Stacking machine

Abstract

The invention provides a stacking machine which comprises a walking device, a first stand column, a second stand column, a cargo carrying table, a lifting device and a translation limiting device, the first stand column and the second stand column are vertically fixed to the walking device in a spaced mode, and the cargo carrying table is vertically and movably arranged between the first stand column and the second stand column; the first stand column, the second stand column and the cargo carrying table can be driven by the walking device to move horizontally. The lifting device is arranged on one of the first stand column, the second stand column and the walking device, the cargo carrying table is in transmission connection to the lifting device, and the translation limiting device is arranged on the walking device. The lifting device drives the cargo carrying table to vertically ascend, descend and move, fool-proof limiting protection is provided for the walking device in the horizontal moving process through the translation limiting device, safety is higher, safety accidents such as accidental collision or damage are prevented, and damage to operators, cargoes and other equipment in the field environment is avoided. The stacking machine is simple in structure, low in manufacturing cost and safer.

Description

Technical Field

[0001] This invention relates to the technical field of warehouse logistics handling equipment, and more particularly to a stacker crane. Background Technology

[0002] Stacker cranes are the core equipment of modern automated storage and retrieval systems (AS / RS). They are automated lifting and handling devices that move at high speed along specific tracks within aisles. Their main functions are to transport goods from the aisle entrance / exit platform to designated storage locations for inbound operations, or to retrieve goods from designated storage locations and transport them to the aisle entrance / exit platform for outbound operations.

[0003] However, existing stacker cranes have extremely complex structures and high manufacturing costs. Most of them lack foolproof limit protection structures, resulting in low safety and easy accidents such as collisions or damage, which can cause injury to workers, goods and other equipment in the field.

[0004] Therefore, there is an urgent need for a stacker crane to overcome the aforementioned problems. Summary of the Invention

[0005] The purpose of this invention is to provide a stacker crane that has the advantages of simple structure, limit protection, and high safety.

[0006] To achieve the above objectives, the present invention provides a stacker crane, comprising: a traveling device, a first column, a second column, a loading platform, a lifting device, and a translation limiting device. The first column and the second column are vertically fixed to the traveling device at intervals from each other. The loading platform is vertically movable between the first column and the second column. The lifting device is disposed on one of the first column, the second column, and the traveling device. The loading platform is throttle-connected to the lifting device. The translation limiting device is disposed on the traveling device.

[0007] Optionally, the walking device includes: a translational base, a first rotary driver, an active walking wheel, and a driven walking wheel. The first rotary driver is fixed on the translational base. The active walking wheel and the driven walking wheel are pivotally connected to the translational base at horizontal intervals. The pivot axis of the active walking wheel and the pivot axis of the driven walking wheel are arranged horizontally parallel to each other. The active walking wheel is drivenly connected to the first rotary driver.

[0008] Optionally, the translational limiting device includes: a horizontal ranging component, a horizontal deceleration component, a horizontal limiting component, and a horizontal anti-collision component. The horizontal ranging component includes: a first laser ranging sensor and a first ranging reflector. The first laser ranging sensor is fixed on the translation base, and the first ranging reflector is fixed at the starting position of the horizontal movement stroke of the translation base. The detection direction of the first laser ranging sensor is directly opposite the first ranging reflector along the horizontal movement direction of the translation base. The horizontal deceleration component includes: a first photoelectric sensor, a second photoelectric sensor, a first trigger plate, and a second trigger plate. The first photoelectric sensor and the second photoelectric sensor are spaced apart on the translation base along the horizontal movement direction of the translation base. The first trigger plate is fixed at the starting position of the horizontal movement stroke of the translation base, and the second trigger plate is fixed at the ending position of the horizontal movement stroke of the translation base. The first trigger plate can trigger the first photoelectric sensor, and the second trigger plate can trigger the second photoelectric sensor. The trigger plate can trigger the second photoelectric sensor; the horizontal limiting component includes: a first proximity switch, a second proximity switch, a first trigger block, and a second trigger block. The first proximity switch and the second proximity switch are spaced apart on the translation seat along the horizontal movement direction of the translation seat. The first trigger block is fixed at the starting position of the horizontal movement stroke of the translation seat, and the second trigger block is fixed at the ending position of the horizontal movement stroke of the translation seat. The first trigger block can trigger the first proximity switch, and the second trigger block can trigger the second proximity switch; the horizontal anti-collision component includes: a first anti-collision pad and a second anti-collision pad. The first anti-collision pad is fixed at the starting position of the horizontal movement stroke of the translation seat, and the second anti-collision pad is fixed at the ending position of the horizontal movement stroke of the translation seat. The first trigger plate, the second trigger plate, the first trigger block, and the second trigger block are located between the first anti-collision pad and the second anti-collision pad along the horizontal movement direction of the translation seat.

[0009] Optionally, the walking device further includes: an obstacle avoidance component, a plurality of cleaning brushes, and a plurality of guide wheel assemblies. The obstacle avoidance component includes: a first obstacle avoidance sensor and a second obstacle avoidance sensor, the first obstacle avoidance sensor being disposed at one end of the translation base, and the second obstacle avoidance sensor being disposed at the other end of the translation base. The cleaning brushes are fixed on the translation base, and the cleaning brushes extend vertically downward from the bottom of the translation base. The guide wheel assemblies include: a first guide wheel and a second guide wheel, both of which are vertically pivotally connected to the translation base. The first guide wheel and the second guide wheel are arranged at intervals along a direction perpendicular to the horizontal movement of the translation base, and a horizontal guide receiving area is formed between the first guide wheel and the second guide wheel.

[0010] Optionally, the walking device further includes: a first optical data transmitter, a second optical data transmitter, and a current collector. The first optical data transmitter is fixed on the translation base, and the second optical data transmitter is fixed at the starting or ending position of the horizontal movement stroke of the translation base. The transceiver port of the first optical data transmitter is directly opposite the transceiver port of the second optical data transmitter along the horizontal movement direction of the translation base. The current collector is fixed on the translation base.

[0011] Optionally, the stacker crane further includes: a lifting speed limiting device, a first guide bar, and a second guide bar, wherein the lifting speed limiting device is disposed on the first column; the first guide bar is vertically fixed on the first column, and the second guide bar is vertically fixed on the second column; the loading platform includes: a load-bearing frame and a fall protection device, wherein the load-bearing frame is vertically movable between the first column and the second column, and the load-bearing frame is throttle-connected to the lifting device; the fall protection device includes: a first safety clamp, a first lifting mechanism, a second safety clamp, a second lifting mechanism, and a linkage mechanism, wherein the first safety clamp is disposed on the left side of the load-bearing frame, the first lifting mechanism is throttle-connected to the first safety clamp, the first safety clamp is slidably engaged with the first guide bar, and the first lifting mechanism is connected to the lifting speed limiting device; the second safety clamp is disposed on the right side of the load-bearing frame, the second lifting mechanism is throttle-connected to the second safety clamp, and the second safety clamp is slidably engaged with the second guide bar; the linkage mechanism is throttle-connected between the first lifting mechanism and the second lifting mechanism.

[0012] Optionally, the first lifting mechanism includes: a first lifting rod, a first guide post, a first slide block, a first elastic element, and a first sliding pin; one end of the first lifting rod forms a first pivot portion, which is pivotally connected to the left side of the support frame around a first axis arranged in a left-right direction; the other end of the first lifting rod forms a first elongated hole, and the length direction of the first elongated hole is arranged along the length direction of the first lifting rod; the first guide post is vertically fixed to the left side of the support frame; the first slide block slides vertically on the first guide post; the first elastic element abuts vertically between the upper end of the first guide post and the first slide block, and the first elastic element constantly drives the first slide block to move downward; the first sliding pin is fixed to the first slide block in a left-right direction, and the first sliding pin slides through the first elongated hole; the first lifting rod also forms a second elongated hole, and the length direction of the second elongated hole is arranged along the length direction of the first lifting rod, and the second elongated hole is located between the first pivot portion and the first elongated hole along the length direction of the first lifting rod; The first safety clamp includes: a first mounting base, a first wedge, a second wedge, a second elastic element, and a second sliding pin. The first mounting base is fixed to the left side of the support frame. The first wedge and the second wedge slide on the first mounting base at an incline relative to each other, and the first wedge and the second wedge are arranged opposite each other in the front-rear direction, forming a first clamping area between the first wedge and the second wedge. The first guide strip is located in the first clamping area. The second elastic element abuts against the first mounting base and the first wedge, and the second elastic element constantly drives the first wedge to move upward. The second sliding pin is fixed to the lower end of the second wedge in the left-right direction, and the second sliding pin slides through the second elongated hole. The lifting speed limiting device includes: a speed limiter and a safety rope. The speed limiter is installed on the first column, and the safety rope is installed on the first column in a vertical loop and is connected to the speed limiter. The first slide is fixedly connected to the safety rope. The second lifting mechanism includes: a second lifting rod, a second guide post, a second slide block, a third elastic element, and a third sliding pin; one end of the second lifting rod forms a second pivot portion, which is pivotally connected to the right side of the support frame around a second axis arranged in a left-right direction; the other end of the second lifting rod forms a third elongated hole, and the length direction of the third elongated hole is arranged along the length direction of the second lifting rod; the second guide post is vertically fixed to the right side of the support frame; the second slide block slides vertically on the second guide post; the third elastic element abuts vertically between the upper end of the second guide post and the second slide block, and the third elastic element constantly drives the second slide block to move downward; the third sliding pin is fixed to the second slide block in a left-right direction, and the third sliding pin slides through the third elongated hole; a fourth elongated hole is also formed on the second lifting rod, and the length direction of the fourth elongated hole is arranged along the length direction of the second lifting rod, and the fourth elongated hole is located between the second pivot portion and the third elongated hole along the length direction of the second lifting rod; The second safety clamp includes: a second mounting base, a third wedge, a fourth wedge, a fourth elastic element, and a fourth sliding pin. The second mounting base is fixed to the right side of the support frame. The third and fourth wedges slide on the second mounting base at an incline relative to each other, and are arranged opposite to each other in the front-rear direction, forming a second clamping area between the third and fourth wedges. The second guide bar is located within the second clamping area. The fourth elastic element abuts against the second mounting base and the third wedge, and constantly drives the third wedge to move upward. The fourth sliding pin is fixed to the lower end of the fourth wedge in the left-right direction, and slides through the fourth elongated hole. The linkage mechanism includes: a linkage rod, a first swing arm, a second swing arm, a first swing rod, and a second swing rod. The linkage rod is pivotally connected to the bearing frame in the left-right direction. The lower end of the first swing arm is fixed to the left end of the linkage rod, and the lower end of the second swing arm is fixed to the right end of the linkage rod. The upper end of the first swing rod is pivotally connected to the first slide block around a third axis arranged in the left-right direction, and the lower end of the first swing rod is pivotally connected to the upper end of the first swing arm around a fourth axis arranged in the left-right direction. The upper end of the second swing rod is pivotally connected to the second slide block around a fifth axis arranged in the left-right direction, and the lower end of the second swing rod is pivotally connected to the upper end of the second swing arm around a sixth axis arranged in the left-right direction.

[0013] Optionally, the stacker crane further includes: an upper crossbeam, which is fixedly connected between the top of the first column and the top of the second column; The lifting device includes: a second rotary drive, a rotating shaft, a first drum, a second drum, a first hoisting rope, a first reversing pulley block, a second hoisting rope, and a second reversing pulley block. The second rotary drive is fixed to the second column. The rotating shaft is located at the drive end of the second rotary drive and is arranged horizontally along the front-rear direction. Both the first drum and the second drum are fixedly sleeved on the rotating shaft. One end of the first hoisting rope is wound around the first drum, and the other end of the first hoisting rope is connected to the upper crossbeam. One end of the second hoisting rope is wound around the second drum, and the other end of the second hoisting rope is connected to the upper crossbeam. Both the first reversing pulley block and the second reversing pulley block are located on the upper crossbeam. The loading platform further includes: a first lifting rope pulley, a second lifting rope pulley, a first slack rope detection sensor, and a second slack rope detection sensor. The first lifting rope pulley is pivotally connected to the left side of the support frame, and the second lifting rope pulley is pivotally connected to the right side of the support frame. The pivot axes of the first and second lifting rope pulleys coincide in the left-right direction. The first lifting rope is also driven around the first reversing pulley assembly and the first lifting rope pulley, and the second lifting rope is also driven around the second reversing pulley assembly and the second lifting rope pulley. The first slack rope detection sensor is located on the left side of the support frame and is positioned above the first lifting rope pulley. The second slack rope detection sensor is located on the right side of the support frame and is positioned above the second lifting rope pulley.

[0014] Optionally, the loading platform further includes: a first portal-shaped mounting frame, a first cargo detection sensor group, a first shape detection sensor group, a second portal-shaped mounting frame, a second cargo detection sensor group, a second shape detection sensor group, a first monitoring camera, and a second monitoring camera. The first portal-shaped mounting frame is fixedly connected to the front side of the supporting frame, and the first cargo detection sensor group and the first shape detection sensor group are disposed on the first portal-shaped mounting frame. The second portal-shaped mounting frame is fixedly connected to the rear side of the supporting frame, and the second cargo detection sensor group and the second shape detection sensor group are disposed on the second portal-shaped mounting frame. The first monitoring camera is disposed on the top of the first portal-shaped mounting frame, and the second monitoring camera is disposed on the top of the second portal-shaped mounting frame.

[0015] Optionally, the stacker crane further includes a lifting and limiting device, which comprises a vertical ranging component, a vertical deceleration component, a vertical limiting component, and a vertical anti-collision component. The vertical ranging component includes: a second laser ranging sensor and a second ranging reflector. The second laser ranging sensor is fixed on the translation base, and the second ranging reflector is fixed on the support frame. The detection direction of the second laser ranging sensor is vertically aligned with the second ranging reflector. The vertical deceleration assembly includes: a third photoelectric sensor, a fourth photoelectric sensor, a third trigger plate, and a fourth trigger plate. The third photoelectric sensor and the fourth photoelectric sensor are arranged on the support frame at a distance from each other in the vertical direction. The third trigger plate is fixed to the lower end of the second column, and the fourth trigger plate is fixed to the upper end of the second column. The third trigger plate can trigger the third photoelectric sensor, and the fourth trigger plate can trigger the fourth photoelectric sensor. The vertical limiting component includes: a third proximity switch, a fourth proximity switch, a third trigger block, and a fourth trigger block. The third proximity switch and the fourth proximity switch are disposed on the supporting frame at a distance from each other in the vertical direction. The third trigger block is fixed to the lower end of the second column, and the fourth trigger block is fixed to the upper end of the second column. The third trigger block can trigger the third proximity switch, and the fourth trigger block can trigger the fourth proximity switch. The vertical anti-collision assembly includes: a third anti-collision pad, a fourth anti-collision pad, a fifth anti-collision pad, and a sixth anti-collision pad. The third and fourth anti-collision pads are fixed on the translation seat, the fifth anti-collision pad is fixed to the upper end of the first column, and the sixth anti-collision pad is fixed to the upper end of the second column.

[0016] Because the first and second uprights of the stacker crane of this invention are vertically fixed to the traveling device at intervals, and the loading platform is vertically movable between the first and second uprights, the traveling device can drive the first upright, the second upright, and the loading platform to move horizontally. A lifting device is installed on one of the first upright, the second upright, and the traveling device, with the loading platform drively connected to the lifting device, and a translational limiting device installed on the traveling device. Thus, the lifting device drives the loading platform to move vertically up and down, and the translational limiting device provides foolproof limiting protection for the traveling device during horizontal movement, resulting in higher safety and preventing accidental collisions or damage, thus avoiding injury to personnel, goods, and other equipment in the field. This makes the stacker crane of this invention not only simple in structure and significantly reduces manufacturing costs, but also safer. Attached Figure Description

[0017] Figure 1 This is a three-dimensional schematic diagram of the stacker crane according to an embodiment of the present invention.

[0018] Figure 2 for Figure 1 A schematic diagram from another perspective.

[0019] Figure 3 for Figure 1 Enlarged view of part A in the middle.

[0020] Figure 4 for Figure 2 Enlarged view of section B.

[0021] Figure 5 This is a three-dimensional schematic diagram of the stacker crane's loading platform in an embodiment of the present invention.

[0022] Figure 6 for Figure 5 A schematic diagram from another perspective.

[0023] Figure 7 for Figure 5 Enlarged view of section C.

[0024] Figure 8 for Figure 6 Enlarged view of section D. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and preferred embodiments, but the implementation of the present invention is not limited thereto.

[0026] Please see Figures 1 to 8The stacker crane 100 of the present invention includes: a traveling device 20, a first column 30a, a second column 30b, a loading platform 10, a lifting device 40, and a translational limiting device 50. The first column 30a and the second column 30b are vertically fixed to the traveling device 20 at intervals. In this embodiment, the first column 30a is located to the left of the second column 30b, but this is not a limitation. The loading platform 10 is vertically movable between the first column 30a and the second column 30b, so that the traveling device 20 can drive the first column 30a, the second column 30b, and the loading platform 10 to move horizontally. In this embodiment, the lifting device 40 is disposed on the second column 30b, and the loading platform 10 is driven to the lifting device 40. Of course, in other embodiments, it can also be disposed on the first column 30a or the traveling device 20, both of which can realize the lifting device 40 driving the loading platform 10 to move vertically up and down, and all are within the protection scope of the present invention. A translation limit device 50 is installed on the traveling device 20. The lifting device 40 drives the loading platform 10 to move vertically up and down, and the translation limit device 50 provides foolproof limit protection for the traveling device 20 during horizontal movement, resulting in higher safety and preventing accidental collisions or damage, thus avoiding injury to personnel, goods, and other equipment in the work environment. This makes the stacker crane 100 of the present invention not only simple in structure and significantly reduces manufacturing costs, but also safer. Specifically, as follows: Please see Figures 1 to 4 In this embodiment, the walking device 20 includes: a translation base 21, a first rotary driver 22, a driving wheel 23, and a driven wheel 24. The first rotary driver 22 can be selected as a geared motor, but is not limited thereto. The first rotary driver 22 is fixed to the translation base 21. The driving wheel 23 and the driven wheel 24 are pivotally connected to the translation base 21 at horizontal intervals. The pivot axis of the driving wheel 23 and the pivot axis of the driven wheel 24 are arranged horizontally parallel to each other. The driving wheel 23 is driven by the first rotary driver 22. Thus, by driving the driving wheel 23 to rotate through the first rotary driver 22, the translation base 21 can be driven to pull the driven wheel 24 to rotate, thereby realizing the horizontal movement of the translation base 21. The structure is simpler and more reasonable. The lower setting can be selected. In this embodiment, the first rotary driver 22 drives the translation seat 21 to move horizontally in the left-right direction. Of course, the direction in which the first rotary driver 22 drives the translation seat 21 to move is not limited to this. Those skilled in the art can flexibly choose according to actual usage needs, all of which are within the protection scope of this invention. Therefore, it will not be described in detail here.

[0027] Please continue reading. Figures 1 to 4In this embodiment, the translation limiting device 50 includes: a horizontal ranging component (not shown in the figure), a horizontal deceleration component (not shown in the figure), a horizontal limiting component (not shown in the figure), and a horizontal anti-collision component (not shown in the figure). The horizontal ranging component includes: a first laser ranging sensor 511 and a first ranging reflector 512. The first laser ranging sensor 511 is fixed to the translation base 21, and the first ranging reflector 512 is fixed at the starting position of the horizontal movement stroke of the translation base 21. Optionally, in this embodiment, the starting position of the horizontal movement stroke of the translation base 21 can be selected on the right side of the translation base 21, and the ending position of the horizontal movement stroke of the translation base 21 can be selected on the left side of the translation base 21. Of course, in other embodiments, the starting and ending positions of the horizontal movement stroke of the translation base 21 can also be interchanged. Those skilled in the art can flexibly choose according to actual usage requirements, all of which are within the protection scope of this invention. Therefore, they will not be described in detail here. The detection direction of the first laser rangefinder 511 is directly opposite the first ranging reflector 512 along the horizontal movement direction of the translation base 21. Therefore, the horizontal movement position of the translation base 21 can be detected in real time through the first laser rangefinder 511 and the first ranging reflector 512, enabling better positioning of the horizontal movement position of the translation base 21, making the horizontal movement positioning of the translation base 21 more accurate and safer. Furthermore, the horizontal deceleration assembly includes: a first photoelectric sensor 521, a second photoelectric sensor 522, a first trigger plate 523, and a second trigger plate (not shown in the figure). The first photoelectric sensor 521 and the second photoelectric sensor 522 are spaced apart on the translation base 21 along the horizontal movement direction. The first trigger plate 523 is fixed at the starting position of the horizontal movement stroke of the translation base 21, and the second trigger plate is fixed at the ending position of the horizontal movement stroke of the translation base 21. The first trigger plate 523 can trigger the first photoelectric sensor 521, and the second trigger plate can trigger the second photoelectric sensor 522. Furthermore, the horizontal limiting component includes: a first proximity switch 531, a second proximity switch 532, a first trigger block 533, and a second trigger block (not shown in the figure). The first proximity switch 531 and the second proximity switch 532 are spaced apart on the translation seat 21 along the horizontal movement direction of the translation seat 21. The first trigger block 533 is fixed at the starting position of the horizontal movement stroke of the translation seat 21, and the second trigger block is fixed at the ending position of the horizontal movement stroke of the translation seat 21. The first trigger block 533 can trigger the first proximity switch 531, and the second trigger block can trigger the second proximity switch 532. In this embodiment, when the translation seat 21 moves closer to the starting position, the first trigger piece 523 first triggers the first photoelectric sensor 521, that is, generates an electrical signal to control the first rotary driver 22 to pull the translation seat 21 to gradually decelerate. When the first trigger block 533 triggers the first proximity switch 531, it generates an electrical signal to control the first rotary driver 22 to stop the translation seat 21 from moving.This ensures that the translation seat 21 can move stably and stop at the starting position, allowing it to gradually decelerate and brake to a stop at the starting position, making the structure safer and more reliable. When the translation seat 21 moves close to the starting and ending positions, the second trigger plate first triggers the second photoelectric sensor 522, which generates an electrical signal to control the first rotary driver 22 to pull the translation seat 21 to gradually decelerate. When the second trigger block triggers the second proximity switch 532, it generates an electrical signal to control the first rotary driver 22 to pull the translation seat 21 to stop moving. This ensures that the translation seat 21 can move stably and stop at the starting and ending positions, allowing it to gradually decelerate and brake to a stop at the ending position, making the structure safer and more reliable. Furthermore, in this embodiment, the horizontal anti-collision component includes: a first anti-collision pad 541 and a second anti-collision pad (not shown in the figure). The first anti-collision pad 541 is fixed at the starting position of the horizontal movement stroke of the translation seat 21, and the second anti-collision pad is fixed at the ending position of the horizontal movement stroke of the translation seat 21. The first trigger piece 523, the second trigger piece, the first trigger block 533, and the second trigger block are located between the first anti-collision pad 541 and the second anti-collision pad along the horizontal movement direction of the translation seat 21. Thus, through the limiting and anti-collision function of the first anti-collision pad 541 and the second anti-collision pad, the translation seat 21 can be better prevented from rushing out of the starting or ending position, thereby further ensuring the safe movement of the translation seat 21 within the preset stroke range, making the structure safer and more reliable. Thus, through the multiple protections of the horizontal ranging component, the horizontal deceleration component, the horizontal limiting component, and the horizontal anti-collision component, multiple safety guarantees can be provided, thereby better protecting the workers, goods, and other equipment in the field environment.

[0028] In a preferred embodiment, the walking device 20 further includes an obstacle avoidance component (not shown in the figure), several cleaning brushes 26, and several guide wheel sets 27. The obstacle avoidance component includes a first obstacle avoidance sensor 251 and a second obstacle avoidance sensor 252. The first obstacle avoidance sensor 251 is located at one end of the translation seat 21, and the second obstacle avoidance sensor 252 is located at the other end of the translation seat 21. During the movement of the translation seat 21, the first obstacle avoidance sensor 251 and the second obstacle avoidance sensor 252 can promptly detect whether there are personnel, goods, etc., at either end of the translation seat 21 in the direction of movement, preventing accidental collisions and thus better ensuring the safety of personnel, machines, and goods during the movement process.

[0029] Furthermore, the cleaning brush 26 is fixed on the translation seat 21, and the cleaning brush 26 extends vertically downward from the bottom of the translation seat 21. In this embodiment, the translation seat 21 is movably set on the external ground rail 301, that is, the active walking wheel 23 and the driven walking wheel 24 roll on the external ground rail 301. Thus, the cleaning brush 26 can promptly clean up dust, debris and other debris that fall on the ground rail 301, preventing obstruction of the normal rolling of the active walking wheel 23 and the driven walking wheel 24. The structure is safer and more reasonable.

[0030] Furthermore, the guide wheel assembly 27 includes a first guide wheel 271 and a second guide wheel 272. Both the first guide wheel 271 and the second guide wheel 272 are vertically pivotally connected to the translation seat 21. The first guide wheel 271 and the second guide wheel 272 are arranged at intervals along the direction of horizontal movement perpendicular to the translation seat 21, forming a horizontal guide accommodating area (not marked in the figure) between the first guide wheel 271 and the second guide wheel 272. The external ground rail 301 is located within the horizontal guide accommodating area, meaning that the driving wheel 23 and the driven wheel 24 roll on the ground rail 301, and the ground rail 301 is confined between the first guide wheel 271 and the second guide wheel 272, making the movement of the translation seat 21 on the ground rail 301 more stable and smooth, and the structure more reasonable.

[0031] Please see Figures 1 to 3 In a preferred embodiment, the walking device 20 further includes a first optical data transmitter 28a, a second optical data transmitter (not shown), and a current collector 29. The first optical data transmitter 28a is fixed to the translation base 21, and the second optical data transmitter is fixed at the beginning or end position of the horizontal movement stroke of the translation base 21. The transceiver port of the first optical data transmitter 28a is directly opposite the transceiver port of the second optical data transmitter along the horizontal movement direction of the translation base 21. Thus, laser network communication is achieved through the cooperation of the first optical data transmitter 28a and the second optical data transmitter, enabling the stacker crane 100 to connect and receive working status data and control signal data with an external control center, and to transmit signal data wirelessly, avoiding excessive cable entanglement and resulting in a more rational structure. Furthermore, the current collector 29 is fixed to the translation base 21 and slides against an external conductive contact line (not shown), thereby enabling power extraction from the outside to provide power for the operation of the stacker crane 100, further enhancing the rational structure.

[0032] Please see Figures 1 to 8The stacker crane 100 of the present invention is characterized by further comprising: a lifting speed limiting device 60, a first guide bar 31, and a second guide bar 32. The lifting speed limiting device 60 is disposed on the first column 30a. The first guide bar 31 is vertically fixed on the first column 30a, and the second guide bar 32 is vertically fixed on the second column 30b. Furthermore, the loading platform 10 includes: a supporting frame 11 and a fall prevention device 12. The supporting frame 11 is vertically movably disposed between the first column 30a and the second column 30b. The supporting frame 11 is driveably connected to the lifting device 40, so that the lifting device 40 can drive the supporting frame 11 to move vertically up and down, thereby realizing the transmission connection structure of the loading platform 10 to the lifting device 40. Furthermore, the fall arrestor 12 includes: a first safety clamp 121, a first lifting mechanism 122, a second safety clamp 123, a second lifting mechanism 124, and a linkage mechanism 125. The first safety clamp 121 is located on the left side of the support frame 11, and the first lifting mechanism 122 is located on the left side of the support frame 11. The first lifting mechanism 122 is drivenly connected to the first safety clamp 121, and the first safety clamp 121 is slidably engaged with the first guide bar 31. The first lifting mechanism 122 is also connected to the lifting speed limiting device 60. The second safety clamp 123 is located on the right side of the support frame 11, and the second lifting mechanism 124 is located on the right side of the support frame 11. The second lifting mechanism 124 is drivenly connected to the second safety clamp 123, and the second safety clamp 123 is slidably engaged with the second guide bar 32. The linkage mechanism 125 is drivenly connected between the first lifting mechanism 122 and the second lifting mechanism 124. When the lifting device 40 drives the support frame 11 to move vertically and vertically, the lifting speed limiting device 60 releases the first lifting mechanism 122 and moves vertically and vertically in sync with the support frame 11. At this time, the first safety clamp 121 is in a released state and slides on the first guide bar 31, and the second safety clamp 123 is in a released state and slides on the second guide bar 32, thereby avoiding affecting the normal vertical movement of the support frame 11. When the load-bearing frame 11 experiences an unexpected weightlessness and falls, the first lifting mechanism 122 will trigger the lifting speed limiting device 60 to lock and stop transmission. The locked lifting speed limiting device 60 will then pull the first lifting mechanism 122 upwards, causing the first safety clamp 121 to grip and lock the first guide bar 31. Simultaneously, the linkage mechanism 125 will drive the second lifting mechanism 124 to grip and lock the second safety clamp 123, thus preventing the load-bearing frame 11 from continuing its weightless fall. This ensures a safe and reliable prevention of the load-bearing frame 11 from accidental collapse, preventing accidents and avoiding injury to personnel, goods, and other equipment in the work area. This makes the loading platform 10 not only safer and more reliable in structure but also simpler.

[0033] Please see Figure 1 , Figure 2 , Figure 5 and Figure 7 In this embodiment, the first lifting mechanism 122 includes: a first lifting rod 1221, a first guide post 1222, a first slide block 1223, a first elastic element 1224, and a first sliding pin 1225; one end of the first lifting rod 1221 forms a first pivot portion 1221a, which is pivotally connected to the left side of the bearing frame 11 around a first axis arranged in the left-right direction; the other end of the first lifting rod 1221 forms a first elongated hole (not shown in the figure), and the first elongated hole... The length direction of the shaped hole is arranged along the length direction of the first lifting rod 1221; the first guide post 1222 is vertically fixed to the left side of the bearing frame 11, the first slide block 1223 slides vertically on the first guide post 1222, the first elastic element 1224 can be selected as a spring, but is not limited thereto, the first elastic element 1224 is compressed and vertically abuts against the upper end of the first guide post 1222 and the first slide block 1223, and the first elastic element 1224 constantly drives the first slide block 1223 to move downward. The first sliding pin 1225 is fixed to the first slide block 1223 in the left-right direction, and the first sliding pin 1225 slides through the first elongated hole; the first lifting rod 1221 also has a second elongated hole 1221c, and the length direction of the second elongated hole 1221c is arranged along the length direction of the first lifting rod 1221. The second elongated hole 1221c is located between the first pivot part 1221a and the first elongated hole along the length direction of the first lifting rod 1221.

[0034] Furthermore, the first safety clamp 121 includes: a first mounting base 1211, a first wedge 1212, a second wedge 1213, a second elastic element 1214, and a second sliding pin 1215. The first mounting base 1211 is fixed to the left side of the support frame 11. The first wedge 1212 and the second wedge 1213 slide on the first mounting base 1211 at an incline relative to each other, and the first wedge 1212 and the second wedge 1213 are arranged opposite each other in the front-back direction, forming a first clamping area 1216 between the first wedge 1212 and the second wedge 1213. The first guide bar 31 is located within the first clamping area 1216. The second elastic element 1214 can be selected as a spring, but is not limited thereto. The second elastic element 1214 is compressed and abuts against the first mounting base 1211 and the first wedge 1212. The second elastic element 1214 constantly drives the first wedge 1212 to move upward. The second elastic element 1214 can maintain the first wedge 1212 in the highest position to rub against the first guide strip 31, making the structure more reasonable. When the second wedge 1213 moves upward, the distance between the second wedge 1213 and the first wedge 1212 in the front-back direction gradually decreases until the second wedge 1213 and the first wedge 1212 clamp and lock the first guide strip 31. The first guide strip 31 can then be clamped in the first clamping area 1216. The second elastic element 1214 can maintain the first wedge 1212 in the highest position to rub against the first guide strip 31, preventing the first wedge 1212 from accidentally disengaging from the first guide strip 31. The second sliding pin 1215 is fixed to the lower end of the second wedge 1213 in the left-right direction, and the second sliding pin 1215 slides through the second elongated hole 1221c.

[0035] Please see Figure 1 and Figure 3 The lifting speed limiting device 60 includes a speed limiter 61 and a safety rope 62. The speed limiter 61 is mounted on the first column 30a, and the safety rope 62 is mounted on the first column 30a in a vertical loop and is connected to the speed limiter 61. The first slide block 1223 is fixedly connected to the safety rope 62, thereby realizing the connection structure of the first lifting mechanism 122 to the lifting speed limiting device 60.

[0036] When the lifting device 40 drives the support frame 11 to move vertically and vertically normally, the speed limiter 61 releases the safety rope 62. The speed limiter 61 will not obstruct the transmission of the safety rope 62. The safety rope 62 will be pulled by the first slide 1223 of the first lifting mechanism 122 and move vertically and vertically synchronously with the support frame 11. At this time, the first safety clamp 121 is in a released state and slides on the first guide bar 31, and the second safety clamp 123 is in a released state and slides on the second guide bar 32. When the supporting frame 11 experiences an unexpected weightlessness and falls, the safety rope 62 will be accelerated by the first slide block 1223 of the first lifting mechanism 122, triggering the speed limiter 61 to lock and stop the transmission. Then, the first slide block 1223 will be pulled upward by the locked safety rope 62, thereby causing the first slide block 1223 to move upward against the elastic force of the first elastic element 1224. This will cause the first slide block 1223 to slide the first sliding pin 1225 into the first elongated hole, and the first sliding pin 1225 will push against the upper wall of the first elongated hole, causing the first lifting rod 1221 to move upward. The swinging motion causes the second elongated hole 1221c to swing upward synchronously, and the lower wall of the second elongated hole 1221c pushes the second sliding pin 1215 upward. The second sliding pin 1215 slides synchronously within the second elongated hole 1221c. The second sliding pin 1215 drives the second wedge 1213 to move upward, causing the distance between the second wedge 1213 and the first wedge 1212 in the front-back direction to gradually decrease until the second wedge 1213 and the first wedge 1212 clamp and lock the first guide bar 31, and the first guide bar 31 can then be clamped within the first clamping area 1216.

[0037] Please see Figure 1 , Figure 2 , Figure 6 and Figure 8In this embodiment, the second lifting mechanism 124 includes: a second lifting rod 1241, a second guide post 1242, a second slide block 1243, a third elastic element 1244, and a third sliding pin 1245; one end of the second lifting rod 1241 forms a second pivot portion 1241a, which is pivotally connected to the right side of the bearing frame 11 around a second axis arranged in the left-right direction; the other end of the second lifting rod 1241 forms a third elongated hole 1241b, and the third elongated hole 1241b... The length of 241b is arranged along the length of the second lifting rod 1241; the second guide post 1242 is vertically fixed to the right side of the bearing frame 11, the second slide block 1243 slides vertically on the second guide post 1242, the third elastic element 1244 can be selected as a spring, but is not limited thereto, the third elastic element 1244 is compressed vertically abutting between the upper end of the second guide post 1242 and the second slide block 1243, and the third elastic element 1244 constantly drives the second slide block 1243 to move downward. The third sliding pin 1245 is fixed to the second slide block 1243 in the left-right direction, and the third sliding pin 1245 slides through the third elongated hole 1241b; the second lifting rod 1241 also has a fourth elongated hole 1241c, and the length direction of the fourth elongated hole 1241c is arranged along the length direction of the second lifting rod 1241. The fourth elongated hole 1241c is located between the second pivot part 1241a and the third elongated hole 1241b along the length direction of the second lifting rod 1241.

[0038] Furthermore, the second safety clamp 123 includes: a second mounting base 1231, a third wedge 1232, a fourth wedge 1233, a fourth elastic element 1234, and a fourth sliding pin 1235. The second mounting base 1231 is fixed to the right side of the support frame 11. The third wedge 1232 and the fourth wedge 1233 slide on the second mounting base 1231 at an incline relative to each other, and are arranged opposite each other in the front-rear direction. A second clamping area 1236 is formed between the third wedge 1232 and the fourth wedge 1233, and the second guide bar 32 is located within the second clamping area 1236. The fourth elastic element 1234 may be a spring, but is not limited thereto. The fourth elastic element 1234 is compressed and abuts against the second mounting base 1231 and the third wedge 1232, and the fourth elastic element 1234 constantly drives the third wedge 1232 to move upward. The fourth elastic element 1234 maintains the third wedge 1232 in its highest position to rub against the second guide bar 32, resulting in a more rational structure. When the fourth wedge 1233 moves upward, the distance between the fourth wedge 1233 and the third wedge 1232 gradually decreases in the front-to-back direction until they clamp and lock the second guide bar 32. The second guide bar 32 is then clamped within the second clamping area 1236. The fourth elastic element 1234 maintains the third wedge 1232's constant upward movement, ensuring it remains in its highest position to rub against the second guide bar 32, preventing accidental detachment. The fourth sliding pin 1235 is fixed to the lower end of the fourth wedge 1233 in the left-to-right direction and slides through the fourth elongated hole 1241c.

[0039] The linkage mechanism 125 includes: a linkage rod 1251, a first swing arm 1252, a second swing arm 1253, a first swing rod 1254, and a second swing rod 1255. The linkage rod 1251 is pivotally connected to the bearing frame 11 in the left-right direction. The lower end of the first swing arm 1252 is fixed to the left end of the linkage rod 1251, and the lower end of the second swing arm 1253 is fixed to the right end of the linkage rod 1251. The upper end of the first swing rod 1254 is pivotally connected to the first slide block 1223 around a third axis arranged in the left-right direction, and the lower end of the first swing rod 1254 is pivotally connected to the upper end of the first swing arm 1252 around a fourth axis arranged in the left-right direction. The upper end of the second swing rod 1255 is pivotally connected to the second slide block 1243 around a fifth axis arranged in the left-right direction, and the lower end of the second swing rod 1255 is pivotally connected to the upper end of the second swing arm 1253 around a sixth axis arranged in the left-right direction. Thus, through the linkage structure of the first swing rod 1254, the first swing arm 1252, the linkage rod 1251, the second swing arm 1253 and the second swing rod 1255, the first slide block 1223 and the second slide block 1243 move up and down synchronously in the vertical direction.

[0040] When the first slide block 1223 moves vertically, the first slide block 1223 drives the first swing arm 1252 to rotate the linkage rod 1251 through the first swing rod 1254, and then the linkage rod 1251 drives the second swing arm 1253 to drive the second swing rod 1255 to move the second slide block 1243 vertically in sync. When the supporting frame 11 experiences an unexpected weightlessness and falls, the safety rope 62 will be accelerated by the first slide block 1223 of the first lifting mechanism 122, triggering the speed limiter 61 to lock and stop the transmission. The locked safety rope 62 will then pull the first slide block 1223 upwards, causing it to move upwards against the elastic force of the first elastic element 1224. The first slide block 1223, through the linkage structure of the first swing rod 1254, the first swing arm 1252, the linkage rod 1251, the second swing arm 1253, and the second swing rod 1255, will then drive the second slide block 1243 to move upwards synchronously against the elastic force of the third elastic element 1244. This, in turn, causes the second slide block 1243 to slide along the third sliding pin 1245. Within the third elongated hole 1241b, the third sliding pin 1245 pushes against the upper wall of the third elongated hole 1241b, causing the second lifting rod 1241 to swing upward, causing the fourth elongated hole 1241c to swing upward synchronously. The lower wall of the fourth elongated hole 1241c pushes the fourth sliding pin 1235 upward, and the fourth sliding pin 1235 slides synchronously within the fourth elongated hole 1241c. The fourth sliding pin 1235 drives the fourth wedge 1233 to move upward, causing the distance between the fourth wedge 1233 and the third wedge 1232 in the front-back direction to gradually decrease until the fourth wedge 1233 and the third wedge 1232 clamp and lock the second guide bar 32, and the second guide bar 32 can then be clamped within the second clamping area 1236.

[0041] Please see Figure 1 and Figure 2 The stacker crane 100 of the present invention further includes an upper crossbeam 30c, which is fixedly connected between the top end of the first column 30a and the top end of the second column 30b, making the installation structure of the top end of the first column 30a and the second column 30b more stable. Specifically, in this embodiment, a third guide wheel 33 and a fourth guide wheel 34 are vertically pivotally connected to the upper crossbeam 30c. The third guide wheel 33 and the fourth guide wheel 34 are arranged at intervals along the direction of horizontal movement of the vertical translation seat 21 (i.e., the front-back direction in this embodiment). An external ceiling track (not shown in the figure) is slidably engaged between the third guide wheel 33 and the fourth guide wheel 34, making the movement of the upper crossbeam 30c on the ceiling track more stable and smooth, and the guiding structure simpler and more reasonable.

[0042] Please see Figure 1 and Figure 2In this embodiment, the lifting device 40 includes: a second rotary driver 41, a rotating shaft 42, a first drum 43, a second drum 44, a first lifting rope 45, a first reversing pulley group 46, a second lifting rope 47, and a second reversing pulley group 48. The second rotary driver 41 can be selected as a geared motor, but is not limited thereto. The second rotary driver 41 is fixed on the second column 30b. The rotating shaft 42 is located at the driving end of the second rotary driver 41 and is arranged horizontally in the front-back direction. The first drum 43 and the second drum 44 are both fixedly sleeved on the rotating shaft 42. One end of the first lifting rope 45 is wound on the first drum 43, and the other end of the first lifting rope 45 is connected to the upper crossbeam 30c. One end of the second lifting rope 47 is wound on the second drum 44, and the other end of the second lifting rope 47 is connected to the upper crossbeam 30c. The winding direction of the first lifting rope 45 on the first drum 43 is the same as the winding direction of the second lifting rope 47 on the second drum 44. The second rotary drive 41 drives the rotating shaft 42 to rotate the first drum 43 and the second drum 44 synchronously, and the first drum 43 and the second drum 44 synchronously wind up or release the first lifting rope 45 and the second lifting rope 47. Furthermore, the first reversing pulley block 46 and the second reversing pulley block 48 are both provided on the upper crossbeam 30c.

[0043] Please see Figure 1 , Figure 2 , Figure 5 and Figure 6The loading platform 10 also includes: a first lifting rope pulley 13a, a second lifting rope pulley 13b, a first slack rope detection sensor 13c, and a second slack rope detection sensor 13d. The first lifting rope pulley 13a is pivotally connected to the left side of the support frame 11, and the second lifting rope pulley 13b is pivotally connected to the right side of the support frame 11, with the pivot axes of the first lifting rope pulley 13a and the second lifting rope pulley 13b coinciding in the left-right direction. The first lifting rope 45 is also driven to wind between the first reversing pulley group 46 and the first lifting rope pulley 13a, and the second lifting rope 47 is also driven to wind between the second reversing pulley group 48 and the second lifting rope pulley 13b. This enables the second rotary drive 41 to drive the rotating shaft 42 to drive the first drum 43 and the second drum 44 to rotate synchronously. The first drum 43 and the second drum 44 synchronously wind up or release the first lifting rope 45 and the second lifting rope 47, thereby pulling the support frame 11 to move up and down, resulting in a simpler and more reasonable structure. For example, in this embodiment, the first reversing pulley group 46 includes: a first fixed pulley 461, a second fixed pulley 462 and a third fixed pulley 463. The first fixed pulley 461 is pivotally connected to the front side of the right end of the upper crossbeam 30c, the second fixed pulley 462 is pivotally connected to the front side of the left end of the upper crossbeam 30c, and the third fixed pulley 463 is pivotally connected to the rear side of the left end of the upper crossbeam 30c. The pivot axis of the first fixed pulley 461, the second fixed pulley 462 and the third fixed pulley 463 are all arranged in the front-back direction. The lower end of the first lifting rope 45 is wound around the first drum 43. The first lifting rope 45 is wound upward from the first drum 43 onto the first fixed pulley 461 and then turns to the left horizontally. It is then wound onto the second fixed pulley 462 and then turns to the downward vertically. It is then wound from the front side of the first lifting rope pulley 13a to the rear side of the first lifting rope pulley 13a and then turns to the upward vertically. It is then wound onto the third fixed pulley 463 and then turns to the right horizontally. The upper end of the first lifting rope 45 is finally fixed to the rear side of the upper crossbeam 30c. Furthermore, in this embodiment, the second reversing pulley group 48 includes: a fourth fixed pulley 481, a fifth fixed pulley 482, and a sixth fixed pulley 483. The fourth fixed pulley 481 and the fifth fixed pulley 482 are both pivotally connected to the rear side of the right end of the upper crossbeam 30c, and the fifth fixed pulley 482 is located to the left of the fourth fixed pulley 481. The sixth fixed pulley 483 is pivotally connected to the front side of the right end of the upper crossbeam 30c, and the sixth fixed pulley 483 is located to the left of the first fixed pulley 461. Moreover, the pivot axis of the fourth fixed pulley 481, the fifth fixed pulley 482, and the sixth fixed pulley 483 are all arranged in the front-back direction. The lower end of the second suspension rope 47 is wound around the second drum 44. The second suspension rope 47 is wound upward from the first drum 43 and then turns to the horizontal left after passing the fourth fixed pulley 481. It is then wound around the fifth fixed pulley 482 and then turns to the vertical downward. It is then wound from the rear side of the second suspension rope pulley 13b to the front side of the second suspension rope pulley 13b and turns to the vertical upward. It is then wound around the sixth fixed pulley 483 and then turns to the horizontal left. The upper end of the second suspension rope 47 is finally fixed to the front side of the upper crossbeam 30c.This achieves the following: the first lifting rope 45 is driven and wound between the first drum 43, the first reversing pulley group 46, and the first lifting rope pulley 13a; and the second lifting rope 47 is driven and wound between the second drum 44, the second reversing pulley group 48, and the second lifting rope pulley 13b. This makes the winding routes of the first lifting rope 45 and the second lifting rope 47 simpler and more compact, the transmission operation more stable, and the structure simpler and more reasonable. Of course, the specific winding routes of the first lifting rope 45 and the second lifting rope 47 are not limited to the above. Those skilled in the art can flexibly choose according to actual usage needs, all of which are within the protection scope of this invention. Therefore, they will not be elaborated further here.

[0044] Furthermore, the first slack rope detection sensor 13c is located on the left side of the support frame 11, and above the first suspension rope pulley 13a. For example, a first slack rope detection sensor 13c is respectively installed above the front and rear sides of the first suspension rope pulley 13a, and the detection direction of each first slack rope detection sensor 13c is towards the first suspension rope 45 that winds around the input and output of the first suspension rope pulley 13a. The second slack rope detection sensor 13d is located on the right side of the support frame 11, and above the second suspension rope pulley 13b. For example, a second slack rope detection sensor 13d is respectively installed above the front and rear sides of the second suspension rope pulley 13b, and the detection direction of each second slack rope detection sensor 13d is towards the second suspension rope 47 that winds around the input and output of the second suspension rope pulley 13b. In this embodiment, the first slack rope detection sensor 13c and the second slack rope detection sensor 13d can be photoelectric sensors. They determine whether the first and second suspension ropes 45 and 47 are in a tensioned or slack state by whether their optical paths are blocked by the first suspension rope 45 and the second suspension rope 47. This allows for better real-time detection of the state of the first and second suspension ropes 45 and 47, providing greater safety assurance. Of course, the specific types of the first slack rope detection sensor 13c and the second slack rope detection sensor 13d are not limited to the above. For example, in other embodiments, the first slack rope detection sensor 13c and the second slack rope detection sensor 13d can also be pressure sensors. The data fed back by the pressure sensors can be used to determine whether the first and second suspension ropes 45 and 47 are in a tensioned or slack state. Those skilled in the art can flexibly choose according to actual usage needs, all of which are within the protection scope of this invention. Therefore, further details are omitted here.

[0045] Please see Figure 1 , Figure 2 , Figure 5 and Figure 6The loading platform 10 also includes: a first portal frame 14a, a first cargo detection sensor group (not labeled in the figure), a first shape detection sensor group (not labeled in the figure), a second portal frame 15a, a second cargo detection sensor group (not labeled in the figure), a second shape detection sensor group (not labeled in the figure), a first monitoring camera 16a, and a second monitoring camera 16b. The first portal frame 14a is fixedly connected to the front side of the support frame 11, and the first cargo detection sensor group and the first shape detection sensor group are disposed on the first portal frame 14a. The second portal frame 15a is fixedly connected to the rear side of the support frame 11, and the second cargo detection sensor group and the second shape detection sensor group are disposed on the second portal frame 15a. The first cargo detection sensor group includes several first cargo detection sensors 141b, which are distributed on the first portal frame 14a and used to detect whether there is cargo on the front side of the support frame 11. The second cargo detection sensor group includes several second cargo detection sensors 151b, which are distributed on the second portal frame 15a and used to detect whether there is cargo on the rear side of the support frame 11. The first shape detection sensor group includes several first shape detection sensors 141c, which are distributed on the first portal frame 14a. The second shape detection sensor group includes several second shape detection sensors 151c, which are distributed on the second portal frame 15a. The first and second shape detection sensor groups work together to detect whether the cargo carried in the support frame 11 exceeds the preset load-bearing size and to detect whether there is cargo carried in the support frame 11. For example, the first cargo detection sensor 141b, the second cargo detection sensor 151b, the first shape detection sensor 141c, and the second shape detection sensor 151c can all be photoelectric sensors, and their installation positions and detection directions can be flexibly selected according to actual usage requirements. These are all conventional technical means well known to those skilled in the art, and all are within the protection scope of this invention. Therefore, they will not be described in detail here.

[0046] Furthermore, the first monitoring camera 16a is located on top of the first portal frame 14a, and the second monitoring camera 16b is located on top of the second portal frame 15a. This allows for convenient real-time observation and recording of the actual handling of goods on the loading platform 10, making it more convenient to use.

[0047] Please see Figure 2 , Figure 4 , Figure 6 and Figure 8The stacker crane 100 of the present invention further includes: a lifting and limiting device (not shown in the figure), which includes: a vertical ranging component 71, a vertical deceleration component (not shown in the figure), a vertical limiting component (not shown in the figure), and a vertical anti-collision component 74. The vertical ranging component 71 includes: a second laser ranging sensor 711 and a second ranging reflector 712. The second laser ranging sensor 711 is fixed on the translation seat 21, and the second ranging reflector 712 is fixed on the support frame 11. The detection direction of the second laser ranging sensor 711 is vertically aligned with the second ranging reflector 712. Therefore, the position of the vertical lifting and lowering movement of the support frame 11 can be detected in real time through the second laser ranging sensor 711 and the second ranging reflector 712, enabling better positioning of the vertical lifting and lowering movement of the support frame 11, making the positioning of the vertical lifting and lowering movement of the support frame 11 more accurate and safer. Furthermore, the vertical deceleration assembly includes: a third photoelectric sensor 721, a fourth photoelectric sensor 722, a third trigger plate 723, and a fourth trigger plate 724. The third photoelectric sensor 721 and the fourth photoelectric sensor 722 are arranged vertically at intervals on the support frame 11. The third trigger plate 723 is fixed to the lower end of the second column 30b, and the fourth trigger plate 724 is fixed to the upper end of the second column 30b. The third trigger plate 723 can trigger the third photoelectric sensor 721, and the fourth trigger plate 724 can trigger the fourth photoelectric sensor 722. Furthermore, the vertical limiting component includes: a third proximity switch 731, a fourth proximity switch 732, a third trigger block 733, and a fourth trigger block 734. The third proximity switch 731 and the fourth proximity switch 732 are vertically spaced apart on the support frame 11. The third trigger block 733 is fixed to the lower end of the second column 30b, and the fourth trigger block 734 is fixed to the upper end of the second column 30b. The third trigger block 733 can trigger the third proximity switch 731, and the fourth trigger block 734 can trigger the fourth proximity switch 732. In this embodiment, when the support frame 11 moves downwards towards the lower end of the second column 30b, the third trigger piece 723 first triggers the third photoelectric sensor 721, which generates an electrical signal to control the second rotary driver 41 to gradually decelerate the support frame 11. When the third trigger block 733 triggers the third proximity switch 731, it generates an electrical signal to control the second rotary driver 41 to stop the support frame 11 from moving. This ensures that the supporting frame 11 can move stably and stop at the lower end of the second column 30b, allowing the supporting frame 11 to gradually decelerate and brake to a stop at the lower end of the second column 30b, making the structure safer and more reliable. When the supporting frame 11 moves upward and approaches the upper end of the second column 30b, the fourth trigger piece 724 first triggers the fourth photoelectric sensor 722, which generates an electrical signal to control the second rotary drive 41 to pull the supporting frame 11 to gradually decelerate. When the fourth trigger block 734 triggers the fourth proximity switch 732, it generates an electrical signal to control the second rotary drive 41 to pull the supporting frame 11 to stop moving.This ensures that the supporting frame 11 can move stably and stop at the upper end of the second column 30b, allowing the supporting frame 11 to gradually decelerate and brake to a stop at the upper end of the second column 30b, preventing the supporting frame 11 from moving beyond its stroke, thus making the structure safer and more reliable. Furthermore, in this embodiment, the vertical anti-collision component 74 includes: a third anti-collision pad 741, a fourth anti-collision pad 742, a fifth anti-collision pad 743, and a sixth anti-collision pad 744. The third anti-collision pad 741 and the fourth anti-collision pad 742 are both fixed on the translation seat 21, the fifth anti-collision pad 743 is fixed to the upper end of the first column 30a, and the sixth anti-collision pad 744 is fixed to the upper end of the second column 30b. The vertical installation positions of the third trigger plate 723 and the third trigger block 733 are both higher than the vertical installation positions of the third anti-collision pad 741 and the fourth anti-collision pad 742, while the vertical installation positions of the fourth trigger plate 724 and the fourth trigger block 734 are both lower than the vertical installation positions of the fifth anti-collision pad 743 and the sixth anti-collision pad 744. Therefore, through the limiting and anti-collision function of the third anti-collision pad 741, the fourth anti-collision pad 742, the fifth anti-collision pad 743, and the sixth anti-collision pad 744, the load-bearing frame 11 can be better prevented from vertically penetrating the first column 30a and its lower or upper end, further ensuring the safe movement of the load-bearing frame 11 within the preset travel range, making the structure safer and more reliable. Thus, through the multiple protections of the vertical ranging component 71, the vertical deceleration component, the vertical limiting component, and the vertical anti-collision component 74, multiple safety guarantees can be provided, thereby better protecting personnel, goods, and other equipment in the field environment.

[0048] The working principle of the stacker crane 100 of the present invention will be described in detail with reference to the accompanying drawings: First, the current collector 29 slides against the external conductive contact line, thereby drawing power from the outside to ensure the power supply for the operation of the stacker crane 100. Then, through the cooperation of the first optical data transmitter 28a and the second optical data transmitter, laser network communication is achieved to enable the stacker crane 100 to connect, receive, and transmit operational status data and control signal data with the external control center.

[0049] The first rotary driver 22 drives the active walking wheel 23 to rotate, which in turn drives the translation seat 21 to pull the driven walking wheel 24 to rotate and walk on the external track. The horizontal distance measuring component, horizontal deceleration component, horizontal limit component, horizontal anti-collision component and obstacle avoidance component provide multiple protection in the horizontal direction.

[0050] Furthermore, the second rotary drive 41 drives the rotating shaft 42 to rotate the first drum 43 and the second drum 44 synchronously. The first drum 43 and the second drum 44 simultaneously wind up or release the first hoisting rope 45 and the second hoisting rope 47, thereby pulling the support frame 11 to move up and down. The vertical distance measuring component 71, the vertical deceleration component, the vertical limit component, and the vertical anti-collision component 74 provide multiple protections in the vertical direction.

[0051] Furthermore, when the second rotary drive 41 pulls the support frame 11 to move vertically and vertically in normal motion, the lifting speed limiting device 60 releases the first lifting mechanism 122 to move vertically and vertically in sync with the support frame 11. At this time, the first safety clamp 121 is in a released state and slides on the first guide bar 31, and the second safety clamp 123 is in a released state and slides on the second guide bar 32, thereby avoiding affecting the normal vertical movement of the support frame 11. When the load-bearing frame 11 experiences an unexpected weightlessness and falls, the first lifting mechanism 122 will trigger the lifting speed limiting device 60 to lock and stop transmission. The first lifting mechanism 122 will then be pulled upward by the locked lifting speed limiting device 60, causing the first lifting mechanism 122 to drive the first safety clamp 121 to tightly lock the first guide bar 31. At the same time, the linkage mechanism 125 will simultaneously drive the second lifting mechanism 124 to drive the second safety clamp 123 to tightly lock the second guide bar 32. Thus, the load-bearing frame 11 is tightly locked onto the first guide bar 31 and the second guide bar 32 by the first safety clamp 121 and the second safety clamp 123, thereby preventing the load-bearing frame 11 from continuing to fall due to weightlessness.

[0052] Furthermore, the first slack rope detection sensor 13c and the second slack rope detection sensor 13d can detect in real time whether the first suspension rope 45 and the second suspension rope 47 are in a tense or slack state.

[0053] Furthermore, the first cargo detection sensor group detects whether there is cargo on the front side of the support frame 11, and the second cargo detection sensor group detects whether there is cargo on the rear side of the support frame 11. The first shape detection sensor group and the second shape detection sensor group cooperate to detect whether the cargo carried in the support frame 11 exceeds the preset load-bearing size and to detect whether there is cargo carried in the support frame 11.

[0054] Furthermore, the first monitoring camera 16a and the second monitoring camera 16b are used to observe and record the actual situation of the cargo handling platform 10 handling goods in real time.

[0055] Since the first column 30a and the second column 30b of the stacker crane 100 of the present invention are vertically fixed to the traveling device 20 at intervals, and the loading platform 10 is vertically movable between the first column 30a and the second column 30b, the traveling device 20 can drive the first column 30a, the second column 30b, and the loading platform 10 to move horizontally. A lifting device 40 is provided on one of the first column 30a, the second column 30b, and the traveling device 20, and the loading platform 10 is driveably connected to the lifting device 40. A translation limit device 50 is provided on the traveling device 20. Thus, the lifting device 40 drives the loading platform 10 to move vertically up and down, and the translation limit device 50 provides foolproof limit protection for the traveling device 20 during horizontal movement, resulting in higher safety and preventing accidental collisions or damage, thus avoiding injury to personnel, goods, and other equipment in the field. This makes the stacker crane 100 of the present invention not only simple in structure and significantly reduces manufacturing costs, but also safer.

[0056] The present invention has been described above with reference to the embodiments, but the present invention is not limited to the embodiments disclosed above, but should cover various modifications and equivalent combinations made in accordance with the essence of the present invention.

Claims

1. A stacker crane, characterized in that, include: The device includes a traveling device, a first column, a second column, a loading platform, a lifting device, and a translation limiting device. The first column and the second column are vertically fixed to the traveling device at intervals from each other. The loading platform is vertically movable between the first column and the second column. The lifting device is located on one of the first column, the second column, and the traveling device. The loading platform is drive-connected to the lifting device. The translation limiting device is located on the traveling device.

2. The stacker crane as described in claim 1, characterized in that, The walking device includes: a translational base, a first rotary driver, an active walking wheel, and a driven walking wheel. The first rotary driver is fixed on the translational base. The active walking wheel and the driven walking wheel are pivotally connected to the translational base at horizontal intervals. The pivot axis of the active walking wheel and the pivot axis of the driven walking wheel are arranged horizontally parallel to each other. The active walking wheel is drivenly connected to the first rotary driver.

3. The stacker crane as described in claim 2, characterized in that, The translational limiting device includes: a horizontal ranging component, a horizontal deceleration component, a horizontal limiting component, and a horizontal anti-collision component. The horizontal ranging component includes: a first laser ranging sensor and a first ranging reflector. The first laser ranging sensor is fixed on the translation base, and the first ranging reflector is fixed at the starting position of the horizontal movement stroke of the translation base. The detection direction of the first laser ranging sensor is directly opposite to the first ranging reflector along the horizontal movement direction of the translation base. The horizontal deceleration assembly includes: a first photoelectric sensor, a second photoelectric sensor, a first trigger plate, and a second trigger plate. The first photoelectric sensor and the second photoelectric sensor are spaced apart on the translation base along the horizontal movement direction of the translation base. The first trigger plate is fixed at the starting position of the horizontal movement stroke of the translation base, and the second trigger plate is fixed at the ending position of the horizontal movement stroke of the translation base. The first trigger plate can trigger the first photoelectric sensor, and the second trigger plate can trigger the second photoelectric sensor. The horizontal limiting component includes: a first proximity switch, a second proximity switch, a first trigger block, and a second trigger block. The first proximity switch and the second proximity switch are spaced apart on the translation seat along the horizontal movement direction of the translation seat. The first trigger block is fixed at the starting position of the horizontal movement stroke of the translation seat, and the second trigger block is fixed at the ending position of the horizontal movement stroke of the translation seat. The first trigger block can trigger the first proximity switch, and the second trigger block can trigger the second proximity switch. The horizontal anti-collision assembly includes: a first anti-collision pad and a second anti-collision pad. The first anti-collision pad is fixed at the starting position of the horizontal movement stroke of the translation seat, and the second anti-collision pad is fixed at the ending position of the horizontal movement stroke of the translation seat. The first trigger piece, the second trigger piece, the first trigger block and the second trigger block are located between the first anti-collision pad and the second anti-collision pad along the horizontal movement direction of the translation seat.

4. The stacker crane as described in claim 2, characterized in that, The walking device also includes: an obstacle avoidance assembly, several cleaning brushes, and several guide wheel sets. The obstacle avoidance assembly includes: a first obstacle avoidance sensor and a second obstacle avoidance sensor, wherein the first obstacle avoidance sensor is disposed at one end of the translation base and the second obstacle avoidance sensor is disposed at the other end of the translation base; The cleaning brush is fixed on the translation base, and the cleaning brush extends vertically downward from the bottom of the translation base; The guide wheel assembly includes a first guide wheel and a second guide wheel. The first guide wheel and the second guide wheel are both vertically pivotally connected to the translation seat. The first guide wheel and the second guide wheel are arranged at intervals along a direction perpendicular to the horizontal movement of the translation seat, and a horizontal guide receiving area is formed between the first guide wheel and the second guide wheel.

5. The stacker crane as described in claim 2, characterized in that, The walking device further includes: a first optical data transmitter, a second optical data transmitter, and a current collector. The first optical data transmitter is fixed on the translation base, and the second optical data transmitter is fixed at the starting or ending position of the horizontal movement stroke of the translation base. The transceiver port of the first optical data transmitter is directly opposite the transceiver port of the second optical data transmitter along the horizontal movement direction of the translation base. The current collector is fixed on the translation base.

6. The stacker crane as described in claim 2, characterized in that, Also includes: The lifting speed limiting device, the first guide bar, and the second guide bar are provided, wherein the lifting speed limiting device is mounted on the first column; The first guide bar is vertically fixed to the first column, and the second guide bar is vertically fixed to the second column. The loading platform includes a load-bearing frame and a fall arrestor. The load-bearing frame is vertically movable between the first column and the second column, and the load-bearing frame is throttle-connected to the lifting device. The fall arrestor includes a first safety clamp, a first lifting mechanism, a second safety clamp, a second lifting mechanism, and a linkage mechanism. The first safety clamp is located on the left side of the load-bearing frame, the first lifting mechanism is throttle-connected to the first safety clamp, the first safety clamp is slidably engaged with the first guide bar, and the first lifting mechanism is connected to the lifting speed limiting device. The second safety clamp is located on the right side of the load-bearing frame, the second lifting mechanism is throttle-connected to the second safety clamp, and the second safety clamp is slidably engaged with the second guide bar. The linkage mechanism is throttle-connected between the first lifting mechanism and the second lifting mechanism.

7. The stacker crane as described in claim 6, characterized in that, The first lifting mechanism includes: a first lifting rod, a first guide post, a first slide block, a first elastic element, and a first sliding pin; one end of the first lifting rod forms a first pivot portion, which is pivotally connected to the left side of the support frame around a first axis arranged in a left-right direction; the other end of the first lifting rod forms a first elongated hole, and the length direction of the first elongated hole is arranged along the length direction of the first lifting rod; the first guide post is vertically fixed to the left side of the support frame; the first slide block slides vertically on the first guide post; the first elastic element abuts vertically between the upper end of the first guide post and the first slide block, and the first elastic element constantly drives the first slide block to move downward; the first sliding pin is fixed to the first slide block in a left-right direction, and the first sliding pin slides through the first elongated hole; the first lifting rod also forms a second elongated hole, and the length direction of the second elongated hole is arranged along the length direction of the first lifting rod, and the second elongated hole is located between the first pivot portion and the first elongated hole along the length direction of the first lifting rod; The first safety clamp includes: a first mounting base, a first wedge, a second wedge, a second elastic element, and a second sliding pin. The first mounting base is fixed to the left side of the support frame. The first wedge and the second wedge slide on the first mounting base at an incline relative to each other, and the first wedge and the second wedge are arranged opposite each other in the front-rear direction, forming a first clamping area between the first wedge and the second wedge. The first guide strip is located in the first clamping area. The second elastic element abuts against the first mounting base and the first wedge, and the second elastic element constantly drives the first wedge to move upward. The second sliding pin is fixed to the lower end of the second wedge in the left-right direction, and the second sliding pin slides through the second elongated hole. The lifting speed limiting device includes: a speed limiter and a safety rope. The speed limiter is installed on the first column, and the safety rope is installed on the first column in a vertical loop and is connected to the speed limiter. The first slide is fixedly connected to the safety rope. The second lifting mechanism includes: a second lifting rod, a second guide post, a second slide block, a third elastic element, and a third sliding pin; one end of the second lifting rod forms a second pivot portion, which is pivotally connected to the right side of the support frame around a second axis arranged in a left-right direction; the other end of the second lifting rod forms a third elongated hole, and the length direction of the third elongated hole is arranged along the length direction of the second lifting rod; the second guide post is vertically fixed to the right side of the support frame; the second slide block slides vertically on the second guide post; the third elastic element abuts vertically between the upper end of the second guide post and the second slide block, and the third elastic element constantly drives the second slide block to move downward; the third sliding pin is fixed to the second slide block in a left-right direction, and the third sliding pin slides through the third elongated hole; a fourth elongated hole is also formed on the second lifting rod, and the length direction of the fourth elongated hole is arranged along the length direction of the second lifting rod, and the fourth elongated hole is located between the second pivot portion and the third elongated hole along the length direction of the second lifting rod; The second safety clamp includes: a second mounting base, a third wedge, a fourth wedge, a fourth elastic element, and a fourth sliding pin. The second mounting base is fixed to the right side of the support frame. The third and fourth wedges slide on the second mounting base at an incline relative to each other, and are arranged opposite to each other in the front-rear direction, forming a second clamping area between the third and fourth wedges. The second guide bar is located within the second clamping area. The fourth elastic element abuts against the second mounting base and the third wedge, and constantly drives the third wedge to move upward. The fourth sliding pin is fixed to the lower end of the fourth wedge in the left-right direction, and slides through the fourth elongated hole. The linkage mechanism includes: a linkage rod, a first swing arm, a second swing arm, a first swing rod, and a second swing rod. The linkage rod is pivotally connected to the bearing frame in the left-right direction. The lower end of the first swing arm is fixed to the left end of the linkage rod, and the lower end of the second swing arm is fixed to the right end of the linkage rod. The upper end of the first swing rod is pivotally connected to the first slide block around a third axis arranged in the left-right direction, and the lower end of the first swing rod is pivotally connected to the upper end of the first swing arm around a fourth axis arranged in the left-right direction. The upper end of the second swing rod is pivotally connected to the second slide block around a fifth axis arranged in the left-right direction, and the lower end of the second swing rod is pivotally connected to the upper end of the second swing arm around a sixth axis arranged in the left-right direction.

8. The stacker crane as described in claim 6, characterized in that, Also includes: The upper crossbeam is fixedly connected between the top of the first column and the top of the second column. The lifting device includes: a second rotary drive, a rotating shaft, a first drum, a second drum, a first hoisting rope, a first reversing pulley block, a second hoisting rope, and a second reversing pulley block. The second rotary drive is fixed to the second column. The rotating shaft is located at the drive end of the second rotary drive and is arranged horizontally along the front-rear direction. Both the first drum and the second drum are fixedly sleeved on the rotating shaft. One end of the first hoisting rope is wound around the first drum, and the other end of the first hoisting rope is connected to the upper crossbeam. One end of the second hoisting rope is wound around the second drum, and the other end of the second hoisting rope is connected to the upper crossbeam. Both the first reversing pulley block and the second reversing pulley block are located on the upper crossbeam. The loading platform further includes: a first lifting rope pulley, a second lifting rope pulley, a first slack rope detection sensor, and a second slack rope detection sensor. The first lifting rope pulley is pivotally connected to the left side of the support frame, and the second lifting rope pulley is pivotally connected to the right side of the support frame. The pivot axes of the first and second lifting rope pulleys coincide in the left-right direction. The first lifting rope is also driven around the first reversing pulley assembly and the first lifting rope pulley, and the second lifting rope is also driven around the second reversing pulley assembly and the second lifting rope pulley. The first slack rope detection sensor is located on the left side of the support frame and is positioned above the first lifting rope pulley. The second slack rope detection sensor is located on the right side of the support frame and is positioned above the second lifting rope pulley.

9. The stacker crane as described in claim 6, characterized in that, The loading platform further includes: a first portal-shaped mounting frame, a first cargo detection sensor group, a first shape detection sensor group, a second portal-shaped mounting frame, a second cargo detection sensor group, a second shape detection sensor group, a first monitoring camera, and a second monitoring camera. The first portal-shaped mounting frame is fixedly connected to the front side of the supporting frame, and the first cargo detection sensor group and the first shape detection sensor group are disposed on the first portal-shaped mounting frame. The second portal-shaped mounting frame is fixedly connected to the rear side of the supporting frame, and the second cargo detection sensor group and the second shape detection sensor group are disposed on the second portal-shaped mounting frame. The first monitoring camera is disposed on the top of the first portal-shaped mounting frame, and the second monitoring camera is disposed on the top of the second portal-shaped mounting frame.

10. The stacker crane as described in claim 6, characterized in that, Also includes: The lifting limit device includes: a vertical ranging component, a vertical deceleration component, a vertical limiting component, and a vertical anti-collision component. The vertical ranging component includes: a second laser ranging sensor and a second ranging reflector. The second laser ranging sensor is fixed on the translation base, and the second ranging reflector is fixed on the support frame. The detection direction of the second laser ranging sensor is vertically aligned with the second ranging reflector. The vertical deceleration assembly includes: a third photoelectric sensor, a fourth photoelectric sensor, a third trigger plate, and a fourth trigger plate. The third photoelectric sensor and the fourth photoelectric sensor are arranged on the support frame at a distance from each other in the vertical direction. The third trigger plate is fixed to the lower end of the second column, and the fourth trigger plate is fixed to the upper end of the second column. The third trigger plate can trigger the third photoelectric sensor, and the fourth trigger plate can trigger the fourth photoelectric sensor. The vertical limiting component includes: a third proximity switch, a fourth proximity switch, a third trigger block, and a fourth trigger block. The third proximity switch and the fourth proximity switch are disposed on the supporting frame at a distance from each other in the vertical direction. The third trigger block is fixed to the lower end of the second column, and the fourth trigger block is fixed to the upper end of the second column. The third trigger block can trigger the third proximity switch, and the fourth trigger block can trigger the fourth proximity switch. The vertical anti-collision assembly includes: a third anti-collision pad, a fourth anti-collision pad, a fifth anti-collision pad, and a sixth anti-collision pad. The third and fourth anti-collision pads are fixed on the translation seat, the fifth anti-collision pad is fixed to the upper end of the first column, and the sixth anti-collision pad is fixed to the upper end of the second column.

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