Stacker travelling mechanism

Abstract

The present application relates to the technical field of stacking machine, and specifically discloses a kind of stacking machine travelling mechanism, including fixedly connected base and guide slide rail, and reciprocating slidingly arranged platform is provided on guide slide rail, buffer mechanism is provided on base, buffer mechanism includes rotationally connected cover on base, protection plate is elastically slidably arranged on base, and linkage is slidably connected on base and is linked with cover, linkage is slidably driven to base exterior by push-pull rod impact linkage when platform is close to initial position and fixedly installed on platform, to make cover rotate to make cover extrude protection plate elastically slide while covering guide slide rail when linkage is driven by cover, the present application can consume the impact force of platform when platform moves to initial position using buffer mechanism to protect the basis of motor, and still can use the impact force consumed by platform to drive buffer mechanism to better prevent dust from falling on guide slide rail when stacking machine does not work to reduce the wear between sliding block and guide slide rail.

Description

Technical Field

[0001] This invention relates to the field of stacker crane technology, specifically to a stacker crane traveling mechanism. Background Technology

[0002] The stacker crane traveling mechanism is a core functional component in automated storage and retrieval systems (AS / RS), used to drive the stacker crane to move along a set track to store and retrieve goods.

[0003] Because the stacker crane's traveling mechanism moves the platform by having a motor drive gears to mesh and rotate on a rack, the heavy weight of the robotic arm and electrical box mounted on the platform results in significant inertia. When the platform stops moving, the inertia of the robotic arm and electrical box can easily damage the motor. To address this, existing patent application CN202320171267.1, entitled "A Traveling Mechanism for a Stacker Crane," discloses a frame, guide rails, rack, base plate, drive motor, and locking assembly. The locking assembly includes a drive cylinder and a locking block. The locking block has a locking portion that can extend into the tooth gap of the rack. When an emergency stop is needed on the base plate, the extension shaft of the drive cylinder extends, causing the locking block to move towards the rack and engage with the rack, thereby restricting the base plate, overcoming the impact of inertia on the motor, and effectively reducing damage to the motor.

[0004] However, in actual operation, existing walking mechanisms all have common shortcomings: since the platform's walking trajectory relies on the slider along the length of the guide rail, and because it is difficult to achieve the requirements of a cleanroom in the workshop where the stacker crane is located, when the stacker crane is not working for a long time, dust in the workshop space will continuously fall on the guide rail. When the walking mechanism is restarted, the presence of dust will greatly increase the wear between the slider and the guide rail, thus reducing the lifespan of the slider and the guide rail. In the existing technology, to prevent dust from accumulating on the guide rail when the stacker crane is not working, dust covers are usually fixedly installed to cover the guide rail. However, after the dust cover is installed, it will hinder the operation of the platform and hinder the subsequent maintenance work such as oiling the guide rail. In order to make the dust cover not hinder the operation of the platform and facilitate the subsequent maintenance work such as oiling, the dust cover must leave a large enough space in the length of the guide rail. However, after leaving the space, the corresponding position of the guide rail in the entire length direction is exposed and will still come into contact with dust, resulting in poor dust prevention effect. Furthermore, because the platform is fixedly equipped with a robotic arm and electrical box, a significant impact force (i.e., inertial force) occurs when the platform suddenly stops moving from its initial position. This impact force is transferred to the motor, easily damaging it. Existing technologies typically employ buffer mechanisms to reduce the impact force and thus minimize motor damage. These mechanisms include elastic buffers used in stacker crane collisions or locking mechanisms as described in the aforementioned patent. The aim is to reduce the platform's operating speed, thereby dissipating some of the impact force and reducing motor damage. However, while existing buffer mechanisms can absorb the impact and protect the motor, the absorbed impact force is wasted. Therefore, a pressing technical problem needs to be solved: how to utilize the buffer mechanism to absorb the impact force when the platform moves to its initial position to protect the motor, and how to use the absorbed impact force to better prevent dust from falling onto the guide rail when the stacker crane is not in operation, thus reducing wear between the slider and the guide rail. Summary of the Invention

[0005] The purpose of this invention is to provide a stacker crane traveling mechanism to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a stacker crane traveling mechanism, comprising a fixedly connected base and a guide rail, wherein a platform is reciprocatingly slidable on the guide rail, and a buffer mechanism is provided on the base.

[0007] The buffer mechanism includes a shield rotatably connected to the base, a protective plate elastically slidably disposed on the base, and a linkage component slidably connected to the base and linked with the shield.

[0008] When the platform approaches its initial position, the push-pull rod fixedly installed on the platform impacts the linkage component and slides outward from the base, causing the linkage component to drive the shield to rotate so that the shield squeezes the protective plate and slides elastically while covering the guide rail.

[0009] When the platform moves away from its initial position, the push-pull rod pulls the linkage to slide inward into the base, causing the shield to rotate and open.

[0010] In the aforementioned stacker crane traveling mechanism, multiple support rods are elastically inserted into the base, and the shielding cover collides and abuts against the tops of the multiple support rods after it rotates open.

[0011] In the aforementioned stacker crane traveling mechanism, multiple first roller assemblies are installed on the platform. During the movement of the platform, the first roller assemblies engage with the top of the opened shield to share the downward pressure borne by the guide rail.

[0012] In the aforementioned stacker crane traveling mechanism, the protective plate is arc-shaped, and the outer convex arc surface of the protective plate is away from the corresponding guide rail. When the shield is opened, the height of both the shield and the protective plate is greater than that of the guide rail, and the guide rail is located between the shield and the protective plate so that the left and right sides of the guide rail are protected.

[0013] The aforementioned stacker crane traveling mechanism includes an impact plate, a power input end, and a power output end. The power input end is rotatably connected to the impact plate, and the power output end is fixedly connected to the impact plate. A baffle that limits the movement of the impact plate is fixedly installed on the base. The impact plate is located between the baffle and the base. The power input end is in push-pull cooperation with a push-pull rod.

[0014] The aforementioned stacker crane traveling mechanism includes a pull plate, a push plate, and a limb plate that are fixedly connected and arranged circumferentially. The free end of the push plate extends to the outside of the free end of the pull plate. The connection between the pull plate, the push plate, and the limb plate is rotatably connected to a plug-in seat fixedly installed on the impact plate via a pin.

[0015] In the aforementioned stacker crane traveling mechanism, the free end of the limb plate is rotatably mounted with a rotating roller that abuts against the baffle.

[0016] In the aforementioned stacker crane traveling mechanism, the power output end of the linkage component includes a longitudinal sliding plate slidably connected to the base. The longitudinal sliding plate is connected to the impact plate. A transverse sliding plate is slidably disposed on the base. The longitudinal sliding plate is linked to the shield through the transverse sliding plate. When the push-pull rod impacts the power input end, it drives the impact plate to pull the longitudinal sliding plate to slide. The longitudinal sliding plate pushes the transverse sliding plate to slide, causing the transverse sliding plate to drive the shield to rotate.

[0017] For the above-mentioned stacker traveling mechanism, a plurality of gears are fixedly installed on the rotating shaft of the shielding cover, and a plurality of row teeth corresponding to and meshing with the plurality of gears are fixedly installed on the transverse sliding plate.

[0018] For the above-mentioned stacker traveling mechanism, an upper auxiliary plate is fixedly installed on the impact plate, an upper slider is fixedly installed on the upper auxiliary plate, a lower auxiliary plate is fixedly installed on the baffle, and an upper slide rail that slidably cooperates with the upper slider is fixedly installed on the lower auxiliary plate. The power input end is located between the upper slide rail and the guiding slide rail.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] In the present invention, through the improvement of the buffer mechanism, when the platform returns to the initial position, the platform collides with the linkage member in the buffer mechanism. After the collision, the linkage member drives the shielding cover in the buffer mechanism to rotate towards the protection plate. The protection plate is elastically slidably arranged. During the rotation of the shielding cover, it collides with the protection plate and presses down the protection plate to elastically slide down. By means of the elastic sliding resistance of the protection plate, the impact force of the platform is consumed, so that the inertia when the platform stops moving is reduced to protect the driving motor, and at the same time, the corresponding guiding slide rail is covered. Based on the "C" - shaped structure of the shielding cover, the top surface, left side, and right side of the guiding slide rail are all covered. Therefore, it has a better dust - proof effect on the guiding slide rail. It can be seen that on the basis of consuming the impact force of the platform by the buffer mechanism to protect the motor when the platform moves to the initial position, the present invention can also use the impact force consumed by the platform to drive the buffer mechanism to better prevent dust from falling on the guiding slide rail when the stacker is not working, so as to reduce the wear between the slider and the guiding slide rail, and can effectively solve the deficiencies in the prior art.

[0021] In the present invention, in addition to playing a role in shielding dust from the guiding slide rail, the shielding cover in the buffer mechanism also cleverly supports the platform when the shielding cover is in an open state, so as to share the downward pressure borne by the guiding slide rail, reduce the friction between the guiding slide rail and the guiding slider, further reduce the wear of the guiding slide rail, and improve the service life of the guiding slide rail, making the shielding cover achieve an unexpected technical effect.

[0022] During the actual cargo transportation process, sand and gravel fall on the cargo. When moving the cargo with sand and gravel on it to the stacker, the sand and gravel are very likely to fall and splash onto the guiding slide rail, making solid particles left by the splashing of sand and gravel adhere to the guiding slide rail, resulting in increased wear of the guiding slide rail when the guiding slider passes. In the present invention, when sand and gravel fall from the cargo, the sand and gravel are blocked by the protection plate and the shielding cover in an open state and will not splash onto the guiding slide rail, so that the shielding cover and the protection plate jointly protect the guiding slide rail. It can be seen that the shielding cover and the protection plate in the present invention also play a role in protecting the guiding slide rail. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0024] Figure 1 A three-dimensional structural diagram of the stacker crane traveling mechanism, the robotic arm assembly, and the electrical box when the platform is not in its initial position, as provided in this embodiment of the invention;

[0025] Figure 2 Provided for embodiments of the present invention Figure 1 A magnified structural diagram of part A in the diagram;

[0026] Figure 3 Provided for embodiments of the present invention Figure 1 A schematic diagram of the stacker crane's walking mechanism after removing the robotic arm components and the electrical box;

[0027] Figure 4 Provided for embodiments of the present invention Figure 3 A magnified structural diagram of part B in the diagram;

[0028] Figure 5 Provided for embodiments of the present invention Figure 3 Another perspective structural diagram of the stacker crane's traveling mechanism;

[0029] Figure 6 Provided for embodiments of the present invention Figure 5 A schematic diagram of the enlarged structure of part C in the diagram;

[0030] Figure 7 This is a partial structural diagram of the baffle, impact plate, power input end and connecting plate being separated from the base according to an embodiment of the present invention;

[0031] Figure 8 This is a partial structural diagram of the end plate near the buffer mechanism being separated from the base according to an embodiment of the present invention;

[0032] Figure 9 A schematic diagram of the structure between the power output end of the linkage component and the transverse sliding plate, the shield, and the protective plate provided in an embodiment of the present invention;

[0033] Figure 10 Provided for embodiments of the present invention Figure 9 A diagram illustrating the split structure in the diagram;

[0034] Figure 11 Provided for embodiments of the present invention Figure 10 A magnified structural diagram of part D in the diagram;

[0035] Figure 12 This is a top view of the structure when the position of the second roller assembly corresponds to the plane of the inner groove in an embodiment of the present invention;

[0036] Figure 13 Provided for embodiments of the present invention Figure 12 A magnified structural diagram of part E in the diagram;

[0037] Figure 14 A comparative structural diagram showing the platform not in its initial position and the platform in its initial position, provided for an embodiment of the present invention;

[0038] Figure 15 Provided for embodiments of the present invention Figure 14 A magnified schematic diagram of the F-section structure when the central platform is not in its initial position;

[0039] Figure 16 Provided for embodiments of the present invention Figure 14 A magnified schematic diagram of the G section when the middle platform is in its initial position;

[0040] Figure 17 A cross-sectional view of the platform when it is not in its initial position, as provided in an embodiment of the present invention.

[0041] Figure 18 Provided for embodiments of the present invention Figure 17 A schematic diagram of the enlarged structure of the H part in the diagram;

[0042] Figure 19 This is a partial cross-sectional view of the platform in its initial position, as provided in an embodiment of the present invention.

[0043] Explanation of reference numerals in the attached figures:

[0044] 1. Base; 101. Arc-shaped groove; 102. Vertical groove; 103. Connecting plate; 2. Shield; 201. Rotating shaft; 202. Gear; 3. Protective plate; 4. Arc-shaped compression spring; 5. Longitudinal sliding plate; 501. Lower sliding block; 502. Second roller assembly; 6. Lateral sliding plate; 601. Guide groove; 602. Toothed rack; 603. Inner groove; 6031. Flat surface; 6032. Inclined surface; 7. Support rod; 8. Power input end; 801. Pull plate; 802. Push plate; 803. Lid plate; 804. Pin shaft; 805. Rotating roller; 9. Impact plate ; 901, Upper auxiliary plate; 902, Upper slider; 903, Socket; 904, Notch; 10, Baffle; 1001, Lower auxiliary plate; 1002, Upper slide rail; 11, Push-pull rod; 12, Fixing plate; 13, Upper and lower support plates; 14, Guide slide rail; 15, Guide slider; 16, First roller assembly; 17, Platform; 18, Robot arm assembly; 19, Electrical box; 20, Rack; 21, Drive motor; 2101, Travel gear; 22, End plate; 2201, Clearance hole; 23, Lower slide rail; 24, Transverse slide rail; 25, Support compression spring. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] Please see Figures 1-19 This embodiment provides a stacker crane traveling mechanism, including a fixedly connected base 1 and a guide rail 14. A platform 17 is reciprocally slidably arranged on the guide rail 14, and a buffer mechanism is provided on the base 1.

[0047] The buffer mechanism includes a shield 2 rotatably connected to the base 1, a protective plate 3 elastically slidably disposed on the base 1, and a linkage component slidably connected to the base 1 and linked with the shield 2;

[0048] When the platform 17 approaches the initial position, the push-pull rod 11 fixedly installed on the platform 17 impacts the linkage and slides outward to the base 1, causing the linkage to drive the shield 2 to rotate so that the shield 2 squeezes the protective plate 3 and slides elastically while covering the guide rail 14.

[0049] When platform 17 moves away from its initial position, push-pull rod 11 pulls the linkage component to slide into base 1 so that shield 2 rotates and opens.

[0050] The stacker crane traveling mechanism provided in this embodiment is used to drive the reciprocating movement of the stacker crane, thereby realizing the transportation of goods. The terms related to position and direction involved in this embodiment are relative to the accompanying drawings. The "initial position" involved in this embodiment refers to the position of the stacker crane traveling mechanism before the stacker crane transports goods or when it is not working. It is usually located at the aisle entrance. At this time, the impact plate 9 abuts against the baffle 10, and the rotating roller 805 abuts against the side of the impact plate 9. Specifically, there are one or more guide rails 14, preferably two. The two guide rails 14 are arranged in parallel and fixedly installed on the top of the base 1. At least one guide slider 15 is slidably arranged on each guide rail 14. The multiple guide sliders 15 are fixedly installed on the bottom of the platform 17. The sliding of the platform 17 and the guide rails 14 is realized by the sliding connection between the guide sliders 15 and the guide rails 14. The robot arm assembly 18 and the electrical box 19 are fixedly installed on the platform 17. The robot arm assembly 18 and the electrical box 19 are existing technologies and will not be described in detail in this embodiment. A drive motor 21 is fixedly mounted on the platform 17. A traveling gear 2101 is coaxially fixedly mounted on the output shaft of the drive motor 21. A rack 20 meshing with the traveling gear 2101 is fixedly mounted on the top of the base 1. The rack 20 is parallel to the guide rail 14. The drive motor 21 can rotate forward and backward. Based on the meshing of the traveling gear 2101 and the rack 20, by starting the drive motor 21 to rotate forward and backward, the traveling gear 2101 is driven to rotate synchronously with the output shaft of the drive motor 21, thereby driving the platform 17 to slide back and forth along the guide rail 14. The specific structure and operation process of the drive motor 21 and the rack 20 are existing technologies and will not be described in detail. A buffer mechanism is set at the end of the base 1. In this embodiment, the buffer mechanism can collide with the platform 17 moving towards the initial position, thereby buffering the platform 17, absorbing the impact force of the platform 17, and at the same time, it can use the absorbed impact force of the platform 17 to change its own structural state so that it can play the role of shielding the guide rail from dust.

[0051] Among them, the buffer mechanism includes a shielding cover 2. The number of shielding covers 2 is two and corresponds to the two guiding slide rails 14 one by one. The two guiding slide rails 14 are located between the two shielding covers 2. The two shielding covers 2 are symmetrically arranged. The shielding cover 2 is in a "C" shape and parallel to the guiding slide rail 14. A rotating shaft 201 is fixedly inserted on the shielding cover 2, and the rotating shaft 201 is rotationally connected to the base 1, thereby realizing the rotational connection between the shielding cover 2 and the base 1. The shielding cover 2 is located on the top of the base 1. When goods need to be transported, the driving motor 21 is started to drive the platform 17 away from the initial position. At this time, the shielding cover 2 is in an open state, and the guiding slide rail 14 is exposed. Moreover, the shielding cover 2 is错开 from the platform 17, the manipulator assembly 18, and the electric box 19 in the width direction of the guiding slide rail 14, so that the shielding cover 2 does not interfere with the movement of the platform 17, the manipulator assembly 18, and the electric box 19. When the platform 17 moves back to the initial position, the shielding cover 2 is错开 from the platform 17, the manipulator assembly 18, and the electric box 19 in the length direction of the guiding slide rail 14, and by means of the impact force consumed by the platform 17, the shielding cover 2 is driven to rotate from the open state to the closed state. During this process, the shielding cover 2 is in contact with and collides with the top of the protection plate 3 and squeezes the protection plate 3 to slide elastically downward to consume the impact force of the platform 17 by means of the elastic sliding resistance of the protection plate 3, and at the same time covers the corresponding guiding slide rail 14. Due to the "C" shape structure of the shielding cover 2, the top surface, left side, and right side of the guiding slide rail 14 are all covered. Compared with the prior art, there is no space in the length direction of the guiding slide rail 14 because the shielding cover 2 will automatically open when the platform 17 moves to transport goods and will not hinder the movement of the platform 17. Therefore, when the stacker is not working, the guiding slide rail 14 can be better shielded by the shielding cover 2 in the length direction, so it has a better dust-proof effect on the guiding slide rail 14. Thus, the buffer mechanism in this application not only realizes the buffering of the platform 17, thereby protecting the driving motor 21, but also realizes the shielding of the guiding slide rail 14 so that the guiding slide rail 14 is covered during the period when the stacker is not working, thereby better preventing dust from falling on the guiding slide rail 14. When goods need to be transported, when the platform 17 moves away from the initial position, the push rod 11 first pulls the linkage member to slide into the base 1. At this time, based on the elastic sliding force of the protection plate 3, the shielding cover 2 is pushed to rotate from the closed state to the open state. During this process, the platform 17, the manipulator assembly 18, and the electric box 19 are all错开 from the shielding cover 2 in the length direction of the guiding slide rail 14, so that the platform 17, the manipulator assembly 18, and the electric box 19 do not interfere with the rotation of the shielding cover 2 to the open state. Then the platform 17 moves above the shielding cover 2, and the platform 17 is错开 from the open shielding cover 2 in the height direction, so that the shielding cover 2 does not hinder the movement of the platform 17.

[0052] It should be noted that the "错开" in the text is a literal translation and may need to be adjusted according to the specific context to make the expression more accurate.In this embodiment, when the platform 17 returns to the initial position and drives the shield 2 to rotate from the open state to the closed state, the source of the rotational force of the shield 2 is: first, the impact force of the platform 17 is transmitted to the linkage component, the linkage component is slidably connected to the base 1 and linked with the shield 2, when the platform 17 returns to the initial position and impacts the linkage component to make the linkage component slide towards the outside of the base 1, the linkage component drives the shield 2 to rotate towards the protective plate 3, so that the shield 2 collides with the protective plate 3 and presses down the protective plate 3 to slide down elastically, while covering the guide rail 14.

[0053] There are two protective plates 3, which correspond one-to-one with the two shields 2. The two protective plates 3 are located between the two guide rails 14. The protective plates 3 are offset from the platform 17 in the height direction and from the guide slider 15 in the height direction and the width direction of the guide rail 14, so that the protective plates 3 will never obstruct the operation of the platform 17. The protective plate 3 is arc-shaped, and its axis is collinear with the axis of the rotating shaft 201. The base 1 has arc-shaped grooves 101 concentric with the protective plate 3. The number of arc-shaped grooves 101 is the same as that of the protective plate 3, and they are slidably inserted into the protective plate 3 one by one. The protective plate 3 slides along the arc-shaped grooves 101 so that the protective plate 3 rotates along its own axis when it slides. When the shield 2 collides with the end face of the protective plate 3, the end face of the shield 2 is in contact with the end face of the protective plate 3. When the shield 2 presses down and the protective plate 3 slides down, the end face of the shield 2 and the end face of the protective plate 3 always remain in contact until the top surface of the protective plate 3 is flush with the top surface of the base 1. At this time, the shield 2 completes the closing work so that the arc-shaped compression spring 4 is more fully shielded. Several arc-shaped compression springs 4 are provided between the inner wall of the arc-shaped groove 101 and 303. One end of the arc-shaped compression spring 4 is fixedly connected to the bottom surface of the protective plate 3, and the other end is fixedly connected to the inner wall of the arc-shaped groove 101. The elastic sliding of the protective plate 3 is realized based on the elastic force of the arc-shaped compression spring 4.

[0054] As can be seen from the above structure, in this application, through the improvement of the buffer mechanism, when the platform 17 returns to the initial position, the platform 17 collides with the linkage member in the buffer mechanism. After the collision, the linkage member drives the shielding cover 2 in the buffer mechanism to rotate towards the protection plate 3. The protection plate 3 is elastically slidably arranged. During the rotation of the shielding cover 2, it collides with the protection plate 3 and presses down the protection plate 3 to elastically slide down. By means of the elastic sliding resistance of the protection plate 3, the impact force of the platform 17 is consumed, so that the inertia when the platform 17 stops moving is reduced to protect the drive motor 21. At the same time, the corresponding guide rail 14 is covered. Based on the "C" - shaped structure of the shielding cover 2, the top surface, left side, and right side of the guide rail 14 are all covered. Therefore, it has a better dust - proof effect on the guide rail 14. It can be seen that on the basis of the present invention being able to consume the impact force of the platform by using the buffer mechanism to protect the motor when the platform moves to the initial position, it can also use the impact force consumed by the platform to drive the buffer mechanism to better prevent dust from falling on the guide rail when the stacker is not working, so as to reduce the wear between the slider and the guide rail, and can effectively solve the deficiencies in the prior art.

[0055] In this embodiment, a plurality of support rods 7 are elastically inserted into the base 1, and after the shielding cover 2 rotates and opens, it collides with and abuts against the tops of the plurality of support rods 7. Specifically, two groups of vertical slots 102 corresponding to the two shielding covers 2 are opened on the base 1. The number of vertical slots 102 in each group is multiple. A support rod 7 is slidably inserted into each vertical slot 102. A support compression spring 25 is installed between the support rod 7 and the corresponding vertical slot 102. The support compression spring 25 is located inside the vertical slot 102. One end of the support compression spring 25 is fixedly connected to the bottom of the support rod 7, and the other end is fixedly connected to the inside of the vertical slot 102. The top of the support rod 7 is a fixedly installed rubber pad (not shown in the figure), and the rubber pad protrudes outside the vertical slot 102. When the shielding cover 2 rotates from the closed state to the open state, the shielding cover 2 collides with the rubber pads at the tops of the plurality of support rods 7. Due to the elastic force of the support compression spring 25 and the setting of the rubber pad, the support rod 7 plays a role in buffering the shielding cover 2.

[0056] Furthermore, multiple first roller assemblies 16 are installed on the platform 17. Each first roller assembly 16 includes a first wheel frame and a first wheel that are rotatably connected. During the movement of the platform 17, the first wheel of the first roller assembly 16 engages with the top of the opened shield 2 to share the downward pressure borne by the guide rail 14. Specifically, the first roller assemblies 16 are divided into two groups. The first wheel frames of the two groups of first roller assemblies 16 are fixedly installed on the left and right sides of the platform 17 in a one-to-one correspondence, and the first wheels on the two groups of first roller assemblies 16 correspond one-to-one with the two shields 2. When the drive motor 21 is started to drive the platform 17 to move from the initial position to a distance, the platform 17 first pulls the linkage through the push-pull rod 11 to make the linkage slide towards the inside of the base 1. At this time, the elastic force of the arc-shaped compression spring 4 is released and pushes the protective plate 3 to slide upward so that the protective plate 3 pushes the shield 2 from the closed state to the open state. Then, the shield 2 abuts against the top of the support rod 7 to limit the shield 2. Then, as the platform 17 moves, The movement continues, causing the first wheels of multiple first roller assemblies 16 in the two sets of first roller assemblies 16 to move one by one to the top of the shield 2 and press down on the shield 2, so that the shield 2 presses the support rod 7 to compress the support spring 25. At this time, under the support of the support spring 25, the shield 2 supports the first roller assembly 16, and the first roller assembly 16 is fixedly installed on the platform 17, so that the shield 2 supports the platform 17. Since only the guide rail 14 supports the platform 17 in the prior art, the guide rail 14 bears a large downward pressure, which makes the friction between the guide rail 14 and the guide slider 15 large, which will increase the wear of the guide rail 14. In this embodiment, the shield 2 in the buffer mechanism not only serves to shield the guide rail 14 from dust, but also cleverly supports the platform 17 when the shield 2 is in the open state. This helps to share the downward pressure on the guide rail 14, thereby reducing the friction between the guide rail 14 and the guide slider 15, further reducing the wear of the guide rail 14, and increasing the service life of the guide rail 14. The shield 2 achieves an unexpected technical effect.

[0057] In this embodiment, the protective plate 3 is arc-shaped, and its convex arc surface faces away from the corresponding guide rail 14. When the shield 2 is open, the heights of both the shield 2 and the protective plate 3 are greater than the guide rail 14, and the guide rail 14 is located between the shield 2 and the protective plate 3, thus protecting the left and right sides of the guide rail 14. In actual cargo transportation, sand and gravel may fall onto the cargo. When cargo with sand and gravel on it is moved to the stacker crane, the sand and gravel are easily dropped and splashed onto the guide rail 14, causing solid particles left by the splashing sand and gravel to adhere to the guide rail 14. This increases the wear of the guide rail 14 when the guide slider 15 passes by. However, in this invention, when sand and gravel fall from the cargo, they are blocked by the protective plate 3 and the open shield 3, preventing them from splashing onto the guide rail 14. Therefore, the shield 2 and the protective plate 3 together protect the guide rail 14. Thus, the shield 2 and the protective plate 3 in this invention also serve to protect the guide rail 14.

[0058] In this embodiment, the linkage includes an impact plate 9, a power input end 8, and a power output end. The power input end 8 is rotatably connected to the impact plate 9, and the power output end is fixedly connected to the impact plate 9. A baffle 10, which limits the movement of the impact plate 9, is fixedly installed on the base 1 via two connecting plates 103. The two connecting plates 103 are fixedly installed on both sides of the base 1 and fixedly connected to both sides of the baffle 10. The impact plate 9 is located between the baffle 10 and the base 1. The power input end 8 is in push-pull engagement with the push-pull rod 11. There are two power input ends 8, which are symmetrically and rotatably installed on the impact plate 9. A fixing plate 12 is fixedly installed on the platform 17 and is also fixedly connected to the electrical box 19. Two sets of upper and lower support plates 13 are fixedly installed on the fixing plate 12. Push-pull rods 11 are rotatably installed on both sets of upper and lower support plates 13. The two push-pull rods 11 are in push-pull engagement with the two power input ends 8 on the linkage, thereby improving the force balance of the linkage. The power output ends of the linkage are also two, and they are linked one-to-one with the two shields 2.

[0059] The power input end 8 includes a pull plate 801, a push plate 802, and a limb plate 803, which are fixedly connected and arranged circumferentially. A roller 805, which abuts against the side of the baffle 10, is rotatably mounted on the free end of the limb plate 803. The free end of the push plate 802 extends to the outside of the free end of the pull plate 801, so that when the platform 17 is not in its initial position, the push-pull rod 11 is misaligned with the pull plate 801 but not with the push plate 802. This allows the push-pull rod 11 to pass over the pull plate 801 and impact the push plate 802 when the platform 17 is not in its initial position. The connection between the pull plate 801, push plate 802, and limb plate 803 is rotatably connected to a plug-in seat 903 fixedly mounted on the impact plate 9 via a pin 804. When the push-pull rod 11 impacts the push plate 802, the connection is complete. When plate 802 is in operation, it drives push plate 802, pull plate 801, and limb plate 803 to rotate around pin 804 until push plate 802 abuts against the side of impact plate 9. At this time, pull plate 801 is not disengaged from push-pull rod 11. Thus, when push-pull rod 11 moves away from power input end 8, push-pull rod 11 abuts against the side of pull plate 801 and pulls pull plate 801, push plate 802, and limb plate 803 to rotate in the opposite direction around pin 804 until push-pull rod 11 is disengaged from pull plate 801, causing push-pull rod 11 to separate from power input end 8. After push plate 802 abuts against the side of impact plate 9, as platform 17 drives push-pull rod 11 to continue moving, push plate 802 can no longer rotate. At this time, push plate 802 pushes impact plate 9 toward baffle 10 until impact plate 9 collides and abuts against baffle 10. At this time, roller 805 also abuts against the side of impact plate 9. At this time, platform 17 is in the initial position. As the impact plate 9 is pushed and moved by the push plate 802, the power output end of the impact plate 9 drives the linkage to slide towards the outside of the base 1, thereby driving the shield 2 to rotate towards the protective plate 3 to achieve closure. When the platform 17 moves away from the initial position, the platform 17 drives the push-pull rod 11 to abut against the pull plate 801 and pull the pull plate 801 to rotate around the pin 804. The rotation of the pull plate 801 drives the push plate 802 and the limb plate 803 to rotate synchronously. The rotation of the limb plate 803 drives the roller 805 to roll on the side of the baffle 10. Since the baffle 10 is fixed, as the limb plate 803 rotates, the limb plate 803 pushes the impact plate 9 to move away from the baffle 10 until the push-pull rod 11 and the pull plate 801 are misaligned. During this process, the impact plate 9 drives the power output end of the linkage to slide towards the inside of the base 1, thereby driving the shield 2 to rotate away from the protective plate 3 to achieve opening.

[0060] More specifically, the pin 804 is rotatably inserted into the connector 903. The pin 804 is fixedly installed or rotatably inserted into the connection of the pull plate 801, push plate 802, and limb plate 803. The impact plate 9 has notches 904 on both sides corresponding to the two limb plates 803. The limb plates 803 pass through the corresponding notches 904. A rubber layer (not shown in the figure) is fixedly attached to the inner wall of the notches 904 on both sides of the impact plate 9. The rubber layer is pressed against the top and bottom surfaces of the limb plates 803 to ensure that the limb plates 803 pass through. When the push-pull rod 11 moves away from the linkage to pull the pull plate 801 to rotate, until the push-pull rod 11 and the pull plate 801 are misaligned, the friction generated by the extrusion between the limb plate 803 and the rubber layer prevents the limb plate 803 from rotating, thereby keeping the pull plate 801 misaligned from the push-pull rod 11, so that the push-pull rod 11 will not contact the pull plate 801 when it moves towards the power input of the linkage next time.

[0061] The power output end of the linkage includes a longitudinal slide plate 5 that is slidably connected to the base 1. The longitudinal slide plate 5 is fixedly connected or rotatably connected to the impact plate 9, as long as the impact plate 9 can drive the longitudinal slide plate 5 to move synchronously when it moves. When the impact plate 9 is pushed by the push plate 802, the impact plate 9 drives the longitudinal slide plate 5 to slide towards the outside of the base 1. When the impact plate 9 moves away from the baffle 10 under the rotational force of the limb plate 803, the impact plate 9 drives the longitudinal slide plate 5 to slide towards the inside of the base 1.

[0062] A horizontal sliding plate 6 is slidably mounted on the base 1. The vertical sliding plate 5 is linked to the shield 2 through the horizontal sliding plate 6. When the platform 17 drives the push-pull rod 11 to impact the power input end 8, it drives the impact plate 9 to pull the vertical sliding plate 5 to slide towards the outside of the base 1. At this time, the vertical sliding plate 5 pushes the horizontal sliding plate 6 to slide so that the horizontal sliding plate 6 drives the shield 2 to rotate towards the protective plate 3. Specifically, two lower slide rails 23, corresponding one-to-one with the longitudinal slide plate 5 in the two power output ends of the linkage component, are fixedly installed on the base 1. Multiple lower slide blocks 501, which are slidably inserted into the lower slide rails 23, are fixedly installed on the bottom of the longitudinal slide plate 5. The sliding connection between the longitudinal slide plate 5 and the base 1 is achieved by the sliding insertion of the lower slide blocks 501 and the lower slide rails 23. Two sets of transverse slide rails 24, corresponding one-to-one with the transverse slide plate 6 in the two power output ends of the linkage component, are fixedly installed on the base 1. Each set of transverse slide rails 24 has multiple transverse slide rails 24 arranged in an array along the length direction of the base 1. Multiple guide grooves 601, which are slidably inserted into the bottom of the transverse slide plate 6, are corresponding one-to-one with the multiple transverse slide rails 24. The sliding connection between the transverse slide plate 6 and the base 1 is achieved by the sliding insertion of the transverse slide rails 24 and the guide grooves 601. The longitudinal slide plate 5 slides along the length of the lower slide rail 23, and the transverse slide plate 6 slides along the length of the transverse slide rail 24. The length of the transverse slide rail 24 is perpendicular to the length of the guide slide rail 14, and the length of the lower slide rail 23 is parallel to the length of the base 1, so that the sliding direction of the transverse slide plate 6 is perpendicular to the sliding direction of the longitudinal slide plate 5.

[0063] Furthermore, multiple gears 202 are fixedly mounted on the rotating shaft 201 of the shield 2. These gears 202 are coaxial with the shield 2. Multiple toothed racks 602 are fixedly mounted on the transverse slide plate 6, each meshing with one of the gears 202. When the transverse slide plate 6 slides, the meshing of the toothed racks 602 with the gears 202 causes the transverse slide plate 6 to rotate. Similarly, when the shield 2 rotates, it also causes the transverse slide plate 6 to slide. By setting multiple gears 202 and multiple toothed racks 602, the force points of the shield 2 are increased, making it easier for the shield 2 to be driven to rotate by the transverse slide plate 6.

[0064] The specific implementation of the longitudinal slide plate 5 driving the transverse slide plate 6 to slide is as follows: Multiple second roller assemblies 502 are fixedly installed on the side of the longitudinal slide plate 5 near the transverse slide plate 6. These second roller assemblies 502 are arranged at equal intervals along the length of the longitudinal slide plate 5. Each second roller assembly 502 includes a second wheel frame and a second wheel rotatably connected. The second wheel frame of the second roller assembly 502 is fixedly installed on the side of the longitudinal slide plate 5, and the second wheel on the second roller assembly 502 is in a flat position, meaning the axis of the second wheel of the second roller assembly 502 is vertical. An inner groove 603 is formed on the side of the transverse slide plate 6 near the longitudinal slide plate 5, corresponding one-to-one with each of the multiple second roller assemblies 502. The inner wall of the inner groove 603 includes a plane 6031 and an inclined surface 6032 arranged sequentially. The inclined surface 6032 is located between the plane 6031 and the side of the transverse slide plate 6 near the longitudinal slide plate 5. The second wheel on the second roller assembly 502 is in two positions: corresponding to the plane 6031 and abutting against the side of the transverse slide plate 6 near the longitudinal slide plate 5.When platform 17 needs to move away from its initial position, platform 17 drives push-pull rod 11 to pull power input end 8, causing impact plate 9 to move away from baffle 10 until push-pull rod 11 and pull plate 801 are misaligned. During this process, impact plate 9 drives longitudinal slide plate 5 to slide into base 1, so that the second wheel on second roller assembly 502 corresponds to plane 6031. At this time, transverse slide plate 6 has space to slide towards longitudinal slide plate 5. Based on the elastic force of arc compression spring 4, protective plate 3 pushes shield 2 to rotate away from protective plate 3. During this process, based on gear 202 and row The meshing of gear 602 causes the shield 2 to slide the transverse slide plate 6 along the transverse slide rail 24 toward the longitudinal slide plate 5, thereby causing the plane 6031 to continuously approach the second wheel on the second roller assembly 502 until the shield 2 abuts against the support rod 7, at which point the plane 6031 and the second roller assembly 502 are still not in contact. During this process, the shield 2 automatically rotates from the closed state to the open state. When the platform 17 drives the push-pull rod 11 to strike the power input end 8, the push-pull rod 11 drives the push plate 802 to push the impact plate 9 toward the baffle 10, and the impact plate 9 drives the longitudinal slide plate 5 toward the outside of the base 1. As the longitudinal slide plate 5 slides, it drives multiple second roller assemblies 502 to move synchronously. This causes the second wheels on the second roller assemblies 502 to gradually move from their positions corresponding to the plane 6031 to the inclined plane 6032 and abut against it. Due to the inclined design of the inclined plane 6032, the second roller assemblies 502 push the transverse slide plate 6 to slide along the transverse slide rail 24 away from the longitudinal slide plate 5. Based on the meshing of the gear 602 and the gear 202, when the transverse slide plate 6 slides away from the longitudinal slide plate 5, it causes the shield 2 to rotate toward the protective plate 3 and continuously press down on the elasticity of the protective plate 3. As the second wheel on the second roller assembly 502 moves from the inclined plane 6032 to the side of the transverse slide plate 6 near the longitudinal slide plate 5, the shield 2 pushes the protective plate 3 to slide down elastically until the top surface of the protective plate 3 is flush with the top surface of the base 1. The side of the transverse slide plate 6 near the longitudinal slide plate 5 is perpendicular to the axis of the second wheel on the second roller assembly 502. At this time, the second roller assembly 502 limits the transverse slide plate 6 so that the transverse slide plate 6 cannot continue to move towards the longitudinal slide plate 5, thereby locking the compression force of the arc-shaped spring 4, and keeping the shield 2 in the state of covering the guide rail 14. It can be seen that in this invention, the cooperation between the longitudinal slide plate 5 and the transverse slide plate 6 not only drives the shield 2 to rotate, but also locks the compression force of the arc-shaped spring 4, so that the shield 2 keeps covering the guide rail 14.

[0065] In this embodiment, an upper auxiliary plate 901 is fixedly installed on the impact plate 9, and an upper slider 902 is fixedly installed on the upper auxiliary plate 901. A lower auxiliary plate 1001 is fixedly installed on the baffle 10, and an upper slide rail 1002 that slides and engages with the upper slider 902 is fixedly installed on the lower auxiliary plate 1001. The power input end 8 is located between the upper slide rail 1002 and the guide slide rail 14. Specifically, the upper auxiliary plate 901 is fixedly installed on the top of the impact plate 9, and there are one or more upper sliders 902. The upper sliders 902 are fixedly installed below the upper auxiliary plate 901. The number of upper slide rails 1002 is the same as the number of upper sliders 902, and they are slidably inserted one-to-one. By positioning the power input end 8 between the upper slide rail 1002 and the guide slide rail 14, the forces on the upper and lower ends of the linkage are more balanced when the push-pull rod 11 impacts and pulls the linkage, thereby improving the stability of the linkage during sliding.

[0066] In this embodiment, end plates 22 are fixedly installed at both ends of the base 1. The two ends of the rotating shaft 201 are rotatably connected to the two end plates 22 in a one-to-one correspondence. The end plate 22 near the buffer mechanism is provided with clearance holes 2201 corresponding to the two longitudinal sliding plates 5. The longitudinal sliding plates 5 pass through the corresponding clearance holes 2201.

[0067] When the push-pull rod 11 is misaligned with the pull plate 801, the impact plate 9 abuts or nearly abuts with the end plate 22, so that the end plate 22 limits the impact plate 9, thereby ensuring that the position of the second roller assembly 502 corresponds to the plane 6031.

[0068] It should be noted that all electrical equipment involved in this application can be powered by batteries or external power sources, and this application is equipped with a control system for controlling the operation of the entire equipment.

[0069] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0070] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A stacker crane traveling mechanism, comprising a fixedly connected base (1) and a guide rail (14), wherein a platform (17) is reciprocally slidably disposed on the guide rail (14), and a buffer mechanism is disposed on the base (1), characterized in that: The buffer mechanism includes a shield (2) rotatably connected to the base (1), a protective plate (3) elastically slidably disposed on the base (1), and a linkage component slidably connected to the base (1) and linked with the shield (2); When the platform (17) approaches the initial position, the push-pull rod (11) fixedly installed on the platform (17) impacts the linkage and slides outward to the base (1), causing the linkage to drive the shield (2) to rotate so that the shield (2) squeezes the protective plate (3) and elastically slides while covering the guide rail (14). When the platform (17) moves away from the initial position, the push-pull rod (11) pulls the linkage to slide into the base (1) so that the shield (2) rotates and opens.

2. The stacker crane traveling mechanism according to claim 1, characterized in that: Multiple support rods (7) are elastically inserted into the base (1). After the shield (2) is rotated open, it collides and abuts against the top of the multiple support rods (7).

3. The stacker crane traveling mechanism according to claim 2, characterized in that: Multiple first roller assemblies (16) are installed on the platform (17). During the movement of the platform (17), the first roller assemblies (16) press against the top of the opened shield (2) so that the opened shield (2) shares the downward pressure borne by the guide rail (14).

4. The stacker crane traveling mechanism according to claim 1, characterized in that: The protective plate (3) is arc-shaped, and the outer convex arc surface of the protective plate (3) is away from the corresponding guide rail (14). When the shield (2) is opened, the height of the shield (2) and the protective plate (3) is greater than that of the guide rail (14), and the guide rail (14) is located between the shield (2) and the protective plate (3) so that the left and right sides of the guide rail (14) are protected.

5. The stacker crane traveling mechanism according to claim 1, characterized in that: The linkage includes an impact plate (9), a power input end (8), and a power output end. The power input end (8) is rotatably connected to the impact plate (9), and the power output end is fixedly connected to the impact plate (9). A baffle (10) for limiting the impact plate (9) is fixedly installed on the base (1). The impact plate (9) is located between the baffle (10) and the base (1). The power input end (8) is in push-pull cooperation with the push-pull rod (11).

6. The stacker crane traveling mechanism according to claim 5, characterized in that: The power input end (8) includes a pull plate (801), a push plate (802), and a limb plate (803) that are fixedly connected and arranged in a circumferential direction. The free end of the push plate (802) extends to the outside of the free end of the pull plate (801). The connection between the pull plate (801), the push plate (802), and the limb plate (803) is rotatably connected to the plug seat (903) fixedly installed on the impact plate (9) through a pin (804).

7. The stacker crane traveling mechanism according to claim 6, characterized in that: The free end of the limb plate (803) is rotatably mounted with a rotating roller (805) that abuts against the baffle (10).

8. The stacker crane traveling mechanism according to claim 5, characterized in that: The power output end of the linkage includes a longitudinal slide plate (5) that is slidably connected to the base (1). The longitudinal slide plate (5) is connected to the impact plate (9). A transverse slide plate (6) is slidably arranged on the base (1). The longitudinal slide plate (5) is linked to the shield (2) through the transverse slide plate (6). When the push-pull rod (11) impacts the power input end (8), it drives the impact plate (9) to pull the longitudinal slide plate (5) to slide. The longitudinal slide plate (5) pushes the transverse slide plate (6) to slide so that the transverse slide plate (6) drives the shield (2) to rotate.

9. The stacker crane traveling mechanism according to claim 8, characterized in that: Multiple gears (202) are fixedly installed on the shaft (201) of the shield (2), and multiple rows of teeth (602) that mesh with the multiple gears (202) are fixedly installed on the transverse slide plate (6).

10. The stacker crane traveling mechanism according to claim 5, characterized in that: An upper auxiliary plate (901) is fixedly installed on the impact plate (9), an upper slider (902) is fixedly installed on the upper auxiliary plate (901), a lower auxiliary plate (1001) is fixedly installed on the baffle (10), an upper slide rail (1002) that slides with the upper slider (902) is fixedly installed on the lower auxiliary plate (1001), and the power input end (8) is located between the upper slide rail (1002) and the guide slide rail (14).

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