Warehouse aisle stacker

Abstract

The present application relates to the technical field of stacking equipment, and particularly relates to a warehouse roadway stacking machine; the warehouse roadway stacking machine can realize double-layer stacking of goods on a goods shelf at one time, improves stacking efficiency, guarantees stable transportation of the goods, and fully utilizes the space of the goods shelf; the warehouse roadway stacking machine comprises a ground rail, a ground rail vehicle mounted on the ground rail, a vertical frame mounted on the ground rail vehicle, a lifting frame mounted on the vertical frame and sliding up and down, a traction driving part providing power for lifting of the lifting frame, an extendable fork mounted on the lifting frame, and a double-layer same-point stacking and taking device mounted on the extendable fork; the double-layer same-point stacking and taking device comprises a support frame, a plate seat mounted on the support frame, and two variable-rail stacking and taking mechanisms symmetrically arranged on the plate seat; the plate seat is provided with two symmetrically-arranged straight and curved rail grooves and a collinear rail groove located in the middle of the two straight and curved rail grooves and communicating with the straight and curved rail grooves; the variable-rail stacking and taking mechanism comprises a mechanical sliding table, a rail frame, a fixed guide column, and a grabbing mechanism mounted at the bottom of the guide column.

Description

Technical Field

[0001] This invention relates to the technical field of stacking equipment, and in particular to a warehouse aisle stacker. Background Technology

[0002] Automated storage and retrieval systems (AS / RS) are the core of modern warehousing and logistics technology. They typically consist of high-bay racking, stacker cranes, inbound and outbound conveyor systems, a warehouse control system (WCS), and a warehouse management system (WMS). Through computer control, goods are automatically stored and retrieved on high-bay racks, achieving rationalization of warehouse height, automation of storage and retrieval, and simplification of operation. Existing stacker cranes, based on three-axis linkage, use fork extension mechanisms to stack materials in a single layer on the racks.

[0003] However, when goods are stacked in a single layer, the utilization rate of the racks is not high. To stack goods in two or more layers on the racks, a stacker crane is needed to repeatedly pick up and stack the goods. However, if the traditional method of directly stacking goods in multiple layers with telescopic forks and then placing them on the racks is used, the stacked goods are extremely unstable during transportation, and there is a risk of the goods falling. How to achieve double-layer stacking of goods on the racks in a single operation and ensure the stability of the goods transportation has become an urgent technical problem to be solved. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a warehouse aisle stacker crane that can achieve double-layer stacking of goods on shelves in a single operation, improving stacking efficiency while ensuring stable transportation of goods and making full use of shelf space.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a warehouse aisle stacker crane, comprising a ground rail, a ground rail car mounted on the ground rail, a vertical frame mounted on the ground rail car, a lifting frame slidably mounted on the vertical frame, a traction drive component providing power for the lifting frame to move up and down, telescopic forks mounted on the lifting frame, and a double-layer same-point stacking and retrieving device mounted on the telescopic forks. The double-layer same-point stacking and retrieving device includes a support frame, a plate base mounted on the support frame, and two variable-track stacking and retrieving mechanisms symmetrically arranged on the plate base. The plate base is provided with two symmetrically arranged straight and curved rail grooves and a collinear rail groove located in the middle of the two straight and curved rail grooves and communicating with them. The variable rail stacking and picking mechanism includes a mechanical slide fixedly installed on the plate base, a rail frame slidably installed on the mechanical slide, a guide post fixedly installed on the rail frame, and a gripping mechanism installed at the bottom of the guide post. The driving direction of the mechanical slide is perpendicular to the length direction of the rail frame. The guide post is slidably installed in the corresponding straight and curved rail groove and the collinear rail groove. The gripping mechanism is used to grip the goods. Furthermore, the ground rail vehicle is equipped with drive wheels for its movement and an electric motor that provides power to the drive wheels; the traction drive component includes a winch, a fixed pulley rotatably mounted on the top of the upright frame, and a traction rope, one end of which is connected to the winch, and the other end of which passes over the fixed pulley and is connected to the lifting frame; the straight and curved rail grooves include straight rail grooves and curved rail grooves, and the collinear rail grooves communicate with the curved rail grooves on the two straight and curved rail grooves; the gripping mechanism can use existing mechanical grippers, etc., to clamp the goods.

[0006] Preferably, a misalignment prevention limiting component is installed at the junction of the two straight and curved rail grooves and the collinear rail groove on the plate base. The misalignment prevention limiting component includes a rod and a blocking block fixedly installed on the top of the rod. The plate base has a through hole that fits with the rod, and the rod is movably installed in the through hole. The bottom of the guide post has a support plate corresponding to the bottom of the rod, and the support plate has an inclined slope to smoothly guide the bottom of the rod to the support plate. Two limiting seats are installed on the plate base to limit the rotation of the blocking block. Furthermore, the rod can slide up and down along the through hole and rotate around the through hole. The bottom of the rod is spherical to reduce the friction between the rod and the support plate.

[0007] Preferably, the gripping mechanism includes a mounting frame, clamping assemblies symmetrically arranged on both sides of the mounting frame, a lifting frame slidably mounted in the middle of the mounting frame, and two transmission rods. The clamping assembly includes a rotating shaft rotatably mounted on the mounting frame, a first cam fixedly mounted on the rotating shaft, a clamping member rotatably mounted on the bottom end of the first cam, an L-shaped pull arm fixedly mounted on the clamping member, a second cam fixedly mounted on the rotating shaft, and a drive arm fixedly mounted on the rotating shaft. The movable end of the L-shaped pull arm is hinged to the second cam on another clamping assembly, and the drive arm is connected to the lifting frame via transmission rods. It should be noted that this gripping mechanism is suitable for hard goods that are not easily deformed during the gripping process, such as metal components or rigid packaging materials.

[0008] Preferably, the upper part of the transmission rod is provided with a strip-shaped sliding hole, the lower part of the transmission rod is provided with a strip-shaped sliding groove, the top of the lifting frame is equipped with a first hinge post extending into the strip-shaped sliding hole, the drive arm is equipped with a second hinge post extending into the strip-shaped sliding groove, a first tension spring is hinged on the first hinge post, and the bottom of the first tension spring is hinged to the middle part of the transmission rod.

[0009] Preferably, the clamping member includes a main frame and a protrusion mounted on the main frame and an anti-slip layer covering the protrusion, wherein the protrusion has a trapezoidal cross-section; further, the anti-slip layer is a rubber layer or a flexible fiber layer to improve the friction between the clamping member and the cargo.

[0010] Preferably, the plate base is provided with two embedded grooves that fit with the blocking block. When the blocking block contacts the corresponding limiting seat, it is located in the corresponding embedded groove. The two sides of the blocking block are provided with concave guide grooves that fit with the two straight and curved rail grooves.

[0011] Preferably, the lifting frame is provided with multiple ratchet teeth, and the mounting frame is provided with multiple first elastic locking elements corresponding to the ratchet teeth. The first elastic locking element includes a slider slidably mounted on the mounting frame, a locking pin fixedly mounted on the slider, and a spring. One end of the spring is connected to the slider, and the other end of the spring is connected to the mounting frame. The locking pin is engaged in the corresponding ratchet teeth. Furthermore, the first elastic locking elements and ratchet teeth are used to prevent the lifting frame from moving down on its own, so as to ensure that the gripping mechanism tightly clamps the goods.

[0012] Preferably, the device further includes a second tension spring and a second elastic locking element. The first and second elastic locking elements are located on opposite sides of the lifting frame. The second elastic locking element has the same structure as the first elastic locking element. The lifting frame has a locking groove corresponding to the second elastic locking element. A T-shaped frame is hinged to the mounting frame. The T-shaped frame is elastically connected to the mounting frame via the second tension spring. The T-shaped frame is used to push the locking pins on each of the first elastic locking elements out of the ratchet. A drive handle is rotatably mounted on the T-shaped frame. A push-up ramp corresponding to the drive handle is mounted at the bottom of the plate base. The push-up ramp is used to apply a downward tilting force to the drive handle. Further, one end of the second tension spring is hinged to the T-shaped frame, and the other end is hinged to the mounting frame. Under the elastic tension of the second tension spring, the T-shaped frame moves away from the first elastic locking element.

[0013] Compared with the prior art, the present invention provides a warehouse aisle stacker crane with the following beneficial effects: This warehouse aisle stacker crane uses two gripping mechanisms to grip two goods, and uses a ground rail car and traction drive to move a double-layer same-point stacking and picking device to the stacking position on the shelf. The mechanical slide on one of the track-changing stacking and picking mechanisms moves, and the corresponding guide column slides along the straight and curved rail grooves and enters the end of the collinear rail groove. The gripping mechanism places the goods on the shelf, and the traction drive drives the lifting frame to move up to the corresponding height of the goods. After the goods are placed, the track-changing stacking and picking mechanism resets, and the other track-changing stacking and picking mechanism places the goods on the already stacked goods according to the above principle. Double-layer stacking of goods on the shelf can be achieved in a single operation, which improves stacking efficiency while ensuring stable transportation of goods, makes full use of shelf space, and greatly increases the storage capacity of the warehouse. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 This is a three-dimensional structural diagram of the double-layer same-point stacking and picking device of the present invention; Figure 3 This is a three-dimensional structural diagram of the double-layer same-point stacking and picking device of the present invention from another perspective; Figure 4 This is a schematic diagram of the front view of the double-layer same-point stacking and picking device of the present invention; Figure 5 This is a top view schematic diagram of the double-layer same-point stacking and picking device of the present invention; Figure 6 This is a bottom-view plan view of the double-layer same-point stacking and picking device of the present invention; Figure 7 This is the invention Figure 4 A magnified view of the structure at point A in the middle; Figure 8This is a three-dimensional structural diagram of the gripping mechanism of the present invention; Figure 9 This is a schematic diagram of a partial three-dimensional structure inside the gripping mechanism of the present invention; Figure 10 This is a top view schematic diagram of the gripping mechanism of the present invention; Figure 11 This is the invention Figure 10 Schematic diagram of the cross-sectional structure at point AA; In the attached diagram, the following components are labeled: 1. Ground rail; 2. Ground rail vehicle; 3. Upright frame; 4. Lifting frame; 5. Traction drive unit; 6. Telescopic fork; 7. Double-layer same-point stacking and picking device; 8. Support frame; 9. Plate base; 10. Straight and curved rail grooves; 11. Collinear rail grooves; 12. Mechanical slide table; 13. Rail frame; 14. Guide column; 15. Gripping mechanism; 16. Rod column; 17. Blocking block; 18. Pallet; 19. Inclined slope; 20. Limiting seat; 21. Mounting frame; 22. Lifting frame; 23. Transmission rod; 24. Rotating shaft; 25. 26. First cam; 27. L-shaped pull arm; 28. Second cam; 29. ​​Drive arm; 20. Strip-shaped sliding hole; 31. Strip-shaped sliding groove; 32. First hinge post; 33. Second hinge post; 34. First tension spring; 35. Main frame; 36. Protrusion; 37. Anti-slip layer; 38. Embedded groove; 39. Concave guide groove; 40. Ratchet; 41. Slider; 42. Locking post; 43. Spring; 44. Second tension spring; 45. T-shaped frame; 46. Drive handle; 47. Pushing ramp frame; 48. Second elastic locking element; 49. Locking groove. Detailed Implementation

[0015] To enable those skilled in the art to better understand the invention, the technical solutions in the embodiments of the invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the invention, not all embodiments. Based on the embodiments of the invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the invention.

[0016] It should be noted that, without conflict, the embodiments and features and technical solutions in the invention can be combined with each other.

[0017] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0018] Please refer to Figures 1-6A warehouse aisle stacker crane includes a ground rail 1, a ground rail car 2 mounted on the ground rail 1, a vertical frame 3 mounted on the ground rail car 2, a lifting frame 4 slidably mounted on the vertical frame 3, a traction drive component 5 providing power for the lifting frame 4 to lift, a telescopic fork 6 mounted on the lifting frame 4, and a double-layer same-point stacking and picking device 7 mounted on the telescopic fork 6. The double-layer same-point stacking and picking device 7 includes a support frame 8, a plate base 9 mounted on the support frame 8, and two variable-track stacking and picking mechanisms symmetrically arranged on the plate base 9. The plate base 9 is provided with two symmetrically arranged straight and curved rails. The track groove 10 and the collinear track groove 11 located in the middle of the two straight and curved track grooves 10 and communicating with the straight and curved track grooves 10, the track changing stacking and picking mechanism includes a mechanical slide 12 fixedly installed on the plate base 9, a track frame 13 slidably installed on the mechanical slide 12, a guide post 14 fixedly installed on the track frame 13, and a gripping mechanism 15 installed at the bottom of the guide post 14. The driving direction of the mechanical slide 12 is perpendicular to the length direction of the track frame 13. The guide post 14 is slidably installed in the corresponding straight and curved track groove 10 and collinear track groove 11. The gripping mechanism is used to grip the goods. Furthermore, the ground rail car 2 is equipped with drive wheels for its movement and an electric motor that provides power to the drive wheels; the traction drive component 5 includes a winch, a fixed pulley rotatably mounted on the top of the upright frame 3, and a traction rope. One end of the traction rope is connected to the winch, and the other end of the traction rope passes over the fixed pulley and is connected to the lifting frame 4; the straight and curved rail grooves 10 include straight rail grooves and curved rail grooves, and the collinear rail groove 11 communicates with the curved rail grooves on the two straight and curved rail grooves 10; the gripping mechanism 15 can adopt existing mechanical grippers, etc., to clamp the goods through mechanical grippers; in another embodiment, the plate base 9 is rotatably mounted on the support frame 8, and the support frame 8 is equipped with a rotary table that provides power for the rotation of the plate base 9. The telescopic fork 6 adopts a two-way telescopic fork so that the double-layer same-point stacking and picking device 7 can pick up and put down the goods at the shelves on both sides of the ground rail 1.

[0019] The guide post 14 has a potential for misalignment and slippage at the junction of the straight-curved rail groove 10 and the collinear rail groove 11. Therefore, the above solution has been further optimized. For details, please refer to... Figures 2-7 At the junction of the two straight and curved rail grooves 10 and the collinear rail groove 11 on the plate base 9, anti-misalignment limiting components are installed. These components include a rod 16 and a blocking block 17 fixedly installed on the top of the rod 16. The plate base 9 has a through hole that fits into the rod 16, and the rod 16 is movably installed within the through hole. The bottom of the guide post 14 has a support plate 18 corresponding to the bottom of the rod 16. The support plate 18 has an inclined slope 19, which smoothly guides the bottom of the rod 16 to the support plate 18. Two limiting seats 20 are installed on the plate base 9 to limit the rotation of the blocking block 17. Furthermore, the rod 16 can slide up and down along the through hole and rotate around it. The bottom of the rod 16 is spherical to reduce friction between the rod 16 and the support plate 18.

[0020] For details, please refer to Figure 2 and Figure 5 The plate base 9 is provided with two embedded grooves 37 that fit with the blocking block 17. When the blocking block 17 contacts the corresponding limiting seat 20, it is located in the corresponding embedded groove 37. The two sides of the blocking block 17 are provided with concave guide grooves 38 that fit with the two straight and curved rail grooves 10. The embedded grooves 37 can prevent the blocking block 17 from being limited, so as to prevent the blocking block 17 from moving on its own due to vibration or other reasons. The concave guide grooves 38 can smoothly guide the guide post 14 into the collinear rail groove 11 or the straight and curved rail groove 10.

[0021] By utilizing two straight and curved rail grooves 10 and collinear rail grooves 11, two parallel variable-track stacking and picking mechanisms can operate to the same picking and placing point. Automatic rail separation and merging can be achieved mechanically without the need for a complex external control system, ensuring consistent placement of stacked goods and guaranteeing neat stacking. Similarly, simultaneous picking of two layers of stacked goods can be achieved at the same location on the shelf, thus doubling the stacking and picking efficiency. In another embodiment, more straight and curved rail grooves 10 and variable-track stacking and picking mechanisms can be added as needed to achieve three or four layers of stacked goods; however, care should be taken to ensure that the stacking height is not too high to prevent the goods on the shelf from tipping over.

[0022] When the guide post 14 on one of the track-changing stacking and picking mechanisms slides along the corresponding straight and curved track groove 10, the blocking block 17 on the anti-misalignment limiter blocks the straight and curved track groove 10. The inclined slope 19 at the pallet 18 on the track-changing stacking and picking mechanism contacts the bottom of the rod 16, and the rod 16 is gradually pushed upward. The bottom of the blocking block 17 is higher than the top of the inner groove 37. The guide post 14 pushes the blocking block 17 to rotate around the rod 16 until the blocking block 17 contacts the limit seat 20 on the other side. At this time, the blocking block 17 blocks the other straight and curved track groove 10. The connection between the rail groove 10 and the collinear rail groove 11 is blocked, and the guide post 14 smoothly enters the collinear rail groove 11. When the guide post 14 moves from the collinear rail groove 11 to the original straight-curved rail groove 10, the blocking block 17 and the concave guide groove 38 on the blocking block 17 guide the guide post 14 into the straight-curved rail groove 10 from which it came, so as to prevent the guide post 14 from entering the opposite straight-curved rail groove 10, and ensure that the guide post 14 and the gripping mechanism 15 on each rail changing stacking and picking mechanism slide along their respective travel paths, so as to avoid mutual interference between the two rail changing stacking and picking mechanisms.

[0023] For further optimization of the above solution, please refer to the following: Figures 7-11The gripping mechanism 15 includes a mounting frame 21, clamping components symmetrically arranged on both sides of the mounting frame 21, a lifting frame 22 slidably mounted on the middle of the mounting frame 21, and two transmission rods 23. The clamping components include a rotating shaft 24 rotatably mounted on the mounting frame 21, a first cam 25 fixedly mounted on the rotating shaft 24, a clamping member rotatably mounted on the bottom end of the first cam 25, an L-shaped pull arm 26 fixedly mounted on the clamping member, a second cam 27 fixedly mounted on the rotating shaft 24, and a drive arm 28 fixedly mounted on the rotating shaft 24. The movable end of the L-shaped pull arm 26 is hinged to the second cam 27 on the other clamping component. The drive arm 28 is connected to the lifting frame 22 via the transmission rods 23. It should be noted that this gripping mechanism 15 is suitable for hard goods that are not easily deformed during the gripping process, such as metal components or hard packing parts. The weight of the goods should be greater than the mutual closing driving force of the clamping members on the gripping mechanism 15.

[0024] The clamping components are located on both sides of the cargo. When the lifting frame 22 moves upward, the lifting frame 22 pulls the two transmission rods 23 upward, and the transmission rods 23 pull the drive arm 28 to rotate. The drive arm 28 drives the corresponding rotating shaft 24 to rotate, and the second cam 27 pulls the L-shaped pull arm 26 to rotate around the hinge point, so that the cargo is clamped between the clamping components, thus achieving the clamping of the cargo.

[0025] For details, please refer to Figure 7 or Figure 8 The upper part of the transmission rod 23 is provided with a strip-shaped sliding hole 29, and the lower part of the transmission rod 23 is provided with a strip-shaped sliding groove 30. The top of the lifting frame 22 is equipped with a first hinge post 31 that extends into the strip-shaped sliding hole 29. The drive arm 28 is equipped with a second hinge post 32 that extends into the strip-shaped sliding groove 30. A first tension spring 33 is hinged on the first hinge post 31. The bottom of the first tension spring 33 is hinged to the middle part of the transmission rod 23.

[0026] When the lifting frame 22 moves downward, the second hinge column 32 contacts the inner top of the strip groove 30. The transmission rod 23 applies a downward thrust to the second hinge column 32 and the drive arm 28. The rotating shaft 24 rotates, and the two corresponding clamping members move away from each other so that the goods can enter between the two clamping members. Before the clamping members tightly clamp the goods, the distance between the two clamping members is slightly smaller than the width of the goods. The first tension spring 33 provides an upward elastic tension to the transmission rod 23, so that the clamping members are initially elastically clamped to the goods. When the lifting frame 22 moves upward further, the clamping members can be tightly clamped to the outer wall of the goods so as to stably clamp the goods and reduce the failure rate of goods clamping.

[0027] To further improve the smoothness of the feeding of the clamped parts to the goods and the firmness of the clamping, please refer to the following for details. Figures 7-8 as well as Figure 11The clamping component includes a main frame 34, a protrusion 35 mounted on the main frame 34, and an anti-slip layer 36 covering the protrusion 35. The protrusion 35 has a trapezoidal cross-section. Furthermore, the anti-slip layer 36 is made of rubber or flexible fiber to improve the friction between the clamping component and the cargo. The anti-slip layer 36 is detachably mounted on the protrusion 35 by bolts.

[0028] The cross-section of the protrusion 35 is trapezoidal, which forms a V-shaped opening between the bottoms of the two clamping parts, so that the goods can be smoothly inserted between the two clamping parts. The anti-slip layer 36 can increase the friction between the protrusion 35 and the goods, thereby improving the clamping stability of the goods. After the anti-slip layer 36 is worn, it can be removed and replaced to ensure good clamping stability of the goods.

[0029] For details, please refer to Figures 8-11 The lifting frame 22 is provided with multiple ratchet teeth 39, and the mounting frame 21 is provided with multiple first elastic clips corresponding to the ratchet teeth 39. The first elastic clips include a slider 40 slidably mounted on the mounting frame 21, a locking post 41 fixedly mounted on the slider 40, and a spring 42. One end of the spring 42 is connected to the slider 40, and the other end of the spring 42 is connected to the mounting frame 21. The locking post 41 is engaged into the corresponding ratchet teeth 39. Furthermore, the first elastic clips and ratchet teeth 39 are used to prevent the lifting frame 22 from moving down on its own, so as to ensure that the gripping mechanism 15 tightly clamps the goods. The spring 42 is a compression spring, which is used to push the locking post 41 toward the ratchet teeth 39.

[0030] After the clamping parts are clamped to the goods, the first elastic locking part engages with the corresponding ratchet 39. Under the action of the spring 42 and the locking post 41, the lifting frame 22 can be prevented from moving down on its own, so as to prevent the goods from falling off between the clamping parts and further ensure the clamping stability of the goods.

[0031] For details, please refer to Figure 4 as well as Figure 7 It also includes a second tension spring 43 and a second elastic locking member 47. The first elastic locking member and the second elastic locking member 47 are located on both sides of the lifting frame 22, respectively. The second elastic locking member 47 has the same structure as the first elastic locking member. The lifting frame 22 is provided with a locking groove 48 corresponding to the second elastic locking member 47. A T-shaped frame 44 is hinged on the mounting frame 21. The T-shaped frame 44 is elastically connected to the mounting frame 21 through the second tension spring 43. The T-shaped frame 44 is used to push the locking pins 41 on each of the first elastic locking members to move out of the ratchet 39. A drive handle 45 is rotatably mounted on the T-shaped frame 44. A push-up slope frame 46 corresponding to the drive handle 45 is installed at the bottom of the plate base 9. The push-up slope frame 46 is used to apply a downward tilting force to the drive handle 45. Furthermore, one end of the second tension spring 43 is hinged to the T-shaped frame 44, and the other end of the second tension spring 43 is hinged to the mounting frame 21. Under the elastic tension of the second tension spring 43, the T-shaped frame 44 moves away from the first elastic locking member.

[0032] When the goods arrive at the unloading point of the shelf, the drive handle 45 contacts the push ramp 46. As the gripping mechanism 15 feeds towards the end of the collinear rail groove 11, the push ramp 46 exerts a downward thrust on the drive handle 45. The T-shaped frame 44 rotates around the hinge point. The vertical rod on the T-shaped frame 44 can simultaneously push against each slider pin 41. The T-shaped frame 44 pushes the pin 41 on the first elastic clamp out of the corresponding ratchet 39. The lifting frame 22 moves down, and the second elastic clamp 47 engages in the slot 48. At this time, the two clamping parts are in a separated state, and the lifting frame 22 is stationary relative to the mounting frame 21. The goods detach from the two clamping parts, and the entire gripping mechanism 15 moves upward with the lifting frame 4, realizing automatic unloading of the goods. After the drive handle 45 disengages from the top pusher frame 46, the T-shaped frame 44 returns to its original position under the elastic tension of the second tension spring 43. The T-shaped frame 44 pushes the second elastic locking piece 47 out of the slot 48, preparing for the clamping of the next goods. Automatic clamping and unloading of goods can be achieved through mechanical mechanisms, with a scientific and reasonable structure. Finally, it should be noted that the power for the up-and-down movement of the lifting frame 22 comes from the lifting traction of the lifting frame 4 by the traction drive 5. All power components in this case are controlled by an external control system. Existing technology can be used for the external control system. The external automatic control system is not within the scope of protection of this case, and the structural principle and control logic of the control system will not be further elaborated here.

[0033] The operation of the warehouse aisle stacker provided by this invention is as follows: Two gripping mechanisms 15 grip two goods, the ground rail car 2 and the traction drive 5 drive the double-layer same-point stacking and picking device 7 to the stacking position on the shelf, the mechanical slide 12 on one of the track-changing stacking and picking mechanisms moves, the corresponding guide column 14 slides along the straight and curved rail groove 10, the rail frame 13 slides synchronously with the guide column 14, under the action of the anti-misalignment rail limiter, the guide column 14 enters to the end of the collinear rail groove 11, the drive handle 45 on the gripping mechanism 15 contacts the top push ramp 46, the gripping mechanism 15 releases the goods according to the above principle and places them on the shelf, the gripping mechanism 15 disengages from the goods, the traction drive 5 drives the lifting frame 4 to move up to the corresponding height of the goods, the track-changing stacking and picking mechanism after the goods are released resets, the other track-changing stacking and picking mechanism places the goods on the already stacked goods according to the above principle, which can realize the double-layer stacking operation of goods on the shelf.

[0034] In this invention, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

Claims

1. A warehouse aisle stacker crane, characterized in that, The system includes a ground rail (1), a ground rail car (2) mounted on the ground rail (1), a vertical frame (3) mounted on the ground rail car (2), a lifting frame (4) slidably mounted on the vertical frame (3), a traction drive component (5) that provides power for the lifting frame (4) to lift, a telescopic fork (6) mounted on the lifting frame (4), and a double-layer same-point stacking and picking device (7) mounted on the telescopic fork (6). The double-layer same-point stacking and picking device (7) includes a support frame (8), a plate base (9) mounted on the support frame (8), and two variable-track stacking and picking mechanisms symmetrically arranged on the plate base (9). The plate base (9) is provided with two symmetrically arranged straight and curved rail grooves (10) for... The variable track stacking and picking mechanism includes a mechanical slide (12) fixedly installed on the plate base (9), a rail frame (13) slidably installed on the mechanical slide (12), a guide post (14) fixedly installed on the rail frame (13), and a gripping mechanism (15) installed at the bottom of the guide post (14). The driving direction of the mechanical slide (12) is perpendicular to the length direction of the rail frame (13). The guide post (14) is slidably installed in the corresponding straight and curved rail groove (10) and the collinear rail groove (11). The gripping mechanism (15) is used for gripping goods.

2. The stacker crane for warehouse aisles according to claim 1, characterized in that, Anti-misalignment limiting components are installed at the junction of the two straight curved rail grooves (10) and the collinear rail groove (11) on the plate base (9). The anti-misalignment limiting components include a rod (16) and a blocking block (17) fixedly installed on the top of the rod (16). The plate base (9) is provided with a through hole that fits with the rod (16). The rod (16) is movably installed in the through hole. The bottom of the guide post (14) is provided with a support plate (18) corresponding to the bottom of the rod (16). The support plate (18) is provided with an inclined slope (19). 19) Used to smoothly guide the bottom of the rod (16) to the support plate (18). Two limiting seats (20) are installed on the plate base (9). The limiting seats (20) are used to limit the rotation of the blocking block (17). The blocking block (17) is configured such that when the support plate (18) pushes the rod (16) up, the blocking block (17) can rotate around the rod (16) to block the connection between the other straight and curved rail groove (10) and the collinear rail groove (11) under the limitation of the limiting seat (20) on one side.

3. The warehouse aisle stacker crane according to claim 1, characterized in that, The gripping mechanism (15) includes a mounting frame (21), clamping components symmetrically arranged on both sides of the mounting frame (21), a lifting frame (22) slidably mounted on the middle of the mounting frame (21), and two transmission rods (23). The clamping components include a rotating shaft (24) rotatably mounted on the mounting frame (21), a first cam (25) fixedly mounted on the rotating shaft (24), a clamping member rotatably mounted on the bottom end of the first cam (25), an L-shaped pull arm (26) fixedly mounted on the clamping member, a second cam (27) fixedly mounted on the rotating shaft (24), and a drive arm (28) fixedly mounted on the rotating shaft (24). The movable end of the L-shaped pull arm (26) is hinged to the second cam (27) on the other clamping component. The drive arm (28) is connected to the lifting frame (22) through the transmission rods (23).

4. The stacker crane for warehouse aisles according to claim 3, characterized in that, The upper part of the transmission rod (23) is provided with a strip-shaped sliding hole (29), the lower part of the transmission rod (23) is provided with a strip-shaped sliding groove (30), the top of the lifting frame (22) is equipped with a first hinge column (31) extending into the strip-shaped sliding hole (29), the drive arm (28) is equipped with a second hinge column (32) extending into the strip-shaped sliding groove (30), a first tension spring (33) is hinged on the first hinge column (31), and the bottom of the first tension spring (33) is hinged to the middle part of the transmission rod (23).

5. The warehouse aisle stacker crane according to claim 3, characterized in that, The clamping component includes a main frame (34), a protrusion (35) mounted on the main frame (34), and an anti-slip layer (36) covering the protrusion (35). The protrusion (35) has a trapezoidal cross section.

6. The stacker crane for warehouse aisles according to claim 2, characterized in that, The plate base (9) is provided with two embedded grooves (37) that fit with the blocking block (17). When the blocking block (17) contacts the corresponding limiting seat (20), it is located in the corresponding embedded groove (37). The two sides of the blocking block (17) are provided with concave guide grooves (38) that fit with the two straight and curved rail grooves (10).

7. The warehouse aisle stacker crane according to claim 4, characterized in that, The lifting frame (22) is provided with multiple ratchet teeth (39), and the mounting frame (21) is provided with multiple first elastic clips corresponding to the ratchet teeth (39). The first elastic clips include a slider (40) slidably mounted on the mounting frame (21), a locking pin (41) fixedly mounted on the slider (40), and a spring (42). One end of the spring (42) is connected to the slider (40), and the other end of the spring (42) is connected to the mounting frame (21). The locking pin (41) is engaged in the corresponding ratchet teeth (39).

8. The stacker crane for warehouse aisles according to claim 7, characterized in that, It also includes a second tension spring (43) and a second elastic clip (47). The first elastic clip and the second elastic clip (47) are located on both sides of the lifting frame (22). The second elastic clip (47) has the same structure as the first elastic clip. The lifting frame (22) is provided with a slot (48) corresponding to the second elastic clip (47). A T-shaped frame (44) is hinged on the mounting frame (21). The T-shaped frame (44) is elastically connected to the mounting frame (21) through the second tension spring (43). The T-shaped frame (44) is used to push the pins (41) on each of the first elastic clips out of the ratchet (39). A drive handle (45) is rotatably mounted on the T-shaped frame (44). A push-up ramp (46) corresponding to the drive handle (45) is installed at the bottom of the plate base (9). The push-up ramp (46) is located below the end of the collinear rail groove (11) and is used to apply a downward tilting thrust to the drive handle (45) when the gripping mechanism (15) moves to the unloading position.

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