Stacker for stereoscopic storage

Abstract

The present application relates to the field of warehouse logistics equipment, in particular to a stacking machine for stereoscopic warehouse, comprising 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 which is hinged to the side wall of the supporting plate, and the other end abuts against a fixed table or a goods shelf, and the supporting rod always supports the supporting plate; the driving assembly can drive the supporting rod to rotate around the hinge point. When the stacking machine is working, the supporting rod provides a reverse supporting force by abutting against the fixed table or the goods shelf, shortens the force arm from the center of gravity of the goods to the connecting point, thereby reducing the bending moment borne by the supporting plate, reducing its bending deformation, and reducing the risk of goods damage. At the same time, the rotary motion of the supporting rod is converted into the relative sliding of the supporting plate and the first sliding table through the hinge, directly driving the supporting plate to lift, simplifying the operation link.

Description

Technical Field

[0001] This invention relates to the field of warehousing and logistics equipment, and in particular to a stacker crane for automated warehousing. Background Technology

[0002] Stacker cranes are the core equipment of automated storage and retrieval systems (AS / RS), primarily used for efficiently storing, retrieving, handling, and transferring goods between high-level racks. Stacker cranes significantly improve warehouse space utilization and operational automation levels, and are widely used in intelligent warehousing systems in e-commerce, manufacturing, and logistics. A stacker crane typically includes a running mechanism, a lifting mechanism, and a fork mechanism. When the system receives a storage / retrieval instruction, the stacker crane moves along the aisle to the column containing the target rack via the running mechanism; subsequently, the lifting mechanism raises the loading platform to the target height; finally, the forks extend to transfer goods from the rack or loading platform to the loading platform or rack. After completing the operation, the forks retract, and the stacker crane returns to its origin or proceeds to the next work position according to instructions. The entire process is coordinated by an automated control system, achieving unmanned and highly efficient operation.

[0003] However, in existing technologies, when stacker crane forks are used to access goods, the fork arms need to extend to the rack position. At this point, the center of gravity of the goods is far from the connection point between the forks and the loading platform, resulting in a relatively long lever arm. Under a fixed load, the longer the lever arm, the greater the bending moment the fork arm bears. Prolonged and repeated stress can trigger material fatigue. Even if the stress does not reach its limit each time, accumulated fatigue damage will gradually reduce the structural strength of the fork arm, further exacerbating bending deformation and ultimately causing it to lose its horizontal position. When the fork arm cannot maintain a horizontal position, goods may slip or collide with racks or other parts of the stacker crane during lifting and transport. This is especially dangerous for fragile or precision instruments, posing a high risk of damage and potentially causing significant economic losses. Furthermore, the bent and deformed fork arms may interfere with racks and loading platforms during extension, retraction, and lifting, causing jamming or inaccurate positioning during access, extending operation time, and reducing the overall operating efficiency of the warehousing system. Summary of the Invention

[0004] Therefore, it is necessary to provide a stacker crane for automated storage and retrieval systems that addresses the problem of excessively long rack arms when retrieving and storing goods.

[0005] The above objectives are achieved through the following technical solutions:

[0006] A stacker crane for automated storage and retrieval systems includes:

[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 mounted on the base. The first sliding platform is slidably connected to the second sliding platform, and the second sliding platform is slidably connected to the fixed platform. The support plate is slidably connected to the first sliding platform and can slide relative to the first sliding platform perpendicular to its extension direction. The support plate is used to support goods.

[0009] The telescopic component has an extension phase and a retraction phase. When the telescopic component is in the extension phase, the first sliding table and the second sliding table move forward in a direction away from the fixed table. When the telescopic component is in the retraction phase, the first sliding table and the second sliding table move in opposite directions.

[0010] The telescopic assembly includes two support components located on both sides of the support plate. Each support component includes multiple support rods, one end of which is hinged to the side wall of the support plate, and the other end of which can abut against the fixed platform or the surface of the shelf where goods are placed. When the telescopic assembly is in operation, the support rods can always support the support plate.

[0011] A drive component, which provides a power source for the telescopic component and the support component.

[0012] When the support plate supports the goods, the drive assembly drives the support rod to rotate so that the support rod drives the support plate to slide relative to the first sliding table.

[0013] Furthermore, the support rod on one side of the support plate is provided as two, and the support assembly also includes a hinge rod, both ends of which are hinged to the middle of the two support rods.

[0014] Furthermore, the support assembly also includes movable blocks, with two movable blocks on one side of the support plate. The two movable blocks are vertically slidably connected to the side wall of the second sliding table. The drive assembly can drive the movable blocks to slide relative to the second sliding table. The two movable blocks drive the support rod to rotate forward during the loading and unloading processes of the telescopic assembly.

[0015] Furthermore, the support assembly also includes stops, with two stops on one side of the support plate. The two stops are vertically slidably connected to the side wall of the support plate, and the stops can abut against the support rod. The drive assembly can drive the stops to slide relative to the support plate. The two stops respectively restrict the forward rotation of the support rod during the loading and unloading process of the telescopic assembly.

[0016] Furthermore, the support assembly also includes a reversing block, which is fixedly mounted on the fixed platform and is used to cause the support rod to 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 surface of the fixed platform or the shelf on which the goods are placed.

[0018] Furthermore, a sliding groove is provided on the first sliding platform, the sliding groove extends in a direction perpendicular to the wall surface of the first sliding platform, and a sliding rod is fixedly provided on the inner wall of the support plate, 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, wherein the first transmission structure is used to drive the second sliding table to move relative to the fixed table, and the second transmission structure is used to drive the first sliding table to move relative to the second sliding table.

[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 wall of the fixed platform, and the movable rack is fixedly disposed on the lower wall of the second sliding platform. The driving gears mesh with both the driven gears 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 disposed on the upper wall of the fixed platform, the transmission chain is wound around the second sliding platform, and the driven rack is fixedly disposed on the lower wall of the first sliding platform. The transmission chain meshes with both the fixed rack and the driven rack. When the second sliding platform slides relative to the fixed platform, the transmission chain rotates relative to the second sliding platform, thereby driving the first sliding platform to slide relative to the second sliding platform through the driven rack.

[0022] The beneficial effects of this invention are:

[0023] This invention provides a stacker crane for automated storage and retrieval systems, comprising a telescopic assembly, a support assembly, and a drive assembly. The telescopic assembly includes a first sliding platform and a support plate, which are capable of relative sliding. 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 abuts against a fixed platform or the surface of a shelf where goods are placed. The drive assembly drives the support rod to rotate about its hinge point with the support plate, and the support rod always provides support to the support plate during retrieving or storing operations of the telescopic assembly.

[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 time, the support rod provides counter-support by abutting against the fixed platform or shelf, effectively shortening the lever arm from the cargo's center of gravity to the connection point between the support plate and the fixed platform. Therefore, the support rod maintains support for the support plate throughout the stacker crane's operation, continuously counteracting the bending moment generated by the cargo's weight, reducing bending deformation of the support plate due to excessive stress, ensuring it remains level even after long-term use, and thus reducing the risk of cargo damage.

[0025] Meanwhile, when the drive assembly drives the support rod to rotate, the rotational motion of the support rod is converted into relative sliding between the support plate and the first sliding table through a hinged connection, thereby enabling the support rod to directly drive the support plate to complete the lifting action. This eliminates the complex process of the traditional stacker crane, where the support plate must first be moved into position before the independent lifting mechanism is activated, simplifying the operation. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of a stacker crane for automated warehousing provided in an embodiment of the present invention;

[0027] Figure 2 for Figure 1 A schematic diagram of the telescopic component of a stacker crane used in automated warehouses in the retracted state;

[0028] Figure 3 for Figure 1 A schematic diagram of the telescopic assembly of a stacker crane used in automated warehouses in its extended state;

[0029] Figure 4 for Figure 3 Side view of the telescopic assembly when the moving block in the picking position and the stop in the first position are extended;

[0030] Figure 5 for Figure 3 Side view of the telescopic assembly when the moving block in the middle position and the stop block in the second position are extended;

[0031] Figure 6 This is a front view of the telescopic assembly of a stacker crane for automated storage in a retracted state, according to an embodiment of the present invention.

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

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

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

[0035] Figure 10 for Figure 8 A magnified view of a section at point D;

[0036] Figure 11 for Figure 9 A magnified view of a section at point E in the middle.

[0037] in:

[0038] 100. Base;

[0039] 200. Telescopic assembly; 210. First sliding table; 211. Sliding groove; 220. Second sliding table; 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, Hinge rod;

[0041] 400. Drive assembly; 420. First transmission structure; 421. Drive gear; 422. Driven gear; 423. Moving rack; 430. Second transmission structure; 431. Fixed rack; 432. Transmission chain; 433. Driven rack. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the 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 merely illustrative of the invention and are not intended to limit the invention.

[0043] The component designations used in this document, such as "first" and "second," are merely for distinguishing the described objects and do not have any sequential or technical meaning. The terms "connection" and "linkage" used in this invention, unless otherwise specified, include both direct and indirect connections (linkages). In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0044] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0045] The following reference Figures 1 to 11 This invention describes a stacker crane for automated warehousing provided in an embodiment of the invention.

[0046] Specifically, the stacker crane for automated storage provided in this embodiment of the invention includes a base 100, a telescopic component 200, a support component 300, and a drive component 400.

[0047] The base 100 serves as the mounting foundation for other components of the stacker crane. It can be mounted on a moving platform, which drives the base 100 and the stacker crane within the storage area, enabling the stacker crane to switch positions between different racks. Two bases 100 are provided, spaced apart and parallel to each other, providing stable support for the entire equipment and ensuring that the components do not sway during operation, thus maintaining operational accuracy.

[0048] Two telescopic components 200 are provided, and the two telescopic components 200 are evenly spaced on the base 100. Each telescopic component 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 disposed 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 parallel to the extension direction of the fixed platform 230 and slidably connected to the fixed platform 230; the first sliding platform 210 is parallel to the extension direction of the fixed platform 230 and slidably connected to the second sliding platform 220; 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 components 300 are provided, with two support components 300 mounted on one telescopic component 200, and the two support components 300 are symmetrically distributed about the axis of the extension direction of the first sliding table 210. Each support component 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 which can abut against the fixed table 230 or the surface of the shelf on which goods are placed. During the operation of the telescopic component 200, the support rod 310 can provide support for the support plate 240.

[0050] The drive assembly 400 serves as the power source for the stacker crane, 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, and the rotation of the support rod 310.

[0051] Understandably, the drive assembly 400 can be a common drive type, such as an electric motor or an internal combustion engine. 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 distributed, with multiple distributed power sources driving the actions of each component.

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

[0053] The stacker crane's operation process for retrieving goods:

[0054] The drive assembly 400 first drives the base 100 to stop at the position corresponding to the target cargo, and then the telescopic assembly 200 enters the extension stage. The drive assembly 400 drives the second sliding table 220 and the first sliding table 210 to move forward in a direction away from the fixed platform 230. When the second sliding table 220 and the first sliding table 210 move to the bottom of 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 crane, 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 plate 240's support of the cargo. When the second sliding platform 220 and the first sliding platform 210 move to the preset position, and the support plate 240 completes the support of the goods, the telescopic component 200 enters the extension 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 phase, the drive assembly 400 drives the second sliding table 220 and the first sliding table 210 to move in the opposite direction along the direction close to the fixed table 230. After the goods are completely removed 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 table 230 gradually decreases. When the projections of the second sliding table 220 and the first sliding table 210 and the fixed table 230 in the vertical direction overlap, 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 table 230 returns to an acute angle, and the retraction phase ends.

[0056] The process of a stacker crane unloading goods:

[0057] After the drive assembly 400 drives the base 100 to the target storage position, the telescopic assembly 200 enters the extension phase. The second sliding table 220 and the first sliding table 210 move forward. When the second sliding table 220 and the first sliding table 210 move in front of the shelf, the drive assembly 400 drives the support rod 310 to rotate forward, causing the support plate 240 to have an upward 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 storage location. During the downward movement of the support plate 240, the goods detach from the support plate 240 and remain on the storage location. At this time, the telescopic assembly 200 is in the extended state, and the angle between the support rod 310 and the left side of the fixed platform 230 is an obtuse angle, ending the extension phase.

[0058] During the stacker crane's unloading operation, the retraction phase of the telescopic component 200 is consistent with the retraction phase during the stacker crane's retrieval operation: the drive component 400 drives the second sliding table 220 and the first sliding table 210 to move in the opposite direction towards the fixed table 230. After the support plate 240 is completely detached from the shelf, the drive component 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 table 230 gradually decreases. When the projections of the second sliding table 220 and the first sliding table 210 and the fixed table 230 in the vertical direction overlap, the telescopic component 200 enters the retraction state. At this time, the angle between the support rod 310 and the left side of the fixed table 230 returns to an acute angle, and the retraction phase ends.

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

[0060] Understandably, by setting up the support rod 310, the lifting and lowering control process of the support plate 240 can be simplified, reducing the number of operation steps for separately driving the support plate 240 to move up and down.

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

[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 rotating the support rod 310, which reduces the complexity of the equipment structure, reduces the number of drive components, and thus reduces the failure rate and maintenance cost of the equipment.

[0063] In one embodiment, the support assembly 300 includes a hinge rod 350. Two support rods 310 are provided on one side of the support plate 240. The two ends of the hinge rod 350 are respectively hinged to the middle of the two support rods 310. That is, one end of the hinge rod 350 is hinged to the middle of one support rod 310, and the other end is hinged to the middle of the other support rod 310 on the same side. The rotational movement of the two support rods 310 can be transmitted to each other through the hinge rod 350. The hinge 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 retracts, the drive assembly 400 drives one of the support rods 310 on one side of the support plate 240 to rotate. Since the two ends of the hinge rod 350 are respectively hinged to the middle of the two support rods 310, the rotation of the first support rod 310 will transmit the tension or thrust to the other support rod 310 through the hinge rod 350, forcing the support rod 310 to rotate synchronously.

[0065] This ensures that the two support rods 310 can rotate to maintain the same angle, continuously providing balanced support force to the support plate 240, and pushing the support plate 240 to move smoothly up or down.

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

[0067] Two movable blocks 320 and two stop blocks 330 are provided on one side of the support plate 240. The movable blocks 320 are slidably connected perpendicularly to the side wall of the second sliding table 220, and the drive assembly 400 can drive the movable blocks 320 to slide relative to the second sliding table 220 perpendicularly to the side wall of the second sliding table 220; the stop blocks 330 are slidably connected perpendicularly to the side wall of the support plate 240, and the drive assembly 400 can drive the stop blocks 330 to slide relative to the support plate 240 perpendicularly to the side wall of the support plate 240.

[0068] Two movable blocks 320 are located on the side wall of the second sliding table 220 at the picking position and the placing position, respectively. When the stacker crane performs a picking operation, the movable block 320 in the picking position extends, and the movable block 320 in the placing position retracts. At this time, the initial distance between the extended movable block 320 and the support rod 310 is adapted to the rotation drive requirements during picking. When the stacker crane performs a placing operation, the movable block 320 in the placing position extends, and the movable block 320 in the picking position retracts. The movable block 320 in the placing position is closer to the initial position of the support rod 310 than the movable block 320 in the picking position, so as to drive the support rod 310 to rotate in advance.

[0069] Two stops 330 are located at a first position and a second position on the side wall of the support plate 240, respectively. When the stacker crane picks up goods, the stop 330 in the first position extends and 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 crane unloads goods, the stop 330 in the second position extends and 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, which increases the angle at which the support rod 310 can rotate in the forward direction.

[0070] When the stacker crane retrieves goods, the drive assembly 400 first drives the movable block 320 located at the retrieval position to extend, and the movable block 320 located at the storage position to retract. It then drives the stop block 330 located at the first position to extend, and the stop block 330 located at the second position to retract. When the telescopic assembly 200 enters the extension phase, during the relative movement of the second sliding table 220 and the first sliding table 210, the movable block 320 gradually approaches the support rod 310 as the second sliding table 220 moves. When the support plate 240 moves to below the goods, the movable block 320 contacts the support rod 310 and drives it to rotate forward, causing the support plate 240 to move upward to support the goods. When the telescopic assembly 200 is in the extended state, the stop block 330 located at the first position just abuts against the support rod 310, restricting its continued 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 sliding table 210 and the second sliding table 220 to move in opposite directions, successfully retrieving the goods.

[0071] When the stacker crane is unloading goods, the drive assembly 400 first drives the moving block 320 located at the unloading position to extend, and the moving block 320 located at the picking position to retract. Since the moving block 320 at the unloading 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 drive assembly 400 drives the stop block 330 located at the second position to extend, and the stop block 330 located at the first position to retract. At this time, the hinge point between the stop block 330 located at the second position and the support rod 310 is far away, which increases the maximum angle of forward rotation of the support rod 310. When the telescopic assembly 200 is in the extended stage, as the second sliding table 220 and the first sliding table 210 move relative to each other, the moving block 320 drives the support rod 310 to rotate in advance, causing the support plate 240 to move up to the top of the shelf and then down to the bottom of the storage location, 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 in the second position abuts against the support rod 310, restricting it from continuing to rotate. At this time, the vertical length of the support rod 310 is less than the length of the stop block 330 in the first position when it is extended, which is adapted to the position requirements of the support plate 240 after the goods are placed. The drive assembly 400 can smoothly drive the first sliding table 210 and the second sliding table 220 to move in opposite directions.

[0072] Therefore, by switching between the picking and placing positions, the moving block 320 precisely controls the timing of the rotation of the drive support rod 310. During picking, timely driving ensures the support plate 240 accurately supports the goods; during placing, advance driving allows the support plate 240 to move upwards over the shelf before moving downwards to place the goods. The stop block 330, by switching between the first and second positions, flexibly limits the maximum rotation angle of the support rod 310. During picking, the angle adapts to the supporting requirements; during placing, the angle adapts to the detachment requirements. This makes the stacker crane's picking and placing actions more aligned with scenario needs, significantly improving stability and accuracy. During picking, the support plate 240 stably supports the goods, preventing slippage due to unstable support; during placing, the goods smoothly detach from the support plate 240 and are accurately placed on the shelf, reducing collisions or placement deviations.

[0073] Specifically, each of the movable block 320 and the stop block 330 on one side of the support plate 240 is provided as a single unit. The movable block 320 is slidably connected to the side wall of the second sliding table 220. The drive assembly 400 can drive the movable block 320 to slide relative to the second sliding table 220 along its extension direction, thereby switching the movable block 320 between the placement position and the retrieval position. The stop block 330 is slidably connected to the side wall of the support plate 240. The drive assembly 400 can drive the stop block 330 to slide relative to the support plate 240 along its extension direction, thereby switching the stop block 330 between a first position and a second position. Therefore, the drive assembly 400 can flexibly adjust the retrieval and placement positions of the movable block 320 on the side wall of the second sliding table 220, and the first and second positions of the stop block 330 on the side wall of the support plate 240, according to the differences in shelf width in actual warehousing scenarios. This allows the stacker crane to adapt to shelves of different widths, ensuring the smooth completion of retrieval and placement operations.

[0074] Understandably, when the telescopic moving block 320 experiences a high failure rate due to frequent telescopic movements, one solution is to fix the moving block 320 to the side wall of the second sliding table 220, keeping its position constant to reduce drive failures. In this case, to accommodate the different positional requirements of the moving block 320 for picking and placing goods, two independent stacker cranes can be installed. One is dedicated to picking, with its moving block 320 fixed at the picking position, precisely matching the timing of the drive support rod 310 rotation during picking; the other is dedicated to placing, with its moving block 320 fixed at the placing position, meeting the requirement of pre-driving the support rod 310 rotation during placing. The two stacker cranes are deployed at opposite ends of the rack, coordinated and scheduled through the warehouse management system. The picking stacker crane retrieves goods from one end of the rack, while the placing stacker crane stores goods from the other end. Both operate independently with simple actions, eliminating the need for frequent switching of 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 table 220, and mounting holes for the movable block 320 to pick up and put down goods are preset on the second sliding table 220. When picking up goods, the operator fixes the movable block 320 in the picking position, so that its initial distance from the support rod 310 matches the picking drive requirements. At this time, when the movable block 320 moves with the second sliding table 220, it can push the support rod 310 to rotate in time, and complete the picking action in conjunction with the stop block 330 in the first position. When it is necessary to put down goods, the operator removes the movable block 320 from the picking position. If no special drive is required for putting down goods, the basic movement function of the stacker crane can be used directly to transport the goods to the shelf and put down goods through existing technology, thereby reducing the moving parts of the movable block 320. Although it increases the manual operation link, it can ensure basic operation capability in scenarios where equipment stability is the priority.

[0076] Furthermore, the support assembly 300 also includes a reversing block 340. The reversing block 340 is fixedly mounted on the fixed platform 230, and 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 retraction process, and can contact the end of the support rod 310 away from the support plate 240 and form a block.

[0077] When the telescopic assembly 200 moves from the extended state to the retracted 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 closer to 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 against the reversing block 340 fixed on the fixed platform 230, the reversing block 340 restricts that 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, so that the angle between it and the left side of the fixed platform 230 gradually decreases until the telescopic assembly 200 is fully 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, by mechanically blocking the movement, when the support rod 310 moves from the extended state of the telescopic assembly 200 to the retracted state, the reversing block 340 can force the support rod 310 to rotate in the opposite direction, thereby achieving angle reset, simplifying the control process and reducing power consumption.

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

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

[0081] When the stacker crane is running, when the telescopic component 200 extends or retracts, 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, by using the support wheel 311, the sliding friction between the support rod 310 and the fixed platform 230 or the shelf surface is converted into rolling friction, which reduces the frictional resistance and wear at the contact point of the support rod 310. This avoids excessive friction from hindering the rotation of the support rod 310 and the movement of the telescopic component 200, ensuring the stability of the long-term support function of the support component 300, and thus improving the overall reliability and durability of the stacker crane.

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

[0084] Specifically, a sliding groove 211 is disposed on the side wall of the first sliding table 210, and its extension direction is perpendicular to the upper wall surface of the first sliding table 210. The sliding groove 211 can accommodate the sliding rod 241 and provide it with movement space. The sliding rod 241 is fixedly disposed on the inner wall of the support plate 240. The sliding rod 241 is embedded in the sliding groove 211 and forms a sliding fit connection with the sliding groove 211. The sliding rod 241 and the first sliding table 210 can move relative to each other along the extension direction of the sliding groove 211.

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

[0086] The sidewall of the sliding groove 211 forms a lateral constraint on the sliding rod 241, restricting the support plate 240 from sliding relative to the first sliding table 210 in the horizontal direction. This ensures that the support plate 240 can maintain a stable posture during the process of supporting or unloading goods, and avoids unstable placement of goods or collision with the shelf due to deviation in the sliding direction.

[0087] In one embodiment, the drive 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 table 220 to move relative to the fixed table 230, and the second transmission structure 430 is used to drive the first sliding table 210 to move relative to the second sliding table 220. The first transmission structure 420 and the second transmission structure 430 together provide power for the extension and retraction 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 wall of the fixed platform 230 via shafts. The movable rack 423 is fixedly disposed on 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 relative movement between 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 fixedly mounted on the upper wall of the fixed platform 230; the transmission chain 432 is a closed loop chain wound around the central sprocket of the second sliding platform 220, and the transmission chain 432 can rotate freely along the sprocket; the driven rack 433 is fixedly mounted on the lower wall of the first sliding platform 210. A portion of the transmission chain 432 meshes with the fixed rack 431, and a portion meshes with the driven rack 433, forming a transmission connection. When the second sliding platform 220 slides relative to the fixed platform 230, the meshing of the fixed rack 431 and the transmission chain 432 will drive the transmission chain 432 to rotate around the sprocket of the second sliding platform 220, and the rotating transmission chain 432 will mesh with the driven rack 433, thereby causing the first sliding platform 210 and the second sliding platform 220 to move relative to each other.

[0090] During the operation of the stacker crane, when the telescopic component 200 enters the extension stage, the drive component 400 drives the drive gear 421 of the first transmission structure 420 to rotate forward. Multiple drive gears 421 rotate synchronously under the linkage of the driven gear 422, and through meshing with the moving rack 423, push the second sliding table 220 to move away from the fixed platform 230. Simultaneously, the movement of the second sliding table 220 causes relative movement between the transmission chain 432 of the second transmission structure 430 and the fixed rack 431. The drive gear 432 rotates and, through meshing with the driven rack 433, drives the first sliding table 210 to move away from the second sliding table 220, thereby extending the telescopic assembly 200. Similarly, when the telescopic assembly 200 enters the retraction stage, the drive gear 421 rotates in the opposite direction, driving the second sliding table 220 to move closer to the fixed table 230, and the transmission chain 432 also rotates in the opposite direction, driving the first sliding table 210 to move closer to the second sliding table 220, thus completing the retraction of the telescopic assembly 200.

[0091] Thus, the first transmission structure 420, through the meshing of multiple synchronously rotating drive gears 421 and the moving rack 423, ensures the smoothness and linear accuracy of the movement of the second sliding table 220; the second transmission structure 430, by utilizing the meshing of the fixed rack 431 and the transmission chain 432, transforms the movement of the second sliding table 220 into the linkage movement of the first sliding table 210, ensuring the synchronicity of the movement of the first sliding table 210 and the second sliding table 220.

[0092] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A stacker for use in a stereoscopic warehouse, characterized by, The utility model relates to a telescopic support device for goods, including: a base; a telescopic assembly, the telescopic assembly includes first sliding platform, second sliding platform, fixed platform and support plate, the fixed platform is fixedly arranged on the base, the first sliding platform is slidably connected with the second sliding platform, the second sliding platform is slidably connected with the fixed platform, the support plate is slidably connected with 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, and the support plate is used for supporting goods; the telescopic assembly has extension stage and contraction stage, when the telescopic assembly is in the extension stage, the first sliding platform and the second sliding platform move towards the direction away from the fixed platform, when the telescopic assembly is in the contraction stage, the first sliding platform and the second sliding platform move reversely; support assembly, the telescopic assembly is provided with two support assemblies, and two support assemblies are located on both sides of the support plate, each support assembly includes a plurality of 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 goods shelf surface, when the telescopic assembly works, the support rod can always support the support plate; drive assembly, the drive assembly is used for providing power source for the telescopic assembly and the support assembly; the support rod on one side of the support plate is provided with two, the support assembly further includes a hinged rod, a moving block and a stopper, both ends of the hinged rod are hingedly connected to the middle part of two support rods, the moving block on one side of the support plate is provided with two, two moving blocks are vertically and slidably connected to the side wall of the second sliding platform, the drive assembly can drive the moving block to slide relative to the second sliding platform, and two moving blocks drive the support rod to rotate forward respectively in the process that the telescopic assembly stores and takes goods, the stopper on one side of the support plate is provided with two, two stoppers are vertically and slidably connected to the side wall of the support plate, the stopper can abut against the support rod, the drive assembly can drive the stopper to slide relative to the support plate, and two stoppers limit the forward rotation of the support rod respectively in the process that the telescopic assembly stores and takes goods; when the support plate supports goods, the drive assembly drives the support rod to rotate so that the support rod drives the support plate to slide relative to the first sliding platform.

2. The stacker crane for a three-dimensional warehouse according to claim 1, characterized in that, The support assembly further includes a reversing block, the reversing block is fixedly arranged on the fixed platform, and the reversing block is used for making the support rod rotate reversely.

3. The stacker crane for a three-dimensional warehouse according to claim 1, wherein The support assembly further includes a support wheel, the support wheel is rotatably connected to the end of the support rod abutting against the fixed platform or the goods shelf surface.

4. The stacker crane for a three-dimensional warehouse according to claim 1, wherein The first sliding platform is provided with a sliding groove, the sliding groove extends along the direction perpendicular to the upper wall surface of the first sliding platform, the inner wall of the support plate is fixedly provided with a sliding rod, the sliding rod is embedded in the sliding groove, and the sliding groove and the sliding rod are used for limiting the sliding direction of the support plate relative to the first sliding platform.

5. The stacker crane for a three-dimensional warehouse according to claim 1, wherein The driving assembly comprises a first transmission structure and a second transmission structure, the first transmission structure is used for driving the second sliding table to move relative to the fixed table, and the second transmission structure is used for driving the first sliding table to move relative to the second sliding table.

6. The stacker crane for a three-dimensional warehouse according to claim 5, wherein The first transmission structure comprises a plurality of driving gears, a plurality of driven gears and a moving rack, the driving gears and the driven gears are fixedly connected to the side wall of the fixed table, the moving rack is fixedly arranged on the lower wall surface of the second sliding table, and the driving gears are simultaneously meshed with the driven gears and the moving rack. The plurality of driven gears are used for synchronously rotating the plurality of driving gears, and the plurality of driving gears are used for driving the moving rack to move relative to the fixed table.

7. The stacker crane for a three-dimensional warehouse according to claim 5, wherein The second transmission structure comprises a fixed rack, a transmission chain and a driven rack, the fixed rack is fixedly arranged on the upper wall surface of the fixed table, the transmission chain is wound on the second sliding table, and the driven rack is fixedly arranged on the lower wall surface of the first sliding table; the transmission chain is simultaneously meshed with the fixed rack and the driven rack; when the second sliding table moves relative to the fixed table, the transmission chain rotates relative to the second sliding table, so that the first sliding table moves relative to the second sliding table through the driven rack.

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