A rigid anti-shaking device for a stacker of an automated stereoscopic warehouse

Abstract

The present application relates to the technical field of stacking machine, in particular to a kind of rigid anti-shake device for stacking machine of automated three-dimensional warehouse, including stacking machine and the first level mobile platform and secondary mobile platform being arranged at its one side, be provided with object table above secondary mobile platform, still include scissor type connecting rod mechanism, buffer mechanism and protection mechanism, the scissor type connecting rod mechanism is connected between the first level mobile platform and secondary mobile platform of stacking machine.This application adds scissor type connecting rod mechanism between the first level mobile platform and secondary mobile platform, the relative movement between two platforms is forced single, determined straight line movement, greatly enhance the lateral and vertical direction's connection stiffness, to inhibit the basic sway caused by acceleration mutation and structural elastic deformation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stacker, in particular to a rigid anti-shaking device for a stacker of an automated warehouse. BACKGROUND

[0002] In an automated logistics and warehousing system, the stacker is the core handling equipment, and its performance directly determines the operation efficiency and reliability of the automated warehouse. Through the control of the stacker access mechanism, the stacker access mechanism can move horizontally and vertically on one side of the rack, so as to align the stacker access mechanism with different storage spaces on the rack, and realize the storage and retrieval of goods.

[0003] In the prior art, such as a Chinese patent application with the application publication number CN202410209123.X, the patent name is a stacker with a spread type anti-shaking function, which specifically discloses a stacker body composed of a rack, a loading platform, an electric control cabinet and a lifting unit. The rack is slidably installed on the ground rail in the working area, the loading platform is slidably installed on the rack, and a walking motor is installed on one side of the bottom end of the rack, the electric control cabinet is installed on the bottom of the side wall of the rack, and the lifting unit is installed on the rack. Adjustable limiting parts are symmetrically installed on the loading platform, and two reinforcing parts are installed on the adjustable limiting parts.

[0004] In the above-mentioned scheme, the adjustable limiting parts can realize clamping on both sides of the goods on the loading platform, avoid the problem of shaking of the goods during lifting, and improve the safety during the stacking process of the goods. However, the anti-shaking mechanism is passive and static. It cannot solve the basic shaking problem caused by the different inertia of the moving platform and the goods, and the sudden change of acceleration during the high-speed start and stop and dynamic stretching of the stacker.

[0005] Therefore, a rigid anti-shaking device for a stacker of an automated warehouse is proposed to solve the above-mentioned problems. SUMMARY

[0006] Technical problems solved

[0007] In view of the above-mentioned shortcomings of the prior art, the present application provides a rigid anti-shaking device for a stacker of an automated warehouse, which can solve the problem of front and lateral shaking of goods caused by acceleration and deceleration inertia and motion asynchronization in the prior art. Through rigid constraint, energy recovery and active anti-shaking mechanism, the technical purpose of effectively suppressing the shaking of goods and improving the operation stability and positioning accuracy is achieved.

[0008] Technical scheme

[0009] To achieve the above purpose, the present application is realized by the following technical scheme:

[0010] The application provides a rigid anti-shaking device for a stacking machine of an automated stereoscopic warehouse, which comprises the stacking machine, a first moving platform and a second moving platform arranged on one side of the stacking machine, a carrier table arranged above the second moving platform, a scissor linkage mechanism, a buffer mechanism and a protection mechanism, the scissor linkage mechanism is connected between the first moving platform and the second moving platform of the stacking machine, the scissor linkage mechanism comprises at least one set of X-shaped telescopic rod groups, which are used to limit the relative movement between the two platforms to be linear movement, the buffer mechanism is arranged between the first moving platform and the second moving platform, the buffer mechanism comprises a limiting stopper arranged on the first moving platform and an elastic movable component arranged on the second moving platform and capable of contacting the limiting stopper, which is used to compress the elastic movable component to absorb impact energy and store elastic potential energy when the two platforms move relative to each other, and the protection mechanism is arranged between the first moving platform and the carrier table, the protection mechanism comprises an anti-shaking execution component driven by the elastic potential energy released by the buffer mechanism, and the anti-shaking execution component comprises a baffle capable of extending to the side of the goods, which is used to inhibit the lateral shaking of the goods on the carrier table.

[0011] Further, the telescopic rod group comprises a sleeve and a sliding rod slidingly installed in the sleeve, and the ends of the sleeve and the sliding rod are rotatably connected to the mounting seats on the first moving platform and the second moving platform through rotary joints.

[0012] Further, the surface of the sliding rod is provided with a limiting strip, and the inner wall of the sleeve is provided with a groove matched with the limiting strip.

[0013] Further, the elastic movable component comprises a sliding rail fixed to the second moving platform and a push rod capable of elastically sliding on the sliding rail, and the limiting stopper is arranged on the travel path of the push rod.

[0014] Further, a first spring is arranged on the sliding rail and used to provide elastic force to the push rod, and the buffer mechanism further comprises a locking mechanism used to lock the push rod at a position after the first spring is compressed.

[0015] The locking mechanism comprises a limiting clamping groove arranged on the push rod and a ratchet wheel driven by the limiting clamping groove to rotate in one direction, and a clamping key is elastically slidingly installed on the fixed rod and engaged with the ratchet wheel to prevent reverse rotation of the ratchet wheel.

[0016] Further, the locking mechanism further comprises an electromagnetic valve used to control the movement of the clamping key to release the locking of the ratchet wheel, so as to release the stored elastic potential energy.

[0017] Furthermore, the protective mechanism includes a spring release mechanism for releasing the elastic potential energy stored in the buffer mechanism, and the locking mechanism further includes a first bevel gear coaxially connected to the ratchet. The spring release mechanism includes a second bevel gear meshing with the first bevel gear and a cam coaxially connected to the second bevel gear.

[0018] Furthermore, the anti-sway actuator has a pneumatic circuit, which includes a cam driven to rotate by elastic potential energy, an air pipe driven by the cam and pressurizing the circuit, a connector connected to the air pipe through a pipeline, and multiple branch pipes connected to the connector.

[0019] The baffle is slidably installed inside the branch pipe and is extended by gas pressure in the pneumatic circuit.

[0020] Furthermore, the surface of the branch pipe is provided with a flow-limiting hole for slowly releasing the gas inside the branch pipe.

[0021] Furthermore, an anti-collision block is provided at the end of the push rod facing the limiting block.

[0022] Beneficial effects

[0023] The technical solution provided by this invention has the following advantages compared with the prior art:

[0024] This invention adds a scissor-type linkage mechanism between the primary and secondary moving platforms, forcing the relative motion between the two platforms to be a single, definite linear motion. This greatly enhances the connection stiffness in the lateral and vertical directions, and transfers the inertial force of the secondary moving platform and the cargo to the larger and more stable primary moving platform for absorption, thereby suppressing the basic swaying caused by sudden acceleration changes and structural elastic deformation.

[0025] Through a unique buffer mechanism, when the equipment decelerates and stops, it can convert the huge inertial impact kinetic energy into elastic potential energy (compressing the first spring) and store and lock it. When needed, the stored elastic energy is actively released through the control of the solenoid valve to provide power for subsequent anti-sway actions, thus realizing the recovery and utilization of energy.

[0026] The released elastic energy drives the protective mechanism through the bevel gear set. The cam rotation drives the first piston rod to pressurize the communicating vessel and branch pipe. The high-pressure gas pushes multiple linearly distributed baffles to extend, applying clamping force evenly from both sides of the cargo, forming an effective lateral constraint, actively counteracting the lateral swing tendency of the cargo, and preventing the cargo from overturning or twisting.

[0027] In particular, the flow-limiting hole design on the branch pipe ensures that the pressure is released slowly, so that the clamping force of the baffle can be maintained for a period of time, effectively offsetting residual vibration, ensuring a smooth transition of the cargo from a constrained state to a free state, and consolidating and prolonging the anti-sway effect. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0029] Figure 1 This is a schematic diagram of the overall structure of the rigid anti-sway device for the stacker crane in an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the stacker crane installation in an embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram of the stacker crane access mechanism in an embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram of the rigid anti-sway device structure in an embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram of the installation of the scissor linkage mechanism in an embodiment of the present invention;

[0034] Figure 6 This is a schematic diagram of the installation of the buffer mechanism in an embodiment of the present invention;

[0035] Figure 7 This is a schematic diagram of the buffer mechanism structure in an embodiment of the present invention;

[0036] Figure 8 For the present invention Figure 7 Enlarged schematic diagram of the structure at point A in the diagram;

[0037] Figure 9 This is a schematic diagram of the installation of the protective mechanism in an embodiment of the present invention;

[0038] Figure 10 This is a cross-sectional schematic diagram of the protective mechanism structure in an embodiment of the present invention.

[0039] The labels in the diagram represent: 1. Shelf; 2. Stacker crane; 3. Lifting platform; 4. Support frame; 5. Guide wheel; 6. Primary moving platform; 7. First rack; 8. Motor; 9. Drive gear; 10. Secondary moving platform; 11. Loading platform; 12. Driven gear; 13. Second rack; 14. Third rack; 15. Mounting base; 16. Rotary joint; 17. Sleeve; 18. Slide rod; 19. Limit bar; 20. Limit stop; 21. Slide rail; 22. Slider; 23. ... 24. Spring; 25. Push rod; 26. Anti-collision block; 27. Slot; 28. Ratchet; 29. ​​Limiting slot; 30. Fixing rod; 31. Locking key; 32. Second spring; 33. Solenoid valve; 34. First bevel gear; 35. Second bevel gear; 36. Cam; 37. Air pipe; 38. First piston rod; 39. Communicating device; 40. Branch pipe; 41. Third spring; 42. Exhaust check valve; 43. Intake check valve; 44. Second piston rod; 45. Flow limiting orifice; 46. Baffle. Detailed Implementation

[0040] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0041] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0042] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0043] In the description of this embodiment, the terms "upper," "lower," "left," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and 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. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0044] The present invention will be further described below with reference to embodiments.

[0045] Example:

[0046] A typical structure of a stacker crane's storage and retrieval mechanism includes a lifting platform mounted on the stacker crane. A support frame is mounted on the surface of the lifting platform, and a primary moving platform is slidably mounted on the support frame. A drive gear driven by a motor is mounted on the lifting platform, and a first rack (as shown in the attached figure) is mounted below the primary moving platform and meshes with the drive gear. Figure 3 (As shown).

[0047] When the stacker crane's storage and retrieval mechanism needs to retrieve goods from or place goods into the shelf, the motor is turned on to drive the drive gear to rotate and engage the first rack to slide. This allows the primary moving platform to slide horizontally on the lifting platform and move vertically toward the warehouse on the shelf, thus enabling the storage and retrieval of goods.

[0048] Please refer to the appendix. Figures 1-10 This solution proposes a rigid anti-sway device for stacker cranes in automated storage and retrieval systems. By adding a scissor-type linkage mechanism between the primary and secondary moving platforms, the relative motion between the two is forced to be a linear motion in only one direction, effectively suppressing the basic swaying in the lateral and vertical directions caused by sudden acceleration changes and structural gaps.

[0049] When the stacker crane decelerates and stops, the impact force generated by the inertia of the secondary moving platform pushes the push rod of the buffer mechanism to contact the limit stop, compressing the first spring and converting the impact kinetic energy into elastic potential energy. Simultaneously, the locking mechanism consisting of the ratchet and the locking key locks the spring in a compressed state, storing energy. When the system detects that the cargo requires anti-sway protection, it controls the solenoid valve to release the locking key from the ratchet. The compressed first spring pushes the push rod to reset, causing the ratchet to reverse. The ratchet's reversal drives the cam to rotate through the meshing bevel gear set. The cam compresses the first piston rod in the air pipes on both sides, forcing gas into the communicating vessel and building pressure.

[0050] High-pressure gas pushes the second piston rod and its end baffle to extend synchronously through multiple branch pipes, applying uniform clamping force from both sides of the cargo to directly suppress its lateral swaying. The flow-limiting holes on the branch pipes allow the gas pressure inside to release slowly, enabling the baffles to maintain clamping force for a period of time, thereby counteracting residual vibrations and ensuring a smooth transition of the cargo from a constrained to a free state, thus reinforcing the anti-sway effect.

[0051] The stacker crane storage and retrieval mechanism includes a lifting platform 3 installed on the stacker crane 2, which is located on one side of the rack 1. By operating the stacker crane 2, the lifting platform 3 can be controlled to move horizontally or vertically on the rack 1, thereby enabling the lifting platform 3 to store and retrieve goods at different locations on the rack 1.

[0052] Specifically, two sets of support frames 4 are installed on the surface of the lifting platform 3, and a primary moving platform 6 is installed between the two sets of support frames 4. Linearly distributed guide wheels 5 are also installed on the surface of the support frames 4, and the primary moving platform 6 is slidably mounted on the guide wheels 5. The linearly distributed guide wheels 5 on the support frames 4 together form a precise guide track, strictly limiting the primary moving platform 6 to only move forward and backward in the horizontal direction, preventing unwanted degrees of freedom such as vertical jumping, left and right swaying, or twisting, and ensuring the linearity and determinism of the motion trajectory.

[0053] Meanwhile, a drive gear 9 driven by a motor 8 is installed on the lifting platform 3, and a first rack 7 meshing with the drive gear 9 is installed below the primary moving platform 6. When the stacker crane's storage and retrieval mechanism needs to retrieve goods from or place goods into the shelf 1, the motor 8 is turned on to drive the drive gear 9 to rotate and engage the first rack 7 to slide. This allows the primary moving platform 6 to slide horizontally on the lifting platform 3 and move vertically towards the warehouse on the shelf 1, thus enabling the storage and retrieval of goods.

[0054] A secondary mobile platform 10 is also slidably mounted on the primary mobile platform 6. Guide wheels 5 are installed on both sides of the lower part of the secondary mobile platform 10 and are fitted onto the primary mobile platform 6 accordingly. This ensures that the secondary mobile platform 10 maintains a stable, smooth, and precise linear movement as it extends or retracts from the primary mobile platform 6, preventing jamming, shaking, or tilting due to excessive platform length or load, and ensuring accuracy and reliability when storing and retrieving goods.

[0055] A third rack 14 is connected to the lower surface of the secondary moving platform 10. The third rack 14 is meshed with a driven gear 12 rotatably connected to the surface of the primary moving platform 6. Simultaneously, the driven gear 12 is also meshed with a second rack 13 mounted on the lifting platform 3. When the primary moving platform 6 slides from the surface of the lifting platform 3 toward the warehouse on the rack 1, the driven gear 12 rotates under the meshing action of the second rack 13, further controlling the driven gear 12 to mesh with the third rack 14 and slide. This allows the secondary moving platform 10 to further unfold on the primary moving platform 6 and move toward the warehouse on the rack 1, further expanding the operating range of the stacker crane's storage and retrieval mechanism while ensuring the stability and space efficiency of the entire system.

[0056] The difference is that a scissor linkage mechanism is installed between the first-level moving platform 6 and the second-level moving platform 10. Through the constraint of the rigid linkage, the relative motion between the first-level moving platform 6 and the second-level moving platform 10 is forced to be a single, definite linear motion, which greatly suppresses any other degree of freedom.

[0057] Specifically, the scissor linkage mechanism consists of two sets of telescopic rods arranged in an X shape. The telescopic rod sets include a sleeve 17 and a slide rod 18. The slide rod 18 is inserted into the sleeve 17, and the surface of the slide rod 18 is provided with a limiting strip 19 that matches the groove on the inner wall of the sleeve 17.

[0058] The other ends of the sleeve 17 and the slide rod 18 are both connected to the rotary joint 16. The two sets of rotary joints 16 are respectively rotatably connected to the mounting seats 15 provided on the surfaces of the primary moving platform 6 and the secondary moving platform 10. In use, when the primary moving platform 6 starts to move, the secondary moving platform 10 begins to extend or retract on the primary moving platform 6 through the transmission of the driven gear 12, the second rack 13, and the third rack 14.

[0059] At this time, the scissor mechanism moves accordingly. The sliding rod 18 in the telescopic rod with its opening facing the extension direction of the secondary moving platform 10 extends out of the sleeve 17 and rotates around the rotating joint 16, reducing the angle between the telescopic rod and the primary moving platform 6. The sliding rod 18 in the telescopic rod with its opening facing the extension direction of the secondary moving platform 10 is inserted into the sleeve 17 and rotates around the rotating joint 16, increasing the angle between the telescopic rod and the primary moving platform 6.

[0060] The scissor-lift linkage is a rigid body with only one degree of freedom, greatly enhancing the connection rigidity between the primary moving platform 6 and the secondary moving platform 10 in the lateral direction (perpendicular to the direction of motion) and vertical direction. When the system accelerates or decelerates, the enormous inertial force generated by the cargo attempts to push the secondary moving platform 10. Without the scissor-lift linkage, this force can only be borne by the guide wheel 5 and the track groove, which is prone to deformation and vibration. With the scissor-lift linkage, this inertial force is directly transmitted to the larger and more robust primary moving platform 6 through the rigid scissor-lift linkage.

[0061] The mass and inertia of the primary moving platform 6 are much greater than those of the secondary moving platform 10. According to Newton's second law, the acceleration produced by the same force acting on a larger object is extremely small. Therefore, the inertial force is absorbed by the massive primary moving platform 6, and can no longer cause significant elastic deformation and oscillation in the secondary moving platform 10. This forces the relative motion between the two platforms to be purely linear, eliminating the possibility of torsion and lateral offset, and reducing swaying during cargo movement.

[0062] It is worth noting that at the moment the equipment stops operating, the impact vibration generated by the huge inertial force can cause violent shaking, affecting the positioning accuracy of the equipment and even damaging the cargo and the equipment structure itself. Therefore, a buffer mechanism is installed between the primary moving platform 6 and the secondary moving platform 10 to reversibly convert the impact kinetic energy into elastic potential energy for storage and release it at an appropriate time, so as to actively offset and suppress the shaking.

[0063] Specifically, the buffer mechanism includes a limiting block 20 fixedly connected to the primary moving platform 6, and a slide rail 21 connected to the secondary moving platform 10. A slider 22 is slidably mounted on the inner wall of the slide rail 21 via a first spring 23, and a push rod 24 is connected to the side of the slider 22 facing the limiting block 20. When the platform is not moving, the slider 22, under the elastic force of the first spring 23, always has a force that pushes it towards the push rod 24.

[0064] When the platform begins to move, it extends vertically towards the shelf 1, causing the push rod 24 to slide towards the limit block 20 under the movement of the secondary moving platform 10 until the push rod 24 contacts the surface of the limit block 20. Under the limiting force of the limit block 20, the push rod 24 compresses the first spring 23 through its reaction force, thus buffering and absorbing the impact. A bumper block 25 is connected to the side of the push rod 24 facing the limit block 20 to prevent hard collisions and to prevent deformation or damage due to impact.

[0065] It should be noted that the surface of the secondary moving platform 10 is provided with a slot 26, and a locking mechanism is installed inside the slot 26 to control the storage and release of elastic potential energy. The locking mechanism includes a ratchet 27 rotatably connected in the slot 26; the ratchet 27 is positioned above the push rod 24 and engages with a limiting slot 28 provided on the upper surface of the push rod 24. At the same time, a fixing rod 29 is connected to the inner wall of the slot 26, and a locking key 30 is slidably mounted on the surface of the fixing rod 29 through a second spring 31. The locking key 30 engages with the ratchet 27 and is used to unidirectionally limit and block the ratchet 27.

[0066] When the secondary moving platform 10 slides to one side of the shelf 1, the push rod 24 compresses the first spring 23 under the limiting block 20. Simultaneously, during the sliding process, the push rod 24 engages with the ratchet 27 through the limiting slot 28. As the ratchet 27 rotates, it pushes the locking key 30 to slide on the fixed rod 29, compressing the second spring 31 until the ratchet 27 can no longer push the locking key 30 further. The locking key 30 then resets under the elastic force of the second spring 31, limiting the ratchet 27 and preventing it from rotating in only one direction. This prevents the first spring 23 from releasing after compression, accumulating impact force to prepare for subsequent energy release.

[0067] It should be noted that the locking mechanism also includes a solenoid valve 32 connected below the secondary moving platform 10. When the secondary moving platform 10 moves back to the primary moving platform 6 for reset, the goods on the secondary moving platform 10 sway due to inertia. The system actively releases the locked spring energy via a command. By activating the solenoid valve 32, the solenoid valve 32 attracts the metal locking key 30, which slides on the fixed rod 29. This pulls the locking key 30 towards the solenoid valve 32, compressing the second spring 31 and releasing the locking key 30 from its limiting obstruction of the ratchet 27. At this time, the push rod 24, without the limiting obstruction of the first piston rod 37, is pushed by the elastic force of the first spring 23, and then engages the ratchet 27 through the limiting slot 28 to rotate in the opposite direction, thus releasing the elastic potential energy.

[0068] It is worth mentioning that a cargo platform 11 for carrying goods is installed on the upper surface of the primary mobile platform 6, and a protective mechanism to suppress lateral swaying of the goods is installed between the primary mobile platform 6 and the cargo platform 11. When the elastic potential energy accumulated by the buffer mechanism is released, the released elastic potential energy will be converted into mechanical energy to drive the protective mechanism to operate, thereby suppressing lateral swaying of the goods on the surface of the cargo platform 11 and achieving stable protection of the goods.

[0069] The protective mechanism includes a second bevel gear 34 and a cam 35 rotatably connected to the platform 11, with the second bevel gear 34 and cam 35 coaxially distributed. The buffer mechanism also includes a first bevel gear 33 rotatably connected within the slot 26 and coaxially distributed with the ratchet 27, with the first bevel gear 33 and second bevel gear 34 meshing together. When the elastic potential energy accumulated in the buffer mechanism is released, it drives the ratchet 27 to rotate the first bevel gear 33 synchronously, which in turn causes the first bevel gear 33 to mesh with the second bevel gear 34, driving the cam 35 to rotate synchronously.

[0070] The protective mechanism also includes two sets of sway suppression mechanisms installed on both sides of the cam 35. The rotation of the cam 35 drives the two sets of sway suppression mechanisms to operate simultaneously, which can actively counteract the lateral movement tendency of the cargo caused by horizontal swaying and achieve anti-sway protection for the cargo.

[0071] Specifically, the sway suppression mechanism includes an air pipe 36 installed on the stage 11. One end of the air pipe 36 is connected to a communicating vessel 38 provided on the stage 11. The other end of the air pipe 36 is slidably mounted with a first piston rod 37 through a third spring 40. Under the elastic force of the third spring 40, the first piston rod 37 always has a force that pulls it toward the cam 35, thereby making the first piston rod 37 always abut against the surface of the cam 35.

[0072] An exhaust check valve 41 is provided at the connection between the air pipe 36 and the communicating vessel 38. When the cam 35 rotates, it pushes the first piston rod 37 to slide back and forth within the air pipe 36, thereby forcing the gas in the air pipe 36 into the communicating vessel 38 through the exhaust check valve 41, thus pressurizing the communicating vessel 38. Simultaneously, the surface of the air pipe 36 is connected to the outside via an intake check valve 42. When the first piston rod 37 returns to its original position under the elastic force of the third spring 40, it draws external air into the air pipe 36 through the intake check valve 42, replenishing the gas in the air pipe 36. Thus, during the continuous rotation of the cam 35, the first piston rod 37 can be controlled to continuously inject air into the communicating vessel 38, pressurizing the communicating vessel 38 and actively counteracting the horizontal swaying tendency of the goods using air pressure, thereby achieving anti-sway protection.

[0073] The sway suppression mechanism also includes multiple anti-sway mechanisms installed on the communicating vessel 38. These anti-sway mechanisms are linearly distributed at equal intervals on the communicating vessel 38, allowing the sway suppression mechanism to simultaneously suppress swaying at multiple positions on the cargo platform 11, effectively ensuring the stability of the cargo during movement. More specifically, the anti-sway mechanism includes a branch pipe 39 connected to the communicating vessel 38, and the branch pipe 39 is internally connected to the communicating vessel 38.

[0074] A second piston rod 43 is slidably mounted inside the upper end of the branch pipe 39, and a baffle 45 is connected to the outer end of the second piston rod 43. When the communicating vessel 38 is pressurized, the air pressure will push the second piston rod 43 to slide outward in the branch pipe 39, thereby controlling the baffle 45 to slide towards the side of the goods, abutting against the side of the goods, providing lateral restraint force, thereby effectively suppressing the swaying and shaking of the goods during movement, and ensuring the stability of its transportation process.

[0075] By strategically positioning two sets of sway suppression mechanisms, swaying can be simultaneously suppressed on both lateral sides of the cargo, effectively ensuring its stability during movement. This prevents cargo, especially tall or irregularly shaped items, from shifting at different points during swaying. Multiple points of application simultaneously constrain multiple parts of the cargo—top, middle, and bottom—creating a uniform clamping force and preventing overall overturning or localized twisting deformation due to single-point support. Furthermore, the linear distribution ensures the suppression force is evenly distributed along the sides of the cargo, avoiding stress concentration and providing more effective and stable resistance to swaying from all directions.

[0076] Existing automated warehouse stacker crane racks typically achieve passive adjustment of rack height and static fixation of goods through adaptive adjustment of the rack structure. This addresses space utilization and cargo storage security, but cannot handle the inertial swaying caused by sudden acceleration changes during stacker crane movement. In contrast, the core difference of this device lies in the introduction of a dynamic anti-sway mechanism, achieving a leap from static rack adaptation to dynamic motion control. The improvement lies in shifting the anti-sway focus from the cargo storage stage to the stacker crane movement stage, significantly improving the positioning accuracy and operational stability of the stacker crane during high-speed start-stop and extension movements. This prevents cargo displacement or equipment wear caused by fundamental swaying, providing a basic guarantee for the efficient operation of the automated warehouse.

[0077] Specifically, this device constructs three continuous anti-sway structures to ensure cargo stability during the dynamic process of the stacker crane. First, the scissor-type linkage mechanism serves as the foundation, directly transmitting the inertial force of the secondary moving platform 10 and the cargo to the larger primary moving platform 6 for absorption through rigid connection. This significantly enhances the system rigidity from the source, suppressing fundamental swaying caused by sudden acceleration changes and providing a stable foundation for the entire anti-sway system. This is fundamentally different from static solutions that only provide constraints after the cargo is in place. Second, the buffer mechanism intervenes at the moment of greatest inertial impact, such as when the stacker crane decelerates and stops, converting harmful impact kinetic energy into elastic potential energy. This is achieved by compressing the first spring 23 and storing it using a locking mechanism composed of ratchet 27 and key 30. This process realizes energy recovery and temporary storage, preparing power output for subsequent active control. Furthermore, the release timing is electronically controlled through the solenoid valve 32, providing an interface for intelligent control. Finally, when the system determines that it is necessary, the protective mechanism releases the stored elastic potential energy to drive the pneumatic circuit to generate uniform pressure, controlling multiple baffles 45 to extend synchronously and flexibly, applying active restraint force to the side of the cargo and precisely counteracting its lateral swaying tendency. In particular, the design of the flow-limiting orifice 44 ensures the smooth release of the restraint force, achieving a soft landing with cushioning and avoiding secondary impact.

[0078] Unlike existing technologies that address the static storage safety of goods on shelves, this solution focuses on the dynamic stability of the stacker crane during its movement. The device's activation occurs throughout the entire process of the stacker crane's operation, deceleration, and initial stationary phase, ensuring that goods remain in a controlled and stable state from the start of handling to placement.

[0079] Meanwhile, the surface of the branch pipe 39 is provided with a flow-limiting hole 44 that communicates with the outside. The flow-limiting hole 44 slowly releases the air pressure inside the branch pipe 39. When the cam 35 rotates, driving the first piston rod 37 to pressurize the communicating vessel 38 and the branch pipe 39, the second piston rod 43 is pushed out, and the baffle 45 presses tightly against the side of the cargo, forming a rigid or pneumatic clamping constraint, thereby suppressing the lateral swaying of the cargo. If there were no flow-limiting hole 44, the gas inside the branch pipe 39 would be rapidly depressurized through the intake one-way valve 42 and other paths the instant the cam 35 stops pressurizing, causing the second piston rod 43 to retract immediately under the slight rebound of the cargo or platform vibration. The anti-sway constraint would disappear instantly, and the cargo might sway again, greatly reducing the effectiveness of the entire anti-sway mechanism.

[0080] The flow-limiting orifice 44 provides a very small and fixed flow cross-section, allowing high-pressure gas to slowly leak into the atmosphere only through this small orifice after pressurization stops. This ensures that the pressure within the branch pipe 39 decreases gradually, rather than disappearing instantaneously. Ultimately, the clamping force of the baffle 45 on the cargo is maintained for a period of time and then slowly released. This is sufficient to counteract the residual kinetic energy and vibration generated by the cargo or platform at the moment of stopping, ensuring a smooth transition of the cargo from a constrained state to a free state, thereby consolidating and prolonging the anti-sway effect.

[0081] At the same time, when the platform unfolds vertically to one side of the shelf 1, the push rod 24 in the buffer mechanism will also engage the ratchet 27 through the limit slot 28 to rotate, and then drive the cam 35 through the second bevel gear 34 to control the operation of the protective mechanism, so as to achieve protection when goods are transported to the warehouse on the shelf 1.

[0082] Furthermore, compared to addressing the issue of jamming during cargo handling on stacker cranes, this device intervenes throughout the entire crane's movement process. Through energy recovery and active control, it suppresses sway, thus upgrading anti-sway from end-point operation to dynamic control of the crane itself. This rigid anti-sway device focuses on actively suppressing sway during crane movement, achieving a leap from passive response to active control through multi-mechanism collaboration. Compared to existing technologies that improve static stability through mechanical flipping and adaptive fixing, these operations rely on the crane's own motion stability. If the stacker crane experiences severe shaking during start-up, shutdown, or extension / retraction, the flipping mechanism may fail to accurately position, leading to cargo placement deviations or invisible markings. This device uses a scissor-type linkage mechanism to suppress foundation sway and a buffer mechanism to absorb impact energy, ensuring extremely smooth crane movement.

[0083] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rigid anti-sway device for a stacker crane in an automated storage and retrieval system, comprising a stacker crane (2) and a primary moving platform (6) and a secondary moving platform (10) disposed on one side thereof, wherein a loading platform (11) is disposed above the secondary moving platform (10), characterized in that, Also includes: A scissor linkage mechanism is connected between the primary moving platform (6) and the secondary moving platform (10) of the stacker crane. The scissor linkage mechanism includes at least one set of telescopic rods arranged in an X-shape to limit the relative motion between the two platforms to linear motion. The telescopic rod assembly includes a sleeve (17) and a slide rod (18) slidably installed in the sleeve (17). The ends of the sleeve (17) and the slide rod (18) are respectively rotatably connected to the mounting seats (15) on the primary moving platform (6) and the secondary moving platform (10) through a rotating joint (16). A buffer mechanism is provided between the first-level moving platform (6) and the second-level moving platform (10). The buffer mechanism includes a limiting block (20) provided on the first-level moving platform (6) and an elastic movable component provided on the second-level moving platform (10) that can contact the limiting block (20). The elastic movable component is used to compress the elastic movable component to absorb impact energy and store elastic potential energy when the two platforms move relative to each other. The protective mechanism is disposed between the primary moving platform (6) and the cargo platform (11). The protective mechanism includes an anti-sway actuator that can be driven by the elastic potential energy released by the buffer mechanism. The anti-sway actuator includes a baffle (45) that can extend to the side of the cargo to suppress the lateral swaying of the cargo on the cargo platform (11).

2. The rigid anti-sway device for a stacker crane in an automated storage and retrieval system according to claim 1, characterized in that, The slide bar (18) has a limiting strip (19) on its surface, and the inner wall of the sleeve (17) has a groove that matches the limiting strip (19).

3. The rigid anti-sway device for a stacker crane in an automated storage and retrieval system according to claim 1, characterized in that, The elastic movable component includes a slide rail (21) fixed on the secondary moving platform (10) and a push rod (24) that can slide elastically on the slide rail (21), and the limiting block (20) is set on the travel path of the push rod (24).

4. A rigid anti-sway device for a stacker crane in an automated storage and retrieval system according to claim 3, characterized in that, A first spring (23) for providing elastic force to the push rod (24) is provided on the slide rail (21), and the buffer mechanism further includes a locking mechanism for locking the push rod (24) in the position after compressing the first spring (23); The locking mechanism includes a limiting slot (28) on the push rod (24) and a ratchet (27) that is driven by the limiting slot (28) to rotate in one direction. A locking key (30) is elastically slidably mounted on the fixed rod (29) and engages with the ratchet (27) to prevent the ratchet (27) from reversing.

5. A rigid anti-sway device for a stacker crane in an automated storage and retrieval system according to claim 4, characterized in that, The locking mechanism also includes a solenoid valve (32) for controlling the movement of the latch (30) to release the ratchet (27) from locking, thereby releasing the stored elastic potential energy.

6. A rigid anti-sway device for a stacker crane in an automated storage and retrieval system according to claim 5, characterized in that, The protective mechanism includes a spring release mechanism for releasing the elastic potential energy stored in the buffer mechanism, and the locking mechanism also includes a first bevel gear (33) coaxially connected to the ratchet (27). The spring release mechanism includes a second bevel gear (34) meshing with the first bevel gear (33) and a cam (35) coaxially connected to the second bevel gear (34).

7. A rigid anti-sway device for a stacker crane in an automated storage and retrieval system according to claim 6, characterized in that, The anti-sway actuator has a pneumatic circuit, which includes a cam (35) driven to rotate by elastic potential energy, an air pipe (36) driven by the cam (35) and pressurizing the circuit, a connector (38) connected to the air pipe (36) through a pipeline, and a plurality of branch pipes (39) connected to the connector (38). The baffle (45) is slidably installed inside the branch pipe (39) and is extended by gas pressure in the pneumatic circuit.

8. A rigid anti-sway device for a stacker crane in an automated storage and retrieval system according to claim 7, characterized in that, The surface of the branch pipe (39) is provided with a flow-limiting hole (44) for slowly releasing the gas inside the branch pipe (39).

9. A rigid anti-sway device for a stacker crane in an automated storage and retrieval system according to claim 3, characterized in that, The push rod (24) has an anti-collision block (25) at one end facing the limiting block (20).

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