Stacker column adaptive balance and eccentric load adjusting device

Abstract

This invention relates to the field of stacker crane technology, specifically to a stacker crane column adaptive balancing and off-center load adjustment device, comprising a horizontal track, a horizontal moving platform, a vertical track, a vertical moving platform, and a loading platform. The vertical moving platform is equipped with an adjustment mechanism for adaptively adjusting off-center load. The adjustment mechanism includes a U-shaped tube installed inside the vertical moving platform, with its two open ends facing the surface of the vertical track. This invention addresses problems such as tilting of the vertical moving platform, unilateral wear of the track, and unstable operation caused by off-center load on the loading platform by incorporating an adaptive adjustment system within the vertical moving platform. When off-center load causes tilting, a gravity pendulum drives a piston inside the U-shaped tube via a connecting rod to generate a pressure difference, thereby controlling the rotation of the pressure plate and dynamically adjusting the pressure distribution of the upper and lower pulleys on the vertical track, generating a reverse torque to counteract the off-center load effect in real time. Real-time dynamic balancing can be achieved without external control, effectively suppressing tilting, equalizing wear, and improving operational stability and accuracy.

Description

Technical Field

[0001] This invention relates to the field of stacker crane technology, and specifically to a stacker crane column adaptive balancing and off-center load adjustment device. Background Technology

[0002] As a key piece of equipment in automated warehouses used for vertical and horizontal handling of goods, the performance of stacker cranes directly affects the operating efficiency, stability, and safety of the entire warehousing system. Stacker cranes are typically composed of columns, loading platforms, traveling mechanisms, lifting mechanisms, forklifts, and electrical control systems. Among these, the columns, as the core supporting structure of the stacker crane, not only bear the entire weight of the loading platform and goods, but also need to maintain structural stability and movement precision during high-speed operation and frequent starts and stops.

[0003] In the vertical lifting system of the stacker crane in an automated warehouse, the vertical moving platform achieves lifting motion by coupling the guide wheel assembly with the vertical track. The existing guide wheel assembly usually adopts a rigid installation method, that is, the guide wheel seat is fixedly connected to the main body of the vertical moving platform.

[0004] When the platform experiences uneven weight distribution on the left and right sides due to the storage and retrieval of goods, it will generate an overturning moment, causing the pressure of the guide wheel on the heavy-load side to increase sharply on the track, while the pressure on the light-load side decreases or even gaps appear. In addition, under long-term operation, excessive wear on one side of the track will form grooves, causing the vertical moving platform to deviate from its running trajectory and reduce its positioning accuracy.

[0005] Furthermore, uneven pressure can cause the guide wheel to jump and rub abnormally, generating vibration and noise, while increasing running resistance and motor energy consumption, ultimately leading to local overload of the guide wheel and track and a sharp reduction in lifespan.

[0006] Therefore, a stacker crane column adaptive balancing and off-center load adjustment device is proposed to solve the above-mentioned problems. Summary of the Invention

[0007] Technical problems to be solved

[0008] To address the aforementioned shortcomings of existing technologies, this invention provides a stacker crane column adaptive balancing and off-center load adjustment device, which can solve the technical problems of column tilting, unilateral track wear, and unstable operation caused by off-center loading of the stacker crane platform in existing technologies.

[0009] Technical solution

[0010] To achieve the above objectives, the present invention provides the following technical solution:

[0011] The present invention provides a stacker crane column adaptive balancing and off-center load adjustment device, including a horizontal rail, a horizontal moving platform, a vertical rail, a vertical moving platform and a loading platform. The vertical moving platform is provided with at least one set of adjustment mechanisms for sensing off-center load tilt and adaptively adjusting the clamping force on the vertical rail.

[0012] The adjustment mechanism includes a gravity sensing unit, a hydraulic transmission unit, and a pressure adjustment execution unit;

[0013] The gravity sensing unit includes a pendulum rotatably connected to the vertical moving platform, used to maintain a vertical attitude and output a displacement signal when the vertical moving platform is tilted.

[0014] The hydraulic transmission unit includes a U-shaped tube filled with fluid and a connecting rod and a first piston block slidably disposed therein. The connecting rod is connected to the pendulum drive and is used to convert the displacement signal into a pressure difference signal between the two chambers inside the U-shaped tube.

[0015] The pressure regulating actuator includes a pressure plate rotatably mounted on a U-shaped tube, and pulley sets symmetrically arranged on both sides of the pressure plate for contacting the vertical track.

[0016] The pressure plate is connected to the output end of the hydraulic transmission unit and is used to drive the two sides of the pulley block to generate differentiated clamping forces according to the pressure difference signal, so as to form a corrective torque to counteract the off-center load torque.

[0017] Furthermore, the connecting rod is slidably disposed in the groove of the U-shaped tube, and its two ends are respectively connected to the first piston block, dividing the inner cavity of the U-shaped tube into an upper chamber and a lower chamber;

[0018] A second piston block is slidably disposed in both the upper and lower chambers, and each second piston block is connected to a push rod. The other end of each push rod is rotatably connected to the pressure plate.

[0019] Furthermore, the pressure regulating actuator specifically includes a central block fixed on the U-shaped tube, and the pressure plate is rotatably connected to the central block;

[0020] The pressure plate is hinged to two sets of rotating rods on the side facing the vertical track by two sets of torsion spring shafts, and the ends of the two sets of rotating rods are provided with the third pulley in the pulley group.

[0021] Furthermore, the two sets of torsion spring shafts are provided with torsion springs that provide preload torque in opposite directions, so that the two sets of third pulleys tend to automatically press against the vertical track.

[0022] Furthermore, the surface of the vertical moving platform is symmetrically provided with two sets of lateral stabilizing mechanisms. Each set of lateral stabilizing mechanisms includes a fixed block, and a pressure rod that can slide elastically is provided inside the fixed block. A first pulley is rotatably installed at the end of the pressure rod, which is used to continuously abut against the side of the vertical track under the action of elastic force.

[0023] Furthermore, the vertical moving platform is also provided with at least one ear plate, on which a second pulley is rotatably mounted. The second pulley and the two sets of the first pulleys together form a three-point contact guiding and stabilizing structure for the vertical track.

[0024] Furthermore, two sets of adjustment mechanisms are symmetrically installed inside the vertical moving platform, with the two sets of adjustment mechanisms corresponding to both sides of the vertical track, respectively.

[0025] Furthermore, it also includes a damping structure disposed between the pendulum and the vertical moving platform to suppress the swing of the pendulum caused by horizontal inertial force.

[0026] Furthermore, the damping structure includes a protruding plate disposed on the pendulum and a horizontal bar disposed on the vertical moving platform;

[0027] The convex plate is elastically connected to a telescopic rod via a second spring, and the end of the telescopic rod is provided with an arc-shaped first friction plate.

[0028] Two sets of sliders are slidably mounted on the crossbar. The two sets of sliders are subjected to an elastic force that moves them away from each other through a third spring. An arc-shaped second friction plate is provided on the slider. The first friction plate and the second friction plate are distributed in concentric circles.

[0029] Furthermore, the mass of the slider is less than the mass of the pendulum, so that when the horizontal moving platform accelerates or decelerates, the slider can move before the pendulum, overcoming the elastic force of the third spring to make the second friction plate abut against the first friction plate, thereby generating frictional damping.

[0030] Beneficial effects

[0031] The technical solution provided by this invention has the following advantages compared with the prior art:

[0032] This invention constructs a closed-loop adjustment system that uses a gravity pendulum as a vertical reference sensor, a U-tube fluid pressure as the signal transmission and amplification medium, and a rotatable pressure plate and a third pulley as the execution terminals. When the platform is unbalanced, causing the vertical moving platform to tilt, the pendulum, maintaining verticality, drives the piston inside the U-tube via a connecting rod, converting the mechanical displacement into a fluid pressure difference in the closed chamber. This pressure difference then drives the push rod to rotate the pressure plate, dynamically reducing the pressure on the overloaded pulley and increasing the pressure on the underloaded pulley, generating a reverse torque to counteract the unbalanced torque in real time. This achieves fully passive, adaptive, real-time dynamic balance adjustment. It requires no external sensors, controllers, or power sources, operating solely based on its mechanical structure and physical principles, resulting in extremely high reliability and low cost. It effectively suppresses column tilting and equalizes wear on the track and pulleys, thereby significantly improving the stability of the stacker crane's operation, positioning accuracy, and the service life of key components.

[0033] A pressure bar preloaded by a first spring and a first pulley, along with a second pulley on the ear plate, are installed on the vertical moving platform. Together, they form a three-point contact passive guiding and stabilizing mechanism. The first spring ensures that the two sets of first pulleys always clamp the sides of the vertical track with a certain preload, while the second pulley provides support from a third direction (such as the back of the track). As a basic stabilizing frame, it provides a reliable working platform for the active adjustment system. It effectively eliminates the running gap between the vertical moving platform and the track, restricting its other degrees of freedom in the horizontal plane (such as pitching, swaying, and torsion) except in the lifting direction, ensuring the basic operating rigidity and guiding stability of the stacker crane before it is unloaded or before the active adjustment system is activated.

[0034] In particular, an inertial-responsive friction damper is integrated, consisting of a first friction plate on the pendulum and a second friction plate on the crossbar preloaded by a third spring. Its ingenious design utilizes the mass difference: when the horizontal moving platform stops / accelerates suddenly, the smaller slider moves before the larger pendulum, overcoming the spring force to bring the two friction plates into contact earlier, thus generating friction damping immediately when the pendulum begins to swing. This is specifically designed to protect the core vertical reference from the impact of horizontal inertial forces. It rapidly attenuates the oscillations of the pendulum caused by horizontal inertia, preventing it from erroneously triggering incorrect adjustments in the main balancing system. This ensures the measurement accuracy and operational reliability of the main adjustment system under dynamic start-stop conditions of the stacker crane, and is a key design feature for improving system robustness. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the installation of the balance and off-center load adjustment device in an embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of the vertical moving stage structure in an embodiment of the present invention;

[0038] Figure 3 for Figure 2 Enlarged schematic diagram of the structure at point A in the middle;

[0039] Figure 4 for Figure 2 Enlarged schematic diagram of the structure at point B;

[0040] Figure 5 This is a schematic diagram of the adjustment mechanism installed inside the vertical moving platform in an embodiment of the present invention;

[0041] Figure 6 This is a schematic diagram of the structural composition of the adjustment mechanism in an embodiment of the present invention;

[0042] Figure 7 This is a schematic diagram of the internal structure of the adjustment mechanism in an embodiment of the present invention.

[0043] The labels in the diagram represent: 1. Horizontal track; 2. Horizontal moving platform; 3. Vertical track; 4. Vertical moving platform; 401. Fixed block; 402. Pressure rod; 403. Slide seat; 404. First spring; 405. First pulley; 406. Ear plate; 407. Second pulley; 408. Side slot; 5. Platform; 6. Adjustment mechanism; 601. U-shaped tube; 602. Center block; 603. Pressure plate; 604. Torsion spring shaft; 605. Rotating rod; 606. Third pulley; 607. Slide groove; 608. Connecting rod; 609. First piston block; 610. Upper chamber; 611. Lower chamber; 612. Second piston block; 613. Push rod; 614. Connecting rod; 615. Pendulum; 616. Side block; 617. Convex plate; 618. Second spring; 619. Telescopic rod; 620. First friction plate; 621. Crossbar; 622. Third spring; 623. Slider; 624. Second friction plate. Detailed Implementation

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] The present invention will be further described below with reference to embodiments.

[0049] Example:

[0050] Please refer to the appendix. Figure 1-7 This solution proposes an adaptive balancing and off-center load adjustment device for stacker crane columns, including a horizontal rail 1, a horizontal moving platform 2, a vertical rail 3, a vertical moving platform 4, a loading platform 5, and an adjustment mechanism 6.

[0051] The horizontal moving stage 2 is movably installed on the horizontal track 1 and is driven by a motor to move horizontally on the horizontal track 1, thereby realizing the horizontal movement of the vertical track 3, the vertical moving stage 4, and the loading platform 5 integrated on the horizontal moving stage 2.

[0052] Vertical track 3 is installed on the surface of horizontal moving platform 2, and platform 5 is installed on vertical moving platform 4. Vertical moving platform 4 is slidably installed on vertical track 3 and is driven by chain and sprocket integrated in horizontal moving platform 2 to control vertical moving platform 4 to drive platform 5 to move up and down on vertical track 3. This enables platform 5 to be aligned with shelves in different positions in the automated warehouse, facilitating the storage and retrieval of goods.

[0053] The difference lies in the fact that the adjustment mechanism 6 is installed on the vertical moving platform 4, which is used to adaptively adjust the off-center load problem of the loading platform 5 caused by the storage and retrieval of goods. When the loading platform 5 is storing or retrieving goods, if the weight of the goods on it is unevenly distributed on the left and right sides of the loading platform 5, it will cause the center of gravity of the load to deviate from the geometric center and mechanical center of the loading platform 5.

[0054] For example, when goods are piled up on the left side of the platform 5, the center of gravity of the entire system will shift to the left.

[0055] At this point, the line of action of gravity no longer passes through the center of the support surface where the vertical moving platform 4 is coupled to the vertical track 3, thus generating an overturning moment that causes the vertical moving platform 4 to rotate counterclockwise around its contact point. Under the action of the tilting moment, the guide roller on the right side of the vertical moving platform 4 will be forcefully pressed against the vertical track 3, while the roller on the left side may develop a gap due to the reduced pressure.

[0056] This results in the right-side track and rollers experiencing abnormally high contact stress and friction, causing severe wear on one side. With prolonged operation, the track will develop dents, the rollers will fail prematurely, and in severe cases, it may even lead to structural deformation or jamming.

[0057] Therefore, at the instant when the off-center load of the platform 5 causes the vertical moving platform 4 to begin to tilt, the pendulum 615 suspended on the vertical moving platform 4 tries to remain vertical under the action of gravity, thereby generating relative displacement with the body of the vertical moving platform 4.

[0058] This displacement, via a linkage mechanism, pushes the piston inside the U-shaped tube 601, converting the mechanical signal into a pressure change in the closed fluid. This pressure difference drives the piston rods on both sides to move in opposite directions, pushing the pressure plate 603 to rotate, thereby dynamically reducing the pressure on the third pulley 606 on the side with excessive pressure, and simultaneously increasing the pressure on the third pulley 606 on the side with insufficient pressure.

[0059] By redistributing the pressure of the third pulley 606 in real time, a corrective torque opposite to the tilting torque is actively generated, thereby straightening the vertical moving table 4, effectively suppressing tilting, equalizing wear, and ensuring smooth and accurate operation.

[0060] Specifically, the adjustment mechanism 6 includes a U-shaped tube 601 installed inside the vertical moving platform 4, with both sets of openings of the U-shaped tube 601 facing the surface of the vertical track 3 passing through the vertical moving platform 4.

[0061] A center block 602 is connected to the center of the U-shaped tube 601 facing the vertical track 3, and a pressure plate 603 is rotatably connected to the center block 602.

[0062] The pressure plate 603 has two sets of rotating rods 605 rotatably connected to the side of the vertical track 3 via two sets of torsion spring shafts 604. The other end of each set of rotating rods 605 is connected to a third pulley 606.

[0063] Under the elastic force of the torsion spring in the torsion spring shaft 604, the rotating rod 605 always has a force to rotate towards the center of the pressure plate 603, and the elastic forces of the torsion springs in the two sets of torsion spring shafts 604 are opposite; thus controlling the two sets of third pulleys 606 to always be in contact with the surface of the vertical track 3.

[0064] The pressure signal generated by the U-shaped tube 601 is accurately and dynamically converted into actual pressure adjustment of the vertical track 3. Through the lever action of the pressure plate 603, the linear motion of the push rod 613 is converted into the rotation of the rotating rod 605, thereby controlling the clamping force of the two sets of third pulleys 606 on the track.

[0065] Crucially, the torsion springs with opposite elastic directions installed within the two sets of torsion spring shafts 604 ensure that the pulley system has an initial, centripetal preload. This allows the third pulley 606 to automatically eliminate gaps and fit tightly against the track surface under any circumstances, providing a basis for subsequent active pressure adjustment.

[0066] The surface of the U-shaped tube 601 is provided with a groove 607, and a connecting rod 608 is slidably installed in the groove 607. Two sets of first piston blocks 609 are connected to the two ends of the connecting rod 608 respectively. The two sets of first piston blocks 609 divide the U-shaped tube 601 into two non-communicating upper chambers 610 and lower chambers 611.

[0067] A second piston block 612 is slidably installed in both the upper chamber 610 and the lower chamber 611. A push rod 613 is connected to the surface of the second piston block 612. The other end of the push rod 613 extends out from the U-shaped tube 601 and is rotatably connected to the pressure plate 603.

[0068] The connecting rod 608 is cross-shaped. One end of the connecting rod 608, which is inserted into the slide groove 607, passes through the side slot 408 provided on the surface of the vertical moving table 4 and is rotatably connected to the connecting rod 614.

[0069] The adjustment mechanism 6 also includes a pendulum 615 rotatably connected to the outer surface of the vertical moving platform 4, and the other end of the connecting rod 614 rotatably connected to a side block 616 provided on the surface of the pendulum 615.

[0070] Two sets of U-shaped tubes 601 are symmetrically installed inside the vertical moving stage 4, so that the tilting torque generated by the vertical moving stage 4 in any direction can be effectively suppressed by the adjustment mechanism 6.

[0071] More specifically, taking the example of goods being stacked on the left side of the loading platform 5:

[0072] When the goods are evenly placed on the platform 5, the vertical moving platform 4 is in an ideal vertical state. At this time, the pendulum 615 connected to the vertical moving platform 4 is vertically downward, the connecting rod 608 is in the center position inside the U-shaped tube 601, the pressure in the upper chamber 610 and lower chamber 611 on both sides is balanced, and the positions of the upper and lower sets of push rods 613 are symmetrical.

[0073] The pressure plate 603 is in a horizontal position, and its upper and lower sides are connected by two sets of third pulleys 606 via two sets of torsion spring shafts 604. Under the preload of the torsion springs in the torsion spring shafts 604, the pulleys 606 are pressed tightly against the vertical track 3 with moderate pressure. The entire device is statically balanced.

[0074] When the weight of the cargo on the left side of the platform 5 is large, it will cause the center of gravity of the entire device to shift to the left, generating an overturning moment that causes the vertical moving platform 4 to rotate counterclockwise around it and the vertical track 3, that is, the left side sinks and the right side tilts upward.

[0075] At this time, for the two sets of third pulleys 606 installed on the left pressure plate 603, the third pulley 606 located on the upper left will move away from the vertical track 3; the third pulley 606 located on the lower left will become the instantaneous center of rotation, bear the maximum additional pressure, and thus be squeezed sharply and forcefully onto the vertical track 3.

[0076] For the two sets of third pulleys 606 installed on the right pressure plate 603, the third pulley 606 located on the upper right side becomes the key opposite support point for balancing the overturning moment, and will also be violently pressed against the surface of the vertical track 3 on the left side; the third pulley 606 located on the lower right side, due to the overall tilt of the vertical moving platform 4 to the left, has a tendency to lift upward, which in turn makes the clamping force between it and the vertical track 3 loose.

[0077] When the vertical moving platform 4 begins to tilt slightly counterclockwise, the pendulum 615 suspended on it remains vertical under the action of gravity.

[0078] Therefore, the tilt of the vertical moving platform 4 causes the pendulum 615 to have a relative angular displacement in the clockwise direction relative to the body of the vertical moving platform 4.

[0079] This angular displacement will act on the left and right connecting rods 614 respectively. The left connecting rod 614 is compressed and pushed upward by the pendulum 615, while the right connecting rod 614 is stretched and pushed downward by the pendulum 615.

[0080] The tension and pressure of the connecting rods 614 on the left and right sides act on the connecting rods 608 inside the U-shaped tubes 601 on both sides, respectively. The connecting rod 608 inside the left U-shaped tube 601 is pulled upward by the connecting rod 614; while the connecting rod 608 inside the right U-shaped tube 601 is pushed downward by the connecting rod 614.

[0081] For the left U-shaped tube 601, when the connecting rod 608 moves upward, it will push the first piston block 609 above to squeeze the upper chamber 610, thereby reducing the volume of the upper chamber 610, compressing the internal fluid, and increasing the pressure.

[0082] Simultaneously, the first piston block 609 below is pulled up, increasing the volume of the lower chamber 611 and creating negative pressure. At this time, the high pressure in the upper chamber 610 pushes the upper push rod 613 outward; the negative pressure in the lower chamber 611 attracts the lower push rod 613 to retract inward. This push-pull force drives the left pressure plate 603 to rotate clockwise around its midpoint.

[0083] This causes the upper third pulley 606 to be pushed more tightly against the surface of the vertical track 3; while the pressure on the lower third pulley 606 is released, reducing the pressure on the vertical track 3.

[0084] For the right-side U-shaped tube 601, when the connecting rod 608 moves downward, it pulls the upper first piston block 609, increasing the volume of the upper chamber 610 and creating negative pressure. Simultaneously, it pushes down the lower first piston block 609, decreasing the volume of the lower chamber 611 and increasing the internal pressure. At this time, the negative pressure in the upper chamber 610 attracts the upper push rod 613 to retract inward, while the high pressure in the lower chamber 611 pushes the lower push rod 613 outward. This push-pull force drives the right-side pressure plate 603 to rotate clockwise around its midpoint.

[0085] This releases the pressure of the upper third pulley 606 on the vertical track 3, while the lower third pulley 606 is pushed more tightly against the surface of the vertical track 3.

[0086] Originally, due to the unbalanced load tilting to the left, the lower third pulley 606 on the left and the upper third pulley 606 on the right were subjected to excessive pressure, while the upper third pulley 606 on the left and the lower third pulley 606 on the right were subjected to insufficient pressure. After the above adjustment, the pressure was redistributed.

[0087] The pressure on the left upper third pulley 606 and the right lower third pulley 606 increases significantly; the pressure on the left lower third pulley 606 and the right upper third pulley 606 decreases significantly.

[0088] The increased pressure on the upper left third pulley 606 generates a clockwise torque on the vertical moving platform 4. The increased pressure on the lower right third pulley 606 also generates a clockwise torque. These two newly generated torques work together to directly counteract and offset the original counterclockwise overturning torque caused by the off-center loading of the platform 5, achieving dynamic equilibrium with the counterclockwise overturning torque generated by the off-center loading of the platform 5. At this point, the tilt angle of the vertical moving platform 4 is controlled within a very small range, and the force on both tracks tends to be uniform.

[0089] It should be noted that two sets of lateral stabilizing mechanisms are symmetrically arranged on the surface of the vertical moving platform 4. Each set of lateral stabilizing mechanisms includes a fixed block 401. Inside the fixed block 401, there is a pressure rod 402 that can slide elastically. The end of the pressure rod 402 is rotatably mounted with a first pulley 405, which is used to continuously abut against the side of the vertical track 3 under the action of elastic force.

[0090] The surface of the vertical moving platform 4 is also provided with two sets of symmetrically distributed fixing blocks 401, and each set of fixing blocks 401 is slidably connected with a pressure rod 402; each set of pressure rods 402 has a slide block 403 connected to the center-facing side surface, and each set of slide blocks 403 has a first pulley 405 rotatably connected to its surface. At the same time, a first spring 404 is sleeved on the surface of the pressure rod 402, and the slide block 403 is always away from the fixing block 401 under the elastic force of the first spring 404, so that the two sets of first pulleys 405 always abut against the track provided on the surface of the vertical track 3.

[0091] The spring preload provides initial, passive guidance and stabilization for the vertical moving stage 4;

[0092] Specifically, the symmetrically distributed fixed blocks 401 and pressure rods 402, under the elastic force of the first spring 404, push the slide block 403 and the first pulley 405 to always press tightly against the surface of the vertical track 3. This ensures that even under ideal conditions without eccentric loading, the vertical moving table 4 can be in close contact with the track through the first pulley 405, eliminating running gaps and providing an initial stable reference for the entire system.

[0093] Furthermore, the vertical moving platform 4 is also provided with at least one ear plate 406, on which a second pulley 407 is rotatably mounted. The second pulley 407 and the two sets of first pulleys 405 together form a three-point contact guiding and stabilizing structure for the vertical track 3.

[0094] Together with the two sets of first pulleys 405 preloaded by springs, they form a stable support system with three-point contact.

[0095] Specifically, the second pulley 407 provides support and guidance from a third direction on the vertical track 3, while the two sets of first pulleys 405 apply clamping force from the other two sides of the track. This design ensures that the vertical moving platform 4 is firmly held on the vertical track 3, effectively restricting all its degrees of freedom in the horizontal plane except along the direction of vertical movement along the track. Thus, before and after the adjustment mechanism 6 operates, it provides an extremely stable basic rigid frame and running guide for the entire vertical moving platform 4, which is the foundation for ensuring the high-speed and stable operation of the equipment.

[0096] It is worth noting that a protruding plate 617 is connected to the surface of the pendulum 615. A telescopic rod 619 is slidably connected to the protruding plate 617 via a second spring 618. The other end of the telescopic rod 619 is connected to a first friction plate 620. The first friction plate 620 is arc-shaped and always moves downward away from the pendulum 615 under the elastic force of the second spring 618.

[0097] The surface of the vertical moving stage 4 is also connected to horizontally distributed crossbars 621. Two sets of sliders 623 are slidably mounted on the surface of the crossbars 621. Each set of sliders 623 is connected to a third spring 622. Under the elastic force of the two sets of third springs 622, the two sets of sliders 623 always tend to move away from each other.

[0098] Two sets of sliders 623 are distributed on both sides of the first friction plate 620, and the surfaces of both sets of sliders 623 are connected to second friction plates 624. The second friction plates 624 are arc-shaped and concentrically distributed with the first friction plates 620. This is used to prevent the huge inertial force from causing the pendulum 615 to swing violently when the stacker crane stops or accelerates horizontally, thereby impacting and interfering with the normal operation of the main balance adjustment system.

[0099] When the inertial force suddenly acts, the smaller slider 623 will move before the larger pendulum 615, overcoming the elastic force of the third spring 622 and sliding towards the center, so that the second friction plate 624 contacts the first friction plate 620 connected to the pendulum in advance.

[0100] Subsequently, when the pendulum begins to swing due to inertia, its motion is immediately subjected to sliding friction resistance generated by the already compressed friction plates, thereby converting the kinetic energy of the pendulum's swing into heat energy and dissipating it. The ultimate effect is to rapidly dampen the pendulum's oscillation, ensuring its stability as a vertical reference and guaranteeing the accuracy and reliability of the main control system under dynamic operating conditions.

[0101] When the horizontal moving platform 2 accelerates or decelerates during its horizontal movement, it generates inertial force, causing the pendulum 615 to swing on the vertical moving platform 4. As the vertical reference of the entire adaptive balancing system, the swing of the pendulum 615 directly distorts the system's perception of the off-center load state.

[0102] Specifically, inertial swaying is misinterpreted as tilting caused by the off-center loading of the platform 5, thus erroneously triggering the adjustment mechanisms such as the U-tube 601 and the pressure plate 603. This misadjustment not only fails to correct the problem but also interferes with the normal operation of the stacker crane, causing unexpected shaking or positioning deviation of the vertical moving platform 4 and exacerbating the ineffective wear of the transmission components.

[0103] At this time, the inertial force will affect the slider 623 in sync. The weight of the slider 623 is much smaller than that of the pendulum 615. Therefore, the motion response of the pendulum 615 due to inertia is delayed.

[0104] This causes the slider 623 to overcome the elastic force of the third spring 622 and move closer to the pendulum 615, causing the second friction plate 624 to abut against the surface of the first friction plate 620. When the inertial force suddenly acts, the smaller slider 623 will move before the larger pendulum 615, quickly overcoming the elastic force of the third spring 622 and sliding towards the center, causing the second friction plate 624 to contact the first friction plate 620 connected to the pendulum earlier.

[0105] In this way, when the lagging pendulum begins to swing due to inertia, its motion will immediately be subject to the sliding friction resistance generated by the friction plate, thereby converting the oscillation kinetic energy into heat energy and dissipating it. Ultimately, this achieves rapid decay of the pendulum's oscillation, preventing it from erroneously triggering the main balance system to malfunction, ensuring the stability of the vertical reference and the reliability of the entire adjustment mechanism under dynamic operating conditions.

[0106] 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 stacker crane column adaptive balancing and off-center load adjustment device, comprising a horizontal track (1), a horizontal moving platform (2), a vertical track (3), a vertical moving platform (4), and a loading platform (5), characterized in that, The vertical moving platform (4) is provided with at least one set of adjustment mechanisms (6) for sensing the off-center tilt and adaptively adjusting the clamping force on the vertical track (3). The adjustment mechanism (6) includes a gravity sensing unit, a hydraulic transmission unit, and a pressure adjustment execution unit; The gravity sensing unit includes a pendulum (615) rotatably connected to the vertical moving platform (4), which is used to maintain a vertical attitude and output a displacement signal when the vertical moving platform (4) is tilted. The hydraulic transmission unit includes a U-shaped tube (601) filled with fluid, a connecting rod (608) and a first piston block (609) slidably disposed therein, the connecting rod (608) being connected to the pendulum (615) for transmitting the displacement signal into a pressure difference signal between the two chambers inside the U-shaped tube (601); The pressure regulating actuator includes a pressure plate (603) rotatably mounted on a U-shaped tube (601), and a pulley system symmetrically mounted on both sides of the pressure plate (603) for contacting the vertical track (3); The pressure plate (603) is connected to the output end of the hydraulic transmission unit and is used to drive the pressure of the upper and lower or left and right pulleys of the pulley block to redistribute according to the pressure difference signal, so as to form a corrective torque to counteract the off-center load torque. The connecting rod (608) is slidably disposed in the groove (607) of the U-shaped tube (601), and its two ends are respectively connected to the first piston block (609), dividing the inner cavity of the U-shaped tube (601) into an upper chamber (610) and a lower chamber (611). A second piston block (612) is slidably disposed in both the upper chamber (610) and the lower chamber (611). Each second piston block (612) is connected to a push rod (613). The other end of each push rod (613) is rotatably connected to the pressure plate (603). The U-shaped opening of the U-shaped tube (601) faces the vertical track (3), the first piston block (609) is located in the vertical section of the U-shaped tube (601), and the second piston block (612) and push rod (613) are located in the upper and lower sections of the U-shaped tube (601) and extend out from inside the U-shaped tube (601).

2. The stacker crane column adaptive balancing and off-center load adjustment device according to claim 1, characterized in that, The pressure regulating actuator specifically includes a central block (602) fixed on a U-shaped tube (601), and the pressure plate (603) is rotatably connected to the central block (602). The pressure plate (603) facing the vertical track (3) is hinged to two sets of rotating rods (605) by two sets of torsion spring shafts (604), and the ends of the two sets of rotating rods (605) are provided with the third pulley (606) in the pulley group.

3. The stacker crane column adaptive balancing and off-center load adjustment device according to claim 2, characterized in that, The two sets of torsion spring shafts (604) are provided with torsion springs that provide preload torque in opposite directions, so that the two sets of third pulleys (606) tend to automatically press against the vertical rail (3).

4. The stacker crane column adaptive balancing and off-center load adjustment device according to claim 1, characterized in that, The vertical moving platform (4) is symmetrically provided with two sets of lateral stabilizing mechanisms. Each set of lateral stabilizing mechanisms includes a fixed block (401) and a pressure rod (402) that can slide elastically inside the fixed block (401). The end of the pressure rod (402) is rotatably mounted with a first pulley (405) for continuously abutting against the side of the vertical track (3) under the action of elastic force.

5. The stacker crane column adaptive balancing and off-center load adjustment device according to claim 4, characterized in that, The vertical moving platform (4) is also provided with at least one ear plate (406), and a second pulley (407) is rotatably installed on the ear plate (406). The second pulley (407) and the two sets of the first pulleys (405) together form a three-point contact guiding and stabilizing structure for the vertical track (3).

6. The stacker crane column adaptive balancing and off-center load adjustment device according to claim 1, characterized in that, Two sets of adjustment mechanisms (6) are symmetrically installed inside the vertical moving platform (4), and the two sets of adjustment mechanisms (6) correspond to the two sides of the vertical track (3) respectively.

7. The stacker crane column adaptive balancing and off-center load adjustment device according to claim 1, characterized in that, It also includes a damping structure disposed between the pendulum (615) and the vertical moving platform (4) to suppress the swing of the pendulum (615) caused by horizontal inertial force.

8. The stacker crane column adaptive balancing and off-center load adjustment device according to claim 7, characterized in that, The damping structure includes a protruding plate (617) on the pendulum (615) and a horizontal bar (621) on the vertical moving platform (4). The convex plate (617) is elastically connected to a telescopic rod (619) via a second spring (618), and an arc-shaped first friction plate (620) is provided at the end of the telescopic rod (619). Two sets of sliders (623) are slidably mounted on the crossbar (621). The two sets of sliders (623) are subjected to an elastic force that moves them away from each other through a third spring (622). An arc-shaped second friction plate (624) is provided on the slider (623). The first friction plate (620) and the second friction plate (624) are distributed in concentric circles.

9. A stacker crane column adaptive balancing and off-center load adjustment device according to claim 8, characterized in that, The mass of the slider (623) is less than the mass of the pendulum (615), so that when the horizontal moving platform (2) accelerates or decelerates, the slider (623) can move before the pendulum (615), overcoming the elastic force of the third spring (622) to make the second friction plate (624) abut against the first friction plate (620) to generate frictional damping.

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