A type of stacker crane for roadways

Abstract

This invention provides a stacker crane for aisle storage, including a traveling base beam and a stacking device on the traveling base beam. A buffer device is also provided on the traveling base beam, and an adjustment device is installed at the outer end of the buffer device. The buffer device includes a buffer frame on the traveling base beam, with multiple sets of buffer crossbeams fixedly connected to both sides of the buffer frame, defining multiple buffer levels distributed vertically within the buffer frame. Buffer plates are fixedly connected to the multiple sets of buffer crossbeams, and multiple sets of goods are placed on the buffer plates. A conveying component is provided on the buffer plates, and scanning components are provided on the multiple sets of buffer crossbeams. A contact component is provided at one end of each set of buffer crossbeams. This invention improves storage and retrieval efficiency through multi-level buffering and path optimization, achieves real-time monitoring and automatic correction of goods status through intelligent scanning and pressure sensing fusion, and completes high-precision automatic docking based on laser ranging and electromechanical linkage. Ultimately, it constructs a highly efficient, reliable, and fully automated intelligent warehousing and stacking system.

Description

Technical Field

[0001] This invention relates to the field of stacker crane technology, and more particularly to a stacker crane for roadways. Background Technology

[0002] Aisle stacker cranes, also known as rail-mounted stacker cranes, are highly efficient lifting and transport equipment widely used in modern logistics and warehousing. Evolved from forklifts and bridge stacker cranes, aisle stacker cranes primarily consist of steel rails, uprights with steel wheels, and forks. The uprights run on the rails via steel wheels, while the forks are mounted on the uprights for vertical movement. The aisle stacker crane achieves horizontal movement via tracks within the aisle, while a lifting mechanism facilitates vertical movement.

[0003] Chinese patent CN202411969153.7 discloses an aisle stacker crane, comprising: a stacker crane and forks for picking up goods; the forks include: a loading platform, a guard plate fixedly installed on the loading platform, a picking component for picking up goods, a weighing platform for acquiring goods weight information, and a labeling component for affixing different labels according to the goods information; a base plate fixedly installed on the loading platform, and the weighing platform fixedly installed on the base plate. A pressure distribution measuring pad is fixedly installed on the weighing platform. The pressure distribution measuring pad acquires the weight of the goods during transportation and feeds it back to the electrical control cabinet. The electrical control cabinet matches the goods type with the weight according to preset information and matches the position of the goods stacked on the shelf. Based on the weight of the goods, it selects an appropriate stacking method and height, which is conducive to more accurate stacking of goods, ensuring the stability and safety of stored items, and avoiding sinking, tilting or collapsing.

[0004] However, this stacker crane can only store and retrieve goods at a time, and can only perform one storage or retrieval task at a time. Only after completing the entire process of "retrieve → move → place" or "retrieve → move → place" can the next task begin. It cannot achieve parallel processing of tasks. Moreover, the stacker crane often needs to move back and forth over long distances between the two ends of the aisle or between different storage locations, and a lot of time is spent on empty movement. The equipment utilization rate is low. As a result, when faced with concentrated inbound and outbound tasks, the task queue is seriously backed up, the system throughput is limited, and it is easy to become the efficiency bottleneck of the warehousing system. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a lane stacker crane that achieves multiple storage and retrieval functions through a buffer device and a position adjustment device, thereby solving the problem of low stacking efficiency.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A stacker crane for roadways includes a traveling base beam and a stacking device on the traveling base beam. A buffer device is also provided on the traveling base beam, and an adjustment device is installed at the outer end of the buffer device. The stacking device includes a column fixedly connected to the traveling base beam. A lifting cable winding is provided at the bottom of the column. An electrical control box is provided on one side of the column, and a host computer is installed inside the electrical control box. Multiple sets of floor height indicator lights are also provided on the electrical control box, corresponding to multiple buffer areas of the buffer device. A picking unit is movably connected to the other side of the column, and a positioning module is provided on the picking unit. The buffer device includes a buffer frame on the traveling base beam. Multiple sets of buffer crossbeams are fixedly connected to both sides of the buffer frame, defining multiple buffer levels distributed vertically within the buffer frame. Buffer plates are fixedly connected to the multiple sets of buffer crossbeams, and multiple trays are placed on the buffer plates. A conveying component is provided on the buffer plates. Scanning components are provided on the multiple sets of buffer crossbeams, and a contact component is provided at one end of each set of buffer crossbeams.

[0008] The number of cache beams is eight, and they are symmetrically and fixedly connected to both sides of the cache rack. The cache hierarchy includes a first cache area, a second cache area, and a third cache area arranged sequentially from top to bottom.

[0009] The picking unit includes: a structural frame movably connected to the column; a climbing device located on one side of the structural frame; a telescopic fork installed inside the structural frame; a push plate located on the inner wall of the structural frame; and a docking beam fixedly connected to the structural frame.

[0010] The positioning module includes: a guide plate, which is fixedly connected to the docking crossbeam and is at the same horizontal height as the telescopic fork; a support plate, which is fixedly connected to the bottom of the guide plate; a limit switch, which is installed on one side of the support plate; a spring sleeve, which is fixedly connected to the bottom of the support plate; and a contact rod, which is movably connected to the spring sleeve and has its top end aligned with the contact of the limit switch, with their centers collinear along the longitudinal direction.

[0011] A laser rangefinder is installed on the other side of the support plate. The laser emitting end of the laser rangefinder is aligned with the obstruction hole provided on the structural frame, so that the laser beam emitted by the laser rangefinder can pass through without obstruction.

[0012] The conveying assembly includes: a conveyor belt disposed on the buffer plate; a conveyor motor mounted on the buffer beam; four sets of support cylinders symmetrically arranged in the four corner areas at the bottom of the tray; an output rod disposed on the support cylinder; a support plate fixedly connected to the output rod; and a pressure sensor disposed on the support plate.

[0013] The scanning assembly includes: an X-axis slide rail disposed under the buffer beam; an X-axis slider movably connected to the X-axis slide rail; a scanning beam mounted on the X-axis slider; an X-axis drive wheel disposed on the X-axis slider; a drive motor disposed on one side of the X-axis drive wheel; a Z-axis displacement module disposed on the scanning beam; a label scanner disposed on the Z-axis displacement module; and an area scan camera mounted on one side of the label scanner.

[0014] The contact assembly includes: a linear drive member disposed at one end of the buffer beam; and a transmission plate, which is bent and has a first segment, a second segment, and a third segment connected in sequence, wherein the first segment is connected to the linear drive member, the second segment forms a contact portion, and the third segment forms an engagement portion.

[0015] The adjustment device includes an adjustment frame located on one side of the buffer rack. A lifting platform is movably connected inside the adjustment frame. The lifting platform includes two opposing structural side plates and two support rods fixedly connected between the two structural side plates. Two conveyor plates are fixedly connected to the two support rods. Multiple conveyor wheels are rotatably connected between the two conveyor plates, and the shafts of the multiple conveyor wheels are coaxially arranged.

[0016] A climbing motor is installed on one side of one of the structural side plates, and a climbing shaft is movably connected to one side of the adjustment frame. Climbing gears are provided on both the output end of the climbing motor and the climbing shaft. The two sets of climbing gears mesh with each other. A climbing block is provided on the structural side plate, and the climbing block cooperates with the climbing shaft. A climbing cable winding is provided at the top of the adjustment frame, and a carrying cable is wound on the climbing cable winding. One end of the carrying cable is connected to the lifting platform.

[0017] The beneficial effects of this invention are as follows:

[0018] (1) This invention integrates multi-level buffer zones and intelligent positioning devices to construct a dynamic caching and path optimization system, realizing automatic pre-storage, real-time allocation and optimal path planning of goods; it expands the single pick-up and drop-off point of the traditional stacker crane into a three-dimensional buffer network with different heights. The host computer can actively allocate the next target goods to the nearest buffer plate through the lifting platform and conveying components of the positioning device according to the real-time task queue and the position of the picking unit. This reduces the empty movement distance of the stacker crane in the aisle and the ineffective lifting stroke of the column, avoiding the back-and-forth running caused by the fixed position storage and retrieval of traditional equipment. Thus, it transforms discrete storage and retrieval operations into continuous flow operations, significantly improving the single machine operation efficiency and system throughput. At the same time, it reduces equipment energy consumption and mechanical wear by optimizing the motion trajectory.

[0019] (2) This invention deploys an intelligent scanning component with bidirectional XZ axis movement capability and deeply integrates it with a high-precision pressure sensing network to build a real-time monitoring system that integrates identity recognition, visual detection and posture correction. This system achieves comprehensive and automated control of cargo status. The scanning beam can move along the X-axis slide rail, and the label scanner and area array camera it carries can adjust the height and angle through the Z-axis displacement module, thereby acquiring cargo label information and visual images without blind spots. At the same time, the pressure sensors at the four corners of the cargo bottom monitor the force distribution in real time, which can automatically and quickly complete cargo information entry and inventory, and accurately identify abnormal states such as tilting, offset or damage of cargo. When the system detects an abnormality, it can link and control the corresponding support cylinder to make independent fine adjustments, thereby realizing online automatic correction of cargo posture. For severely abnormal cargo, it can be automatically dispatched to the isolation area, thereby eliminating the safety hazards caused by unstable cargo placement at the source and improving the level of intelligence of warehouse management, operational safety and inventory accuracy.

[0020] (3) This invention adopts a composite docking technology that combines laser ranging positioning with electromechanical linkage contact components to design a high-precision and high-reliability automatic docking and signal triggering mechanism, realizing seamless connection between the picking unit and the buffer device and automatic start and stop of the process. The laser rangefinder provides accurate height positioning data to guide the picking unit to descend to the theoretical docking position. At the same time, the linear drive component of the contact component pushes the bending transmission plate to extend. Its locking part provides mechanical support and coarse positioning. The contact part generates accurate positioning electrical signals by triggering the contact rod and limit switch. The complex spatial docking problem is transformed into simple linear motion and switch signals, ensuring the absolute reliability and repeatability of the docking process. Moreover, this mechanism realizes the complete automation of the material handover process. After receiving the confirmation signal, the host computer can directly start the subsequent conveying or pushing process, eliminating the manual judgment and intervention links in the traditional operation, making the material replenishment and material replacement process a seamless whole, and significantly improving the overall automation level, operation smoothness and reliability of the system. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the stacking device structure of the present invention;

[0023] Figure 3 This is a schematic diagram of the side structure of the stacking device of the present invention;

[0024] Figure 4 This is a schematic diagram of the picking unit structure of the present invention;

[0025] Figure 5 This is a schematic diagram of the positioning module structure of the present invention;

[0026] Figure 6 This is a schematic diagram of the overall structure of the caching device of the present invention;

[0027] Figure 7 This is a partial structural diagram of the cache device of the present invention;

[0028] Figure 8 This is a top view of the cache board structure of the present invention;

[0029] Figure 9 This is a bottom view of the cache board structure of the present invention;

[0030] Figure 10 for Figure 9 Enlarged structural diagram at point A;

[0031] Figure 11 This is a schematic diagram of the scanning component structure of the present invention;

[0032] Figure 12 This is a schematic diagram of the positioning device of the present invention;

[0033] Figure 13 This is a schematic diagram of the lifting platform structure of the present invention.

[0034] The reference numerals in the accompanying drawings of this application are as follows: 1. Walking base beam; 2. Stacking device; 201. Column; 202. Lifting cable winding; 203. Electrical control box; 2031. Host computer; 2032. Floor height indicator light; 21. Picking unit; 211. Structural frame; 212. Climbing device; 213. Telescopic fork; 214. Push plate; 215. Connecting crossbeam; 22. Positioning module; 221. Guide plate; 222. Support plate; 223. Limit switch; 224. Spring sleeve; 225. Contact rod; 226. Laser rangefinder; 3. Buffer device; 301. Buffer frame; 302. Buffer crossbeam; 303. First buffer area; 304. Second buffer area; 305. Third buffer area; 306. Buffer plate; 307. Pallet; 31. Conveying assembly; 311. Conveyor belt; 312. Conveyor motor; 313. Support cylinder; 3131, output rod; 3132, support plate; 3133, pressure sensor; 32, scanning assembly; 321, X-axis slide rail; 322, X-axis slider; 323, scanning beam; 324, X-axis drive wheel; 325, drive motor; 326, Z-axis displacement module; 327, label scanner; 328, area scan camera; 33, contact assembly; 331, linear drive component; 332, transmission plate; 3321, contact part; 3322, engaging part; 4, positioning device; 401, positioning frame; 402, lifting platform; 403, structural side plate; 404, bearing rod; 4041, conveyor plate; 4042, conveyor wheel; 405, climbing motor; 4051, climbing shaft; 4052, climbing gear; 4053, climbing block; 406, climbing cable winding; 4061, bearing cable. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0038] Example 1: As Figures 6-13 As shown, this embodiment provides a roadway stacker crane, including a traveling base beam 1 and a stacking device 2 on the traveling base beam 1. A buffer device 3 is also provided on the traveling base beam 1, and an adjustment device 4 is installed at the outer end of the buffer device 3. The stacking device 2 includes a column 201 fixedly connected to the traveling base beam 1. A lifting cable winding 202 is provided at the bottom of the column 201. An electrical control box 203 is provided on one side of the column 201. A host computer 2031 is installed inside the electrical control box 203. Multiple sets of floor height indicator lights 2032 are also provided on the electrical control box 203, corresponding to multiple buffer areas of the buffer device 3. On the other side of 1, a picking unit 21 is movably connected, and a positioning module 22 is provided on the picking unit 21; the buffer device 3 includes a buffer frame 301 provided on the walking bottom beam 1, multiple sets of buffer beams 302 are fixedly connected to both sides of the buffer frame 301, and are used to define multiple buffer levels distributed in the vertical direction within the buffer frame 301, buffer plates 306 are fixedly connected to the multiple sets of buffer beams 302, multiple sets of trays 307 are placed on the buffer plates 306, a conveying component 31 is provided on the buffer plates 306, a scanning component 32 is provided on the multiple sets of buffer beams 302, and a contact component 33 is provided at one end of the multiple sets of buffer beams 302.

[0039] In this embodiment, the bottom of the walking beam 1 is equipped with motor-driven walking wheels. The motor is controlled to rotate forward and backward by the host computer 2031 in the electrical control box 203, realizing horizontal reciprocating movement within the aisle. The lifting cable winding 202 is driven by a servo motor, and the other end of the cable is connected to the picking unit 21. By winding and unwinding the cable, the picking unit 21 is driven to rise and fall along the column 201, achieving precise positioning in the vertical direction. This further realizes the fully automatic walking and lifting of the stacker crane within the aisle, with accurate positioning and stable operation, suitable for high-density storage environments, and significantly improving storage and retrieval efficiency.

[0040] There are eight sets of cache beams 302, which are symmetrically and fixedly connected to both sides of the cache rack 301. The cache hierarchy includes a first cache area 303, a second cache area 304 and a third cache area 305 arranged from top to bottom.

[0041] In this embodiment, the configuration of the first buffer zone 303, the second buffer zone 304, and the third buffer zone 305 increases the number of items that the stacker crane can store and retrieve, enabling more storage and more retrieval. This further reduces the distance the stacker crane travels during storage and retrieval, significantly improving production efficiency. Simultaneously, the different heights of the different buffer zones allow for precise planning and selection of the shortest distance area where the conveying component 31 and the picking unit 21 can dock at different heights. This reduces the vertical lifting stroke of the picking unit 21. Furthermore, through advance path planning by the control unit, the designated goods are moved to the area closest to the picking unit 21 via the positioning device 4 and transported by the conveying component 31. Through multi-level buffering and intelligent path planning, the idle travel and lifting time of the stacker crane are significantly reduced, improving overall operational efficiency.

[0042] The conveying assembly 31 includes: a conveyor belt 311, which is mounted on a buffer plate 306; a conveyor motor 312, which is mounted on a buffer beam 302; four support cylinders 313, which are symmetrically arranged in the four corner areas at the bottom of the goods; an output rod 3131, which is mounted on the support cylinder 313; a support plate 3132, which is fixedly connected to the output rod 3131; and a pressure sensor 3133, which is mounted on the support plate 3132.

[0043] In this embodiment, the conveyor motor 312 drives the conveyor belt 311 to move, realizing the transportation and picking up of goods. During the transportation process, when the goods stop at the position of the four sets of support cylinders 313, the pressure sensor 3133 on the support plate 3132 receives the pressure signal and transmits the signal to the control unit. Under the control of the host computer 2031, the four sets of support cylinders 313 lift up to support the goods, thereby realizing the parking of the goods. Through the continuous work of the four sets of support cylinders 313, the goods are lifted to the highest point, thereby making the transportation area of ​​the conveyor belt 311 below unobstructed, further facilitating the picking up and changing of the pallet 307.

[0044] The system detects the tilt of the cargo and the cargo above it by receiving pressure signals from pressure sensors 3133 independently installed at the four corners of the cargo. The host computer 2031 analyzes the data and, when the pressure difference at the four corners exceeds the tilt threshold, controls the lifting and lowering of each set of support cylinders 313 to increase the tilt angle and ensure optimal force support for the cargo, thus ensuring its stability and facilitating subsequent processing. In this way, the cooperation between the support cylinders 313 and the pressure sensors 3133 can realize the rapid parking and release of the cargo, as well as the real-time monitoring and correction of the cargo posture, preventing jamming or tipping caused by tilting, thereby improving the stability and safety of the system.

[0045] The scanning component 32 includes: an X-axis slide rail 321, which is located below the buffer beam 302; an X-axis slider 322, which is movably connected to the X-axis slide rail 321; a scanning beam 323, which is mounted on the X-axis slider 322; an X-axis drive wheel 324, which is mounted on the X-axis slider 322; a drive motor 325, which is located on one side of the X-axis drive wheel 324; a Z-axis displacement module 326, which is mounted on the scanning beam 323; a label scanner 327, which is located on the Z-axis displacement module 326; and an area scan camera 328, which is mounted on one side of the label scanner 327.

[0046] In this embodiment, the drive motor 325 drives the internal gear to rotate, which in turn drives the transmission shaft to rotate. The transmission shaft then drives the X-axis drive wheels 324 on the two sets of X-axis sliders 322 to rotate synchronously. The friction between the X-axis drive wheels 324 and the buffer beam 302 causes the scanning assembly 32 to move laterally as a whole. The label scanner 327 and the area scan camera 328 slide along the Z-axis through the motor and other drive components in the Z-axis displacement module 326. This allows for online tracking of the electronic tags on the goods, enabling the system to obtain information on each set of goods in real time and ensuring the accuracy of material replenishment. At the same time, the area scan camera 328 can scan the skewing of the goods in real time, and the pressure sensor 3133 ensures that the system can judge the degree of skewing. Through the coordinated control of the X-axis slide rail 321 and the Z-axis displacement module 326, dynamic and blind-angle scanning and image acquisition of goods within the entire buffer area can be achieved. This not only efficiently reads goods label information and updates inventory data in real time, but also uses the area scan camera 328 to visually detect the placement status of goods and identify anomalies such as tilting and damage. Its intelligent linkage with the conveyor component 31 and the support cylinder 313 system supports automatic correction and real-time monitoring of goods posture, greatly improving the accuracy and safety of warehousing operations. At the same time, the scanned data provides real-time data for the host computer 2031 scheduling system, helping to optimize the path and manage inventory dynamically, and enhancing the overall system's intelligence level and scenario adaptability.

[0047] The contact assembly 33 includes: a linear drive member 331, which is disposed at one end of the buffer beam 302; and a transmission plate 332, which is bent and has a first section, a second section and a third section connected in sequence. The first section is connected to the linear drive member 331, the second section forms a contact portion 3321, and the third section forms an engagement portion 3322.

[0048] In this embodiment, the linear drive 331 is energized to push the transmission plate 332 to extend. The engaging part 3322 on the transmission plate 332 supports the docking beam 215 of the structural frame 211 when the picking unit 21 descends for docking. The contact part 3321 contacts the contact rod 225, which overcomes the spring resistance in the spring sleeve 224 to trigger the limit switch 223. The limit switch 223 transmits the switch signal to the host computer 2031, which controls the push plate 214 or the corresponding layer's conveyor motor 312 to open, further realizing automated replenishment and buffering. It also achieves precise docking and signal triggering between the picking unit 21 and the buffer device 3, with a high degree of automation, reducing manual intervention and improving the continuity and reliability of operations.

[0049] The adjustment device 4 includes an adjustment frame 401 located on one side of the buffer frame 301. A lifting platform 402 is movably connected inside the adjustment frame 401. The lifting platform 402 includes two opposing structural side plates 403 and two support rods 404 fixedly connected between the two structural side plates 403. Two conveyor plates 4041 are fixedly connected to the two support rods 404. Multiple conveyor wheels 4042 are rotatably connected between the two conveyor plates 4041. The rotating shafts of the multiple conveyor wheels 4042 are coaxially arranged.

[0050] A climbing motor 405 is installed on one side of a structural side plate 403, and a climbing shaft 4051 is movably connected to one side of the adjustment frame 401. Climbing gears 4052 are provided on both the output end of the climbing motor 405 and the climbing shaft 4051. The two sets of climbing gears 4052 mesh with each other. A climbing block 4053 is provided on the structural side plate 403. The climbing block 4053 cooperates with the climbing shaft 4051. A climbing cable winding 406 is provided at the top of the adjustment frame 401. A carrying cable 4061 is wound on the climbing cable winding 406. One end of the carrying cable 4061 is connected to the lifting platform 402.

[0051] In this embodiment, one side of the lifting platform 402 is driven by the climbing motor 405 and the climbing gear 4052 to achieve clockwise and counterclockwise rotation of the climbing shaft 4051. The climbing block 4053 is raised and lowered by cooperating with the climbing shaft 4051. At the same time, the other side is raised and lowered by the climbing cable winding 406 to retract the carrying cable 4061. When the platform is raised and lowered to the designated buffer area, the position of the goods is changed by the conveying of multiple conveying wheels 4042 on the carrying rod 404 and the continuous transmission of the conveyor belt 311. This allows the goods to be transferred to the area closest to the picking unit 21, realizing the rapid allocation of goods in the buffer area, optimizing the storage layout, and with the help of the path planning algorithm, the storage and retrieval cycle can be greatly shortened and the overall response speed of the warehousing system can be improved.

[0052] Example 2: Figures 1-5As shown, components that are the same as or corresponding to those in Embodiment 1 are referred to using the same reference numerals as in Embodiment 1. For simplicity, only the differences from Embodiment 1 are described below. The difference between Embodiment 2 and Embodiment 1 is as follows:

[0053] The picking unit 21 includes: a structural frame 211, which is movably connected to the column 201; a climbing device 212, which is located on one side of the structural frame 211; a telescopic fork 213, which is installed inside the structural frame 211; a push plate 214, which is located on the inner wall of the structural frame 211; and a docking beam 215, which is fixedly connected to the structural frame 211.

[0054] In this embodiment, the telescopic forks 213 are raised and lowered by the inner wheel of the climbing device 212 and the lifting cable winding 202, and the extension and retraction of the telescopic forks 213 are achieved by multi-stage hydraulics. They are used to pick up goods from the shelf or buffer plate 306. During the stroke, the picked-up goods can be pushed onto the buffer device 3 for buffering by the push plate 214, thereby realizing fast and stable storage and retrieval of goods. The push plate 214 makes the transfer of goods smoother and is suitable for handling goods of various specifications.

[0055] The positioning module 22 includes: a guide plate 221, which is fixedly connected to the docking beam 215 and has the same horizontal height as the telescopic fork 213; a support plate 222, which is fixedly connected to the bottom of the guide plate 221; a limit switch 223, which is installed on one side of the support plate 222; a spring sleeve 224, which is fixedly connected to the bottom of the support plate 222; and a contact rod 225, which is movably connected to the spring sleeve 224 and has its top end aligned with the contact of the limit switch 223, with their centers collinear along the longitudinal direction.

[0056] A laser rangefinder 226 is installed on the other side of the support plate 222. The laser emitting end of the laser rangefinder 226 is aligned with the obstruction hole provided on the structural frame 211, so that the laser beam emitted by the laser rangefinder 226 can pass through without obstruction.

[0057] In this embodiment, the guide plate 221 supports the transported goods to ensure the stability of the goods and the buffer device 3 during transport. The limit switch 223 is triggered by the force of the contact rod 225. The spring force in the spring sleeve 224 is responsible for resetting the contact rod 225. The distance of the picking unit 21 from the ground or reference surface is measured in real time by the laser rangefinder 226. The data is fed back to the host computer 2031 for height calibration and path planning. Thus, through the dual positioning mechanism of laser ranging and mechanical triggering, the docking accuracy and system fault tolerance are improved, the continuity and safety of the operation process are ensured, and the risk of failure caused by positioning errors is reduced.

[0058] Work steps

[0059] Step 1, Initial loading process: The external conveyor structure connects to the third buffer area 305 of the buffer rack 301. The external conveyor structure transports the goods required for one total stroke to the buffer plate 306 and the picking unit 21 of the third buffer area 305. The conveyor motor 312 on the buffer plate 306 drives the conveyor belt 311 to move and transfer the goods to the lifting platform 402.

[0060] One side of the lifting platform 402 is driven by a climbing motor 405 and transmitted through a climbing gear 4052, causing the climbing shaft 4051 to rotate clockwise. The platform is lifted by the meshing of the climbing block 4053 with the climbing shaft 4051. At the same time, the climbing cable winding 406 on the other side synchronously winds up the carrying cable 4061, jointly driving the lifting platform 402 to rise smoothly. Through this process, the pre-stored goods are transferred and allocated to the upper buffer area of ​​the buffer rack 301, completing the system initialization loading. This realizes the batch reception, automatic lifting and layered buffer allocation of task goods, providing pre-stacked materials for continuous stacking operations and improving the system startup efficiency and automation level.

[0061] Step 2, Stacking process: The host computer 2031 in the electrical control box 203 controls the motor at the bottom of the walking beam 1 to achieve precise horizontal positioning and movement of the stacker in the aisle. At the same time, the servo motor of the lifting cable winding 202 drives the picking unit 21 to rise and fall along the column 201 by winding and releasing the cable to achieve vertical positioning.

[0062] After reaching the target storage location, the climbing device 212 and the lifting cable winding 202 work together to adjust the telescopic fork 213 to a suitable height. The telescopic fork 213 extends through a multi-stage hydraulic mechanism to pick up the goods located on it and accurately place them in the designated storage location on the rack. This realizes the fully automated collaborative operation of the stacker crane's horizontal movement, vertical lifting and fork extension for picking and placing goods. The positioning is accurate and the operation is stable, which significantly improves the efficiency and reliability of a single stacking operation.

[0063] Step 3, docking process: The laser rangefinder 226 measures the height data of the picking unit 21 in real time and feeds it back to the host computer 2031. Based on this and the task queue, the system calculates the height of the buffer plate 306 that is closest to the next goods to be picked up, plans the optimal docking path, and the host computer 2031 controls the positioning device 4 to move the target goods to the area in advance. After the current stacking operation is completed, the picking unit 21 is controlled to descend to the docking height.

[0064] Simultaneously, the linear drive 331 pushes the transmission plate 332 to extend, and its engaging part 3322 supports the docking beam 215 of the structural frame 211. The contact part 3321 pushes the contact rod 225 to compress the spring and trigger the limit switch 223. The signal emitted by the limit switch 223 is received by the host computer 2031, thereby triggering the subsequent replenishment process. Through laser ranging and positioning and mechanical and electrical linkage triggering, the rapid, accurate and automatic docking between the picking unit 21 and the buffer device 3 is realized, which significantly shortens the process connection time and improves the continuity of operation.

[0065] Step 4, replenishment process: While the previous stacking operation is in progress, the scanning component 32 moves along the X-axis slide rail 321 under the drive of the drive motor 325, and its Z-axis displacement module 326 drives the label scanner 327 to scan the goods in the buffer area and identify the electronic tag information. The host computer 2031 determines the next goods to be stacked and its location according to the preset task sequence.

[0066] Subsequently, the system controls the conveyor motor 312 to drive the conveyor belt 311 to transport the target goods to the lifting platform 402, which then lifts them to the docking section of the buffer plate 306 at a designated height. During this process, the support cylinders 313 under other goods on the buffer plate 306 are raised under the trigger signal of the pressure sensor 3133, lifting the goods to a high position and ensuring that the conveying channel below is unobstructed. This realizes intelligent replenishment based on task planning and real-time scanning. Through the dynamic scheduling and channel management of goods in the buffer area, the smooth supply of materials for continuous stacking operations is ensured, and the overall system efficiency is improved.

[0067] Step 5, Retrieval and Buffer Process: When goods need to be retrieved from the rack, the stacker crane moves to the corresponding storage location, the telescopic forks 213 extend and pick up the goods, and then retract. The retrieved goods are pushed onto the nearest buffer plate 306 via the pusher plate 214.

[0068] Subsequently, through the coordinated operation of the conveying component 31 and the positioning device 4, the goods are transferred to an empty position within the buffer area. When the goods move above the support cylinder 313, the pressure sensor 3133 detects a signal and controls the support cylinder 313 to lift, stably placing the goods on the buffer position, completing the temporary buffering. This enables rapid retrieval of goods and flexible redistribution within the buffer area, enhancing the system's ability to handle complex inbound and outbound tasks and improving the utilization rate of buffer space and operational flexibility.

[0069] Step 6, Inspection process; The drive motor 325 of the scanning component 32 works in conjunction with the Z-axis displacement module 326 to drive the area array camera 328 to visually scan the goods in the buffer area, monitor the placement posture and appearance of the goods in real time, and combine it with the pressure data of the four corners of the goods fed back by the pressure sensor 3133 to comprehensively judge whether there are any abnormalities such as skewing or damage to the goods.

[0070] When the tilt of the cargo is detected, the host computer 2031 analyzes the data difference of each pressure sensor 3133 and independently controls the corresponding support cylinder 313 to make fine adjustments to the lifting and lowering to correct the posture of the cargo and ensure that it is placed stably.

[0071] For goods identified as damaged or seriously abnormal, the system uses the conveying component 31 and the positioning device 4 to transfer them to the third buffer area 305 for isolation and temporary storage, preventing abnormal goods from entering the high-level storage area or subsequent operation process, eliminating safety hazards, realizing real-time, multi-dimensional automatic detection and intelligent processing of goods status, and having automatic posture correction and abnormal goods isolation functions, which greatly improves the safety, stability and intelligent management level of the system operation.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A stacker crane for roadways, comprising a traveling bottom beam (1), characterized in that, It also includes a stacking device (2) on the walking bottom beam (1), and a buffer device (3) is also provided on the walking bottom beam (1), and an adjustment device (4) is installed on the outer end of the buffer device (3). The stacking device (2) includes a column (201) fixedly connected to the walking bottom beam (1). A lifting cable winding (202) is provided at the bottom of the column (201). An electrical control box (203) is provided on one side of the column (201). A host computer (2031) is installed in the electrical control box (203). Multiple sets of floor height indicator lights (2032) are also provided on the electrical control box (203). The multiple sets of floor height indicator lights (2032) correspond to multiple sets of buffer areas of the buffer device (3). A picking unit (21) is movably connected to the other side of the column (201). A positioning module (22) is provided on the picking unit (21). The buffer device (3) includes a buffer frame (301) mounted on the walking bottom beam (1). Multiple sets of buffer beams (302) are fixedly connected to both sides of the buffer frame (301) and are used to define multiple buffer levels distributed vertically within the buffer frame (301). Buffer plates (306) are fixedly connected to the multiple sets of buffer beams (302). Multiple sets of trays (307) are placed on the buffer plates (306). A conveying component (31) is provided on the buffer plates (306). A scanning component (32) is provided on the multiple sets of buffer beams (302). A contact component (33) is provided at one end of the multiple sets of buffer beams (302).

2. The stacker crane for roadways according to claim 1, characterized in that, The number of the buffer beams (302) is eight, and they are symmetrically fixedly connected to both sides of the buffer rack (301). The buffer hierarchy includes a first buffer area (303), a second buffer area (304) and a third buffer area (305) arranged from top to bottom.

3. The stacker crane for roadways according to claim 1, characterized in that, The picking unit (21) includes: a structural frame (211) movably connected to the column (201); a climbing device (212) located on one side of the structural frame (211); a telescopic fork (213) installed inside the structural frame (211); a push plate (214) located on the inner wall of the structural frame (211); and a docking beam (215) fixedly connected to the structural frame (211).

4. A stacker crane for roadways according to claim 3, characterized in that, The positioning module (22) includes: a guide plate (221), which is fixedly connected to the docking beam (215) and the guide plate (221) is at the same horizontal height as the telescopic fork (213); a support plate (222), which is fixedly connected to the guide plate (221); a limit switch (223), which is installed on one side of the support plate (222); a spring sleeve (224), which is fixedly connected to the support plate (222); and a contact rod (225), which is movably connected to the spring sleeve (224) and the top of the contact rod (225) is centered with the contact of the limit switch (223) and their centers are collinear along the longitudinal direction.

5. A stacker crane for roadways according to claim 4, characterized in that, A laser rangefinder (226) is installed on the other side of the support plate (222). The laser emitting end of the laser rangefinder (226) is aligned with the hole provided on the structural frame (211), so that the laser beam emitted by the laser rangefinder (226) can pass through without obstruction.

6. A stacker crane for roadways according to claim 1, characterized in that, The conveying assembly (31) includes: a conveyor belt (311) disposed on the buffer plate (306); a conveyor motor (312) mounted on the buffer beam (302); a support cylinder (313) with four sets of support cylinders (313) symmetrically arranged in the four corner areas of the bottom of the cargo; an output rod (3131) disposed on the support cylinder (313); a support plate (3132) fixedly connected to the output rod (3131); and a pressure sensor (3133) disposed on the support plate (3132).

7. A stacker crane for roadways according to claim 1, characterized in that, The scanning component (32) includes: an X-axis slide rail (321) disposed under the buffer beam (302); an X-axis slider (322) movably connected to the X-axis slide rail (321); a scanning beam (323) mounted on the X-axis slider (322); and an X-axis drive wheel (324) disposed on the X-axis slider (322). The X-axis drive wheel (324) is mounted on the X-axis drive wheel (324); a Z-axis displacement module (326) is mounted on the scanning beam (323); a label scanner (327) is mounted on the Z-axis displacement module (326); and an area scan camera (328) is mounted on one side of the label scanner (327).

8. A stacker crane for roadways according to claim 1, characterized in that, The contact assembly (33) includes: a linear drive (331) disposed at one end of the buffer beam (302); and a transmission plate (332) which is bent and has a first segment, a second segment and a third segment connected in sequence. The first segment is connected to the linear drive (331), the second segment forms a contact portion (3321), and the third segment forms an engaging portion (3322).

9. A stacker crane for roadways according to claim 1, characterized in that, The adjustment device (4) includes an adjustment frame (401) located on one side of the buffer frame (301). A lifting platform (402) is movably connected inside the adjustment frame (401). The lifting platform (402) includes two opposing structural side plates (403) and two support rods (404) fixedly connected between the two structural side plates (403). Two conveyor plates (4041) are fixedly connected to the two support rods (4041). Multiple conveyor wheels (4042) are rotatably connected between the two conveyor plates (4041). The shafts of the multiple conveyor wheels (4042) are coaxially arranged.

10. A stacker crane for roadways according to claim 9, characterized in that, A climbing motor (405) is installed on one side of a structural side plate (403), and a climbing shaft (4051) is movably connected to one side of the adjustment frame (401). Climbing gears (4052) are provided on both the output end of the climbing motor (405) and the climbing shaft (4051). The two sets of climbing gears (4052) mesh with each other. A climbing block (4053) is provided on the structural side plate (403). The climbing block (4053) cooperates with the climbing shaft (4051). A climbing cable winding (406) is provided at the top of the adjustment frame (401). A carrying cable (4061) is wound on the climbing cable winding (406). One end of the carrying cable (4061) is connected to the lifting platform (402).

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