A stacker crane for smart warehousing

Abstract

This invention discloses a stacker crane for intelligent warehousing, belonging to the field of intelligent warehousing. It includes a traveling mechanism mounted on a ground rail, a column mounted on the upper part of the traveling mechanism, a lifting mechanism mounted on one side of the column, and a loading platform mounted on the other side of the column. The loading platform includes a vertical frame and a horizontal frame, with a base plate on the horizontal frame. A rotating mechanism is located in the middle of the loading platform. The rotating mechanism includes a housing mounted on the base plate, a rotary motor mounted at the lower part of the housing, and a flange shaft rotatably connected to the middle of the housing. The rotary motor and the flange shaft are connected via a transmission mechanism. A rotating seat is located on the upper part of the flange shaft, and two sets of telescopic forks are mounted on the rotating seat. This invention, by setting a rotating mechanism on the loading platform, enables direct docking between the stacker crane and the main conveyor, eliminating the need for a connecting conveyor in the prior art, improving the efficiency of inbound and outbound operations, and enhancing the reliability and fault tolerance of the intelligent warehousing system.

Description

Technical Field

[0001] This invention belongs to the field of intelligent warehousing, and specifically relates to a stacker crane for intelligent warehousing. Background Technology

[0002] With the rapid development of the global logistics industry, intelligent warehousing, as a core component of the logistics process, has seen continuous improvement in its automation and intelligence levels, becoming a key support for efficient operations in modern manufacturing, e-commerce logistics, and other fields. Automated storage and retrieval systems (AS / RS), as the core carrier of intelligent warehousing, achieve high-density storage and automated retrieval of goods through the coordinated operation of high-rise racking, rail-guided stacker cranes, inbound and outbound conveyor systems, and intelligent control systems. This significantly breaks through the space limitations of traditional warehousing, increasing space utilization by 3-5 times compared to traditional flat warehouses, effectively meeting the large-scale, high-efficiency warehousing needs of enterprises.

[0003] As the core execution equipment of automated storage and retrieval systems (AS / RS), stacker cranes are responsible for critical operations such as horizontal movement, vertical lifting, and fork extension / retraction of goods within the racking aisles. They serve as the central hub connecting the racking storage area with the warehouse's inbound and outbound ports, and their operational efficiency directly determines the overall operational efficiency of the intelligent warehousing system. Currently, in existing intelligent warehousing inbound and outbound operations, the commonly used technical solution in the industry to achieve the transfer and connection of goods between stacker cranes and main conveyors is to install connecting conveyors on both sides of the stacker crane, forming a transfer operation mode of main conveyor, connecting conveyor, and stacker crane.

[0004] like Figure 1 As shown, during the inbound operation, after the goods are transported to the designated location by the main conveyor 10, they need to be transferred to the connecting conveyors 9 on both sides of the stacker crane. The connecting conveyors 9 complete the temporary storage and positioning of the goods. Then, the forks of the stacker crane extend to grab the goods from the connecting conveyor 9 and travel along the aisle track to the target storage location to complete the inbound storage operation. During the outbound operation, after the stacker crane takes the goods from the target storage location on the shelf, it travels to the side of the connecting conveyor 9, places the goods on the connecting conveyor 9, and then the connecting conveyor 9 transfers the goods to the main conveyor 10 to finally complete the outbound transportation of the goods.

[0005] However, in practical applications, especially for large automated warehouses with numerous aisles, the aforementioned existing technical solutions face challenges. Each aisle's stacker crane requires a corresponding connecting conveyor, and the more aisles there are, the more connecting conveyors are needed. The cost of the connecting conveyors themselves, their installation and commissioning, and the associated control systems are high. The large number of connecting conveyors significantly increases the initial investment cost of the entire intelligent warehousing system. Furthermore, subsequent equipment maintenance and energy consumption costs also increase accordingly, making it difficult for companies to control warehousing operating costs. In addition, the installation of connecting conveyors requires warehouse space. The dense arrangement of multiple connecting conveyors greatly increases the warehouse's footprint. The scarcity of land resources leads to high warehouse space costs, especially in warehousing facilities in urban core areas, where reduced space utilization further exacerbates the operational pressure on companies.

[0006] Furthermore, in the existing solution, the connection between the connecting conveyor 9 and the stacker crane and main conveyor 10 requires precise positioning and scheduling. The coordinated operation of multiple connecting conveyors increases the complexity of system scheduling and is prone to problems such as connection jams and cargo transfer delays, affecting the efficiency of inbound and outbound operations. At the same time, the failure of the connecting conveyor will directly prevent the stacker crane in the corresponding aisle from carrying out inbound and outbound operations normally, reducing the reliability and fault tolerance of the entire intelligent warehousing system. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of the prior art and provide a stacker crane for intelligent warehousing. A rotating mechanism is set on the loading platform, which solves the transfer link of the stacker crane and the connecting conveyor in the traditional intelligent warehousing solution. It can directly realize the docking and transfer of goods with the main conveyor, reduce equipment investment and subsequent operation and maintenance costs, and improve the utilization rate of warehouse space.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A stacker crane for intelligent warehousing includes a traveling mechanism mounted on a ground rail, a column mounted on the upper part of the traveling mechanism, a lifting mechanism mounted on one side of the column, and a loading platform mounted on the other side of the column. The traveling mechanism is equipped with an electrical control cabinet. The upper end of the column is equipped with guide wheels that cooperate with the overhead rail and pulleys for guidance. The lifting mechanism includes a winch motor and a winch reducer. A drum is connected to one side of the output shaft of the winch reducer, and a wire rope on the drum passes through the pulleys and connects to the loading platform. The loading platform includes a vertical frame and a horizontal frame. Guide wheels that cooperate with the column are located on both sides of the vertical frame, and a base plate is located on the horizontal frame. A rotating mechanism is located in the middle of the loading platform. The rotating mechanism includes a housing mounted on the base plate. A rotary motor is mounted on the lower part of the housing, and a flange shaft is rotatably connected to the middle of the housing. The rotary motor and the flange shaft are connected through a transmission mechanism. A rotating seat is located on the upper part of the flange shaft, and two sets of telescopic forks are mounted on the rotating seat.

[0009] Furthermore, the transmission mechanism includes a driving pulley mounted on the output shaft of the rotary motor and a driven pulley mounted on the lower end of the flange shaft, the driving pulley and the driven pulley being connected by a transmission belt; or the transmission mechanism includes a driving gear mounted on the output shaft of the rotary motor and a driven gear mounted on the lower end of the flange shaft and meshing with the driving gear.

[0010] Furthermore, the base plate is provided with several support frames, which are evenly distributed along the flange axis. Each support frame is rotatably connected to a support roller, and the bottom of the rotating seat rolls into contact with and is supported by the support roller.

[0011] Furthermore, the upper part of the rotating seat is provided with a lifting platform, the lifting platform includes scissor lifts arranged on both sides of the rotating seat, the upper end of the scissor lifts is provided with a working platform, the telescopic forks are arranged on the working platform, and the scissor lifts on both sides are connected by a connecting rod; the rotating seat is provided with a telescopic drive mechanism, the telescopic end of the telescopic drive mechanism is connected to the connecting rod, and is used to drive the scissor lifts to extend and retract, thereby driving the working platform to lift and lower.

[0012] Furthermore, the lifting platform is equipped with a fork spacing adjustment mechanism, which includes multiple sets of first guide rails symmetrically arranged on the working platform. A first slider is fixedly connected to the lower part of the telescopic fork, and the first slider is slidably installed on the first guide rail. A reduction motor is installed on one side of the lifting platform, and a double-headed screw is connected to the output shaft of the reduction motor. A screw sleeve is provided at the lower part of the telescopic fork, and the double-headed screw is threadedly connected to the screw sleeve.

[0013] Furthermore, the telescopic forks can be single-deep forks, double-deep forks, or multi-deep forks.

[0014] Furthermore, the telescopic fork is provided with clamping mechanisms on both sides. The clamping mechanisms include upright plates fixedly installed on both sides of the rotating base. A flat plate is fixedly connected to the upper end of the upright plates. After the telescopic fork is reset, the top surface of the telescopic fork is flush with the top surface of the flat plate. The flat plate is provided with second guide rails on both sides. A clamping plate is provided on the flat plate. Second sliders are fixedly connected to both ends of the clamping plate. The second sliders are slidably installed on the second guide rails. A plurality of first hinge supports are provided on the side wall of the telescopic fork. A plurality of second hinge supports are provided at the lower part of the clamping plate. The first hinge supports and the second hinge supports are connected by a tie rod. Both the upright plate and the flat plate are provided with receiving grooves to accommodate the tie rods.

[0015] Furthermore, each of the tie rods includes two threaded sleeves, one of which is connected to a first hinge support and the other is connected to a second hinge support. The tie rod also includes a double-ended stud, the two ends of which are threadedly connected to the two threaded sleeves respectively, for adjusting the overall length of the tie rod.

[0016] Furthermore, the clamping plate has an inner plate on its inner side, and a number of guide rods are fixedly connected to one side of the inner plate. The guide rods have end caps at their ends, and springs are sleeved on the outside of the guide rods. One end of the spring abuts against the clamping plate, and the other end of the spring abuts against the end cap.

[0017] Furthermore, an adjusting nut is threaded onto the guide rod, with the end face of the adjusting nut abutting against the end cap to adjust the preload of the spring.

[0018] The beneficial effects of this invention are: (1) By setting a rotating mechanism on the loading platform, the present invention realizes the direct docking between the stacker crane and the main conveyor, omitting the connecting conveyor in the prior art, improving the efficiency of inbound and outbound operations, and enhancing the reliability and fault tolerance of the intelligent warehousing system.

[0019] (2) By setting up a lifting platform, during the goods entry and exit operations, the lifting platform drives the telescopic forks and the goods to rise and fall slightly. The telescopic forks are then used to complete the goods positioning and placement. After the goods are stored, the telescopic forks are retracted and the lifting platform is reset to complete the single storage and retrieval process. Compared with the traditional entry and exit process, this solution does not require the overall large-scale lifting of the loading platform to adapt to the height of the goods, which simplifies the motion control logic of the whole machine and reduces the invalid stroke and power consumption of the equipment.

[0020] (3) A fork spacing adjustment mechanism is installed on the lifting platform to realize stepless adjustment of the fork spacing, adapt to pallets of different specifications and sizes, and enhance the versatility of the stacker crane.

[0021] (4) By setting clamping mechanisms on both sides of the telescopic fork, the goods are clamped on the flat plate and telescopic fork when entering and leaving the warehouse, which avoids the goods from shifting, tipping and slipping during the transfer process, and improves the stability and safety of the goods during the handling process. In addition, the pull rod adopts an adjustable structure, which makes it easy to correct the initial installation position and opening and closing stroke of the clamping plate, and adapts to the clamping spacing assembly requirements of different specifications of pallets.

[0022] (5) By setting an elastic floating inner plate on the inside of the clamping plate, when the clamping mechanism clamps the pallet, the spring always pushes the inner plate to fit against the side wall of the pallet. It can adapt to the small deviations in the shape and size of the pallet to achieve flexible clamping. This ensures that the clamping mechanism has a stable and reliable clamping and limiting effect on the pallet and goods, and avoids the goods from shifting and shaking during the transfer process. It can also rely on the elastic buffering effect of the spring to buffer the rigid squeezing force of the clamping plate, prevent the clamping force of the clamping plate from being too large and hard squeezing and hitting the pallet, and avoid the pallet from being deformed and damaged. Attached Figure Description

[0023] Figure 1 This is a diagram showing the usage status of intelligent warehouse stacker cranes in existing technologies.

[0024] Figure 2 This is a schematic diagram of a stacker crane structure for intelligent warehousing according to the present invention.

[0025] Figure 3 This is a schematic diagram of the loading platform.

[0026] Figure 4 This is a schematic diagram of the base plate.

[0027] Figure 5 This is a schematic diagram of a rotating mechanism.

[0028] Figure 6 This is a schematic diagram of the assembly of the swivel base and the telescopic forks.

[0029] Figure 7 This is a schematic diagram of the assembly of the rotating seat and the clamping mechanism.

[0030] Figure 8 This is a schematic diagram of the assembly of the plywood and inner panel.

[0031] Figure 9 This is a side view of the swivel mount.

[0032] Figure 10 This is a schematic diagram of a lifting platform.

[0033] Figure 11 This is a schematic diagram of telescopic forks.

[0034] In the diagram: 1. Traveling mechanism; 2. Column; 21. Pulley; 3. Electrical control cabinet; 4. Lifting mechanism; 41. Winch motor; 42. Winch reducer; 43. Drum; 5. Loading platform; 51. Vertical frame; 52. Guide wheel; 53. Horizontal frame; 54. Base plate; 55. Support roller; 6. Rotating mechanism; 61. Housing; 62. Rotary motor; 63. Transmission mechanism; 64. Flange shaft; 65. Rotary seat; 66. Lifting platform; 661. Scissor lift; 662. Connecting rod; 663. Telescopic drive mechanism; 6 64. Working platform; 665. First guide rail; 666. Gear motor; 667. Double-ended screw; 7. Telescopic fork; 71. First slider; 72. Screw sleeve; 73. First hinge support; 8. Clamping mechanism; 81. Vertical plate; 82. Flat plate; 83. Clamping plate; 84. Inner plate; 85. Guide rod; 86. Adjusting nut; 87. Spring; 88. Second slider; 89. Second guide rail; 810. Second hinge support; 811. Threaded sleeve; 812. Double-ended stud; 9. Connecting conveyor; 10. Main conveyor. Detailed Implementation

[0035] The following will be combined with the appendix Figures 1-11 The technical solutions in the embodiments of the present invention are clearly and completely described herein. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill 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 "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0037] like Figure 2 As shown, a stacker crane for intelligent warehousing includes a traveling mechanism 1 mounted on a ground rail, a column 2 mounted on the upper part of the traveling mechanism 1, a lifting mechanism 4 mounted on one side of the column 2, and a loading platform 5 mounted on the other side of the column 2. The traveling mechanism 1 is equipped with an electrical control cabinet 3. The upper end of the column 2 is equipped with guide wheels that cooperate with the overhead rail and pulleys 21 for guidance. The lifting mechanism 4 includes a winch motor 41 and a winch reducer 42. A drum 43 is connected to one side of the output shaft of the winch reducer 42, and a wire rope on the drum 43 passes through the pulleys 21 and connects to the loading platform 5. Figure 3As shown, the loading platform 5 includes a vertical frame 51 and a horizontal frame 53. The vertical frame 51 has guide wheels 52 on both sides that cooperate with the columns 2, and the horizontal frame 53 has a base plate 54. Figure 6 , Figure 7 As shown, the loading platform 5 is provided with a rotating mechanism 6 in the middle. The rotating mechanism 6 includes a housing 61 mounted on the base plate 54. A rotary motor 62 is mounted on the lower part of the housing 61. A flange shaft 64 is rotatably connected to the middle of the housing 61. The rotary motor 62 and the flange shaft 64 are connected through a transmission mechanism 63. A rotating seat 65 is provided on the upper part of the flange shaft 64. Two sets of telescopic forks 7 are provided on the rotating seat 65.

[0038] Furthermore, the transmission mechanism 63 includes a driving pulley mounted on the output shaft of the rotary motor 62 and a driven pulley mounted on the lower end of the flange shaft 64. The driving pulley and the driven pulley are connected by a transmission belt. To ensure the rotational accuracy of the rotary mechanism 6, as a preferred embodiment, such as... Figure 5 As shown, the driving pulley and driven pulley are synchronous pulleys, and the transmission belt is a synchronous belt; or the transmission mechanism 63 includes a driving gear mounted on the output shaft of the rotary motor 62 and a driven gear mounted on the lower end of the flange shaft 64 and meshing with the driving gear.

[0039] like Figure 4 As shown, the base plate 54 is provided with several support frames, which are evenly distributed around the flange shaft 64. Each support frame is rotatably connected to a support roller 55. The bottom of the rotating seat 65 rolls in contact with and is supported by the support roller 55. When the rotating seat 65 rotates around the base plate 54, the bottom of the rotating seat 65 and each support roller 55 form a rolling fit, which reduces the frictional resistance when the rotating seat 65 rotates. At the same time, the circumferentially distributed multi-point support structure can provide balanced vertical support for the rotating seat 65, improving the smoothness and reliability of the rotating seat 65 during rotation.

[0040] like Figure 6 , Figure 7 , Figure 10 As shown, the rotating base 65 is equipped with a lifting platform 66 on its upper part. The lifting platform 66 includes scissor lifts 661 on both sides of the rotating base 65. The upper end of the scissor lifts 661 is equipped with a working platform 664. The telescopic forks 7 are mounted on the working platform 664. The scissor lifts 661 on both sides are connected by a connecting rod 662. The rotating base 65 is equipped with a telescopic drive mechanism 663. The telescopic end of the telescopic drive mechanism 663 is connected to the connecting rod 662 and is used to drive the scissor lifts 661 to extend and retract, thereby driving the working platform 664 to rise and fall. The telescopic drive mechanism 663 is a pneumatic cylinder, a hydraulic cylinder, or an electric cylinder. In this embodiment, the telescopic drive mechanism 663 is an electric cylinder, which can realize the extension and retraction of the telescopic forks 7 without the need for a complex oil or air circuit system.

[0041] In this solution, by setting up a lifting platform 66, during the goods entry and exit operations, the loading platform 5 remains stationary after stopping at the target storage location. Only the lifting platform 66 drives the telescopic forks 7 and the goods to move up and down slightly, avoiding interference between the telescopic forks 7 and the automated warehouse structure. The telescopic forks 7 then work together to complete the goods alignment, delivery, and placement. After the goods are stored, the telescopic forks 7 retract, and the lifting platform 66 resets, completing a single storage and retrieval process. Compared to traditional entry and exit processes, this solution does not require the loading platform 5 to move up and down a large range to adapt to the storage location height, simplifying the overall motion control logic and reducing the equipment's ineffective travel and power consumption.

[0042] like Figure 7 , Figure 11 As shown, the lifting platform 66 is equipped with a fork spacing adjustment mechanism. The fork spacing adjustment mechanism includes multiple sets of first guide rails 665 symmetrically arranged on the working platform 664. The lower part of the telescopic fork 7 is fixedly connected to a first slider 71, which is slidably mounted on the first guide rail 665. A reduction motor 666 is installed on one side of the lifting platform 66. A double-ended screw 667 is connected to the output shaft of the reduction motor 666. The lower part of the telescopic fork 7 is provided with a screw sleeve 72, and the double-ended screw 667 is threadedly connected to the screw sleeve 72. When the reduction motor 666 is working, it drives the double-ended screw 667 to rotate. With the help of the forward and reverse threads of the double-ended screw 667 and the screw sleeves 72 on both sides, the two sets of telescopic forks 7 are driven to move towards each other or away from each other along the first guide rail 665, realizing stepless adjustment of the fork spacing, adapting to pallets of different specifications and sizes, and enhancing the versatility of the stacker crane.

[0043] The telescopic fork 7 can be a single-deep fork, a double-deep fork, or a multi-deep fork.

[0044] like Figure 6 , Figure 7 , Figure 9 As shown, the telescopic fork 7 is provided with clamping mechanisms 8 on both sides. The clamping mechanism 8 includes upright plates 81 fixedly installed on both sides of the rotating seat 65. A flat plate 82 is fixedly connected to the upper end of the upright plate 81. After the telescopic fork 7 is reset, the top surface of the telescopic fork 7 is flush with the top surface of the flat plate 82. The flat plate 82 is provided with second guide rails 89 on both sides. The flat plate 82 is provided with clamping plates 83. The two ends of the clamping plates 83 are fixedly connected with second sliders 88. The second sliders 88 are slidably installed on the second guide rails 89. The side wall of the telescopic fork 7 is provided with several first hinge supports 73. The lower part of the clamping plate 83 is provided with several second hinge supports 810. The first hinge supports 73 and the second hinge supports 810 are connected by a tie rod. Both the upright plate 81 and the flat plate 82 are provided with receiving grooves to accommodate the tie rods. During outbound operations, the lifting platform 66 raises, causing the telescopic forks 7 to move upwards. The telescopic forks 7, through the pull rod, pull the clamping plates 83 to slide along the second guide rail 89 to the outside of the flat plate 82, reserving the space required for placing goods, making it convenient for the telescopic forks 7 to pick up and put down goods. After the goods are moved above the loading platform 5, the lifting platform 66 drives the telescopic forks 7 to move downwards to reset. The pull rod, in conjunction with the position, pulls the clamping plates 83 on both sides to move towards the inside of the flat plate 82, thereby forming a centering clamp and limiting position on the goods from both sides, so that the goods are firmly attached to the flat plate 82 and the telescopic forks 7, avoiding the goods from shifting, tipping, or slipping during the inbound and outbound transfer process, and improving the stability and safety of the goods handling process.

[0045] like Figure 9 As shown, each of the pull rods includes two threaded sleeves 811, one of which is connected to the first hinge support 73, and the other is connected to the second hinge support 810. The pull rod also includes a double-ended stud 812, the two ends of which are threadedly connected to the two threaded sleeves 811 respectively, for adjusting the overall length of the pull rod, thereby adjusting the position of the clamping plate 83, facilitating the correction of the initial installation position and opening and closing stroke of the clamping plate 83, and adapting to the clamping spacing assembly requirements of different specifications of pallets.

[0046] like Figure 8 As shown, the inner side of the clamping plate 83 is provided with an inner plate 84, and a plurality of guide rods 85 are fixedly connected to one side of the inner plate 84. The end of the guide rod 85 is provided with an end cap, and a spring 87 is sleeved on the outside of the guide rod 85. One end of the spring 87 abuts against the clamping plate 83, and the other end of the spring 87 abuts against the end cap. In this design, an elastic floating inner plate 84 is provided inside the clamping plate 83. When the clamping mechanism 8 clamps the pallet, the spring 87 always elastically pushes the inner plate 84 to make it fit against the side wall of the pallet. It can adapt to the slight deviation of the pallet shape and size to achieve flexible clamping. This ensures that the clamping mechanism 8 has a stable and reliable clamping and limiting effect on the pallet and the goods, and avoids the goods from shifting or shaking during the transfer. At the same time, the elastic buffering effect of the spring 87 can buffer the rigid squeezing force of the clamping plate 83, and prevent the clamping force of the clamping plate 83 from being too large and hard squeezing and hitting the pallet, thus avoiding the deformation and damage of the pallet.

[0047] like Figure 8 As shown, an adjusting nut 86 is threaded onto the guide rod 85. The end face of the adjusting nut 86 abuts against the end cover and is used to adjust the preload of the spring 87. The clamping force of the spring 87 can be flexibly adjusted according to the different materials and specifications of the pallets and the required tightness of the goods. This ensures that the inner plate 84 maintains a stable and close clamping fit to the pallet, meeting the limiting and anti-sway requirements during transport. It also allows for precise control of the clamping and buffering force, adapting to various working conditions. Furthermore, it can compensate for fatigue deformation of the spring 87 after long-term use, maintaining long-term stable elastic clamping performance.

[0048] When the stacker crane of the present invention is used for intelligent warehousing inbound and outbound operations, it moves horizontally within the aisle via the walking mechanism 1 along the ground rail. The guide wheel at the upper end of the column 2 cooperates with the overhead rail to complete the guiding and limiting of the whole machine's movement. The lifting mechanism 4 is driven by the winch motor 41 and the winch reducer 42 to rotate the drum 43. The steel wire rope on the drum 43 is driven by the pulley 21 at the upper end of the column 2 to pull the loading platform 5 to move vertically up and down along the column 2. The guide wheels 52 on both sides of the vertical frame 51 of the loading platform 5 slide with the column 2 to ensure that the lifting and lowering of the loading platform 5 is stable and without deviation.

[0049] A rotating mechanism 6 is set in the middle of the loading platform 5. The rotating motor 62 drives the flange shaft 64 to rotate through the transmission mechanism 63, which drives the rotating seat 65 and the two sets of telescopic forks 7 on it to achieve horizontal angle rotation and reversal, so as to adapt to the positioning operation of goods in different positions and conveying directions. The bottom plate 54 is evenly arranged with support frames with rollers 55 in the circumferential direction, which forms multi-point rolling support for the rotating seat 65, effectively reducing rotational friction resistance and improving the smoothness of rotational operation and positioning accuracy.

[0050] A scissor lift platform 66 is installed above the rotating seat 65. The telescopic drive mechanism 663 drives the scissor frame 661 to extend and retract, which in turn drives the working platform 664 and the telescopic forks 7 to make small lifting and lowering movements. During operation, the loading platform 5 is stationary in a fixed position and does not need to be raised or lowered over a large range. The slight lifting and lowering of the lift platform 66 can avoid positional interference with the warehouse rack structure. Combined with the extension and retraction of the telescopic forks 7, the goods can be accurately picked up and placed, simplifying the motion control logic of the whole machine and reducing the equipment's ineffective stroke and power consumption.

[0051] The fork spacing adjustment mechanism on the operating platform 664 provides sliding guidance for the telescopic forks 7 via the first guide rail 665 and the first slider 71. The geared motor 666 drives the double-headed screw 667 to rotate, and through the forward and reverse thread transmission, drives the two sets of telescopic forks 7 to slide synchronously towards or away from each other, realizing stepless adjustment of the fork spacing. It can adapt to pallets of different sizes and specifications, expanding the application range of the stacker crane. The telescopic forks 7 can be selected with single-depth, double-depth, or multi-depth structures to meet the storage and retrieval needs of different depth positions.

[0052] Clamping mechanisms 8 are installed on both sides of the telescopic fork 7. The clamping plate 83 slides laterally along the second guide rail 89 via the second slider 88. The lifting stroke of the lifting platform 66 is used to link the clamping plate 83 to automatically open and close. When the fork picks up or puts down goods, the clamping plate 83 moves outward to make room. After the goods are loaded and reset, the clamping plate 83 automatically clamps inward to center and limit the centering of the goods pallet. The pull rod adopts an adjustable structure with a double threaded sleeve 811 and a double-headed stud 812, which can finely adjust the total length of the pull rod and accurately correct the installation position and opening and closing stroke of the clamping plate 83. An elastic floating inner plate 84 is set on the inner side of the clamping plate 83. When clamping, the inner plate 84 is flexibly pressed against the side wall of the pallet by the spring 87, which adapts to the slight deviation of the pallet shape and size, realizes flexible centering and limiting, prevents the goods from shifting, tipping and slipping during the transfer, and at the same time buffers the rigid clamping pressure to avoid the pallet from being deformed and damaged by pressure.

[0053] This stacker crane adopts an integrated structure design, eliminating the intermediate transfer link of the connecting conveyor 9 in the traditional solution. It can directly connect and transfer goods with the main conveyor 10, reducing equipment investment, installation, commissioning and subsequent operation and maintenance costs, saving warehouse space and improving the utilization rate of storage space. At the same time, it simplifies the multi-device collaborative scheduling logic, improves the efficiency of intelligent warehousing inbound and outbound operations and the reliability and fault tolerance of system operation.

[0054] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described or use similar methods to replace them, as long as they do not deviate from the scope defined by the structure of the present invention, they should all fall within the protection scope of the present invention.

Claims

1. A stacker crane for intelligent warehousing, comprising a traveling mechanism mounted on a ground rail, a column disposed on the upper part of the traveling mechanism, a lifting mechanism mounted on one side of the column, and a loading platform mounted on the other side of the column, wherein the upper end of the column is provided with guide wheels cooperating with the overhead rail and pulleys for guidance, the lifting mechanism includes a winch motor and a winch reducer, a drum is connected to one side of the output shaft of the winch reducer, and a wire rope on the drum passes through the pulleys and is connected to the loading platform; characterized in that, The loading platform includes a vertical frame and a horizontal frame. The vertical frame has guide wheels on both sides that cooperate with the columns, and the horizontal frame has a base plate. The loading platform has a rotating mechanism in the middle. The rotating mechanism includes a housing mounted on the base plate. A rotary motor is installed at the lower part of the housing. A flange shaft is rotatably connected to the middle of the housing. The rotary motor and the flange shaft are connected through a transmission mechanism. A rotating seat is provided on the upper part of the flange shaft. Two sets of telescopic forks are provided on the rotating seat.

2. A stacker crane for intelligent warehousing according to claim 1, characterized in that, The transmission mechanism includes a driving pulley mounted on the output shaft of a rotary motor and a driven pulley mounted on the lower end of a flange shaft, the driving pulley and the driven pulley being connected by a transmission belt; or the transmission mechanism includes a driving gear mounted on the output shaft of a rotary motor and a driven gear mounted on the lower end of a flange shaft and meshing with the driving gear.

3. A stacker crane for intelligent warehousing according to claim 1, characterized in that, The base plate is provided with several support frames, which are evenly distributed along the flange axis. Each support frame is rotatably connected to a support roller, and the bottom of the rotating seat is in rolling contact with and supported by the support roller.

4. A stacker crane for intelligent warehousing according to any one of claims 1-3, characterized in that, The rotating base is equipped with a lifting platform on its upper part. The lifting platform includes scissor lifts on both sides of the rotating base. The upper end of the scissor lift is equipped with a working platform. Telescopic forks are set on the working platform. The scissor lifts on both sides are connected by a connecting rod. The rotating base is equipped with a telescopic drive mechanism. The telescopic end of the telescopic drive mechanism is connected to the connecting rod and is used to drive the scissor lift to extend and retract, thereby driving the working platform to lift and lower.

5. A stacker crane for intelligent warehousing according to claim 4, characterized in that, The lifting platform is equipped with a fork spacing adjustment mechanism, which includes multiple sets of first guide rails symmetrically arranged on the working platform. A first slider is fixedly connected to the lower part of the telescopic fork, and the first slider is slidably installed on the first guide rail. A reduction motor is installed on one side of the lifting platform, and a double-headed screw is connected to the output shaft of the reduction motor. A screw sleeve is provided at the lower part of the telescopic fork, and the double-headed screw is threadedly connected to the screw sleeve.

6. A stacker crane for intelligent warehousing according to claim 1, characterized in that, The telescopic forks can be single-deep forks, double-deep forks, or multi-deep forks.

7. A stacker crane for intelligent warehousing according to claim 4, characterized in that, The telescopic fork is equipped with clamping mechanisms on both sides. Each clamping mechanism includes upright plates fixedly installed on both sides of the rotating base. A flat plate is fixedly connected to the upper end of the upright plates. After the telescopic fork is reset, the top surface of the telescopic fork is flush with the top surface of the flat plate. A second guide rail is provided on both sides of the flat plate. A clamping plate is provided on the flat plate. A second slider is fixedly connected to both ends of the clamping plate. The second slider is slidably installed on the second guide rail. A plurality of first hinge supports are provided on the side wall of the telescopic fork. A plurality of second hinge supports are provided at the lower part of the clamping plate. The first hinge supports and the second hinge supports are connected by a tie rod. Both the upright plate and the flat plate are provided with receiving grooves to accommodate the tie rods.

8. A stacker crane for intelligent warehousing according to claim 7, characterized in that, Each of the tie rods includes two threaded sleeves, one of which is connected to a first hinge support and the other is connected to a second hinge support. The tie rod also includes a double-ended stud, the two ends of which are threadedly connected to the two threaded sleeves respectively, for adjusting the overall length of the tie rod.

9. A stacker crane for intelligent warehousing according to claim 7, characterized in that, The clamping plate has an inner plate on its inner side. Several guide rods are fixedly connected to one side of the inner plate. The end of each guide rod is provided with an end cap. A spring is sleeved on the outside of the guide rod. One end of the spring abuts against the clamping plate, and the other end of the spring abuts against the end cap.

10. A stacker crane for intelligent warehousing according to claim 9, characterized in that, An adjusting nut is threaded onto the guide rod. The end face of the adjusting nut abuts against the end cap and is used to adjust the preload of the spring.

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