving the stoppers 330 to slide relative to the support plate 240 perpendicularly to the sidewalls of the support plate 240.

[0068] The two moving blocks 320 are located on the side walls of the second sliding platform 220 at a pickup position and a drop position, respectively. When the stacker is picking up goods, the moving block 320 at the pickup position extends, while the moving block 320 at the drop position retracts. The initial distance between the extended moving block 320 and the support rod 310 is adapted to the rotation drive requirements for picking up goods. When the stacker is dropping goods, the moving block 320 at the drop position extends, while the moving block 320 at the pickup position retracts. The moving block 320 at the drop position is closer to the initial position of the support rod 310 than the moving block 320 at the pickup position, thereby driving the support rod 310 to rotate in advance.

[0069] The two stops 330 are located in a first position and a second position on the side wall of the support plate 240, respectively. When the stacker is picking up goods, the stop 330 in the first position extends, while the stop 330 in the second position retracts. At this time, the contact point between the extended stop 330 and the support rod 310 is closer to the hinge between the support rod 310 and the support plate 240. When the stacker is releasing goods, the stop 330 in the second position extends, while the stop 330 in the first position retracts. Compared with the stop 330 in the first position, the stop 330 in the second position is further away from the hinge between the support rod 310 and the support plate 240, thereby increasing the angle at which the support rod 310 can rotate in the forward direction.

[0070] When the stacker is retrieving goods, the drive assembly 400 first drives the moving block 320 at the retrieving position to extend and the moving block 320 at the storing position to retract, thereby driving the stopper 330 at the first position to extend and the stopper 330 at the second position to retract. When the telescopic assembly 200 enters the extension phase, the second sliding platform 220 and the first sliding platform 210 move relative to each other, and the moving block 320 gradually moves closer to the support rod 310 along with the second sliding platform 220. When the support plate 240 moves under the goods, the moving block 320 contacts the support rod 310 and drives it to rotate forward, driving the support plate 240 to move upward to support the goods. When the telescopic assembly 200 is in the extended state, the stopper 330 at the first position just abuts the support rod 310, limiting its further rotation. At this time, the angle of the support rod 310 keeps the support plate 240 in a stable supporting state. The drive assembly 400 can smoothly drive the first and second sliding platforms 210 and 220 to move in opposite directions, smoothly retrieving the goods.

[0071] When the stacker is releasing goods, the driving assembly 400 first drives the moving block 320 at the releasing position to extend, and the moving block 320 at the picking position to retract. Since the moving block 320 at the releasing position is closer to the initial position of the support rod 310, the moving block 320 can contact the support rod 310 in advance and drive it to rotate; at the same time, the driving assembly 400 drives the block 330 at the second position to extend, and the block 330 at the first position to retract. At this time, the block 330 at the second position is away from the hinge point of the support rod 310, so that the maximum angle of the positive rotation of the support rod 310 is increased. When the telescopic assembly 200 is in the extended stage, with the relative movement of the second sliding platform 220 and the first sliding platform 210, the moving block 320 drives the support rod 310 to rotate in advance, driving the support plate 240 to move up to the top of the shelf first, and then move down to the bottom of the cargo position, so that the goods are separated from the support plate 240 and placed on the shelf; when the telescopic assembly 200 is in the extended state, the stop block 330 located in the second position abuts against the support rod 310, limiting its further rotation. At this time, the vertical length of the support rod 310 is less than the length of the stop block 330 located in the first position when it is extended, which adapts to the position requirement of the support plate 240 after the goods are placed. The driving assembly 400 can smoothly drive the first sliding platform 210 and the second sliding platform 220 to move in opposite directions.

[0072] Therefore, the moving block 320 accurately controls the timing of driving the support rod 310 to rotate by switching between the picking position and the placing position. When picking up goods, timely driving ensures that the support plate 240 accurately supports the goods. When placing goods, driving in advance allows the support plate 240 to move up over the shelf first and then move down to place the goods. The stop block 330 flexibly limits the maximum rotation angle of the support rod 310 by switching between the first position and the second position. The angle adapts to the supporting requirements when picking up goods, and the angle adapts to the detachment requirements when placing goods. This makes the stacker's picking and placing actions more in line with scene requirements, and significantly improves stability and accuracy. When picking up goods, the support plate 240 can stably support the goods to prevent the goods from slipping due to unstable support; when placing goods, the goods can be smoothly detached from the support plate 240 and accurately placed on the shelf, reducing collisions or placement deviations.

[0073] Specifically, the movable block 320 and the stopper 330 on one side of the support plate 240 are each configured as one piece. The movable block 320 is slidably connected to the side wall of the second sliding platform 220. The drive assembly 400 can drive the movable block 320 to slide relative to the second sliding platform 220 along the extension direction of the second sliding platform 220, thereby enabling the movable block 320 to switch between a loading position and a loading position. The stopper 330 is slidably connected to the side wall of the support plate 240. The drive assembly 400 can drive the stopper 330 to slide relative to the support plate 240 along the extension direction of the support plate 240, thereby enabling the stopper 330 to switch between a first position and a second position. Thus, the drive assembly 400 can flexibly adjust the loading and unloading positions of the movable block 320 on the side wall of the second sliding platform 220, as well as the first and second positions of the stopper 330 on the side wall of the support plate 240, according to the different shelf widths in actual storage scenarios. This enables the stacker crane to adapt to shelves of different widths, ensuring smooth loading and unloading operations.

[0074] It is understandable that when the telescopic moving block 320 has a high failure rate due to frequent telescopic movements, on the one hand, the moving block 320 can be fixed to the side wall of the second sliding platform 220 to keep its position unchanged, thereby reducing drive failures. In this case, to adapt to the different requirements for the position of the moving block 320 for picking up and putting down goods, two independent stackers can be set up: one specifically for picking up goods, with its moving block 320 fixed in the picking position, just matching the timing of driving the support rod 310 to rotate when picking up goods; the other specifically for putting down goods, with its moving block 320 fixed in the putting down position, meeting the need to drive the support rod 310 to rotate in advance when putting down goods. The two stackers are deployed at both ends of the shelf and coordinated and dispatched by the warehouse management system. The picking stacker completes the removal of goods from one end of the shelf, and the putting stacker completes the deposit of goods from the other end of the shelf. The two stackers operate independently and have a single action, eliminating the need to frequently switch the moving block 320.

[0075] On the other hand, the movable block 320 can be detachably fixed to the side wall of the second sliding platform 220, and the second sliding platform 220 is pre-set with mounting holes for the movable block 320 for the picking position and the placing position. When picking up goods, the operator fixes the movable block 320 at the picking position so that its initial distance from the support rod 310 is adapted to the picking drive requirements. At this time, when the movable block 320 moves with the second sliding platform 220, it can timely push the support rod 310 to rotate, cooperating with the stop block 330 in the first position to complete the picking action; when it is necessary to place the goods, the operator removes the movable block 320 from the picking position. If placing the goods does not require special drive, the basic movement function of the stacker is directly used to transport the goods to the shelf, and the placing of the goods is completed using existing technology, thereby reducing the moving parts of the movable block 320. Although the manual operation link is increased, it can ensure basic operation capabilities in scenarios where equipment stability is prioritized.

[0076] Furthermore, the support assembly 300 further includes a reversing block 340. The reversing block 340 is fixedly mounted on the fixed platform 230. The position of the reversing block 340 corresponds to the movement trajectory of the end of the support rod 310 away from the support plate 240 during the contraction process, and the reversing block 340 can contact and block the end of the support rod 310 away from the support plate 240.

[0077] When the telescopic assembly 200 enters the retracted state from the extended state, the angle between the support rod 310 and the left side of the fixed platform 230 is obtuse. The second sliding platform 220 and the first sliding platform 210 drive the support plate 240 to move toward the fixed platform 230, and the end of the support rod 310 away from the support plate 240 moves synchronously with the support plate 240. During the movement, the moving block 320 gradually moves away from the support rod 310 and no longer drives the support rod 310 to rotate. When the end of the support rod 310 away from the support plate 240 abuts the reversing block 340 fixed to the fixed platform 230, the reversing block 340 will restrict this end of the support rod 310 from continuing to move with the support plate 240. Since one end of the support rod 310 is hinged to the support plate 240 and the other end is blocked by the reversing block 340, the continuous movement of the support plate 240 will force the support rod 310 to rotate in the opposite direction around the hinge point, causing the angle between it and the left side of the fixed platform 230 to gradually decrease until the telescopic assembly 200 is completely retracted. At this time, the angle between the support rod 310 and the left side of the fixed platform 230 returns to an acute angle, completing the reverse rotation and reset of the support rod 310.

[0078] Therefore, the reversing block 340 can force the support rod 310 to rotate in the opposite direction by mechanical blocking when the support rod 310 moves from the extended state to the retracted state of the telescopic assembly 200, without the need for additional drive of the drive assembly 400, so as to achieve angle reset. This simplifies the control process and reduces power consumption.

[0079] Furthermore, a support wheel 311 is rotatably provided at one end of the support rod 310 away from the support plate 240 .

[0080] Specifically, the support wheel 311 is rotatably mounted on the support rod 310 via a wheel axle and abuts against one end of the fixed platform 230 or the surface of the shelf where goods are placed. The support wheel 311 can freely rotate around its own axis.

[0081] When the stacker is in operation, when the telescopic assembly 200 extends or contracts, or when the support rod 310 undergoes a slight displacement due to angle adjustment, the support wheel 311 rolls relative to the fixed platform 230 or the shelf surface.

[0082] Therefore, the sliding friction between the support rod 310 and the fixed platform 230 or the shelf surface is converted into rolling friction through the support wheel 311, thereby reducing the friction resistance and wear at the contact point of the support rod 310, avoiding excessive friction force from hindering the rotation of the support rod 310 and the movement of the telescopic component 200, ensuring the stability of the long-term supporting function of the support component 300, and thereby improving the reliability and durability of the overall operation of the stacker.

[0083] In one embodiment, a sliding groove 211 is provided on the first sliding platform 210 , and a sliding rod 241 is fixedly provided on the inner wall of the supporting plate 240 .

[0084] Specifically, the sliding groove 211 is provided on the side wall of the first sliding platform 210, extending perpendicularly to the upper wall of the first sliding platform 210. The sliding groove 211 accommodates the sliding rod 241 and provides space for its movement. The sliding rod 241 is fixed to the inner wall of the support plate 240 and embedded in the sliding groove 211, forming a sliding connection with the sliding groove 211. The sliding rod 241 and the first sliding platform 210 can move relative to each other along the extension direction of the sliding groove 211.

[0085] During the operation of the stacker, when the support rod 310 rotates to drive the support plate 240 to move up and down, the slide rod 241 will slide synchronously along the extension direction of the slide groove 211. The slide rod 241 always remains inside the slide groove 211 and will not leave the constraint range of the slide groove 211.

[0086] The side walls of the sliding groove 211 form lateral constraints on the sliding rod 241, limiting the support plate 240 from sliding relative to the first sliding platform 210 in the horizontal direction, ensuring that the support plate 240 can maintain a stable posture during the process of supporting or unloading goods, and avoiding unstable placement of goods or collision with the shelf due to deviation in the sliding direction.

[0087] In one embodiment, the driving assembly 400 includes a first transmission structure 420 and a second transmission structure 430. The first transmission structure 420 is used to drive the second sliding platform 220 and the fixed platform 230 to move relative to each other, and the second transmission structure 430 is used to drive the first sliding platform 210 and the second sliding platform 220 to move relative to each other. The first transmission structure 420 and the second transmission structure 430 jointly provide power for the extension and contraction actions of the telescopic assembly 200.

[0088] The first transmission structure 420 includes multiple drive gears 421, multiple driven gears 422, and a movable rack 423. The drive gears 421 and driven gears 422 are fixed to the side walls of the fixed platform 230 via shafts. The movable rack 423 is fixed to the lower wall of the second sliding platform 220. The drive gears 421 mesh with both the driven gears 422 and the movable rack 423. Two adjacent drive gears 421 mesh with one driven gear 422 to ensure synchronous rotation of the multiple drive gears 421. The multiple drive gears 421 mesh with the movable rack 423, converting the rotation of the drive gears 421 into linear motion of the movable rack 423, thereby driving the relative movement of the second sliding platform 220 and the fixed platform 230.

[0089] The second transmission structure 430 includes a fixed rack 431, a transmission chain 432, and a driven rack 433. The fixed rack 431 is fixed to the upper wall of the fixed platform 230. The transmission chain 432 is a closed loop chain, wound around the middle sprocket of the second sliding platform 220, and can rotate freely along the sprocket. The driven rack 433 is fixed to the lower wall of the first sliding platform 210. A portion of the transmission chain 432 engages with the fixed rack 431, and a portion engages with the driven rack 433, forming a transmission connection. When the second sliding platform 220 slides relative to the fixed platform 230, the engagement between the fixed rack 431 and the transmission chain 432 drives the transmission chain 432 to rotate around the sprocket of the second sliding platform 220. The rotating transmission chain 432 then engages with the driven rack 433, thereby driving the relative movement of the first sliding platform 210 and the second sliding platform 220.

[0090] During the operation of the stacker, when the telescopic assembly 200 enters the extension stage, the driving assembly 400 drives the driving gear 421 of the first transmission structure 420 to rotate in the forward direction, and the multiple driving gears 421 rotate synchronously under the linkage of the driven gear 422, and push the second sliding platform 220 to move along the fixed platform 230 in the direction away from the fixed platform 230 through engagement with the moving rack 423; at the same time, the movement of the second sliding platform 220 causes the transmission chain 432 of the second transmission structure 430 to move relative to the fixed rack 431, and the transmission chain The bar 432 rotates accordingly and engages with the driven rack 433, driving the first sliding platform 210 to move along the second sliding platform 220 in a direction away from the second sliding platform 220, thereby extending the telescopic assembly 200; similarly, when the telescopic assembly 200 enters the contraction stage, the driving gear 421 rotates in the opposite direction, driving the second sliding platform 220 to move in a direction close to the fixed platform 230, and the transmission chain 432 also rotates in the opposite direction, driving the first sliding platform 210 to move in a direction close to the second sliding platform 220, thereby completing the contraction of the telescopic assembly 200.

[0091] Therefore, the first transmission structure 420 ensures the smooth movement and linear accuracy of the second sliding platform 220 through the engagement of multiple synchronously rotating driving gears 421 and the moving rack 423; the second transmission structure 430 uses the engagement of the fixed rack 431 and the transmission chain 432 to convert the movement of the second sliding platform 220 into the linked movement of the first sliding platform 210, ensuring the synchronization of the movement of the first sliding platform 210 and the second sliding platform 220.

[0092] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0093] The above-described embodiments merely illustrate several embodiments of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A stacker for three-dimensional warehousing, characterized in that: include: base; a telescopic assembly comprising a first sliding platform, a second sliding platform, a fixed platform, and a support plate, wherein the fixed platform is fixedly disposed on the base, the first sliding platform is slidably connected to the second sliding platform, the second sliding platform is slidably connected to the fixed platform, and the support plate is slidably connected to the first sliding platform, the support plate being capable of sliding relative to the first sliding platform perpendicular to an extension direction of the first sliding platform, and the support plate being used to support cargo; The telescopic assembly has an extension phase and a contraction phase. When the telescopic assembly is in the extension phase, the first sliding platform and the second sliding platform move forward in a direction away from the fixed platform; when the telescopic assembly is in the contraction phase, the first sliding platform and the second sliding platform move in the opposite direction. A support assembly, wherein two support assemblies are provided on the telescopic assembly, and the two support assemblies are located on both sides of the support plate. Each support assembly includes a plurality of support rods, one end of each support rod is hinged to the side wall of the support plate, and the other end of each support rod can abut against the fixed platform or the surface of the shelf where the goods are placed. When the telescopic assembly is working, the support rods can always support the support plate; A drive assembly, the drive assembly being used to provide a power source for the telescopic assembly and the support assembly; When the support plate supports goods, the driving assembly drives the support rod to rotate so that the support rod drives the support plate and the first sliding platform to slide relative to each other.

2. A stacker for three-dimensional storage according to claim 1, characterized in that: The number of support rods on one side of the support plate is two, and the support assembly further comprises a hinge rod, both ends of the hinge rod being hingedly connected to the middle portions of the two support rods.

3. A stacker for three-dimensional storage according to claim 2, characterized in that: The support assembly also includes a moving block, and two moving blocks are set on one side of the support plate. The two moving blocks are vertically slidably connected to the side walls of the second sliding platform. The driving assembly can drive the moving block and the second sliding platform to slide relative to each other, and the two moving blocks drive the support rod to rotate forward during the process of putting and picking up goods by the telescopic assembly.

4. A stacker for three-dimensional storage according to claim 3, characterized in that: The support assembly also includes a stopper, and two stops are provided on one side of the support plate. The two stops are vertically slidably connected to the side wall of the support plate. The stops can abut against the support rod, and the driving assembly can drive the stops and the support plate to slide relative to each other. The two stops respectively limit the forward rotation of the support rod during the process of putting and picking up goods by the telescopic assembly.

5. A stacker for three-dimensional storage according to claim 4, characterized in that: The support assembly further includes a reversing block, which is fixedly arranged on the fixed platform and is used to make the support rod rotate in the opposite direction.

6. A stacker for three-dimensional storage according to claim 2, characterized in that: The support assembly further comprises a support wheel, which is rotatably connected to one end of the support rod abutting against the fixed platform or the surface of the shelf where goods are placed.

7. The stacker for three-dimensional storage according to claim 1, characterized in that: A sliding groove is provided on the first sliding platform, and the sliding groove extends in a direction perpendicular to the wall surface of the first sliding platform. A sliding rod is fixedly provided on the inner wall of the support plate, and the sliding rod is embedded in the sliding groove. The sliding groove and the sliding rod are used to limit the relative sliding direction of the support plate and the first sliding platform.

8. The stacker for three-dimensional storage according to claim 1, characterized in that: The driving assembly includes a first transmission structure and a second transmission structure. The first transmission structure is used to drive the second sliding platform to move relative to the fixed platform, and the second transmission structure is used to drive the first sliding platform to move relative to the second sliding platform.

9. The stacker for three-dimensional storage according to claim 8, characterized in that: The first transmission structure includes a plurality of driving gears, a plurality of driven gears and a movable rack, wherein the driving gears and the driven gears are fixedly connected to the side wall of the fixed platform, and the movable rack is fixedly arranged on the lower wall surface of the second sliding platform, and the driving gears are meshed with the driven gears and the movable rack at the same time; The plurality of driven gears are used to make the plurality of driving gears rotate synchronously, and the plurality of driving gears are used to drive the movable rack to move relative to the fixed platform.

10. The stacker for three-dimensional storage according to claim 8, characterized in that: The second transmission structure includes a fixed rack, a transmission chain and a driven rack, the fixed rack is fixedly arranged on the upper wall surface of the fixed platform, the transmission chain is wound around the second sliding platform, and the driven rack is fixedly arranged on the lower wall surface of the first sliding platform, and the transmission chain is engaged with the fixed rack and the driven rack at the same time; when the second sliding platform slides relative to the fixed platform, the transmission chain and the second sliding platform rotate relative to each other, thereby driving the first sliding platform and the second sliding platform to slide relative to each other through the driven rack.

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