Stereoscopic warehouse roadway stacking machine for intelligent storage

Abstract

The invention relates to the technical field of stacking machines, and discloses an intelligent storage stereoscopic warehouse roadway stacking machine which comprises a stacking machine body, a lifting support is arranged on the stacking machine body, a gravity center adjusting assembly is arranged on the lifting support, an inclination adjusting assembly is arranged above the gravity center adjusting assembly, and the inclination adjusting assembly comprises an inclination adjusting platform. The inclination adjusting assembly comprises a support body and a rotating platform, and the gravity center adjusting assembly comprises a gravity center adjusting platform. When the gravity center shifts after goods are straightened, the supporting base inclines due to uneven weight of the two sides, the inserting block on one side is driven to press downwards, the inserting block on the other side is lifted, the inserting block on the side is pressed downwards to extrude hydraulic oil in the oil storage tank, and the goods are conveyed to the supporting base; the oil is conveyed into a side plate oil cavity and an oil storage pipe through a first communicating pipe to push a first inserting rod to extend out and drive a supporting base to move in the direction opposite to the center-of-gravity shift; meanwhile, a first spring on the lifting side pulls back a first inserting rod, hydraulic oil is squeezed and flows back to the oil storage tank, and the supporting base is further assisted in position adjustment.

Description

Technical Field

[0001] This invention relates to the field of stacker crane technology, specifically to an intelligent automated warehouse aisle stacker crane. Background Technology

[0002] The patent application with publication number CN118637248B includes a trolley and further comprises: a recognition head, which is fixed to the bottom of the trolley via an electric cylinder; a marking code, which is set on one side of the trolley track; a trigger box, which covers the outside of the marking code, and has flip plates on both sides of the trigger box, with elastic components on the flip plates to maintain the tilt state of the flip plates; a sensor, which detects the flip state of the flip plates when the recognition head presses down on them; and a controller, which compares the flip states of the two flip plates to determine whether the position of the recognition head has shifted. The advantages are: this invention uses a controller to control the trolley to automatically move towards the flip plate with the smaller flip angle, and automatically stops when the flip angles of the two flip plates are the same, thus completing the automatic calibration of the trolley, which is convenient, fast, and requires no manual operation.

[0003] In the prior art, including the aforementioned patents, most existing stacker cranes transport goods by lifting them with forks. When lifting goods, the forks typically lift them from the center left and right to maintain balance and prevent them from falling off the forks during transport. However, some goods do not have their center of gravity at the center of the packaging. In such cases, the stacker crane may cause the goods to become unstable and fall off the forks. If clamps are used to secure the goods, they may damage the goods or their packaging. In addition, some goods are perfectly suited to the shelf space, and clamping them may prevent the goods from being properly placed on the shelf. Summary of the Invention

[0004] The problem this invention aims to solve is that some goods are not centered on the packaging box, while most stacker cranes lift the goods to the center of the packaging box. During transportation, the goods may become unstable and fall off the forks.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is: a stacker crane for intelligent warehousing and automated warehouse, comprising a stacker crane body, a lifting support mounted on the stacker crane body, a center of gravity adjustment component mounted on the lifting support, a tilt adjustment component mounted above the center of gravity adjustment component, the tilt adjustment component comprising a tilt adjustment platform for transporting goods, the tilt adjustment component comprising a support body and a rotating platform for detecting the tilt of goods and straightening the tilted goods, and the center of gravity adjustment component comprising a center of gravity adjustment platform for centering the center of gravity of goods on the center of gravity adjustment platform.

[0006] Preferably, the gravity adjustment component includes a center of gravity adjustment platform, which is mounted on a lifting support. A hydraulic cylinder is mounted on the lifting support, and one end of the extension rod of the hydraulic cylinder is connected to the center of gravity adjustment platform.

[0007] Preferably, the center of gravity adjustment platform is provided with a connecting rotating rod, and the center of gravity adjustment platform is provided with a support base. A first slider is slidably connected to the support base near the connecting rotating rod, and the first slider is rotatably connected to the connecting rotating rod.

[0008] Preferably, the center of gravity adjustment platform is provided with an oil storage tank, a plug is inserted into the oil storage tank, and a second slider is slidably connected to the bottom of the support base, with the plug and the second slider being hinged together.

[0009] Preferably, the center of gravity adjustment platform is provided with side plates on both sides above it, and the side plates have oil cavities inside. The oil cavities inside the side plates are connected to the oil storage tank through a first connecting pipe.

[0010] Preferably, an oil storage pipe is provided on the side plate, and the oil storage pipe is connected to the oil cavity inside the side plate. A first insertion rod is inserted into the end of the oil storage pipe away from the side plate. The first insertion rod is movably connected to the support base, and a first spring is sleeved on the first insertion rod.

[0011] Preferably, the tilt adjustment assembly includes a tilt adjustment platform, which is fixedly installed above the support base. A hydraulic motor is installed inside the tilt adjustment platform, and the output end of the hydraulic motor is connected to a rotating platform via a rotating rod. The rotating platform is rotatably connected to the tilt adjustment platform.

[0012] Preferably, the tilt adjustment platform is provided with a support body on both sides, a support connecting rod is provided on the side of the support body closer to the support platform, and a second insert rod is provided on the lower side of the connecting rod away from the support body.

[0013] Preferably, the second insert is inserted into the hole that connects to the oil chambers on both sides of the tilt adjustment platform, and a second spring is sleeved on the second insert. The oil chambers of the tilt adjustment platform on both sides are connected to the hydraulic motor through the second connecting pipe.

[0014] Preferably, the support base is provided with a two-position four-way solenoid valve, and the two-position four-way solenoid valve is connected to the oil chambers of the two-sided tilt adjustment platform through a third connecting pipe.

[0015] Compared with the prior art, the technical solution of the present invention has the following advantages: (1) The center of gravity adjustment component achieves precise centering adjustment of the cargo's center of gravity through the coordinated action of the oil tank, side plate oil chamber, oil storage pipe, and first insert rod. When the center of gravity shifts after the cargo is aligned, the support base will tilt due to the uneven weight on both sides, causing one side insert block to press down and the other side insert block to rise. The pressing side insert block squeezes the hydraulic oil in the oil tank, which is then transported to the side plate oil chamber and oil storage pipe through the first connecting pipe, pushing the first insert rod out and causing the support base to move in the opposite direction of the center of gravity shift. At the same time, the first spring on the rising side pulls back the first insert rod, squeezing the hydraulic oil back to the oil tank, further assisting the support base in adjusting its position. The entire adjustment process, through the cooperation of hydraulic transmission and mechanical structure, ensures that the center of gravity of the cargo is always in the load center area of ​​the stacker crane, fundamentally solving the problem of unstable transportation caused by center of gravity shift, significantly improving the stability of the stacker crane's transportation process, and reducing the risk of cargo falling off. (2) The support bodies on both sides of the tilt adjustment platform can sense the tilt status of the goods in real time. When the goods are tilted, the downward pressure of one side of the support body is greater. Through the support linkage, the second insert rod drives the corresponding side oil chamber to generate a stronger squeezing force, so that a pressure difference is formed between the two oil chambers. After the pressure difference is captured by the differential pressure sensor, it will trigger the action of the two-position four-way solenoid valve, which guides the hydraulic oil to flow into the hydraulic motor through the second connecting pipe, drives the hydraulic motor to drive the rotating platform to rotate, and then drives the goods to gradually straighten. This structure does not rely on clamps for fixation, which avoids the damage to the goods or packaging boxes caused by clamps, and ensures that the goods maintain a flat posture and can be smoothly adapted to the rack space, effectively improving the stacker crane's ability to handle tilted goods and the safety of transportation operations. Attached Figure Description

[0016] Figure 1 This is a frontal perspective view of the present invention; Figure 2 This is a top-view three-dimensional structural diagram of the present invention; Figure 3 This is a top view of the tilt adjustment platform of the present invention. Figure 4 This is a schematic diagram of the bottom structure of the center of gravity adjustment platform of the present invention; Figure 5 This is a schematic diagram of the internal structure of the center of gravity adjustment platform of the present invention; Figure 6 This is a schematic cross-sectional view of the support base of the present invention; Figure 7 This is a schematic diagram of the bottom structure of the tilt adjustment platform of the present invention; Figure 8 This is a schematic diagram of the side structure of the tilt adjustment platform of the present invention; Figure 9 This is a three-dimensional structural diagram of the support body of the present invention; Figure 10 for Figure 4Enlarged structural diagram at point A in the middle.

[0017] In the diagram: 1. Stacker crane body; 11. Lifting support; 12. Hydraulic cylinder; 2. Center of gravity adjustment assembly; 211. Center of gravity adjustment platform; 212. Support base; 213. Connecting rod; 214. Oil tank; 215. Insert block; 216. First connecting pipe; 217. Side plate; 218. Oil storage pipe; 219. First insert rod; 220. First spring; 3. Tilt adjustment assembly; 311. Tilt adjustment platform; 312. Hydraulic motor; 313. Rotating platform; 314. Support body; 315. Support link; 316. Second insertion rod; 317. Second spring; 318. Second connecting pipe; 319. Two-position four-way solenoid valve; 320. Third connecting pipe. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0019] Unless otherwise defined, the technical or scientific terms used in this disclosure shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "comprising" or "including," and similar terms used in this disclosure, mean that an element or object preceding the term encompasses the elements or objects listed following the term and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but may also include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; these relative positional relationships may change accordingly when the absolute position of the described objects changes.

[0020] like Figures 1-10 As shown, the present invention provides an intelligent warehousing automated warehouse stacker crane, including a stacker crane body 1, a lifting support 11 on the stacker crane body 1, a center of gravity adjustment component 2 on the lifting support 11, and a tilt adjustment component 3 above the center of gravity adjustment component 2. The tilt adjustment component 3 includes a tilt adjustment platform 311 for transporting goods, a support body 314 for detecting the tilt of goods and straightening the tilted goods, and a rotating platform 313. The center of gravity adjustment component 2 includes a center of gravity adjustment platform 211 for centering the center of gravity of the goods on the center of gravity adjustment platform 211.

[0021] The working principle and usage process of this invention are as follows: The stacker crane body 1 is moved to the center and below the goods. The lifting bracket 11 drives the tilt adjustment platform 311 to rise and lift the goods for transportation. When the goods are above the tilt adjustment platform 311, the bracket body 314 will detect whether the goods are tilted. If the goods are tilted, the tilt adjustment component 3 will drive the rotating platform 313 to straighten the goods. When the tilt adjustment component 3 straightens the goods, it will transmit a signal to the center of gravity adjustment component 2. At this time, the center of gravity adjustment platform 211 will detect the center of gravity position of the goods. If the center of gravity position of the goods is not centered, the center of gravity adjustment component 2 will drive the goods and the tilt adjustment platform 311 to move towards the center position, adjusting the center of gravity position of the goods to the center above the center of gravity adjustment component 2.

[0022] Please refer to Figures 3-5 The gravity adjustment component includes a center of gravity adjustment platform 211, which is mounted on a lifting support 11. A hydraulic cylinder 12 is mounted on the lifting support 11, and one end of the extension rod of the hydraulic cylinder 12 is connected to the center of gravity adjustment platform 211.

[0023] The center of gravity adjustment platform 211 is movably connected to the lifting bracket 11. The lifting bracket 11 is used to drive the center of gravity adjustment platform to move up and down, and the hydraulic cylinder 12 is used to drive the center of gravity adjustment platform 211 to move back and forth. The lifting and back and forth movement of the center of gravity adjustment platform 211 is used to lift or place goods on the shelf.

[0024] Please refer to Figures 3-10 A connecting rod 213 is provided on the center of gravity adjustment platform 211. A support base 212 is provided on the center of gravity adjustment platform 211. A first slider is slidably connected to the support base 212 near the connecting rod 213. The first slider is rotatably connected to the connecting rod 213. An oil tank 214 is provided on the center of gravity adjustment platform 211. A plug block 215 is inserted into the oil tank 214. A second slider is slidably connected to the bottom of the support base 212. The plug block 215 is hinged to the second slider. Side plates 217 are provided on both sides above the platform 211. An oil cavity is opened inside the side plate 217. The oil cavity inside the side plate 217 is connected to the oil storage tank 214 through the first connecting pipe 216. An oil storage pipe 218 is provided on the side plate 217 and is connected to the oil cavity inside the side plate 217. A first insertion rod 219 is inserted into the end of the oil storage pipe 218 away from the side plate 217. The first insertion rod 219 is movably connected to the support base 212. A first spring 220 is sleeved on the first insertion rod 219.

[0025] A solenoid valve is installed inside the first connecting pipe 216. When the tilt adjustment component 3 straightens the goods, it transmits an electrical signal to the solenoid valve, which then opens. When the center of gravity of the goods is not in the center, with the connecting rod 213 as the midpoint, the weight on both sides of the support base 212 is uneven. At this time, the support base 212 will tilt to one side, and the insert block 215 on one side will be pressed down and the insert block 215 on the other side will be pulled up. The insert block 215 is connected to a piston on one side of the oil tank 214. The pressed insert block 215 will squeeze the hydraulic oil in the oil tank 214, while the raised insert block 215 will make room in the oil tank 214. The hydraulic oil on the pressed side is transported through the first connecting pipe 216 into the oil chamber opened in the side plate 217, and then through the oil chamber into the oil storage pipe 218. The first insert rod 219 is inserted into the oil storage pipe 218. A piston is installed at one end. When the hydraulic oil inside the oil reservoir 218 increases, the first insert rod 219 is pushed out. At this time, the first spring 220 is stretched, and the first insert rod 219 pushes the support base 212 to move towards the raised side. The connecting rod 213 remains stationary. At this time, the connecting rod 213 is not in the center position of the support base 212, and the center of gravity of the support base 212 begins to change position. At the same time, the insert block 215 on the raised side makes room, and the first spring 220 on the raised side will pull back the first insert rod 219. The hydraulic oil is squeezed into the oil reservoir 214 through the first insert rod 219, which also plays the role of pulling the support base 212. The hydraulic oil inside the oil reservoir 214 and the oil reservoir 218 remains full. When the oil reservoir 214 makes room, the hydraulic oil inside the oil reservoir 218 will be squeezed back into the space made up by the oil reservoir 214.

[0026] Please refer to Figures 6-9 The tilt adjustment assembly 3 includes a tilt adjustment platform 311, which is fixedly installed above the support base 212. A hydraulic motor 312 is installed inside the tilt adjustment platform 311. The output end of the hydraulic motor 312 is connected to a rotating platform 313 via a rotating rod, and the rotating platform 313 is rotatably connected to the tilt adjustment platform 311. A support body 314 is provided on both sides of the tilt adjustment platform 311. A support connecting rod 315 is provided on the side of the support body 314 near the support platform. A second insertion rod 316 is provided on the lower side of the connecting rod away from the support body 314. The second insertion rod 316 is inserted into the holes that communicate with the oil chambers on both sides of the tilt adjustment platform 311, and a second spring 317 is sleeved on the second insertion rod 316. The oil chambers of the two tilt adjustment platforms 311 are connected to the hydraulic motor 312 via a second connecting pipe 318. A two-position four-way solenoid valve 319 is provided on the support base 212, and the two-position four-way solenoid valve 319 is connected to the oil chambers of the two tilt adjustment platforms 311 via a third connecting pipe 320.

[0027] A second insert rod 316 is provided on the connecting rod. The second insert rod 316 is inserted into a piston at one end of the oil chamber hole. The second insert rod 316 is thicker the closer it is to the stacker crane, resulting in greater pressure on the hydraulic oil inside the oil chamber when inserted. When goods are transported above the tilt adjustment platform 311, the goods press down on the support body 314. The tilt of the goods is detected by the downward pressure of the support bodies 314 on both sides. If the goods are tilted, the support body 314 on one side is pressed further forward. At this time, the support body 314, through the support connecting rod 315, presses down the second insert rod 316 into the hole of the tilt adjustment platform 311. The pressure on the oil chamber on the side where the second insert rod 316 is pressed further forward is greater. Differential pressure sensors are installed inside the oil chambers on both sides of the tilt adjustment platform 311. (These differential pressure sensors are connected to a two-position four-way solenoid valve 319.) An electrical connection is established. When the cargo tilts, causing a pressure difference to form between the two oil chambers, the differential pressure sensor converts the detected pressure difference signal into an electrical signal and transmits it to the two-position four-way solenoid valve 319, achieving automatic switching of the oil circuit. Furthermore, a solenoid valve is installed inside the first connecting pipe 216, which establishes an electrical connection with the differential pressure sensor of the tilt adjustment component 3. When the tilt adjustment component 3 straightens the cargo, the pressure difference between the two oil chambers gradually disappears. After the differential pressure sensor detects the pressure balance signal, it immediately sends an electrical signal to the solenoid valve, controlling it to open. At this time, the center of gravity adjustment component 2 begins to adjust the center of gravity of the cargo. The differential pressure sensor detects the different pressure differences between the two oil chambers and transmits an electrical signal to the two-position four-way solenoid valve 319. The two-position four-way solenoid valve 319 then opens, and the flow direction is from the low-pressure oil chamber to the high-pressure oil chamber. Meanwhile, the second insert rod 316 compresses hydraulic oil and delivers it into the hydraulic motor 312 through the second connecting pipe 318. The hydraulic motor 312 drives the tilted goods to rotate until they are level or nearly level (leveling the goods is to prevent the space on the shelf from being too close to the size of the goods, so that the tilted goods cannot enter the shelf). When the goods are corrected to be level and the center of gravity is centered, the pressure in the oil chambers on both sides is balanced, the differential pressure sensor stops outputting a signal, the two-position four-way solenoid valve 319 is de-energized and reset, cutting off the main oil circuit; at the same time, the solenoid valve on the second connecting pipe 318 remains closed, and with the rebound force of the second spring 317, it drives the second insert rod 316 to reset, pushing the hydraulic oil in the oil chamber back to the initial position, preparing for the next operation.In the center of gravity adjustment assembly 2, after the center of gravity of the goods is adjusted, the weight on both sides of the support base 212 tends to be balanced. The rebound force of the first spring 220 drives the first insert rod 219 to reset, squeezing the hydraulic oil inside the oil chamber of the oil storage pipe 218 and the side plate 217 back to the oil storage tank 214, so that the center of gravity adjustment platform 211 remains stable. At this time, the support bodies 314 pressed down on both sides are consistent. The hydraulic oil flowing to the hydraulic motor 312 will be transported to the low-pressure oil chamber through the second connecting pipe 318 on the other side. The low-pressure oil chamber flows to the high-pressure oil chamber through the third connecting pipe 320 and the two-position four-way solenoid valve 319 to form a circulation. The second connecting pipe 318 is also equipped with a solenoid valve, which is in the closed state when the pressure difference is consistent.

[0028] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within its spirit and scope of protection, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of the present invention.

Claims

1. A stacker crane for intelligent warehousing and automated storage and retrieval systems, comprising a stacker crane body (1), wherein a lifting support (11) is provided on the stacker crane body (1), characterized in that: The lifting support (11) is provided with a center of gravity adjustment component (2), and a tilt adjustment component (3) is provided above the center of gravity adjustment component (2). The tilt adjustment component (3) includes a tilt adjustment platform (311) for transporting goods. The tilt adjustment component (3) includes a support body (314) for detecting the tilt of the goods and straightening the tilted goods and a rotating platform (313). The center of gravity adjustment component (2) includes a center of gravity adjustment platform (211) for adjusting the center of gravity of the goods on the center of gravity adjustment platform (211) to be centered.

2. The intelligent warehousing automated storage and retrieval system stacker crane according to claim 1, characterized in that: The gravity adjustment component includes a center of gravity adjustment platform (211), which is mounted on a lifting support (11). A hydraulic cylinder (12) is mounted on the lifting support (11), and one end of the extension rod of the hydraulic cylinder (12) is connected to the center of gravity adjustment platform (211).

3. The intelligent warehousing automated warehouse stacker crane according to claim 1, characterized in that: The center of gravity adjustment platform (211) is provided with a connecting rod (213) and a support base (212). The support base (212) is slidably connected to a first slider on the side of the connecting rod (213) and the first slider is rotatably connected to the connecting rod (213).

4. The intelligent warehousing automated warehouse stacker crane according to claim 3, characterized in that: An oil storage tank (214) is provided on the center of gravity adjustment platform (211), and a plug (215) is inserted into the oil storage tank (214). A second slider is slidably connected to the bottom of the support base (212), and the plug (215) is hinged to the second slider.

5. A stacker crane for intelligent warehousing and automated warehouses according to claim 4, characterized in that: The center of gravity adjustment platform (211) is provided with side plates (217) on both sides above. The side plates (217) have oil chambers inside. The oil chambers inside the side plates (217) are connected to the oil storage tank (214) through the first connecting pipe (216).

6. A stacker crane for intelligent warehousing and automated warehouses according to claim 5, characterized in that: An oil storage pipe (218) is provided on the side plate (217), and the oil storage pipe (218) is connected to the oil cavity inside the side plate (217). A first insertion rod (219) is inserted into one end of the oil storage pipe (218) away from the side plate (217). The first insertion rod (219) is movably connected to the support base (212), and a first spring (220) is sleeved on the first insertion rod (219).

7. A stacker crane for intelligent warehousing and automated warehouses according to claim 1, characterized in that: The tilt adjustment assembly (3) includes a tilt adjustment platform (311), which is fixedly installed above the support base (212). A hydraulic motor (312) is installed inside the tilt adjustment platform (311). The output end of the hydraulic motor (312) is connected to a rotating platform (313) through a rotating rod, and the rotating platform (313) is rotatably connected to the tilt adjustment platform (311).

8. A stacker crane for intelligent warehousing and automated warehouses according to claim 7, characterized in that: The tilt adjustment platform (311) is provided with a support body (314) on both sides. The support body (314) is provided with a support connecting rod (315) on the side close to the support platform. The connecting rod is provided with a second insert rod (316) on the lower side away from the support body (314).

9. A stacker crane for intelligent warehousing and automated warehouses according to claim 8, characterized in that: The second insert rod (316) is inserted into the hole that connects to the oil chambers on both sides of the tilt adjustment platform (311), and a second spring (317) is sleeved on the second insert rod (316). The oil chambers of the tilt adjustment platform (311) on both sides are connected to the hydraulic motor (312) through the second connecting pipe (318).

10. A stacker crane for intelligent warehousing and automated warehouses according to claim 9, characterized in that: The support base (212) is provided with a two-position four-way solenoid valve (319), and the two-position four-way solenoid valve (319) is connected to the oil chamber of the two-sided tilt adjustment platform (311) through a third connecting pipe (320).

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